CN116691307A

CN116691307A - Locking control and unlocking control method and system for battery pack

Info

Publication number: CN116691307A
Application number: CN202310799310.3A
Authority: CN
Inventors: 张建平; 黄春华
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2023-09-05
Also published as: CN116691308A; CN114312445A; CN114312445B; CN116766907A

Abstract

The invention discloses a locking control and unlocking control method and system of a battery pack, wherein the locking control method comprises the following steps: controlling the lock shaft to enter a locking groove in the locking mechanism to be locked; in the process, acquiring a target locking image corresponding to the position of the lock shaft; judging whether the lock shaft reaches the lock groove or not according to the target locking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the lock groove. When the battery pack is locked or unlocked, the corresponding image at the position of the lock shaft is acquired in real time through the visual sensor, and the difference between the acquired image and the reference image is compared to determine whether the lock shaft reaches the preset position or not in time so as to accurately determine the in-place condition of the lock shaft, so that the accurate control of the locking or unlocking process is realized, the efficiency of locking control and unlocking control is effectively improved, the waiting time required by locking or unlocking is reduced, and the higher use requirement is met.

Description

Locking control and unlocking control method and system for battery pack

The invention relates to a method and a system for controlling locking and unlocking of a battery pack, which are divided into Chinese patent applications with the application date of 2020, 09 and 30, the application number of 2020110630101 and the invention and creation name of the method and the system.

Technical Field

The invention relates to the technical field of battery replacement control, in particular to a method and a system for controlling locking and unlocking of a battery pack.

Background

The conventional battery pack arrangement mode of the electric vehicle is generally divided into a fixed type and a replaceable type, wherein the fixed type battery pack is generally fixed on the vehicle, and the vehicle is directly used as a charging object during charging. The replaceable battery pack is generally fixed on the bracket of the vehicle in a movable mounting manner, and the battery pack can be removed for independent replacement or charging operation, and is mounted on the vehicle after the replaced battery pack is charged.

Specifically, the replaceable battery pack enters the lock base of the locking mechanism through the lock shaft of the replaceable battery pack to enable the battery pack to be mounted at the bottom of the electric automobile, or the replaceable battery pack is moved out of the lock base of the locking mechanism through the lock shaft to enable the battery pack to be unlocked and separated from the bottom of the electric automobile. The locking control and unlocking control methods in the prior art are as disclosed in the Chinese patent application with publication number of CN108128132A and application number of CN201711244224.7, and comprise the following steps: the relative position of the lock shaft and the opening of the lock groove is detected, and the position of the battery 1 is adjusted so that the lock shaft is opposite to the opening of the lock groove. The relative position of the lock shaft and the opening of the lock groove is detected through a first visual sensor in the locking position detection unit, and the first visual sensor is used for measuring the relative position between the lock shaft and the opening of the lock groove along the horizontal direction. The first vision sensor detects the deviation degree between the opening of the locking groove and the locking shaft by collecting the images of the opening of the locking groove and the locking shaft, generates a first deviation degree signal and sends the first deviation degree signal to the data exchange unit, the data exchange unit generates a first travelling instruction according to the first deviation degree signal and sends the first travelling instruction to the power exchange device, and the power exchange device travels according to the first travelling instruction until the locking shaft is opposite to the opening of the locking groove. After that, through setting up the sensor that targets in place, preceding sensor and the removal of falling lock sensor control lock axle in the locked groove, above-mentioned sensor all needs to be installed on the battery support of automobile body bottom, has increased the installation complexity of battery support, and the signal that the sensor obtained need pass through the data transmission unit transmission in the middle to change electric equipment, has increased the degree of difficulty of intermediate signal transmission, leads to changing electric equipment to be unable timely accurate the mobile position of obtaining the lock axle easily.

Disclosure of Invention

The invention aims to overcome the defect that in the prior art, battery replacement efficiency is low due to the fact that battery replacement equipment cannot timely and accurately acquire the moving position of a lock shaft in the locking and unlocking processes of a battery pack, and provides a locking control method, a locking and unlocking control method and a locking and unlocking control system of the battery pack.

The invention solves the technical problems by the following technical scheme:

the invention provides a locking control method of a battery pack, which is characterized in that a locking shaft of the battery pack is arranged in a locking mechanism of an electric automobile to install the battery pack at the bottom of the electric automobile, the locking mechanism comprises a locking base, the locking base comprises a base body and a locking groove which is inwards sunken from the surface of the base body, and the locking control method comprises the following steps:

controlling the lock shaft to enter a locking groove in the locking mechanism to be locked;

in the process, acquiring a target locking image corresponding to the position of the lock shaft;

judging whether the lock shaft reaches the lock groove or not according to the target locking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the lock groove.

The image corresponding to the locking shaft on the battery pack is tracked and collected in real time, the real-time position of the locking shaft is determined based on real-time analysis of the collected image, the real-time position is compared with the preset position, and the locking shaft is driven to move continuously until the real-time position does not reach the preset position, so that the battery pack is controlled timely and accurately in the locking process, the waiting time of the locking process is reduced, and the overall control efficiency of the locking process is improved.

Preferably, one end of the lock groove is provided with an opening leading to the outside of the lock base, and the opening is used for the lock shaft to enter and exit the lock groove;

the step of controlling the lock shaft to enter a locking groove in the locking mechanism for locking further comprises the following steps:

controlling the lock shaft to move to be aligned with the opening of the lock groove;

collecting a first locking image corresponding to the position of the lock shaft;

judging whether the lock shaft is aligned with the opening of the lock groove according to the first locking image, and if not, adjusting the position of the lock shaft until the lock shaft is moved to be aligned with the opening of the lock groove.

In a first locking control stage of locking control of the battery pack, the lock shaft is directly controlled to move according to the control instruction so as to align with the opening of the lock groove; in order to timely and accurately determine whether the actual position of the lock shaft is aligned with the opening of the lock groove so as to ensure the accuracy of locking control, the image corresponding to the lock shaft on the battery pack is acquired in real time, the real-time position of the lock shaft is determined based on real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock shaft is continuously driven to move until the position which is aligned with the opening of the lock groove is reached in time when the real-time position is not reached to the position which is aligned with the opening of the lock groove, so that the battery pack is timely and accurately controlled in a first locking control stage, the waiting time of the locking process is reduced, and the control efficiency of the locking process in the stage is improved.

Preferably, after the lock shaft is aligned with the opening of the lock groove, before the step of controlling the lock shaft to enter the locking mechanism to be locked, the method further comprises:

controlling the lock shaft to enter from the opening of the lock groove along a first target direction;

collecting a second locking image corresponding to the position of the lock shaft;

judging whether the lock shaft is positioned in the opening of the lock groove according to the second locking image, and if not, adjusting the position of the lock shaft until the lock shaft moves into the opening of the lock groove.

After the lock shaft is aligned with the opening of the lock groove, the locking control of the battery pack enters a second locking control stage, and the lock shaft is directly controlled to enter from the opening of the lock groove according to a control instruction; in order to timely and accurately determine whether the actual position of the lock shaft is in the opening of the lock groove or not so as to ensure the accuracy of locking control, the image corresponding to the lock shaft on the battery pack is acquired in real time, the real-time position of the lock shaft is determined based on real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock shaft is continuously driven to move when the real-time position is not in the opening of the lock groove until the lock shaft reaches the opening of the lock groove in time, so that the battery pack is timely and accurately controlled in a second locking control stage, the waiting time of the locking process is reduced, and the control efficiency of the locking process in the stage is improved.

Preferably, the step of controlling the lock shaft to enter a locking groove in the locking mechanism to be locked further comprises:

controlling the lock shaft to move to a locking position along a second target direction;

the step of collecting the target locking image corresponding to the position of the lock shaft comprises the following steps:

collecting a third locking image corresponding to the position of the lock shaft;

judging whether the lock shaft reaches the lock groove according to the target locking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the lock groove, wherein the step of adjusting the lock shaft to move until the lock shaft reaches the lock groove comprises the following steps of:

judging whether the lock shaft is positioned at the locking position according to the third locking image, and if not, adjusting the position of the lock shaft until the lock shaft moves to the locking position; and if so, controlling the lock shaft to stop moving.

After the lock shaft is arranged in the opening of the lock groove, the locking control of the battery pack enters a third locking control stage, and the lock shaft is directly controlled to move to a locking position along the set direction according to the control instruction; in order to timely and accurately determine whether the actual position of the lock shaft is the locking position so as to ensure the accuracy of locking control, the image corresponding to the lock shaft on the battery pack is acquired in real time, the real-time position of the lock shaft is determined based on the real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock shaft is continuously driven to move when the real-time position is not at the locking position until the lock shaft reaches the locking position in time, so that the battery pack is timely and accurately controlled in a third locking control stage, the waiting time of the locking process is reduced, and the control efficiency of the locking process in the third locking control stage is improved.

Preferably, the step of collecting the target locking image corresponding to the position of the lock shaft includes:

acquiring a target locking image corresponding to the position of the lock shaft by adopting a visual sensor;

judging whether the lock shaft reaches the lock groove according to the target locking image, and if not, adjusting the position of the lock shaft until the lock shaft reaches the lock groove comprises the following steps:

acquiring first position information corresponding to the lock shaft in the target locking image;

acquiring or calling a first reference position range corresponding to the lock shaft in a first reference locking image;

judging whether the first position information is in the first reference position range, if so, determining that the lock shaft reaches the lock groove; if not, determining that the lock shaft does not reach the lock groove, and adjusting the position of the lock shaft until the lock shaft reaches the lock groove.

Before the locking control, a vision sensor (such as a camera) is adopted to collect and store reference locking images (or image sets) used for representing that the lock shaft is in a corresponding set position (or a position range) in advance, an image processing technology is adopted to conduct identification analysis processing on the reference locking images, and a reference position (such as relative position information of the lock shaft and a lock base in the locking mechanism) corresponding to the lock shaft in each reference locking image is timely extracted.

The method comprises the steps of tracking and shooting locking images corresponding to lock shafts of a battery pack in each locking control stage in real time by adopting a visual sensor, carrying out identification analysis processing on the locking images by adopting an image processing technology, and timely extracting the lock shafts and corresponding position information of the lock shafts in each locking image; comparing whether the position information corresponding to the lock shaft in the lock image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock shaft in different lock control stages, timely adjusting the lock shaft to move when the reference position range is not reached, timely acquiring, analyzing and comparing the lock shaft corresponding to the lock shaft after moving, and continuously repeating the adjustment operation to ensure timeliness and accuracy of lock shaft control, effectively realizing high-efficiency control of the battery pack in each lock control stage, and further improving the overall control efficiency of the battery pack in the whole lock control process.

The processing procedures of the first locking image, the second locking image and the third locking image are similar to the processing procedure of the target locking image, the corresponding images are acquired based on the visual sensor, the position information of the detection object in the images is acquired by adopting an image analysis technology, and then the position information is compared with the reference position to determine whether the detection object is set or not, and the detailed process is not discussed herein.

Preferably, the locking mechanism further comprises a lock tongue, and the lock tongue is rotatably arranged in the base body through a fixing piece and is switched between a locking state and an unlocking state so as to close or open the opening;

the lock control method further includes, when the lock shaft is located at the lock position:

collecting a fourth locking image corresponding to the position of the lock tongue;

judging whether the lock tongue falls down according to the fourth locking image, and if not, controlling the lock tongue to fall down.

After the lock shaft reaches the locking position in the locking groove, the locking control of the battery pack enters a fourth locking control stage, and the lock tongue in the locking mechanism is directly controlled to fall down to limit and lock the lock shaft according to a control instruction, so that the lock shaft is locked at the locking position to achieve a more stable locking and fixing effect.

In order to timely and accurately determine whether the lock tongue falls down to ensure the accuracy of locking control, the image corresponding to the lock tongue is acquired in real time, the real-time position of the lock tongue is determined based on real-time analysis of the acquired image, the real-time position is compared with a preset position, and the lock tongue is continuously driven to fall down when the real-time position is not in the locking position, so that the battery pack is timely and accurately controlled in the locking control stage, the waiting time of the locking process is reduced, and the control efficiency of the locking process in the stage is improved.

Preferably, the locking mechanism further comprises a lock connecting rod, and the lock connecting rod is connected with the lock tongue to drive the lock tongue to rotate;

acquiring a fifth locking image corresponding to the position of the locking connecting rod;

judging whether the lock connecting rod falls down according to the fifth locking image, and if not, controlling the lock connecting rod to fall down.

After the lock shaft reaches the locking position in the locking groove, the locking control of the battery pack enters a fourth locking control stage, and the lock connecting rod in the locking mechanism is directly controlled to fall down to limit and lock the lock shaft according to the control instruction, so that the lock shaft is locked at the locking position to achieve a more stable locking and fixing effect.

In order to timely and accurately determine whether the lock connecting rod falls down to ensure the accuracy of locking control, images corresponding to the lock connecting rod are acquired in real time, real-time positions of the lock connecting rod are determined based on real-time analysis of the acquired images, the real-time positions are compared with preset positions, and the lock connecting rod is continuously driven to fall down when the real-time positions are not in the locking positions, so that timely and accurate control of a battery pack in the locking control stage is realized, waiting time required by the locking process is reduced, and the control efficiency of the locking process in the stage is improved.

The method can also simultaneously identify and control whether the lock tongue falls down or not and whether the lock connection falls down or not, so that the control precision of the fourth locking control stage is further improved.

Preferably, the step of judging whether the lock tongue falls according to the fourth locking image, if not, controlling the lock tongue to fall includes:

acquiring second position information corresponding to the lock tongue in the fourth locking image;

acquiring or calling a second reference position range corresponding to the lock tongue in a second reference locking image;

judging whether the second position information is in the second reference position range, if so, determining that the lock tongue falls down; otherwise, determining that the lock tongue does not fall down, and controlling the lock tongue to fall down.

Before locking control, a visual sensor is adopted to collect and store reference locking images used for representing that the lock tongue is at a corresponding set position in advance, an image processing technology is adopted to carry out recognition analysis processing on the reference locking images, and a reference position (such as relative position information of the lock tongue and a lock base in a locking mechanism) corresponding to a lock shaft in each reference locking image is extracted in time.

The method comprises the steps of tracking and shooting a locking image corresponding to a lock tongue in the locking control stage in real time by adopting a visual sensor, and carrying out identification analysis processing on the locking image by adopting an image processing technology to timely extract the lock tongue and corresponding position information in the locking image; comparing whether the position information corresponding to the lock tongue in the lock tongue image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock tongue, controlling the lock tongue in time to continue to execute the falling operation when the reference position range is not reached, acquiring, analyzing and comparing the lock tongue image corresponding to the lock tongue after moving in time, and continuously repeating the adjustment operation to ensure the timeliness and accuracy of the control of the lock tongue, thereby effectively improving the high-efficiency control of the battery pack in the lock control stage and further improving the overall control efficiency of the battery pack in the whole lock control process.

Preferably, the step of determining whether the lock link falls according to the fifth locking image, if not, controlling the lock link to fall includes:

acquiring third position information corresponding to the lock connecting rod in the fifth locking image;

acquiring or calling a third reference position range corresponding to the lock connecting rod in a third reference locking image;

judging whether the third position information is in the third reference position range, if so, determining that the lock connecting rod falls down; otherwise, determining that the lock link does not fall, and controlling the lock link to fall.

Before locking control, a vision sensor is adopted to collect and store reference locking images used for representing that the locking connecting rod is at a corresponding set position in advance, an image processing technology is adopted to conduct identification analysis processing on the reference locking images, and the corresponding reference position (such as relative position information of the locking connecting rod and a locking base in a locking mechanism) of a locking shaft in each reference locking image is extracted in time.

The method comprises the steps of tracking and shooting a locking image corresponding to a locking connecting rod in the locking control stage in real time by adopting a visual sensor, and carrying out identification analysis processing on the locking image by adopting an image processing technology to timely extract the locking connecting rod and the corresponding position information thereof in the locking image; comparing whether the position information corresponding to the lock connecting rod in the lock image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock connecting rod, controlling the lock connecting rod to continuously execute the dropping operation in time when the reference position range is not reached, and acquiring, analyzing and comparing the lock image corresponding to the lock connecting rod after moving in time, and continuously repeating the adjustment operation to ensure the timeliness and the accuracy of the control of the lock connecting rod, thereby effectively improving the high-efficiency control of the battery pack in the lock control stage and further improving the overall control efficiency of the battery pack in the whole lock control process.

The invention also provides an unlocking control method of the battery pack, which removes the lock shaft of the battery pack from the locking mechanism of the electric automobile to detach the battery pack positioned at the bottom of the electric automobile, and comprises the following steps:

controlling the lock shaft to move out of the locking mechanism for unlocking;

in the process, acquiring a target unlocking image corresponding to the position of the lock shaft;

judging whether the lock shaft reaches a preset position according to the target unlocking image, and if not, adjusting the lock shaft to move until reaching the preset position.

The image corresponding to the locking shaft on the battery pack is tracked and collected in real time, the real-time position of the locking shaft is determined based on real-time analysis of the collected image, the real-time position is compared with the preset position, and the locking shaft is driven to move continuously until the real-time position does not reach the preset position, so that the battery pack can be controlled timely and accurately in the unlocking process, the waiting time of the unlocking process is reduced, and the overall control efficiency of the unlocking process is improved.

Preferably, the locking mechanism comprises a lock base and a lock tongue, wherein the lock base comprises a base body, and the lock tongue is rotatably arranged in the base body through a fixing piece;

The step of controlling the lock shaft to move out of the locking mechanism for unlocking further comprises the following steps:

collecting a first unlocking image corresponding to the position of the lock tongue;

judging whether the lock tongue is lifted or not according to the first unlocking image, and if not, controlling the lock tongue to lift.

After the unlocking operation of the lock shaft of the battery pack is completed, the lock tongue of the unlocking mechanism is in a falling state. In the unlocking stage, in order to ensure that the lock shaft can smoothly move from the unlocking mechanism, the lock tongue needs to be lifted in advance.

When the battery pack is unlocked, whether the lock tongue is lifted or not is determined timely and accurately so as to ensure the accuracy of unlocking control, the image corresponding to the lock tongue is acquired in real time, the real-time position of the lock tongue is determined based on real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock tongue is driven to be lifted continuously when the real-time position is not in the unlocking position, so that the battery pack is controlled timely and accurately in the unlocking stage, the waiting time of the unlocking process is reduced, and the control efficiency of the unlocking process in the unlocking stage is improved.

collecting a second unlocking image corresponding to the position of the lock connecting rod;

and judging whether the lock connecting rod is lifted or not according to the second unlocking image, and if not, controlling the lock connecting rod to be lifted.

After the unlocking operation of the lock shaft of the battery pack is completed, the lock link of the unlocking mechanism is in a falling state. In the unlocking stage, in order to ensure that the lock shaft can smoothly move from the unlocking mechanism, the lock connecting rod needs to be lifted in advance.

When the battery pack is unlocked, whether the lock connecting rod is lifted or not is timely and accurately determined so as to ensure the accuracy of unlocking control, the image corresponding to the lock connecting rod is acquired in real time, the real-time position of the lock connecting rod is determined based on real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock connecting rod is continuously driven to lift when the real-time position is not in the unlocking position, so that the battery pack is timely and accurately controlled in the unlocking stage, the waiting time of the unlocking process is reduced, and the control efficiency of the unlocking process in the unlocking stage is improved.

Preferably, the step of judging whether the lock tongue is lifted according to the first unlocking image, if not, controlling the lift of the lock tongue includes:

Acquiring fourth position information corresponding to the lock tongue in the first unlocking image;

acquiring or calling a fourth reference position range corresponding to the lock tongue in the first reference unlocking image;

judging whether the fourth position information is in the fourth reference position range, if so, determining that the lock tongue falls down; otherwise, determining that the lock tongue does not fall down, and controlling the lock tongue to fall down.

Before unlocking control, a visual sensor is adopted to pre-collect and store a reference unlocking image (or image set) for representing that the lock tongue is in a corresponding set position (or position range), an image processing technology is adopted to perform recognition analysis processing on the reference unlocking image, and a reference position (such as relative position information of the lock tongue and a lock base in an unlocking mechanism) corresponding to a lock shaft in each reference unlocking image is timely extracted.

The unlocking image corresponding to the lock tongue in the unlocking control stage is tracked and shot in real time by adopting a visual sensor, the unlocking image is identified, analyzed and processed by adopting an image processing technology, and the lock tongue and the corresponding position information thereof in the unlocking image are timely extracted; comparing whether the position information corresponding to the lock tongue in the lock tongue image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock tongue, controlling the lock tongue in time to continue to execute the falling operation when the reference position range is not reached, acquiring, analyzing and comparing the lock tongue image corresponding to the lock tongue after moving in time, and continuously repeating the adjustment operation to ensure the timeliness and accuracy of the lock tongue control, thereby effectively improving the high-efficiency control of the battery pack in the lock tongue control stage and further improving the overall control efficiency of the battery pack in the whole lock tongue control process.

Preferably, the step of determining whether the lock link is lifted according to the second unlocking image, if not, controlling the lift of the lock link includes:

obtaining fifth position information corresponding to the lock connecting rod in the second unlocking image;

acquiring or calling a fifth reference position range corresponding to the lock connecting rod in the second reference unlocking image;

judging whether the fifth position information is in the fifth reference position range, if so, determining that the lock connecting rod falls down; otherwise, determining that the lock link does not fall, and controlling the lock link to fall.

Before unlocking control, a visual sensor is adopted to collect and store a reference unlocking image used for representing that the lock connecting rod is at a corresponding set position in advance, an image processing technology is adopted to carry out recognition analysis processing on the reference unlocking image, and a reference position (such as relative position information of the lock connecting rod and a lock base in an unlocking mechanism) corresponding to a lock shaft in each reference unlocking image is extracted in time.

The unlocking image corresponding to the lock connecting rod in the unlocking control stage is tracked and shot in real time by adopting a visual sensor, the unlocking image is identified, analyzed and processed by adopting an image processing technology, and the lock connecting rod and the corresponding position information thereof in the unlocking image are timely extracted; comparing whether the position information corresponding to the lock connecting rod in the unlocking image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock connecting rod, controlling the lock connecting rod to continuously execute the dropping operation in time when the reference position range is not reached, acquiring, analyzing and comparing the unlocking image corresponding to the moved lock connecting rod in time, and continuously repeating the adjustment operation to ensure the timeliness and accuracy of the control of the lock connecting rod, thereby effectively improving the high-efficiency control of the battery pack in the unlocking control stage and further improving the overall control efficiency of the battery pack in the whole unlocking control process.

The unlocking control method can also simultaneously identify and control whether the lock tongue is lifted and whether the lock connecting rod is lifted, so that the control precision of the unlocking control stage is further improved.

Preferably, the lock base further comprises a lock groove recessed inward from the base body surface;

before controlling the lock tongue or the lock link to lift, the unlocking control method further includes:

controlling the lock shaft to move to an unlocking pre-pushing position in the lock groove along a second target direction;

the step of collecting the target unlocking image of the position of the lock shaft comprises the following steps:

collecting a third unlocking image corresponding to the position of the lock shaft;

judging whether the lock shaft reaches a preset position according to the target unlocking image, and if not, adjusting the lock shaft to move until reaching the preset position, wherein the step of adjusting the lock shaft to move until reaching the preset position comprises the following steps of:

judging whether the lock shaft is positioned at the unlocking pre-pushing position according to the third unlocking image, and if not, controlling the lock shaft to move until the unlocking pre-pushing position is reached.

In order to avoid position interference between the lock shaft and the lock tongue and between the lock shaft and the lock connecting rod, the lock shaft needs to be controlled to continuously move for a certain distance along the direction of entering the lock groove and towards the locking position before the lock tongue and the lock connecting rod are lifted, so that the unlocking pre-pushing position is reached, and the safety and the effectiveness of unlocking control are ensured.

Directly controlling the lock shaft to move to an unlocking pre-pushing position according to the control instruction; in order to timely and accurately determine whether the actual position of the lock shaft is the unlocking pre-pushing position so as to ensure the accuracy of unlocking control, the image corresponding to the lock shaft on the battery pack is acquired in real time, the real-time position of the lock shaft is determined based on real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock shaft is continuously driven to move until the real-time position does not reach the unlocking pre-pushing position until the lock shaft reaches the unlocking pre-pushing position in time, so that the battery pack is timely and accurately controlled in the unlocking control stage, the waiting time of the unlocking process is reduced, and the control efficiency of the unlocking process in the unlocking stage is improved.

Preferably, after the lock tongue or the lock link is lifted, the step of controlling the lock shaft to unlock from the locking mechanism further includes:

controlling the lock shaft to move to an opening of the lock groove along a third target direction opposite to the second target direction;

collecting a fourth unlocking image corresponding to the position of the lock shaft;

and judging whether the lock shaft is aligned with the opening of the lock groove according to the fourth unlocking image, and if not, controlling the lock shaft to move until reaching the opening of the lock groove.

After the lock tongue or the lock connecting rod is lifted, the lock shaft is directly controlled to move to the opening of the lock groove according to the control instruction; in order to timely and accurately determine whether the actual position of the lock shaft is the opening of the lock groove so as to ensure the accuracy of unlocking control, the image corresponding to the lock shaft on the battery pack is acquired in real time, the real-time position of the lock shaft is determined based on real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock shaft is continuously driven to move until the real-time position does not reach the opening of the lock groove until the real-time position reaches the opening of the lock groove, so that the battery pack is timely and accurately controlled in the unlocking control stage, the waiting time of the unlocking process is reduced, and the control efficiency of the unlocking process in the unlocking stage is improved.

Preferably, when the lock shaft is aligned with the opening of the lock groove, the step of controlling the lock shaft to unlock from the locking mechanism further includes:

Controlling the lock shaft to move out of the opening of the lock groove along the fourth target direction;

acquiring a fifth unlocking image corresponding to the position of the lock shaft;

judging whether the lock shaft moves out of the opening of the lock groove according to the fifth unlocking image, and if not, controlling the lock shaft to move until the lock shaft moves out of the opening of the lock groove.

When the lock shaft moves to the opening of the lock groove, the lock shaft is directly controlled to move out of the opening of the lock groove according to the control instruction; in order to timely and accurately determine whether the actual position of the lock shaft is outside the opening of the lock groove so as to ensure the accuracy of unlocking control, the image corresponding to the lock shaft on the battery pack is acquired in real time, the real-time position of the lock shaft is determined based on real-time analysis of the acquired image, the real-time position is compared with the preset position, and the lock shaft is continuously driven to move until the real-time position does not reach outside the opening of the lock groove, so that the lock shaft is timely moved outside the opening of the lock groove, timely and accurate control of the battery pack in the unlocking control stage is realized, the waiting time required by the unlocking process is reduced, and the control efficiency of the unlocking process in the unlocking stage is improved.

Preferably, the step of collecting the target unlocking image at the position of the lock shaft includes:

a visual sensor is adopted to collect a target unlocking image of the position of the lock shaft;

obtaining sixth position information corresponding to the lock shaft in the target unlocking image;

acquiring or calling a sixth reference position range corresponding to the lock shaft in a third reference unlocking image;

judging whether the sixth position information is in the sixth reference position range, if so, determining that the lock shaft reaches the preset position; if not, determining that the lock shaft does not reach the preset position, and adjusting the position of the lock shaft until the lock shaft reaches the preset position.

Before unlocking control, a visual sensor is adopted to collect and store a reference unlocking image (or an image set) used for representing that the lock shaft is in a corresponding set position (or a position range) in advance, an image processing technology is adopted to conduct identification analysis processing on the reference unlocking image, and a reference position (such as relative position information of the lock shaft and a lock base in an unlocking mechanism) corresponding to the lock shaft in each reference unlocking image is timely extracted.

The method comprises the steps of tracking and shooting unlocking images corresponding to a lock shaft of a battery pack in each unlocking control stage in real time by adopting a visual sensor, carrying out identification analysis processing on the unlocking images by adopting an image processing technology, and timely extracting the lock shaft and corresponding position information of the lock shaft in each unlocking image; comparing whether the position information corresponding to the lock shaft in the unlocking image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock shaft in different unlocking stages, timely adjusting the lock shaft to move when the reference position range is not reached, timely acquiring, analyzing and comparing the unlocking image corresponding to the moved lock shaft, and continuously repeating the adjustment operation to ensure the timeliness and the accuracy of the lock shaft control, effectively realizing the high-efficiency control of the battery pack in each unlocking control stage, and further improving the overall control efficiency of the battery pack in the whole unlocking control process.

The invention also provides a locking control system of a battery pack, which is characterized in that a locking shaft of the battery pack is arranged in a locking mechanism of an electric automobile to install the battery pack at the bottom of the electric automobile, the locking mechanism comprises a locking base, the locking base comprises a base body and a locking groove which is inwards recessed from the surface of the base body, and the locking control system comprises:

The first control module is used for controlling the lock shaft to enter a locking groove in the locking mechanism to be locked;

the first image acquisition module is used for acquiring a target locking image corresponding to the position of the lock shaft in the locking process;

and the first judging module is used for judging whether the lock shaft reaches the lock groove according to the target locking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the lock groove.

the first control module is used for controlling the lock shaft to move to be aligned with an opening of the lock groove before controlling the lock shaft to enter the lock groove in the locking mechanism for locking;

the first image acquisition module is used for acquiring a first locking image corresponding to the position of the lock shaft;

the first judging module is used for judging whether the lock shaft is aligned with the opening of the lock groove according to the first locking image, and if not, adjusting the position of the lock shaft until the lock shaft is moved to be aligned with the opening of the lock groove.

Preferably, after the lock shaft is aligned with the opening of the lock groove and before the lock shaft is controlled to enter the lock groove in the locking mechanism to be locked, the first control module is further used for controlling the lock shaft to enter from the opening of the lock groove along a first target direction;

The first image acquisition module is also used for acquiring a second locking image corresponding to the position of the lock shaft;

the first judging module is further used for judging whether the lock shaft is located in the opening of the lock groove according to the second locking image, and if not, adjusting the position of the lock shaft until the lock shaft moves into the opening of the lock groove.

Preferably, after the lock shaft is located in the opening of the lock groove, the first control module is further configured to control the lock shaft to enter from the opening of the lock groove along the first target direction and then move to the locking position along the second target direction;

the first image acquisition module is also used for acquiring a third locking image corresponding to the position of the lock shaft;

the first judging module is further used for judging whether the lock shaft is located at the locking position according to the third locking image, and if not, adjusting the position of the lock shaft until the lock shaft moves to the locking position; and if so, controlling the lock shaft to stop moving.

Preferably, the first image acquisition module is used for acquiring a target locking image corresponding to the position of the lock shaft by adopting a visual sensor;

the first judging module includes:

The first position acquisition unit is used for acquiring first position information corresponding to the lock shaft in the target locking image;

the first reference position acquisition unit is used for acquiring or calling a first reference position range corresponding to the lock shaft in the first reference locking image;

the first judging unit is used for judging whether the first position information is in the first reference position range or not, and if yes, determining that the lock shaft reaches the lock groove; if not, determining that the lock shaft does not reach the lock groove, and adjusting the position of the lock shaft until the lock shaft reaches the lock groove.

when the lock shaft is positioned at the locking position, the first image acquisition module is also used for acquiring a fourth locking image corresponding to the position where the lock tongue is positioned;

the first judging module is further used for judging whether the lock tongue falls down according to the fourth locking image, and if not, controlling the lock tongue to fall down.

When the lock shaft is positioned at the locking position, the first image acquisition module is also used for acquiring a fifth locking image corresponding to the position of the lock connecting rod;

the first judging module is further configured to judge whether the lock link falls according to the fifth locking image, and if not, control the lock link to fall.

Preferably, the first judging module includes:

the second position acquisition unit is used for acquiring second position information corresponding to the lock tongue in the fourth locking image;

the second reference position acquisition unit is used for acquiring or calling a second reference position range corresponding to the lock tongue in a second reference locking image;

the second judging unit is used for judging whether the second position information is in the second reference position range or not, and if yes, determining that the lock tongue falls down; otherwise, determining that the lock tongue does not fall down, and controlling the lock tongue to fall down.

Preferably, the first judging module includes:

a third position obtaining unit, configured to obtain third position information corresponding to the lock link in the fifth lock image;

the third reference position acquisition unit is used for acquiring or calling a third reference position range corresponding to the lock connecting rod in a third reference locking image;

The third judging unit is used for judging whether the third position information is in the third reference position range or not, and if so, determining that the lock connecting rod falls down; otherwise, determining that the lock link does not fall, and controlling the lock link to fall.

The invention also provides an unlocking control system of the battery pack, which removes the lock shaft of the battery pack from the locking mechanism of the electric automobile to detach the battery pack positioned at the bottom of the electric automobile, wherein the unlocking control system comprises:

the second control module is used for controlling the lock shaft to move out of the locking mechanism for unlocking;

the second image acquisition module is used for acquiring a target unlocking image corresponding to the position of the lock shaft in the process;

and the second judging module is used for judging whether the lock shaft reaches a preset position according to the target unlocking image, and if not, adjusting the lock shaft to move until reaching the preset position.

the second image acquisition module is also used for acquiring a first unlocking image corresponding to the position of the lock tongue;

The second judging module is further used for judging whether the lock tongue is lifted or not according to the first unlocking image, and if not, controlling the lock tongue to lift.

the second image acquisition module is also used for acquiring a second unlocking image corresponding to the position of the lock connecting rod;

the second judging module is further configured to judge whether the lock link is lifted according to the second unlocking image, and if not, control the lock link to lift.

Preferably, the second judging module includes:

a fourth position obtaining unit, configured to obtain fourth position information corresponding to the lock tongue in the first unlocking image;

the fourth reference position obtaining unit is used for obtaining or calling a fourth reference position range corresponding to the lock tongue in the first reference unlocking image;

a fourth judging unit, configured to judge whether the fourth position information is in the fourth reference position range, if yes, determine that the lock tongue is lifted; otherwise, determining that the lock tongue is not lifted, and controlling the lock tongue to lift.

Preferably, the second judging module includes:

A fifth position obtaining unit, configured to obtain fifth position information corresponding to the lock link in the second unlock image;

a fifth reference position obtaining unit, configured to obtain or invoke a fifth reference position range corresponding to the lock link in the second reference unlock image;

a fifth judging unit, configured to judge whether the fifth position information is in the fifth reference position range, if yes, determine that the lock link is lifted; otherwise, determining that the lock link is not lifted, and controlling the lock link to lift.

before controlling the lock tongue or the lock connecting rod to lift, the second control module is used for controlling the lock shaft to move to an unlocking pre-pushing position in the lock groove along a second target direction;

the second image acquisition module is used for acquiring a third unlocking image corresponding to the position of the lock shaft;

and the second judging module is used for judging whether the lock shaft is positioned at the unlocking pre-pushing position according to the third unlocking image, and if not, controlling the lock shaft to move until the unlocking pre-pushing position is reached.

Preferably, after the lock tongue or the lock link is lifted, the second control module is further configured to control the lock shaft to move to the opening of the lock groove along a third target direction opposite to the second target direction;

The second image acquisition module is also used for acquiring a fourth unlocking image corresponding to the position of the lock shaft;

the second judging module is further configured to judge, according to the fourth unlocking image, whether the lock shaft is aligned with the first target direction where the opening of the lock slot is located, and if not, control the lock shaft to move until reaching the first target direction where the opening of the lock slot is located.

Preferably, when the lock shaft is aligned with the opening of the lock groove, the second control module is further configured to control the lock shaft to move out of the opening of the lock groove along the fourth target direction;

the second image acquisition module is also used for acquiring a fifth unlocking image corresponding to the position of the lock shaft;

the second judging module is further used for judging whether the lock shaft moves out of the opening of the lock groove according to the fifth unlocking image, if not, the lock shaft is controlled to move until the lock shaft moves out of the opening of the lock groove; and if so, controlling the lock shaft to stop moving.

Preferably, the second image acquisition module is used for acquiring a target unlocking image of the position where the lock shaft is located by adopting a visual sensor;

The second judging module includes: a sixth position obtaining unit, configured to obtain sixth position information corresponding to the lock axis in the target unlock image;

a sixth reference position obtaining unit, configured to obtain or invoke a sixth reference position range corresponding to the lock axis in the third reference unlock image;

a sixth judging unit, configured to judge whether the sixth position information is in the sixth reference position range, and if so, determine that the lock shaft reaches the preset position; if not, determining that the lock shaft does not reach the preset position, and adjusting the position of the lock shaft until the lock shaft reaches the preset position.

On the basis of conforming to the common knowledge in the field, the preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the invention.

The invention has the positive progress effects that:

in the invention, when the battery pack is locked or unlocked, the vision sensor is used for collecting the corresponding image at the position of the lock shaft in real time, comparing the difference between the collected image and the reference image, determining whether the lock shaft reaches the preset position (such as whether the lock shaft is aligned with the lock groove, whether the lock shaft is positioned at the locking position or not, and the like) and identifying the positions of the lock tongue and the lock connecting rod in time so as to accurately determine the in-place condition of the lock shaft, the lock tongue and the lock connecting rod, thereby realizing the accurate control of the locking or unlocking process, effectively improving the efficiency of locking control and unlocking control, reducing the waiting time required by locking or unlocking, and meeting higher use requirements.

Drawings

Fig. 1 is a schematic perspective view of a lock base in a locking mechanism according to the present invention.

Fig. 2 is a sectional view of the lock shaft of the battery pack of the present invention taken along the axis.

Fig. 3 is a first structural schematic diagram of the lock link in the locking mechanism of the present invention.

Fig. 4 is a second structural schematic diagram of the lock link in the locking mechanism of the present invention.

Fig. 5 is a schematic view of a third structure of the lock link in the locking mechanism of the present invention.

Fig. 6 is a first flowchart of a lock control method of the battery pack of embodiment 1 of the present invention.

Fig. 7 is a second flowchart of the lock control method of the battery pack of embodiment 1 of the present invention.

Fig. 8 is a first flowchart of a lock control method of the battery pack of embodiment 2 of the present invention.

Fig. 9 is a second flowchart of the lock control method of the battery pack of embodiment 2 of the present invention.

Fig. 10 is a third flowchart of the lock control method of the battery pack of embodiment 2 of the present invention.

Fig. 11 is a fourth flowchart of the lock control method of the battery pack of embodiment 2 of the present invention.

Fig. 12 is a fifth flowchart of the lock control method of the battery pack of embodiment 2 of the present invention.

Fig. 13 is a first flowchart of an unlocking control method of a battery pack according to embodiment 3 of the present invention.

Fig. 14 is a second flowchart of the unlocking control method of the battery pack of embodiment 3 of the present invention.

Fig. 15 is a first flowchart of an unlocking control method of the battery pack of embodiment 4 of the present invention.

Fig. 16 is a first flowchart of an unlocking control method of a battery pack according to embodiment 4 of the present invention.

Fig. 17 is a second flowchart of the unlocking control method of the battery pack of embodiment 4 of the present invention.

Fig. 18 is a third flowchart of the unlocking control method of the battery pack of embodiment 4 of the present invention.

Fig. 19 is a fourth flowchart of the unlocking control method of the battery pack of embodiment 4 of the present invention.

Fig. 20 is a first structural schematic diagram of a lock control system of a battery pack according to embodiment 5 of the present invention.

Fig. 21 is a second structural schematic diagram of the lock control system of the battery pack of embodiment 5 of the present invention.

Fig. 22 is a first structural schematic diagram of a lock control system of a battery pack according to embodiment 6 of the present invention.

Fig. 23 is a second structural schematic diagram of the lock control system of the battery pack of embodiment 6 of the present invention.

Fig. 24 is a first structural diagram of an unlocking control system of a battery pack according to embodiment 7 of the present invention.

Fig. 25 is a second structural diagram of the unlocking control system of the battery pack of embodiment 7 of the present invention.

Fig. 26 is a first structural diagram of an unlocking control system of a battery pack according to embodiment 8 of the present invention.

Fig. 27 is a second structural diagram of the unlocking control system of the battery pack of embodiment 8 of the present invention.

Detailed Description

The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.

The specific structure and implementation principle of the locking mechanism of the battery pack can be seen in patent application (patent application number: CN201611041220.4, patent name: locking device and electric automobile)

The locking mechanism is generally described as follows:

the replaceable battery pack depends on that a lock shaft of the replaceable battery pack is installed in a locking mechanism of the electric automobile to install the battery pack at the bottom of the electric automobile, and the lock shaft of the battery pack is moved out of the locking mechanism of the electric automobile to detach the battery pack at the bottom of the electric automobile.

In particular, as shown in fig. 1 to 5, the locking mechanism includes a lock base 20 for providing a locking point, a lock shaft 30 for inserting the lock base 20, and a lock link 10 for unlocking the lock shaft 30 after insertion.

The lock base 20 includes a lock body 25 (i.e., a base body), which is rectangular, a lock groove 21 recessed into the lock body 25 is provided on the front surface of the lock body 25, the lock base 20 further includes a lock tongue groove 22 and a lock tongue 24 installed in the lock tongue groove, and the lock tongue groove 22 is in communication with the lock groove 21, and the lock tongue 24 is movably installed in the lock tongue groove 22, i.e., the lock tongue is rotatably provided in the base body by a fixing member, and is switched between a locked state and an unlocked state to close or open an opening 211 leading to the outside of the lock body.

In addition, the locking groove 21 can adopt an L-shaped structure, and the structure can enable the battery to have a stable hanging platform, and meanwhile, the elastic pad 23 (namely corresponding to the unlocking pre-pushing position) arranged at the end part of the locking groove 21 can reduce the collision between the battery and the fixing seat during installation and the collision during running, so that the service life of each locking part is prolonged.

The lock shaft 30 includes a shaft seat 34 with a fixing hole, and a shaft rod 31 vertically disposed on a surface of the shaft seat 34, and is used for being inserted into a lock groove 21 of the lock base 20 to be locked, i.e., the lock groove is used for allowing the lock shaft of the battery pack to enter and be locked, and the lock tongue is rotatably disposed in the base body through a fixing member, and is switched between a locking state and an unlocking state to close or open a passage of the lock shaft into or out of the lock groove.

The lock link 10 may include an elongated rod 11, the rod 11 being movably coupled to a tongue 24 of the lock base 20, and the lock link being coupled to the tongue to rotate the tongue.

Specifically, the lock shaft 30 is installed around the battery pack, and the lock base 20 and the lock link 10 are installed on the inner side surface of the vehicle body fixing seat for fixing the battery, corresponding to the position of the lock shaft 30. In one embodiment, the lock groove 21 has a certain length in the horizontal direction, one side of the lock groove 21 is provided with an opening 211 communicated with the bottom side surface of the lock body 25 and leading to the outside of the lock body, the opening 211 is used for the lock shaft 30 mounted on the battery to enter, the lock tongue groove 22 is provided with an opening leading to the top side surface of the lock body, the lock tongue passes through the opening and is movably connected with the lock connecting rod 10, one side of the lock tongue, which is close to the lock groove 21, is provided with a blocking device 2A, and the blocking device 2A can block the opening 211 of the lock groove 21. The other side of the locking groove is provided with a locking position for locking the lock shaft, and when the lock shaft is positioned at the locking position, the lock tongue blocks the opening to limit the lock shaft to leave the locking position.

The back of the lock body 25 is fixedly installed with the vehicle body fixing seat, the front of the lock body 25 faces the battery to be installed, the lock connecting rod 10 is movably installed below the lock base 20 through the lock tongue, and the lock shaft 30 is installed at a position corresponding to the lock base 20 outside the battery pack through the shaft seat.

When the battery is used, under the lifting of the power-changing moving platform, the bottom of the electric automobile upwards enters the fixed seat, the unlocking component pushes the lock connecting rod 10 to upwards move to drive the lock tongue to open the opening 211 of the lock groove 21, the lock shafts 30 around the battery are respectively inserted into the lock groove 21 from the opening 211 of the lock groove 21 on the corresponding lock base 20 by the shaft rod 31, then move towards the other side of the lock groove 21 under the pushing of the power-changing moving platform until contacting with the other end of the lock groove, the hanging process of the battery is completed, in the inserting process of the shaft rod 31, the lock connecting rod 10 drives the blocking device 2A to upwards move under the pushing of the unlocking component, and after the shaft rod 31 passes through the position of the blocking device 2A and enters the locking area in the lock groove 21, the blocking device 2A falls under the gravity action of the lock connecting rod 10 to seal the retreating path of the shaft rod 31 from the side. At this time, the battery is in a state of being completely locked to the electric vehicle. When the battery needs to be replaced, the unlocking device on the battery replacing mobile platform is contacted with the lock connecting rod 10 and pushes the lock connecting rod 10 to ascend, so that the lock tongue leaves the lock groove 21, and at the moment, the battery is moved again to enable the shaft lever 31 to withdraw from the lock groove 21, and the battery unloading process can be completed.

Example 1

As shown in fig. 6, the lock control method of the battery pack of the present embodiment includes:

s101, controlling a lock shaft to enter a locking groove in a locking mechanism for locking;

s102, acquiring a target locking image corresponding to the position of the lock shaft in the process;

s103, judging whether the lock shaft reaches the lock groove according to the target locking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the lock groove.

The image corresponding to the locking shaft on the battery pack is tracked and collected in real time, the real-time position of the locking shaft is determined based on real-time analysis of the collected image, the real-time position is compared with the preset position (namely the locking groove), and the locking shaft is driven to move continuously until the real-time position does not reach the inside of the locking groove, so that the battery pack can be controlled timely and accurately in the locking process, the waiting time of the locking process is reduced, and the overall control efficiency of the locking process is improved.

Specifically, as shown in fig. 7, step S102 includes:

s1021, acquiring a target locking image corresponding to the position of the lock shaft by adopting a visual sensor; among them, visual sensors include, but are not limited to, cameras.

Step S103 includes:

s1031, acquiring first position information corresponding to a lock shaft in a target locking image;

S1032, acquiring or calling a first reference position range corresponding to the lock shaft in the first reference locking image;

s1033, judging whether the first position information is in a first reference position range, if so, determining that the lock shaft reaches the lock groove; if not, determining that the lock shaft does not reach the lock groove, and adjusting the position of the lock shaft until the lock shaft reaches the lock groove.

Before the locking control, a vision sensor is adopted to collect and store a reference locking image (or an image set) used for representing that the locking shaft is at a corresponding set position (or a position range) in advance, an image processing technology is adopted to carry out identification analysis processing on the reference locking image, and a reference position (or a reference position range) corresponding to the locking shaft in each reference locking image is timely extracted.

The method comprises the steps of tracking and shooting locking images corresponding to a locking shaft of a battery pack in each locking control stage in real time by adopting a visual sensor, carrying out recognition analysis processing on the locking images by adopting an image processing technology, and timely extracting the locking shaft and corresponding position information (such as relative position information of the locking shaft and a locking base in a locking mechanism) in each locking image; comparing whether the position information corresponding to the lock shaft in the lock image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock shaft in different lock control stages, timely adjusting the lock shaft to move when the reference position range is not reached, timely acquiring, analyzing and comparing the lock shaft corresponding to the lock shaft after moving, and continuously repeating the adjustment operation to ensure timeliness and accuracy of lock shaft control, effectively realizing high-efficiency control of the battery pack in each lock control stage, and further improving the overall control efficiency of the battery pack in the whole lock control process.

In this embodiment, when carrying out locking control to the battery package, gather the image that the position department that the lock axle was located corresponds through visual sensor in real time, compare the difference between collection image and the reference image and confirm in time whether the lock axle reaches in the locked groove to realize the accurate control to the locking, improved the efficiency of locking control effectively, reduced the required duration of waiting of locking, satisfied higher user demand.

Example 2

The lock-up control method of the battery pack of the present embodiment is a further improvement of embodiment 1, specifically:

as shown in fig. 8, step S101 further includes:

s10101, controlling the lock shaft to move to be aligned with the opening of the lock groove;

s10201, acquiring a first locking image corresponding to the position of the lock shaft;

s10301, judging whether the lock shaft is aligned with the opening of the lock groove according to the first locking image, and if not, adjusting the position of the lock shaft until the lock shaft is moved to be aligned with the opening of the lock groove.

As shown in fig. 9, after the lock shaft is aligned with the opening of the lock groove and before the lock shaft is controlled to enter the lock groove in the lock mechanism to be locked, that is, after step S10301 and before step S101, the method includes:

s10102, controlling the lock shaft to enter from the opening of the lock groove along the first target direction;

s10202, collecting a second locking image corresponding to the position of the lock shaft;

s10302, judging whether the lock shaft is positioned in the opening of the lock groove according to the second locking image, and if not, adjusting the position of the lock shaft until the lock shaft moves into the opening of the lock groove.

After the lock shaft is located in the opening of the lock groove, as shown in fig. 10, step S101 includes:

s10103, controlling the lock shaft to move to a locking position along a second target direction;

step S102 includes:

s10203, collecting a third locking image corresponding to the position of the lock shaft;

step S103 includes:

s10303, judging whether the lock shaft is positioned at the locking position according to the third locking image, and if not, adjusting the position of the lock shaft until the lock shaft moves to the locking position; if yes, the lock shaft is controlled to stop moving.

In addition, when the lock shaft is located at the lock position, as shown in fig. 11, step S103 further includes:

s104, collecting a fourth locking image corresponding to the position of the lock tongue;

s105, judging whether the lock tongue falls down according to the fourth locking image, and if not, controlling the lock tongue to fall down.

Specifically, step S105 includes:

acquiring second position information corresponding to the lock tongue in a fourth locking image;

judging whether the second position information is in a second reference position range, if so, determining that the lock tongue falls down; otherwise, determining that the lock tongue does not fall down, and controlling the lock tongue to fall down.

Before locking control, a visual sensor is adopted to collect and store reference locking images (or image sets) used for representing that the lock tongue is in a corresponding set position (or position range) in advance, an image processing technology is adopted to conduct identification analysis processing on the reference locking images, and a reference position (or reference position range) corresponding to a lock shaft in each reference locking image is timely extracted.

The method comprises the steps of tracking and shooting a locking image corresponding to a lock tongue in a locking control stage in real time by adopting a visual sensor, and carrying out recognition analysis processing on the locking image by adopting an image processing technology to timely extract the lock tongue and corresponding position information (such as relative position information of a lock tongue and a lock base in a locking mechanism) in the locking image; comparing whether the position information corresponding to the lock tongue in the lock tongue image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock tongue, controlling the lock tongue in time to continue to execute the falling operation when the reference position range is not reached, acquiring, analyzing and comparing the lock tongue image corresponding to the lock tongue after moving in time, and continuously repeating the adjustment operation to ensure the timeliness and accuracy of the control of the lock tongue, thereby effectively improving the high-efficiency control of the battery pack in the lock control stage and further improving the overall control efficiency of the battery pack in the whole lock control process.

When the lock shaft is located at the lock position, as shown in fig. 12, step S103 further includes:

s106, acquiring a fifth locking image corresponding to the position of the lock connecting rod;

and S107, judging whether the lock connecting rod falls according to the fifth locking image, and if not, controlling the lock connecting rod to fall.

Specifically, step S107 specifically includes:

Acquiring third position information corresponding to a lock connecting rod in a fifth locking image;

acquiring or calling a third reference position range corresponding to the lock connecting rod in the third reference locking image;

judging whether the third position information is in a third reference position range, if so, determining that the lock connecting rod falls down; otherwise, determining that the lock link rod does not fall down, and controlling the lock link rod to fall down.

Before the locking control, a vision sensor is adopted to collect and store reference locking images (or image sets) used for representing that the locking connecting rod is in a corresponding set position (or position range) in advance, an image processing technology is adopted to conduct identification analysis processing on the reference locking images, and a reference position (or reference position range) corresponding to a locking shaft in each reference locking image is timely extracted.

The method comprises the steps of tracking and shooting a locking image corresponding to a locking connecting rod in a locking control stage in real time by adopting a visual sensor, and carrying out identification, analysis and processing on the locking image by adopting an image processing technology, so as to timely extract the locking connecting rod and corresponding position information (such as relative position information of the locking connecting rod and a locking base in a locking mechanism) in the locking image; comparing whether the position information corresponding to the lock connecting rod in the lock image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock connecting rod, controlling the lock connecting rod to continuously execute the dropping operation in time when the reference position range is not reached, and acquiring, analyzing and comparing the lock image corresponding to the lock connecting rod after moving in time, and continuously repeating the adjustment operation to ensure the timeliness and the accuracy of the control of the lock connecting rod, thereby effectively improving the high-efficiency control of the battery pack in the lock control stage and further improving the overall control efficiency of the battery pack in the whole lock control process.

And whether the lock tongue falls down or not and whether the lock connecting rod falls down or not can be simultaneously identified and controlled, so that the control precision of the fourth locking control stage is further improved.

In this embodiment, when carrying out locking control to the battery package, gather the image that the position department that the lock axle is located corresponds through visual sensor in real time, the difference between comparison collection image and the reference image is in time confirmed the lock axle and is reached the preset position, and in time discern the position etc. of spring bolt, lock connecting rod in order to confirm the condition of putting in place of lock axle, spring bolt, lock connecting rod accurately, thereby realize the accurate control to the locking process, the efficiency of locking control has been improved effectively, the duration that the locking needs to wait has been reduced, higher user demand has been satisfied.

Example 3

As shown in fig. 13, the unlocking control method of the battery pack of the present embodiment includes:

s201, controlling the lock shaft to move out of the locking mechanism for unlocking;

s202, acquiring a target unlocking image corresponding to the position of the lock shaft in the process;

s203, judging whether the lock shaft reaches a preset position according to the target unlocking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the preset position.

Specifically, as shown in fig. 14, step S202 includes:

s2021, acquiring a target unlocking image of the position of the lock shaft by adopting a visual sensor;

step S203 includes:

s2031, obtaining sixth position information corresponding to a lock shaft in a target unlocking image;

s2032, acquiring or calling a sixth reference position range corresponding to the lock shaft in the third reference unlocking image;

s2033, judging whether the sixth position information is in a sixth reference position range, and if so, determining that the lock shaft reaches a preset position; if not, determining that the lock shaft does not reach the preset position, and adjusting the position of the lock shaft until the lock shaft reaches the preset position.

Before unlocking control, a visual sensor is adopted to collect and store a reference unlocking image (or an image set) used for representing that the lock shaft is in a corresponding set position (or a position range) in advance, an image processing technology is adopted to conduct identification analysis processing on the reference unlocking image, and a reference position (or a reference position range) corresponding to the lock shaft in each reference unlocking image is timely extracted.

The method comprises the steps of tracking and shooting unlocking images corresponding to a lock shaft of a battery pack in each unlocking control stage in real time by adopting a visual sensor, carrying out identification analysis processing on the unlocking images by adopting an image processing technology, and timely extracting the lock shaft and corresponding position information (such as relative position information of the lock shaft and a lock base in an unlocking mechanism) of each unlocking image; comparing whether the position information corresponding to the lock shaft in the unlocking image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock shaft in different unlocking stages, timely adjusting the lock shaft to move when the reference position range is not reached, timely acquiring, analyzing and comparing the unlocking image corresponding to the moved lock shaft, and continuously repeating the adjustment operation to ensure the timeliness and the accuracy of the lock shaft control, effectively realizing the high-efficiency control of the battery pack in each unlocking control stage, and further improving the overall control efficiency of the battery pack in the whole unlocking control process.

In this embodiment, when carrying out the unblock control to the battery package, gather the image that the position department that locks the axle corresponds through visual sensor in real time, compare the difference between collection image and the reference image and confirm in time whether the lock axle reaches the position of predetermineeing to realize the accurate control to the unblock, improve the efficiency of unblock control effectively, reduced the duration that the unblock needs to wait, satisfied higher user demand.

Example 4

The unlocking control method of the battery pack of the present embodiment is a further improvement of embodiment 3, specifically:

as shown in fig. 15, step S201 further includes:

s2001, acquiring a first unlocking image corresponding to the position of the lock tongue;

s2002, judging whether the lock tongue is lifted or not according to the first unlocking image, and if not, controlling the lock tongue to lift; if yes, step S201 is executed.

Specifically, step S2002 includes:

judging whether the fourth position information is in a fourth reference position range, if so, determining that the lock tongue falls down; otherwise, determining that the lock tongue does not fall down, and controlling the lock tongue to fall down.

Before unlocking control, a visual sensor is adopted to pre-collect and store a reference unlocking image (or an image set) used for representing that the lock tongue is in a corresponding set position (or a position range), an image processing technology is adopted to conduct identification analysis processing on the reference unlocking image, and a reference position (or a reference position range) corresponding to a lock shaft in each reference unlocking image is timely extracted.

The unlocking image corresponding to the lock tongue in the unlocking control stage is tracked and shot in real time by adopting a visual sensor, the unlocking image is identified, analyzed and processed by adopting an image processing technology, and the lock tongue in the unlocking image and the corresponding position information (such as the relative position information of the lock tongue and a lock base in an unlocking mechanism) of the lock tongue are extracted in time; comparing whether the position information corresponding to the lock tongue in the lock tongue image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock tongue, controlling the lock tongue in time to continue to execute the falling operation when the reference position range is not reached, acquiring, analyzing and comparing the lock tongue image corresponding to the lock tongue after moving in time, and continuously repeating the adjustment operation to ensure the timeliness and accuracy of the lock tongue control, thereby effectively improving the high-efficiency control of the battery pack in the lock tongue control stage and further improving the overall control efficiency of the battery pack in the whole lock tongue control process.

As shown in fig. 16, step S201 further includes:

s2003, acquiring a second unlocking image corresponding to the position of the lock connecting rod;

s2004, judging whether the lock connecting rod is lifted according to the second unlocking image, and if not, controlling the lock connecting rod to be lifted; if yes, step S201 is executed.

Specifically, step S2004 includes:

judging whether the fifth position information is in a fifth reference position range, if so, determining that the lock connecting rod falls down; otherwise, determining that the lock link rod does not fall down, and controlling the lock link rod to fall down.

Before unlocking control, a visual sensor is adopted to collect and store a reference unlocking image (or an image set) used for representing that the lock connecting rod is in a corresponding set position (or a position range) in advance, an image processing technology is adopted to conduct identification analysis processing on the reference unlocking image, and a reference position (or a reference position range) corresponding to a lock shaft in each reference unlocking image is timely extracted.

The unlocking image corresponding to the lock connecting rod in the unlocking control stage is tracked and shot in real time by adopting a visual sensor, the unlocking image is identified, analyzed and processed by adopting an image processing technology, and the lock connecting rod and the corresponding position information (such as the relative position information of the lock connecting rod and the lock base in the unlocking mechanism) in the unlocking image are timely extracted; comparing whether the position information corresponding to the lock shaft in the unlocking image acquired in real time is in the reference position range or not to accurately determine the in-place condition of the lock connecting rod, controlling the lock connecting rod to continuously execute the dropping operation in time when the reference position range is not reached, acquiring, analyzing and comparing the unlocking image corresponding to the moving lock connecting rod in time, and continuously repeating the adjustment operation to ensure the timeliness and accuracy of the control of the lock connecting rod, thereby effectively improving the high-efficiency control of the battery pack in the unlocking control stage and further improving the overall control efficiency of the battery pack in the whole unlocking control process.

The unlocking control method can also simultaneously identify and control whether the lock tongue is lifted and whether the lock connection is lifted, so that the control precision of the unlocking control stage is further improved.

In addition, before the control tongue or the lock link is lifted, as shown in fig. 17, step S201 includes:

s20101, controlling the lock shaft to move to an unlocking pre-pushing position in the lock groove along a second target direction;

step S202 includes:

s20201, collecting a third unlocking image corresponding to the position of the lock shaft;

step S203 includes:

s20301, judging whether the lock shaft is positioned at the unlocking pre-pushing position according to the third unlocking image, and if not, controlling the lock shaft to move until the unlocking pre-pushing position is reached.

After the tongue or the lock link is lifted, as shown in fig. 18, step S201 includes:

s20102, controlling the lock shaft to move to an opening of the lock groove along a third target direction opposite to the second target direction;

step S202 includes:

s20202, acquiring a fourth unlocking image corresponding to the position of the lock shaft;

step S203 includes:

s20302, judging whether the lock shaft is aligned with the opening of the lock groove according to the fourth unlocking image, and if not, controlling the lock shaft to move until reaching the opening of the lock groove.

When the lock shaft is aligned with the opening of the lock groove, as shown in fig. 19, step S201 includes:

s20103, controlling the lock shaft to move out of the opening of the lock groove along the direction of the fourth target;

step S202 includes:

s20203, acquiring a fifth unlocking image corresponding to the position of the lock shaft;

step S203 includes:

s20303, judging whether the lock shaft moves out of the opening of the lock groove according to the fifth unlocking image, and if not, controlling the lock shaft to move until the lock shaft moves out of the opening of the lock groove.

In this embodiment, when the unlocking control is performed on the battery pack, the vision sensor is used for collecting the image corresponding to the position where the lock shaft is located in real time, comparing the difference between the collected image and the reference image, determining whether the lock shaft reaches the preset position (such as whether the lock shaft is aligned with the lock groove, whether the lock shaft is located at the unlocking position or not), and identifying the positions of the lock tongue and the lock connecting rod in time so as to accurately determine the in-place conditions of the lock shaft, the lock tongue and the lock connecting rod, thereby realizing the accurate control on the unlocking process, effectively improving the efficiency of the unlocking control, reducing the waiting time required by unlocking, and meeting the higher use requirements.

Example 5

As shown in fig. 20, the lock-up control system of the battery pack of the present embodiment includes a first control module 1, a first image acquisition module 2, and a first judgment module 3.

The first control module 1 is used for controlling the lock shaft to enter a locking groove in the locking mechanism for locking;

the first image acquisition module 2 is used for acquiring a target locking image corresponding to the position of the locking shaft in the locking process;

the first judging module 3 is used for judging whether the lock shaft reaches the lock groove according to the target locking image, and if not, the lock shaft is adjusted to move until the lock shaft reaches the lock groove.

Specifically, as shown in fig. 21, the first image acquisition module 2 is configured to acquire, with a vision sensor, a target lock image corresponding to a position where the lock shaft is located.

The first judgment module 3 includes a first position acquisition unit 4, a first reference position acquisition unit 5, and a first judgment unit 6.

The first position obtaining unit 4 is used for obtaining first position information corresponding to a lock shaft in the target locking image;

the first reference position obtaining unit 5 is configured to obtain or retrieve a first reference position range corresponding to a lock axis in the first reference lock image;

the first judging unit 6 is configured to judge whether the first position information is within a first reference position range, and if yes, determine that the lock shaft reaches the lock groove; if not, determining that the lock shaft does not reach the lock groove, and adjusting the position of the lock shaft until the lock shaft reaches the lock groove.

The principle and effect of each lock-up control stage can refer to the lock-up control method of the battery pack of embodiment 1, and therefore the corresponding contents are not repeated.

Example 6

The lock control system of the battery pack of the present embodiment is a further improvement of embodiment 5, specifically:

in a first locking control stage of locking control of the battery pack, the lock shaft is directly controlled to move according to the control instruction so as to align with the opening of the lock groove.

The first control module 1 is used for controlling the lock shaft to move to be aligned with the opening of the lock groove before the lock shaft is controlled to enter the lock groove in the locking mechanism for locking;

the first image acquisition module 2 is used for acquiring a first locking image corresponding to the position of the lock shaft;

the first judging module 3 is configured to judge whether the lock shaft is aligned with the opening of the lock slot according to the first locking image, and if not, adjust the position of the lock shaft until the lock shaft is moved to be aligned with the opening of the lock slot.

After the lock shaft is aligned with the opening of the lock groove and before the lock shaft is controlled to enter the lock groove in the locking mechanism for locking, the first control module 1 is also used for controlling the lock shaft to enter from the opening of the lock groove along the first target direction;

the first image acquisition module 2 is also used for acquiring a second locking image corresponding to the position of the lock shaft;

the first judging module 3 is further configured to judge whether the lock shaft is located in the opening of the lock slot according to the second locking image, and if not, adjust the position of the lock shaft until the lock shaft moves into the opening of the lock slot.

After the lock shaft is positioned in the opening of the lock groove, the first control module 1 is also used for controlling the lock shaft to enter from the opening of the lock groove along the first target direction and then move to the locking position along the second target direction;

the first image acquisition module 2 is also used for acquiring a third locking image corresponding to the position of the lock shaft;

the first judging module 3 is further configured to judge whether the lock shaft is located at the locking position according to the third locking image, and if not, adjust the position of the lock shaft until the lock shaft moves to the locking position; if yes, the lock shaft is controlled to stop moving.

When the lock shaft is positioned at the locking position, the first image acquisition module 2 is also used for acquiring a fourth locking image corresponding to the position where the lock tongue is positioned;

the first judging module 3 is further configured to judge whether the locking bolt falls according to the fourth locking image, and if not, control the locking bolt to fall.

Specifically, as shown in fig. 22, the first judgment module 3 includes a second position acquisition unit 7, a second reference position acquisition unit 8, and a second judgment unit 9.

The second position obtaining unit 7 is used for obtaining second position information corresponding to the lock tongue in the fourth locking image;

the second reference position obtaining unit 8 is configured to obtain or retrieve a second reference position range corresponding to the lock tongue in the second reference locking image;

The second judging unit 9 is configured to judge whether the second position information is within a second reference position range, and if yes, determine that the lock tongue falls; otherwise, determining that the lock tongue does not fall down, and controlling the lock tongue to fall down.

When the lock shaft is positioned at the locking position, the first image acquisition module 2 is also used for acquiring a fifth locking image corresponding to the position where the lock connecting rod is positioned;

the first judging module 3 is further configured to judge whether the lock link falls according to the fifth locking image, and if not, control the lock link to fall.

Specifically, as shown in fig. 23, the first judgment module 3 includes a third position acquisition unit 10, a third reference position acquisition unit 11, and a third judgment unit 12.

The third position obtaining unit 10 is configured to obtain third position information corresponding to the lock link in the fifth lock image;

the third reference position obtaining unit 11 is configured to obtain or invoke a third reference position range corresponding to the lock link in the third reference lock image;

the third judging unit 12 is configured to judge whether the third position information is within a third reference position range, and if yes, determine that the lock link falls; otherwise, determining that the lock link rod does not fall down, and controlling the lock link rod to fall down.

The principle and effect of each lock-up control stage can refer to the lock-up control method of the battery pack of embodiment 2, and therefore the corresponding contents are not repeated.

In this embodiment, when the battery pack is locked and controlled, the visual sensor is used to collect the corresponding image at the position where the lock shaft is located in real time, and compare the difference between the collected image and the reference image, to determine whether the lock shaft reaches the preset position (such as whether the lock shaft is aligned with the lock slot, whether the lock shaft is located at the locking position, etc.), and to identify the positions of the lock tongue and the lock link in time so as to accurately determine the in-place conditions of the lock shaft, the lock tongue and the lock link, thereby realizing accurate control over the locking process, effectively improving the efficiency of locking control, reducing the waiting time required by locking, and meeting higher use requirements.

Example 7

As shown in fig. 24, the unlocking control system of the battery pack of the present embodiment includes a second control module 13, a second image acquisition module 14, and a second judgment module 15.

The second control module 13 is used for controlling the lock shaft to move out of the locking mechanism for unlocking;

the second image acquisition module 14 is used for acquiring a target unlocking image corresponding to the position of the lock shaft in the process;

the second judging module 15 is configured to judge whether the lock shaft reaches a preset position according to the target unlocking image, and if not, adjust the lock shaft to move until reaching the preset position.

Specifically, as shown in fig. 25, the second image acquisition module 14 is configured to acquire a target unlock image at a position where the lock shaft is located using a vision sensor;

the second judgment module 15 includes a sixth position acquisition unit 16, a sixth reference position acquisition unit 17, and a sixth judgment unit 18.

The sixth position obtaining unit 16 is configured to obtain sixth position information corresponding to the lock axis in the target unlock image;

the sixth reference position obtaining unit 17 is configured to obtain or retrieve a sixth reference position range corresponding to the lock axis in the third reference unlock image;

the sixth judging unit 18 is configured to judge whether the sixth position information is in a sixth reference position range, and if so, determine that the lock shaft reaches a preset position; if not, determining that the lock shaft does not reach the preset position, and adjusting the position of the lock shaft until the lock shaft reaches the preset position.

The principle and effect of each locking control stage can refer to the unlocking control method of the battery pack of embodiment 3, so the corresponding contents will not be described again.

Example 8

The unlocking control system of the battery pack of the present embodiment is a further improvement of embodiment 7, specifically:

The second image acquisition module 14 is further used for acquiring a first unlocking image corresponding to the position of the lock tongue;

the second judging module 15 is further configured to judge whether the lock tongue is lifted according to the first unlocking image, and if not, control the lock tongue to lift.

Specifically, as shown in fig. 26, the second judgment module 15 of the present embodiment includes a fourth position acquisition unit 19, a fourth reference position acquisition unit 20, and a fourth judgment unit 21.

The fourth position obtaining unit 19 is configured to obtain fourth position information corresponding to the lock tongue in the first unlock image;

the fourth reference position obtaining unit 20 is configured to obtain or retrieve a fourth reference position range corresponding to the lock tongue in the first reference unlock image;

the fourth judging unit 21 is configured to judge whether the fourth position information is within a fourth reference position range, and if yes, determine that the lock tongue is lifted; otherwise, determining that the lock tongue is not lifted, and controlling the lifting of the lock tongue

As shown in fig. 27, the second image acquisition module 14 is further configured to acquire a second unlock image corresponding to the position where the lock link is located;

the second judging module 15 is further configured to judge whether the lock link is lifted according to the second unlocking image, and if not, control the lock link to lift.

Specifically, the second judgment module 15 of the present embodiment includes a fifth position acquisition unit 22, a fifth reference position acquisition unit 23, and a fifth judgment unit 24.

The fifth position obtaining unit 22 is configured to obtain fifth position information corresponding to the lock link in the second unlock image;

the fifth reference position obtaining unit 23 is configured to obtain or retrieve a fifth reference position range corresponding to the lock link in the second reference unlock image;

the fifth judging unit 24 is configured to judge whether the fifth position information is within a fifth reference position range, and if so, determine that the lock link is lifted; otherwise, determining that the lock link is not lifted, and controlling the lock link to lift.

Before the control bolt or the lock connecting rod is lifted, the second control module 13 is used for controlling the lock shaft to move to an unlocking pre-pushing position in the lock groove along the second target direction;

the second image acquisition module 14 is used for acquiring a third unlocking image corresponding to the position of the lock shaft;

the second judging module 15 is configured to judge whether the lock shaft is located at the unlock pre-pushing position according to the third unlock image, and if not, control the lock shaft to move until reaching the unlock pre-pushing position.

The second control module 13 is also used to control the lock shaft to move to the opening of the lock groove along a third target direction opposite to the second target direction after the lock tongue or the lock link is lifted;

the second image acquisition module 14 is further configured to acquire a fourth unlock image corresponding to the position where the lock shaft is located;

the second judging module 15 is further configured to judge whether the lock shaft is aligned with the first target direction where the opening of the lock slot is located according to the fourth unlocking image, and if not, control the lock shaft to move until reaching the first target direction where the opening of the lock slot is located.

The second control module 13 is further configured to control the lock shaft to move out of the opening of the lock groove along the direction opposite to the fourth target direction when the lock shaft is aligned with the opening of the lock groove;

the second image acquisition module 14 is further configured to acquire a fifth unlock image corresponding to the position where the lock shaft is located;

The second judging module 15 is further configured to judge whether the lock shaft moves out of the opening of the lock slot according to the fifth unlocking image, and if not, control the lock shaft to move until the lock shaft moves out of the opening of the lock slot; if yes, the lock shaft is controlled to stop moving.

The principle and effect of each locking control stage can refer to the unlocking control method of the battery pack of embodiment 4, and therefore the corresponding contents will not be described again.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and 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 principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims

1. The utility model provides a locking control method of battery package, is through installing the lock axle of battery package in electric automobile's locking mechanism in order to install the battery package is in electric automobile's bottom, locking mechanism includes the lock base, the lock base includes the base body and from the inwards sunken locked groove in base body surface, its characterized in that, locking control method includes:

judging whether the lock shaft reaches the lock groove or not according to the target locking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the lock groove;

the step of controlling the lock shaft to enter a locking groove in the locking mechanism to be locked further comprises the following steps:

controlling the lock shaft to move to a locking position in the lock groove along a second target direction;

2. The locking control method of a battery pack according to claim 1, wherein one end of the locking groove is provided with an opening to the outside of the lock base for the lock shaft to enter and exit into the locking groove;

3. The method of claim 2, wherein after the lock shaft is aligned with the opening of the locking groove, the step of controlling the lock shaft to enter the locking groove in the locking mechanism to lock further comprises:

4. The method of claim 1, wherein the step of acquiring the target lock image corresponding to the position of the lock shaft comprises:

5. The method of claim 1, wherein the locking mechanism further comprises a locking tongue rotatably provided in the base body by a fixing member and switching between a locked state and an unlocked state to close or open the opening;

6. The method of claim 5, wherein the locking mechanism further comprises a lock link, the lock link being connected to the locking tongue to rotate the locking tongue;

7. The method of claim 5, wherein the step of determining whether the locking tab is dropped according to the fourth locking image, and if not, controlling the locking tab to be dropped comprises:

8. The method of controlling locking of a battery pack according to claim 6, wherein the step of judging whether the lock link is dropped according to the fifth locking image, and if not, controlling the lock link to be dropped comprises:

9. An unlocking control method of a battery pack, which removes a lock shaft of the battery pack from a locking mechanism of an electric automobile to detach the battery pack positioned at the bottom of the electric automobile, is characterized by comprising the following steps:

Controlling the lock shaft to move out of the locking mechanism for unlocking;

10. The unlocking control method of the battery pack according to claim 9, wherein the locking mechanism comprises a lock base and a lock tongue, the lock base comprises a base body, and the lock tongue is rotatably arranged in the base body through a fixing piece;

11. The method of claim 10, wherein the locking mechanism further comprises a lock link, the lock link being connected to the locking tongue to rotate the locking tongue;

12. The method of claim 10, wherein the step of determining whether the locking tab is lifted based on the first unlocking image, and if not, controlling the lifting of the locking tab comprises:

13. The method of claim 11, wherein the step of determining whether the lock link is lifted according to the second unlock image, and if not, controlling the lifting of the lock link comprises:

14. The unlocking control method of a battery pack according to claim 11, wherein the lock base further comprises a lock groove recessed inward from a surface of the base body;

15. The unlocking control method of a battery pack according to claim 14, wherein the step of controlling the lock shaft to be unlocked from the locking mechanism after the lock tongue or the lock link is lifted further comprises:

16. The method of unlocking a battery pack according to claim 15, wherein the step of controlling the lock shaft to be unlocked from the lock mechanism when the lock shaft is aligned with the opening of the lock groove further comprises:

17. The unlocking control method of a battery pack according to any one of claims 14 to 16, wherein the step of acquiring a target unlocking image at a position where the lock shaft is located includes:

18. A lock control system of a battery pack, which is configured to mount the battery pack on the bottom of an electric vehicle by mounting a lock shaft of the battery pack in a lock mechanism of the electric vehicle, the lock control system comprising:

the first judging module is used for judging whether the lock shaft reaches the lock groove or not according to the target locking image, and if not, adjusting the lock shaft to move until the lock shaft reaches the lock groove;

the first control module is also used for controlling the lock shaft to move to a locking position in the lock groove along a second target direction;

19. An unlocking control system of battery package is through removing the locking axle of battery package from electric automobile's locking mechanism in order to dismantle the battery package that is located electric automobile bottom, its characterized in that, unlocking control system includes: