CN114714964A - Visual analysis system and method applied to vehicle battery replacement - Google Patents
Visual analysis system and method applied to vehicle battery replacement Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000000007 visual effect Effects 0.000 title claims abstract description 46
- 238000006243 chemical reaction Methods 0.000 claims abstract description 25
- 238000010191 image analysis Methods 0.000 claims abstract description 25
- 238000005286 illumination Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 abstract description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a visual analysis system and a visual analysis method applied to vehicle battery replacement. The visual analysis system comprises at least one image acquisition module, an image analysis module and a power conversion control module; the image acquisition module is used for acquiring an actual image in real time in the process that the battery replacement equipment executes a target task, wherein the target task is to install a battery to a battery outer box of a vehicle, and the actual image comprises an image of the battery outer box and an image of the battery; the image analysis module is used for analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, and if so, a notification signal is sent to the power conversion control module; the power conversion control module is used for generating a regulation and control instruction after receiving the notification signal, and the regulation and control instruction is used for informing the power conversion equipment that the target task is achieved. The method and the device can monitor the process of installing the battery by the battery replacement equipment, avoid the situation of improper installation and ensure the success rate of battery replacement.
Description
Technical Field
The invention belongs to the field of battery replacement control, and particularly relates to a visual analysis system and method applied to vehicle battery replacement.
Background
At present, the emission of automobile exhaust is still an important factor of the problem of environmental pollution, and in order to treat the automobile exhaust, people develop natural automobiles, hydrogen fuel automobiles, solar energy automobiles and electric automobiles to replace fuel oil type automobiles. And among them, the most promising is the electric vehicle. The current electric automobile mainly comprises a direct charging type and a quick-change type.
When a battery of a quick-change electric vehicle is replaced, the battery replacement equipment needs to travel to the lower side of the vehicle so as to take an original battery on the vehicle out of the battery outer box, then a new battery is installed in the battery outer box, and the existing battery replacement equipment often cannot be installed in place when the new battery is installed, so that the battery does not completely enter the battery outer box, and even the battery falls off to damage the battery.
Disclosure of Invention
The invention aims to overcome the defect that battery replacement equipment in the prior art is often installed incompletely when a new battery is installed, and provides a visual analysis system and a visual analysis method applied to vehicle battery replacement.
The invention solves the technical problems through the following technical scheme:
the invention provides a visual analysis system applied to vehicle battery replacement, which comprises at least one image acquisition module, an image analysis module and a battery replacement control module;
the image acquisition module is used for acquiring an actual image in real time and sending the actual image to the image analysis module in real time in the process that the battery replacement equipment executes a target task, the target task is to mount a battery to a battery outer box of a vehicle, and the actual image comprises an image of the battery outer box and an image of the battery;
the image analysis module is used for analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, and if so, a notification signal is sent to the power conversion control module;
the power conversion control module is used for generating a regulation and control instruction after receiving the notification signal and sending the regulation and control instruction to the power conversion equipment, wherein the regulation and control instruction is used for informing the power conversion equipment that the target task is achieved;
analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, wherein the method comprises the following steps:
comparing whether the actual image is the same as a standard image when the battery is located at the specified position:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
Preferably, the image acquisition module is disposed on the battery replacement device, or on a platform where the vehicle is parked.
Preferably, a battery power supply circuit of the vehicle is turned on when the battery reaches the specified position.
Preferably, the battery swapping device is preset with a battery moving track for installing the battery to the specified position, which is required when the target task is executed.
Preferably, comparing whether the actual image is the same as the standard image when the battery is located at the designated position specifically includes:
extracting an image of the battery and an image of the outer box of the battery from the actual image;
comparing whether the relative position relations of the battery and the battery outer box in a first direction and/or other directions perpendicular to the first direction in the actual image and the standard image are the same, wherein the first direction is a direction perpendicular to a platform for parking the vehicle:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position;
the image analysis module prestores standard images corresponding to various vehicle types and various battery outer boxes.
Preferably, comparing whether the relative positional relationship between the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same includes:
extracting a box surface of the battery outer box on the outermost side in the direction from the actual image;
extracting a first battery surface of the battery from the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the image sizes and/or image positions of the first battery surface and the box surface in the actual image to obtain an actual size comparison relation and/or an actual position comparison relation;
acquiring the image size and/or image position standard size comparison relationship and/or standard position comparison relationship between the first battery surface and the box surface in the standard image;
comparing whether the actual size comparison relationship is the same as the standard size comparison relationship and/or the actual position comparison relationship is the same as the standard position comparison relationship;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
Preferably, the actual size comparison relationship and the standard size comparison relationship are obtained from an actual image and a standard image acquired from the direction;
and/or obtaining the actual position comparison relation and the standard position comparison relation from an actual image and a standard image acquired from a direction perpendicular to the direction.
Preferably, comparing whether the relative positional relationship between the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same includes:
determining the actual relative distance between the box surface of the outer box of the battery, which is positioned on the outermost side in the direction, and the first battery surface of the battery according to the depth-of-field information of the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
comparing whether the actual relative distance is the same as the standard relative distance;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
Preferably, the actual image is an actual image captured from the direction.
Preferably, the angle at which the image acquisition module acquires the actual image is the same as the acquisition angle of the standard image.
Preferably, the image acquisition module is connected with the image analysis module through wired or wireless communication;
and/or the image analysis module is connected with the power conversion control module through wired or wireless communication;
and/or the power conversion control module is connected with the power conversion equipment through wired or wireless communication.
Preferably, the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is used for being turned on when the brightness of the ambient light is smaller than a threshold value.
Preferably, the image acquisition module is a camera or a camera which automatically zooms according to the battery outer box and the battery.
The invention also provides a visual analysis method applied to vehicle battery replacement, which comprises the following steps:
acquiring an actual image in real time in the process of executing a target task by a battery replacement device, wherein the target task is to install a battery to a battery outer box of a vehicle, and the actual image comprises an image of the battery outer box and an image of the battery;
analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, and if so, informing the battery replacement equipment that the target task is achieved;
analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, wherein the method comprises the following steps:
comparing whether the actual image is the same as a standard image when the battery is located at the specified position:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
Preferably, a battery power supply circuit of the vehicle is turned on when the battery reaches the specified position.
Preferably, the battery swapping device is preset with a battery moving track for installing the battery to the specified position, which is required when the target task is executed.
Preferably, comparing whether the actual image is the same as the standard image when the battery is located at the designated position specifically includes:
extracting an image of the battery and an image of the outer box of the battery from the actual image;
comparing whether the relative position relations of the battery and the battery outer box in a first direction and/or other directions perpendicular to the first direction in the actual image and the standard image are the same, wherein the first direction is a direction perpendicular to a platform for parking the vehicle:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position;
the image analysis module prestores standard images corresponding to various vehicle types and various battery outer boxes.
Preferably, comparing whether the relative positional relationship between the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same includes:
extracting a box surface of the battery outer box on the outermost side in the direction from the actual image;
extracting a first battery surface of the battery from the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the image sizes and/or image positions of the first battery surface and the box surface in the actual image to obtain an actual size comparison relation and/or an actual position comparison relation;
acquiring the image size and/or image position standard size comparison relationship and/or standard position comparison relationship between the first battery surface and the box surface in the standard image;
comparing whether the actual size comparison relationship is the same as the standard size comparison relationship and/or the actual position comparison relationship is the same as the standard position comparison relationship;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
Preferably, the actual size comparison relationship and the standard size comparison relationship are obtained from an actual image and a standard image acquired from the direction;
and/or obtaining the actual position comparison relation and the standard position comparison relation from an actual image and a standard image acquired from a direction perpendicular to the direction.
Preferably, comparing whether the relative positional relationship between the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same includes:
determining the actual relative distance between the box surface of the outer box of the battery, which is positioned on the outermost side in the direction, and the first battery surface of the battery according to the depth-of-field information of the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
comparing whether the actual relative distance is the same as the standard relative distance;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
Preferably, the actual image is an actual image captured from the direction.
Preferably, the angle at which the actual image is acquired is the same as the acquisition angle of the standard image.
Preferably, the visual analysis method further comprises: and turning on the infrared illumination light source when the brightness of the ambient light is less than the threshold value.
Preferably, the step of collecting the actual image is implemented by using a camera or a camera which automatically zooms according to the outer box of the battery and the battery.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows: the method and the device can monitor the process of installing the battery by the battery replacement equipment, avoid the situation of improper installation and ensure the success rate of battery replacement.
Drawings
Fig. 1 is a schematic diagram of a vision analysis system applied to vehicle battery replacement according to embodiment 1 of the present invention;
fig. 2 is a schematic installation diagram of an image acquisition module 11 according to embodiment 1 of the present invention;
fig. 3 is a flowchart of a visual analysis method applied to vehicle battery replacement according to embodiment 3 of the present invention;
fig. 4 is a flowchart of step 52 of a visual analysis method for vehicle battery replacement according to embodiment 4 of the present invention;
FIG. 5 is a first specific flowchart for comparing whether the actual image is the same as the standard image when the battery is located at the designated position according to embodiment 4 of the present invention;
fig. 6 is a second specific flowchart for comparing whether the actual image is the same as the standard image when the battery is located at the designated position according to embodiment 4 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Fig. 1 shows a vision analysis system applied to vehicle battery replacement according to the embodiment. The vision analysis system 10 includes at least one image acquisition module 11, an image analysis module 12, and a battery replacement control module 13. The image acquisition module 11 and the image analysis module 12 can be connected through wired or wireless communication; the image analysis module 12 and the conversion control module 13 can be connected through wired or wireless communication; the power conversion control module 13 is connected with a power conversion device 40 for replacing the battery of the vehicle through wired or wireless communication. The wired communication connection includes but is not limited to a cable connection, and the wireless communication connection includes but is not limited to a 2G, 3G, 4G, bluetooth and other communication modes.
The image acquisition module 11 is configured to acquire an actual image in real time and send the actual image to the image analysis module 12 in real time in a process that the battery replacement device executes a target task, where the target task is to install a battery in a battery outer box of a vehicle, and the actual image includes an image of the battery outer box and an image of the battery.
The image analysis module 12 is configured to analyze whether the battery reaches a specified position in the battery outer box according to the actual image, and if so, send a notification signal to the power conversion control module 13.
The power conversion control module 13 is configured to generate a regulation instruction after receiving the notification signal and send the regulation instruction to the power conversion device, where the regulation instruction is used to notify the power conversion device that the target task is achieved.
The visual analysis system 10 of this embodiment can monitor the process of installing a battery in the battery replacement device, ensure that the battery reaches a designated position, avoid the situation of improper installation, and ensure the success rate of battery replacement.
In this embodiment, the specific position of the designated position is not limited, and it needs to be determined according to the structure of the outer battery box, for example, the designated position may be located at the foremost end of a certain height in the outer battery box, or at the topmost end of the outer battery box. When the battery reaches the designated position, a battery power supply circuit of the vehicle is conducted, and the battery can supply power to the vehicle, which indicates that the battery is installed in place.
The battery replacement device may preset a battery movement track for installing the battery to the specified position, which is required when the target task is executed. And the battery replacement equipment moves the battery according to the battery moving track before receiving the notification signal. The battery moving trajectory needs to be set according to a specific position of the designated position, for example, if the designated position is located at the foremost end of a certain height in the battery outer box, the corresponding battery moving trajectory is generally that the battery replacing device first lifts the battery to the height, and then moves the battery forward until the battery reaches the foremost end; if the designated position is located at the topmost end of the battery outer box, the corresponding battery moving track generally lifts the battery by the battery replacement device until the topmost end is reached.
Since the designated position is usually located at the end (the foremost end or the topmost end) of the battery outer box, when the battery moving track is set, in order to ensure that the battery can reach the designated position, the battery moving track is often set to be slightly longer than the actual moving track of the battery moving to the designated position, but the battery can move excessively due to the excessively long battery moving track, so that the battery collides with the inner surface of the end, and the battery outer box and the battery can be damaged. The visual analysis system 10 of this embodiment timely informs that the target task of the battery replacement device is reached by acquiring and analyzing the actual image in real time when the battery reaches the designated position, so that the battery replacement device stops moving the battery, and the damage to the outer box of the battery and the battery due to the collision of the battery with the inner surface of the end portion is avoided.
In this embodiment, the image acquisition module 11 may be disposed on the battery replacement device 40. The battery replacement device 40 can not only mount the battery in the battery case, but also have a function of removing the battery from the battery case. The image acquisition module 11 may also be arranged on a platform on which the vehicle is parked. The platform can be a special platform for parking vehicles in the power changing process or other common platforms. Of course, the invention is not limited to this, and in other embodiments, the image capturing module 11 may be disposed at other positions capable of capturing the image of the outer box of the battery.
The number of the image acquisition modules 11 can be determined according to actual conditions such as specific structure of the battery outer box, cost requirement, regulation and control precision requirement and the like. When the number of the image acquisition modules 11 exceeds one, all the image acquisition modules 11 may be all disposed in the same area, for example, all the image acquisition modules are disposed on the battery replacing device 40 or all the image acquisition modules are disposed on the platform; the image acquisition modules 11 may also be dispersedly disposed in different areas, such as a portion disposed on the battery replacement device 40 and other portions disposed on the platform. The image acquisition angle of each image acquisition module 11 can be different, so that the omnidirectional image acquisition is realized. Fig. 2 shows a schematic view of the installation of an image acquisition module 11. The vehicle 20 is parked on the platform 30, the platform 30 is higher than the ground level and has a hollow area A in the middle, and the battery replacing device 40 is located below the hollow area A. The figure shows 4 image acquisition modules 11, wherein two image acquisition modules 11 are disposed on the platform 30 and near the hollow area a, and the other two image acquisition modules 11 are disposed on the top of the battery swapping device 40.
In order to improve the definition of image acquisition and the accuracy of analyzing the spatial state of the battery outer box, the image acquisition module 11 is preferably a camera or a camera that automatically zooms according to the battery outer box and the battery.
Considering that the outer battery box is usually disposed at the bottom of the vehicle, and the battery replacement environment is usually dark, which may affect the definition of the actual image, in this embodiment, the image acquisition module 11 is preferably configured with an infrared illumination light source, and the image acquisition module 11 may automatically detect the brightness of the ambient light before acquiring the actual image, where the infrared illumination light source is used to turn on when the brightness of the ambient light is smaller than a threshold value. Wherein the threshold value may be determined according to the performance requirement of the camera or the camera.
Example 2
The present embodiment provides a visual analysis system applied to vehicle battery replacement, which is a further improvement of the visual analysis system of embodiment 1, and is capable of accurately determining whether the battery reaches a specified position of the battery outer box.
In this embodiment, the image analysis module 12 analyzes whether the battery reaches the designated position in the battery outer box according to the actual image, and specifically includes:
comparing whether the actual image is the same as a standard image of the battery at the designated position, wherein the standard image is acquired in advance, and an angle of the image acquisition module 11 when acquiring the actual image is preferably the same as an acquisition angle of the standard image:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
It should be noted that, in consideration of the fact that the standard images corresponding to different vehicle models and different battery outer boxes may be different, the image analysis module 12 generally needs to pre-store the standard images corresponding to multiple vehicle models and multiple battery outer boxes, determine the vehicle model and the battery outer box of the battery replacement vehicle before or during battery replacement, select the standard image corresponding to the vehicle from the pre-stored standard images, and then perform subsequent comparison.
The following provides two specific processes for the image analysis module 12 to compare whether the actual image is the same as the standard image when the battery is at the designated location:
the first method comprises the following steps:
extracting the image of the battery and the image of the battery outer box from the actual image, and filtering other images which are possibly collected together in the image, such as the vehicle bottom structure around the battery outer box;
comparing whether the relative positional relationship between the battery and the battery outer box in a first direction in the actual image and the standard image is the same, the first direction being a direction perpendicular to a platform on which the vehicle is parked:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
For example, the platform in fig. 2 is horizontal or close to horizontal, the first direction is vertical or close to vertical, a relative height difference exists between the battery outer box and the battery, when comparing, whether the relative height difference between the battery outer box and the battery in the actual image is the same as the relative height difference between the battery outer box and the battery in the standard image is compared, if so, the battery reaches the designated position in the vertical direction, and if not, the battery does not reach the designated position in the vertical direction.
And the second method comprises the following steps:
extracting the image of the battery and the image of the battery outer box from the actual image, and filtering other images which are possibly collected together in the image, such as the vehicle bottom structure around the battery outer box;
comparing whether the relative positional relationship between the battery and the battery outer case in the other direction perpendicular to the first direction in the actual image and the standard image is the same, the first direction being a direction perpendicular to a platform on which the vehicle is parked:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
For example, in fig. 2, the platform is horizontal or close to horizontal, the first direction is vertical or close to vertical, the other direction perpendicular to the first direction is a direction in a horizontal plane, which may be a front-back direction or a left-right direction, and there is a relative horizontal distance difference between the battery outer box and the battery.
In a specific implementation, the two comparisons may be used in accordance with a specific position of the designated position and a battery movement trajectory, and may be used simultaneously to improve the comparison accuracy. For example, if the designated position is located at the frontmost end of a certain height in the outer box of the battery, and the corresponding battery moving track is that the battery replacing device first lifts the battery to the height, and then moves the battery forward until the battery reaches the frontmost end, it is proposed to use the above two comparisons simultaneously, and compare whether the relative positional relationships between the battery and the outer box of the battery in the first direction in the actual image and the standard image are the same by using the first comparison, and compare whether the relative positional relationships between the battery and the outer box of the battery in the other directions perpendicular to the first direction in the actual image and the standard image are the same by using the second comparison, and if the two comparisons are the same, determine that the battery reaches the designated position both at the height and horizontally. For another example, if the specified position is located at the topmost end of the battery outer box, and the corresponding battery moving track is that the battery replacing device lifts the battery until the battery reaches the topmost end, it is suggested to compare whether the relative position relationship between the battery and the battery outer box in the first direction in the actual image and the standard image is the same by using a first method, and if the relative position relationship is the same, it is determined that the battery reaches the specified position in height.
Two specific processes that can be used by the image analysis module 12 of this embodiment to compare whether the relative positional relationship between the battery and the outer box of the battery in one of the directions in the actual image and the standard image is the same are specifically provided below, where the direction may be the first direction, or may be another direction perpendicular to the first direction:
the first method comprises the following steps:
extracting a box surface of the battery outer box at the outermost side in the direction from an actual image acquired from the direction;
extracting a first battery surface of the battery from the actual image acquired from the direction, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the sizes of the images of the first battery surface and the box surface in the actual image acquired from the direction to obtain an actual size comparison relation;
acquiring a standard size comparison relation of the sizes of the first battery surface and the box surface in a standard image acquired from the direction;
comparing whether the actual size comparison relation is the same as the standard size comparison relation or not;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
Or extracting a box surface of the outer box of the battery, which is positioned at the outermost side in the direction, from an actual image acquired from the direction perpendicular to the direction;
extracting a first battery surface of the battery from an actual image acquired in a direction perpendicular to the direction, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the image positions of the first battery surface and the box surface in an actual image acquired in a direction perpendicular to the direction to obtain an actual position comparison relation;
acquiring a standard position comparison relation between the image positions of the first battery surface and the box surface in a standard image acquired in a direction perpendicular to the direction;
comparing whether the actual position comparison relation is the same as the standard position comparison relation;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
The two comparisons can be selected for use according to the position of the image acquired by the image acquisition module 11, and can also be used at the same time, namely, the relative position relationship can be determined to be the same only when the actual size comparison relationship is the same as the standard size comparison relationship and the actual position comparison relationship is the same as the standard position comparison relationship. In the process, the relative position of the battery and the battery outer box can be determined by comparing the first battery face with the outermost box face of the battery outer box through the relative relation of the images, and the process is accurate.
And the second method comprises the following steps:
determining the actual relative distance between the box surface of the battery outer box which is positioned at the outermost side in the direction and a first battery surface of the battery according to the depth-of-field information of the actual image, wherein the first battery surface is the battery surface which is on the same side with the box surface, and the actual image is preferably the actual image acquired by the direction;
acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
comparing whether the actual relative distance is the same as the standard relative distance;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
In the process, the relative position of the battery and the battery outer box can be determined by comparing the first battery surface with the outermost box surface of the battery outer box by using the depth of field information of the image, and the process is simpler.
Example 3
Fig. 3 shows a visual analysis method applied to vehicle battery replacement according to the embodiment. The visual analysis method comprises the following steps:
step 51: and acquiring an actual image in real time in the process of executing the target task by the battery replacement equipment. The target task is to mount a battery to a battery outer box of a vehicle, and the actual image includes an image of the battery outer box and an image of the battery.
Step 52: and analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, and if so, executing step 53.
Step 53: and informing the battery swapping device that the target task is achieved.
The visual analysis method of the embodiment can monitor the process of installing the battery by the battery replacement equipment, ensure that the battery reaches a specified position, avoid the situation of not-in-place installation and ensure the success rate of battery replacement.
In this embodiment, the specific position of the designated position is not limited, and it needs to be determined according to the structure of the outer battery box, for example, the designated position may be located at the foremost end of a certain height in the outer battery box, or at the topmost end of the outer battery box. When the battery reaches the designated position, a battery power supply circuit of the vehicle is conducted, and the battery can supply power to the vehicle, so that the battery is installed in place.
The battery replacement device may preset a battery movement track for installing the battery to the specified position, which is required when the target task is executed. And the battery replacement equipment moves the battery according to the battery moving track before receiving the notification signal. The setting of the battery moving track needs to be determined according to the specific position of the designated position, for example, if the designated position is located at the foremost end of a certain height in the battery outer box, the corresponding battery moving track is usually that the battery replacing device first lifts the battery to the height, and then moves the battery forward until the battery reaches the foremost end; if the designated position is located at the topmost end of the battery outer box, the corresponding battery moving track generally lifts the battery by the battery replacement device until the topmost end is reached.
Since the designated position is usually located at the end (the foremost end or the topmost end) of the outer battery box, when the battery moving track is set, in order to ensure that the battery can reach the designated position, the battery moving track is often set to be slightly longer than the actual moving track of the battery moving to the designated position, but the battery can move excessively due to the excessively long battery moving track, so that the battery collides with the inner surface of the end, and the outer battery box and the battery can be damaged. According to the visual analysis method, the actual images are collected and analyzed in real time, the battery replacement device is informed that the target task is reached when the battery reaches the specified position, the battery replacement device stops moving the battery, and the damage to the outer box of the battery and the battery caused by the collision of the battery with the inner surface of the end part is avoided.
In this embodiment, in order to improve the definition of image acquisition and the accuracy of state analysis of the battery outer case, step 51 is implemented by using at least one camera or camera that automatically zooms according to the battery outer case. The camera or the camera can be arranged on the battery replacement equipment. The battery replacing equipment can be used for loading the battery into the battery outer box and also has the function of taking the original battery which is lack of electricity on the vehicle out of the battery outer box. The camera or cameras may also be provided on a platform on which the vehicle is parked. The platform can be a special platform for parking vehicles in the power changing process or other common platforms. Of course, the present invention is not limited to this, and in other embodiments, the camera or the camera may be disposed at other positions capable of collecting the image of the outer box of the battery.
The number of the cameras can be determined according to actual conditions such as specific structure, cost requirement, locking precision requirement and the like of the battery outer box. When the number of the cameras or the cameras exceeds one, the cameras or the cameras can be all arranged in the same area, for example, all the cameras or the cameras are arranged on the battery replacement equipment or all the cameras are arranged on the platform; the cameras or cameras can also be dispersedly arranged in different areas, such as part of the cameras or cameras arranged on the battery replacement equipment and other parts of the cameras or cameras arranged on the platform.
Considering that the battery outer box is usually disposed at the bottom of the vehicle, and the battery replacement environment is usually dark, which may affect the definition of the actual image, in this embodiment, the visual analysis method further includes: and turning on the infrared illumination light source when the brightness of the ambient light is less than the threshold value. For example, an infrared illumination light source is configured on the camera or the camera, the method automatically detects the brightness of the ambient light before the actual image is collected, and the infrared illumination light source on the camera or the camera is turned on if the brightness of the ambient light is smaller than a threshold value. Wherein the threshold value may be determined according to the performance requirement of the camera or the camera.
The visual analysis method of the present embodiment can be implemented by using the visual analysis system of embodiment 1.
Example 4
The present embodiment provides a visual analysis method applied to vehicle battery replacement, which is a further improvement of the visual analysis method of embodiment 3, and can accurately determine whether the battery reaches a specified position of the battery outer box.
In this embodiment, in step 52, whether the battery reaches the designated position in the battery outer box is analyzed according to the actual image, as shown in fig. 4, specifically including:
step 521: comparing whether the actual image is the same as a standard image when the battery is located at the specified position, wherein the standard image is acquired in advance, and the angle when the actual image is acquired is preferably the same as the acquisition angle of the standard image:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
It should be noted that, in consideration of the fact that standard images corresponding to different vehicle models and different battery outer boxes may be different, the method generally needs to pre-store standard images corresponding to multiple vehicle models and multiple battery outer boxes, before or during battery replacement, the vehicle model and the battery outer box of the battery replacement vehicle are determined, the standard image corresponding to the vehicle is selected from the pre-stored standard images, and then subsequent comparison is performed.
Two specific procedures for comparing whether the actual image is the same as the standard image when the battery is located at the designated position are provided as follows:
first, as shown in fig. 5:
step 5211: extracting the image of the battery and the image of the battery outer box from the actual image, and filtering other images which are possibly collected together in the image, such as the vehicle bottom structure around the battery outer box;
step 5212: comparing whether the relative positional relationship between the battery and the battery outer box in a first direction in the actual image and the standard image is the same, the first direction being a direction perpendicular to a platform on which the vehicle is parked:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
Second, as shown in fig. 6:
step 5211': extracting the image of the battery and the image of the battery outer box from the actual image, and filtering other images which are possibly collected together in the image, such as the vehicle bottom structure around the battery outer box;
step 5212': comparing whether the relative positional relationship of the battery and the outer box of the battery in the actual image and the standard image in other directions perpendicular to the first direction is the same, the first direction being a direction perpendicular to a platform in which the vehicle is parked:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
In the embodiment, the two comparisons may be used in accordance with the specific position of the designated position and the battery movement trajectory, and may be used together to improve the comparison accuracy. For example, if the designated position is located at the frontmost end of a certain height in the outer box of the battery, and the corresponding battery moving track is that the battery replacing device first lifts the battery to the height, and then moves the battery forward until the battery reaches the frontmost end, it is proposed to use the above two comparisons simultaneously, and compare whether the relative positional relationships between the battery and the outer box of the battery in the first direction in the actual image and the standard image are the same by using the first comparison, and compare whether the relative positional relationships between the battery and the outer box of the battery in the other directions perpendicular to the first direction in the actual image and the standard image are the same by using the second comparison, and if the two comparisons are the same, determine that the battery reaches the designated position both at the height and horizontally. For another example, if the specified position is located at the topmost end of the battery outer box, and the corresponding battery moving track is that the battery replacing device lifts the battery until the battery reaches the topmost end, it is recommended to compare whether the relative position relationship between the battery and the battery outer box in the first direction in the actual image and the standard image is the same by using a first method, and if the relative position relationship is the same, it is determined that the battery reaches the specified position in height.
Two specific processes for comparing whether the relative position relationship between the battery and the battery outer box in one direction in the actual image and the standard image is the same are specifically provided below, where the direction may be the first direction, or may be another direction perpendicular to the first direction:
the first method comprises the following steps:
extracting a box surface of the battery outer box at the outermost side in the direction from an actual image acquired from the direction;
extracting a first battery surface of the battery from the actual image acquired from the direction, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the sizes of the images of the first battery surface and the box surface in the actual image acquired from the direction to obtain an actual size comparison relation;
acquiring a standard size comparison relation of the sizes of the first battery surface and the box surface in a standard image acquired from the direction;
comparing whether the actual size comparison relation is the same as the standard size comparison relation or not;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
Or extracting a box surface of the outer box of the battery, which is positioned at the outermost side in the direction, from an actual image acquired from the direction perpendicular to the direction;
extracting a first battery surface of the battery from an actual image acquired in a direction perpendicular to the direction, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the image positions of the first battery surface and the box surface in an actual image acquired in a direction perpendicular to the direction to obtain an actual position comparison relation;
acquiring a standard position comparison relation between the image positions of the first battery surface and the box surface in a standard image acquired in a direction perpendicular to the direction;
comparing whether the actual position comparison relation is the same as the standard position comparison relation;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
The two comparisons can be selected for use according to the position of the image acquired by the image acquisition module 11, and can be used at the same time, namely, the relative position relationship can be determined to be the same if the actual size comparison relationship is the same as the standard size comparison relationship and the actual position comparison relationship is the same as the standard position comparison relationship. In the process, the relative position of the battery and the battery outer box can be determined by comparing the first battery face with the outermost box face of the battery outer box through the relative relation of the images, and the process is accurate.
And the second method comprises the following steps:
determining the actual relative distance between the box surface of the battery outer box which is positioned at the outermost side in the direction and a first battery surface of the battery according to the depth-of-field information of the actual image, wherein the first battery surface is the battery surface which is on the same side with the box surface, and the actual image is preferably the actual image acquired by the direction;
acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
comparing whether the actual relative distance is the same as the standard relative distance;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
In the process, the relative position of the battery and the battery outer box can be determined by comparing the first battery surface with the outermost box surface of the battery outer box by using the depth of field information of the image, and the process is simpler.
The visual analysis method of the present embodiment can be implemented by using the visual analysis system of embodiment 2.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (24)
1. The vision analysis system is applied to vehicle battery replacement and is characterized by comprising at least one image acquisition module, an image analysis module and a battery replacement control module;
the image acquisition module is used for acquiring an actual image in real time and sending the actual image to the image analysis module in real time in the process that the battery replacement equipment executes a target task, the target task is to mount a battery to a battery outer box of a vehicle, and the actual image comprises an image of the battery outer box and an image of the battery;
the image analysis module is used for analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, and if so, a notification signal is sent to the power conversion control module;
the power conversion control module is used for generating a regulation and control instruction after receiving the notification signal and sending the regulation and control instruction to the power conversion equipment, wherein the regulation and control instruction is used for informing the power conversion equipment that the target task is achieved;
analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, wherein the method comprises the following steps:
comparing whether the actual image is the same as a standard image when the battery is located at the specified position:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
2. The visual analysis system of claim 1, wherein the image acquisition module is disposed on the battery replacement device or on a platform where the vehicle is parked.
3. The vision analysis system of claim 1, wherein a battery-powered circuit of the vehicle is turned on when the battery reaches the designated location.
4. The vision analysis system of claim 1, wherein the battery swapping device is pre-programmed with a battery movement trajectory required to mount the battery to the specified location when performing the target task.
5. The vision analysis system of claim 1, wherein comparing whether the actual image is the same as the standard image of the battery at the specified location comprises:
extracting an image of the battery and an image of the outer box of the battery from the actual image;
comparing whether the relative position relations of the battery and the battery outer box in a first direction and/or other directions perpendicular to the first direction in the actual image and the standard image are the same, wherein the first direction is a direction perpendicular to a platform for parking the vehicle:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position;
the image analysis module prestores standard images corresponding to various vehicle types and various battery outer boxes.
6. The visual analysis system of claim 5, wherein comparing whether the relative positional relationship of the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same comprises:
extracting a box surface of the battery outer box on the outermost side in the direction from the actual image;
extracting a first battery surface of the battery from the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the image sizes and/or image positions of the first battery surface and the box surface in the actual image to obtain an actual size comparison relation and/or an actual position comparison relation;
acquiring the image size and/or image position standard size comparison relationship and/or standard position comparison relationship between the first battery surface and the box surface in the standard image;
comparing whether the actual size comparison relationship is the same as the standard size comparison relationship and/or the actual position comparison relationship is the same as the standard position comparison relationship;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
7. The visual analysis system of claim 6, wherein the actual size contrast relationship and the standard size contrast relationship are derived from an actual image and a standard image captured from the orientation;
and/or obtaining the actual position comparison relation and the standard position comparison relation from an actual image and a standard image acquired from a direction perpendicular to the direction.
8. The visual analysis system of claim 5, wherein comparing whether the relative positional relationship of the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same comprises:
determining the actual relative distance between the box surface of the outer box of the battery, which is positioned on the outermost side in the direction, and the first battery surface of the battery according to the depth-of-field information of the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
comparing whether the actual relative distance is the same as the standard relative distance;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
9. The visual analytics system of claim 8, wherein the actual image is an actual image acquired from the orientation.
10. The visual analysis system of any one of claims 2-9, wherein the angle at which the image acquisition module acquires the actual image is the same as the acquisition angle of the standard image.
11. The visual analysis system of claim 1, wherein the image acquisition module is connected with the image analysis module by wired or wireless communication;
and/or the image analysis module is connected with the power conversion control module through wired or wireless communication;
and/or the power conversion control module is connected with the power conversion equipment through wired or wireless communication.
12. The vision analysis system of claim 1, wherein the image acquisition module is configured with an infrared illumination source configured to turn on when the brightness of the ambient light is less than a threshold.
13. The vision analysis system of claim 1, wherein the image acquisition module is a camera or a camera that automatically zooms based on the outer box of the battery and the battery.
14. A visual analysis method applied to vehicle battery replacement is characterized by comprising the following steps:
the method comprises the steps that in the process that a battery replacement device executes a target task, an actual image is collected in real time, the target task is that a battery is installed on a battery outer box of a vehicle, and the actual image comprises an image of the battery outer box and an image of the battery;
analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, and if so, informing the battery replacement equipment that the target task is achieved;
analyzing whether the battery reaches a specified position in the battery outer box according to the actual image, wherein the method comprises the following steps:
comparing whether the actual image is the same as the standard image when the battery is positioned at the specified position:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position.
15. The visual analysis method of claim 14, wherein a battery-powered circuit of the vehicle is turned on when the battery reaches the designated location.
16. The visual analysis method of claim 14, wherein the battery swapping device is preset with a battery movement trajectory required for mounting the battery to the specified position when the target task is performed.
17. The visual analysis method of claim 14, wherein comparing whether the actual image is the same as the standard image of the battery at the specified location comprises:
extracting an image of the battery and an image of the outer box of the battery from the actual image;
comparing whether the relative position relations of the battery and the battery outer box in a first direction and/or other directions perpendicular to the first direction in the actual image and the standard image are the same, wherein the first direction is a direction perpendicular to a platform for parking the vehicle:
if yes, the battery reaches the specified position;
if not, the battery does not reach the specified position;
the image analysis module prestores standard images corresponding to various vehicle types and various battery outer boxes.
18. The visual analysis method of claim 17, wherein comparing whether the relative positional relationship of the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same comprises:
extracting a box surface of the battery outer box on the outermost side in the direction from the actual image;
extracting a first battery surface of the battery from the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
comparing the image sizes and/or image positions of the first battery surface and the box surface in the actual image to obtain an actual size comparison relation and/or an actual position comparison relation;
acquiring the image size and/or image position standard size comparison relationship and/or standard position comparison relationship between the first battery surface and the box surface in the standard image;
comparing whether the actual size comparison relationship is the same as the standard size comparison relationship and/or the actual position comparison relationship is the same as the standard position comparison relationship;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
19. The visual analysis method of claim 18, wherein the actual size contrast relationship and the standard size contrast relationship are derived from an actual image and a standard image captured from the orientation;
and/or obtaining the actual position comparison relation and the standard position comparison relation from an actual image and a standard image acquired from a direction perpendicular to the direction.
20. The visual analysis method of claim 17, wherein comparing whether the relative positional relationship of the battery and the outer case of the battery in one of the directions in the actual image and the standard image is the same comprises:
determining the actual relative distance between the box surface of the outer box of the battery, which is positioned on the outermost side in the direction, and the first battery surface of the battery according to the depth-of-field information of the actual image, wherein the first battery surface is the battery surface on the same side as the box surface;
acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
comparing whether the actual relative distance is the same as the standard relative distance;
if yes, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is the same;
if not, the relative position relation of the battery and the battery outer box in the direction in the actual image and the standard image is different.
21. The visual analytics method of claim 20, wherein the actual image is an actual image acquired from the orientation.
22. The visual analysis method of claim 14, wherein the actual image is acquired at the same angle as the standard image.
23. The visual analytics method of claim 14, further comprising: and turning on the infrared illumination light source when the brightness of the ambient light is less than the threshold value.
24. The visual analytics method of claim 14, wherein the step of acquiring actual images is accomplished using a camera that automatically zooms based on the outer case of the battery and the battery.
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