And adjusting the hand grip according to the rotation angle adjustment amount and the rotation direction of the hand grip. After the adjustment, none of the second, fourth, and sixth distance sensors S2, S4, and S6 detected the battery frame.

Step four, action three

Controlling the horizontal center position of the hand grip to move in the translation direction until the second distance sensor S2 detects the battery frame; the horizontal center position of the control grip is moved in the traveling direction until both the fourth distance sensor S4 and the sixth distance sensor S6 detect the battery frame again. Up to this point, all the distance sensors detect the battery frame.

Based on any of the above embodiments,step 110 may be preceded by:

when the operation machine is parked after the battery is replaced, determining the position of a front wheel based on a measurement optical axis shielded by the front wheel of the operation machine and the position of the measurement optical axis in a measurement light curtain;

wherein, the measuring light curtain is horizontally arranged in the battery replacement parking area.

Specifically, a measuring light curtain can be horizontally installed in the battery replacement parking area. The measuring light curtain comprises a plurality of measuring optical axes. The measuring optical axis starts from the transmitting end of the measuring light curtain and enters the receiving end of the measuring light curtain, and if the measuring optical axis is shielded, the receiving end cannot receive the corresponding measuring optical axis. The mounting position of each measuring optical axis can be obtained according to the mounting position of the measuring light curtain.

When the operation machine is parked after the electric exchange, the front wheel of the operation machine enters the measuring light curtain, a part of the measuring light axis can be shielded, for example, 40 measuring light axes are contained in the measuring light curtain, 10 th to 20 th measuring light axes are shielded by the front wheel, and the position of the front wheel can be obtained according to the mounting position of the shielded measuring light axis.

Based on any of the above embodiments, fig. 8 is a schematic structural diagram of a battery grasping apparatus provided by the present invention, as shown in fig. 8, the apparatus includes:

a batteryframe positioning unit 810, configured to determine a horizontal center position of a battery frame based on a position of a front wheel when the work machine performs battery replacement parking and a positional relationship between the front wheel and the battery frame;

the handgrip positioning unit 820 is used for determining the horizontal center position of a hand grip for performing battery replacement operation based on the horizontal center position of the battery frame and a preset distance;

and a graspingunit 830 for adjusting a horizontal center position of the hand grip and a rotation angle of the hand grip relative to the battery frame based on detection results of the plurality of distance sensors arranged around the hand grip on the battery frame until the distance sensors all detect the battery frame, and controlling the hand grip to grasp the battery frame.

According to the battery grabbing device provided by the embodiment of the invention, the horizontal center position of the battery frame is determined through the position of the front wheel when the operation machinery is used for battery replacement and parking and the position relation between the front wheel and the battery frame; further determining the horizontal center position of the gripper for performing battery replacement operation; according to the detection results of the plurality of distance sensors arranged on the periphery of the hand grip on the battery frame, the horizontal center position of the hand grip and the rotation angle of the hand grip relative to the battery frame are adjusted until the distance sensors detect the battery frame, so that the accuracy of battery gripping is improved, and the replacement efficiency of the power battery is improved.

Based on any embodiment, when the electric power changing parking is carried out on the working machine, the traveling direction of the gripper is the advancing direction of the working machine, and the translation direction of the gripper is the vertical direction of the advancing direction of the working machine.

Based on any one of the above embodiments, the grasping unit is specifically configured to:

Based on any of the above embodiments, the grabbing unit is further specifically configured to:

Based on any embodiment above, still include:

the front wheel positioning unit is used for determining the position of a front wheel based on a measurement optical axis shielded by the front wheel of the operation machine and the position of the measurement optical axis in the measurement light curtain when the operation machine is subjected to battery replacement parking;

Based on any of the above embodiments, fig. 9 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 9, the electronic device may include: a Processor (Processor)910, a communication Interface (Communications Interface)920, a Memory (Memory)930, and a communication Bus (Communications Bus)940, wherein theProcessor 910, thecommunication Interface 920, and theMemory 930 are configured to communicate with each other via thecommunication Bus 940.Processor 910 may invoke logical commands inmemory 930 to perform the following method:

determining the horizontal center position of the battery frame based on the position of a front wheel when the work machine carries out battery replacement parking and the position relation between the front wheel and the battery frame; determining the horizontal center position of a hand grip for performing battery replacement operation based on the horizontal center position of the battery frame and a preset distance; and adjusting the horizontal center position of the hand grip and the rotation angle of the hand grip relative to the battery frame based on the detection results of the plurality of distance sensors arranged at the periphery of the hand grip on the battery frame until the distance sensors detect the battery frame, and controlling the hand grip to grip the battery frame.

In addition, the logic commands in thememory 930 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic commands are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of commands for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The processor in the electronic device provided in the embodiment of the present invention may call a logic instruction in the memory to implement the method, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects may be achieved, which is not described herein again.

Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes:

When the computer program stored on the non-transitory computer readable storage medium provided in the embodiments of the present invention is executed, the method is implemented, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects can be achieved, which is not described herein again.

The embodiment of the invention also provides a computer program product, which comprises a computer program, and the computer program realizes the steps of the battery grabbing method when being executed by the processor.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A battery capture method, comprising:

2. The battery gripping method according to claim 1, wherein when the work machine is parked for battery replacement, the travel direction of the hand grip is the forward direction of the work machine, and the translational direction of the hand grip is a direction perpendicular to the forward direction of the work machine.

3. The battery gripping method according to claim 2, wherein the gripper is a rectangular frame including a first short side, a first long side, a second short side and a second long side connected in sequence;

4. The battery grasping method according to claim 3, wherein the adjusting of the horizontal center position of the hand grip and the rotation angle of the hand grip with respect to the battery frame until the distance sensors each detect the battery frame based on the detection results of the battery frame by the plurality of distance sensors provided around the hand grip includes:

5. The battery grasping method according to claim 3, wherein the adjusting of the horizontal center position of the hand grip and the rotation angle of the hand grip with respect to the battery frame until the distance sensors each detect the battery frame based on the detection results of the battery frame by the plurality of distance sensors provided around the hand grip includes:

6. The battery grasping method according to any one of claims 1 to 5, wherein the determining of the horizontal center position of the battery frame based on the position of the front wheel when the work machine performs battery replacement parking and the positional relationship between the front wheel and the battery frame, previously includes:

7. A battery gripping device, comprising:

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the battery capture method according to any of claims 1 to 6 are implemented when the program is executed by the processor.

9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the battery capture method of any of claims 1 to 6.

10. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the steps of the battery capture method according to any one of claims 1 to 6.