The invention relates to the technical field of battery replacement, and provides a battery grabbing and positioning method and device and battery replacement device.The battery grabbing and positioning method comprises the steps that under the condition that it is determined that a battery replacement vehicle is located in a battery replacement area, a grabbing hand is controlled to move from the relative initial position to the target edge of a battery positioning hole; under the condition that it is determined that the gripper moves to the target edge, the gripper is controlled to start translational motion from the position where the target edge is located, and a first deflection angle of the gripper relative to the target edge is determined according to a motion result; according to a first deflection angle of the gripper relative to the target edge, the gripper is adjusted to a first target posture corresponding to the first deflection angle; and according to the adjustment result, the gripper is controlled to move to a preset target position, and under the condition that the gripper moves to the preset target position, the gripper is controlled to stretch into the battery positioning hole to grab the battery. The whole positioning process is simple, the positioning precision is high, the number of adopted sensors is small, and the cost of the positioning system can be effectively reduced.
本发明涉及换电技术领域,提供一种电池抓取定位方法、定位装置及换电设备,该电池抓取定位方法包括:确定换电车辆处于换电区域的情况下,控制抓手由相对初始位置向电池定位孔的目标边缘移动;确定抓手移动至目标边缘的情况下,控制抓手由目标边缘所在的位置开始平移运动,根据运动结果确定抓手相对于目标边缘的第一偏转角度;根据抓手相对于目标边缘的第一偏转角度,调整抓手至与第一偏转角度对应的第一目标姿态;根据调整结果控制抓手移动至预设目标位置,并在抓手移动至预设目标位置的情况下,控制抓手伸入电池定位孔的内部对电池进行抓取。本发明的整个定位过程简单,定位精度较高,同时所采用的传感器数量较少,可有效降低定位系统的成本。
Battery grabbing and positioning method, positioning device and battery replacement equipment
电池抓取定位方法、定位装置及换电设备
2024-04-26
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 |
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