CN109398328A - Vehicular battery changes electric localization method and device, electric charging station, controller and medium - Google Patents
Vehicular battery changes electric localization method and device, electric charging station, controller and medium Download PDFInfo
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- CN109398328A CN109398328A CN201811457409.0A CN201811457409A CN109398328A CN 109398328 A CN109398328 A CN 109398328A CN 201811457409 A CN201811457409 A CN 201811457409A CN 109398328 A CN109398328 A CN 109398328A
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- 230000004807 localization Effects 0.000 title claims abstract description 21
- 230000008569 process Effects 0.000 claims abstract description 47
- 230000008859 change Effects 0.000 claims abstract description 45
- 230000015572 biosynthetic process Effects 0.000 claims description 23
- 238000003786 synthesis reaction Methods 0.000 claims description 23
- 230000005611 electricity Effects 0.000 claims description 20
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- 238000001514 detection method Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
The present invention relates to a kind of Vehicular batteries to change electric localization method and device, electric charging station, controller and medium, which comprises obtains the position coordinates for currently changing that the electric stage presets battery replacement device, wherein changing electric process includes multiple changing the electric stage；By the position coordinates compared with the preset template position coordinate of the battery replacement device, output position offset coordinates；According to the position of the positional shift Coordinate Adjusting battery replacement device.The present invention realizes that Vehicular battery changes in electric process by closed-loop control and quick and precisely positions.
Description
Technical field
Electro-technical field is changed the present invention relates to Vehicular battery more particularly to a kind of Vehicular battery changes electric localization method and dress
It sets, electric charging station, controller and medium.
Background technique
With the rapid development of new-energy automobile, how fast and effeciently to become for new-energy automobile complementary energy influences new energy
The critical issue that automobile further develops.By taking electric car as an example, replacing power battery for electric car is to solve the above problems
A kind of quickly and effectively method, this method can replace power battery in a short time for electric car.Usually more move
Power battery is completed by the RGV (Rail Guided Vehicle, alternatively referred to as battery changing trolley) in electric charging station, and RGV is by changing
Reciprocating movement between level platform and power battery storage device is realized the power battery in power shortage state from electric car
On unload, and the movement of electric car will be fixed in the power battery of full battery status.Entirely change in electricity, RGV's and vehicle
It needs to be aligned, just can guarantee going on smoothly for disassembly and installation battery pack.Therefore, the positioning with vehicle of RGV is to realize fastly
One of the committed step of speed replacement power battery, the precision and success rate of positioning directly determine to change the efficiency of electricity and the clothes of service provider
Business quality.
It is existing that change electric localization method include machinery positioning, laser positioning, vision positioning etc..Wherein, vision positioning method
Informative, visualization are high, and in order to reach higher positioning accuracy, vision positioning method generally selects industrial camera,
But industrial camera is usually fixed-focus, and field range also has certain limitation, these restrictive conditions need to be directed to specific applied field
Scape designs special positioning system to reach positioning requirements, has limitation.In addition, vision positioning device can only generally provide
Offset coordinates, when offset coordinates are greater than the error that system can correct, it is necessary to be adjusted to vehicle location, or to RGV
Position is adjusted, and vision positioning device cannot achieve accurate adjustment, and existing machinery positioning, laser positioning, vision are fixed
Closed-loop control is not implemented in the modes such as position.Therefore, how providing one kind can judge that vehicle, RGV positional shift and adjustment are logical
It crosses both closed-loop control adjustment position and realizes that quick and precisely positioning becomes technical problem urgently to be resolved.
Summary of the invention
Present invention aims at provide a kind of Vehicular battery and change electric localization method and device, electric charging station, controller and Jie
Matter is realized that Vehicular battery changes in electric process by closed-loop control and is quick and precisely positioned.
In order to solve the above-mentioned technical problem, according to a first embodiment of the present invention, provide a kind of Vehicular battery and change electric positioning
Method, comprising:
Obtain the position coordinates for currently changing that the electric stage presets battery replacement device, wherein changing electric process includes multiple changing the electric stage；
By the position coordinates compared with the preset template position coordinate of the battery replacement device, output position offset coordinates；
According to the position of the positional shift Coordinate Adjusting battery replacement device.
Further, if vehicle the vehicle commander direction changed on level platform be X-direction, vehicle width direction is Y-direction, the RGV
It travels along the Y-direction to vehicle bottom, the electric process that changes includes first changing the electric stage, second changing the electric stage and third changes electricity
In the stage, described first to change the electric stage be that vehicle drives into the process changed level platform and carry out coarse positioning, and described second, which changes the electric stage, is
Unloaded RGV drives into vehicle bottom and carries out the process of coarse positioning, and the third changes the RGV that the electric stage is the full electric battery pack of carrying
It drives into vehicle bottom and carries out the process of coarse positioning.
Further, it is changed the electric stage if currently changing the electric stage for described first, the default battery replacement device is vehicle, described
Method the following steps are included:
The vehicle coordinate that institute's off-position is set after coarse positioning on changing level platform is obtained, vehicle coordinate is denoted as；
The vehicle coordinate is compared with the preset car modal coordinate of the battery replacement device, exports vehicle in X-direction
Positional shift coordinate；
According to the vehicle in the positional shift coordinate of X-direction, vehicle is adjusted in the position of X-direction.
Further, it is changed the electric stage if currently changing the electric stage for described second, the default battery replacement device is RGV, described
Method the following steps are included:
It obtains the RGV zero load and is moved to stopped position coordinates after vehicle bottom coarse positioning, be denoted as the first coordinate of RGV；
By first coordinate of RGV compared with preset the first template of RGV coordinate, the first position of output RGV in the Y direction
Offset coordinates；
According to the first position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted.
Further, if currently changing the electric stage is that the third is changed the electric stage, the default battery replacement device is RGV, described
Method the following steps are included:
It obtains the full electric battery pack of RGV carrying and is moved to stopped position coordinates after vehicle bottom coarse positioning, be denoted as the seat of RGV second
Mark；
By second coordinate of RGV compared with preset the second template of RGV coordinate, the second position of output RGV in the Y direction
Offset coordinates；
According to the second position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted.
Further, the method also includes: the position coordinates of the battery replacement device are obtained using vision positioning system, with
And output position offset coordinates, the vision positioning system include being set to the first image acquisition part for changing level platform, and be set to
The second image acquisition part on the RGV.
Further, after the position of the battery replacement device according to the positional shift Coordinate Adjusting, the method
Further include:
Each image acquisition part in the vision positioning system obtains realtime graphic；
Using different channels by the realtime graphic of each image acquisition part and the corresponding default figure of each image acquisition part
It is shown as template carries out synthesis；
If showing that realtime graphic and image template are overlapped in deviation range, otherwise, above mentioned in the image of synthesis display
Show deviation.
Further, it is described using different channels by the realtime graphic of each image acquisition part and each image acquisition part
Corresponding pre-set image template carries out synthesis and shows, comprising the following steps:
Using black and white lattice etc. height space in demarcated, establish space coordinates datum mark, A base (0,0,0), B
Base (0,0,0)；
Obtain electric vehicle change landing in electric process the first image acquisition part coordinate value A survey (X1, Y1, R1) and
The coordinate value B of upper second image acquisition part of RGV surveys (X2, Y2, R2)；
Entity calibration is carried out with vehicle chassis object, the coordinate value of the first image acquisition part of landing is A mark
The coordinate value of upper second image acquisition part of (X1, Y1, R1) and RGV is that B marks (X1, Y1, R1)；
A is surveyed into (X1, Y1, R1) and A mark (X1, Y1, R1) synthesis display, B is surveyed into (X2, Y2, R2) and B mark (X1, Y1, R1)
Synthesis display.
Further, the prompt includes that shade is shown on template image.
According to a second embodiment of the present invention, a kind of Vehicular battery is provided and changes electric positioning device, comprising:
Coordinate obtaining module, for obtaining the position coordinates for currently changing default battery replacement device of electric stage, wherein change electric process
The electric stage is changed including multiple；
Offset coordinates output module, for by the preset template position coordinate ratio of the position coordinates and the battery replacement device
Compared with output position offset coordinates；
Module is adjusted, for the position according to the positional shift Coordinate Adjusting battery replacement device.
Further, if vehicle the vehicle commander direction changed on level platform be X-direction, vehicle width direction is Y-direction, the RGV
It travels along the Y-direction to vehicle bottom, the electric process that changes includes first changing the electric stage, second changing the electric stage and third changes electricity
In the stage, described first to change the electric stage be that vehicle drives into the process changed level platform and carry out coarse positioning, and described second, which changes the electric stage, is
Unloaded RGV drives into vehicle bottom and carries out the process of coarse positioning, and the third changes the RGV that the electric stage is the full electric battery pack of carrying
It drives into vehicle bottom and carries out the process of coarse positioning.
Further, it is changed the electric stage if currently changing the electric stage for described first, the default battery replacement device is vehicle:
The coordinate obtaining module is denoted as vehicle for obtaining the vehicle coordinate that institute's off-position is set after coarse positioning on changing level platform
Coordinate；
The offset coordinates output module is used to sit the vehicle coordinate and the preset car modal of the battery replacement device
Mark compares, positional shift coordinate of the output vehicle in X-direction；
The adjustment module is used for the positional shift coordinate according to the vehicle in X-direction, adjusts vehicle in the position of X-direction
It sets；
And/or
If currently changing the electric stage to change the electric stage for described second, the default battery replacement device is RGV:
The coordinate obtaining module sets seat for obtaining institute's off-position after the RGV zero load is moved to vehicle bottom coarse positioning
Mark, is denoted as the first coordinate of RGV；
The offset coordinates output module is used for by first coordinate of RGV compared with preset the first template of RGV coordinate,
Export the first position offset coordinates of RGV in the Y direction；
The adjustment module is for first position offset coordinates according to the RGV in the Y direction, and adjustment RGV is in the Y direction
Position；
And/or
If currently changing the electric stage is that the third is changed the electric stage, the default battery replacement device is RGV:
The coordinate obtaining module is moved to institute's off-position after vehicle bottom coarse positioning for obtaining the full electric battery pack of RGV carrying
Coordinate is set, the second coordinate of RGV is denoted as；
The offset coordinates output module is used for by second coordinate of RGV compared with preset the second template of RGV coordinate,
Export the second position offset coordinates of RGV in the Y direction；
The adjustment module is for second position offset coordinates according to the RGV in the Y direction, and adjustment RGV is in the Y direction
Position.
Further, the adjustment module include set on change the first executing agency on level platform and on RGV second
Executing agency,
First executing agency is used for:
According to the vehicle in the positional shift coordinate of X-direction, vehicle is adjusted in the position of X-direction；
Second executing agency is used for:
According to the first position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted, and,
According to the second position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted.
Further, first executing agency includes push-rod electric machine and push rod, the push-rod electric machine and the push rod phase
Connection, the push-rod electric machine drive the push rod that wheel is pushed to move along Y-direction；
Second executing agency includes RGV movable motor and walking mechanism on RGV, the RGV movable motor
The walking mechanism is driven to drive the RGV along X to moving.
Further, the coordinate obtaining module includes being set to the first image acquisition part for changing level platform, and be set to institute
State the second image acquisition part on RGV.
Further, described device further includes synthesizing display module and cue module,
The first image acquisition portion and the second image acquisition part are for acquiring realtime graphic；
The synthesis display module is used to use different channels by the realtime graphic of each image acquisition part and each figure
It is shown as the corresponding pre-set image template in acquisition portion carries out synthesis；
If the cue module is used in deviation range, shows that realtime graphic and image template are overlapped, otherwise, closing
At prompting deviation on the image of display；
The adjustment module readjusts the battery replacement device according to the deviation of shooting image and default template image
Position.
According to a third embodiment of the present invention, a kind of electric charging station is provided, including the Vehicular battery changes electric positioning device.
According to a fourth embodiment of the present invention, a kind of controller is provided comprising memory and processor, the memory are deposited
Contain computer program, the step of described program can be realized the method when being executed by the processor.
According to a fifth embodiment of the present invention, a kind of computer readable storage medium is provided, for storing computer program, institute
State the step of program realizes the method when by a computer or processor execution.
The present invention has obvious advantages and beneficial effects compared with the existing technology.By above-mentioned technical proposal, the present invention
A kind of Vehicular battery change electric localization method and device, electric charging station, controller and medium can reach comparable technical progress and
Practicability, and with the extensive utility value in industry, at least have the advantage that
The present invention adjusts battery replacement device position according to gained coordinate shift by obtaining the coordinate shift of battery replacement device,
Closed-loop control is formed, the accuracy of replacing vehicle electricity positioning is improved.In addition, re-shooting image after vehicle location carries out secondary tune
Section further improves the accuracy and reliability of replacing vehicle electricity positioning.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 provides Vehicular battery for one embodiment of the invention and changes electric localization method schematic diagram；
Fig. 2 is that the Vehicular battery that one embodiment of the invention provides changes electric positioning device schematic diagram.
[symbol description]
1: coordinate obtaining module 2: offset coordinates output module
3: adjustment module
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment change electric localization method and device, electric charging station, control to a kind of Vehicular battery proposed according to the present invention
The specific embodiment and its effect of device and medium processed, detailed description is as follows.
As shown in Figure 1, the embodiment of the present invention, provides a kind of Vehicular battery and changes electric localization method, comprising the following steps:
Step S1, the position coordinates for currently changing default battery replacement device of electric stage are obtained, wherein changing electric process includes multiple change
The electric stage；
Wherein, as one embodiment, if vehicle the vehicle commander direction changed on level platform be X-direction, vehicle width direction be the side Y
To the RGV is travelled along the Y-direction to vehicle bottom, and the electric process that changes includes first changing the electric stage, second changing the electric stage
It is changed the electric stage with third, described first to change the electric stage be that vehicle drives into the process changed level platform and carry out coarse positioning, described second
Changing the electric stage is that unloaded RGV drives into vehicle bottom and carries out the process of coarse positioning, and the third changes the electric stage as the full electricity of carrying
The RGV of battery pack drives into vehicle bottom and carries out the process of coarse positioning.
It should be noted that the battery replacement device can be also the other equipment in electrical changing station, level platform, lifting machine are such as changed
Structure, supporting mechanism etc., can obtain the coordinate of other equipment, and be adjusted, and need to only meet that be finally placed in vehicle and RGV can be suitable
The corresponding position of benefit disassembly battery pack.
As one embodiment, step S1 can be completed by vision positioning system, i.e., obtained using vision positioning system
The position coordinates and output position offset coordinates of the battery replacement device, the vision positioning system include being set to change level platform
The first image acquisition part, and the second image acquisition part on the RGV, wherein the first image acquisition part, the second figure
As acquisition portion can be camera, captured image can be the components such as positioning pin of vehicle bottom, using the components such as positioning pin as
With reference to come the coordinate that determines battery replacement device, it should be noted that the first image acquisition portion and the second image acquisition part are not
It is limited to one, can specifically set the first image acquisition part according to the arrangement of the components such as specific shooting demand and vehicle location pin
With the number of the second image acquisition part and positioned at the position changed on level platform and RGV, as an example, changing on level platform and being arranged
Two the first image acquisition portions.
Step S2, by the position coordinates compared with the preset template position coordinate of the battery replacement device, output position is inclined
Move coordinate；
As an example, in step S2, template gray matching algorithm can be used and obtain the positional shift coordinate, template
Gray-scale Matching algorithm is existing algorithm, and details are not described herein for specific calculating process.
Step S3, according to the position of the positional shift Coordinate Adjusting battery replacement device.
Divided with the above-mentioned process of changing and point change the electric stage, individually below with difference change the electric stage above method is carried out it is detailed
It describes in detail bright:
First changes the electric stage:
If currently changing the electric stage is described first to change the electric stage, presetting battery replacement device is vehicle, and the method specifically includes
Following steps:
Step S11, the vehicle coordinate that institute's off-position is set after coarse positioning on changing level platform is obtained, vehicle coordinate is denoted as；
Step S21, vehicle coordinate is compared with the preset car modal coordinate of the battery replacement device, exports vehicle in X
The positional shift coordinate in direction；
Step S31, vehicle is adjusted in the position of X-direction in the positional shift coordinate of X-direction according to vehicle.
Second changes the electric stage:
If currently changing the electric stage is described second to change the electric stage, presetting battery replacement device is RGV, the method specifically include with
Lower step:
Step S12, it obtains the RGV zero load and is moved to stopped position coordinates after vehicle bottom coarse positioning, be denoted as RGV first
Coordinate；
Step S22, by first coordinate of RGV compared with preset the first template of RGV coordinate, output RGV is in the Y direction
First position offset coordinates；
Step S32, the first position offset coordinates according to the RGV in the Y direction, the position of adjustment RGV in the Y direction.
Third changes the electric stage:
If currently change the electric stage be the third change the electric stage, the default battery replacement device be RGV, the method includes with
Lower step:
Step S13, it obtains the full electric battery pack of RGV carrying and is moved to stopped position coordinates after vehicle bottom coarse positioning, be denoted as
The second coordinate of RGV；
Step S23, by second coordinate of RGV compared with preset the second template of RGV coordinate, output RGV is in the Y direction
Second position offset coordinates；
Step S33, the second position offset coordinates according to the RGV in the Y direction, the position of adjustment RGV in the Y direction.
As an example, the position that servo motor executing agency adjusts the battery replacement device can be used, servo motor is held
Row mechanism includes the first executing agency and second executing agency, and first executing agency includes push-rod electric machine and push rod,
The push-rod electric machine is connected with the push rod, and the push-rod electric machine drives the push rod that wheel is pushed to move along Y-direction；Described
Two executing agencies include RGV movable motor and walking mechanism on RGV, and the RGV movable motor drives the vehicle with walking machine
Structure drives the RGV along X to moving.Servo motor executing agency further includes the position coder and RGV walking electricity of push-rod electric machine
The position coder of machine, the position coder of the push-rod electric machine are used to control the push-rod electric machine, the RGV movable motor
Position coder is used to control the walking mechanism of the RGV, the vehicle location offset coordinates and push rod of vision positioning system output
The position coder of motor forms closed-loop control, the RGV positional shift coordinate and RGV movable motor shape of vision positioning system output
At closed-loop control.
Above-mentioned example is only a kind of specific embodiment of the first executing agency and second executing agency, other can be used for
The executing agency for adjusting the battery replacement device position also can be used for this.
It should be noted that changing in electric process at one, the above-mentioned one or more changed in the electric stage may be selected using upper
Process is stated to be positioned.By vehicle since change under level platform drive into change on level platform carry out changing electricity for, vehicle coarse positioning
After (such as vehicle centering), step S11- step S31 is first carried out, then unloaded RGV is travelled to vehicle bottom, executes step
S12- step S32,；RGV removes power shortage battery pack, and is transported to battery pack storage device, carries a full electric battery pack, returns
Then vehicle bottom executes step S13- step S33, complete the positioning adjustment process for entirely changing electric current journey.
In step S2, the position coordinates of acquired battery replacement device and preset template position coordinate may also be in certain models
There is no deviations in enclosing, if in this case, the embodiment may also include step S20, the battery replacement device position coordinates with
The deviation of preset template position coordinate is in default error range, then restoring to normal position accurate signal, no longer needs to adjustment at this time and change
The position of electric equipment continues directly to change electric current journey, wherein the default error range of template position coordinate can be according to required inspection
Accuracy etc. is surveyed because of usually specific setting.
The method by feedback battery replacement device position coordinates deviation, and according to grid deviation to battery replacement device position into
Row adjustment, forms closed-loop control, in addition, a default adjustment number can be set, changes if reaching the default adjustment number and not meeting still
Electricity demanding then stops changing electric process concurrency and going out warning note, overhaul to electrical changing station, guarantees the safety of electrical changing station operation.
After battery replacement device adjusts, to further increase closed-loop control positioning accuracy, two can be carried out to adjustment result
Secondary detection adjustment, as an example, after the step S3, the method also includes:
Step S41, each image acquisition part in the described vision positioning system obtains realtime graphic；
Step S42, using different channels that the realtime graphic of each image acquisition part and each image acquisition part is corresponding
Pre-set image template carry out synthesis and show；
As an example, step S42 the following steps are included:
Step S421, using black and white lattice etc. height space in demarcated, establish space coordinates datum mark, A base
(0,0,0), B base (0,0,0)；
Step S422, obtain electric vehicle change landing in electric process the first image acquisition part coordinate value A survey (X1,
Y1, R1) and upper second image acquisition part of RGV coordinate value B survey (X2, Y2, R2)；
Step S423, entity calibration, the coordinate of the first image acquisition part of landing are carried out with vehicle chassis object
Value be A mark (X1, Y1, R1) and upper second image acquisition part of RGV coordinate value be B mark (X1, Y1, R1)；
Step S424, A is surveyed into (X1, Y1, R1) and A mark (X1, Y1, R1) synthesis display, B is surveyed into (X2, Y2, R2) and B is marked
(X1, Y1, R1) synthesis display.
If showing that realtime graphic and image template are overlapped step S43, in deviation range, otherwise, in synthesis display
Deviation is prompted on image.
As an example, the prompt includes that shade is shown on template image.
Finally, readjusting the position of the battery replacement device according to the deviation of shooting image and default template image.It needs
It is noted that by coordinate carry out difference operation, by driving mechanical driving part (such as servo motor execution structure) come
Difference is made up in real time, so that coordinate is overlapped in default error range, it may be assumed that A mark is approximately equal to A survey, and B mark is approximately equal to B survey, needs
Bright, the default error range of coordinate is set according to specific measurement accuracy demand.
In addition, in order to solve the problem of camera can not zoom shot can only fixed-focus shooting, the embodiment of the present invention setting takes the photograph
As head only in preset height shoots vehicle amount, the preset height is according to the parameters such as the height of battery replacement device and measurement
The combined factors such as demand determine.
The embodiment of the present invention adjusts battery replacement device according to gained coordinate shift by obtaining the coordinate shift of battery replacement device
Position forms closed-loop control, improves the accuracy of replacing vehicle electricity positioning.In addition, re-shooting image progress after vehicle location
Secondary Control further improves the accuracy and reliability of replacing vehicle electricity positioning.
The embodiment of the present invention also provides a kind of Vehicular battery and changes electric positioning device, as shown in Fig. 2, including coordinate obtaining module
1, offset coordinates output module 2 and adjustment module 3, wherein currently to change the electric stage default for obtaining for the coordinate obtaining module 1
The position coordinates of battery replacement device, wherein changing electric process includes multiple changing the electric stage；The offset coordinates output module 2 is used for will
The position coordinates are compared with the preset template position coordinate of the battery replacement device, output position offset coordinates；The adjustment mould
Block 3 is used for the position according to the positional shift Coordinate Adjusting battery replacement device.
As one embodiment, if vehicle the vehicle commander direction changed on level platform be X-direction, vehicle width direction is Y-direction, institute
It states RGV to travel along the Y-direction to vehicle bottom, the electric process that changes includes first changing the electric stage, second changing electric stage and the
Three change the electric stage, described first change the electric stage be vehicle drive into the process changed level platform and carry out coarse positioning, described second changes electricity
Stage is that unloaded RGV drives into vehicle bottom and carries out the process of coarse positioning, and the third changes the electric stage as the full electric battery of carrying
The RGV of packet drives into vehicle bottom and carries out the process of coarse positioning.
It should be noted that the battery replacement device can be also the other equipment in electrical changing station, level platform, lifting machine are such as changed
Structure, supporting mechanism etc., can obtain the coordinate of other equipment, and be adjusted, and need to only meet that be finally placed in vehicle and RGV can be suitable
The corresponding position of benefit disassembly battery pack.
As one embodiment, coordinate obtaining module 1 can be vision positioning system, obtained using vision positioning system described in
The position coordinates and output position offset coordinates of battery replacement device, the vision positioning system include set on changing the of level platform
One image acquisition part, and the second image acquisition part on the RGV, wherein the first image acquisition part, the second image are adopted
The portion of collection can be camera, and captured image can be the components such as the positioning pin of vehicle bottom, using components such as positioning pins as reference
To determine the coordinate of battery replacement device, it should be noted that the first image acquisition portion and the second image acquisition part do not limit
It is one, can specifically sets the first image acquisition part and the according to the arrangement of the components such as specific shooting demand and vehicle location pin
The number of two image acquisition parts and positioned at the position changed on level platform and RGV, as an example, changing on level platform and setting two
The first image acquisition portion.
As an example, offset coordinates output module 2 can be used template gray matching algorithm and obtain the positional shift
Coordinate, template gray matching algorithm are existing algorithm, and details are not described herein for specific calculating process.
It is divided with the above-mentioned process of changing and point changes the electric stage, the electric stage is changed to each module of above-mentioned apparatus with difference individually below
It is described in detail:
First changes the electric stage:
If currently changing the electric stage to change the electric stage for described first, the default battery replacement device is vehicle:
The coordinate obtaining module is denoted as vehicle for obtaining the vehicle coordinate that institute's off-position is set after coarse positioning on changing level platform
Coordinate；
The offset coordinates output module is used to sit the vehicle coordinate and the preset car modal of the battery replacement device
Mark compares, positional shift coordinate of the output vehicle in X-direction；
The adjustment module is used for the positional shift coordinate according to the vehicle in X-direction, adjusts vehicle in the position of X-direction
It sets.
Second changes the electric stage:
If currently changing the electric stage to change the electric stage for described second, the default battery replacement device is RGV:
The coordinate obtaining module sets seat for obtaining institute's off-position after the RGV zero load is moved to vehicle bottom coarse positioning
Mark, is denoted as the first coordinate of RGV；
The offset coordinates output module is used for by first coordinate of RGV compared with preset the first template of RGV coordinate,
Export the first position offset coordinates of RGV in the Y direction；
The adjustment module is for first position offset coordinates according to the RGV in the Y direction, and adjustment RGV is in the Y direction
Position.
Third changes the electric stage:
If currently changing the electric stage is that the third is changed the electric stage, the default battery replacement device is RGV:
The coordinate obtaining module is moved to institute's off-position after vehicle bottom coarse positioning for obtaining the full electric battery pack of RGV carrying
Coordinate is set, the second coordinate of RGV is denoted as；
The offset coordinates output module is used for by second coordinate of RGV compared with preset the second template of RGV coordinate,
Export the second position offset coordinates of RGV in the Y direction；
The adjustment module is for second position offset coordinates according to the RGV in the Y direction, and adjustment RGV is in the Y direction
Position.
It should be noted that changing in electric process at one, the above-mentioned one or more changed in the electric stage may be selected using upper
Process is stated to be positioned.
The adjustment module 3 is servo motor executing agency, specifically includes and changes the first execution machine on level platform described in being set to
Structure and the second executing agency on the RGV, first executing agency are used to be driven according to the positional shift coordinate of vehicle
Dynamic adjustment vehicle location；Second executing agency is used for the position positional shift Coordinate Adjusting RGV according to the RGV.
As an example, first executing agency is also used to the positional shift coordinate according to the vehicle in X-direction,
Vehicle is adjusted in the position of X-direction；Second executing agency is also used to the first position offset according to the RGV in the Y direction
Coordinate, the position of adjustment RGV in the Y direction, and, according to the second position offset coordinates of the RGV in the Y direction, adjusts RGV and exist
The position of Y-direction.As a kind of specific embodiment, first executing agency includes push-rod electric machine and push rod, the push rod electricity
Machine is connected with the push rod, and the push-rod electric machine drives the push rod that wheel is pushed to move along Y-direction；Second executing agency
Including the RGV movable motor being set on RGV and walking mechanism, the RGV movable motor is driven described in the walking mechanism drive
RGV is along X to moving.Servo motor executing agency further includes that the position coder of push-rod electric machine and the position of RGV movable motor are compiled
Code device, the position coder of the push-rod electric machine is for controlling the push-rod electric machine, the position coder of the RGV movable motor
For controlling the walking mechanism of the RGV, the vehicle location offset coordinates of vision positioning system output and the position of push-rod electric machine
Encoder forms closed-loop control, and the RGV positional shift coordinate and RGV movable motor of vision positioning system output form closed loop control
System.Above-mentioned example is only a kind of specific embodiment of the first executing agency and second executing agency, other can be used for adjusting
The executing agency of the battery replacement device position also can be used for this.
The position coordinates of acquired battery replacement device may also not deposited in a certain range with preset template position coordinate
In deviation, in this case, the offset coordinates output module 2 can also be used in: if position coordinates of the battery replacement device and default
Template position coordinate deviation in default error range, then restoring to normal position accurate signal no longer needs to adjustment and changes electricity to set at this time
Standby position continues directly to change electric current journey, and the default error range of template position coordinate can be according to required detection accuracy
Deng because of usually specific setting.
Described device by feedback battery replacement device position coordinates deviation, and according to grid deviation to battery replacement device position into
Row adjustment, forms closed-loop control, in addition, a default adjustment number can be set, if adjustment module 3 reaches the default adjustment number still
It does not meet and changes electricity demanding, then stop changing electric process concurrency and going out warning note, electrical changing station is overhauled, guarantee electrical changing station operation
Safety.
After battery replacement device is adjusted the adjustment of module 3, to further increase closed-loop control positioning accuracy, it can exchange
Whole result carries out secondary detection adjustment, specifically, described device further includes synthesis display module and cue module, first figure
As acquisition portion and the second image acquisition part are for acquiring realtime graphic；The synthesis display module is used for will using different channels
The realtime graphic of each image acquisition part and the corresponding pre-set image template of each image acquisition part carry out synthesis and show；It is described to mention
If showing, module in deviation range, showing that realtime graphic and image template are overlapped, then judges that the battery replacement device is right
Otherwise standard prompts deviation on the image of synthesis display, as an example, the prompt includes showing shade on template image；
The adjustment module readjusts the position of the battery replacement device according to the deviation of shooting image and default template image.
In addition, in order to solve the problem of camera can not zoom shot can only fixed-focus shooting, the embodiment of the present invention setting takes the photograph
As head only in preset height shoots vehicle amount, the preset height is according to the parameters such as the height of battery replacement device and measurement
The combined factors such as demand determine.
Described device of the embodiment of the present invention is adjusted by obtaining the coordinate shift of battery replacement device according to gained coordinate shift
Battery replacement device position forms closed-loop control, improves the accuracy of replacing vehicle electricity positioning.In addition, being re-shoot after vehicle location
Image carries out Secondary Control, further improves the accuracy and reliability of replacing vehicle electricity positioning.
The embodiment of the present invention also provides a kind of electric charging station, including Vehicular battery described in the embodiment of the present invention changes electricity positioning dress
It sets.
The embodiment of the present invention also provides a kind of controller comprising memory and processor, the memory are stored with meter
Calculation machine program, described program can be realized the step of Vehicular battery changes electric localization method when being executed by the processor.
The embodiment of the present invention also provides a kind of computer readable storage medium, for storing computer program, described program
The step of Vehicular battery changes electric localization method is realized when by a computer or processor execution.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (19)
1. a kind of Vehicular battery changes electric localization method, it is characterised in that: include:
Obtain the position coordinates for currently changing that the electric stage presets battery replacement device, wherein changing electric process includes multiple changing the electric stage；
By the position coordinates compared with the preset template position coordinate of the battery replacement device, output position offset coordinates；
According to the position of the positional shift Coordinate Adjusting battery replacement device.
2. Vehicular battery according to claim 1 changes electric localization method, it is characterised in that:
If vehicle is X-direction in the vehicle commander direction changed on level platform, vehicle width direction is Y-direction, and the RGV is along the Y-direction row
It sails to vehicle bottom, the electric process that changes includes first changing the electric stage, second changing the electric stage and third is changed the electric stage, and described first
Changing the electric stage is that vehicle drives into the process changed level platform and carry out coarse positioning, and described second, which changes the RGV that the electric stage is zero load, drives into
Vehicle bottom and the process for carrying out coarse positioning, the third change the RGV that the electric stage is the full electric battery pack of carrying and drive into vehicle bottom
And carry out the process of coarse positioning.
3. Vehicular battery according to claim 2 changes electric localization method, it is characterised in that:
If currently changing the electric stage to change the electric stage for described first, the default battery replacement device is vehicle, and the method includes following
Step:
The vehicle coordinate that institute's off-position is set after coarse positioning on changing level platform is obtained, vehicle coordinate is denoted as；
The vehicle coordinate is compared with the preset car modal coordinate of the battery replacement device, exports vehicle in the position of X-direction
Set offset coordinates；
According to the vehicle in the positional shift coordinate of X-direction, vehicle is adjusted in the position of X-direction.
4. Vehicular battery according to claim 2 changes electric localization method, it is characterised in that:
If currently changing the electric stage to change the electric stage for described second, the default battery replacement device is RGV, and the method includes following steps
It is rapid:
It obtains the RGV zero load and is moved to stopped position coordinates after vehicle bottom coarse positioning, be denoted as the first coordinate of RGV；
By first coordinate of RGV compared with preset the first template of RGV coordinate, the first position offset of output RGV in the Y direction
Coordinate；
According to the first position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted.
5. Vehicular battery according to claim 2 changes electric localization method, it is characterised in that:
If currently changing the electric stage is that the third is changed the electric stage, the default battery replacement device is RGV, and the method includes following steps
It is rapid:
It obtains the full electric battery pack of RGV carrying and is moved to stopped position coordinates after vehicle bottom coarse positioning, be denoted as the second coordinate of RGV；
By second coordinate of RGV compared with preset the second template of RGV coordinate, the second position offset of output RGV in the Y direction
Coordinate；
According to the second position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted.
6. Vehicular battery as claimed in any of claims 1 to 5 changes electric localization method, it is characterised in that:
The method also includes: using vision positioning system obtain the battery replacement device position coordinates and output position it is inclined
Move coordinate, the vision positioning system includes the set on changing the first image acquisition part of level platform, and on the RGV
Two image acquisition parts.
7. Vehicular battery according to claim 6 changes electric localization method, it is characterised in that:
After the position of the battery replacement device according to the positional shift Coordinate Adjusting, the method also includes:
Each image acquisition part in the vision positioning system obtains realtime graphic；
Using different channels by the realtime graphic of each image acquisition part and the corresponding pre-set image mould of each image acquisition part
Plate carries out synthesis and shows；
If showing that realtime graphic and image template are overlapped, otherwise, prompt is inclined on the image of synthesis display in deviation range
Difference.
8. Vehicular battery according to claim 7 changes electric localization method, it is characterised in that:
It is described using different channels by the realtime graphic of each image acquisition part and the corresponding default figure of each image acquisition part
It is shown as template carries out synthesis, comprising the following steps:
Using black and white lattice etc. height space in demarcated, establish space coordinates datum mark, A base (0,0,0), B base (0,
0,0)；
The coordinate value A for obtaining the first image acquisition part that electric vehicle changes landing in electric process is surveyed
The coordinate value B of upper second image acquisition part of (X1, Y1, R1) and RGV surveys (X2, Y2, R2)；
Carry out entity calibration with vehicle chassis object, the coordinate value of the first image acquisition part of landing be A mark (X1, Y1,
R1) and the coordinate value of upper second image acquisition part of RGV is that B marks (X1, Y1, R1)；
A is surveyed into (X1, Y1, R1) and A mark (X1, Y1, R1) synthesis display, B is surveyed into (X2, Y2, R2) and B mark (X1, Y1, R1) synthesis
Display.
9. Vehicular battery according to claim 7 changes electric localization method, it is characterised in that:
The prompt includes that shade is shown on template image.
10. a kind of Vehicular battery changes electric positioning device, it is characterised in that: include:
Coordinate obtaining module, for obtaining the position coordinates for currently changing default battery replacement device of electric stage, wherein changing electric process includes
It is multiple to change the electric stage；
Offset coordinates output module, for by the position coordinates compared with the preset template position coordinate of the battery replacement device,
Output position offset coordinates；
Module is adjusted, for the position according to the positional shift Coordinate Adjusting battery replacement device.
11. Vehicular battery according to claim 10 changes electric positioning device, it is characterised in that:
If vehicle is X-direction in the vehicle commander direction changed on level platform, vehicle width direction is Y-direction, and the RGV is along the Y-direction row
It sails to vehicle bottom, the electric process that changes includes first changing the electric stage, second changing the electric stage and third is changed the electric stage, and described first
Changing the electric stage is that vehicle drives into the process changed level platform and carry out coarse positioning, and described second, which changes the RGV that the electric stage is zero load, drives into
Vehicle bottom and the process for carrying out coarse positioning, the third change the RGV that the electric stage is the full electric battery pack of carrying and drive into vehicle bottom
And carry out the process of coarse positioning.
12. Vehicular battery according to claim 11 changes electric positioning device, it is characterised in that:
If currently changing the electric stage to change the electric stage for described first, the default battery replacement device is vehicle:
The coordinate obtaining module is denoted as vehicle seat for obtaining the vehicle coordinate that institute's off-position is set after coarse positioning on changing level platform
Mark；
The offset coordinates output module is used for the preset car modal coordinate phase of the vehicle coordinate and the battery replacement device
Compare, positional shift coordinate of the output vehicle in X-direction；
The adjustment module is used for the positional shift coordinate according to the vehicle in X-direction, adjusts vehicle in the position of X-direction；
And/or
If currently changing the electric stage to change the electric stage for described second, the default battery replacement device is RGV:
The coordinate obtaining module is moved to stopped position coordinates after vehicle bottom coarse positioning for obtaining the RGV zero load, remembers
For the first coordinate of RGV；
The offset coordinates output module is used for the output by first coordinate of RGV compared with preset the first template of RGV coordinate
The first position offset coordinates of RGV in the Y direction；
The adjustment module is for the first position offset coordinates according to the RGV in the Y direction, the position of adjustment RGV in the Y direction
It sets；
And/or
If currently changing the electric stage is that the third is changed the electric stage, the default battery replacement device is RGV:
The coordinate obtaining module sets seat for obtaining institute's off-position after the full electric battery pack of RGV carrying is moved to vehicle bottom coarse positioning
Mark, is denoted as the second coordinate of RGV；
The offset coordinates output module is used for the output by second coordinate of RGV compared with preset the second template of RGV coordinate
The second position offset coordinates of RGV in the Y direction；
The adjustment module is for the second position offset coordinates according to the RGV in the Y direction, the position of adjustment RGV in the Y direction
It sets.
13. Vehicular battery according to claim 12 changes electric positioning device, it is characterised in that:
The adjustment module includes being set to change the first executing agency and the second executing agency on RGV on level platform,
First executing agency is used for:
According to the vehicle in the positional shift coordinate of X-direction, vehicle is adjusted in the position of X-direction；
Second executing agency is used for:
According to the first position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted, and,
According to the second position offset coordinates of the RGV in the Y direction, the position of RGV in the Y direction is adjusted.
14. Vehicular battery according to claim 13 changes electric positioning device, it is characterised in that:
First executing agency includes push-rod electric machine and push rod, and the push-rod electric machine is connected with the push rod, the push rod
Push rod described in motor driven pushes wheel to move along Y-direction；
Second executing agency includes RGV movable motor and walking mechanism on RGV, the RGV movable motor driving
The walking mechanism drives the RGV along X to moving.
15. Vehicular battery according to claim 10 changes electric positioning device, it is characterised in that:
The coordinate obtaining module includes set on the first image acquisition part for changing level platform, and second on the RGV
Image acquisition part.
16. Vehicular battery according to claim 15 changes electric positioning device, it is characterised in that:
Described device further includes synthesizing display module and cue module,
The first image acquisition portion and the second image acquisition part are for acquiring realtime graphic；
The synthesis display module is used to adopt the realtime graphic of each image acquisition part and each image using different channels
The corresponding pre-set image template in collection portion carries out synthesis and shows；
If the cue module is used in deviation range, show that realtime graphic and image template are overlapped, it is otherwise, aobvious in synthesis
Deviation is prompted on the image shown；
The adjustment module readjusts the position of the battery replacement device according to the deviation of shooting image and default template image
It sets.
17. a kind of electric charging station, it is characterised in that: it is fixed to change electricity including Vehicular battery described in any one of claim 10-16
Position device.
18. a kind of controller comprising memory and processor, it is characterised in that: the memory is stored with computer program,
Described program can be realized method described in any one of claim 1 to 9 claim when being executed by the processor
The step of.
19. a kind of computer readable storage medium, for storing computer program, it is characterised in that: described program is by a meter
The step of calculation machine or processor realize the method as described in any one of claim 1 to 9 claim when executing.
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