Vehicle battery grabbing method and system based on radar positioning
By using radar scanning and fitting technology to obtain the location set of vehicle batteries, the problem of long positioning cycle and inaccurate grasping in existing technologies has been solved, achieving efficient and stable vehicle battery grasping, reducing operation and maintenance costs and improving battery swapping efficiency.
Patent Information
- Application Number
- CN202511824505.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-05
- Publication Date
- 2026-01-13
AI Technical Summary
Existing technologies have excessively long battery positioning cycles, making it difficult to adapt to the demands of high-speed production and efficient battery swapping. The grasping and execution process cannot accurately locate the grasping point, the clamping force lacks adaptability to battery width, and the complex installation and debugging process, coupled with the easy contamination of the lens, leads to high maintenance costs and insufficient positioning stability.
The vehicle battery side is scanned by radar to obtain a set of location points. The center of gravity coordinates are calculated and the effective point set is filtered. A fitting line is obtained by fitting, and the target point is selected to calculate the attitude and position adjustment parameters of the gripping device, so as to achieve precise gripping of the vehicle battery.
It improves the accuracy and stability of vehicle battery acquisition, simplifies the positioning process, reduces maintenance costs, enhances the system's anti-interference ability and adaptability, and improves battery swapping efficiency.
Smart Images
Figure CN121315985A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of battery positioning, in particular to a vehicle battery grabbing method and system based on radar positioning. BACKGROUND
[0002] In vehicle assembly line, battery swap station and other scenarios, the automatic grabbing of vehicle batteries is a core process, and its efficiency directly affects the flow of the entire production line and the service rhythm of the battery swap station. Due to the large size and high weight of vehicle batteries, high-precision positioning is required to achieve smooth handling. If the positioning deviation is too large, the battery and the storage body may collide and be damaged. If the positioning period is too long, the production or battery swap rhythm will be disrupted. Therefore, the industry has strict requirements for the timeliness and accuracy of positioning.
[0003] The existing camera vision positioning scheme has obvious defects, and the core problem is that the positioning period is too long. On the one hand, image acquisition is easily disturbed by workshop light and dust, and additional lighting equipment is required. In addition, it needs to go through multiple links such as shutter triggering, exposure stabilization and data transmission, which takes a long time. On the other hand, image post-processing needs to complete multiple operations such as noise reduction, edge detection and feature matching. If there are scratches on the surface of the battery or other parts in the background interfere, the number of algorithm iterations needs to be increased, further prolonging the positioning period, which is difficult to adapt to the needs of high-speed production and efficient battery swap. Moreover, the defects of the grabbing execution link are more prominent. The camera can only output the approximate outline coordinates of the battery, and cannot accurately position the key grabbing points such as the handle, which is easy to cause the problem of misalignment, and further leads to the battery falling off or being damaged. The grabbing device usually uses fixed clamping force, which is not adjusted according to the width of the battery. Lightly, it may cause the battery to slip and damage the coating of the shell. Heavy, it may cause the plastic shell to break.
[0004] In addition, the installation and debugging process of the camera is complex, and the height and angle need to be adjusted accurately. Once the vehicle is parked with a deviation, the parameters need to be recalibrated. The camera lens is also easy to accumulate dust and oil, which needs to be cleaned regularly. Not only does this increase the operation and maintenance cost, but if it is not cleaned in time, it will also reduce the success rate of positioning and cause production to stop or battery swap to be interrupted.
[0005] The long period and low adaptability of the existing scheme have become the core bottleneck restricting the improvement of the efficiency of automatic grabbing of vehicle batteries, and a more efficient, simpler, stronger anti-interference and higher adaptability technical scheme is urgently needed. SUMMARY
[0006] Therefore, the technical problem to be solved by the present application is to overcome the defects in the prior art, such as long positioning period, difficulty in adapting to high-speed production and efficient battery swap, inability to accurately position the grabbing points in the grabbing execution link, lack of battery width adaptability of clamping force, complex installation and debugging, lens pollution leading to high operation and maintenance cost, and insufficient positioning stability.
[0007] The first aspect, to solve the above technical problems, the present application provides a kind of vehicle battery grabbing method based on radar positioning, comprising: S1, the side of vehicle battery is scanned using radar, and the position point set is obtained; S2, the center of gravity coordinates of the position point set are calculated, and the coordinates of each point in the position point set are respectively calculated with the center of gravity coordinates; S3, whether each distance exceeds the preset range is judged, if the current distance exceeds the preset range, the current point is deleted, until the distance of all points remaining in the position point set is within the preset range, and the effective position point set is obtained; S4, the effective position point set is fitted, and the fitting line is obtained; S5, target point is selected from the fitting line, and the posture position adjustment parameter of grabbing device is calculated according to the target point;Vehicle battery is grabbed according to the posture position adjustment parameter.
[0008] In an embodiment of the application, the S1, the side of vehicle battery is scanned using radar, and the position point set is obtained, which comprises: The radar is opposite vehicle battery, and the side of the vehicle battery is scanned using the radar, and the position data set is obtained; According to the preset angle range, the position data set is screened for the first time, and the pretreated position data set is obtained; The pretreated position data set is screened for the second time, and the position point set is obtained;The second screening step is: the isolated points in the pretreated position data set are deleted;According to the preset distance standard, the position points other than the main body of the vehicle battery are removed, and the position point set is obtained.
[0009] In an embodiment of the application, the S5, the posture position adjustment parameter of grabbing device is calculated according to the target point, which comprises: The posture position adjustment parameter includes rotation angle and moving distance;The expression for calculating the rotation angle is: ; Wherein, Rotation angle is represented, The deflection angle of fitting line is represented, The side of battery and X axis angle when reference point is marked is represented, Proportion parameter is represented; The coordinates of the target point are obtained, the moving distance of the grabbing device is calculated according to the coordinates, the rotation angle and the width of the vehicle battery, and the X direction moving distance and Y direction moving distance of the grabbing device are obtained.
[0010] In an embodiment of the present application, the coordinates of the target point are obtained, and the movement distance of the grabbing device is calculated according to the coordinates, the rotation angle and the width of the vehicle battery, so as to obtain the X-direction movement distance and the Y-direction movement distance of the grabbing device. The coordinates of the target point are obtained, wherein the coordinates include X coordinates and Y coordinates. The width of the vehicle battery is obtained. The X-direction movement distance of the grabbing device is calculated according to the X coordinates, the width and the rotation angle, and the Y-direction movement distance of the grabbing device is calculated according to the Y coordinates, the width and the rotation angle.
[0011] In an embodiment of the present application, the expression for calculating the X-direction movement distance of the grabbing device according to the X coordinates, the width and the rotation angle is as follows: ; wherein, represents the movement distance of the grabbing device in the X direction, represents the real-time X coordinate of the target point of the fitting line; represents the X coordinate of the calibration position of the side surface of the vehicle battery, represents the width of the vehicle battery, represents the rotation angle of the grabbing device.
[0012] In an embodiment of the present application, the expression for calculating the Y-direction movement distance of the grabbing device according to the Y coordinates, the width and the rotation angle is as follows: ; wherein, represents the movement distance of the grabbing device in the Y direction, represents the real-time Y coordinate of the target point of the fitting line; represents the Y coordinate of the calibration position of the side surface of the vehicle battery, represents the width of the vehicle battery, represents the rotation angle of the grabbing device.
[0013] In an embodiment of the present application, the step S4 of fitting the effective position point set to obtain the fitting line is as follows: The effective position point set includes a plurality of effective position points, and each of the effective position points includes first coordinates and second coordinates; all the effective position points are traversed, and a first cumulative value of the first coordinates, a second cumulative value of the second coordinates, a third cumulative value of the first coordinate squares, a fourth cumulative value of the second coordinate squares and a fifth cumulative value of the product of the first coordinates and the second coordinates of all the effective position points are calculated respectively. According to the total number of the effective position points, the first accumulated value and the second accumulated value, a first barycentric coordinate and a second barycentric coordinate are calculated; According to the first accumulated value, the second accumulated value, the third accumulated value, the fourth accumulated value and the fifth accumulated value, a fitting line included angle is calculated; according to the fitting line included angle and traversing all the effective position points, a minimum value and a maximum value of a projection scalar are obtained; According to the minimum value, the maximum value, the first barycentric coordinate and the second barycentric coordinate, a starting point and an ending point of a fitting line are obtained; according to the starting point and the ending point, the effective position point set is fitted to obtain the fitting line.
[0014] In an embodiment of the present application, the expression for calculating the fitting line included angle is: ; ; ; ; wherein, represents the fitting line included angle; represents the third accumulated value, represents the fourth accumulated value, represents the fifth accumulated value; and respectively represent the first accumulated value and the second accumulated value, represents the total number of the effective position points, represents the arctangent function, and represent constants.
[0015] In an embodiment of the present application, the expression for calculating the projection scalar is: ; ; ; wherein, represents the projection scalar, and respectively represent the first coordinate and the second coordinate of the effective position point, represents the first barycentric coordinate, represents the second barycentric coordinate, represents the fitting line included angle.
[0016] The second aspect is to solve the above technical problems, and the present application provides a vehicle battery grabbing system based on radar positioning, which is used to realize the above-mentioned vehicle battery grabbing method based on radar positioning, and comprises: The scanning module is configured to scan the side of the vehicle battery by using the radar to obtain a set of position points; The computing module is configured to calculate the center of gravity coordinates of the set of position points, and calculate the distance between the coordinates of each point in the set of position points and the center of gravity coordinates respectively; The judging module is configured to judge whether each distance exceeds a preset range, and if the current distance exceeds the preset range, delete the current point until the distances of all the remaining points in the set of position points are within the preset range to obtain a set of effective position points; The fitting module is configured to fit the set of effective position points to obtain a fitting line; The grabbing module is configured to select a target point from the fitting line, calculate the posture position adjustment parameters of the grabbing device according to the target point, and grab the vehicle battery according to the posture position adjustment parameters.
[0017] The above technical scheme of the present application has the following beneficial effects compared with the prior art: (1) The vehicle battery grabbing method and system based on radar positioning can scan the side of the vehicle battery by using the radar, obtain a set of effective position points, and fit to obtain a fitting line. This design can accurately reflect the actual contour and placement posture of the battery, effectively avoid positioning errors caused by single position point deviation, and accurately calculate the posture position adjustment parameters of the grabbing device based on the target point on the fitting line. This not only reduces the risk of clamping deviation and collision of the grabbing device during operation, but also significantly enhances the stability and reliability of the grabbing process, ensuring the efficiency and accuracy of the entire grabbing operation.
[0018] (2) The present application does not require complex image processing procedures and multi-device collaborative calibration, but only through point set fitting and direct conversion of coordinates and rotation angles, the grabbing parameters can be quickly obtained, greatly shortening the positioning and operation preparation period. At the same time, the rotation angle and the moving coordinates are calculated synchronously, so that the grabbing system can complete the posture adjustment and position movement at one time without step-by-step debugging, simplifying the operation process and improving the overall efficiency of vehicle battery grabbing and battery replacement.
[0019] (3) The present application does not need to configure additional auxiliary devices and processes such as light compensation and regular cleaning, effectively reducing the frequency of device maintenance and operation and maintenance cost. The calculation of grabbing parameters depends on the data obtained by self-scanning, which has good fault tolerance for slight deviation of vehicle parking, reduces the strict requirements for station calibration, reduces the frequency of manual intervention, and improves the convenience and sustainability of operation. BRIEF DESCRIPTION OF DRAWINGS
[0020] In order to make the content of the present application more easily understood, the present application will be further described in detail below according to specific embodiments of the present application and in conjunction with the drawings.
[0021] Figure 1 A flow chart of a vehicle battery grabbing method based on radar positioning in a preferred embodiment of the present application; Figure 2 A schematic diagram of a fitted straight line obtained by fitting an effective position point set in a preferred embodiment of the present application; Figure 3 A schematic diagram of a fitted straight line obtained by fitting another effective position point set in a preferred embodiment of the present application; Figure 4 A structure diagram of a vehicle battery grabbing system based on radar positioning in a preferred embodiment of the present application. DETAILED DESCRIPTION
[0022] The present application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it.
[0023] Embodiment One: Referring to Figure 1 The embodiment of the present application provides a vehicle battery grabbing method based on radar positioning, which includes but is not limited to the following steps: S1, scanning the side of the vehicle battery by using radar to obtain a position point set; S2, calculating the barycentric coordinates of the position point set, and calculating the distance between the coordinates of each point in the position point set and the barycentric coordinates respectively; S3, judging whether each distance exceeds a preset range, if the current distance exceeds the preset range, deleting the current point until the distances of all the remaining points in the position point set are within the preset range, obtaining an effective position point set; S4, fitting the effective position point set to obtain a fitted line; S5, selecting a target point from the fitted line, calculating the posture position adjustment parameters of the grabbing device according to the target point, and grabbing the vehicle battery according to the posture position adjustment parameters.
[0024] The vehicle battery grabbing method based on radar positioning provided in the embodiment of the present application can obtain an effective position point set by scanning the side of the vehicle battery and fitting a fitting line, and the fitting line can truly reflect the actual placement posture of the battery, effectively avoiding positioning errors caused by deviation of a single position point. The posture position adjustment parameters of the grabbing device are calculated based on the target point of the fitting line, reducing the risk of clamping deviation and collision of the grabbing device and ensuring the stability and reliability of the grabbing process. By scanning the side of the vehicle battery using a radar, a high-precision position point set can be stably obtained in a complex industrial environment, effectively avoiding the interference of environmental factors such as light and dust on data collection, and shortening the period for obtaining the position of the battery. The center of gravity coordinates of the position point set are calculated, and the distance between each point and the center of gravity is calculated, which helps to preliminarily screen out possible abnormal points. By judging whether each distance exceeds a preset range and deleting points exceeding the range, the accuracy and reliability of the position point set are ensured, thereby obtaining an effective data set. The effective position point set is fitted to obtain a fitting line reflecting the actual contour trend of the battery, and this fitting process further improves the positioning accuracy and stability. The target point is selected from the fitting line, and the posture position adjustment parameters of the grabbing device are calculated according to the target point, realizing accurate grabbing of the vehicle battery. Through these steps, the accuracy and reliability of grabbing are improved, the grabbing process is optimized, and grabbing failures caused by environmental interference or data deviation are reduced, thereby improving the automation level and efficiency of vehicle battery replacement. In addition, the method provided in the embodiment of the present application does not need to additionally configure auxiliary equipment and processes such as light supplementing and regular cleaning, reducing the frequency of equipment maintenance and operation and maintenance costs; the grabbing parameter calculation relies on the data obtained by self-scanning, has good fault tolerance for slight deviation of vehicle parking, reduces the strict requirements for work station calibration, reduces the frequency of manual intervention, improves the convenience and continuity of operation.
[0025] Specifically, in step S1, the method for scanning the side of the vehicle battery includes a laser scanner, an ultrasonic sensor, an infrared sensor, etc., but different methods have obvious limitations in industrial scenarios such as a vehicle assembly plant and a battery swap station. Specifically, the laser scanner is susceptible to the influence of battery surface reflection and workshop dust shielding, resulting in missing or deviated scanning points; the ultrasonic sensor is greatly affected by air temperature and humidity, and the data stability is insufficient, and the scanning accuracy is easily attenuated with distance; the infrared sensor is sensitive to high-temperature environments, and after the battery is charged or in a high-temperature working condition of the workshop, signal interference easily occurs, and position information cannot be stably obtained. Since the above scanning devices are difficult to balance data stability, anti-interference and accuracy in complex industrial scenarios, radar scanning does not need to rely on light supplement, is not affected by light, dust, temperature and humidity, can stably output position point coordinates and angle information, and has lower scanning accuracy and distance attenuation rate, and can accurately cover the side of the battery. Therefore, the radar is preferably used to scan the side of the vehicle battery in the embodiment of the application. In addition, it should be noted that the vehicle battery described in the embodiment of the application can be applied to various vehicle energy storage batteries such as heavy truck batteries, commercial vehicle batteries, passenger vehicle batteries and new energy special vehicle batteries, and the specific type of the vehicle (such as load level, power form, vehicle structure, etc.) is not limited, and can be flexibly adapted according to the actual application scenario.
[0026] Further, in the selection of radar devices, the radar scanning frequency can be selected as 10 Hz, 20 Hz and 30 Hz, etc. Among them, although the scanning frequency of 10 Hz has relatively long scanning time, it has high accuracy. The scanning time is about 100 ms, which can meet the requirements of most industrial scenarios; the accuracy can reach 0.1 mm, which fully meets the accuracy requirements of most industrial scenarios. Therefore, the radar device with a scanning frequency of 10 Hz is preferably selected in the embodiment of the application for scanning the vehicle battery.
[0027] Further, in step S1, the side of the vehicle battery is scanned by using a radar to obtain a specific step of a position point set: S110, the radar is arranged opposite to the vehicle battery, the side of the battery is scanned, and a position data set containing the coordinates of each position point and the angle between the side of the position point and the X axis is obtained.
[0028] S120, the position data set is first screened according to a preset angle range and a direction angle. In the embodiment of the application, the preset angle range is set as 0°~270°, and the direction angle is set as 180°. The data points with the angle between the side and the X axis in the range of 0°~270° are retained, and the battery is set as 180° in the direction, so as to determine the points related to the position of the battery, and form a preprocessed position data set. It should be noted that the above-mentioned angle range of 0°~270° between the side and the X axis and the 180° battery normal reference can be flexibly adjusted according to actual needs.
[0029] S130. Perform a second filtering on the preprocessed location dataset: First, delete discontinuous isolated points in the data that are not supported by adjacent points to eliminate environmental interference; then, remove location points that are not part of the vehicle battery body (such as the front and rear areas) according to a preset distance standard, finally obtaining a location point set that only contains the battery body. In this embodiment of the invention, the standard for removing points in the front and rear areas is: points that extend beyond the edge of the battery body within a range of 100 mm to 300 mm.
[0030] Specifically, in step S2, the centroid coordinates of the set of location points are calculated, and the distance between the coordinates of each point in the set of location points and the centroid coordinates is calculated. The specific steps are as follows: S210, For sets of location points Points , … ), calculate the centroid coordinates of this point set, the calculation expression is: ; ; in, This represents the total number of points in the location point set. Indicates the center of gravity along the X-axis. This indicates the center of gravity along the Y-axis.
[0031] S220, Calculate the location point set for each point. With the coordinates of the centroid ( Spacing between The specific expression is: .
[0032] Specifically, in step S3, the calculated centroid coordinates are used... Using this as a baseline, invalid points that deviate from the center of gravity are removed. The set of position points on the battery body is then filtered to obtain the set of valid position points. The specific steps are as follows: S310, Compare the spacing one by one The relationship with the preset range or preset threshold is as follows: if the current distance exceeds the preset range, the current point is deleted; if the current distance does not exceed the preset range, the point is retained as a candidate valid point.
[0033] For example, the preset thresholds for both the X-axis and Y-axis directions are set to 30 mm. Specifically, points whose distance from the center of gravity exceeds 30 mm in the X-axis direction or 30 mm in the Y-axis direction are considered invalid and discarded, thus obtaining the set of valid location points. It should be noted that the criteria for setting the above preset thresholds can be obtained through multiple sets of vehicle battery scanning experiments, thereby ensuring the effectiveness of the filtered point set.
[0034] S320, the number of candidate effective position point sets after screening is checked, if the number of points meets the data quantity requirement of subsequent fitting, the temporary barycenter coordinates are recalculated based on the candidate effective point set, and the temporary distance of each candidate effective point from the temporary barycenter is calculated again according to the Euclidean distance formula, and it is verified one by one whether the temporary distance is within the preset range, if there is a point exceeding the preset range, the comparison and deletion operation is re-executed by returning to step S310; if all the temporary distances are within the preset range, the candidate effective point set is the final effective position point set. If the number of points after the first round of screening does not meet the data quantity requirement of subsequent fitting, the radar scanning operation needs to be returned to step S1, a new original position point set is obtained, and then the screening step S310 is entered.
[0035] It should be noted that the loop verification of step S320 is not a necessary step: in the scenario of less radar scanning environment interference (such as a clean workshop) and high-quality original position data set (small invalid point proportion), if the number of candidate effective points after the first round of screening meets the requirement and is uniformly distributed, the candidate effective point set can be directly taken as the final effective position point set without performing the secondary verification of S320.
[0036] The embodiment of the present application scans the side of the vehicle battery by the radar device to obtain the original position data, purifies the original data through multiple rounds of screening (including screening the battery related points according to the angle range, deleting the discontinuous isolated points and removing the redundant points of the front and rear of the vehicle), and finally obtains the effective position point set accurately reflecting the main contour of the battery through the calculation of the barycenter of the position point set and the filtering method of removing the invalid points according to the preset interval threshold. The advantage of this design is that the radar does not need to supplement light, can stably obtain coordinate and angle information, avoids light and dust interference, and reduces positioning deviation through double information output. The multiple rounds of screening first lock the battery related points according to the angle, then delete the isolated points and the redundant points of the front and rear of the vehicle, improve the data purity to reduce the fitting error. At the same time, the three-layer anti-interference barrier adapts to complex industrial scenes, the barycenter filtering removes the extreme points, and the point set is ensured to fit the battery contour. The process has no complex algorithm, the processing is fast, the operation load is low, the radar operation and maintenance cost is lower than that of the camera, and the rework is reduced, which takes into account accuracy, efficiency and economy.
[0037] Specifically, in step S4, the effective position point set is fitted to obtain a fitting line. The fitting method can be component analysis and quadratic interpolation method. Due to the complex shape of the side of the vehicle battery and the possible irregular distribution of the scanning data, a method that can accurately capture the internal structure of the data and efficiently process is needed. Component analysis method performs well in this regard, it can accurately reflect complex contours and local changes, generate a fitting line close to the actual situation, and has high calculation efficiency, suitable for large-scale data processing and real-time application scenarios, and can improve the fitting accuracy and system operation efficiency. Therefore, the embodiment of the present application preferably adopts component analysis method to fit the effective position point set to obtain a more accurate fitting line.
[0038] Further, the specific steps of fitting the effective position point set by using the composition analysis method are as follows: S410, the effective position point set includes a plurality of effective position points, each of which includes a first coordinate (i.e. the coordinate in the X direction, denoted by ) and a second coordinate (i.e. the coordinate in the Y direction, denoted by ). All the effective position points are traversed, and the first cumulative value of the first coordinate of all the effective position points, the second cumulative value of the second coordinate, the third cumulative value of the square of the first coordinate, the fourth cumulative value of the square of the second coordinate, and the fifth cumulative value of the product of the first coordinate and the second coordinate are calculated respectively.
[0039] S420, according to the total number of effective position points , the first cumulative value and the second cumulative value , the first barycentric coordinate and the second barycentric coordinate are calculated, and the specific calculation formula is as follows: ; .
[0040] S430, according to the first cumulative value , the second cumulative value , the third cumulative value , the fourth cumulative value and the fifth cumulative value , the fitting line angle is calculated. The expression of the fitting line angle is as follows: ; ; ; ; wherein, represents an inverse tangent function, and represent constants. In the embodiment of the present application, is preferably 0.5, is preferably 2.
[0041] S440, according to the fitting line angle and traversing all the effective position points, the minimum value of the projection scalar and maximum value , the specific steps are: S441, randomly set minimum value and maximum value .
[0042] S442, select valid position points from the valid position point set , calculate the projection scalar , the calculation expression is: ; wherein, , .
[0043] S443, compare the current projection scalar with the existing minimum value , if the projection scalar is smaller than the existing minimum value , the value of the current projection scalar is assigned to . At the same time, compare the current projection scalar with the existing maximum value , if the projection scalar is greater than the existing maximum value , the value of the current projection scalar is assigned to .
[0044] S444, repeat steps S442 to S443 for all valid position points until all valid position points are traversed, thereby obtaining the minimum value and the maximum value of the projection scalar.
[0045] S450, according to the minimum value , the maximum value , the first barycentric coordinate and the second barycentric coordinate , obtain the starting point and the ending point of the fitting line. The calculation expression of the starting point and the ending point is: ; .
[0046] Further, according to the starting point and the ending point , the valid position point set is fitted to obtain the fitting line.
[0047] This invention, through precise calculation of accumulated values and centroid coordinates, combined with accurate solution of the angle between the fitted lines, can generate fitted lines that closely resemble actual data, improving fitting accuracy and providing a more reliable data foundation for subsequent analysis. Furthermore, by adjusting constants... and This allows for further optimization of the fitting results, adapting to different application scenarios and data characteristics, thereby better meeting diverse needs.
[0048] Specifically, in step S5, a target point is selected from the fitted line obtained above. In this embodiment of the invention, the target point is preferably the center point of the fitted line. Specifically, the midpoint of the fitted line obtained in step S4 is calculated, and this midpoint is used as the target center point of the positioning reference. (Refer to...) Figures 2-3 As shown in the figure, the scattered points are the valid location points finally obtained in step S3. The fitted line runs through the cluster of scattered points and reflects the trend of the battery's side profile. In this embodiment of the invention, the gripping device is preferably a lifting device. The specific steps for converting the real-time measured battery positioning data into lifting device attitude and position adjustment parameters are as follows: S510. The attitude and position adjustment parameters include rotation angle and movement distance. Before calculating the movement distance, a reference position for the lifting device and the vehicle battery must be selected. This reference position serves as the benchmark for subsequent coordinate transformation and attitude adjustment. In this embodiment of the invention, the specific selection criteria for the reference position are: the lifting device must be in an ideal gripping position (i.e., the gripping mechanism of the lifting device is completely aligned with the preset gripping point of the battery, without horizontal offset or vertical misalignment), and the vehicle battery must be kept horizontal (the side of the battery is parallel to the horizontal plane, without front-back or left-right tilt). After both the lifting device and the battery reach the above reference position, the key parameters of the current lifting device are recorded. These parameters must cover the core information required for subsequent positioning adjustments, including but not limited to: the current three-dimensional coordinates of the lifting device (position in the X-axis, Y-axis, and Z-axis directions), the initial rotation angle of the gripping mechanism of the lifting device (with the preset benchmark direction as a reference), and the relative distance between the lifting device and the battery gripping point. This provides a benchmark reference for converting the battery positioning data into the lifting device's movement coordinates, ensuring the accuracy of subsequent adjustments.
[0049] S520. Based on the reference point position, calculate the required rotation angle of the lifting device. The specific expression is: ; in, This represents the deflection angle of the fitted line, which reflects the side angle of the battery during radar measurement. When indicating the reference point mark, the angle between the side of the battery and the X-axis is shown. This represents the experimental scale parameter determined based on the radar installation and hoisting conditions. In this embodiment of the invention, the experimental scale parameter is preferably 2.67.
[0050] Further, the calculation formula of the deflection angle of the fitting line is as follows: ; wherein, represents the deflection angle of the fitting line, represents the starting point coordinate of the fitting line, represents the ending point coordinate of the fitting line, represents the inverse cosine function.
[0051] S530, real-time acquisition of the target center point coordinate, offset conversion of the spreader X direction and Y direction according to the coordinate, the rotation angle and the width of the vehicle battery, to obtain the moving coordinate of the grabbing device (spreader), and the specific steps are as follows: S531, acquisition of the two-dimensional coordinate of the target center point, wherein the two-dimensional coordinate includes X coordinate and Y coordinate.
[0052] S532, acquisition of the width of the vehicle battery. The width parameter is a preset standard width value of the vehicle battery, or an actual width of the battery extracted through the early scanning data, which is used to compensate the position difference between the grabbing center of the spreader and the target center point of the battery side surface.
[0053] S533, calculation of the moving distance of the grabbing device in the X direction according to the X coordinate, the width of the vehicle battery and the rotation angle, and the calculation formula is as follows: ; wherein, represents the real-time X coordinate of the target center point of the fitting line, represents the X coordinate of the calibration position of the vehicle battery side surface, represents the width of the vehicle battery, represents the sine value of the rotation angle of the spreader. The calculation ensures that the spreader can accurately align the grabbing center of the battery in the X direction by compensating the half-width projection (X direction deviation caused by the rotation angle) of the battery width and the initial offset of the spreader.
[0054] Further, the moving distance of the grabbing device in the Y direction (i.e. Y direction moving distance) is calculated according to the Y coordinate, the width of the vehicle battery and the rotation angle. The calculation expression of the Y direction moving distance is as follows: ; wherein, represents the real-time Y coordinate of the target center point of the fitting line, represents the Y coordinate of the calibration position of the vehicle battery side surface, This represents the cosine value of the spreader's rotation angle. This calculation compensates for the positional deviation of the battery's half-width in the Y direction caused by the rotation angle, and combines this with the initial offset correction of the spreader to ensure that the spreader is precisely aligned with the battery gripping center in the Y direction.
[0055] Furthermore, based on the distance moved in the X direction and distance moved in the Y direction The movement coordinates of the gripping device are obtained. This coordinate system can be used to control the spreader's movement to a position aligned with the battery gripping center.
[0056] This invention's embodiments consider the impact of battery width and the lifting device's rotation angle on positioning during coordinate transformation, ensuring the lifting device is precisely aligned with the battery's center point. The use of a cosine function for Y-direction offset transformation better reflects actual physical characteristics. Furthermore, the explicit consideration of battery width in this invention's embodiments not only serves for coordinate offset calculations but also provides width parameters for the gripping device (lifting device), enabling it to adaptively adjust the clamping force according to the width of batteries from different vehicle models. This balances gripping stability with battery safety, avoiding the risk of battery damage or detachment due to improper clamping force.
[0057] Furthermore, the vehicle battery is grasped based on the attitude and position adjustment parameters, i.e., a grasping command is sent to the spreader control system. The specific steps of the entire process are as follows: Step 1: The parameters of the grab command include the rotation angle. Distance of movement and distance traveled In this embodiment of the invention, the height of the lifting device is set to a fixed value. Check the rotation angle. Whether it is within the allowable rotation angle range (e.g., 0°~360°), and the distance traveled. and Check if the movement is within the spreader's travel range. If any parameter exceeds the preset range, an error message will be issued, the grabbing operation will be terminated, and an error message will be returned.
[0058] Step 2: Reconfirm the battery position using sensors or a vision system to ensure it matches the movement coordinates obtained in step S3, guaranteeing accurate battery positioning. Check for obstacles or other interfering factors around the lifting device to ensure it does not collide with other components during movement and gripping, thus ensuring operational safety.
[0059] Step 3: Send a gripping command to the lifting device control system (such as a PLC) via the industrial bus. The command includes the rotation angle. Distance of movement and Parameters such as rotation angle, travel distance, and gripping action are monitored in real time using the Modbus / TCP protocol to ensure the spreader executes instructions accurately. If any abnormality occurs during operation, an alarm is issued promptly and appropriate safety measures are taken.
[0060] In this invention, vehicle battery positioning and grasping is achieved by using radar scanning of the battery's side to acquire position information. Radar does not rely on supplementary lighting equipment, and can stably collect data even in industrial environments with unstable lighting and high dust levels, effectively avoiding positioning deviations caused by environmental interference common with traditional cameras. For the effective position points acquired through scanning, principal component analysis is used for fitting, accurately generating a fitted line reflecting the actual contour trend of the battery, eliminating the influence of single outliers on positioning, and reducing data deviation. In the subsequent PLC coordinate transformation step, the offsets in the X and Y axes are calculated using sine and cosine functions, respectively, based on the vehicle battery width parameter and the lifting device rotation angle. This not only accurately compensates for positioning deviations caused by battery width and lifting device rotation but also corrects the initial position offset of the lifting device, ensuring that the lifting device can accurately align with the battery grasping point, fundamentally avoiding grasping offset problems. Simultaneously, radar scanning and principal component analysis fitting do not require complex image processing procedures; the PLC coordinate transformation can directly output the lifting device's movement coordinates, enabling rapid control of the lifting device's position adjustment and significantly shortening the positioning and grasping cycle. Furthermore, based on the offset calculation of the battery width, width parameters can be simultaneously provided to the lifting device, assisting it in adaptively adjusting the clamping force to avoid battery detachment due to excessively loose clamping or battery damage due to excessively tight clamping. Through this design, the lifting device can accurately move to the target position according to instructions to complete the battery grabbing operation. Experimental verification shows that the positioning accuracy can reach ±2mm, fully meeting the requirements for grabbing accuracy in industrial scenarios. Therefore, the method described in this embodiment improves the positioning accuracy of vehicle battery swapping, shortens the swapping time, and thus effectively improves the automated grabbing efficiency of vehicle batteries.
[0061] Example 2: Based on the same inventive concept, this embodiment provides a vehicle battery grabbing system based on radar positioning. The principle of solving the problem is similar to that of the vehicle battery grabbing method based on radar positioning provided in Embodiment 1, and the repeated parts will not be described again.
[0062] Reference Figure 4 As shown, this embodiment provides a vehicle battery grasping system based on radar positioning, used to implement the vehicle battery grasping method based on radar positioning described in Embodiment 1, including: The scanning module is used to scan the sides of the vehicle battery using radar to obtain a set of location points; The calculation module is used to calculate the centroid coordinates of the set of location points and to calculate the distance between the coordinates of each point in the set of location points and the centroid coordinates. The judgment module is used to determine whether each spacing exceeds the preset range. If the current spacing exceeds the preset range, the current point is deleted until the spacing of all remaining points in the location point set is within the preset range, thus obtaining a valid location point set. The fitting module is used to fit the set of valid location points to obtain a fitted line; The grasping module is used to select target points from the fitted line, calculate the attitude and position adjustment parameters of the grasping device based on the target points, and grasp the vehicle battery based on the attitude and position adjustment parameters.
[0063] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0064] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0065] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0066] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0067] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.
Claims
1. A vehicle battery grasping method based on radar positioning, characterized in that, include: S1. Use radar to scan the side of the vehicle battery to obtain a set of location points; S2. Calculate the centroid coordinates of the set of location points, and calculate the distance between the coordinates of each point in the set of location points and the centroid coordinates; S3. Determine whether each of the distances exceeds the preset range. If the current distance exceeds the preset range, delete the current point until the distances of all remaining points in the location point set are within the preset range, and obtain a valid location point set. S4. Fit the set of effective location points to obtain a fitting line; S5. Select a target point from the fitted line, calculate the attitude position adjustment parameters of the gripping device based on the target point, and grip the vehicle battery according to the attitude position adjustment parameters.
2. The vehicle battery grasping method based on radar positioning according to claim 1, characterized in that, The step S1, which involves scanning the side of the vehicle battery with radar to obtain a set of location points, is as follows: Point the radar directly at the vehicle battery and use the radar to scan the side of the vehicle battery to obtain a location dataset. The location dataset is first filtered according to a preset angle range to obtain a preprocessed location dataset; The preprocessed location dataset is filtered a second time to obtain a set of location points; The second filtering step involves: deleting discontinuous isolated points in the preprocessed location dataset; and removing location points other than the vehicle battery body according to a preset distance standard to obtain the location point set.
3. The vehicle battery grasping method based on radar positioning according to claim 1, characterized in that, S5, the step of calculating the attitude position adjustment parameters of the grasping device based on the target point, is as follows: The attitude position adjustment parameters include rotation angle and movement distance; wherein, the expression for calculating the rotation angle is: ; in, Indicates the rotation angle. This indicates the angle of deflection of the fitted line. When indicating the reference point mark, the angle between the side of the battery and the X-axis is shown. Indicates the proportional parameter; The coordinates of the target point are obtained. Based on the coordinates, the rotation angle, and the width of the vehicle battery, the moving distance of the gripping device is calculated to obtain the moving distance in the X direction and the moving distance in the Y direction of the gripping device.
4. The vehicle battery grasping method based on radar positioning according to claim 3, characterized in that, The steps for obtaining the coordinates of the target point, and calculating the moving distance of the gripping device based on the coordinates, the rotation angle, and the width of the vehicle battery, to obtain the moving distance of the gripping device in the X and Y directions, are as follows: Obtain the coordinates of the target point, wherein the coordinates include the X coordinate and the Y coordinate; Obtain the width of the vehicle battery; The X-direction movement distance of the gripping device is calculated based on the X-coordinate, the width, and the rotation angle; the Y-direction movement distance of the gripping device is calculated based on the Y-coordinate, the width, and the rotation angle.
5. The vehicle battery grasping method based on radar positioning according to claim 4, characterized in that, Based on the X coordinate, the width, and the rotation angle, the expression for calculating the X-direction movement distance of the gripping device is as follows: ; in, This indicates the distance the gripping device moves in the X direction. This represents the real-time X-coordinate of the target point of the fitted line; This indicates the X-coordinate of the location marked on the side of the vehicle battery. Indicates the width of the vehicle battery. This indicates the rotation angle of the gripping device.
6. The vehicle battery grasping method based on radar positioning according to claim 4, characterized in that, Based on the Y-coordinate, the width, and the rotation angle, the expression for calculating the Y-direction movement distance of the gripping device is as follows: ; in, This indicates the distance the gripping device moves in the Y direction. This represents the real-time Y-coordinate of the target point of the fitted line; This indicates the Y-coordinate of the location marked on the side of the vehicle battery. Indicates the width of the vehicle battery. This indicates the rotation angle of the gripping device.
7. The vehicle battery grasping method based on radar positioning according to claim 1, characterized in that, The step S4, which involves fitting the effective set of location points to obtain a fitted line, is as follows: The set of valid location points includes multiple valid location points, and each valid location point includes a first coordinate and a second coordinate; traverse all valid location points, and calculate the first accumulated value of the first coordinate, the second accumulated value of the second coordinate, the third accumulated value of the square of the first coordinate, the fourth accumulated value of the square of the second coordinate, and the fifth accumulated value of the product of the first coordinate and the second coordinate for each valid location point; The first centroid coordinates and the second centroid coordinates are calculated based on the total number of valid position points, the first accumulated value, and the second accumulated value. Calculate the angle of the fitted line based on the first accumulated value, the second accumulated value, the third accumulated value, the fourth accumulated value, and the fifth accumulated value; obtain the minimum and maximum values of the projected scalar based on the angle of the fitted line and by traversing all the valid position points. Based on the minimum value, the maximum value, the first centroid coordinates, and the second centroid coordinates, the starting point and the ending point of the fitted line are obtained; based on the starting point and the ending point, the set of effective position points is fitted to obtain the fitted line.
8. The vehicle battery grasping method based on radar positioning according to claim 7, characterized in that, The expression for calculating the angle between the fitted lines is: ; ; ; ; in, Indicates the angle between the fitted lines; This represents the third accumulated value. This represents the fourth accumulated value. This represents the fifth accumulated value; and These represent the first accumulated value and the second accumulated value, respectively. This represents the total number of valid location points. Represents the arctangent function. and Represents a constant.
9. A vehicle battery grasping method based on radar positioning according to claim 7, characterized in that, The calculation expression for the projection scalar is: ； ； ； in, Represents a projected scalar. and These represent the first and second coordinates of the valid location point, respectively. Indicates the coordinates of the first centroid. Indicates the coordinates of the second barycenter. This indicates the angle between the fitted lines.
10. A vehicle battery grasping system based on radar positioning, used to implement the vehicle battery grasping method based on radar positioning as described in any one of claims 1 to 9, characterized in that, include: The scanning module is used to scan the sides of the vehicle battery using radar to obtain a set of location points; The calculation module is used to calculate the centroid coordinates of the set of location points, and to calculate the distance between the coordinates of each point in the set of location points and the centroid coordinates; The judgment module is used to determine whether each of the spacings exceeds a preset range. If the current spacing exceeds the preset range, the current point is deleted until the spacing of all remaining points in the location point set is within the preset range, thus obtaining a valid location point set. The fitting module is used to fit the set of effective location points to obtain a fitting line; The grasping module is used to select a target point from the fitted line, calculate the attitude position adjustment parameters of the grasping device based on the target point, and grasp the vehicle battery according to the attitude position adjustment parameters.