US 12,377,550 B2
Visual positioning system, battery swapping device, and battery swapping control method
Jianping Zhang, Shanghai (CN); and Zhimin Chen, Shanghai (CN)
Assigned to AULTON NEW ENERGY AUTOMOTIVE TECHNOLOGY GROUP, Guangzhou (CN); and SHANGHAI DIANBA NEW ENERGY TECHNOLOGY CO., LTD., Shanghai (CN)
Appl. No. 17/925,305
Filed by AULTON NEW ENERGY AUTOMOTIVE TECHNOLOGY GROUP, Guangdong (CN); and SHANGHAI DIANBA NEW ENERGY TECHNOLOGY CO., LTD., Shanghai (CN)
PCT Filed May 17, 2021, PCT No. PCT/CN2021/094226
§ 371(c)(1), (2) Date Mar. 17, 2023,
PCT Pub. No. WO2021/228266, PCT Pub. Date Nov. 18, 2021.
Claims priority of application No. 202010414832.3 (CN), filed on May 15, 2020; application No. 202010414847.X (CN), filed on May 15, 2020; and application No. 202010415431.X (CN), filed on May 15, 2020.
Prior Publication US 2023/0234234 A1, Jul. 27, 2023
Int. Cl. G06T 7/73 (2017.01); B25J 9/16 (2006.01); B60L 53/80 (2019.01); B60S 5/06 (2019.01)
CPC B25J 9/1697 (2013.01) [B60L 53/80 (2019.02); B60S 5/06 (2013.01); G06T 7/74 (2017.01); G06T 2207/30108 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A visual positioning system, is applied to a battery swapping device, wherein the visual positioning system comprising a first visual sensor, a second visual sensor and a position obtaining unit, and a position adjustment mechanism comprising a vertical movement unit;
the first visual sensor is used for obtaining a first image of a first position of a target apparatus;
the second visual sensor is used for obtaining a second image of a second position of the target apparatus;
the position obtaining unit is used for obtaining a position information of the target apparatus according to the first image and the second image, and further obtains a position adjustment amount based on the position information and a reference position information of the target apparatus,
the position adjustment amount comprises a first vertical displacement amount and a second vertical displacement amount; and
the position adjustment mechanism configured to use the first vertical displacement amount and the second vertical displacement amount to independently adjust two ends of the battery swapping device until the battery swapping device is aligned with the target apparatus,
wherein the target apparatus comprises a battery bracket.