阅读说明：本技术 基于视觉引导电池定位的新能源汽车换电方法和装置 (New energy automobile battery replacement method and device based on vision-guided battery positioning ) 是由 吴如伟 李祥林 李圩 万琳 范冬林 于 2021-09-28 设计创作，主要内容包括：本发明公开了基于视觉引导电池定位的新能源汽车换电方法和装置,涉及汽车电池换电技术领域。本发明包括采用摄像设备拍摄电池位置图像并传递至换电控制器；换电控制器根据电池位置图像上的中心标识光点与中心光点分析获取机械臂调整参数并传递机械臂调整参数至机械臂控制器。本发明机械臂控制器根据机械臂调整参数移动机械臂使得中心标识光点与中心光点重合后,换电控制器根据夹臂调整参数控制夹臂组件使得两夹臂标识光点分别与对应的两夹手槽口位置重合；最后驱动机械臂向电池本体运动使得夹臂匹配在夹手槽口内并夹出汽车电池本体,提高换电效率,便捷实用。(The invention discloses a new energy automobile battery replacement method and device based on vision-guided battery positioning, and relates to the technical field of automobile battery replacement. The method comprises the steps of shooting a battery position image by adopting a camera device and transmitting the battery position image to a battery replacement controller; and the battery replacement controller analyzes and obtains the mechanical arm adjustment parameters according to the central identification light spot and the central light spot on the battery position image and transmits the mechanical arm adjustment parameters to the mechanical arm controller. According to the invention, after the mechanical arm controller moves the mechanical arm according to the mechanical arm adjustment parameter to enable the central identification light spot to coincide with the central light spot, the electricity changing controller controls the clamping arm assembly according to the clamping arm adjustment parameter to enable the two clamping arm identification light spots to coincide with the corresponding positions of the two clamping arm notches respectively; at last, the mechanical arm is driven to move towards the battery body, so that the clamping arm is matched in the opening of the clamping hand slot and clamps out the automobile battery body, the battery replacement efficiency is improved, and the battery replacement device is convenient and practical.)

1. The new energy automobile battery replacement method based on visual guidance battery positioning is characterized by comprising the following steps:

the method comprises the following steps: the battery replacement controller (5) controls to open the central laser pen (33) and emit laser to the automobile battery body to form a central identification light spot, and controls to open the two clamping arm laser pens (34) and emit laser to the automobile battery body to form two clamping arm identification light spots;

step two: shooting a battery position image by adopting a camera device (4) and transmitting the battery position image to a battery replacement controller (5);

step three: the battery replacement controller (5) analyzes and obtains mechanical arm adjustment parameters according to the central identification light spot and the central light spot on the battery position image and transmits the mechanical arm adjustment parameters to the mechanical arm controller;

step four: the mechanical arm controller moves the mechanical arm (1) according to the mechanical arm adjusting parameters to enable the central identification light spot to coincide with the central light spot;

step five: the battery replacement controller analyzes and obtains clamping arm adjustment parameters according to two clamping arm identification light spots on the battery position image and the positions of the clamping arm notches;

step six: the electricity changing controller (5) controls the clamping arm components according to the clamping arm adjusting parameters to enable the two clamping arm identification light spots to coincide with the positions of the corresponding two clamping hand notches respectively;

step seven: the mechanical arm controller drives the mechanical arm (1) to move towards the battery body, so that the clamping arm is matched in the clamping hand notch and clamped out of the automobile battery body.

2. The new energy automobile battery replacement method based on vision-guided battery positioning as claimed in claim 1, wherein the step one further comprises alignment before shooting, specifically as follows:

a00: the battery replacement controller (5) controls the distance sensor A to measure a left distance D1 and the distance sensor B to measure a right distance D2;

a01: the battery replacement controller (5) judges whether the left distance D1 is equal to the right distance D2; if yes, executing the step one; if not, executing A02;

a02: the battery replacement controller (5) analyzes and obtains the alignment adjustment parameter according to the left distance D1 and the right distance D2 and transmits the alignment adjustment parameter to the mechanical arm controller;

a03: the arm controller controls to rotate the robot arm (1) so that the left distance D1 is equal to the right distance D2.

3. The new energy automobile battery replacement method based on the vision-guided battery positioning as claimed in claim 2, wherein a00 is preceded by the following process:

b00: opening the sealing door to expose the automobile battery body in the battery mounting groove;

b01: the mechanical arm controller controls the mechanical arm (1) to move to the position near the automobile battery body, and the electricity switching controller controls the central laser pen (33) to be turned on and emits laser to form a central identification light spot;

b02: the battery replacement controller (5) controls the camera equipment (4) to shoot the verification image;

b03: the battery replacement controller (5) judges whether a central identification light spot in the verification image falls on the automobile battery body; if yes, A00 is executed; if not, executing A04;

b04: the battery replacement controller (5) analyzes and obtains adjustment parameters to the mechanical arm controller according to the central identification light spot in the verification image and the relative position of the automobile battery body;

b05: the mechanical arm controller controls the mobile mechanical arm (1) to move according to the falling adjusting parameter and executes B03.

4. The new energy automobile battery replacement method based on vision-guided battery positioning as claimed in claim 3, wherein the following process is included before B00:

after the monitoring camera shoots that the new energy automobile enters an inlet of a battery replacement area, transmitting a guide signal to an intelligent guide system; the intelligent guide system controls the voice player to play guide indication voice for guiding;

in the process that the vehicle runs from the battery replacement area inlet to the battery replacement designated area, the monitoring camera shoots the vehicle moving image in real time and transmits the vehicle moving image to the intelligent guiding system; the intelligent guiding system obtains guiding indication voice according to the moving image analysis of the vehicle and controls the voice player to play the guiding indication voice for guiding.

5. The new energy automobile battery replacement device based on visual guidance battery positioning is characterized by comprising a mechanical arm (1), a clamping arm structure and an adjusting assembly;

the clamping arm structure comprises a cross beam (21), a left sliding rack (22) and a right sliding rack (23); the left end and the right end of the cross beam (21) are provided with parallel horizontal sliding chutes, and the two horizontal sliding chutes are distributed up and down; the two horizontal sliding grooves are respectively provided with a left sliding rack (22) and a right sliding rack (23) in a sliding manner; one end of the left sliding rack (22) is provided with an L-shaped left clamping arm (221); one end of the right sliding rack (23) is provided with an L-shaped right clamping arm (231);

the adjusting assembly comprises a servo motor (31), a micro motor (32), a center laser pen (33), a clamping arm laser pen (34), a camera device (4) and a battery replacement controller (5); the battery replacement controller (5) is electrically connected with the servo motor (31), the micro motor (32), the center laser pen (33), the clamping arm laser pen (34) and the camera equipment (4) respectively; the servo motor (31) is embedded at the tail end of the mechanical arm (1); the output end of the servo motor (31) is connected with the cross beam (21); the beam (21) is internally provided with an installation slot hole communicated with the two horizontal sliding grooves; a micro motor (32) is arranged on the side surface of the mounting groove hole, and the output end of the micro motor (32) is connected with a gear (321); the gear (321) is respectively meshed with the left sliding rack (22) and the right sliding rack (23);

the central laser pen (33) is arranged at the central position of the front side surface of the cross beam (21); the two clamping arm laser pens (34) are respectively arranged at the tail ends of the L-shaped left clamping arm (221) and the L-shaped right clamping arm (231); the two clamping arm laser pens (34) are symmetrical with respect to the central laser pen (33); the camera equipment (4) is arranged on the upper side of the tail end of the mechanical arm (1); the battery replacement controller (5) is installed on the upper side of the mechanical arm (1).

6. The new energy automobile battery replacement device based on vision-guided battery positioning as claimed in claim 5, wherein the adjustment assembly further comprises a distance sensor A (35) and a distance sensor B (36) which are installed in a front side face of the cross beam (21) in a built-in mode; the distance sensor A (35) and the distance sensor B (36) are symmetrical with respect to the central laser pointer (33).

Technical Field

The invention belongs to the technical field of automobile battery replacement, and particularly relates to a new energy automobile battery replacement method and device based on vision-guided battery positioning.

Background

In order to improve the replacement efficiency and save manpower, the automobile battery of the energy automobile is replaced by the intelligent robot control manipulator in the prior art.

The prior patent is as follows: the device for positioning the new energy automobile battery by the cooperation of the trinocular camera and the new energy automobile battery (application number:) provides a battery positioning assembly which comprises an automobile battery body and is arranged on the automobile battery body; the automobile battery body is arranged in a battery mounting groove formed in the side surface of an automobile; one side of the opening end of the battery mounting groove is hinged with a sealing door; the battery positioning assembly comprises a center lamp and a limiting mechanism; the left side surface and the right side surface of a battery shell of the automobile battery body are symmetrically provided with a hand clamping notch; the limiting mechanism comprises a rectangular sliding plate, a spring and a baffle plate; a rectangular central groove is formed in the center of one end face of the battery shell; the rectangular sliding plate is slidably arranged in the rectangular central groove; the rectangular sliding plate is connected with the bottom surface of the rectangular center groove through two springs; the left side wall and the right side wall of the battery mounting groove are symmetrically provided with baffles; and a central lamp is arranged at the center of the side surface of the rectangular sliding plate. When the sealing door is opened, the center lamp is lightened, the illumination intensity during shooting can be improved, and the function of a standard positioning point (namely a central point) of the automobile battery body can be played, so that the automobile battery body can be clamped.

How to realize convenient clamping according to a standard positioning point provided by a center lamp and two clamping hand notches is a difficult point for replacing an automobile battery; in order to solve the problems, the invention provides a new energy automobile battery replacement method and device based on vision-guided battery positioning.

Disclosure of Invention

The invention aims to provide a new energy automobile power changing method and device based on vision-guided battery positioning.

In order to solve the technical problems, the invention is realized by the following technical scheme:

the invention relates to a new energy automobile battery replacement method based on visual guidance battery positioning, which comprises the following steps:

the method comprises the following steps: the battery replacement controller controls to open the central laser pen and emit laser to the automobile battery body to form a central identification light spot, and simultaneously controls to open the two clamping arm laser pens and emit laser to the automobile battery body to form two clamping arm identification light spots;

step two: shooting a battery position image by adopting camera equipment and transmitting the battery position image to a battery replacement controller;

step three: the battery replacement controller analyzes and obtains mechanical arm adjustment parameters according to the central identification light spot and the central light spot on the battery position image and transmits the mechanical arm adjustment parameters to the mechanical arm controller;

step four: the mechanical arm controller moves the mechanical arm according to the mechanical arm adjusting parameters to enable the central identification light spot to coincide with the central light spot;

step five: the battery replacement controller analyzes and obtains clamping arm adjustment parameters according to two clamping arm identification light spots on the battery position image and the positions of the clamping arm notches;

step six: the power exchange controller controls the clamping arm assemblies according to the clamping arm adjustment parameters to enable the two clamping arm identification light spots to coincide with the positions of the corresponding two clamping hand notches respectively;

step seven: the mechanical arm controller drives the mechanical arm to move towards the battery body, so that the clamping arm is matched in the clamping hand notch and clamped out of the automobile battery body.

As a preferred technical solution, the first step further comprises alignment before shooting, specifically as follows:

a00: the battery replacement controller controls a distance sensor A to measure a left distance D1 and a distance sensor B to measure a right distance D2;

a01: the battery replacement controller judges whether the left distance D1 is equal to the right distance D2; if yes, executing the step one; if not, executing A02;

a02: the battery replacement controller analyzes and obtains the alignment adjustment parameter according to the left distance D1 and the right distance D2 and transmits the alignment adjustment parameter to the mechanical arm controller;

a03: the arm controller controls to rotate the arm so that the left distance D1 is equal to the right distance D2.

As a preferred technical solution, a00 further includes the following steps:

b00: opening the sealing door to expose the automobile battery body in the battery mounting groove;

b01: the mechanical arm controller controls the mechanical arm to move to the position near the automobile battery body, and the power switching controller controls the central laser pen to be turned on and emits laser to form a central identification light spot;

b02: the battery replacement controller controls the camera shooting equipment to shoot verification images;

b03: the battery replacement controller judges whether a central identification light spot in the verification image falls on the automobile battery body; if yes, A00 is executed; if not, executing A04;

b04: the battery replacement controller analyzes and obtains adjustment parameters to the mechanical arm controller according to the central identification light spot in the verification image and the relative position of the automobile battery body;

b05: the arm controller controls the moving arm according to the falling adjustment parameter and executes B03.

As a preferred technical solution, the following process is included before B00:

after the monitoring camera shoots that the new energy automobile enters an inlet of a battery replacement area, transmitting a guide signal to an intelligent guide system; the intelligent guide system controls the voice player to play guide indication voice for guiding;

in the process that the vehicle runs from the battery replacement area inlet to the battery replacement designated area, the monitoring camera shoots the vehicle moving image in real time and transmits the vehicle moving image to the intelligent guiding system; the intelligent guiding system obtains guiding indication voice according to the moving image analysis of the vehicle and controls the voice player to play the guiding indication voice for guiding.

The new energy automobile battery replacement device based on visual guidance battery positioning comprises a mechanical arm, a clamping arm structure and an adjusting assembly;

the clamping arm structure comprises a cross beam, a left sliding rack and a right sliding rack; the left end and the right end of the cross beam are provided with parallel horizontal sliding grooves, and the two horizontal sliding grooves are distributed up and down; the two horizontal sliding chutes are respectively provided with a left sliding rack and a right sliding rack in a sliding manner; one end of the left sliding rack is provided with an L-shaped left clamping arm; one end of the right sliding rack is provided with an L-shaped right clamping arm;

the adjusting assembly comprises a servo motor, a micro motor, a center laser pen, a clamping arm laser pen, a camera shooting device and a battery replacement controller; the battery replacement controller is respectively and electrically connected with the servo motor, the micro motor, the center laser pen, the clamping arm laser pen and the camera equipment; the servo motor is embedded at the tail end of the mechanical arm; the output end of the servo motor is connected with the cross beam; the beam is internally provided with an installation slot hole communicated with the two horizontal sliding grooves; a micro motor is arranged on the side surface of the mounting groove hole, and the output end of the micro motor is connected with a gear; the gear is respectively meshed with the left sliding rack and the right sliding rack;

the central laser pen is arranged at the central position of the front side surface of the cross beam; the two clamping arm laser pens are respectively arranged at the tail ends of the L-shaped left clamping arm and the L-shaped right clamping arm; the two clamping arm laser pens are symmetrical with respect to the central laser pen; the camera equipment is arranged on the upper side of the tail end of the mechanical arm; the battery replacement controller is installed on the upper side of the mechanical arm.

As a preferred technical scheme, the adjusting assembly further comprises a distance sensor A and a distance sensor B which are installed on the front side surface of the beam in an embedded mode; the distance sensor A and the distance sensor B are symmetrical about the central laser pen.

The invention has the following beneficial effects:

1. according to the invention, after the mechanical arm controller moves the mechanical arm according to the mechanical arm adjustment parameter to enable the central identification light spot to coincide with the central light spot, the electricity changing controller controls the clamping arm assembly according to the clamping arm adjustment parameter to enable the two clamping arm identification light spots to coincide with the corresponding positions of the two clamping arm notches respectively; at last, the mechanical arm is driven to move towards the battery body, so that the clamping arm is matched in the opening of the clamping hand slot and clamps out the automobile battery body, the battery replacement efficiency is improved, and the battery replacement device is convenient and practical.

2. Before shooting, measuring a left distance D1 and a right distance D2; after the battery replacement controller judges that the left distance D1 is not equal to the right distance D2, the battery replacement controller controls the rotary mechanical arm to enable the left distance D1 to be equal to the right distance D2; the automobile battery is ensured to be aligned, the image of the shot battery position is aligned, and the position is convenient to identify.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a flowchart of a new energy vehicle battery replacement method based on vision-guided battery positioning according to the present invention;

FIG. 2 is a flow chart of pre-capture alignment in the present invention;

FIG. 3 is a flow chart of a pre-treatment process performed before A00 in the present invention;

FIG. 4 is a schematic structural diagram of a new energy automobile battery replacement device based on vision-guided battery positioning according to the present invention;

FIG. 5 is a top view of FIG. 4;

FIG. 6 is a cross-sectional view A-A of FIG. 5;

in the drawings, the components represented by the respective reference numerals are listed below:

1-mechanical arm, 21-cross beam, 22-left sliding rack, 221-L-shaped left clamping arm, 23-right sliding rack, 231-L-shaped right clamping arm, 31-servo motor, 32-micro motor, 321-gear, 33-center laser pen, 34-clamping arm laser pen, 35-distance sensor A, 36-distance sensor B, 4-camera equipment and 5-power switching controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention is a new energy vehicle battery replacement method based on vision-guided battery positioning, including the following steps:

the method comprises the following steps: the battery replacement controller 5 controls to open the central laser pen 33 and emit laser to the automobile battery body to form a central identification light spot, and simultaneously controls to open the two clamping arm laser pens 34 and emit laser to the automobile battery body to form two clamping arm identification light spots;

step two: shooting a battery position image by adopting the camera equipment 4 and transmitting the battery position image to the battery replacement controller 5;

step three: the battery replacement controller 5 analyzes and obtains mechanical arm adjustment parameters according to the central identification light spot and the central light spot on the battery position image and transmits the mechanical arm adjustment parameters to the mechanical arm controller;

step four: the mechanical arm controller moves the mechanical arm 1 according to the mechanical arm adjusting parameters to enable the central identification light spot to coincide with the central light spot;

step five: the battery replacement controller analyzes and obtains clamping arm adjustment parameters according to two clamping arm identification light spots on the battery position image and the positions of the clamping arm notches;

step six: the electricity changing controller 5 controls the clamping arm assemblies according to the clamping arm adjusting parameters to enable the two clamping arm identification light spots to coincide with the positions of the corresponding two clamping arm notches respectively;

step seven: the mechanical arm controller drives the mechanical arm 1 to move towards the battery body, so that the clamping arms are matched in the clamping hand notches and clamped out of the automobile battery body.

Referring to fig. 2, the first step further includes alignment before shooting, which is as follows:

a00: the battery replacement controller 5 controls the distance sensor A to measure a left distance D1 and the distance sensor B to measure a right distance D2;

a01: the battery replacement controller 5 determines whether the left distance D1 is equal to the right distance D2; if yes, executing the step one; if not, executing A02;

a02: the battery replacement controller 5 analyzes and obtains the alignment adjustment parameter according to the left distance D1 and the right distance D2 and transmits the alignment adjustment parameter to the mechanical arm controller;

a03: the arm controller controls to rotate the robot arm 1 so that the left distance D1 is equal to the right distance D2.

Referring to fig. 3, a00 further includes the following steps:

b00: opening the sealing door to expose the automobile battery body in the battery mounting groove;

b01: the mechanical arm controller controls the mechanical arm 1 to move to the position near the automobile battery body, and the power switching controller controls the central laser pen 33 to be turned on and emits laser to form a central identification light spot;

b02: the battery replacement controller 5 controls the camera device 4 to shoot a verification image;

b03: the battery replacement controller 5 judges whether a center identification light spot in the verification image falls on the automobile battery body; if yes, A00 is executed; if not, executing A04;

b04: the battery replacement controller 5 analyzes and obtains adjustment parameters to the mechanical arm controller according to the central identification light spot in the verification image and the relative position of the automobile battery body;

b05: the arm controller controls to move the robot arm 1 according to the falling adjustment parameter and executes B03.

Further, the following process is included before B00:

after the monitoring camera shoots that the new energy automobile enters an inlet of a battery replacement area, transmitting a guide signal to an intelligent guide system; the intelligent guide system controls the voice player to play guide indication voice for guiding;

in the process that the vehicle runs from the battery replacement area inlet to the battery replacement designated area, the monitoring camera shoots the vehicle moving image in real time and transmits the vehicle moving image to the intelligent guiding system; the intelligent guiding system obtains guiding indication voice according to the moving image analysis of the vehicle and controls the voice player to play the guiding indication voice for guiding.

When the battery replacement system is actually used, the battery position image is shot through the camera device 4, the battery replacement controller 5 analyzes and obtains mechanical arm adjustment parameters according to the central identification light spot and the central light spot on the battery position image, and transmits the mechanical arm adjustment parameters to the mechanical arm controller; after the mechanical arm controller moves the mechanical arm 1 according to the mechanical arm adjusting parameters to enable the central identification light spot to coincide with the central light spot, the electricity changing controller 5 controls the clamping arm assembly according to the clamping arm adjusting parameters to enable the two clamping arm identification light spots to coincide with the positions of the corresponding two clamping hand notches respectively; at last, the mechanical arm 1 is driven to move towards the battery body, so that the clamping arms are matched in the clamping hand notches and clamped out of the automobile battery body, the battery replacement efficiency is improved, and the automobile battery replacement device is convenient and practical.

Example two:

referring to fig. 4 to 6, the new energy vehicle battery replacement device based on visual guidance battery positioning includes a mechanical arm 1, a clamp arm structure and an adjustment assembly; the clamping arm structure comprises a cross beam 21, a left sliding rack 22 and a right sliding rack 23; the left end and the right end of the cross beam 21 are provided with parallel horizontal sliding chutes which are distributed up and down; the two horizontal sliding chutes are respectively provided with a left sliding rack 22 and a right sliding rack 23 in a sliding way; one end of the left sliding rack 22 is provided with an L-shaped left clamping arm 221; one end of the right sliding rack 23 is provided with an L-shaped right clamping arm 231.

The adjusting component comprises a servo motor 31, a micro motor 32, a center laser pen 33, a clamping arm laser pen 34, a camera device 4 and a battery replacement controller 5; the battery replacement controller 5 is electrically connected with the servo motor 31, the micro motor 32, the center laser pen 33, the clamping arm laser pen 34 and the camera equipment 4 respectively; the servo motor 31 is embedded at the tail end of the mechanical arm 1; the output end of the servo motor 31 is connected with the cross beam 21; a mounting groove hole communicated with the two horizontal sliding grooves is formed in the cross beam 21; the micro motor 32 is arranged on the side surface of the mounting slot hole, and the output end of the micro motor 32 is connected with the gear 321; the gear 321 is engaged with the left sliding rack 22 and the right sliding rack 23.

The central laser pen 33 is arranged at the central position of the front side surface of the beam 21; the two clamping arm laser pens 34 are respectively arranged at the tail ends of the L-shaped left clamping arm 221 and the L-shaped right clamping arm 231; the two clamping arm laser pens 34 are symmetrical about the central laser pen 33; the camera equipment 4 is arranged on the upper side of the tail end of the mechanical arm 1; the battery replacement controller 5 is arranged on the upper side of the mechanical arm 1. In addition, the adjusting assembly also comprises a distance sensor A35 and a distance sensor B36 which are arranged in the front side surface of the cross beam 21 in an embedded mode; the distance sensor a35 and the distance sensor B36 are symmetrical about the central laser pointer 33.

In practical use of the embodiment, before shooting, the left distance D1 and the right distance D2 are measured; after the battery replacement controller 5 judges that the left distance D1 is not equal to the right distance D2, the rotating mechanical arm 1 is controlled to enable the left distance D1 to be equal to the right distance D2; the automobile battery is ensured to be aligned, the image of the shot battery position is aligned, and the position is convenient to identify.

It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

In addition, it is understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing associated hardware, and the corresponding program may be stored in a computer-readable storage medium.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.