CN114734865A - Battery replacement control method based on visual analysis - Google Patents

Battery replacement control method based on visual analysis Download PDF

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Publication number
CN114734865A
CN114734865A CN202210494949.6A CN202210494949A CN114734865A CN 114734865 A CN114734865 A CN 114734865A CN 202210494949 A CN202210494949 A CN 202210494949A CN 114734865 A CN114734865 A CN 114734865A
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CN
China
Prior art keywords
battery
pack assembly
image
outer box
battery pack
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Pending
Application number
CN202210494949.6A
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Chinese (zh)
Inventor
陆文成
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Aulton New Energy Automotive Technology Co Ltd
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Aulton New Energy Automotive Technology Co Ltd
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Priority to CN202210494949.6A priority Critical patent/CN114734865A/en
Publication of CN114734865A publication Critical patent/CN114734865A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • 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
    • 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

Abstract

The invention discloses a battery replacement control method based on visual analysis. The battery replacement control method comprises the following steps: entering a vehicle parking positioning stage; entering a battery outer box positioning stage of the vehicle; entering a battery unloading stage of unlocking the battery replacement equipment for replacing the battery of the vehicle from the battery outer box and taking down the battery pack assembly lacking the power; entering the battery outer box positioning stage of the vehicle again; entering a battery loading stage of installing a battery pack assembly to be loaded to a battery outer box of the vehicle by a battery replacing device for replacing the battery of the vehicle; and entering a lock detection stage of the battery outer box. The invention can monitor the whole battery replacement process through an image processing technology, control objects (such as vehicles and battery replacement equipment) related to the battery replacement process and ensure the success rate of battery replacement.

Description

Battery replacement control method based on visual analysis
The application is a divisional application of Chinese patent application with the application date of 2018, month 07, month 27, the application number of 201810843795.0 and the name of 'vision analysis system and method applied to vehicle battery replacement and a battery replacement control method'.
Technical Field
The invention belongs to the field of battery replacement control, and particularly relates to a battery replacement control method based on visual analysis.
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 automobiles and electric automobiles to replace fuel-oil 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 pack assembly of the quick-change electric automobile is replaced, the battery replacement equipment needs to travel to the position below the vehicle so as to take the original battery pack assembly on the vehicle out of the battery outer box, and then a new battery pack assembly is installed in the battery outer box. In the prior art, the battery replacing device generally controls the battery replacing action, and external monitoring is lacked, so that the battery pack assembly is easily replaced and failed.
Disclosure of Invention
The invention aims to overcome the defects that the battery replacement equipment controls the battery replacement action and is lack of external monitoring in the prior art, and provides a battery replacement control method based on visual analysis.
The invention solves the technical problems through the following technical scheme:
a battery replacement control method based on visual analysis comprises the following steps:
entering a vehicle parking positioning stage;
entering a battery outer box positioning stage of the vehicle;
entering a battery unloading stage of unlocking the battery replacement equipment for replacing the battery of the vehicle from the battery outer box and taking down the battery pack assembly lacking the power;
and/or the presence of a gas in the gas,
entering a battery outer box positioning stage of the vehicle;
entering a battery loading stage of installing a battery pack assembly to be loaded to a battery outer box of the vehicle by a battery replacing device for replacing the battery of the vehicle;
and entering a lock detection stage of the battery outer box.
Optionally, the battery swapping control method includes:
acquiring actual images of a vehicle and a battery pack assembly in the battery replacement process of the vehicle;
monitoring the battery replacement process according to the actual image;
and regulating and controlling the objects involved in the battery replacement process.
Optionally, in the vehicle parking positioning stage, the acquired actual image includes an image of the vehicle and an image of the identified preset parking area;
and extracting the position information of the vehicle parking from the actual image, determining whether the vehicle is parked in the preset parking area or not through the position information, and if not, commanding the vehicle to be parked in the preset parking area again.
Optionally, in the battery outer box positioning stage, the acquired actual image includes an image of a battery outer box of the vehicle;
acquiring space state information of the battery outer box according to the actual image;
and according to the space state information of the battery outer box, commanding the battery replacement equipment to adjust the space state information of the battery replacement equipment to adapt to the space state information of the battery outer box.
Optionally, the outer battery box positioning stage is adapted to: before the battery pack assembly which is lack of electricity is taken down from the battery outer box by the electricity replacing equipment, or before the battery pack assembly to be assembled is installed to the battery outer box by the electricity replacing equipment.
Optionally, in the battery unloading stage, the acquired actual image includes an image of a locking mechanism in the battery outer box, and the locking mechanism is used for locking the battery pack assembly in the battery outer box;
and analyzing whether the battery pack assembly is unlocked by the locking mechanism according to the actual image, and commanding the battery replacing equipment to take the battery pack assembly down from the battery outer box when the battery pack assembly is unlocked by the locking mechanism.
Optionally, the battery replacing device is preset with a first battery moving track for taking down the battery pack assembly from the battery outer box when the battery unloading instruction is executed.
Optionally, in the battery loading stage, the actual image is collected in real time, and the actual image includes an image of the battery outer box and an image of the battery pack assembly;
and analyzing whether the battery pack assembly reaches a specified position in the battery outer box or not according to the actual image, and if so, informing the battery replacement equipment that the battery loading stage is achieved.
Optionally, in the lock detection stage, the acquired actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used for locking the battery pack assembly in the battery outer box;
and analyzing whether the locking mechanism locks the battery pack assembly or not according to the actual image.
Optionally, the lock detection phase occurs after the battery changing device installs the battery pack assembly to be installed on the battery outer box.
Optionally, the spatial state information comprises location information;
acquiring position information of the outer box of the battery according to the actual image;
and commanding the battery replacement equipment to move to a target position according to the position information of the battery outer box, wherein the target position is related to the position of the battery outer box.
Optionally, the spatial state information comprises pose information;
acquiring attitude information of the battery outer box according to the actual image;
and commanding the battery replacing equipment to adjust the posture of the battery replacing equipment according to the posture information of the battery outer box so that the posture of a battery replacing mechanism on the battery replacing equipment is the same as that of the battery outer box.
Optionally, analyzing whether the locking mechanism unlocks the battery pack assembly according to the actual image by the following steps:
acquiring the length of a lock connecting rod in the locking mechanism extending out of a lock block from the actual image;
comparing whether the length is 0:
if yes, unlocking the battery pack assembly by the locking mechanism;
if not, the locking mechanism does not unlock the battery pack assembly;
or comparing whether the actual image is the same as a standard image, wherein the standard image is an image when the locking mechanism unlocks the battery pack assembly, and the standard image comprises standard images corresponding to various pre-stored vehicle types, various battery models and various locking mechanisms;
if yes, unlocking the battery pack assembly by the locking mechanism;
if not, the locking mechanism does not unlock the battery pack assembly.
Optionally, when the battery pack assembly reaches the designated position, a battery power supply circuit of the vehicle is turned on, and a battery moving track for installing the battery pack assembly to the designated position, which is required when the battery swapping device executes the target task, is preset.
Optionally, analyzing whether the battery pack assembly reaches a designated position in the battery outer box according to the actual image includes:
extracting an image of the battery pack assembly and an image of the outer box of the battery from the actual image;
extracting an image of the battery pack assembly and an image of the outer box of the battery from a standard image when the battery pack assembly is located at the specified position;
comparing whether the relative position relations of the battery pack assembly 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 so, the battery pack assembly reaches the specified position;
if not, the battery pack assembly does not reach the specified position.
Optionally, whether the locking mechanism locks the battery pack assembly is analyzed according to the actual image through the following steps:
acquiring the length of a lock connecting rod in the locking mechanism extending out of a lock block from the actual image;
comparing whether the length is smaller than the standard length of the lock connecting rod extending out of the lock block when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism does not lock the battery pack assembly;
if not, the locking mechanism locks the battery pack assembly;
or, comparing whether the actual image is the same as a standard image, wherein the standard image is an image when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism locks the battery pack assembly;
if not, the locking mechanism does not lock the battery pack assembly.
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 invention can monitor the whole battery replacement process through an image processing technology, control objects (such as vehicles and battery replacement equipment) related to the battery replacement process and ensure the success rate of battery replacement.
Drawings
Fig. 1 is a schematic block 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 according to embodiment 1 of the present invention;
fig. 3 is a schematic view of a preset parking area according to embodiment 2 of the present invention;
fig. 4 is a schematic block diagram of a vision analysis system applied to vehicle battery replacement according to embodiment 2 of the present invention;
fig. 5 is a flowchart of a visual analysis method applied to vehicle battery replacement according to embodiment 3 of the present invention;
fig. 6 is a flowchart of a power swapping control method based on visual analysis according to embodiment 5 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 visual analysis system 10 applied to vehicle battery replacement of the present 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 an object related to the power conversion process 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 used for acquiring actual images of the vehicle and the battery pack assembly and sending the actual images to the image analysis module 12 in the vehicle battery replacement process. The battery pack assembly of the present invention is particularly limited in structure, and generally includes a battery pack case and a connection mechanism disposed around the battery pack case.
The image analysis module 12 is configured to monitor the battery replacement process according to the actual image, and send the battery replacement process to the battery replacement control module 13.
The power conversion control module 13 is configured to generate a regulation instruction for regulating an object involved in the power conversion process.
The vision analysis system of the embodiment can monitor the whole battery replacement process through an image processing technology, control objects (such as vehicles and battery replacement equipment) related to the battery replacement process, and ensure the success rate of battery replacement.
In this embodiment, the image acquisition module 11 may be disposed on a battery replacement device 40 for the vehicle. The battery swapping device 40 may generally include the ability to load a new or fully charged battery pack assembly into the battery housing, or to remove an existing short battery pack assembly from the battery housing, or both. 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 where the image of the vehicle and the battery pack assembly can be captured.
The number of the image acquisition modules 11 may be determined according to actual conditions such as a battery replacement process, a cost requirement, a 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 image capturing clarity, the image capturing module 11 is preferably a camera or a camera that automatically zooms according to the shooting object.
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.
In this embodiment, the battery replacement process includes at least one of: the method comprises a vehicle parking positioning stage, a vehicle outer box positioning stage, a battery unloading stage, a battery replacing stage and a battery pack installing stage, wherein the battery replacing stage comprises the steps of unlocking a battery replacing device for replacing the battery of the vehicle from a battery outer box of the vehicle and taking down a battery pack assembly lacking the power, the battery installing stage and the battery outer box lock detection stage are used for installing the battery pack assembly to be installed on the battery outer box of the vehicle by the battery replacing device for replacing the battery of the vehicle.
In the vehicle parking positioning stage:
as shown in fig. 3, a preset parking area 31 is identified within the platform 30.
The actual image acquired by the image acquisition module 11 includes an image of the vehicle and an image of the identified preset parking area 31.
The image analysis module 12 is specifically configured to extract position information of the vehicle parking from the actual image, determine whether the vehicle is parked in the preset parking area according to the position information, and if not, send a first notification to the power conversion control module 13.
The power conversion control module 13 is specifically configured to generate a vehicle regulation and control instruction after receiving the first notification, where the vehicle regulation and control instruction is used to instruct the vehicle to be parked again in the preset parking area.
At this stage, the image capturing module 11 for capturing the actual image is preferably the image capturing module 11 arranged around the preset parking area, that is, the image capturing module 11 arranged around the preset parking area is used for capturing the actual image including the image of the vehicle and the image of the identified preset parking area.
Positioning the battery outer box of the vehicle;
the actual image acquired by the image acquisition module 11 includes an image of a battery outer box of the vehicle.
The image analysis module 12 is specifically configured to obtain the spatial state information of the battery outer box according to the actual image, and send the spatial state information of the battery outer box to the power conversion control module 13.
The power change control module 13 is specifically configured to generate a first regulation and control instruction according to the spatial state information of the battery outer box and send the first regulation and control instruction to a power change device for changing the power of the vehicle, where the first regulation and control instruction is used to instruct the power change device to adjust spatial state information of the power change device to adapt to the spatial state information of the battery outer box.
At this stage, the image acquisition module 11 for acquiring the actual image is preferably the image acquisition module 11 arranged on the battery replacing device or the image acquisition module 11 around the hollow area in fig. 2, that is, the image acquisition module 11 arranged on the battery replacing device or the image acquisition module 11 around the hollow area in fig. 2 is used to acquire the actual image including the image of the outer box of the battery.
The battery outer box positioning stage is suitable for being used before the battery unloading stage or before the battery loading stage.
Specifically, as shown in fig. 4, the spatial state information may include position information, and the image analysis module 12 includes a position analysis unit 121;
the position analyzing unit 121 is configured to obtain the position information of the outer box of the battery according to the actual image, and send the position information of the outer box of the battery to the power conversion control module 13;
the first regulation and control instruction comprises a position moving instruction, the power conversion control module 13 is further configured to generate the position moving instruction according to the position information of the battery outer box, the position moving instruction is used for commanding the power conversion equipment to move the position of the power conversion equipment to a target position, and the target position is related to the position of the battery outer box.
Specifically, when the battery outer box positioning stage occurs before the battery unloading stage, the target position is a position at which a battery replacement unlocking mechanism on the battery replacement device 40 is aligned with a trigger unlocking mechanism on the battery outer box, and the trigger unlocking mechanism is matched with the battery replacement unlocking mechanism and is used for triggering the battery pack assembly to be unlocked from the vehicle. When the battery replacing device is parked at a target position, the battery replacing unlocking mechanism is aligned with the trigger unlocking mechanism, and the battery replacing device lifts the battery replacing unlocking mechanism to insert the battery replacing unlocking mechanism into the trigger unlocking mechanism, so that the battery pack assembly is unlocked. The specific structures of the battery-swapping unlocking mechanism and the trigger unlocking mechanism are not limited.
When the battery outer box positioning stage occurs before the battery installation stage, the target position is a position where the battery pack assembly is aligned with the battery outer box. That is, the battery replacing device 40 is located below the platform, and when the battery replacing device is parked at a target position, a battery pack assembly on the battery replacing device is aligned with the battery outer box, and the battery replacing device lifts the battery pack assembly to place the battery pack assembly into the battery outer box.
The spatial state information may further include pose information, and the image analysis module 12 includes a pose analysis unit 122;
the posture analysis unit 122 is configured to obtain posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power conversion control module 13;
the first regulation and control instruction comprises an attitude adjustment instruction, the power conversion control module 13 is further configured to generate the attitude adjustment instruction according to the attitude information of the battery outer box, and the attitude adjustment instruction is used to instruct the power conversion equipment to adjust the attitude of the power conversion equipment so that the attitude of a power conversion mechanism on the power conversion equipment is the same as that of the battery outer box.
Specifically, the posture information of the outer case of the battery may include: and the battery outer box forms an included angle with a platform for parking the vehicle.
Obtaining an included angle between the outer battery box and a platform where the vehicle is parked according to the actual image, wherein one specific implementation comprises:
extracting an image outline of the outer box of the battery from the actual image;
judging whether the image outline is the same as a standard image outline when the battery outer box and the platform are arranged in parallel, wherein the standard image outline is collected in advance, and mainly comparing whether the battery outer boxes in the two images are the same when the images are compared, so that other images possibly collected together in the images can be ignored, such as vehicle bottom structures around the battery outer box and the like:
if so, judging that the included angle between the outer battery box and the platform is 0;
if not, determining the included angle between the outer box of the battery and the platform according to the deformation degree of the image outline relative to the standard image outline.
Wherein, the angle when the image acquisition module 11 acquires the actual image is preferably the same as the acquisition angle of the standard image contour. Taking the battery outer box as a cuboid as an example, when the battery outer box is arranged in parallel with the platform, the standard image contour of the battery outer box collected from the right below of the battery outer box should be a rectangle. If the image contour of the outer battery box in the actual image collected from the position right below the outer battery box is a rectangle, the image contour of the outer battery box is parallel to the standard image contour, namely the outer battery box is also parallel to the platform. On the contrary, if the image contour of the outer battery box in the actual image collected from the right below of the outer battery box is not rectangular, if there is a vertex angle which is not a right angle, it is indicated that the image contour of the outer battery box is not parallel to the contour of the standard image, that is, the outer battery box is not parallel to the platform, and the included angle between the outer battery box and the platform can be further determined by the angle of the vertex angle in the image contour.
It should be noted that, considering that standard image profiles corresponding to different vehicle models and different battery outer boxes may be different, it is generally necessary to pre-store standard image profiles 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, and a standard image profile corresponding to the vehicle is selected from the pre-stored standard image profiles for subsequent comparison.
Acquiring the relative position relationship between the battery outer box and the vehicle parking platform according to the actual image, wherein the other specific implementation comprises the following steps:
determining the relative height difference of at least two characteristic parts of the outer box of the battery according to the self depth of field information of the actual image;
judging whether the relative height difference of the at least two characteristic parts is 0:
if so, judging that the included angle between the outer battery box and the platform is 0;
if not, determining the included angle between the outer battery box and the platform according to the relative height difference of the at least two characteristic parts.
Taking the battery outer box as a cuboid as an example, in the actual image of the battery outer box collected from the position right below the battery outer box when the battery outer box is arranged in parallel with the platform, the relative height difference of each characteristic part of the battery outer box should be 0, that is, in the same plane, the included angle between the characteristic part of the battery outer box and the platform is 0. If relative height differences exist in the characteristic parts of the battery outer box, namely the battery outer box is not parallel to the platform, the included angle between the battery outer box and the platform can be further determined through the relative height differences. Wherein, the at least two characteristic parts are at least two top angles of the battery outer box.
In addition, any one of the above two implementations may be employed according to actual circumstances.
In this embodiment, the posture information of the outer case of the battery may further include: the setting direction of the battery outer box.
According to the actual image obtains the direction of setting of battery outer container, one kind specifically realizes including:
extracting an image outline of the outer box of the battery from the actual image;
judging whether the image outline is the same as a standard image outline when the battery outer box is arranged in the reference direction, wherein the standard image outline is collected in advance, mainly comparing whether the battery outer boxes in the two images are the same when judging to compare the images, and ignoring other images which are possibly collected together in the images, such as vehicle bottom structures around the battery outer box and the like:
if so, judging that the setting direction of the battery outer box is the reference direction;
if not, determining the included angle between the setting direction of the battery outer box and the reference direction according to the rotation degree of the image outline relative to the standard image outline.
The angle of the image acquisition module 11 when acquiring the actual image is the same as the acquisition angle of the standard image profile.
Also, it should be noted that, considering that standard image profiles corresponding to different vehicle models and different battery outer boxes may be different, it is generally necessary to pre-store standard image profiles 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, and a standard image profile corresponding to the vehicle is selected from the pre-stored standard image profiles for subsequent comparison.
In the battery unloading stage;
the actual image collected by the image collecting module 11 includes an image of a locking mechanism in the battery outer box, and the locking mechanism is used for locking the battery pack assembly in the battery outer box.
The image analysis module 12 is specifically configured to analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and send a second notification to the power conversion control module 13 when the locking mechanism unlocks the battery pack assembly.
The battery swapping control module 13 is specifically configured to send a battery unloading instruction to the battery swapping device after receiving the second notification, where the battery unloading instruction is used to instruct the battery swapping device to take the battery pack assembly off the battery outer box.
And the battery replacing device is preset with a first battery moving track which is required for taking down the battery pack assembly from the battery outer box when the battery unloading instruction is executed.
At this stage, the image capturing module 11 for capturing an actual image is preferably the image capturing module 11 disposed on the battery swapping device or the image capturing module 11 around the hollow area in fig. 2, that is, the image capturing module 11 disposed on the battery swapping device or the image capturing module 11 around the hollow area in fig. 2 is used to capture an actual image including an image of the locking mechanism in the battery outer box.
Specifically, as shown in fig. 4, the image analysis module 12 includes an unlock analysis unit 123;
image acquisition module 11 is to the actual image that a locking mechanism (the locking mechanism structure that this embodiment was used is like chinese patent application CN106427514A) was gathered, does image acquisition module 11 follows gather in the below of battery outer container, shows the battery package assembly of packing into in the battery outer container, the battery package assembly that has packed into in the battery outer container in the image, has the clearance between battery outer container and the battery package assembly, sees through the clearance and shows the visual part of locking mechanism, wherein visual part includes spring bolt, locking piece and the partial lock connecting rod that stretches out the locking piece (locking mechanism locks the lock connecting rod can move forward when the battery, and then drive spring bolt, and the spring bolt keeps off the lock shaft in the locking piece, and the front end part of lock connecting rod can stretch out the certain length of the preceding terminal surface of locking piece.
For the above actual image, the unlocking analysis unit 123 is configured to analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image by:
acquiring the length of the lock connecting rod extending out of the lock block in the locking mechanism from the actual image, wherein the length can be realized by using image processing technologies such as lock connecting rod, lock block contour extraction, length measurement and the like, and the distance between the front end part of the lock connecting rod and a shot boundary line can also be measured by taking the shot boundary line as reference, and the length of the lock connecting rod extending out of the lock block is reversely calculated according to the distance;
comparing whether the length is 0:
if yes, the locking mechanism unlocks the battery pack assembly;
if not, the locking mechanism does not unlock the battery pack assembly.
The unlocking analysis unit 123 determines whether the lock link mechanism unlocks the battery by analyzing the length of the lock link extending out of the lock block, and the determination is simple and high in precision.
Also for the above actual image, the unlocking analysis unit 123 may be further configured to compare whether the actual image is the same as a standard image, where the standard image is an image when the locking mechanism unlocks the battery pack assembly;
if yes, unlocking the battery pack assembly by the locking mechanism;
if not, the locking mechanism does not unlock the battery pack assembly.
When the battery pack assembly is unlocked by the locking mechanism, the lock tongue should be in the unlocking position, and the lock tongue does not block the lock shaft in the locking block at the unlocking position, so the unlocking analysis unit 123 may emphasize and compare the positions of the lock tongue in the actual image and the standard image (the unlocking position may be shown in the standard image) during comparison, and determine whether the lock tongue is in the unlocking position in the actual image, if so, the locking mechanism unlocks the battery pack assembly, and if not, the locking mechanism does not unlock the battery pack assembly.
Of course, the second implementation of the unlocking analysis unit 123 may also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly, and the locking mechanism of this type may adopt other structures such as bolts and nuts to lock the battery pack assembly. The unlocking analysis unit 123 implemented in this way can still determine whether the locking mechanism locks the battery pack assembly through the change in the external form of the locking mechanism and the associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked, and is not limited to the locking mechanism with a specific structure, so that the application range is wider.
It should be noted that, in consideration of the fact that standard images corresponding to different vehicle models, different battery models, and different locking mechanisms may be different, the unlocking analysis unit 123 generally needs to pre-store standard images corresponding to multiple vehicle models, multiple battery models, and multiple locking mechanisms, before or during battery replacement, determines a vehicle model, a battery model, and a locking mechanism of a battery replacement vehicle, and selects a standard image corresponding to the battery replacement vehicle from the pre-stored standard images, so as to perform subsequent comparison.
In addition, the unlock analyzing unit 123 may adopt any one of the above two implementations according to actual situations, for example, if the locking mechanism does not include a lock link or the like, it is recommended to use the second implementation to analyze whether the locking mechanism locks the battery pack assembly. If the locking mechanism includes a lock link or the like, both implementations can be used.
In the battery loading stage:
the image acquisition module 11 acquires the actual image in real time and sends the actual image to the image analysis module 12 in real time, and the actual image comprises the image of the battery outer box and the image of the battery pack assembly.
The image analysis module 12 is specifically configured to analyze whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image, and if yes, send a third notification to the power conversion control module 13.
The power conversion control module 13 is specifically configured to send a second regulation and control instruction to the power conversion device after receiving the third notification, where the second regulation and control instruction is used to notify that the power conversion device has reached the battery loading stage.
When the battery pack assembly reaches the designated position, a battery power supply circuit of the vehicle is conducted, and a battery moving track for installing the battery pack assembly to the designated position, which is required when the target task is executed, is preset in the battery replacement equipment.
Specifically, analyzing whether the battery pack assembly reaches a designated position in the battery outer box according to the actual image includes:
extracting an image of the battery pack assembly and an image of the outer box of the battery from the actual image;
extracting an image of the battery pack assembly and an image of the outer box of the battery from a standard image when the battery pack assembly is located at the specified position;
comparing whether the relative position relations of the battery pack assembly 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 so, the battery pack assembly reaches the specified position;
if not, the battery pack assembly 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 pack assembly, when comparing, whether the relative height difference between the battery outer box and the battery pack assembly in the actual image is the same as the relative height difference between the battery outer box and the battery pack assembly in the standard image is compared, if so, the battery pack assembly reaches the designated position in the vertical direction, and if not, the battery pack assembly does not reach the designated position in the vertical direction.
The other direction perpendicular to the first direction is a direction in the horizontal plane, which may be a front-back direction or a left-right direction, a relative horizontal distance difference exists between the battery outer box and the battery pack assembly, when the relative horizontal distance difference between the battery outer box and the battery pack assembly in the actual image and the relative horizontal distance difference between the battery outer box and the battery pack assembly in the standard image are compared, whether the relative horizontal distance difference is the same or not is compared, if the relative horizontal distance difference is the same, the battery pack assembly reaches a specified position in the front-back direction or the left-right direction, and if the relative horizontal distance difference is not the same, the battery pack assembly does not reach the specified position in the front-back direction or the left-right direction.
In the implementation, the direction comparison may be used from any one of the two directions according to the specific position of the designated position and the battery moving track, and the direction comparison is adopted to improve the comparison accuracy. For example, if the designated position is located at the foremost end of a certain height in the battery outer box, and the corresponding battery moving trajectory is that the battery replacing device first lifts the battery pack assembly to the height, and then moves the battery pack assembly forward until the battery pack assembly reaches the foremost end, it is proposed to use the comparison in the above two directions simultaneously, that is, to compare whether the relative positional relationship between the battery pack assembly and the battery outer box in the first direction in the actual image and the standard image is the same, and to compare whether the relative positional relationship between the battery pack assembly and the battery outer box in the other direction perpendicular to the first direction in the actual image and the standard image is the same, and if the comparison in the two directions is the same, determine that the battery pack assembly 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, the corresponding battery moving track is that the battery replacing device lifts the battery pack assembly until the battery pack assembly reaches the topmost end, it is recommended to compare whether the relative position relationship between the battery pack assembly and the battery outer box in the first direction in the actual image and the standard image is the same, and if the relative position relationship is the same, it is determined that the battery pack assembly reaches the specified position in height.
In the lock detection phase;
the actual image collected by the image collecting module 11 includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used for locking the battery pack assembly in the battery outer box.
The image analysis module 12 is specifically configured to analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
Wherein the lock detection phase occurs after the battery loading phase.
Specifically, as shown in fig. 4, the image analysis module 12 includes a lock analysis unit 124;
image acquisition module 11 is to the actual image that a locking mechanism (the locking mechanism structure that this embodiment was used is like chinese patent application CN106427514A) was gathered, does image acquisition module 11 follows gather in the below of battery outer container, shows the battery package assembly of packing into in the battery outer container, the battery package assembly that has packed into in the battery outer container in the image, has the clearance between battery outer container and the battery package assembly, sees through the clearance and shows the visual part of locking mechanism, wherein visual part includes spring bolt, locking piece and the partial lock connecting rod that stretches out the locking piece (locking mechanism locks the lock connecting rod can move forward when the battery, and then drive spring bolt, and the spring bolt keeps off the lock shaft in the locking piece, and the front end part of lock connecting rod can stretch out the certain length of the preceding terminal surface of locking piece.
For the above actual image, the locking analysis unit 124 is configured to analyze whether the locking mechanism locks the battery pack assembly according to the actual image by:
acquiring the length of the lock connecting rod extending out of the lock block in the locking mechanism from the actual image, wherein the length can be realized by using image processing technologies such as lock connecting rod, lock block contour extraction, length measurement and the like, and the distance between the front end part of the lock connecting rod and a shot boundary line can also be measured by taking the shot boundary line as reference, and the length of the lock connecting rod extending out of the lock block is reversely calculated according to the distance;
comparing whether the length is smaller than the standard length of the lock connecting rod extending out of the lock block when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism does not lock the battery pack assembly;
and if not, locking the battery pack assembly by the locking mechanism.
Based on a similar principle, the locking analysis unit 124 of this implementation can still judge whether the locking mechanism locks the battery through the length of the lock shaft extending out of the lock surface, for example, compare whether the length of the lock shaft extending out of the lock surface is smaller than the standard length of the lock shaft extending out of the lock surface when the locking mechanism locks the battery pack assembly, if so, the locking mechanism does not lock the battery pack assembly, and if not, the locking mechanism locks the battery pack assembly.
Also for the above actual image, the present embodiment also provides another implementation of the locking analysis unit 124. The lock analysis unit 124 is configured to:
comparing whether the actual image is the same as a standard image or not, wherein the standard image is an image when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism locks the battery pack assembly;
if not, the locking mechanism does not lock the battery pack assembly.
When the battery pack assembly is locked by the locking mechanism, the lock tongue should be in the locking position, and the lock tongue can block the lock shaft in the locking block at the locking position, so the locking analysis unit 124 can compare the positions of the lock tongue in the actual image and the standard image (the locking position can be shown in the standard image) during comparison, and determine whether the lock tongue is in the locking position in the actual image, if so, the locking mechanism locks the battery pack assembly, and if not, the locking mechanism does not lock the battery pack assembly.
Of course, the above-mentioned second implementation of the locking analysis unit 124 may also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly, and the locking mechanism of this type may adopt other structures such as bolts and nuts to lock the battery pack assembly. The locking analysis unit can still judge whether the locking mechanism locks the battery pack assembly through the change of the external form of the locking mechanism and the related structure thereof when the battery pack assembly is locked and when the battery pack assembly is not locked, and the locking analysis unit is not limited to the locking mechanism with a specific structure, so that the application range is wider.
It should be noted that, considering that standard length/standard images of lock connecting rods extending out of the lock blocks corresponding to different vehicle models, different battery models, and different locking mechanisms may be different, the locking analysis unit 124 generally needs to pre-store standard length/standard images of lock connecting rods extending out of the lock blocks corresponding to multiple vehicle models, multiple battery models, and multiple locking mechanisms, before or during battery replacement, determines a vehicle model, a battery model, and a locking mechanism of the battery replacement vehicle, and selects a standard length/standard image corresponding to the battery replacement vehicle from the pre-stored standard length/standard images, so as to perform subsequent comparison.
In addition, the locking analysis unit 124 may adopt any one of the above two implementations according to actual situations, for example, if the locking mechanism does not include a locking link, it is recommended to use the second implementation to analyze whether the locking mechanism locks the battery pack assembly. If the locking mechanism includes a lock link, both implementations can be used.
Example 3
Fig. 5 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 in the battery replacement process of the vehicle, acquiring actual images of the vehicle and the battery pack assembly.
Step 52: and monitoring the battery replacement process according to the actual image.
Step 53: and regulating and controlling the objects involved in the battery replacement process.
In this embodiment, in order to improve the definition of image acquisition and the accuracy of analyzing the state of the outer box of the battery, step 51 is implemented by using at least one camera or camera based on automatic zooming. The camera or the camera can be arranged on a battery replacement device for replacing the battery of the vehicle. 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 thereto, and in other embodiments, the camera head or camera may be disposed at other locations where images of the vehicle and the battery pack assembly can be captured.
The number of the cameras or the cameras can be determined according to the actual situations of the battery replacement process, the cost requirement, the locking precision requirement and the like. 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.
In this embodiment, the battery replacement process includes at least one of: the method comprises a vehicle parking positioning stage, a vehicle outer box positioning stage, a battery unloading stage, a battery replacing stage and a battery pack installing stage, wherein the battery replacing stage comprises the steps of unlocking a battery replacing device for replacing the battery of the vehicle from a battery outer box of the vehicle and taking down a battery pack assembly lacking the power, the battery installing stage and the battery outer box lock detection stage are used for installing the battery pack assembly to be installed on the battery outer box of the vehicle by the battery replacing device for replacing the battery of the vehicle.
In the vehicle parking positioning stage:
the actual image collected in step 51 includes the image of the vehicle and the image of the identified preset parking area.
Steps 52, 53 include:
and extracting the position information of the vehicle parking from the actual image, determining whether the vehicle is parked in the preset parking area or not through the position information, and if not, commanding the vehicle to be parked in the preset parking area again.
In the battery outer box positioning stage:
the actual image acquired in step 51 includes an image of the battery outer box of the vehicle.
Steps 52, 53 include:
acquiring space state information of the battery outer box according to the actual image;
and according to the space state information of the battery outer box, commanding the battery replacement equipment to adjust the space state information of the battery replacement equipment to adapt to the space state information of the battery outer box.
The battery outer case positioning stage is adapted to: before the battery pack assembly which is lack of electricity is taken down from the battery outer box by the electricity replacing equipment, or before the battery pack assembly to be assembled is installed to the battery outer box by the electricity replacing equipment.
Specifically, the spatial state information includes location information;
acquiring the position information of the battery outer box according to the actual image;
and commanding the battery replacement equipment to move to a target position according to the position information of the battery outer box, wherein the target position is related to the position of the battery outer box.
The spatial state information comprises attitude information;
acquiring attitude information of the battery outer box according to the actual image;
and commanding the battery replacing equipment to adjust the posture of the battery replacing equipment according to the posture information of the battery outer box so that the posture of a battery replacing mechanism on the battery replacing equipment is the same as that of the battery outer box.
In the battery unloading stage;
the actual images collected in step 51 include images of a locking mechanism in the battery outer box, and the locking mechanism is used for locking the battery pack assembly in the battery outer box;
steps 52, 53 include:
and analyzing whether the battery pack assembly is unlocked by the locking mechanism according to the actual image, and commanding the battery replacing equipment to take the battery pack assembly down from the battery outer box when the battery pack assembly is unlocked by the locking mechanism.
And the battery replacing device is preset with a first battery moving track which is required for taking down the battery pack assembly from the battery outer box when the battery unloading instruction is executed.
Step 51 is directed to an actual image collected by a locking mechanism (the locking mechanism structure applied in this embodiment is as in chinese patent application CN106427514A), which may be collected from below the battery outer box, where the image shows the battery outer box and the battery pack assembly loaded in the battery outer box, a gap exists between the battery outer box and the battery pack assembly, and a visible part of the locking mechanism is shown through the gap, where the visible part includes a lock tongue, a lock block, and a part of a lock link extending out of the lock block (when the locking mechanism locks the battery, the lock link moves forward to drive the lock tongue, the lock tongue blocks a lock shaft in the lock block, and a front end part of the lock link extends out of a front end face of the lock block by a certain length).
For the actual image, specifically, whether the locking mechanism unlocks the battery pack assembly is analyzed according to the actual image through the following steps:
acquiring the length of the lock connecting rod extending out of the lock block in the locking mechanism from the actual image, wherein the length can be realized by using image processing technologies such as lock connecting rod, lock block contour extraction, length measurement and the like, and the distance between the front end part of the lock connecting rod and a shot boundary line can also be measured by taking the shot boundary line as reference, and the length of the lock connecting rod extending out of the lock block is reversely calculated according to the distance;
comparing whether the length is 0:
if yes, unlocking the battery pack assembly by the locking mechanism;
if not, the locking mechanism does not unlock the battery pack assembly.
Or, also for the above actual image, analyzing whether the locking mechanism unlocks the battery pack assembly according to the actual image by the following steps:
comparing whether the actual image is the same as a standard image or not, wherein the standard image is an image when the locking mechanism unlocks the battery pack assembly;
if yes, unlocking the battery pack assembly by the locking mechanism;
if not, the locking mechanism does not unlock the battery pack assembly.
When the battery pack assembly is unlocked by the locking mechanism, the lock tongue should be in the unlocking position, and the lock tongue does not block the lock shaft in the locking block at the unlocking position, so that the second process can focus on comparing the positions of the lock tongue in the actual image and the standard image (the unlocking position can be shown in the standard image) during comparison, judging whether the lock tongue is in the unlocking position in the actual image, if so, unlocking the battery pack assembly by the locking mechanism, and if not, unlocking the battery pack assembly by the locking mechanism.
Of course, the second process may also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly, and the locking mechanism of this type may adopt other structures such as bolts and nuts to lock the battery pack assembly. The second process can still determine whether the locking mechanism locks the battery pack assembly through the change of the external form of the locking mechanism and the associated structure when the battery pack assembly is locked or unlocked, and is not limited by the locking mechanism with a specific structure, so that the application range is wider.
In the battery loading stage:
and 51, acquiring the actual image in real time, wherein the actual image comprises the image of the outer box of the battery and the image of the battery pack assembly.
Steps 52, 53 include:
and analyzing whether the battery pack assembly reaches a specified position in the battery outer box or not according to the actual image, and if so, informing the battery replacement equipment that the battery loading stage is achieved.
And when the battery pack assembly reaches the specified position, a battery power supply circuit of the vehicle is conducted, and a battery moving track for installing the battery pack assembly to the specified position, which is required when the target task is executed, is preset in the battery replacing equipment.
Specifically, analyzing whether the battery pack assembly reaches a designated position in the battery outer box according to the actual image includes:
extracting an image of the battery pack assembly and an image of the outer box of the battery from the actual image;
extracting an image of the battery pack assembly and an image of the outer box of the battery from a standard image when the battery pack assembly is located at the specified position;
comparing whether the relative position relations of the battery pack assembly 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 so, the battery pack assembly reaches the specified position;
if not, the battery pack assembly does not reach the specified position.
In the lock detection phase:
the actual image collected in step 51 includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used for locking the battery pack assembly in the battery outer box.
Steps 52, 53 include:
and analyzing whether the locking mechanism locks the battery pack assembly or not according to the actual image.
Wherein the lock detection phase occurs after the battery loading phase.
Step 51 is directed to an actual image collected by a locking mechanism (the locking mechanism structure applied in this embodiment is as in chinese patent application CN106427514A), which may be collected from below the battery outer box, where the image shows the battery outer box and the battery pack assembly loaded in the battery outer box, a gap exists between the battery outer box and the battery pack assembly, and a visible part of the locking mechanism is shown through the gap, where the visible part includes a lock tongue, a lock block, and a part of a lock link extending out of the lock block (when the locking mechanism locks the battery, the lock link moves forward to drive the lock tongue, the lock tongue blocks a lock shaft in the lock block, and a front end part of the lock link extends out of a front end face of the lock block by a certain length).
For the above actual image, specifically, whether the locking mechanism locks the battery pack assembly is analyzed according to the actual image through the following steps:
acquiring the length of the lock connecting rod extending out of the lock block in the locking mechanism from the actual image, wherein the length can be realized by using image processing technologies such as lock connecting rod, lock block contour extraction, length measurement and the like, and the distance between the front end part of the lock connecting rod and a shot boundary line can also be measured by taking the shot boundary line as reference, and the length of the lock connecting rod extending out of the lock block is reversely calculated according to the distance;
comparing whether the length is smaller than the standard length of the lock connecting rod extending out of the lock block when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism does not lock the battery pack assembly;
and if not, locking the battery pack assembly by the locking mechanism.
Based on a similar principle, the above process can still judge whether the locking mechanism locks the battery through the length of the lock shaft extending out of the lock surface, if so, the length of the lock shaft extending out of the lock surface is compared with the standard length of the lock shaft extending out of the lock surface when the locking mechanism locks the battery pack assembly, if so, the locking mechanism does not lock the battery pack assembly, and if not, the locking mechanism locks the battery pack assembly.
Or, also for the above actual image, analyzing whether the locking mechanism locks the battery pack assembly according to the actual image by the following steps:
comparing whether the actual image is the same as a standard image or not, wherein the standard image is an image when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism locks the battery pack assembly;
if not, the locking mechanism does not lock the battery pack assembly.
When the battery pack assembly is locked by the locking mechanism, the lock tongue is required to be in the locking position, and the lock tongue can block the lock shaft in the locking block at the locking position, so that the above process can emphasize comparison between the actual image and the position of the lock tongue in the standard image (the locking position can be shown in the standard image) during comparison, and judge whether the lock tongue is in the locking position in the actual image, if so, the locking mechanism locks the battery pack assembly, and if not, the locking mechanism does not lock the battery pack assembly.
Of course, the second process may also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly, and the locking mechanism of this type may adopt other structures such as bolts and nuts to lock the battery pack assembly. The second process can still determine whether the locking mechanism locks the battery pack assembly through the change of the external form of the locking mechanism and the related structure thereof when the battery pack assembly is locked and when the battery pack assembly is not locked, and is not limited to the locking mechanism with a specific structure, so that the application range is wider.
Example 5
Fig. 6 shows a battery replacement control method based on visual analysis according to the present embodiment. The battery replacement control method comprises the following steps:
step 61: and the vehicle enters the platform and enters a vehicle parking positioning stage. At this stage, the visual analysis system implements the corresponding functions, or the visual analysis method performs the corresponding steps.
Step 62: entering a battery outer box positioning stage of the vehicle. At this stage, the visual analysis system implements the corresponding functions, or the visual analysis method performs the corresponding steps.
And step 63: and entering a battery unloading stage of unlocking the battery replacing equipment for replacing the battery of the vehicle from the battery outer box and taking down the battery pack assembly lacking the power. At this stage, the visual analysis system implements the corresponding functions, or the visual analysis method performs the corresponding steps.
Step 64: and entering the positioning stage of the battery outer box of the vehicle again. At this stage, the visual analysis system implements the corresponding functions, or the visual analysis method performs the corresponding steps.
Step 65: entering a battery loading stage of installing a battery pack assembly to be loaded to a battery outer box of the vehicle by using a battery replacing device for replacing the battery of the vehicle. At this stage, the visual analysis system implements the corresponding functions, or the visual analysis method performs the corresponding steps.
And step 66: and entering a lock detection stage of the battery outer box. At this stage, the visual analysis system implements the corresponding functions, or the visual analysis method performs the corresponding steps.
Through the above stages, complete battery replacement for the vehicle is completed.
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 (16)

1. The battery replacement control method based on visual analysis is characterized by comprising the following steps of:
entering a vehicle parking positioning stage;
entering a battery outer box positioning stage of the vehicle;
entering a battery unloading stage of unlocking the battery replacement equipment for replacing the battery of the vehicle from the battery outer box and taking down the battery pack assembly lacking the power;
and/or the presence of a gas in the gas,
entering a battery outer box positioning stage of the vehicle;
entering a battery loading stage of installing a battery pack assembly to be loaded to a battery outer box of the vehicle by a battery replacing device for replacing the battery of the vehicle;
and entering a lock detection stage of the battery outer box.
2. The vision analysis-based battery replacement control method according to claim 1, comprising:
collecting actual images of a vehicle and a battery pack assembly in the battery replacement process of the vehicle;
monitoring the battery replacement process according to the actual image;
and regulating and controlling the objects involved in the battery replacement process.
3. The vision analysis-based battery swapping control method according to claim 2, wherein in the vehicle parking positioning stage, the acquired actual image comprises an image of the vehicle and an image of the identified preset parking area;
and extracting the position information of the vehicle parking from the actual image, determining whether the vehicle is parked in the preset parking area or not through the position information, and if not, commanding the vehicle to be parked in the preset parking area again.
4. The battery replacement control method based on the visual analysis as claimed in claim 2, wherein in the outer battery box positioning stage, the acquired actual image includes an image of an outer battery box of the vehicle;
acquiring space state information of the battery outer box according to the actual image;
and according to the space state information of the battery outer box, commanding the battery replacement equipment to adjust the space state information of the battery replacement equipment to adapt to the space state information of the battery outer box.
5. The battery swapping control method based on visual analysis of claim 4, wherein the battery case positioning stage is adapted to: before the battery pack assembly which is lack of electricity is taken down from the battery outer box by the electricity replacing equipment, or before the battery pack assembly to be assembled is installed to the battery outer box by the electricity replacing equipment.
6. The battery replacement control method based on visual analysis as claimed in claim 2, wherein in the battery unloading stage, the acquired actual image includes an image of a locking mechanism in the battery outer box, and the locking mechanism is used for locking the battery pack assembly in the battery outer box;
and analyzing whether the battery pack assembly is unlocked by the locking mechanism according to the actual image, and commanding the battery replacing equipment to take the battery pack assembly down from the battery outer box when the battery pack assembly is unlocked by the locking mechanism.
7. The vision analysis-based battery swapping control method of claim 6, wherein a first battery moving track required for removing the battery pack assembly from the battery outer box when the battery unloading instruction is executed is preset in the battery swapping device.
8. The battery replacement control method based on visual analysis as claimed in claim 2, wherein in the battery loading stage, the actual image is collected in real time, and the actual image comprises an image of the outer box of the battery and an image of the battery pack assembly;
and analyzing whether the battery pack assembly reaches a specified position in the battery outer box or not according to the actual image, and if so, informing the battery replacement equipment that the battery loading stage is achieved.
9. The battery replacement control method based on visual analysis as claimed in claim 2, wherein in the lock detection phase, the acquired actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used for locking the battery pack assembly in the battery outer box;
and analyzing whether the locking mechanism locks the battery pack assembly or not according to the actual image.
10. The vision analysis-based battery swapping control method of claim 9, wherein the lock detection phase occurs after the battery swapping device mounts a battery pack assembly to be assembled to the battery outer case.
11. The vision analysis-based battery swapping control method of claim 4, wherein the spatial state information comprises position information;
acquiring the position information of the battery outer box according to the actual image;
and commanding the battery replacement equipment to move to a target position according to the position information of the battery outer box, wherein the target position is related to the position of the battery outer box.
12. The vision analysis-based battery swapping control method of claim 4, wherein the spatial state information comprises pose information;
acquiring attitude information of the battery outer box according to the actual image;
and commanding the battery replacement equipment to adjust the posture of the battery replacement equipment according to the posture information of the battery outer box so that the battery replacement mechanism on the battery replacement equipment has the same posture as the battery outer box.
13. The battery replacement control method based on visual analysis as claimed in claim 6, wherein whether the locking mechanism unlocks the battery pack assembly is analyzed according to the actual image by the following steps:
acquiring the length of a lock connecting rod in the locking mechanism extending out of a lock block from the actual image;
comparing whether the length is 0:
if yes, unlocking the battery pack assembly by the locking mechanism;
if not, the locking mechanism does not unlock the battery pack assembly;
or comparing whether the actual image is the same as a standard image, wherein the standard image is an image when the locking mechanism unlocks the battery pack assembly, and the standard image comprises standard images corresponding to various pre-stored vehicle types, various battery models and various locking mechanisms;
if yes, unlocking the battery pack assembly by the locking mechanism;
if not, the locking mechanism does not unlock the battery pack assembly.
14. The vision analysis-based battery swapping control method of claim 8, wherein a battery power supply circuit of the vehicle is turned on when the battery pack assembly reaches the specified position, and a battery moving track for installing the battery pack assembly at the specified position required for executing a target task is preset in the battery swapping device.
15. The method for battery swapping control based on visual analysis of claim 8, wherein analyzing whether the battery pack assembly reaches a designated position in the outer battery box according to the actual image comprises:
extracting an image of the battery pack assembly and an image of the outer box of the battery from the actual image;
extracting an image of the battery pack assembly and an image of the outer box of the battery from a standard image when the battery pack assembly is located at the specified position;
comparing whether the relative position relations of the battery pack assembly 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 so, the battery pack assembly reaches the specified position;
if not, the battery pack assembly does not reach the specified position.
16. The method for battery replacement control based on visual analysis of claim 9, wherein whether the locking mechanism locks the battery pack assembly is analyzed according to the actual image by the following steps:
acquiring the length of a lock connecting rod in the locking mechanism extending out of a lock block from the actual image;
comparing whether the length is smaller than the standard length of the lock connecting rod extending out of the lock block when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism does not lock the battery pack assembly;
if not, the locking mechanism locks the battery pack assembly;
or, comparing whether the actual image is the same as a standard image, wherein the standard image is an image when the locking mechanism locks the battery pack assembly;
if yes, the locking mechanism locks the battery pack assembly;
if not, the locking mechanism does not lock the battery pack assembly.
CN202210494949.6A 2018-07-27 2018-07-27 Battery replacement control method based on visual analysis Pending CN114734865A (en)

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