CN113665408A - Positioning control system and method of battery replacement equipment - Google Patents

Positioning control system and method of battery replacement equipment Download PDF

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Publication number
CN113665408A
CN113665408A CN202010414832.3A CN202010414832A CN113665408A CN 113665408 A CN113665408 A CN 113665408A CN 202010414832 A CN202010414832 A CN 202010414832A CN 113665408 A CN113665408 A CN 113665408A
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China
Prior art keywords
image
battery
battery replacement
positioning control
control system
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CN202010414832.3A
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Chinese (zh)
Inventor
***
陈志民
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Aulton New Energy Automotive Technology Co Ltd
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Aulton New Energy Automotive Technology Co Ltd
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Priority to CN202010414832.3A priority Critical patent/CN113665408A/en
Priority to US17/925,305 priority patent/US20230234234A1/en
Priority to PCT/CN2021/094226 priority patent/WO2021228266A1/en
Priority to JP2022569144A priority patent/JP2023526293A/en
Priority to EP21802934.6A priority patent/EP4152745A1/en
Publication of CN113665408A publication Critical patent/CN113665408A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

The invention discloses a positioning control system and a method of a battery replacement device, wherein the positioning control system comprises: the system comprises at least two image acquisition modules, a power conversion device and a power conversion system, wherein the at least two image acquisition modules are respectively arranged at different positions of one side of the power conversion device, which faces a power conversion position, and are used for acquiring images of different positions of a power conversion vehicle so as to at least acquire a first image and a second image; the image processing module is connected with the at least two image acquisition modules and is at least used for carrying out image processing on the first image and the second image so as to obtain position adjustment quantity; and the adjusting control module is used for controlling and adjusting the position of the battery replacing equipment according to the position adjusting amount so as to enable the battery replacing equipment and the battery replacing vehicle to finish positioning. According to the battery pack assembling and disassembling device, the accurate position of the battery replacing vehicle and the battery bracket of the battery replacing vehicle can be automatically and accurately acquired, so that the battery replacing equipment can be accurately positioned with the battery bracket of the battery replacing vehicle to assemble and disassemble the battery pack, and the battery replacing accuracy and the battery replacing efficiency are greatly improved.

Description

Positioning control system and method of battery replacement equipment
Technical Field
The invention relates to the technical field of visual positioning, in particular to a positioning control system and method of battery replacement equipment.
Background
Electric vehicles are developed rapidly and are applied more and more widely. When the electric quantity is insufficient, a user can drive the electric automobile into the battery replacement station to replace the battery pack. In order to ensure the safety of the operation process, the battery pack is firmly locked on a battery bracket of the electric automobile; therefore, in the battery replacement process, the battery pack with the power shortage can be mounted only after the battery pack with the power shortage is detached. The key point of disassembling the battery pack is that the battery pack can be unlocked and taken out only by accurately positioning the battery replacing equipment and the battery bracket. However, in the existing battery replacement process, it is often difficult to quickly and accurately position the battery replacement device and the battery bracket, resulting in low battery replacement efficiency.
Disclosure of Invention
The invention aims to overcome the defects of low battery replacement accuracy and low battery replacement efficiency in the prior art, and provides a positioning control system and method of battery replacement equipment.
The invention solves the technical problems through the following technical scheme:
a positioning control system of a battery swapping device comprises:
the at least two image acquisition modules are respectively arranged at different positions of one side of the battery replacement equipment facing to the battery replacement position, and are used for acquiring images of different positions of the battery replacement vehicle so as to at least acquire a first image and a second image;
the image processing module is connected with the at least two image acquisition modules and is at least used for carrying out image processing on the first image and the second image so as to obtain position adjustment quantity; and the number of the first and second groups,
and the adjusting control module is used for controlling and adjusting the position of the battery replacing equipment according to the position adjusting amount so as to enable the battery replacing equipment and the battery replacing vehicle to finish positioning.
In the scheme, the positioning control system can automatically and accurately acquire the accurate position of the battery replacing vehicle, so that the battery replacing equipment can be accurately positioned with the battery bracket of the battery replacing vehicle to disassemble and assemble the battery pack, and the battery replacing accuracy and the battery replacing efficiency are greatly improved.
Optionally, the position adjustment amount includes a horizontal displacement amount, a vertical displacement amount, and an angular rotation amount;
the image processing module performs image processing on at least either one of the first image and the second image to acquire the horizontal displacement amount,
the image processing module performs image processing on at least the first image and the second image to acquire the vertical displacement amount,
the image processing module performs image processing on at least any two of the first image and the second image to acquire the amount of angular rotation.
In this scheme, the positioning control system can realize positioning control in multiple directions through at least one of horizontal displacement, vertical displacement and angular rotation, and carry out position adjustment from multiple dimensions to guarantee the positioning accuracy requirement.
Optionally, the at least two image acquisition modules include a first image acquisition module and a second image acquisition module;
the image processing module acquires the horizontal displacement according to the first image and a first reference image, wherein the first reference image is a reference image acquired by the first image acquisition module when the battery replacement device is located at a battery replacement position; or the like, or, alternatively,
the image processing module acquires the horizontal displacement according to the second image and a second reference image, wherein the second reference image is a reference image acquired by the second image acquisition module when the battery replacement device is located at a battery replacement position.
In the scheme, the positioning control system can obtain the horizontal displacement through comparison with the reference image, not only can realize positioning control in the horizontal direction, but also can further improve the positioning precision in the horizontal direction.
Optionally, the at least two image acquisition modules include a first image acquisition module and a second image acquisition module;
the image processing module acquires a first vertical displacement according to the first image and a first reference image, wherein the first reference image is a reference image acquired by the first image acquisition module when the battery replacement device is located at a battery replacement position;
the image processing module acquires a second vertical displacement according to the second image and a second reference image, wherein the second reference image is a reference image acquired by the second image acquisition module when the battery replacement device is located at a battery replacement position.
In the scheme, the positioning control system can obtain the vertical displacement through comparison with the reference image, so that not only can the positioning control in the vertical direction be realized, but also the positioning precision in the vertical direction can be further improved.
Optionally, the at least two image acquisition modules include a first image acquisition module and a second image acquisition module, the first image acquisition module is configured to acquire an image of a first position of the battery replacement vehicle to obtain the first image, and the second image acquisition module is configured to acquire an image of a second position of the battery replacement vehicle to obtain the second image;
the image processing module obtains the rotation angle according to a first depth of field value and a second depth of field value, wherein the first depth of field value is the depth of field value of the first position in the first image, and the second depth of field value is the depth of field value of the second position in the second image.
In the scheme, the positioning control system can acquire the rotation angle amount through the acquired at least two depth of field values, so that the battery replacement equipment and the battery replacement vehicle are kept parallel, and meanwhile, the control precision of the rotation angle is also ensured.
Optionally, each image acquisition module corresponds to one acquisition position one by one, and a preset distance is formed between the acquisition positions corresponding to two adjacent image acquisition modules.
In the scheme, images at different positions of the battery replacing vehicle can be acquired through a plurality of image acquisition modules with preset intervals, so that the positioning control precision is improved.
Optionally, the positioning control system further comprises at least two distance sensors;
the at least two distance sensors are respectively used for acquiring the distance between the battery replacing equipment and the battery replacing vehicle and acquiring at least a first distance and a second distance;
the position adjustment amount comprises a rotation angle amount, and the image processing module is further configured to obtain the rotation angle amount at least according to the first distance and the second distance.
In the scheme, the positioning control system can acquire the rotation angle amount by acquiring at least two distances between the battery replacing vehicle and the battery replacing device, so that the battery replacing device and the battery replacing vehicle are kept parallel, and meanwhile, the control precision of the rotation angle is also ensured.
Optionally, the battery replacement device includes an unlocking mechanism and a position adjustment mechanism;
the unlocking mechanism is used for unlocking a battery pack locked on a battery bracket of the battery replacement vehicle;
the adjusting control module is used for controlling the position adjusting mechanism to adjust the position of the unlocking mechanism according to the position adjusting quantity until the unlocking mechanism and the unlocking piece on the battery bracket are positioned.
In the scheme, the position of the unlocking mechanism in the horizontal direction, the vertical direction or the angle direction is adjusted by the position adjusting mechanism according to at least one of the horizontal displacement, the vertical displacement and the rotation angle, so that the unlocking member on the battery bracket is accurately aligned with the unlocking member on the battery bracket.
Optionally, the position adjusting mechanism includes a control unit, a horizontal moving unit, a vertical moving unit, and a rotating unit;
the control unit is in communication connection with the positioning control system, and correspondingly controls the horizontal moving unit, the vertical moving unit or the rotating unit to move to an adjusting position according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotating angle amount.
In this scheme, the battery replacement device can realize positioning control in multiple directions through at least one of a horizontal displacement amount, a vertical displacement amount and an angle rotation amount, so as to meet the requirement of multidimensional positioning control.
Optionally, the horizontal moving unit comprises a rail, a guide wheel and a horizontal driver;
the horizontal driver is used for driving the guide wheel to move along the track according to the horizontal displacement.
In the scheme, the horizontal driver can automatically drive the unlocking mechanism to move in the horizontal direction according to the horizontal displacement, and the efficiency and the stability of the unlocking mechanism in the horizontal direction can be improved through the matching of the track and the guide rail.
Optionally, the vertical displacement amount comprises a first vertical displacement amount and a second vertical displacement amount;
the vertical moving unit comprises a first vertical driver, a second vertical driver, a first lifting mechanism, a second lifting mechanism and a battery replacement executing mechanism, the first vertical driver is connected to the first lifting mechanism, the second vertical driver is connected to the second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are respectively connected to two ends of the battery replacement executing mechanism so as to drive two ends of the battery replacement executing mechanism to move up and down;
the first vertical driver is used for driving the first lifting mechanism according to the first vertical displacement, and the second vertical driver is used for driving the second lifting mechanism according to the second vertical displacement.
In this scheme, can be respectively according to first vertical displacement volume and the lift of second elevating system of second vertical displacement volume automatic drive through first vertical drive ware and second vertical drive ware to drive the both ends that trade electric actuator and go up and down, thereby further drive the lift at the release mechanism both ends of being connected with it with the ascending and descending of adjustment release mechanism position in vertical direction, further improve the stability of release mechanism when vertical direction position adjustment.
Optionally, the rotation unit comprises a turntable and a rotation driver;
the rotating disc is sleeved at the bottom of the battery changing executing mechanism, and the rotating driver is connected to the rotating disc and used for driving the rotating disc to drive the battery changing executing mechanism to rotate according to the rotating angle.
In this scheme, can be according to the rotation angle volume automatic drive carousel rotation in order to drive and trade electric actuating mechanism and rotate through rotary actuator to further drive the release mechanism rotation of being connected with it in order to adjust release mechanism position on the angle, further improve release mechanism stability when angle of adjustment.
A positioning control method of battery replacement equipment comprises the following steps:
acquiring images of a first position and a second position of the battery replacement vehicle to obtain a first image and a second image;
performing image processing on the first image and the second image to obtain a position adjustment amount; and the number of the first and second groups,
and controlling and adjusting the position of the battery replacing equipment according to the position adjusting amount so as to position the battery replacing equipment and the battery replacing vehicle.
In the scheme, the positioning control method can automatically and accurately acquire the accurate position of the battery replacement vehicle, so that the battery replacement equipment can be accurately positioned with the battery bracket of the battery replacement vehicle to disassemble and assemble the battery pack, and the battery replacement accuracy and the battery replacement efficiency are greatly improved.
Optionally, the step of performing image processing on the first image and the second image to obtain the position adjustment amount includes:
acquiring a horizontal displacement according to the first image and a first reference image corresponding to the first position or the second image and a second reference image corresponding to the second position; or the like, or, alternatively,
respectively acquiring a first vertical displacement and a second vertical displacement according to the first image, a first reference image corresponding to the first position and the second image, and a second reference image corresponding to the second position; or the like, or, alternatively,
and acquiring a rotation angle quantity according to the depth value of the first position in the first image and the depth value of the second position in the second image.
In the scheme, the positioning control method can obtain the horizontal displacement through comparison with the reference image, not only can realize positioning control in the horizontal direction, but also can further improve the positioning control precision in the horizontal direction.
In the scheme, the positioning control method can obtain the vertical displacement through comparison with the reference image, not only can realize positioning control in the vertical direction, but also can further improve the positioning control precision in the vertical direction.
In the scheme, the positioning control method can acquire the rotation angle amount through the acquired at least two depth of field values, so that the battery replacement equipment and the battery replacement vehicle are kept parallel, and meanwhile, the control precision of the rotation angle is also ensured.
Optionally, the positioning control method further includes:
acquiring a first distance and a second distance between the battery replacement equipment and a battery replacement vehicle;
and obtaining the rotation angle according to the first distance and the second distance.
In the scheme, the positioning control method can acquire the rotation angle amount by acquiring at least two distances between the battery replacing vehicle and the battery replacing device, so that the battery replacing device and the battery replacing vehicle are kept parallel, and meanwhile, the control precision of the rotation angle is also ensured.
On the basis of the common knowledge in the field, the preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the positioning control system and method of the battery replacing device provided by the invention can automatically and accurately acquire the accurate positions of the battery replacing vehicle and the battery bracket thereof, so that the battery replacing device can be accurately positioned with the battery bracket of the battery replacing vehicle to disassemble and assemble the battery pack, thereby greatly improving the battery replacing accuracy and the battery replacing efficiency.
Drawings
The features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1 is a schematic structural diagram of a positioning control system of a battery swapping device in embodiment 2 of the present invention.
Fig. 2 is a schematic diagram of a positioning control system according to embodiment 2 of the present invention for acquiring location information of a target device.
Fig. 3 is a schematic diagram of a first reference image of a positioning control system according to embodiment 2 of the present invention.
Fig. 4 is a schematic diagram of a first image of a positioning control system according to embodiment 2 of the present invention.
Fig. 5 is a schematic diagram of acquiring the first depth of field and the second depth of field by the positioning control system according to embodiment 2 of the present invention.
Fig. 6 is a schematic structural diagram of a positioning control system of a battery swapping device in embodiment 3 of the present invention.
Fig. 7 is a perspective view of a battery swapping apparatus according to embodiment 2 of the present invention.
Fig. 8 is a partial front view of a battery swapping device according to embodiment 2 of the present invention.
Fig. 9 is a schematic view of a rotating unit of a battery swapping device according to embodiment 2 of the present invention.
Fig. 10 is a flowchart illustrating a positioning control method for a battery swapping device in embodiment 5 of the present invention.
Fig. 11 is a flowchart illustrating a positioning control method for a battery swapping device according to embodiment 6 of the present invention.
Fig. 12 is a flowchart illustrating the step S91 of the method for controlling the positioning of a battery swapping device according to embodiment 6 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
In order to overcome the above existing defects, the present embodiment provides a positioning control system for a battery replacement device, including: the at least two image acquisition modules are respectively arranged at different positions of one side of the battery replacement equipment facing to the battery replacement position, and are used for acquiring images of different positions of the battery replacement vehicle so as to at least acquire a first image and a second image; the image processing module is connected with the at least two image acquisition modules and is at least used for carrying out image processing on the first image and the second image so as to obtain position adjustment quantity; and the adjusting control module is used for controlling and adjusting the position of the battery replacing equipment according to the position adjusting amount so as to enable the battery replacing equipment and the battery replacing vehicle to finish positioning.
In this embodiment, the number and the setting position of the image capturing modules are not particularly limited, and can be adjusted and selected according to actual requirements.
In this embodiment, the positioning control system can automatically and accurately acquire the accurate position of the battery replacement vehicle, so that the battery replacement device can be accurately positioned with a battery bracket of the battery replacement vehicle to disassemble and assemble a battery pack, and the battery replacement accuracy and the battery replacement efficiency are greatly improved.
Example 2
As shown in fig. 1, the present embodiment provides a positioning control system for battery swapping equipment, which mainly includes a first image acquisition module 501, a second image acquisition module 502, an image processing module 503, and an adjustment control module 504.
In this embodiment, the image capturing module may adopt a visual sensor, but the type of the image capturing module is not particularly limited, and the image capturing module may be correspondingly selected and adjusted according to actual requirements.
The first image acquisition module 501 is configured to acquire an image of a first position of the battery replacement vehicle to acquire a first image, and the second image acquisition module 502 is configured to acquire an image of a second position of the battery replacement vehicle to acquire a second image.
Specifically, referring to fig. 2, the first image acquisition module 501 acquires a first image of the target device 7 (i.e., the battery replacement vehicle or the related component thereof) along a direction indicated by an arrow, where the first image includes a first position a on the target device 7; the second image capturing module 502 obtains a second image of the target device 7 along the direction indicated by the arrow, wherein the second image includes a second position B on the target device. The image processing module 503 receives the first image and the second image, and performs image processing to obtain the position information of the target device 7.
In this embodiment, the image processing module 503 also obtains a position adjustment amount according to the position information of the target device and the reference position information of the target device.
As an alternative embodiment, the image processing module 503 performs image processing according to the images acquired by the first image acquisition module 501 and the second image acquisition module 502 in real time and a preset reference image of the target device to obtain the position adjustment amount.
In an alternative embodiment, the image processing module 503 acquires the horizontal displacement amount according to the first image and the first reference image. The reference image is acquired by the image acquisition module when the battery replacement device is located at the battery replacement position.
In particular, fig. 3 gives an illustration of the first reference image G1. The first reference image G1 is pre-stored in the image processing module 503. The first reference image G1 includes a first location a on the target device. By analyzing the first reference image G1, the image processing module obtains the position of the corresponding pixel in the first reference image G1 of the first position a on the target device in the first reference image G1 as a reference for positioning, referred to as the "target position" for convenience of description. The process of obtaining the target position by the image processing module can be implemented by using algorithms already disclosed in the art, and can be implemented by those skilled in the art, which is not described herein again.
Fig. 4 gives an illustration of the first image G11. The first image G11 includes a first location a on the target device. By analyzing the first image G11, the image processing module obtains the location in the first image G11 of the corresponding pixel of the first location a on the target device in the first image G11, referred to as the "real-time location" for ease of description. The process of obtaining the target position by the image processing module can be implemented by using algorithms already disclosed in the art, and can be implemented by those skilled in the art, which is not described herein again.
In an alternative embodiment, the position acquisition unit acquires the horizontal displacement amount based on the first image and the first reference image. According to an image processing algorithm, the image processing module obtains a first horizontal displacement and a first vertical displacement according to the target position and the real-time position. By moving the first image capturing module by the first horizontal displacement amount and the first vertical displacement amount, the first image capturing module can be caused to capture an image that coincides with the first reference image G1. The process of obtaining the first horizontal displacement and the first vertical displacement by the image processing module can be implemented by using algorithms already disclosed in the art, and can be implemented by those skilled in the art, and details are not described here. The adjustment control module takes the first horizontal displacement as the horizontal displacement, and corresponding horizontal displacement can be realized by moving the corresponding horizontal displacement so as to be matched with the target device in the horizontal direction; similarly, by shifting the corresponding amount of the straight shift, the corresponding straight shift can be achieved to match the target device in the straight direction.
In another alternative embodiment, the image processing module acquires the horizontal displacement amount based on the second image and the second reference image. The image processing module acquires a second horizontal displacement and a second vertical displacement according to the second image and a pre-stored second reference image. By moving the second image capturing module by the second horizontal displacement amount and the second vertical displacement amount, the second image capturing module can capture an image consistent with the second reference image. The adjustment control module takes the second horizontal displacement as the horizontal displacement, and corresponding horizontal displacement can be realized by moving the corresponding horizontal displacement so as to be matched with the target device in the horizontal direction; similarly, by shifting the corresponding amount of the straight shift, the corresponding straight shift can be achieved to match the target device in the straight direction.
In another alternative embodiment, the reference position information of the target device is stored in the image processing module in advance. And the image processing module obtains the position adjustment amount according to the prestored reference position information of the target device and the position information which is obtained in real time. The first image acquisition module and the second image acquisition module are adjusted according to the position adjustment amount, so that the first image acquisition module can shoot an image consistent with the first reference image, and the second image acquisition module can shoot an image consistent with the second reference image.
As an alternative embodiment, referring to fig. 5, when the first image capturing module and the second image capturing module are disposed on the position adjusting mechanism 8, the first image capturing module is disposed at a position corresponding to the first position a, the second image capturing module is disposed at a position corresponding to the second position B, a first preset distance D3 is provided between the first position a and the second position B, and a second preset distance L is provided between the first image capturing module and the second image capturing module.
The image processing module performs image processing on the first image to obtain a first depth of field, wherein the first depth of field value is a depth of field value D1 of a first position A in the first image; the image processing module performs image processing on the second image to obtain a second depth of field, where the second depth of field is a depth of field value D2 of a second position B in the second image. The specific way for the image processing module to obtain the depth of field value may be implemented by using algorithms disclosed in the art, which can be implemented by those skilled in the art, and is not described herein again.
The image processing module obtains the difference D of the two depth values which is | D2-D1 |. The image processing module can obtain the rotation angle amount theta according to the trigonometric function principle according to the difference D of the depth of field values, the distance L between the first image acquisition module and the second image acquisition module and the distance D3 between the first position A and the second position B. The adjusting control module 504 is configured to control the position adjusting mechanism 8 to rotate in a corresponding direction according to the rotation angle θ, so that the target device 7 and the position adjusting mechanism 8 are parallel.
The embodiment also provides a battery replacing device, which is used for replacing a battery pack for an electric automobile, and the battery replacing device comprises the positioning control system. As shown in fig. 7, the battery swapping device further includes an unlocking mechanism 802 and a position adjustment mechanism. The unlocking mechanism is used for unlocking the battery pack locked on the battery bracket, and the adjusting control module is used for controlling at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount obtained by the image processing module to adjust the position of the unlocking mechanism until the unlocking piece on the unlocking mechanism and the battery bracket is positioned.
As an optional implementation, the first image capturing module and the second image capturing module are disposed on the unlocking mechanism. The position of the unlocking mechanism is adjusted and unlocked according to the position adjustment quantity obtained by the image processing module, and the unlocking piece on the unlocking mechanism and the battery bracket can be positioned.
The battery replacing device of this embodiment is disposed in the battery replacing station, and when the electric vehicle enters the battery replacing station and is parked in a preset parking space, the battery replacing device of this embodiment moves toward the electric vehicle under the control of the position adjusting mechanism, and adjusts the position of the unlocking mechanism 802 according to at least one of the horizontal displacement amount, the vertical displacement amount, and the rotation angle amount obtained by the positioning control system until the unlocking member on the unlocking mechanism 802 and the battery bracket completes positioning.
As an alternative embodiment, the first image capturing module 501 and the second image capturing module 502 are disposed on the unlocking mechanism 802. And adjusting and unlocking the position of the unlocking mechanism 802 according to the position adjustment quantity obtained by the positioning control system, so that the unlocking piece on the battery bracket and the unlocking mechanism 802 can be positioned. First image acquisition module 501 and second image acquisition module 502 set up on release mechanism 802, then battery bracket position information that positioning control system obtained embodies the position relation between release mechanism and the battery bracket directly perceived, helps improving positioning accuracy, is convenient for trade the electric operation.
Specifically, the position adjusting mechanism comprises a control unit, a horizontal moving unit, a vertical moving unit and a rotating unit, wherein the control unit is in communication connection with the positioning control system so as to correspondingly control the horizontal moving unit, the vertical moving unit or the rotating unit to move to the adjusting position according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotating angle amount.
In an optional implementation manner, an initial position of the battery swapping device in this embodiment is matched with a parking space in the battery swapping station. When an electric vehicle is parked on a parking space to be replaced, the parking state of the electric vehicle is often difficult to be consistent with an accurate battery replacement position, and deviation exists. At the moment, the battery replacing device can be positioned according to the parking state of the electric automobile, the position of the battery replacing device is adjusted to be accurately aligned with the electric automobile, the quick and efficient positioning is achieved, the parking position of the electric automobile does not need to be adjusted, and the battery replacing efficiency is improved.
To achieve the horizontal movement, the horizontal movement unit includes a rail, a guide wheel, and a horizontal driver for driving the guide wheel to move along the rail according to the amount of the horizontal displacement. As an alternative embodiment, referring to fig. 7 and 8, the track comprises a sky rail 701 and a ground rail 702, and the guide wheels comprise a sky rail guide wheel 703 and a ground rail guide wheel 704. The top rail guide wheel 703 is provided corresponding to the top rail 701, and the ground rail guide wheel 704 is provided corresponding to the ground rail 702. The horizontal drivers respectively drive the head rail guide wheel 703 to move along the head rail 701 in the X-axis direction (i.e., horizontal direction), and drive the ground rail guide wheel 704 to move along the ground rail 702, thereby achieving horizontal movement of the unlocking mechanism. In FIG. 7, the X, Y and Z axes are perpendicular to each other. Fig. 8 shows a frame of the power swapping actuator 803, and a specific structure is not shown, and the specific structure of the power swapping actuator can be implemented by those skilled in the art, and is not described herein again.
When the electric automobile is parked on the parking space to be replaced, if the parking state of the electric automobile and the accurate battery replacement position have deviation in the horizontal direction, the unlocking mechanism is moved according to the horizontal displacement, so that the unlocking mechanism can be matched with the position of the battery bracket of the electric automobile in the horizontal direction, the accuracy is high, and the guarantee is provided for accurate unlocking.
In this embodiment, the horizontal driver can automatically drive the unlocking mechanism to move in the horizontal direction according to the horizontal displacement, and the efficiency and stability of the horizontal movement of the unlocking mechanism can be improved through the matching of the track and the guide rail.
The vertical displacement acquired by the image processing module comprises a first vertical displacement and a second vertical displacement, wherein the first vertical displacement is acquired according to the first image, and the second vertical displacement is acquired according to the second image.
As a specific implementation manner, the vertical moving unit includes a first vertical driver 61, a second vertical driver 62, a first lifting mechanism, a second lifting mechanism, and a power switching actuator 803, the first vertical driver is connected to the first lifting mechanism, the second vertical driver is connected to the second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are respectively connected to two ends of the power switching actuator to drive two ends of the power switching actuator to move up and down; the first vertical driver is used for driving the first lifting mechanism according to the first vertical displacement, and the second vertical driver is used for driving the second lifting mechanism according to the second vertical displacement.
Specifically, the first lifting mechanism includes a first chain 706 and a first chain wheel 611 disposed correspondingly, and the first chain 706 drives the first chain wheel 611 to move along the vertical direction (i.e., the Z-axis direction) under the driving of the first vertical driver 61, so as to drive the power switching actuator 803 to move along the vertical direction. The second lifting mechanism includes a second chain 621 and a second sprocket 622 correspondingly disposed, the second chain 621 drives the second sprocket 622 to move along the vertical direction under the driving of the second vertical driver 62, so as to drive the power switching actuator 803 to move along the vertical direction.
When the electric automobile is parked on the parking space to be subjected to battery replacement, if the parking state of the electric automobile and the accurate battery replacement position have deviation in the vertical direction, the unlocking mechanism is moved according to the vertical displacement, so that the unlocking mechanism can be matched with the position of a battery bracket of the electric automobile in the vertical direction, the accuracy is high, and the guarantee is provided for accurate unlocking.
In this embodiment, can be respectively according to first vertical displacement volume and the first elevating system of second vertical displacement volume automatic drive and the lift of second elevating system through first vertical drive ware and second vertical drive ware to the drive trades electric actuating mechanism's both ends and goes up and down, thereby further drives the lift at the release mechanism both ends that is connected with it and in order to adjust release mechanism position in vertical direction, further improves the stability of release mechanism when vertical direction position adjustment.
In an alternative embodiment, referring to fig. 9, the rotating unit includes a rotating disc 811 and a rotating driver 812, the rotating disc 811 is sleeved on the bottom of the power exchanging actuator 803, and the rotating driver 812 is connected to the rotating disc 811 and is configured to drive the rotating disc 811 to rotate the power exchanging actuator 803 according to the amount of the rotation angle.
When the electric automobile is parked on a parking space to be subjected to battery replacement, if the parking state of the electric automobile and the accurate battery replacement position have angular deviation, the unlocking device and the like are difficult to align with an unlocking target after being stretched out, or the battery replacement executing mechanism is difficult to align with a battery bracket after being stretched out. The battery replacing device of the embodiment can acquire the parking state of the electric vehicle and the accurate angle deviation of the battery replacing position, for example, the angle θ shown in fig. 5, by using the angle θ as the rotation angle, the posture of the battery replacing device is adjusted, so that the posture of the battery replacing device is matched with the parking state of the electric vehicle, the unlocking mechanism is aligned with the unlocking piece on the battery bracket, and the efficient and accurate battery replacing operation is realized.
In this embodiment, can rotate in order to drive and trade electric actuating mechanism rotation according to the rotation angle volume automatic drive carousel through rotary actuator to further drive the release mechanism rotation of being connected with it in order to adjust release mechanism position on the angle, further improve release mechanism stability when angle of adjustment.
The battery replacing device and the positioning control system thereof provided by this embodiment can automatically and accurately acquire the accurate positions of the battery replacing vehicle and the battery bracket thereof, so that the battery replacing device can accurately perform corresponding operations on the battery pack of the battery replacing vehicle, thereby greatly improving the battery replacing accuracy and further greatly improving the battery replacing efficiency.
Example 3
On the basis of embodiment 2, the positioning control system further includes at least two distance sensors, as shown in fig. 6, the at least two distance sensors include a first distance sensor 505 and a second distance sensor 506.
In this embodiment, the number and the arrangement positions of the distance sensors are not particularly limited, and can be adjusted and selected according to actual requirements.
As an alternative implementation, referring to fig. 5, similar to the manner of the rotation angle amount θ of example 2, when the first image capturing module and the second image capturing module are disposed on the position adjusting mechanism 8, the first distance sensor 505 (assumed to overlap with the position of the first image capturing module) is disposed at a position corresponding to the first position a, the second distance sensor 506 (assumed to overlap with the position of the first image capturing module) is disposed at a position corresponding to the second position B, the first position a and the second position B have a first preset distance D3 therebetween, and the first distance sensor and the second distance sensor have a second preset distance L therebetween.
The first distance sensor is used for detecting a distance value D1 between the first distance sensor and the target device; the second distance sensor is used for detecting a distance value D2 between the target device and the second distance sensor. The distance sensor can detect the distance by using algorithms disclosed in the art, which can be implemented by those skilled in the art and will not be described herein.
The image processing module obtains the difference D of the two distance values | D2-D1 |. The image processing module can obtain the rotation angle amount theta according to the trigonometric function principle according to the difference value D, the distance L between the first distance sensor and the second distance sensor and the distance D3 between the first position A and the second position B. The adjusting control module 504 is configured to control the position adjusting mechanism 8 to rotate in a corresponding direction according to the rotation angle θ, so that the target device 7 and the position adjusting mechanism 8 are parallel.
Example 4
In order to overcome the above existing defects, the present embodiment provides a positioning control method for a battery replacement device, where the positioning control method includes the following steps: acquiring images of a first position and a second position of the battery replacement vehicle to obtain a first image and a second image; performing image processing on the first image and the second image to obtain a position adjustment amount; and controlling and adjusting the position of the battery swapping equipment according to the position adjustment amount so as to enable the battery swapping equipment and the battery swapping vehicle to finish positioning.
In this embodiment, the positioning control method can automatically and accurately acquire the accurate position of the battery replacement vehicle, so that the battery replacement device can be accurately positioned with the battery bracket of the battery replacement vehicle to disassemble and assemble the battery pack, and the battery replacement accuracy and the battery replacement efficiency are greatly improved.
Example 5
The embodiment provides a positioning control method of a battery swapping device. Referring to fig. 10, the positioning control method includes the steps of:
step S91, position information of the battery tray is acquired.
And step S92, acquiring the position adjustment quantity according to the position information and the corresponding reference position information.
And step S93, adjusting the position of the unlocking mechanism according to the position adjustment amount until the unlocking mechanism is aligned with the unlocking piece on the battery bracket.
In an optional implementation manner, the positioning control method is implemented by using the battery swapping device in embodiment 3. The positioning control system acquires the position information of the battery bracket and acquires the position adjustment amount according to the position information and the corresponding reference position information. Then, the position adjusting mechanism adjusts the position of the unlocking mechanism 802 according to the position adjustment amount until the unlocking member on the unlocking mechanism 802 and the battery bracket are aligned, so as to realize unlocking and battery replacement.
Example 6
On the basis of embodiment 5, this embodiment provides a positioning control method for a battery swapping device. As an optional implementation manner, the positioning control method is implemented by using the battery swapping device in embodiment 3.
Referring to fig. 11, before step S91, the positioning control method further includes the steps of:
and step S90, controlling the unlocking mechanism to move to the coarse positioning position according to the preset value.
The unlocking mechanism can be controlled to move to a preset coarse positioning position by the driving of the horizontal moving unit and the vertical moving unit. Specifically, the battery replacement equipment is arranged in the battery replacement station. When the vehicle enters the battery replacement station for battery replacement, the vehicle can be parked to the corresponding parking space. The preset coarse positioning position corresponds to a corresponding parking space. When the unlocking mechanism 802 moves to the preset coarse positioning position, the positional relationship between the unlocking mechanism 802 and the battery bracket of the vehicle has reached the estimated range. Next, according to the positioning of the battery bracket by the positioning control system, the unlocking member on the battery bracket and the unlocking mechanism 802 can be accurately positioned.
In an alternative embodiment, referring to fig. 12, step S91 includes:
step S911, a first image of a first position of the battery carriage is acquired.
Step S912, a second image of a second position of the battery carriage is acquired.
Step S913 obtains the position information of the battery holder from the first image and the second image.
In the battery replacement process, a battery bracket is used as a target device for positioning of the positioning control system, and a first position A and a second position B are preset on the battery bracket. Referring to fig. 2, a first image acquisition module 501 acquires a first image of a target device along a direction indicated by an arrow, where the first image includes a first position a on the target device; the second image capturing module 502 obtains a second image of the target device along the direction indicated by the arrow, where the second image includes a second position B on the target device. The image processing module 503 receives the first image and the second image, and performs image processing to obtain the position information of the target device.
When an electric vehicle is parked on a parking space to be replaced, the parking state of the electric vehicle is often difficult to be consistent with an accurate battery replacement position, and deviation exists. At this time, according to the positioning control method of the embodiment, the battery replacement device can be positioned according to the parking state of the electric vehicle, and the position of the battery replacement device can be adjusted to be accurately aligned with the electric vehicle, so that the rapid and efficient positioning is realized, the parking position of the electric vehicle does not need to be adjusted, and the battery replacement efficiency is improved.
Specifically, step S92 includes:
acquiring a horizontal displacement according to the first image and a first reference image corresponding to the first position or the second image and a second reference image corresponding to the second position; or
Respectively obtaining a first vertical displacement and a second vertical displacement according to the first image, the first reference image, the second image and the second reference image; or
And acquiring the rotation angle quantity according to the depth value of the first position in the first image and the depth value of the second position in the second image.
As another optional implementation, step S92 further includes:
the rotation angle amount is obtained from the first distance acquired by the first distance sensor 505 and the second distance acquired by the second distance sensor 506.
As an alternative embodiment, in step S92, by analyzing the first reference image G1, the image processing module obtains the position of the corresponding pixel in the first reference image G1 of the first position a on the target device in the first reference image G1 as a reference for positioning, which is referred to as a "target position" for convenience of description.
By analyzing the first image G11, the image processing module obtains the location in the first image G11 of the corresponding pixel of the first location a on the target device in the first image G11, referred to as the "real-time location" for ease of description.
According to an image processing algorithm, the image processing module obtains a first horizontal displacement and a first vertical displacement according to the target position and the real-time position. By moving the first image capturing module by the first horizontal displacement amount and the first vertical displacement amount, the first image capturing module can be caused to capture an image that coincides with the first reference image G1.
Similarly, the image processing module acquires a second horizontal displacement amount and a second vertical displacement amount according to the second image and a pre-stored second reference image. By moving the second image capturing module by the second horizontal displacement amount and the second vertical displacement amount, the second image capturing module can capture an image consistent with the second reference image.
Referring to fig. 7 and 8, the horizontal driver drives the head rail guide wheel 703 to move along the head rail 701 in the X-axis direction (i.e., horizontal direction), and drives the ground rail guide wheel 704 to move along the ground rail 702, so as to realize horizontal movement of the unlocking mechanism 802.
When the electric automobile is parked on the parking space to be replaced, if the parking state of the electric automobile and the accurate battery replacement position have deviation in the horizontal direction, the unlocking mechanism is moved according to the horizontal displacement, so that the unlocking mechanism can be matched with the position of the battery bracket of the electric automobile in the horizontal direction, the accuracy is high, and the guarantee is provided for accurate unlocking.
Referring to fig. 7 and 8, the first chain 706 drives the first sprocket 611 to move in the vertical direction (i.e., the Z-axis direction) under the driving of the first vertical driver 61, and the second chain 621 drives the second sprocket 622 to move in the vertical direction under the driving of the second vertical driver 62, so as to drive the power exchanging actuator 803 to move in the vertical direction.
When the electric automobile is parked on the parking space to be subjected to battery replacement, if the parking state of the electric automobile and the accurate battery replacement position have deviation in the vertical direction, the unlocking mechanism is moved according to the vertical displacement, so that the unlocking mechanism can be matched with the position of a battery bracket of the electric automobile in the vertical direction, the accuracy is high, and the guarantee is provided for accurate unlocking.
The image processing module acquires the rotation angle according to the depth of field value of the first position in the first image and the depth of field value of the second position in the second image. Referring to fig. 9, the rotation driver 812 drives the dial 811 to rotate the power exchanging actuator 803 according to the rotation angle.
When the electric automobile is parked on a parking space to be subjected to battery replacement, if the parking state of the electric automobile and the accurate battery replacement position have angular deviation, the unlocking device and the like are difficult to align with an unlocking target after being stretched out, or the battery replacement executing mechanism is difficult to align with a battery bracket after being stretched out. According to the positioning control method of the embodiment, the parking state of the electric vehicle and the accurate angle deviation of the battery replacement position, for example, the angle θ shown in fig. 5, can be obtained, and the posture of the battery replacement device is adjusted by taking the angle θ as the rotation angle, so that the posture of the battery replacement device is matched with the parking state of the electric vehicle, the unlocking mechanism is aligned with the unlocking piece on the battery bracket, and the efficient and accurate battery replacement operation is realized.
After the step of adjusting the position of the unlocking mechanism according to the position adjustment amount until the unlocking mechanism is aligned with the unlocking piece on the battery bracket, in step 94, the unlocking mechanism 802 is extended until the unlocking piece is matched in place and unlocked, and then the battery replacement operation is performed.
The positioning control method for the battery replacement device provided in this embodiment can automatically and accurately acquire the accurate position of the battery replacement vehicle and the battery bracket thereof, so that the battery replacement device can be accurately positioned with the battery bracket of the battery replacement vehicle to disassemble and assemble the battery pack, thereby greatly improving the battery replacement accuracy and the battery replacement efficiency.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims (15)

1. A positioning control system of battery replacing equipment is characterized by comprising:
the at least two image acquisition modules are respectively arranged at different positions of one side of the battery replacement equipment facing to the battery replacement position, and are used for acquiring images of different positions of the battery replacement vehicle so as to at least acquire a first image and a second image;
the image processing module is connected with the at least two image acquisition modules and is at least used for carrying out image processing on the first image and the second image so as to obtain position adjustment quantity; and the number of the first and second groups,
and the adjusting control module is used for controlling and adjusting the position of the battery replacing equipment according to the position adjusting amount so as to enable the battery replacing equipment and the battery replacing vehicle to finish positioning.
2. The positioning control system according to claim 1, wherein the position adjustment amount includes a horizontal displacement amount, a vertical displacement amount, and an angular rotation amount;
the image processing module performs image processing on at least either one of the first image and the second image to acquire the horizontal displacement amount,
the image processing module performs image processing on at least the first image and the second image to acquire the vertical displacement amount,
the image processing module performs image processing on at least any two of the first image and the second image to acquire the amount of angular rotation.
3. The positioning control system of claim 2, wherein the at least two image acquisition modules comprise a first image acquisition module and a second image acquisition module;
the image processing module acquires the horizontal displacement according to the first image and a first reference image, wherein the first reference image is a reference image acquired by the first image acquisition module when the battery replacement device is located at a battery replacement position; or the like, or, alternatively,
the image processing module acquires the horizontal displacement according to the second image and a second reference image, wherein the second reference image is a reference image acquired by the second image acquisition module when the battery replacement device is located at a battery replacement position.
4. The positioning control system of claim 2, wherein the at least two image acquisition modules comprise a first image acquisition module and a second image acquisition module;
the image processing module acquires a first vertical displacement according to the first image and a first reference image, wherein the first reference image is a reference image acquired by the first image acquisition module when the battery replacement device is located at a battery replacement position;
the image processing module acquires a second vertical displacement according to the second image and a second reference image, wherein the second reference image is a reference image acquired by the second image acquisition module when the battery replacement device is located at a battery replacement position.
5. The positioning control system according to claim 2, wherein the at least two image acquisition modules comprise a first image acquisition module and a second image acquisition module, the first image acquisition module is configured to acquire an image of a first position of the battery replacement vehicle to acquire the first image, and the second image acquisition module is configured to acquire an image of a second position of the battery replacement vehicle to acquire the second image;
the image processing module obtains the rotation angle according to a first depth of field value and a second depth of field value, wherein the first depth of field value is the depth of field value of the first position in the first image, and the second depth of field value is the depth of field value of the second position in the second image.
6. The positioning control system according to claim 1, wherein each of the image capturing modules corresponds to one capturing position, and the capturing positions corresponding to two adjacent image capturing modules have a preset distance therebetween.
7. The positioning control system of claim 1, further comprising at least two distance sensors;
the at least two distance sensors are respectively used for acquiring the distance between the battery replacing equipment and the battery replacing vehicle and acquiring at least a first distance and a second distance;
the position adjustment amount comprises a rotation angle amount, and the image processing module is further configured to obtain the rotation angle amount at least according to the first distance and the second distance.
8. The positioning control system according to any one of claims 2 to 7, wherein the battery replacement device comprises an unlocking mechanism and a position adjusting mechanism;
the unlocking mechanism is used for unlocking a battery pack locked on a battery bracket of the battery replacement vehicle;
the adjusting control module is used for controlling the position adjusting mechanism to adjust the position of the unlocking mechanism according to the position adjusting quantity until the unlocking mechanism and the unlocking piece on the battery bracket are positioned.
9. The positioning control system according to claim 8, wherein the position adjusting mechanism includes a control unit, a horizontal moving unit, a vertical moving unit, and a rotating unit;
the control unit is in communication connection with the positioning control system, and correspondingly controls the horizontal moving unit, the vertical moving unit or the rotating unit to move to an adjusting position according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotating angle amount.
10. The positioning control system according to claim 9, wherein the horizontal moving unit includes a rail, a guide wheel, and a horizontal driver;
the horizontal driver is used for driving the guide wheel to move along the track according to the horizontal displacement.
11. The positioning control system according to claim 9, wherein the vertical displacement amount includes a first vertical displacement amount and a second vertical displacement amount;
the vertical moving unit comprises a first vertical driver, a second vertical driver, a first lifting mechanism, a second lifting mechanism and a battery replacement executing mechanism, the first vertical driver is connected to the first lifting mechanism, the second vertical driver is connected to the second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are respectively connected to two ends of the battery replacement executing mechanism so as to drive two ends of the battery replacement executing mechanism to move up and down;
the first vertical driver is used for driving the first lifting mechanism according to the first vertical displacement, and the second vertical driver is used for driving the second lifting mechanism according to the second vertical displacement.
12. The positioning control system of claim 11, wherein the rotation unit includes a turntable and a rotation driver;
the rotating disc is sleeved at the bottom of the battery changing executing mechanism, and the rotating driver is connected to the rotating disc and used for driving the rotating disc to drive the battery changing executing mechanism to rotate according to the rotating angle.
13. A positioning control method of battery replacement equipment is characterized by comprising the following steps:
acquiring images of a first position and a second position of the battery replacement vehicle to obtain a first image and a second image;
performing image processing on the first image and the second image to obtain a position adjustment amount; and the number of the first and second groups,
and controlling and adjusting the position of the battery replacing equipment according to the position adjusting amount so as to position the battery replacing equipment and the battery replacing vehicle.
14. The positioning control method according to claim 13, wherein the step of performing image processing on the first image and the second image to obtain the position adjustment amount comprises:
acquiring a horizontal displacement according to the first image and a first reference image corresponding to the first position or the second image and a second reference image corresponding to the second position; or the like, or, alternatively,
respectively acquiring a first vertical displacement and a second vertical displacement according to the first image, a first reference image corresponding to the first position and the second image, and a second reference image corresponding to the second position; or the like, or, alternatively,
and acquiring a rotation angle quantity according to the depth value of the first position in the first image and the depth value of the second position in the second image.
15. The positioning control method according to claim 13, characterized in that the positioning control method further comprises:
acquiring a first distance and a second distance between the battery replacement equipment and a battery replacement vehicle;
and obtaining the rotation angle according to the first distance and the second distance.
CN202010414832.3A 2020-05-15 2020-05-15 Positioning control system and method of battery replacement equipment Pending CN113665408A (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN202010414832.3A CN113665408A (en) 2020-05-15 2020-05-15 Positioning control system and method of battery replacement equipment
US17/925,305 US20230234234A1 (en) 2020-05-15 2021-05-17 Visual positioning system, battery replacing device, and battery replacement control method
PCT/CN2021/094226 WO2021228266A1 (en) 2020-05-15 2021-05-17 Visual positioning system, battery replacing device, and battery replacement control method
JP2022569144A JP2023526293A (en) 2020-05-15 2021-05-17 Visual positioning system, battery exchange equipment and battery exchange control method
EP21802934.6A EP4152745A1 (en) 2020-05-15 2021-05-17 Visual positioning system, battery replacing device, and battery replacement control method

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115248069A (en) * 2022-09-22 2022-10-28 江苏智慧优视电子科技有限公司 Heavy truck battery replacement vehicle positioning method and system based on image measurement technology
CN116424279A (en) * 2023-06-13 2023-07-14 宁德时代新能源科技股份有限公司 Posture adjustment method, posture adjustment device, control equipment and storage medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115248069A (en) * 2022-09-22 2022-10-28 江苏智慧优视电子科技有限公司 Heavy truck battery replacement vehicle positioning method and system based on image measurement technology
CN116424279A (en) * 2023-06-13 2023-07-14 宁德时代新能源科技股份有限公司 Posture adjustment method, posture adjustment device, control equipment and storage medium
CN116424279B (en) * 2023-06-13 2023-11-10 宁德时代新能源科技股份有限公司 Posture adjustment method, posture adjustment device, control equipment and storage medium

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