Attitude adjustment method, attitude adjustment apparatus, control device, and storage medium

Abstract

An attitude adjustment method, comprising: controlling a battery-swapping device to move to a projection area of a battery to be swapped of a target device on the ground; acquiring attitude information of said battery by means of a distance-measuring sensor on the battery-swapping device; and adjusting the attitude of the battery-swapping device according to the attitude information of said battery until the attitude of the battery-swapping device is matched with the attitude information of said battery. The solution of the present application is conducive to implementing compatible swapping of batteries of different electric vehicles in a battery-swapping station. In addition, the present application further relates to an attitude adjustment apparatus, a control device, and a storage medium.

Description

A posture adjustment method, posture adjustment device, control device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 13, 2023, with application number 202310696526.7 and invention name “A posture adjustment method, posture adjustment device, control device and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of battery replacement technology, and in particular relates to a posture adjustment method, a posture adjustment device, a control device and a computer-readable storage medium. Background Art

[0003] To ensure the endurance of electric vehicles, battery swapping has become a mainstream energy supply model. However, the batteries of different electric vehicles often have different states due to various external factors, which poses certain challenges for battery swapping operations for different electric vehicles at battery swapping stations.

[0004] Application Contents

[0005] The present application provides a posture adjustment method, a posture adjustment device, a control device and a computer-readable storage medium, which help to achieve compatible replacement of batteries of different electric vehicles at battery swap stations.

[0006] In a first aspect, the present application provides a posture adjustment method, comprising:

[0007] Control the battery swap device to move to the projection area of ​​the target device's battery to be replaced on the ground;

[0008] Obtain the posture information of the battery to be replaced through the ranging sensor on the battery replacement device;

[0009] Adjust the posture of the battery swapping device according to the posture information of the battery to be replaced until the posture of the battery swapping device matches the posture information of the battery to be replaced.

[0010] In a second aspect, the present application provides a posture adjustment device, comprising:

[0011] The mobile module is used to control the battery swap device to move to the projection area of ​​the battery to be replaced on the ground of the target device;

[0012] An acquisition module is used to obtain the posture information of the battery to be replaced through the ranging sensor on the battery replacement device;

[0013] The adjustment module is used to adjust the posture of the battery swapping device according to the posture information of the battery to be replaced until the posture of the battery swapping device matches the posture information of the battery to be replaced.

[0014] In a third aspect, the present application provides a control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method of the first aspect is implemented.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method of the first aspect is implemented.

[0016] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, it implements the method of the first aspect.

[0017] Compared with the prior art, the present application has the following beneficial effects: in order to accurately realize the battery replacement operation of batteries with different postures, the present application can first control the battery replacement equipment to move to the projection area of ​​the battery to be replaced on the ground of the target device, so that the battery replacement equipment is directly below the battery to be replaced. In this way, the battery replacement equipment can observe the battery to be replaced well from directly below the battery to be replaced through its ranging sensor, thereby obtaining the posture information of the battery to be replaced. Finally, the present application adjusts the posture of the battery replacement equipment based on the posture information of the battery to be replaced, so that the posture of the battery replacement equipment can match the posture information of the battery to be replaced, that is, the posture of the battery replacement equipment matches the posture of the battery to be replaced. When the postures of the two match, the battery replacement equipment can be smoothly docked with the battery to be replaced, and the battery to be replaced can be quickly disassembled and replaced. Through the above process, no matter what posture the battery to be replaced has on the target device, the battery replacement equipment of the battery replacement station can replace it, realizing the compatible replacement of batteries of different electric vehicles at the battery replacement station.

[0018] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] FIG1 is a schematic diagram of an implementation flow of a posture adjustment method provided in an embodiment of the present application;

[0021] FIG2 is a schematic diagram of obtaining posture information of a battery to be replaced by a ranging sensor in a posture adjustment method provided by an embodiment of the present application;

[0022] FIG3 is a structural block diagram of a posture adjustment device provided in an embodiment of the present application;

[0023] FIG4 is a schematic diagram of the structure of the control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0026] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0027] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0029] In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), unless otherwise clearly and specifically defined.

[0030] Currently, batteries are increasingly being used in a wide range of applications. They are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but also in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, and even in military equipment and aerospace. As battery applications continue to expand, market demand is also growing.

[0031] In recent years, battery swapping has emerged as a new energy source for electric vehicle batteries, in addition to the traditional plug-in charging model. This model has garnered significant attention due to its advantages over plug-in charging in terms of convenience and cost, given that battery swapping takes significantly less time than charging and that the batteries being swapped are leased.

[0032] However, due to differences in the design of different electric vehicles, the battery postures of different electric vehicles often vary. In addition, even for the same electric vehicle, different load states will lead to different vehicle postures (for example, electric heavy trucks will exhibit different vehicle tilt angles when fully loaded and unloaded), which in turn leads to different battery postures. In other words, the posture of an electric vehicle's battery will vary depending on the vehicle model and the vehicle's load state, which poses certain challenges to the battery swapping operations of electric vehicles at battery swap stations.

[0033] Based on the above considerations, an embodiment of the present application proposes a posture adjustment method. After the battery-exchange device moves to the projection area of ​​the battery to be replaced on the ground, it will not start the battery-exchange operation directly, but will first obtain the posture information of the battery to be replaced in space. According to this posture information, the battery-exchange device will also adjust its own posture so that its own posture can eventually match the posture information of the battery to be replaced, thereby ensuring that the battery-exchange device can be smoothly docked with the battery to be replaced, and realize the rapid disassembly and replacement of the battery to be replaced. In order to illustrate the technical solution proposed in the embodiment of the present application, it will be explained through specific embodiments below.

[0034] The following describes a posture adjustment method provided in an embodiment of the present application. The posture adjustment method can be applied to a control device. As an example only, the control device may include but is not limited to: a non-independent device integrated in a battery swap device, or an independent device that establishes a communication connection with the battery swap device. Please refer to Figure 1. The posture adjustment method in the embodiment of the present application includes:

[0035] Step 101, control the battery exchange device to move to the projection area of ​​the battery to be replaced of the target device on the ground.

[0036] A target device is a device that currently needs a battery replacement, meaning its battery is currently low. For example, at a battery swap station for electric vehicles, when an electric vehicle enters the station, that electric vehicle becomes the target device, and its battery becomes the battery to be replaced.

[0037] Since batteries are generally heavy, battery swapping operations often need to rely on mechanical battery swapping equipment. Just as an example, the more mainstream battery swapping equipment is generally a battery swapping cart, such as a rail guide vehicle (RGV). When the target device is parked at the battery swapping position designated by the battery swapping station, the control device can control the battery swapping equipment to move to the projection area of ​​the battery to be replaced on the ground of the target device. Specifically, the projection area refers to the positive projection area of ​​the battery to be replaced on the ground. It can be understood from this that the projection area of ​​the battery to be replaced on the ground actually refers to the area directly below the battery to be replaced.

[0038] In some embodiments, during the process of the battery-exchange device moving toward the positive projection area of ​​the battery to be replaced on the ground, the battery-exchange device can position itself in real time, and its positioning result represents the positive projection area of ​​the battery-exchange device on the ground. In this way, the control device can determine whether the overlap rate of the positive projection area of ​​the battery-exchange device on the ground and the positive projection area of ​​the battery to be replaced on the ground meets the preset in-place condition; once the in-place condition is met, it is considered that the battery-exchange device has basically moved to the positive projection area of ​​the battery to be replaced on the ground, and the control device can control the battery-exchange device to stop moving, so that the battery-exchange device stops steadily in the positive projection area of ​​the battery to be replaced on the ground. Taking into account factors such as command sending delay and inertia, as an example only, the in-place condition can be: the overlap rate reaches a preset overlap rate threshold, such as 80%.

[0039] Step 102: Obtain the posture information of the battery to be replaced through the ranging sensor on the battery replacement device.

[0040] When the battery swap device has stopped firmly in the projection area of ​​the battery to be replaced on the ground, the control device can trigger the battery swap device to detect the posture of the battery to be replaced, thereby obtaining the posture information of the battery to be replaced. Specifically, the posture detection can be achieved by relying on the sensors carried by the battery swap device.

[0041] As an example only, the sensor includes but is not limited to a visual sensor and a ranging sensor; wherein the visual sensor can be a binocular camera or a depth camera, etc.; the ranging sensor can be an infrared ranging sensor, a laser ranging sensor or an ultrasonic ranging sensor, etc. The embodiment of the present application does not limit the type of the sensor.

[0042] Step 103: Adjust the posture of the battery swapping device according to the posture information of the battery to be replaced until the posture of the battery swapping device matches the posture information of the battery to be replaced.

[0043] After obtaining the posture information of the battery to be replaced, the control device can control the battery swap device to adjust its own posture. The purpose of this adjustment is to make the posture of the battery swap device match the posture information of the battery to be replaced, that is, to match the posture of the battery swap device with that of the battery to be replaced. Specifically, the control device can generate a corresponding posture adjustment instruction based on the difference between the posture information of the battery to be replaced and the initial posture of the battery swap device, and adjust the posture of the battery swap device based on the posture adjustment instruction until the posture of the battery swap device matches that of the battery to be replaced.

[0044] It can be understood that when the posture of the battery swap device matches that of the battery to be replaced, it can be considered that the battery swap device has been aligned with the battery to be replaced, that is, the battery swap device has completed the preparation for battery replacement; at this time, the battery swap device can start to dock with the battery to be replaced based on its current posture, and remove the bolts and other mounting parts of the battery to be replaced, thereby successfully removing the battery to be replaced from the target device.

[0045] Furthermore, if the battery to be replaced is successfully removed and the battery swap device has taken a new battery, the battery swap device can continue to install the new battery according to the posture it used when removing the battery to be replaced. That is, the control device can record the posture information of the battery swap device when it matches the posture information of the battery to be replaced. Subsequently, whether it is removing the battery to be replaced or installing a new battery for the current target device, the battery swap device can be controlled to work based on the recorded posture information.

[0046] In some embodiments, it can be understood that the device shape of the battery swap device is usually approximately a rectangular parallelepiped. Based on this device shape, in order to achieve accurate posture detection of the battery to be replaced, the ranging sensor can be set on a plane other than the lower plane of the battery swap device, as long as the ranging device is not blocked by other device components of the battery swap device. Just as an example, in the case where there is only one ranging sensor, the ranging sensor can be set on the upper plane of the battery swap device, or on the side plane of the ranging device; in the case where there are two or more ranging sensors, the ranging sensors can all be set on the upper plane of the battery swap device, or all be set on the side plane of the battery swap device, or partly be set on the upper plane of the battery swap device, and partly be set on the side plane of the battery swap device. When the control device determines that the battery swap device has moved to the projection area of ​​the battery to be replaced on the ground based on the positioning result of the battery swap device, the control device can trigger the ranging sensor to start working.

[0047] In some embodiments, considering that the shape of the battery is usually approximately a rectangular parallelepiped, the posture information of the battery to be replaced that the control device is concerned about may actually be equivalent to the posture information of the lower plane of the battery to be replaced. In some examples, the posture information can be represented by a posture angle, and the posture angle of the lower plane of the battery to be replaced can be considered to be the posture angle of the battery to be replaced; wherein, the posture angle of the lower plane of the battery to be replaced specifically refers to: the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery replacement device. That is, in the embodiment of the present application, the posture information of the battery to be replaced includes: the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery replacement device.

[0048] According to geometric knowledge, three points determine a plane. Therefore, in the embodiment of the present application, the control device needs to obtain at least three ranging points for the lower plane of the battery to be replaced through the ranging sensor, so as to accurately obtain the posture information of the lower plane of the battery to be replaced, that is, the posture information of the battery to be replaced.

[0049] In one application scenario, in order to reduce the amount of calculation during posture detection, there may be at least three ranging sensors set on the upper plane of the battery exchange device, wherein the measuring direction of each ranging sensor is perpendicular to the upper plane of the battery exchange device; that is, for each ranging sensor, it measures upward perpendicular to the upper plane of the battery exchange device. In order to ensure that the corresponding ranging points can form a plane, any three of the at least three ranging sensors may not be in the same straight line. And, in order to ensure the accuracy of the measurement results, the ranging sensors used may be of the same model, and their measurement errors may be at the millimeter level. Based on the ranging sensors set up in this way, the control device can measure the posture of the battery to be replaced in the following way:

[0050] A1. Use various distance measuring sensors to measure the lower plane of the battery to be replaced to obtain at least three distance measurement values.

[0051] Generally speaking, in the default state, the upper plane of the battery swap device is parallel or approximately parallel to the ground. Since the battery swap device has been moved to the projection area of ​​the battery to be replaced on the ground, and the ranging sensor is measuring upward perpendicular to the upper plane of the battery swap device, the ranging sensor will actually mark the ranging point on the lower plane of the battery to be replaced; that is, according to the position of the battery swap device and the measurement direction of the ranging sensor, it can be known that the ranging sensor actually measures the distance between the lower plane of the battery to be replaced and the ranging sensor.

[0052] It can be understood that each distance measuring sensor can measure a corresponding distance measuring value; therefore, when there are at least three distance measuring sensors, the control device can correspondingly obtain at least three distance measuring values.

[0053] A2. Calculate the posture information of the battery to be replaced based on the distance measurement values ​​and the position information of each distance measurement sensor.

[0054] The position information of the ranging sensor may include the distance information between each ranging sensor and other ranging sensors, and may also include the coordinate information of each ranging sensor in the plane coordinate system of the upper plane of the battery swap device. This embodiment of the present application does not limit this. Based on the position information of each ranging sensor and the ranging value measured by each ranging sensor, the control device can calculate the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery swap device, thereby obtaining the posture information of the battery to be replaced.

[0055] To reduce the amount of computation and hardware costs, the number of ranging sensors can be set to three. In this case, the control device can calculate the posture information of the battery to be replaced based on the ranging value and the position information of the ranging sensors in the following way:

[0056] B1. Determine the coordinates of each ranging point on the lower plane of the battery to be replaced in a specified coordinate system based on the ranging values ​​corresponding to each ranging sensor and the position information of each ranging sensor.

[0057] Among them, the designated coordinate system refers to: a spatial coordinate system established based on the upper plane of the initial battery swap device and any ranging sensor. It can be understood that the designated coordinate system is to first establish a plane coordinate system on the upper plane of the battery swap device with any ranging sensor as the origin; and then, on the basis of the plane coordinate system, a Z axis perpendicular to the plane coordinate system is added (that is, the measurement direction of the ranging sensor corresponding to the origin is the Z axis), and the spatial coordinate system thus obtained is the designated coordinate system. It can be understood that the upper plane of the initial battery swap device described above is actually the XY plane of the designated coordinate system; that is, the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery swap device refers to the angle between the lower plane of the battery to be replaced and the XY plane.

[0058] Since the position information of each ranging sensor is known, and the designated coordinate system is a spatial coordinate system established based on the upper plane of the battery exchange device and any ranging sensor, the control device can determine the coordinates of each ranging sensor in the designated coordinate system according to the position information of each ranging sensor (wherein the Z coordinate of each ranging sensor is 0); and since the Z axis of the designated coordinate system is actually parallel to the measurement direction of each ranging sensor, it is only necessary to replace the Z coordinate in the coordinates of each ranging sensor from 0 to the corresponding ranging value to obtain the coordinates of the ranging point corresponding to each ranging sensor in the designated coordinate system.

[0059] In some embodiments, for ease of calculation, the position distribution of the three ranging sensors on the upper plane of the battery exchange device can be presented as a right triangle; that is, when designing the hardware structure of the battery exchange device, the position of the ranging sensor on the upper plane of the battery exchange device can be set based on the position distribution of the right triangle.

[0060] In some embodiments, to improve the accuracy of posture detection, the distance between any two ranging sensors may be greater than a preset distance, where the preset distance is set based on the side length of the upper plane of the battery swapping device. As an example only, the preset distance may be half of the short side of the upper plane of the battery swapping device. Of course, the preset distance may also be set in other ways, which are not limited here.

[0061] B2. Calculate the normal vector of the lower plane of the battery to be replaced in the specified coordinate system based on the coordinates of each ranging point in the specified coordinate system.

[0062] The three ranging points can be grouped in pairs, thus forming three vectors. The control device can arbitrarily select two vectors from the three vectors to calculate the normal vector of the lower plane of the battery to be replaced in the specified coordinate system. For the sake of convenience, the two vectors used to calculate the normal vector can be recorded as the first vector and the second vector respectively, then: the dot product of the first vector and the normal vector is zero, and the dot product of the second vector and the normal vector is also zero. Since the coordinates of the three ranging points in the specified coordinate system are known, the first vector and the second vector can be obtained according to the coordinates, and the normal vector can be obtained on this basis. Since the normal vector of the upper plane of the initial battery exchange device can be expressed as the unit vector of the Z axis of the specified coordinate system, the posture information of the battery to be replaced (that is, the angle between the lower plane of the battery to be replaced and the XY plane) can be represented by the unit vector and the normal vector calculated in this step.

[0063] It should be noted that, in the process of adjusting the posture of the battery swap device, the specified coordinate system remains unchanged in space. It can be understood that the posture of the battery swap device matches the posture information of the battery to be replaced, which actually means that the upper plane of the battery swap device is parallel to the lower plane of the battery to be replaced. Therefore, in step 103, the angle between the lower plane of the battery to be replaced and the upper plane of the initial battery swap device can be determined by the normal vector of the lower plane of the battery to be replaced and the normal vector of the upper plane of the initial battery swap device (that is, the unit vector of the Z axis); the control device can thereby adjust the posture of the battery swap device. During this adjustment process, the normal vector of the lower plane of the battery to be replaced remains unchanged, but the normal vector of the upper plane of the battery swap device is continuously updated due to adjustment. When the normal vector of the upper plane of the battery swap device is adjusted to be parallel or approximately parallel to the normal vector of the lower plane of the battery to be replaced, it can be known that the upper plane of the battery swap device and the lower plane of the battery to be replaced are parallel or approximately parallel, that is, the posture of the battery swap device has matched the posture information of the battery to be replaced. In the process of adjusting the posture of the battery swapping device, the distance measuring sensor corresponding to the origin can be adjusted as the center point (that is, the distance measuring sensor can be the fulcrum for adjustment) to avoid the position of the distance measuring sensor in space from changing, thereby achieving orderly adjustment of the posture of the battery swapping device.

[0064] Of course, in the process of adjusting the posture of the battery swap device, the control device can also determine whether the posture of the battery swap device matches the posture information of the battery to be replaced by other means. For example, when the ranging values ​​measured by each ranging sensor are equal, it can be determined that the posture of the battery swap device and the posture information of the battery to be replaced have matched. This embodiment of the application will not be further described in detail.

[0065] Please refer to Figure 2, which shows an example of obtaining the posture information of the battery to be replaced by the distance measuring sensor in the initial posture of the battery replacement device. In Figure 2, the black dots a, b, and c respectively represent the three distance measuring sensors set on the upper plane of the battery replacement device, wherein ab and ac are at right angles, that is, the distance measuring sensors a, b, and c form a right triangle with ∠a as a right angle; the black dots a', b', and c' respectively represent the corresponding distance measuring points when the distance measuring sensors a, b, and c measure the lower plane of the battery to be replaced; h1, h2, and h3 respectively represent the distance values ​​of the distance measuring sensors a, b, and c, that is, the distances between the distance measuring sensors a, b, and c and the corresponding distance measuring points a', b', and c'; the distance between the distance measuring sensors a and b is L1, the distance between the distance measuring sensors a and c is L2, and the distance between the distance measuring sensors b and c is L3.

[0066] Construct a specified coordinate system with sensor a as the origin, the direction of sensor a pointing toward sensor b as the positive Y-axis direction, the direction of sensor a pointing toward sensor c as the positive X-axis direction, and the measurement direction of sensor a as the positive Z-axis direction. The coordinates of sensor a are (0, 0, 0), sensor b are (0, L1, 0), sensor c are (L2, 0, 0), point a' is (0, 0, h1), point b' is (0, L1, h2), and point c' is (L2, 0, h3).

[0067] The plane formed by the distance measurement points a', b' and c' is the lower plane of the battery to be replaced. According to the coordinates of the distance measurement points a', b' and c', the vector is (0,L1,h2-h1), vector = (L2,0,h3-h1). The normal vector of the lower plane of the battery to be replaced is According to and Can be found

[0068] In another application scenario, in order to save the hardware cost of the battery replacement equipment to the greatest extent, the number of ranging sensors can be set to one. Among them, the measuring direction of the ranging sensor is not fixed, that is, its measuring direction can be controlled and adjusted. In order to ensure the accuracy of the measurement results, the measurement error of the ranging sensor can be at the millimeter level. Based on the ranging sensor set up in this way, the control device can measure the posture of the battery to be replaced in the following way:

[0069] C1. Control the distance measuring sensor to measure the lower plane of the battery to be replaced in at least three different distance measuring directions to obtain at least three distance measuring values.

[0070] To ensure measurement accuracy and precision, any three different ranging directions should not lie in the same plane. This way, the ranging points corresponding to any three different ranging directions on the lower plane of the battery to be replaced will not lie in the same straight line. This ensures that the resulting ranging points fully and accurately represent the lower plane of the battery to be replaced.

[0071] C2. Calculate the posture information of the battery to be replaced based on each ranging value, the ranging direction corresponding to each ranging value, and the position information of the ranging sensor.

[0072] Similar to the previous article, the control device can establish a specified coordinate system, which is still a spatial coordinate system based on the upper plane of the initial battery exchange device and the ranging sensor. It can be seen that the ranging sensor is at the origin of the specified coordinate system. According to each ranging value and the ranging direction corresponding to each ranging value, the control device can determine the coordinates of the ranging point corresponding to each ranging direction based on spatial geometry knowledge. Based on the coordinates of each ranging point, the control device can obtain the normal vector of the lower plane of the battery to be replaced to represent the posture information of the battery to be replaced, which will not be repeated here.

[0073] As can be seen from the above, in the embodiment of the present application, in order to accurately realize the battery replacement operation of batteries with different postures, the control device can first control the battery replacement device to move to the projection area of ​​the battery to be replaced of the target device on the ground, so that the battery replacement device is directly below the battery to be replaced. In this way, the battery replacement device can observe the battery to be replaced very well from directly below the battery to be replaced, thereby obtaining the posture information of the battery to be replaced. Finally, the control device adjusts the posture of the battery replacement device based on the posture information of the battery to be replaced, so that the posture of the battery replacement device can match the posture information of the battery to be replaced, that is, the posture of the battery replacement device matches the posture of the battery to be replaced. When the postures of the two match, the battery replacement device can be smoothly docked with the battery to be replaced, and the battery to be replaced can be quickly disassembled and replaced. Through the above process, no matter what posture the battery to be replaced has on the target device, the battery replacement equipment of the battery replacement station can replace it, realizing the compatible replacement of batteries of different electric vehicles at the battery replacement station.

[0074] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0075] Corresponding to the posture adjustment method provided above, the embodiment of the present application further provides a posture adjustment device. Referring to FIG3 , the posture adjustment device 3 in the embodiment of the present application includes:

[0076] The moving module 301 is used to control the battery swapping device to move to the projection area of ​​the battery to be replaced of the target device on the ground;

[0077] An acquisition module 302 is configured to acquire the posture information of the battery to be replaced through a distance measuring sensor on the battery replacement device;

[0078] The adjustment module 303 is used to adjust the posture of the battery swap device according to the posture information of the battery to be replaced until the posture of the battery swap device matches the posture information of the battery to be replaced.

[0079] In some embodiments, the ranging sensor is arranged on a plane other than the lower plane of the battery exchange device.

[0080] In some embodiments, the number of ranging sensors is at least three, all ranging sensors are arranged on the upper plane of the battery swapping device, and the measuring direction of each ranging sensor is perpendicular to the upper plane of the battery swapping device; the acquisition module 302 includes:

[0081] A first measuring unit is configured to obtain at least three ranging values ​​by measuring the lower plane of the battery to be replaced using various ranging sensors;

[0082] The second calculation unit is used to calculate the posture information of the battery to be replaced based on each ranging value and the position information of each ranging sensor.

[0083] In some embodiments, the computing unit includes:

[0084] A coordinate determination subunit is used to determine the coordinates of each ranging point on the lower plane of the battery to be replaced in a specified coordinate system based on the ranging values ​​corresponding to each ranging sensor and the position information of each ranging sensor when there are three ranging sensors. The specified coordinate system is a spatial coordinate system established based on the upper plane of the battery swapping device and any ranging sensor;

[0085] The normal vector calculation subunit is used to calculate the normal vector of the lower plane of the battery to be replaced in the specified coordinate system based on the coordinates of each ranging point in the specified coordinate system. The normal vector is used to represent the posture information of the battery to be replaced.

[0086] In some embodiments, when the number of ranging sensors is three, the position distribution of the ranging sensors on the upper plane of the battery exchange device is presented as a right triangle.

[0087] In some embodiments, when the number of ranging sensors is three, the distance between any two ranging sensors is greater than a preset distance, and the preset distance is set according to the side length of the upper plane of the battery exchange device.

[0088] In some embodiments, the number of the ranging sensor is one, and the acquisition module 302 includes:

[0089] A second measuring unit is used to control the ranging sensor to measure the lower plane of the battery to be replaced in at least three different ranging directions to obtain at least three ranging values;

[0090] The second calculation unit is used to calculate the posture information of the battery to be replaced based on each ranging value, the ranging direction corresponding to each ranging value and the position information of the ranging sensor.

[0091] As can be seen from the above, in the embodiment of the present application, in order to accurately realize the battery replacement operation of batteries with different postures, the posture adjustment device can first control the battery replacement equipment to move to the projection area of ​​the battery to be replaced of the target device on the ground, so that the battery replacement equipment is directly below the battery to be replaced. In this way, the battery replacement equipment can observe the battery to be replaced well from directly below the battery to be replaced through its ranging sensor, thereby obtaining the posture information of the battery to be replaced. Finally, the posture adjustment device adjusts the posture of the battery replacement equipment based on the posture information of the battery to be replaced, so that the posture of the battery replacement equipment can match the posture information of the battery to be replaced, that is, the posture of the battery replacement equipment matches the posture of the battery to be replaced. When the postures of the two match, the battery replacement equipment can be smoothly docked with the battery to be replaced, and the battery to be replaced can be quickly disassembled and replaced. Through the above process, no matter what posture the battery to be replaced has on the target device, the battery replacement equipment of the battery replacement station can replace it, realizing the compatible replacement of batteries of different electric vehicles at the battery replacement station.

[0092] Corresponding to the posture adjustment method provided above, an embodiment of the present application further provides a control device. Referring to Figure 4, the control device 4 in the embodiment of the present application includes: a memory 401, one or more processors 402 (only one is shown in Figure 4) and a computer program stored in the memory 401 and executable on the processor. Among them: the memory 401 is used to store software programs and modules, and the processor 402 executes various functional applications and data processing by running the software programs and units stored in the memory 401 to obtain the resources corresponding to the above-mentioned preset events. Specifically, the processor 402 implements the following steps when running the above-mentioned computer program stored in the memory 401:

[0093] Control the battery swap device to move to the projection area of ​​the target device's battery to be replaced on the ground;

[0094] Obtain the posture information of the battery to be replaced through the ranging sensor on the battery replacement device;

[0095] Adjust the posture of the battery swapping device according to the posture information of the battery to be replaced until the posture of the battery swapping device matches the posture information of the battery to be replaced.

[0096] Assuming that the above is the first possible implementation, in a second possible implementation provided on the basis of the first possible implementation, the ranging sensor is arranged on a plane other than the lower plane of the battery exchange device.

[0097] In a third possible implementation provided on the basis of the second possible implementation, the number of ranging sensors is at least three, all ranging sensors are arranged on the upper plane of the battery swapping device, and the measuring direction of each ranging sensor is perpendicular to the upper plane of the battery swapping device; obtaining the posture of the battery to be replaced by the ranging sensor on the battery swapping device includes:

[0098] At least three ranging values ​​are obtained by measuring the lower plane of the battery to be replaced by each ranging sensor;

[0099] The posture information of the battery to be replaced is calculated based on the distance measurement values ​​and the position information of each distance measurement sensor.

[0100] In a fourth possible implementation provided as a basis for the third possible implementation, when there are three ranging sensors, calculating the posture information of the battery to be replaced based on each ranging value and the position information of each ranging sensor includes:

[0101] According to the ranging values ​​corresponding to each ranging sensor and the position information of each ranging sensor, the coordinates of each ranging point on the lower plane of the battery to be replaced in the specified coordinate system are determined. The specified coordinate system is a spatial coordinate system established based on the upper plane of the battery replacement device and any ranging sensor;

[0102] According to the coordinates of each ranging point in the specified coordinate system, the normal vector of the lower plane of the battery to be replaced in the specified coordinate system is calculated. The normal vector is used to represent the posture information of the battery to be replaced.

[0103] In the fifth possible implementation provided based on the third possible implementation described above, or based on the fourth possible implementation described above, when the number of ranging sensors is three, the position distribution of the ranging sensors on the upper plane of the battery exchange device is a right triangle.

[0104] In the sixth possible implementation provided based on the third possible implementation described above, or based on the fourth possible implementation described above, when the number of ranging sensors is three, the distance between any two ranging sensors is greater than a preset distance, and the preset distance is set according to the side length of the upper plane of the battery exchange device.

[0105] In a seventh possible implementation provided on the basis of the second possible implementation, the number of the ranging sensor is one, and the posture information of the battery to be replaced is obtained by the ranging sensor on the battery swapping device, including:

[0106] Controlling the ranging sensor to measure the lower plane of the battery to be replaced in at least three different ranging directions to obtain at least three ranging values;

[0107] The posture information of the battery to be replaced is calculated based on each ranging value, the ranging direction corresponding to each ranging value, and the position information of the ranging sensor.

[0108] It should be understood that in the embodiment of the present application, the processor 402 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0109] The memory 401 may include a read-only memory and a random access memory, and provides instructions and data to the processor 402. A portion or all of the memory 401 may also include a non-volatile random access memory. For example, the memory 401 may also store device type information.

[0110] As can be seen from the above, in the embodiment of the present application, in order to accurately realize the battery replacement operation of batteries with different postures, the control device can first control the battery replacement device to move to the projection area of ​​the battery to be replaced of the target device on the ground, so that the battery replacement device is directly below the battery to be replaced. In this way, the battery replacement device can observe the battery to be replaced well from directly below the battery to be replaced through its ranging sensor, thereby obtaining the posture information of the battery to be replaced. Finally, the control device adjusts the posture of the battery replacement device based on the posture information of the battery to be replaced, so that the posture of the battery replacement device can match the posture information of the battery to be replaced, that is, the posture of the battery replacement device matches the posture of the battery to be replaced. When the postures of the two match, the battery replacement device can be smoothly docked with the battery to be replaced, and the battery to be replaced can be quickly disassembled and replaced. Through the above process, no matter what posture the battery to be replaced has on the target device, the battery replacement equipment of the battery replacement station can replace it, realizing the compatible replacement of batteries of different electric vehicles at the battery replacement station.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0112] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0113] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of external device software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0114] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0115] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0116] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the associated hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The above-mentioned computer-readable storage medium may include: any entity or device that can carry the above-mentioned computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer-readable memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable storage media does not include electrical carrier signals and telecommunication signals.

[0117] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A posture adjustment method, characterized in that: include: Control the battery swapping device to move to the projection area of ​​the battery to be replaced on the ground of the target device; Acquiring the posture information of the battery to be replaced through the ranging sensor on the battery replacement device; Adjust the posture of the battery swap device according to the posture information of the battery to be replaced until the posture of the battery swap device matches the posture information of the battery to be replaced.

2. The posture adjustment method according to claim 1, characterized in that: The distance measuring sensor is arranged on a plane other than the lower plane of the battery exchange device.

3. The posture adjustment method according to claim 2, characterized in that: The number of the distance measuring sensors is at least three, all of the distance measuring sensors are arranged on the upper plane of the battery swapping device, and the measuring direction of each of the distance measuring sensors is perpendicular to the upper plane of the battery swapping device; The obtaining the posture information of the battery to be replaced by the ranging sensor on the battery replacement device includes: At least three ranging values ​​are obtained by measuring the lower plane of the battery to be replaced by each ranging sensor; The posture information of the battery to be replaced is calculated based on each of the distance measurement values ​​and the position information of each of the distance measurement sensors.

4. The posture adjustment method according to claim 3, characterized in that: In the case where the number of the distance measuring sensors is three, the step of calculating the posture information of the battery to be replaced according to each of the distance measuring values ​​and the position information of each of the distance measuring sensors includes: According to the ranging values ​​corresponding to each of the ranging sensors and the position information of each of the ranging sensors, the coordinates of each ranging point on the lower plane of the battery to be replaced in a specified coordinate system are determined, and the specified coordinate system is a spatial coordinate system established based on the upper plane of the battery replacement device and any of the ranging sensors; According to the coordinates of each ranging point in the designated coordinate system, the normal vector of the lower plane of the battery to be replaced in the designated coordinate system is calculated, and the normal vector is used to represent the posture information of the battery to be replaced.

5. The posture adjustment method according to claim 3 or 4, characterized in that: When the number of the distance measuring sensors is three, the position distribution of the distance measuring sensors on the upper plane of the battery exchange device presents a right triangle.

6. The posture adjustment method according to claim 3 or 4, characterized in that: When the number of the distance measuring sensors is three, the distance between any two of the distance measuring sensors is greater than a preset distance, and the preset distance is set according to the side length of the upper plane of the battery exchange device.

7. The posture adjustment method according to claim 2, characterized in that: The number of the distance measuring sensor is one, and the obtaining of the posture information of the battery to be replaced by the distance measuring sensor on the battery replacement device includes: Controlling the distance measuring sensor to measure the lower plane of the battery to be replaced in at least three different distance measuring directions to obtain at least three distance measuring values; The posture information of the battery to be replaced is calculated according to each of the ranging values, the ranging directions corresponding to each of the ranging values ​​and the position information of the ranging sensor.

8. A posture adjustment device, characterized in that: include: A mobile module, used to control the battery-swapping device to move to the projection area of ​​the battery to be replaced on the ground of the target device; An acquisition module, used to acquire the posture information of the battery to be replaced through a distance measuring sensor on the battery replacement device; An adjustment module is used to adjust the posture of the battery swap device according to the posture information of the battery to be replaced until the posture of the battery swap device matches the posture information of the battery to be replaced.

9. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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