The invention provides an inclined battery grabbing method and device, and belongs to the technical field of new energy vehicle battery replacement, the inclined battery grabbing method and device are applied to a battery replacement station, the battery replacement station comprises at least one set of gripper lifting appliance, and the method comprises the steps that the distance between a to-be-replaced battery of a to-be-replaced vehicle and a laser ranging point on the gripper lifting appliance is detected through laser; obtaining a laser ranging mutation point coordinate, a gripper lifting appliance laser ranging point coordinate and a laser ranging value corresponding to the battery to be replaced; according to the laser ranging mutation point coordinates, the gripper lifting appliance laser ranging point coordinates and the laser ranging value, inclination parameters of the battery to be replaced are obtained; wherein the inclination parameters comprise a battery rotation angle, a center point coordinate and a surface normal vector angle; and moving the corresponding gripper lifting appliance according to the inclination parameter of the battery to be replaced until the battery to be replaced is grabbed. The device is suitable for batteries with various inclination directions and angles, is wide in application range, is not influenced by the field environment, and is high in efficiency.
本发明提供倾斜电池抓取方法和装置,属于新能源车辆换电技术领域,应用于换电站,换电站包括至少一套抓手吊具,包括:利用激光检测待换电车辆的待换电电池和抓手吊具上激光测距点的距离,得到待换电电池对应的激光测距突变点坐标、抓手吊具激光测距点坐标和激光测距值;根据激光测距突变点坐标、抓手吊具激光测距点坐标和激光测距值得到待换电电池的倾斜参数;其中,倾斜参数包括电池旋转角度、中心点坐标和表面法向量角度;根据待换电电池的倾斜参数移动其对应的抓手吊具,直至抓取到待换电电池。本发明适用于各种倾斜方向和角度的电池,适用范围广,不受现场环境影响,效率高。
Inclined battery grabbing method and device
倾斜电池抓取方法和装置
2024-02-20
Patent
Electronic Resource
Chinese
IPC: | B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Rapid battery grabbing device and grabbing method thereof
European Patent Office | 2022
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