WO2022179433A1 - 换电站、载车平台、换电车辆检测方法与系统 - Google Patents

换电站、载车平台、换电车辆检测方法与系统 Download PDF

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Publication number
WO2022179433A1
WO2022179433A1 PCT/CN2022/076691 CN2022076691W WO2022179433A1 WO 2022179433 A1 WO2022179433 A1 WO 2022179433A1 CN 2022076691 W CN2022076691 W CN 2022076691W WO 2022179433 A1 WO2022179433 A1 WO 2022179433A1
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WIPO (PCT)
Prior art keywords
battery
vehicle
swapping
potential
swapped
Prior art date
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PCT/CN2022/076691
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English (en)
French (fr)
Inventor
张建平
林彦之
Original Assignee
奥动新能源汽车科技有限公司
上海电巴新能源科技有限公司
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Application filed by 奥动新能源汽车科技有限公司, 上海电巴新能源科技有限公司 filed Critical 奥动新能源汽车科技有限公司
Publication of WO2022179433A1 publication Critical patent/WO2022179433A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present application relates to the technical field of battery swapping, and in particular, to a battery swapping station, a vehicle-carrying platform, and a method and system for detecting a battery swapping vehicle.
  • the bottom of the electric vehicle is usually equipped with components such as a battery, a locking mechanism for locking the battery, and a positioning mechanism for positioning the battery replacement.
  • the bottom of the electric vehicle may be damaged.
  • the battery installed at the bottom of the electric vehicle is damaged, especially the damage of the lower surface of the battery.
  • there is currently no record or detection of the difference in the state of the same battery when it is installed and removed making it difficult to trace the battery damage found after the battery is removed from the battery swapping vehicle, and it is impossible to accurately determine that the damage is before the battery is installed. It exists, or it is caused during the driving of the vehicle, which can easily lead to the prevarication of the responsibility for battery damage.
  • Another example is the damage to the locking mechanism installed at the bottom of the electric vehicle, which makes it impossible to replace the battery.
  • the state difference of the locking mechanism before and during the power exchange has not been recorded or detected. It is impossible to judge whether the damage of the locking mechanism is caused during the driving of the vehicle or during the power exchange, which is easy to cause Prevarication of liability for damage to the locking mechanism. If it is possible to record the appearance of the bottom of the battery-swapped vehicle before and after the battery-swap, it will be easier to trace the damage to the bottom of the battery-swap vehicle and clarify the responsibility for the damage to the bottom of the battery-swap vehicle.
  • the bottom of the electric vehicle may also be blocked by foreign objects such as mud, stones, ice and snow.
  • the locking mechanism installed at the bottom of the electric vehicle is blocked by foreign objects, which makes it difficult to remove the depleted battery from the replacement vehicle. The difficulty increases, resulting in damage to the locking mechanism, and even the depleted battery cannot be removed from the battery-changing vehicle in the case of severe occlusion.
  • Another example is that the positioning mechanism installed at the bottom of the electric vehicle is blocked by foreign objects, so that the battery replacement cart cannot be aligned with the battery position, resulting in lower battery replacement efficiency or even failure to perform battery replacement.
  • the technical problem to be solved by this application is to provide a battery-swap station, a vehicle-carrying platform, and a detection method and system for a battery-swap vehicle in order to overcome the defect that the battery-swap vehicle does not record the bottom surface of the battery-swap vehicle before and after the battery-swap in the prior art. .
  • a method for detecting a battery-swapped vehicle comprising:
  • the image includes a battery, a locking mechanism for locking the battery and/or a positioning mechanism for positioning the battery, and the battery is a depleted battery or a fully charged battery.
  • the images captured during the process of driving in to driving out of the battery-swapping vehicle may include a battery installed at the bottom of the battery-swapping vehicle, a locking mechanism and/or a positioning mechanism, and the like.
  • the depleted battery and the fully charged battery may be the same battery pack.
  • the battery pack replaced by the battery swapping vehicle is the fully charged battery.
  • the battery swapping vehicle goes to the battery swap station again to replace the battery pack, the previous fully charged battery It has become a depleted battery that needs to be recharged.
  • the locking mechanism on the battery swapping vehicle is adapted to the unlocking mechanism on the battery swapping device, and the locking mechanism and the unlocking mechanism cooperate to unlock the depleted battery from the battery swapping vehicle, so that the depleted battery is in a detachable state , and is used to lock the battery after installing the fully charged battery on the vehicle.
  • the positioning mechanism on the battery swapping vehicle is adapted to the positioning component on the battery swapping device, and the positioning mechanism and the positioning component cooperate to locate the battery swapping device to align with the battery position of the battery swapping vehicle. Among them, the battery swapping device is used to place a depleted battery or a fully charged battery.
  • it includes:
  • the process of driving in to driving out of the commutation can be divided into the process of driving in the commutation, the process of being stationary at the commutation, and the process of going out of the commutation.
  • a complete photo of the bottom of the battery swapping vehicle is taken, wherein the complete photo taken may include a photo taken before the battery swapping is performed and/or after the battery swapping is completed. photos taken later.
  • it includes:
  • a video of the bottom of the battery swapping vehicle is captured.
  • the process of driving in to driving out of the commutation can be divided into the process of driving in the commutation, the process of being stationary at the commutation, and the process of going out of the commutation.
  • the video of the bottom of the battery-changing vehicle is specifically shot during the process of driving into the battery-changing vehicle or during the process of driving out of the battery-changing vehicle.
  • it includes:
  • the video is processed to obtain a photo or video including a battery, a locking mechanism, and/or a positioning mechanism on the swapped vehicle.
  • photos or videos including the battery, the locking mechanism and/or the positioning mechanism can be obtained by processing the bottom video captured during the process of driving in or out of the battery swapping vehicle.
  • it includes:
  • a plurality of first partial pictures of the bottom of the battery swapping vehicle are collected; and a plurality of the first partial pictures are synthesized to obtain the first complete picture of the bottom of the battery swapping vehicle.
  • a plurality of bottom pictures of the battery-changing vehicle are collected during the process of the battery-changing vehicle driving in to driving out of the battery-changing vehicle, wherein, due to the movement of the battery-changing vehicle, the collected bottom pictures do not contain any part of the bottom picture. All the same, on this basis, a complete picture of the bottom of the battery-swappable vehicle can be obtained by synthesizing multiple collected bottom pictures.
  • the method further includes:
  • the reference image includes a preset reference picture.
  • the reference image used to detect whether the bottom of the battery-swapped vehicle is damaged may include a preset reference image applicable to all battery packs, which is conducive to a unified standard for detecting whether the battery is damaged or not.
  • the preset reference picture is helpful to unify the standard for detecting whether the locking mechanism is damaged.
  • the reference image used to detect whether the battery-swapped vehicle is suitable for battery-swapping may include a preset reference picture of the battery-swap vehicle from the factory, which is conducive to a unified standard for detecting whether the battery-swap vehicle is suitable for battery-swapping.
  • the reference image includes a second complete picture of the bottom of the battery-changing vehicle collected after the previous battery-changing vehicle is completed.
  • the reference image used to detect whether the bottom of the battery-swapped vehicle is damaged may include a second complete picture of the bottom of the battery-swapped vehicle collected after the previous battery-swap is completed.
  • the battery-swap can be collected after the battery swap is completed.
  • the second complete picture of the bottom of the vehicle and save it, by comparing the saved second complete picture and the first complete picture of the bottom of the battery-changing vehicle collected during the next time the battery-changing vehicle drives into and out of the battery-changing potential , which can more flexibly and accurately judge whether the bottom of the battery-swapped vehicle is damaged.
  • collecting a plurality of pictures of the first part of the bottom of the battery-swapping vehicle includes the following steps:
  • the first samples at the bottom of the battery swapping vehicle are collected in two opposite directions before the depleted battery is removed or after the fully charged battery is installed in the battery swapping vehicle. part of the picture.
  • the first part of the picture at the bottom of the battery-swapping vehicle can be collected in the same collection direction when the battery-swapping vehicle is driving into the potential swapping process, or in the same collection direction, or in two opposite collection directions.
  • the battery swapping vehicle Before the battery swapping vehicle is stationary at the potential swapping and the battery swapping is performed, it can also be collected in the same collection direction.
  • the collection direction is collected in the process of the battery swapping vehicle driving out of the potential swapping process, so as to provide material for the synthesis of the first complete picture.
  • the photographing position is set to be located between the driving-in section of the battery-changing vehicle and the end of the battery, the locking mechanism or the positioning mechanism when the battery-changing vehicle is parked at the potential-changing position, and the photographing includes the depleted battery, the locking mechanism and the end of the positioning mechanism. / or a picture of the first part of the positioning mechanism;
  • the photographing position is set to be located between the front end of the battery, the locking mechanism and/or the positioning mechanism when the battery swapping vehicle is parked at the swapping potential, to the driving out section of the battery swapping vehicle, for photographing including a fully charged battery, a locking mechanism and/or Image of the first part of the positioning mechanism.
  • the shooting position may also include a shooting position for shooting a shooting position including a depleted battery, a locking mechanism and/or a positioning mechanism, and a shooting position for shooting a shooting position including a fully charged battery, a locking mechanism and/or a positioning mechanism Location.
  • the drive-in section may include an entrance into the swap station, a ramp entrance, an entrance on a ramp and/or a vehicle platform entrance, and the like.
  • the shooting positions are set to be located on opposite sides of the commutation potential.
  • the method further includes:
  • the identification code retrieve a second complete picture of the bottom of the battery-changing vehicle that is stored in association with the identification code and that is collected after the last battery replacement of the battery-changing vehicle is completed.
  • the second complete picture of the fully charged battery installed on the battery swapping vehicle is associated with the identification code of the battery swapping vehicle, so that the second complete picture corresponding to the battery swapping vehicle can be obtained according to the identification code of the battery swapping vehicle.
  • the method further includes:
  • the alignment results are marked in the image.
  • the comparison result between the image and the reference image can be marked on the obtained image, so that the comparison result between the image and the reference image can be obtained intuitively, and further, the power exchange can be judged intuitively. Whether the bottom of the vehicle is damaged or suitable for battery replacement.
  • a battery-swapping vehicle detection system comprising:
  • a photographing module used for photographing the bottom of the battery-changing vehicle during the process of the battery-changing vehicle driving into and out of the vehicle-carrying platform for potential-changing;
  • the first acquisition module is used for acquiring the image of the bottom of the battery-swapping vehicle.
  • the image includes a battery, a locking mechanism for locking the battery and/or a positioning mechanism for positioning the battery, and the battery is a depleted battery or a fully charged battery.
  • the images captured during the process of driving in to driving out of the battery-swapping vehicle may include a battery installed at the bottom of the battery-swapping vehicle, a locking mechanism and/or a positioning mechanism, and the like.
  • the depleted battery and the fully charged battery may be the same battery pack.
  • the battery pack replaced by the battery swapping vehicle is the fully charged battery.
  • the battery swapping vehicle goes to the battery swap station again to replace the battery pack, the previous fully charged battery It has become a depleted battery that needs to be recharged.
  • the locking mechanism on the battery-changing vehicle is adapted to the unlocking mechanism on the battery-changing device, and the locking mechanism and the unlocking mechanism cooperate to remove the depleted battery from the battery-changing vehicle, and install the fully charged battery to the battery-changing device. on the vehicle.
  • the positioning mechanism on the battery swapping vehicle is adapted to the positioning component on the battery swapping device, and the positioning mechanism and the positioning component cooperate to locate the battery swapping device to align with the battery position of the battery swapping vehicle.
  • the battery swapping device is used to place a depleted battery or a fully charged battery.
  • the photographing module is specifically configured to take a complete picture of the bottom of the battery swapping vehicle when the battery swapping vehicle is at the swapping potential.
  • the process of driving in to driving out of the commutation can be divided into the process of driving in the commutation, the process of being stationary at the commutation, and the process of going out of the commutation.
  • a complete photo of the bottom of the battery swapping vehicle is taken, wherein the complete photo taken includes the photos taken before the battery swapping is performed and/or after the battery swapping is completed. photo taken.
  • the photographing module is specifically configured to photograph a video of the bottom of the battery-changing vehicle during the process of driving in or out of the battery-changing vehicle.
  • the process of driving in to driving out of the commutation can be divided into the process of driving in the commutation, the process of being stationary at the commutation, and the process of going out of the commutation.
  • the video of the bottom of the battery-changing vehicle is specifically shot during the process of driving into the battery-changing vehicle or during the process of driving out of the battery-changing vehicle.
  • the first obtaining module is specifically configured to process the video to obtain a photo or video including the battery, the locking mechanism and/or the positioning mechanism on the battery-swapping vehicle.
  • photos or videos including the battery, the locking mechanism and/or the positioning mechanism can be obtained by processing the bottom video captured during the process of driving in or out of the battery swapping vehicle.
  • the photographing module is specifically configured to collect a plurality of pictures of the first part of the bottom of the battery-changing vehicle during the process of the battery-changing vehicle driving in to driving out of the battery-changing vehicle;
  • the first obtaining module is specifically configured to synthesize a plurality of the first partial pictures to obtain a first complete picture of the bottom of the battery-swapping vehicle.
  • a plurality of bottom pictures of the battery-changing vehicle are collected during the process of the battery-changing vehicle driving in to driving out of the battery-changing vehicle, wherein, due to the movement of the battery-changing vehicle, the collected bottom pictures do not contain any part of the bottom picture.
  • a complete picture including the bottom of the battery-swapped vehicle can be obtained by synthesizing multiple collected bottom pictures.
  • the battery-swapping vehicle detection system further includes:
  • a comparison module for comparing the image with a reference image to obtain a comparison result
  • a judging module for judging whether the bottom of the battery-changing vehicle is damaged or suitable for battery-changing according to the comparison result.
  • the reference image includes a preset reference picture.
  • the reference image used to detect whether the bottom of the battery-swapped vehicle is damaged may include a preset reference image applicable to all battery packs, which is conducive to a unified standard for detecting whether the battery is damaged or not.
  • the preset reference picture is helpful to unify the standard for detecting whether the locking mechanism is damaged.
  • the reference image used to detect whether the battery-swapped vehicle is suitable for battery-swapping may include a preset reference picture of the battery-swap vehicle from the factory, which is conducive to a unified standard for detecting whether the battery-swap vehicle is suitable for battery-swapping.
  • the reference image includes a second complete picture of the bottom of the battery-changing vehicle collected after the previous battery-changing vehicle is completed.
  • the reference image used to detect whether the bottom of the battery-swapped vehicle is damaged may include a second complete picture of the bottom of the battery-swapped vehicle collected after the previous battery-swap is completed.
  • the battery-swap can be collected after the battery swap is completed.
  • the second complete picture of the bottom of the vehicle and save it, by comparing the saved second complete picture and the first complete picture of the bottom of the battery-changing vehicle collected during the next time the battery-changing vehicle drives into and out of the battery-changing potential , which can more flexibly and accurately judge whether the bottom of the battery-swapped vehicle is damaged.
  • the photographing module is specifically configured to capture the battery swapping vehicle before the depleted battery is removed or after the fully charged battery is installed in the battery swapping vehicle when the battery swapping vehicle is in the stationary process of the swapping potential.
  • the photographing module is specifically configured to capture the data before the depleted battery is removed or after the fully charged battery is installed on the battery swapped vehicle during the process of the battery swapping vehicle driving into the battery swapping potential or driving out from the battery swapping potential. Multiple pictures of the first part of the bottom of the battery-swapped vehicle;
  • the photographing module is specifically configured to capture in two opposite directions before the depleted battery is removed or after the fully charged battery is installed in the battery swapped vehicle during the stationary process of the battery swapped vehicle at the swapped potential. The first part of the picture of the bottom of the electric vehicle.
  • the first part of the picture at the bottom of the battery-swapping vehicle can be collected in the same collection direction when the battery-swapping vehicle is driving into the potential swapping process, or in the same collection direction, or in two opposite collection directions.
  • the battery swapping vehicle Before the battery swapping vehicle is stationary at the potential swapping and the battery swapping is performed, it can also be collected in the same collection direction.
  • the collection direction is collected in the process of the battery swapping vehicle driving out of the potential swapping process, so as to provide material for the synthesis of the first complete picture.
  • the shooting position is set to be located between the driving-in section of the battery-changing vehicle and the end of the battery, the locking mechanism or the positioning mechanism when the battery-changing vehicle is parked at the potential-changing position, and is used for photography including a battery that is depleted, the locking mechanism or the end of the positioning mechanism.
  • the shooting position is set to be located between the front end of the battery, locking mechanism or positioning mechanism when the power-changing vehicle is parked at the power-changing position and the driving-out section of the power-changing vehicle. part of the picture.
  • the shooting position may also include a shooting position for shooting a shooting position including a depleted battery, a locking mechanism and/or a positioning mechanism, and a shooting position for shooting a fully charged battery, a locking mechanism and/or a positioning mechanism.
  • the drive-in section may include an entrance into the swap station, a ramp entrance, an entrance on a ramp and/or a vehicle platform entrance, and the like.
  • the shooting positions are set to be located on opposite sides of the commutation potential.
  • the battery-swapping vehicle detection system further includes:
  • a second acquisition module configured to acquire the identification code of the battery-swapping vehicle
  • the retrieval module is configured to retrieve, according to the identification code, a second complete picture of the bottom of the battery-swapping vehicle collected after the last battery-swapping of the battery-swapping vehicle stored in association with the identification code.
  • the second complete picture of the fully charged battery installed on the battery swapping vehicle is associated with the identification code of the battery swapping vehicle, so that the second complete picture corresponding to the battery swapping vehicle can be obtained according to the identification code of the battery swapping vehicle.
  • the battery-swapping vehicle detection system further includes:
  • a marking module for marking the alignment results in the image.
  • the comparison result between the image and the reference image can be marked on the obtained image, so that the comparison result between the image and the reference image can be obtained intuitively, and further, the power exchange can be judged intuitively. Whether the bottom of the vehicle is damaged or suitable for battery replacement.
  • a vehicle-carrying platform comprising:
  • the photographing device is arranged on the path of the battery-swap vehicle driving into and out of the swapping potential, and is used for photographing the bottom of the battery-swap vehicle.
  • the vehicle-carrying platform further includes a photographing device, so that the bottom image of the battery-changing vehicle can be photographed during the process of the battery-changing vehicle driving in to driving out of the battery-changing vehicle.
  • the locking mechanism of the battery and/or the positioning mechanism for battery replacement positioning, the battery is a depleted battery or a fully charged battery.
  • the images of the depleted battery and/or the locking mechanism of the battery-swapped vehicle before the power-swapping or the images of the fully-charged battery and/or the locking mechanism after the power-swapping can be obtained based on the bottom image captured, which is beneficial to the subsequent battery Traceability of damage to components such as the bag, locking mechanism and/or positioning mechanism, and clarification of liability for damage to components such as battery pack, locking mechanism and/or positioning mechanism. It is also possible to obtain images of the locking mechanism and/or positioning mechanism of the battery-swapping vehicle before the power-swapping based on the bottom image captured, which is beneficial when the locking mechanism and/or positioning mechanism is blocked so that it does not have the conditions for power-swapping. If necessary, stop replacing the battery in time to avoid damage to the components.
  • the photographing device is installed at a position of the vehicle platform close to the switching potential.
  • an installation position of a photographing device is provided, in particular, a photographing device installed close to the switching potential is provided, and the photographing range is wider.
  • photographing devices which are respectively installed between the drive-in entrance of the vehicle-carrying platform and the switching potential, and between the switching potential and the exit of the vehicle-loading platform.
  • an installation position of a photographing device is provided.
  • the photographing device installed between the driving entrance and the exchange potential can be used for photographing a battery exchange including a depleted battery, a locking mechanism and/or a positioning mechanism.
  • the photographing device installed between the swapping potential and the exit can be used to photograph the bottom image of the swapped vehicle including a fully charged battery, a locking mechanism and/or a positioning mechanism.
  • the vehicle-carrying platform is further provided with an installation groove, and the photographing device is arranged in the installation groove.
  • the arrangement of the installation groove is beneficial to realize the stable installation of the photographing device, and further helps to improve the photographing effect of the photographing device.
  • the photographing device is not exposed on the upper surface of the vehicle platform.
  • the photographing device is not exposed on the upper surface of the vehicle-carrying platform, that is, the highest point of the photographing device is located below the upper surface of the vehicle-carrying platform, so that the installation of the photographing device will not affect the electric vehicle on the vehicle-carrying platform. movement.
  • a transparent window is installed in the slot of the installation slot.
  • a transparent window is installed in the notch of the installation groove, which can protect the camera from contamination and prolong the service life of the camera while ensuring that the camera can capture the bottom image of the battery-swapped vehicle.
  • the photographing devices which are arranged on opposite sides of the commutation potential.
  • an installation position of a photographing device is provided.
  • two photographing devices are respectively arranged on opposite sides of the switching potential, which is beneficial to expand the photographing range and the number of photographing.
  • a battery replacement port is provided in the electric potential exchange, and the battery replacement port is used for a power exchange device moving under the vehicle platform to perform a power exchange operation on the power exchange vehicle;
  • the photographing device is arranged on the lower surface of the vehicle platform close to the battery replacement opening.
  • the photographing device is set close to the lower surface of the battery replacement port, and on the basis of the battery pack image obtained by photographing, the movement of the battery-changing vehicle on the vehicle platform will not be affected.
  • a power exchange station comprising any of the above-mentioned vehicle-carrying platforms.
  • the battery swap station also includes a vehicle-carrying platform with a camera installed, so that the bottom image of the battery swap vehicle can be photographed during the process of the battery swap vehicle driving in and out of the battery swapping potential, which is conducive to subsequent damage to the bottom of the battery swap vehicle.
  • the traceability of the power exchange vehicle and the clarification of the responsibility for damage to the bottom of the power exchange vehicle, and stop the power exchange in time when the bottom of the power exchange vehicle is blocked and the power exchange conditions are not available to avoid damage to the components.
  • the positive improvement effect of the present application is that: the present application can take images of the bottom of the battery-swapped vehicle during the process of driving the battery-swap vehicle into and out of the battery-swap potential, which is beneficial to the traceability of the damage to the bottom of the battery-swap vehicle and the liability for damage to the bottom of the battery-swap vehicle. , and stop the power exchange in time when the bottom of the power-changing vehicle is blocked and the power-changing conditions are not available, so as to avoid damage to the components.
  • FIG. 1 is a partial flowchart of a method for detecting a battery-swapped vehicle according to Embodiment 1 of the present application.
  • FIG. 2 is a schematic structural diagram of a locking mechanism in the prior art.
  • FIG. 3 is a schematic partial structure diagram of another locking mechanism in the prior art.
  • FIG. 4 is a partial structural schematic diagram of another locking mechanism in the prior art.
  • FIG. 5 is a schematic block diagram of a battery-swapped vehicle detection system according to Embodiment 2 of the present application.
  • FIG. 6 is a schematic structural diagram of a vehicle-carrying platform according to Embodiment 3 of the present application.
  • FIG. 7 is a schematic structural diagram of a vehicle platform according to Embodiment 4 of the present application.
  • FIG. 8 is an enlarged schematic diagram of a potential exchange in a vehicle platform according to Embodiment 4 of the present application.
  • This embodiment provides a method for detecting a battery-swapped vehicle.
  • the method for detecting a battery-swapping vehicle in this embodiment includes:
  • the image of the bottom of the battery-changing vehicle is captured during the process of the battery-changing vehicle driving in to the driving-out of the battery-changing vehicle.
  • images of the bottom of the swapped vehicle are captured, wherein the images may include photos or videos.
  • the first complete picture of the bottom of the battery-changing vehicle may be taken when the battery-changing vehicle is stationary at the switching potential.
  • the first complete photo may include a photo taken before a depleted battery is removed and/or after a fully charged battery is installed.
  • a first partial picture of the bottom of the battery swapping vehicle may also be collected during the stationary process of the battery swapping vehicle at the swapping potential, and then multiple first partial pictures may be synthesized to obtain the first complete picture of the bottom of the battery swapping vehicle.
  • the photographing position can be set to the opposite side of the swapping potential to the traveling direction of the swapping vehicle, that is, the side that is close to the exit of the vehicle platform on the swapping potential, and the photographing position can capture approximately The first part of the picture of the bottom of the partially swapped vehicle.
  • the photographing position can also be set to be close to the side of the entrance of the vehicle platform on the swapping potential, and the photographing position can approximately capture the first part of the picture including most of the bottom of the swapping vehicle.
  • the shooting positions may be set to be located on opposite sides of the swapping potential, so in this embodiment, the bottom of the swapping vehicle may be captured in two opposite directions respectively during the stationary process of the swapping vehicle being at the swapping potential. , and then synthesizing multiple first partial pictures to obtain the first complete picture of the bottom of the battery-swapped vehicle.
  • the two opposite directions along the direction may be the driving direction of the battery-swapping vehicle and the direction opposite to the driving direction of the battery-swapping vehicle.
  • the shooting position may be set to be close to the driving entrance of the vehicle-carrying platform on the swapping potential.
  • the first complete picture of the bottom of the battery-changing vehicle can be obtained by synthesizing the two first partial pictures of the bottom of the battery-changing vehicle collected in two directions respectively.
  • the two opposite directions along the two opposite directions can also be two opposite directions perpendicular to the driving direction of the battery-swapped vehicle.
  • the shooting position can be set to the two sides parallel to the driving direction of the battery-swapped vehicle in terms of the swapping potential.
  • the two first partial pictures of the bottom of the battery-swapping vehicle collected in two directions respectively can obtain a first complete picture of the bottom of the battery-swapping vehicle.
  • the shooting position may be set between the driving-in section of the battery swapping vehicle and the end of the battery, locking mechanism, or positioning mechanism when the battery swapping vehicle is parked at the swapping point, for the purpose of capturing images including a depleted battery, locking mechanism, and/or Or a picture of the first part of the positioning mechanism.
  • the first part of the picture of the bottom of the battery swapping vehicle before the depleted battery is removed and due to the movement of the battery swapping vehicle, the first part of the collected picture contains the depleted battery, locking mechanism and/or positioning The parts of the mechanism are not the same.
  • multiple first part pictures collected can be synthesized by means of image stitching, etc. to obtain the first complete picture including the depleted battery, the locking mechanism and/or the positioning mechanism. picture.
  • the requirements for the shooting angle are reduced, and there is no need to obtain a complete picture including the depleted battery, the locking mechanism and/or the positioning mechanism through one picture, thereby increasing the optional
  • the shooting position is especially suitable for close-up shooting of the chassis of the battery-swapped vehicle. Even if there is a shooting dead angle, a complete picture can be synthesized from multiple partial pictures.
  • the depleted battery removed from the swapped vehicle can be recorded, which is conducive to the traceability of subsequent battery pack damage and the clarification of battery pack damage responsibility.
  • the disassembly process of the depleted battery and the disassembled depleted battery can also be recorded, so as to clarify whether the damage of the depleted battery is caused by the disassembly action, which is further conducive to the traceability of subsequent battery pack damage and the battery Clarification of liability for damage to the package.
  • the shooting position may be set between the front of the battery, the locking mechanism or the positioning mechanism when the battery swapping vehicle is parked at the swapping potential to the driving out section of the battery swapping vehicle, for shooting including the fully charged battery, the locking mechanism and/or the front end of the positioning mechanism. Or a picture of the first part of the positioning mechanism.
  • the collected first part of the picture of the bottom of the battery swapping vehicle after the fully charged battery is installed in the battery swapping vehicle, and due to the movement of the battery swapping vehicle, the collected first part of the picture contains an inexhaustible part of the fully charged battery.
  • the multiple first partial pictures collected can be synthesized by means of image stitching, etc., to obtain a second complete picture including the fully charged battery, the locking mechanism and/or the positioning mechanism.
  • the fully charged battery installed on the battery swapping vehicle can be recorded, which is beneficial to the traceability of subsequent battery pack damage and the clarification of battery pack damage responsibility.
  • the locking mechanism before the battery-swapping vehicle can be recorded, which is beneficial to the traceability of subsequent damage to the locking mechanism and the clarification of the responsibility for damage to the locking mechanism.
  • the disassembly process of the depleted battery can also be recorded to clarify whether the damage to the locking mechanism is caused by the disassembly action, which further facilitates the traceability of subsequent damage to the locking mechanism and the clarification of the responsibility for damage to the locking mechanism.
  • the locking mechanism and/or positioning mechanism before the battery-changing vehicle can be recorded, so as to determine that the locking mechanism and/or positioning mechanism are affected by foreign objects.
  • the battery-changing vehicle has the power-changing conditions, and stop the power-changing in time if the power-changing conditions are not met, so as to avoid damage to the components.
  • the locking mechanism installed on the bottom of the battery-swapping vehicle includes a fixing assembly 40 and a locking body assembly 50 .
  • the fixing assembly 40 It includes a fixing frame 41 and a locking plate 42.
  • the fixing frame 41 is connected to an appropriate position on the body such as the chassis of the battery-changing vehicle by four first bolts 43, and the locking plate 42 is connected to the fixing frame by two second bolts 44. 41.
  • the lock body assembly 50 includes a casing 51 and a limit cover plate 58 that together define an accommodating space, a central pulling shaft 52 accommodated in the accommodating space, an adjusting block 53 , a return spring 54 , spring seats 55 and 56 and a washer 57 Wait. Specifically: by pushing the adjustment block upwards, the adjustment block is disengaged from the limit sealing plate, and then the adjustment block is rotated to drive the central pull shaft to engage with the locking plate, and when the appropriate locking angle or torque is reached, the adjustment block is released to make the reset The spring pushes the adjustment block to return to the position where it is engaged with the limit sealing plate, and restricts the rotation of the central pull shaft, so as to realize the installation of the fully charged battery.
  • the locking mechanism installed on the bottom of the battery-swapping vehicle includes a lock base 20 , a lock link 10 and the lock shaft 30, the lock shaft 30 is installed around the battery, the lock base 20 and the lock link 10 are installed on the inner side of the vehicle body fixing seat for fixing the battery, and correspond to the position of the lock shaft 30.
  • the lock shaft 30 includes a shaft seat 34 , a shaft rod 31 , a positioning magnet 32 and a shaft sleeve 33 .
  • the battery When in use, the battery is clamped into the fixed seat on the battery-changing vehicle under the control of the battery-changing device, and the unlocking component pushes the lock link 10 to move upward, driving the lock tongue to leave the lock slot 21, and the lock shafts 30 around the battery use the shafts respectively.
  • the rod 31 is inserted into the lock groove 21 of the corresponding lock base 20 on the fixed seat, and then moves to the other side of the lock groove 21 under the push of the power-changing device until it contacts the other end of the lock groove 21 to complete the battery suspension process.
  • the lock rod 10 drives the lock tongue 24 to move upward under the push of the unlocking member. It falls under the action of gravity so as to block the retraction path of the shaft 31 from the side.
  • the battery is completely locked in the battery-swapped vehicle.
  • the unlocking device on the power-changing device will contact the lock link 10 and push the lock link 10 up, so that the lock tongue leaves the lock slot 21.
  • the removal process of the battery can be completed by withdrawing from the slot 21.
  • the lock base 20 is blocked by foreign objects, or the lock base 20 , the lock tongue 24 , the shaft rod 31 and other components are damaged, the shaft rod 31 may be affected to enter and exit the lock slot 21 , thereby causing a battery swap vehicle
  • the locking mechanism on the battery and/or the unlocking mechanism on the battery replacement device is damaged or failed, making battery replacement impossible.
  • the positioning mechanism installed on the bottom of the battery-swapping vehicle includes a positioning block (such as the guide block 42 in CN105480209B), and the positioning mechanism installed on the battery-swapping device
  • the positioning member includes a fork (eg, the battery positioning block 12 in CN105480209B).
  • the position of the fork and the positioning block corresponds to, and the battery swapping device determines the battery position of the battery swapping vehicle according to the position of the positioning block.
  • the positioning block is blocked or damaged by a foreign object, the positioning of the power exchange device will be affected, resulting in a reduction in power exchange efficiency or even failure of power exchange.
  • the positioning mechanism installed on the bottom of the battery-swapping vehicle includes positioning holes (such as the tapered positioning sleeve in CN111745657A or the tapered positioning in CN111746341A).
  • the positioning component installed on the power exchange device includes a positioning column (such as the positioning cone pin 1001 in CN111745657A).
  • the positioning holes correspond to the positions of the positioning posts, and the battery swapping device determines the battery position of the battery swapping vehicle according to the positions of the positioning holes.
  • the positioning hole is blocked or damaged by a foreign object, the positioning of the power exchange device will be affected, resulting in a reduction in power exchange efficiency or even failure of power exchange.
  • the positioning mechanism installed on the bottom of the battery swapping vehicle includes a positioning point
  • the positioning component installed on the battery swapping device includes a camera device.
  • the battery swapping device determines whether it is aligned with the battery position of the battery swapping vehicle according to whether the camera device captures the positioning point. In this embodiment, if the positioning point is blocked or damaged by a foreign object, the positioning of the power exchange device will be affected, resulting in a reduction in power exchange efficiency or even failure of power exchange.
  • the method for detecting a battery-swapped vehicle in this embodiment may further include:
  • the reference image used to detect whether the bottom of the battery-swapped vehicle is damaged may include a preset reference image applicable to all battery packs, so as to facilitate a unified standard for detecting whether the battery is damaged or not, and may also include replacement
  • the preset reference picture of the electric vehicle from the factory is helpful to unify the standard for detecting whether the positioning mechanism and/or the locking mechanism is damaged.
  • the reference image used to detect whether the battery-swapped vehicle is suitable for battery-swapping may include a preset reference picture of the battery-swap vehicle from the factory, which is conducive to a unified standard for detecting whether the battery-swap vehicle is suitable for battery-swapping.
  • the reference image used to detect whether the bottom of the battery-swapping vehicle is damaged may also include a second complete picture of the bottom of the battery-swapping vehicle collected after the previous battery swapping is completed. After the electricity is completed, the second complete picture of the bottom of the battery-changing vehicle is collected and saved, and the second complete picture saved is compared with the battery-changing vehicle collected during the next time the battery-changing vehicle drives into and out of the battery-changing potential. The first complete picture at the bottom can more flexibly and accurately judge whether the bottom of the battery-swapped vehicle is damaged.
  • the second complete picture of the bottom of the battery-swap vehicle can also be associated with the identification code of the battery-swap vehicle, so that on the basis of obtaining the identification code of the battery-swap vehicle, The identification code is used to retrieve the second complete picture of the bottom of the battery-swapping vehicle collected after the last battery-swapping completed in association with the identification code, so that the second complete picture corresponding to the battery-swapping vehicle can be quickly retrieved.
  • the identification code may be a license plate number for easy identification.
  • the comparison result between the image and the reference image can also be marked on the obtained image, so that the comparison result between the image and the reference image can be obtained intuitively, and further, the comparison result between the image and the reference image can be intuitively obtained. Determine whether the bottom of the battery swapping vehicle is damaged or suitable for battery swapping.
  • the bottom image of the battery-swappable vehicle can be captured during the process of driving the battery-swapping vehicle into and out of the battery-swap potential, and further, based on the captured bottom image, the battery-depleted battery, locking state of the battery-swapping vehicle can be obtained before the battery swapping.
  • the battery-swap vehicle detection system in this embodiment includes:
  • the photographing module 61 is used for photographing the bottom of the battery-changing vehicle during the process of the battery-changing vehicle driving into and out of the potential-changing potential of the vehicle platform;
  • the first acquisition module 62 is configured to acquire an image of the bottom of the battery-swapping vehicle.
  • the photographing module 61 is used for photographing an image of the bottom of the battery-changing vehicle during the process of driving the battery-changing vehicle into and out of the battery-changing vehicle. During the process of the battery swapping vehicle driving into the swapping potential, standing still at the swapping potential, and driving out of the swapping potential, the photographing module 61 captures an image of the bottom of the swapped vehicle, wherein the image may include photos or videos.
  • the photographing module 61 may be used to take a first complete picture of the bottom of the battery-changing vehicle when the battery-changing vehicle is stationary at the switching potential.
  • the first complete photo may include a photo taken before a depleted battery is removed and/or after a fully charged battery is installed.
  • the photographing module 61 can also be used to collect a first partial picture of the bottom of the battery swapping vehicle during the stationary process of the battery swapping vehicle, and then the first obtaining module 62 synthesizes multiple first partial pictures to obtain First full picture of the bottom of the swapped vehicle.
  • the photographing position can be set to the opposite side of the swapping potential to the traveling direction of the swapping vehicle, that is, the side that is close to the exit of the vehicle platform on the swapping potential, and the photographing position can capture approximately The first part of the picture of the bottom of the partially swapped vehicle.
  • the photographing position can also be set to be close to the side of the entrance of the vehicle platform on the swapping potential, and the photographing position can approximately capture the first part of the picture including most of the bottom of the swapping vehicle.
  • the photographing positions can be set to be located on opposite sides of the commutation potential, so in this embodiment, the photographing module 61 can also be used to separately move along the two opposite sides during the stationary process of the commutation vehicle in the commutation potential.
  • the direction collects the first partial picture of the bottom of the battery-swapped vehicle, and then the first acquisition module 62 synthesizes a plurality of first partial pictures to obtain the first complete picture of the bottom of the battery-swapped vehicle.
  • the two opposite directions along the direction may be the driving direction of the battery-swapping vehicle and the direction opposite to the driving direction of the battery-swapping vehicle.
  • the shooting position may be set to be close to the driving entrance of the vehicle-carrying platform on the swapping potential.
  • the first complete picture of the bottom of the battery-changing vehicle can be obtained by synthesizing the two first partial pictures of the bottom of the battery-changing vehicle collected in two directions respectively.
  • the two opposite directions along the two opposite directions can also be two opposite directions perpendicular to the driving direction of the battery-swapped vehicle.
  • the shooting position can be set to the two sides parallel to the driving direction of the battery-swapped vehicle in terms of the swapping potential.
  • the two first partial pictures of the bottom of the battery-swapping vehicle collected in two directions respectively can obtain a first complete picture of the bottom of the battery-swapping vehicle.
  • the photographing module 61 may also be used to collect multiple first partial pictures of the bottom of the battery swapping vehicle when the battery swapping vehicle drives into the potential swapping process, and then the first acquisition module 62 synthesizes multiple first partial pictures for the first full picture of the underside of the swapped vehicle.
  • the shooting position may be set between the driving-in section of the battery swapping vehicle and the end of the battery, locking mechanism, or positioning mechanism when the battery swapping vehicle is parked at the swapping point, for the purpose of capturing images including a depleted battery, locking mechanism, and/or Or a picture of the first part of the positioning mechanism.
  • the first part of the picture of the bottom of the battery swapping vehicle before the depleted battery is removed and due to the movement of the battery swapping vehicle, the first part of the collected picture contains the depleted battery, locking mechanism and/or positioning The parts of the mechanism are not the same.
  • multiple first part pictures collected can be synthesized by means of image stitching, etc. to obtain the first complete picture including the depleted battery, the locking mechanism and/or the positioning mechanism. picture.
  • the requirements for the shooting angle are reduced, and there is no need to obtain a complete picture including the depleted battery, the locking mechanism and/or the positioning mechanism through one picture, thereby increasing the optional
  • the shooting position is especially suitable for close-up shooting of the chassis of the battery-swapped vehicle. Even if there is a shooting dead angle, a complete picture can be synthesized from multiple partial pictures.
  • the depleted battery removed from the swapped vehicle can be recorded, which is conducive to the traceability of subsequent battery pack damage and the clarification of battery pack damage responsibility.
  • the disassembly process of the depleted battery and the disassembled depleted battery can also be recorded, so as to clarify whether the damage of the depleted battery is caused by the disassembly action, which is further conducive to the traceability of subsequent battery pack damage and the battery Clarification of liability for damage to the package.
  • the photographing module 61 may be further configured to collect multiple first part pictures of the bottom of the battery swapping vehicle during the process of driving out of the battery swapping potential, and then the first acquisition module 62 synthesizes multiple first part pictures Image for the first full picture of the underside of the swapped vehicle.
  • the shooting position may be set between the front of the battery, the locking mechanism or the positioning mechanism when the battery swapping vehicle is parked at the swapping potential to the driving out section of the battery swapping vehicle, for shooting including the fully charged battery, the locking mechanism and/or the front end of the positioning mechanism. Or a picture of the first part of the positioning mechanism.
  • the multiple first partial pictures collected may be synthesized by means of image stitching or the like to obtain a second complete picture including the fully charged battery, the locking mechanism and/or the positioning mechanism.
  • the fully charged battery installed on the battery swapping vehicle can be recorded, which is beneficial to the traceability of subsequent battery pack damage and the clarification of battery pack damage responsibility.
  • the locking mechanism before the battery-swapping vehicle can be recorded, which is beneficial to the traceability of subsequent damage to the locking mechanism and the clarification of the responsibility for the damage to the locking mechanism.
  • the disassembly process of the depleted battery can also be recorded to clarify whether the damage to the locking mechanism is caused by the disassembly action, which further facilitates the traceability of subsequent damage to the locking mechanism and the clarification of the responsibility for damage to the locking mechanism.
  • the locking mechanism and/or positioning mechanism before the battery-changing vehicle can be recorded, so as to determine that the locking mechanism and/or positioning mechanism are affected by foreign objects.
  • the battery-changing vehicle has the power-changing conditions, and stop the power-changing in time if the power-changing conditions are not met, so as to avoid damage to the components.
  • the locking mechanism installed on the bottom of the battery-swapping vehicle includes a fixing assembly 40 and a locking body assembly 50 .
  • the fixing assembly 40 It includes a fixing frame 41 and a locking plate 42.
  • the fixing frame 41 is connected to an appropriate position on the body such as the chassis of the battery-changing vehicle by four first bolts 43, and the locking plate 42 is connected to the fixing frame by two second bolts 44. 41.
  • the lock body assembly 50 includes a casing 51 and a limit cover plate 58 that together define an accommodating space, a central pulling shaft 52 accommodated in the accommodating space, an adjusting block 53 , a return spring 54 , spring seats 55 and 56 and a washer 57 Wait. Specifically: by pushing the adjustment block upwards, the adjustment block is disengaged from the limit sealing plate, and then the adjustment block is rotated to drive the central pull shaft to engage with the locking plate, and when the appropriate locking angle or torque is reached, the adjustment block is released to make the reset The spring pushes the adjustment block to return to the position where it is engaged with the limit sealing plate, and restricts the rotation of the central pull shaft, so as to realize the installation of the fully charged battery.
  • the locking mechanism installed on the bottom of the battery-swapping vehicle includes a lock base 20 , a lock link 10 and the lock shaft 30, the lock shaft 30 is installed around the battery, the lock base 20 and the lock link 10 are installed on the inner side of the vehicle body fixing seat for fixing the battery, and correspond to the position of the lock shaft 30.
  • the lock shaft 30 includes a shaft seat 34 , a shaft rod 31 , a positioning magnet 32 and a shaft sleeve 33 .
  • the battery When in use, the battery is clamped into the fixed seat on the battery-changing vehicle under the control of the battery-changing device, and the unlocking component pushes the lock link 10 to move upward, driving the lock tongue to leave the lock slot 21, and the lock shafts 30 around the battery use the shafts respectively.
  • the rod 31 is inserted into the lock groove 21 of the corresponding lock base 20 on the fixed seat, and then moves to the other side of the lock groove 21 under the push of the power-changing device until it contacts the other end of the lock groove 21 to complete the battery suspension process.
  • the lock rod 10 drives the lock tongue 24 to move upward under the push of the unlocking member. It falls under the action of gravity so as to block the retraction path of the shaft 31 from the side.
  • the battery is completely locked in the battery-swapped vehicle.
  • the unlocking device on the power-changing device will contact the lock link 10 and push the lock link 10 up, so that the lock tongue leaves the lock slot 21.
  • the removal process of the battery can be completed by withdrawing from the slot 21.
  • the lock base 20 is blocked by foreign objects, or the lock base 20 , the lock tongue 24 , the shaft rod 31 and other components are damaged, the shaft rod 31 may be affected to enter and exit the lock slot 21 , thereby causing a battery swap vehicle
  • the locking mechanism on the battery and/or the unlocking mechanism on the battery replacement device is damaged or failed, making battery replacement impossible.
  • the positioning mechanism installed on the bottom of the battery-swapping vehicle includes a positioning block (such as the guide block 42 in CN105480209B), and the positioning mechanism installed on the battery-swapping device
  • the positioning member includes a fork (eg, the battery positioning block 12 in CN105480209B).
  • the position of the fork and the positioning block corresponds to, and the battery swapping device determines the battery position of the battery swapping vehicle according to the position of the positioning block.
  • the positioning block is blocked or damaged by a foreign object, the positioning of the power exchange device will be affected, resulting in a reduction in power exchange efficiency or even failure of power exchange.
  • the positioning mechanism installed on the bottom of the battery-swapping vehicle includes positioning holes (such as the tapered positioning sleeve in CN111745657A or the tapered positioning in CN111746341A).
  • the positioning component installed on the power exchange device includes a positioning column (such as the positioning cone pin 1001 in CN111745657A).
  • the positioning holes correspond to the positions of the positioning posts, and the battery swapping device determines the battery position of the battery swapping vehicle according to the positions of the positioning holes.
  • the positioning hole is blocked or damaged by a foreign object, the positioning of the power exchange device will be affected, resulting in a reduction in power exchange efficiency or even failure of power exchange.
  • the positioning mechanism installed on the bottom of the battery swapping vehicle includes a positioning point
  • the positioning component installed on the battery swapping device includes a camera device.
  • the battery swapping device determines whether it is aligned with the battery position of the battery swapping vehicle according to whether the camera device captures the positioning point. In this embodiment, if the positioning point is blocked or damaged by a foreign object, the positioning of the power exchange device will be affected, resulting in a reduction in power exchange efficiency or even failure of power exchange.
  • the battery-swap vehicle detection system of this embodiment may further include:
  • the comparison module 63 is used to compare the image with the reference image to obtain the comparison result
  • the judgment module 64 is used for judging whether the bottom of the electric vehicle is damaged or whether it is suitable for battery replacement according to the comparison result;
  • the marking module 65 is used to mark the comparison result in the image.
  • the reference image used to detect whether the bottom of the battery-swapped vehicle is damaged may include a preset reference image applicable to all battery packs, so as to facilitate a unified standard for detecting whether the battery is damaged or not, and may also include replacement
  • the preset reference picture of the electric vehicle from the factory is helpful to unify the standard for detecting whether the positioning mechanism and/or the locking mechanism is damaged.
  • the reference image used to detect whether the battery-swapped vehicle is suitable for battery-swapping may include a preset reference picture of the battery-swap vehicle from the factory, which is conducive to a unified standard for detecting whether the battery-swap vehicle is suitable for battery-swapping.
  • the reference image used to detect whether the bottom of the battery-swapping vehicle is damaged may also include a second complete picture of the bottom of the battery-swapping vehicle collected after the previous battery swapping is completed. After the electricity is completed, the second complete picture of the bottom of the battery-changing vehicle is collected and saved, and the second complete picture saved is compared with the battery-changing vehicle collected during the next time the battery-changing vehicle drives into and out of the battery-changing potential. The first complete picture at the bottom can more flexibly and accurately judge whether the bottom of the battery-swapped vehicle is damaged.
  • the second complete picture of the bottom of the battery-swapping vehicle may also be associated with the identification code of the battery-swapping vehicle, so that the battery-swapping vehicle detection system in this embodiment may further include a method for obtaining the replacement vehicle.
  • the picture retrieval module 67 realizes the rapid retrieval of the second complete picture corresponding to the battery-swapped vehicle.
  • the identification code may be a license plate number for easy identification.
  • the comparison result between the image and the reference image can also be marked on the obtained image, so that the comparison result between the image and the reference image can be obtained intuitively, and further, the comparison result between the image and the reference image can be intuitively obtained. Determine whether the bottom of the battery swapping vehicle is damaged or suitable for battery swapping.
  • the bottom image of the battery-swappable vehicle can be captured during the process of driving the battery-swapping vehicle into and out of the battery-swap potential, and further, based on the captured bottom image, the battery-depleted battery, locking state of the battery-swapping vehicle can be obtained before the battery swapping.
  • the vehicle-carrying platform of this embodiment includes a power exchange 71 , an entrance 72 , an exit 73 and a photographing device.
  • the photographing device is arranged on the path from the battery swapping vehicle entering to exiting the swapping potential 71 to photograph the bottom of the battery swapping vehicle.
  • the photographing device in is not exposed on the upper surface of the vehicle platform, that is, the highest point of the photographing device is located below the upper surface of the vehicle platform.
  • the vehicle platform may only include a photographing device installed between the entrance 72 of the vehicle platform and the switching potential 71 (eg, the position P A ) for photographing the battery including the depleted battery.
  • the bottom image of the battery-swapped vehicle can first obtain the image information of the battery, the locking mechanism and/or the positioning mechanism when the battery-swapped vehicle is scanning the license plate or before entering the swapping potential.
  • the photographing device is preferably installed at a position close to the switching potential of the vehicle platform, so as to increase the photographing range of the photographing device.
  • the vehicle-carrying platform may also include only one photographing device installed between the transmutation potential 71 and the exit 73 of the vehicle-carrying platform (for example, the position P B ), for photographing the vehicle including the fully charged battery
  • the photographing device is preferably installed at a position close to the electric potential of the vehicle-carrying platform, so as to increase the photographing range of the photographing device, which can capture the depleted battery, the locking mechanism and/or the depleted battery before disassembly.
  • the positioning mechanism, the fully charged battery, the locking mechanism and/or the positioning mechanism can also be photographed after installation.
  • the vehicle-carrying platform may also include only two respectively installed between the entrance 72 of the vehicle-carrying platform and the changing potential 71 (for example, the position P A ) for photographing including a depleted battery, a lock A device for photographing the bottom image of the battery-swapped vehicle with the stop mechanism and/or positioning mechanism, and between the electric potential and the exit 73 of the vehicle platform (for example, the position P B ) for photographing the battery-swapped vehicle including a fully charged battery and the two cameras are preferably installed at the position of the vehicle platform close to the switching potential, so as to increase the shooting range of the camera.
  • the vehicle-carrying platform may also include only two photographing devices respectively disposed on opposite sides of the swapping potential, and these two photographing devices are preferably respectively used to photograph the bottom of the swapping vehicle in opposite directions.
  • two cameras can be placed on the side of the commutation potential near the drive-in (eg, position P C ) and on the side of the drive-off (eg, position PD ), both of which can be used in
  • some pictures of the bottom of the battery-swapping vehicle are collected along the driving direction of the battery-swapping vehicle and in the opposite direction to the driving direction of the battery-swapping vehicle, and then the battery-swapping vehicle can be obtained by synthesizing these two partial pictures
  • the photographing device arranged on the side close to the driving entrance is used to collect a plurality of partial pictures of the bottom of the electric vehicle during the process of driving the electric vehicle into the electric potential, and then use
  • the camera set on the side close to the exit is used to collect multiple images of the bottom of the battery-changing vehicle during the process of driving out of the battery-changing vehicle. Part of the picture, which is then used to synthesize a full picture of a fully charged battery, locking mechanism, or positioning mechanism.
  • two photographing devices may be arranged on the two sides of the swapping potential that are parallel to the driving direction of the swapping vehicle (for example, positions P E and P F ), and the two photographing devices may be used when the swapping vehicle is located at the opposite side of the swapping potential.
  • partial pictures of the bottom of the battery-changing vehicle are collected in two opposite directions perpendicular to the driving direction of the battery-changing vehicle, and then a complete picture of the battery pack can be obtained by synthesizing these two partial pictures, or the left half of the chassis can be directly photographed.
  • the vehicle-carrying platform is further provided with an installation groove, and the photographing device is arranged in the installation groove, thereby facilitating the stable installation of the photographing device and improving the photographing effect of the photographing device.
  • a transparent window is installed in the slot of the installation slot, and the setting of the transparent window can protect the camera from contamination on the basis of ensuring that the camera can capture the bottom image of the battery-swapped vehicle. damage, which is beneficial to prolong the service life of the photographing device.
  • the vehicle-carrying platform provided by this embodiment further includes a photographing device, so that the bottom image of the battery-changing vehicle can be photographed during the process of the battery-changing vehicle driving in to driving out of the battery-changing potential, and then the battery-changing vehicle can be obtained based on the bottom image captured.
  • the images of the components such as the depleted battery, locking mechanism and/or positioning mechanism before the power exchange, or the images of the fully charged battery, locking mechanism and/or positioning mechanism and other components after the power exchange are beneficial to the subsequent battery packs,
  • the vehicle-carrying platform of this embodiment includes a power exchange 81 , an entrance 82 , an exit 83 and a photographing device, wherein the power exchange 81 is used to park the power exchange vehicle to The battery exchange is performed, and the battery exchange port 811 is opened at the exchange potential 81 for the battery exchange equipment moving under the vehicle platform to perform the battery exchange operation on the battery exchange vehicle.
  • the photographing device in this embodiment is preferably not exposed on the upper surface of the vehicle platform, that is, , the highest point of the photographing device is located below the upper surface of the vehicle platform.
  • the battery replacement opening 811 there is a space between the battery replacement opening 811 and other parts of the vehicle platform, so that the lower surface of the vehicle platform close to the battery replacement opening 811 can be used to install and install the photographing device. It is beneficial to take images of battery packs in a wider range, and will not affect the movement of the battery-swapping vehicle on the vehicle platform.
  • the vehicle platform may only include a photographing device disposed on the lower surface of the vehicle platform close to the battery exchange port 811 , for example, the photographing device may be disposed on the vehicle platform near the driving entrance 82 and the battery exchange port 811 .
  • the lower surface (for example, the position opposite to the position PG ) is used to capture the bottom image of the battery-swapped vehicle including the depleted battery, the locking mechanism and/or the positioning mechanism.
  • the lower surface of the vehicle platform (eg, location P G ) of the outlet 83 and the battery replacement opening 811 is used to capture a bottom image of the battery-swapped vehicle including a fully charged battery, a locking mechanism and/or a positioning mechanism.
  • the vehicle platform can also only include two photographing devices respectively disposed on the opposite sides of the lower surface of the vehicle platform close to the battery replacement opening 811, and these two photographing devices are preferably used to photograph the bottom of the battery-swapping vehicle in opposite directions respectively.
  • two cameras may be placed on the side of the commutation potential near the drive-in (eg, opposite position PG ) and on the side of the drive-off (eg, position PG ), both cameras being It can be used to collect partial pictures of the bottom of the battery-changing vehicle in the driving direction of the battery-changing vehicle and in the opposite direction to the driving direction of the battery-changing vehicle when the battery-changing vehicle is in the stationary process of the battery-changing potential.
  • a plurality of partial pictures of the bottom of the battery-swapping vehicle are collected.
  • the photographing device disposed on the side close to the driving entrance is used to collect multiple pictures of the bottom of the battery-swapping vehicle when the battery-swapping vehicle drives into the potential-changing process.
  • the picture is then used to synthesize the complete picture of the depleted battery, the locking mechanism or the positioning mechanism.
  • the camera set on the side close to the exit is used to collect multiple pictures of the exchanged vehicle during the process of driving out from the exchanged potential.
  • a partial picture of the bottom of the electric vehicle which is then used to synthesize a full picture of the fully charged battery, locking mechanism, or positioning mechanism.
  • two photographing devices may be arranged on both sides of the swapping potential that are parallel to the driving direction of the swapping vehicle (eg, the position PH and the position opposite to it), and the two photographing devices may be used when the swapping vehicle is located in the swapping position.
  • some pictures of the bottom of the battery-changing vehicle are collected in two opposite directions perpendicular to the driving direction of the battery-changing vehicle, and then a complete picture of the bottom of the battery-changing vehicle can be obtained by synthesizing these two partial pictures, or direct shooting. Batteries, locking mechanisms, and positioning mechanisms for the left and right halves of the chassis.
  • the vehicle platform may also only include a photographing device installed between the entrance 82 of the vehicle platform and the switching potential 81 (for example, the position P I ), for photographing including the depleted battery , the bottom image of the battery swap vehicle with the locking mechanism and/or the positioning mechanism, the image information of the battery, the locking mechanism and/or the positioning mechanism can be obtained first when the battery swap vehicle scans the license plate or does not enter the switching potential.
  • the photographing device is preferably installed at a position close to the switching potential of the vehicle platform, so as to increase the photographing range of the photographing device.
  • the vehicle-carrying platform may also include only one photographing device installed between the switching potential 81 and the exit 83 of the vehicle-carrying platform (eg, the position P J ), for photographing including a fully charged battery, a lock
  • the vehicle-carrying platform may also include only two respectively installed between the entrance 82 of the vehicle-carrying platform and the changing potential 81 (for example, the position P I ) for photographing including a depleted battery, a lock A device for photographing the bottom image of the swapped vehicle with the stop mechanism and/or positioning mechanism, and between the swapping potential 81 and the exit 83 of the vehicle platform (eg, position P J ) for photographing including a fully charged battery, locking
  • the device and/or the bottom image of the power-swapping vehicle of the positioning mechanism are preferably installed at the position of the vehicle platform close to the power-swap, so as to increase the shooting range of the shooting device.
  • the vehicle-carrying platform is further provided with an installation groove, and the photographing device is arranged in the installation groove, thereby facilitating the stable installation of the photographing device and improving the photographing effect of the photographing device.
  • a transparent window is installed in the slot of the installation slot, and the setting of the transparent window can protect the camera from contamination on the basis of ensuring that the camera can capture the bottom image of the battery-swapped vehicle. damage, which is beneficial to prolong the service life of the photographing device.
  • the vehicle-carrying platform provided by this embodiment further includes a photographing device, so that the bottom image of the battery-changing vehicle can be photographed during the process of the battery-changing vehicle driving in to driving out of the battery-changing potential, and then the battery-changing vehicle can be obtained based on the bottom image captured.
  • the images of the components such as the depleted battery, locking mechanism and/or positioning mechanism before the power exchange, or the images of the fully charged battery, locking mechanism and/or positioning mechanism and other components after the power exchange are beneficial to the subsequent battery packs,
  • This embodiment provides a power exchange station, and the power exchange station in this embodiment includes the vehicle-carrying platform provided with the photographing device provided in Embodiment 3 or 4, so that photographs can be taken during the process of driving the battery-changing vehicle from entering to exiting the switching potential.
  • the bottom image of the battery-swapped vehicle and then, based on the captured bottom image, the images of the depleted battery, locking mechanism and/or positioning mechanism of the battery-swappable vehicle before the battery swap, or the fully charged battery after the battery swap can be obtained.
  • images of components such as locking mechanism and/or positioning mechanism thereby facilitating the traceability of subsequent damage to components such as battery pack, locking mechanism and/or positioning mechanism, and liability for damage to components such as battery pack, locking mechanism and/or positioning mechanism , and stop the battery replacement in a timely manner when the locking mechanism and/or positioning mechanism and other components are blocked and the battery replacement conditions are not available, so as to avoid damage to the components.

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Abstract

本申请公开了一种换电站、载车平台、换电车辆检测方法与系统。其中，换电车辆检测方法包括：在换电车辆驶入至驶出载车平台的换电位的过程中，拍摄所述换电车辆的底部；获取所述换电车辆底部的影像。本申请可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，有利于后续换电车辆底部损坏的溯源以及换电车辆底部损坏责任的厘清，以及在换电车辆的底部被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。

Description

换电站、载车平台、换电车辆检测方法与系统
本申请要求申请日为2021年2月23日的中国专利申请CN202110203796.0的优先权。本申请引用上述中国专利申请的全文。
技术领域
本申请涉及换电技术领域，尤其涉及一种换电站、载车平台、换电车辆检测方法与系统。
背景技术
为了适配于电动车辆的换电，电动车辆的底部通常安装有电池、用于锁止电池的锁止机构以及用于换电定位的定位机构等部件。
由于驾驶环境的影响，可能导致电动车辆的底部发生损坏，例如安装在电动车辆底部的电池发生损坏，特别是电池下表面的损坏，而电池的外表损坏极大可能预示着电池内部的电芯也出现了故障。但是，当前并未对同一块电池在安装和拆卸时的状态差异进行记录或检测，使得在电池从换电车辆上拆卸下之后才发现的电池损坏难以溯源，无法准确判断该损坏是电池安装前便存在的，还是在车辆行驶过程中导致的，容易导致电池损坏责任的推诿。又例如安装在电动车辆底部的锁止机构发生损坏，导致无法换电。当前并未对锁止机构在换电前和换电时的状态差异进行记录或检测，无法判断锁止机构的损坏是在车辆行驶过程中导致的，还是在换电过程中导致的，容易导致锁止机构损坏责任的推诿。如若能够对换电车辆在换电前后换电车辆的底部外表进行记录，则能够使得换电车辆底部损坏的溯源以及换电车辆底部损坏责任的厘清变得容易。
由于驾驶环境的影响，还可能导致电动车辆的底部被泥土、石子、冰雪等异物所遮挡，例如安装在电动车辆底部的锁止机构被异物所遮挡，使得从换电车辆上拆卸亏电电池的难度增加从而造成锁止机构损坏，遮挡严重的情况下甚至无法将亏电电池从换电车辆上拆卸。又例如安装在电动车辆底部的定位机构被异物所遮挡，使得换电小车无法对准电池位置，导致换电效率降低甚至无法进行换电。
发明内容
本申请要解决的技术问题是为了克服现有技术中换电车辆在换电前后对换电车辆的底部外表无记录的缺陷，提供一种换电站、载车平台、换电车辆检测方法与系统。
本申请是通过下述技术方案来解决上述技术问题：
一种换电车辆检测方法，包括：
在换电车辆驶入至驶出载车平台的换电位的过程中，拍摄所述换电车辆的底部；
获取所述换电车辆底部的影像。
在本方案中，通过拍摄在驶入至驶出换电位的过程中换电车辆底部的影像，有利于后续换电车辆底部损坏的溯源以及换电车辆底部损坏责任的厘清，以及在换电车辆的底部被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
较佳地，所述影像包括电池、用于锁止电池的锁止机构和/或用于换电定位的定位机构，所述电池为亏电电池或满电电池。
本方案中，在换电车辆驶入至驶出换电位的过程中拍摄的影像可以包括安装于换电车辆底部的电池、锁止机构和/或定位机构等。其中，亏电电池与满电电池可以是同一电池包，具体地，更换至换电车辆的电池包为满电电池，当该换电车辆再次前往换电站更换电池包时，先前的满电电池已经成为了需要充电的亏电电池。换电车辆上的锁止机构与换电设备上的解锁机构相适配，锁止机构和解锁机构相配合用于将亏电电池从换电车辆上解锁，以使亏电电池处于可拆卸状态，并用于将满电电池安装至换电车辆上后上锁。换电车辆上的定位机构与换电设备上的定位部件相适配，定位机构和定位部件相配合用于将换电设备定位至与换电车辆的电池位置对准。其中，换电设备上用于放置亏电电池或满电电池。拍摄电池影像以便于判断电池是否损坏等情况；拍摄锁止机构影像以便于判断锁止机构是否损坏或被遮挡而无法加解锁等情况；拍摄定位机构影像以便于判断定位机构是否损坏或被遮挡而无法被定位等情况。
较佳地，包括：
在换电车辆位于所述换电位时，拍摄所述换电车辆底部的完整照片。
在本方案中，驶入至驶出换电位的过程可以划分为，驶入换电位的过程、静止地位于换电位的过程以及驶出换电位的过程。在本方案中，具体在换电车辆静止地位于换电位时，拍摄换电车辆底部的完整照片，其中，拍摄的完整照片可以包括在换电执行前拍摄的照片和/或在换电执行完毕后拍摄的照片。
较佳地，包括：
在换电车辆驶入或驶出换电位的过程中，拍摄所述换电车辆底部的视频。
在本方案中，驶入至驶出换电位的过程可以划分为，驶入换电位的过程、静止地位于换电位的过程以及驶出换电位的过程。在本方案中，具体在换电车辆驶入换电位的过程中或驶出换电位的过程中，拍摄换电车辆底部的视频。
较佳地，包括：
处理所述视频，以获取包含所述换电车辆上的电池、锁止机构和/或定位机构的照片或视频。
在本方案中，可以通过处理换电车辆驶入或驶出换电位的过程中拍摄到的底部视频，来获取包含电池、锁止机构和/或定位机构的照片或者视频。
较佳地，包括：
在换电车辆驶入至驶出换电位的过程中，采集多幅所述换电车辆底部的第一部分图片；合成多幅所述第一部分图片以获取所述换电车辆底部的第一完整图片。
在本方案中，在换电车辆驶入至驶出换电位的过程中采集该换电车辆的多幅底部图片，其中，由于换电车辆的运动，所采集到的底部图片所包含的部分不尽相同，在此基础上，可以通过合成采集到的多幅底部图片的方式来获取换电车辆底部的完整图片。
较佳地，在获取所述换电车辆底部的影像的步骤之后还包括：
比对所述影像与参考影像以获取比对结果；
根据所述比对结果判断所述换电车辆的底部是否损坏或是否适于换电。
在本方案中，通过比对拍摄的影像和用于检测换电车辆的底部是否损坏的参考影像的方式，来确定换电车辆的底部是否损坏，有利于换电车辆底部损坏的溯源以及换电车辆底部损坏责任的厘清。通过比对拍摄的影像和用于检测换电车辆是否适于换电的参考影像的方式，来确定换电车辆是否适于换电，避免换电车辆在不具备换电条件的情况下进行换电造成的部件损坏。
较佳地，所述参考影像包括预设基准图片。
在本方案中，用于检测换电车辆的底部是否损坏的参考影像可以包括适用于所有电池包的预设基准图片，有利于统一检测亏电电池是否损坏的标准，还可以包括换电车辆出厂的预设基准图片，从而有利于统一检测锁止机构是否损坏的标准。用于检测换电车辆是否适于换电的参考影像可以包括换电车辆出厂的预设基准图片，有利于统一检测换电车辆是否适于换电的标准。
较佳地，所述参考影像包括所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片。
在本方案中，用于检测换电车辆的底部是否损坏的参考影像可以包括上一次换电完成后采集到的换电车辆底部的第二完整图片，例如，可以在换电完成后采集换电车辆底部的第二完整图片并对其进行保存，通过比对保存的第二完整图片以及该换电车辆下一次驶入至驶出换电位的过程中采集的换电车辆底部的第一完整图片，能够更加灵活、准 确地对换电车辆的底部是否损坏进行判断。
较佳地，采集多幅所述换电车辆底部的第一部分图片包括以下步骤：
在所述换电车辆位于换电位的静止过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片；
或者，
在所述换电车辆驶入至换电位或从换电位驶出的过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的多幅第一部分图片；
或者，
在所述换电车辆位于换电位的静止过程中，分别沿两个相反方向采集所述亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片。
在本方案中，换电车辆底部的第一部分图片，可以相同的采集方向采集于换电车辆驶入换电位的过程中，也可以相同的采集方向，或者分别以两个相反的采集方向，采集于换电车辆静止在换电位且换电执行之前，还可以相同的采集方向采集于换电车辆静止在换电位且换电执行完毕后，也可以相同的采集方向，或者分别以两个相反的采集方向，采集于换电车辆驶出换电位的过程中，以为第一完整图片的合成提供素材。
较佳地，拍摄位置被设置为位于换电车辆驶入段至换电车辆停靠在换电位时的电池、锁止机构或定位机构末端之间，用于拍摄包括亏电电池、锁止机构和/或定位机构的第一部分图片；
和/或，
拍摄位置被设置为位于换电车辆停靠在换电位时的电池、锁止机构和/或定位机构前端至换电车辆驶出段之间，用于拍摄包括满电电池、锁止机构和/或定位机构的第一部分图片。
在本方案中，可以包括仅一个用于拍摄包括亏电电池、锁止机构和/或定位机构的拍摄位置，可以仅包括一个用于拍摄包括满电电池、锁止机构和/或定位机构的拍摄位置，也可以在包括一个用于拍摄包括亏电电池、锁止机构和/或定位机构的拍摄位置的同时还包括一个用于拍摄包括满电电池、锁止机构和/或定位机构的拍摄位置。其中，驶入段可以包括进入换电站的入口、坡道入口、坡道上和/或载车平台入口等。
较佳地，拍摄位置被设置为位于换电位的相对两侧。
在本方案中，拍摄位置有两个，并且分别位于换电位的相对的两侧。
较佳地，在比对所述影像与参考影像以获取比对结果的步骤之前还包括：
获取所述换电车辆的识别码；
根据所述识别码，调取与所述识别码关联保存的所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片。
在本方案中，换电车辆上安装的满电电池的第二完整图片与该换电车辆的识别码相关联，从而可以根据换电车辆的识别码实现换电车辆对应的第二完整图片的快速调取。
较佳地，在比对所述影像与参考影像以获取比对结果的步骤之后还包括：
在所述影像中标记出比对结果。
在本方案中，可以在获取到的影像上标记出该影像与参考影像之间的比对结果，从而可以直观地获取到该影像与参考影像的比对结果，进而，可以直观地判断换电车辆的底部是否损坏或者是否适于换电。
一种换电车辆检测系统，包括：
拍摄模块，用于在换电车辆驶入至驶出载车平台的换电位的过程中，拍摄所述换电车辆的底部；
第一获取模块，用于获取所述换电车辆底部的影像。
在本方案中，通过拍摄在驶入至驶出换电位的过程中换电车辆底部的影像，有利于后续换电车辆底部损坏的溯源以及换电车辆底部损坏责任的厘清，以及在换电车辆的底部被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
较佳地，所述影像包括电池、用于锁止电池的锁止机构和/或用于换电定位的定位机构，所述电池为亏电电池或满电电池。
本方案中，在换电车辆驶入至驶出换电位的过程中拍摄的影像可以包括安装于换电车辆底部的电池、锁止机构和/或定位机构等。其中，亏电电池与满电电池可以是同一电池包，具体地，更换至换电车辆的电池包为满电电池，当该换电车辆再次前往换电站更换电池包时，先前的满电电池已经成为了需要充电的亏电电池。换电车辆上的锁止机构与换电设备上的解锁机构相适配，锁止机构和解锁机构相配合用于将亏电电池从换电车辆上拆卸，并将满电电池安装至换电车辆上。换电车辆上的定位机构与换电设备上的定位部件相适配，定位机构和定位部件相配合用于将换电设备定位至与换电车辆的电池位置对准。其中，换电设备上用于放置亏电电池或满电电池。较佳地，所述拍摄模块具体用于在换电车辆位于所述换电位时，拍摄所述换电车辆底部的完整照片。
在本方案中，驶入至驶出换电位的过程可以划分为，驶入换电位的过程、静止地位于换电位的过程以及驶出换电位的过程。在本方案中，具体在换电车辆静止地位于换电位时，拍摄换电车辆底部的完整照片，其中，拍摄的完整照片包括在换电执行前拍摄的照片和/或在换电执行完毕后拍摄的照片。
较佳地，所述拍摄模块具体用于在换电车辆驶入或驶出换电位的过程中，拍摄所述换电车辆底部的视频。
在本方案中，驶入至驶出换电位的过程可以划分为，驶入换电位的过程、静止地位于换电位的过程以及驶出换电位的过程。在本方案中，具体在换电车辆驶入换电位的过程中或驶出换电位的过程中，拍摄换电车辆底部的视频。
较佳地，所述第一获取模块具体用于处理所述视频，以获取包含所述换电车辆上的电池、锁止机构和/或定位机构的照片或视频。
在本方案中，可以通过处理换电车辆驶入或驶出换电位的过程中拍摄到的底部视频，来获取包含电池、锁止机构和/或定位机构的照片或者视频。
较佳地，所述拍摄模块具体用于在换电车辆驶入至驶出换电位的过程中，采集多幅所述换电车辆底部的第一部分图片；
所述第一获取模块具体用于合成多幅所述第一部分图片以获取所述换电车辆底部的第一完整图片。
在本方案中，在换电车辆驶入至驶出换电位的过程中采集该换电车辆的多幅底部图片，其中，由于换电车辆的运动，所采集到的底部图片所包含的部分不尽相同，在此基础上，可以通过合成采集到的多幅底部图片的方式来获取包含换电车辆底部的完整图片。
较佳地，所述换电车辆检测系统还包括：
比对模块，用于比对所述影像与参考影像以获取比对结果；
判断模块，用于根据所述比对结果判断所述换电车辆的底部是否损坏或是否适于换电。
在本方案中，通过比对拍摄的影像和用于检测换电车辆的底部是否损坏的参考影像的方式，来确定换电车辆的底部是否损坏，有利于换电车辆底部损坏的溯源以及换电车辆底部损坏责任的厘清。通过比对拍摄的影像和用于检测换电车辆是否适于换电的参考影像的方式，来确定换电车辆是否适于换电，避免换电车辆在不具备换电条件的情况下进行换电造成的部件损坏。
较佳地，所述参考影像包括预设基准图片。
在本方案中，用于检测换电车辆的底部是否损坏的参考影像可以包括适用于所有电池包的预设基准图片，有利于统一检测亏电电池是否损坏的标准，还可以包括换电车辆出厂的预设基准图片，从而有利于统一检测锁止机构是否损坏的标准。用于检测换电车辆是否适于换电的参考影像可以包括换电车辆出厂的预设基准图片，有利于统一检测换电车辆是否适于换电的标准。
较佳地，所述参考影像包括所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片。
在本方案中，用于检测换电车辆的底部是否损坏的参考影像可以包括上一次换电完成后采集到的换电车辆底部的第二完整图片，例如，可以在换电完成后采集换电车辆底部的第二完整图片并对其进行保存，通过比对保存的第二完整图片以及该换电车辆下一次驶入至驶出换电位的过程中采集的换电车辆底部的第一完整图片，能够更加灵活、准确地对换电车辆的底部是否损坏进行判断。
较佳地，所述拍摄模块具体用于在所述换电车辆位于换电位的静止过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片；
或者，
所述拍摄模块具体用于在所述换电车辆驶入至换电位或从换电位驶出的过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的多幅第一部分图片；
或者，
所述拍摄模块具体用于在所述换电车辆位于换电位的静止过程中，分别沿两个相反方向采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片。
在本方案中，换电车辆底部的第一部分图片，可以相同的采集方向采集于换电车辆驶入换电位的过程中，也可以相同的采集方向，或者分别以两个相反的采集方向，采集于换电车辆静止在换电位且换电执行之前，还可以相同的采集方向采集于换电车辆静止在换电位且换电执行完毕后，也可以相同的采集方向，或者分别以两个相反的采集方向，采集于换电车辆驶出换电位的过程中，以为第一完整图片的合成提供素材。
较佳地，拍摄位置被设置为位于换电车辆驶入段至换电车辆停靠在换电位时的电池、锁止机构或定位机构末端之间，用于拍摄包括亏电电池、锁止机构或定位机构的第一部分图片；
和/或，
拍摄位置被设置为位于换电车辆停靠在换电位时的电池、锁止机构或定位机构前端至换电车辆驶出段之间，用于拍摄包括满电电池、锁止机构或定位机构的第一部分图片。
在本方案中，可以包括仅一个用于拍摄包括亏电电池、锁止机构和/或定位机构的拍摄位置，可以仅包括一个用于拍摄包括满电电池、锁止机构和/或定位机构的拍摄位置， 也可以包括一个用于拍摄包括亏电电池、锁止机构和/或定位机构的拍摄位置的同时还包括一个用于拍摄包括满电电池、锁止机构和/或定位机构的拍摄位置。其中，驶入段可以包括进入换电站的入口、坡道入口、坡道上和/或载车平台入口等。
较佳地，拍摄位置被设置为位于换电位的相对两侧。
在本方案中，拍摄位置有两个，并且分别位于换电位的相对的两侧。
较佳地，所述换电车辆检测系统还包括：
第二获取模块，用于获取所述换电车辆的识别码；
调取模块，用于根据所述识别码，调取与所述识别码关联保存的所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片。
在本方案中，换电车辆上安装的满电电池的第二完整图片与该换电车辆的识别码相关联，从而可以根据换电车辆的识别码实现换电车辆对应的第二完整图片的快速调取。
较佳地，所述换电车辆检测系统还包括：
标记模块，用于在所述影像中标记出比对结果。
在本方案中，可以在获取到的影像上标记出该影像与参考影像之间的比对结果，从而可以直观地获取到该影像与参考影像的比对结果，进而，可以直观地判断换电车辆的底部是否损坏或者是否适于换电。
一种载车平台，包括：
换电位，用于停靠换电车辆以进行换电；
拍摄装置，设置于所述换电车辆驶入至驶出所述换电位的路径上，用于拍摄所述换电车辆的底部。
在本方案中，载车平台还包括拍摄装置，从而可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，其中，拍摄的影像可以包括电池、用于锁止电池的锁止机构和/或用于换电定位的定位机构，所述电池为亏电电池或满电电池。可以基于拍摄到的底部影像来获取换电车辆在换电前的亏电电池和/或锁止机构的影像或者在换电后的满电电池和/或锁止机构的影像，有利于后续电池包、锁止机构和/或定位机构等部件损坏的溯源以及电池包、锁止机构和/或定位机构等部件损坏责任的厘清。还可以基于拍摄到的底部影像来获取换电车辆在换电前的锁止机构和/或定位机构的影像，有利于在锁止机构和/或定位机构被遮挡使其不具备换电条件的情况下及时停止换电，以免造成部件损坏。
较佳地，所述拍摄装置安装于所述载车平台的靠近所述换电位的位置。
在本方案中，提供一种拍摄装置的安装位置，具体地，靠近换电位安装的拍摄装置， 拍摄范围更加广泛。
较佳地，所述拍摄装置为两个，分别安装于所述载车平台的驶入口至所述换电位之间，以及所述换电位至所述载车平台的驶出口之间。
在本方案中，提供一种拍摄装置的安装位置，具体地，安装于驶入口与换电位之间的拍摄装置可以用于拍摄包括亏电电池、锁止机构和/或定位机构的换电车辆的底部影像，安装于换电位与驶出口之间的拍摄装置可以用于拍摄包括满电电池、锁止机构和/或定位机构的换电车辆的底部影像。
较佳地，所述载车平台还设有安装槽，所述拍摄装置设置于所述安装槽内。
在本方案中，安装槽的设置，有利于实现拍摄装置的稳固安装，进而有利于提升拍摄装置的拍摄效果。
较佳地，所述拍摄装置不露出于所述载车平台的上表面。
在本方案中，拍摄装置不露出载车平台的上表面，也即，拍摄装置的最高处位于载车平台上表面的下方，从而，拍摄装置的安装不会影响换电车辆在载车平台上的移动。
较佳地，所述安装槽的槽口安装有透明视窗。
在本方案中，安装槽的槽口安装有透明视窗，在保证拍摄装置能够拍摄到换电车辆的底部影像的基础上，还能够保护拍摄装置不受污损，有利于延长拍摄装置的使用寿命。
较佳地，所述拍摄装置为两个，设置于所述换电位的相对两侧。
在本方案中，提供一种拍摄装置的安装位置，具体地，两个拍摄装置分别设置在换电位的相对的两侧上，有利于扩展拍摄范围以及拍摄数量。
较佳地，所述换电位开设有电池更换口，所述电池更换口用于供在所述载车平台下方移动的换电设备对所述换电车辆进行换电操作；
所述拍摄装置设置在所述载车平台靠近所述电池更换口的下表面。
在本方案中，拍摄装置靠近电池更换口下表面设置，在拍摄得到电池包影像的基础上，还不会影响换电车辆在载车平台上的移动。
一种换电站，包括上述任一种载车平台。
在本方案中，换电站还包括安装有拍摄装置的载车平台，从而可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，有利于后续换电车辆底部损坏的溯源以及换电车辆底部损坏责任的厘清，以及在换电车辆的底部被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
本申请的积极进步效果在于：本申请可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，有利于后续换电车辆底部损坏的溯源以及换电车辆底部损坏责 任的厘清，以及在换电车辆的底部被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
附图说明
图l为根据本申请实施例1的换电车辆检测方法的部分流程图。
图2为现有技术中一种锁止机构的结构示意图。
图3为现有技术中另一种锁止机构的局部结构示意图。
图4为现有技术中另一种锁止机构的局部结构示意图。
图5为根据本申请实施例2的换电车辆检测系统的模块示意图。
图6为根据本申请实施例3的载车平台的结构示意图。
图7为根据本申请实施例4的载车平台的结构示意图。
图8为根据本申请实施例4的载车平台中换电位的放大示意图。
具体实施方式
下面通过实施例的方式进一步说明本申请，但并不因此将本申请限制在所述的实施例范围之中。
实施例1
本实施例提供一种换电车辆检测方法，参照图1，本实施例的换电车辆检测方法包括：
S1、在换电车辆驶入至驶出载车平台的换电位的过程中，拍摄换电车辆的底部；
S2、获取换电车辆底部的影像。
在本实施例中，在换电车辆驶入至驶出换电位的过程中拍摄换电车辆底部的影像，具体地，在换电车辆驶出换电位之前，也即，在换电车辆驶入换电位、静止地位于换电位以及驶出换电位的过程中，拍摄换电车辆的底部的影像，其中，影像可以包括照片或者视频。
进一步地，在另一实施例中，可以在换电车辆静止地位于换电位时，拍摄换电车辆底部的第一完整照片。例如，第一完整照片可以包括在拆卸亏电电池之前和/或安装满电电池之后拍摄得到的照片。
在另一实施例中，还可以在换电车辆位于换电位的静止过程中，采集换电车辆底部的第一部分图片，继而合成多幅第一部分图片以获取换电车辆底部的第一完整图片。例如，拍摄位置可以被设置为在换电位上与换电车辆行驶方向相对的一侧，也即，换电位 上靠近载车平台的驶出口的一侧，并且该拍摄位置大约能拍摄得到包含大部分换电车辆底部的第一部分图片。拍摄位置还可以被设置为在换电位上靠近载车平台的驶入口的一侧，并且该拍摄位置大约能拍摄得到包含大部分换电车辆底部的第一部分图片。
在另一实施例中，拍摄位置可以被设置为位于换电位的相对两侧，从而本实施例还可以在换电车辆位于换电位的静止过程中，分别沿两个相反方向采集换电车辆底部的第一部分图片，继而合成多幅第一部分图片以获取换电车辆底部的第一完整图片。其中，所沿着的两个相反方向，可以是换电车辆行驶方向以及与换电车辆行驶方向相反的方向，例如，拍摄位置可以被设置为在换电位上靠近载车平台的驶入口的一侧以及靠近载车平台的驶出口的一侧，通过合成分别沿着两个方向采集到的换电车辆底部的两张第一部分图片可以获得换电车辆底部的第一完整图片。所沿着的两个相反方向，也可以是与换电车辆行驶方向垂直的两个相反方向，例如，拍摄位置可以被设置为在换电位上与换电车辆行驶方向平行的两侧，通过合成分别沿着两个方向采集到的换电车辆底部的两张第一部分图片可以获得换电车辆底部的第一完整图片。
在另一实施例中，还可以在换电车辆驶入换电位的过程中，采集多幅换电车辆底部的第一部分图片，继而合成多幅第一部分图片以获取换电车辆底部的第一完整图片。例如，拍摄位置可以被设置为位于换电车辆驶入段至换电车辆停靠在换电位时的电池、锁止机构或定位机构末端之间，用于拍摄包括亏电电池、锁止机构和/或定位机构的第一部分图片。其中，所采集的是亏电电池被拆卸之前换电车辆底部的第一部分图片，并且由于换电车辆的运动，所采集到的第一部分图片所包含的亏电电池、锁止机构和/或定位机构的部分不尽相同，在此基础上，可以通过图像拼接等方式对采集到的多幅第一部分图片进行合成，以获取包含该亏电电池、锁止机构和/或定位机构的第一完整图片。
通过采集多幅部分图片合成完整图片，降低了对拍摄角度的要求，无需要求必然通过一张图片获取到包括亏电电池、锁止机构和/或定位机构的完整图片，从而增加了可选择的拍摄位置，尤其适用于针对换电车辆底盘的近距离拍摄，即使存在拍摄死角，也能通过多幅部分图片合成完整图片。
基于获取到的换电车辆上的亏电电池的影像，可以对从换电车辆上拆卸下来的亏电电池进行记录，从而有利于后续电池包损坏的溯源以及电池包损坏责任的厘清。此外，还可以对亏电电池的拆卸过程以及被拆卸下来的亏电电池进行记录，以明确亏电电池的损坏是否是由于拆卸动作所造成的，从而进一步有利于后续电池包损坏的溯源以及电池包损坏责任的厘清。
在另一实施例中，还可以在换电车辆从换电位驶出的过程中，采集多幅换电车辆底 部的第一部分图片，继而合成多幅第一部分图片以获取换电车辆底部的第一完整图片。例如，拍摄位置可以被设置为位于换电车辆停靠在换电位时的电池、锁止机构或定位机构前端至换电车辆驶出段之间，用于拍摄包括满电电池、锁止机构和/或定位机构的第一部分图片。其中，所采集的是满电电池被安装至换电车辆之后换电车辆底部的第一部分图片，并且由于换电车辆的运动，所采集到的第一部分图片所包含的满电电池的部分不尽相同，在此基础上，可以通过图像拼接等方式对采集到的多幅第一部分图片进行合成，以获取包含该满电电池、锁止机构和/或定位机构的第二完整图片。
基于获取到的换电车辆上的满电电池的影像，可以对安装至换电车辆上的满电电池进行记录，从而有利于后续电池包损坏的溯源以及电池包损坏责任的厘清。
基于获取到的换电车辆上的锁止机构的影像，可以对换电车辆进行换电之前的锁止机构进行记录，从而有利于后续锁止机构损坏的溯源以及锁止机构损坏责任的厘清。此外，还可以对亏电电池的拆卸过程进行记录，以明确锁止机构的损坏是否是由于拆卸动作所造成的，从而进一步有利于后续锁止机构损坏的溯源以及锁止机构损坏责任的厘清。
基于获取到的换电车辆上的锁止机构和/定位机构的影像，可以对换电车辆进行换电之前的锁止机构和/定位机构进行记录，从而判断锁止机构和/定位机构被异物遮挡的情况，进而判断换电车辆是否具备换电条件，并在不具备换电条件的情况下及时停止换电，以免造成部件损坏。
在可选的一种实施方式中(如公开号为CN106080159A的中国专利申请)，如图2所示，安装于换电车辆底部的锁止机构包括固定组件40以及锁体组件50，固定组件40包括固定架41和锁紧板42，固定架41由四个第一螺栓43连接至例如换电车辆的底盘等车身上适当的部位，锁紧板42由两个第二螺栓44连接至固定架41。锁体组件50包括共同限定了容纳空间的套壳51和限位封板58、容置于该容纳空间内的中心拉轴52、调节块53、复位弹簧54、弹簧座55和56以及垫圈57等。具体地：通过向上推移调节块，使调节块与限位封板脱离，然后转动调节块从而驱动中心拉轴接合至锁紧板，当达到适当的锁紧角度或扭矩时释放调节块，使得复位弹簧推动调节块返回到与限位封板接合的位置，限制中心拉轴的转动，以实现满电电池的安装。通过向上推移调节块，使调节块与限位封板脱离，然后转动调节块从而驱动中心拉轴从锁紧板脱离，在中心拉轴从锁紧板脱离后释放调节块，使得复位弹簧推动调节块返回到与限位封板接合的位置，限制中心拉轴的转动，将亏电电池从锁止机构移离，以实现亏电电池的拆卸。图2中的固定组件40和锁体组件50处于锁止状态，其中，锁体组件50的中心拉轴52螺接至固定组件40的锁紧板42，从而将电池固定于换电车辆的车身。本实施方式中，若锁紧板42被坚硬的 异物所遮挡、或锁紧板42、中心拉轴52、调节块53等部件被损坏，都可能会影响中心拉轴无法与锁紧板固定或脱离，从而造成换电车辆上的锁止机构和/或换电设备上的解锁机构发生损坏或失效，导致无法进行换电。
在可选的另一种实施方式中(如公开号为CN206186769U的中国专利申请)，如图3和图4所示，安装于换电车辆底部的锁止机构包括锁基座20、锁连杆10和锁轴30，锁轴30安装在电池的四周，锁基座20和锁连杆10安装在用于固定电池的车体固定座内侧面上，并与锁轴30的位置对应。锁轴30包括轴座34、轴杆31、定位磁钢32和轴套33。在使用时，电池在换电设备的控制下卡入换电车辆上的固定座内，解锁部件推动锁连杆10向上移动，带动锁舌离开锁槽21，电池四周的锁轴30分别利用轴杆31插入固定座上相应锁基座20的锁槽21内，然后在换电设备的推动下向锁槽21的另一方移动，直至与锁槽21的另一端接触，完成电池的悬挂过程，在轴杆31的插入过程中，锁连杆10在解锁部件的推动下带动锁舌24向上移动，当轴杆31进入锁槽21内的锁定区域后，锁舌24会在锁连杆10的重力作用下下落从而从侧面封住轴杆31的回退路径。此时，处于电池完全被锁在换电车辆上的状态。当需要更换电池时，换电设备上的解锁装置会与锁连杆10接触，并推动锁连杆10上升，从而使锁舌离开锁槽21，此时，再移动电池使轴杆31由锁槽21中退出，即可完成电池的卸下过程。本实施方式中，若锁基座20被异物所遮挡、或锁基座20、锁舌24、轴杆31等部件被损坏，都可能会影响轴杆31出入锁槽21，从而造成换电车辆上的锁止机构和/或换电设备上的解锁机构发生损坏或失效，导致无法进行换电。
在可选的一种实施方式中(如公开号为CN105480209B的中国专利申请)，安装于换电车辆底部的定位机构包括定位块(如CN105480209B中的导向块42)，安装于换电设备上的定位部件包括叉子(如CN105480209B中的电池定位块12)。其中，叉子和定位块的位置相对应，换电设备根据定位块的位置确定换电车辆的电池位置。本实施方式中，若定位块被异物所遮挡或损坏，则影响换电设备的定位，从而导致换电效率降低甚至无法进行换电。
在可选的另一种实施方式中(如公开号为CN111745657A的中国专利申请)，安装于换电车辆底部的定位机构包括定位孔(如CN111745657A中的锥形定位套或CN111746341A中的锥形定位套17)，安装于换电设备上的定位部件包括定位柱(如CN111745657A中的定位锥销1001)。其中，定位孔和定位柱的位置相对应，换电设备根据定位孔的位置确定换电车辆的电池位置。本实施方式中，若定位孔被异物所遮挡或损坏，则影响换电设备的定位，从而导致换电效率降低甚至无法进行换电。
在可选的另一种实施方式中，安装于换电车辆底部的定位机构包括定位点，安装于换电设备上的定位部件包括摄像装置。换电设备根据摄像装置是否捕获到定位点来确定是否对准于换电车辆的电池位置。本实施方式中，若定位点被异物所遮挡或损坏，则影响换电设备的定位，从而导致换电效率降低甚至无法进行换电。
进一步地，在获取到的换电车辆底部的影像之后，还可以对换电车辆的底部是否损坏或是否适于换电进行检测。具体地，参照图1，本实施例的换电车辆检测方法还可以包括：
S3、比对影像与参考影像以获取比对结果；
S4、根据比对结果判断换电车辆的底部是否损坏或是否适于换电；
S5、在影像中标记出比对结果。
在另一实施例中，用于检测换电车辆的底部是否损坏的参考影像可以包括适用于所有电池包的预设基准图片，从而有利于统一检测亏电电池是否损坏的标准，还可以包括换电车辆出厂的预设基准图片，从而有利于统一检测定位机构和/或锁止机构是否损坏的标准。用于检测换电车辆是否适于换电的参考影像可以包括换电车辆出厂的预设基准图片，有利于统一检测换电车辆是否适于换电的标准。
在另一实施例中，用于检测换电车辆的底部是否损坏的参考影像也可以包括换电车辆上一次换电完成后采集到的换电车辆底部的第二完整图片，例如，可以在换电完成后采集换电车辆底部的第二完整图片并对其进行保存，通过比对保存的第二完整图片以及该换电车辆下一次驶入至驶出换电位的过程中采集的换电车辆底部的第一完整图片，能够更加灵活、准确地对换电车辆的底部是否损坏进行判断。
进一步地，在另一实施例中，还可以将换电车辆底部的第二完整图片与该换电车辆的识别码相关联，从而可以在获取换电车辆的识别码的基础上，根据获取到的识别码来调取与识别码关联保存的换电车辆上一次换电完成后采集到的换电车辆底部的第二完整图片，实现了换电车辆对应的第二完整图片的快速调取。其中，识别码具体可以采用车牌号，以便于识别。
在另一实施例中，还可以在获取到的影像上标记出该影像与参考影像之间的比对结果，从而可以直观地获取到该影像与参考影像的比对结果，进而，可以直观地判断换电车辆的底部是否损坏或是否适于换电。
本实施例可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，进而可以基于拍摄到的底部影像来获取换电车辆在换电前的亏电电池、锁止机构和/或定位机构等部件的影像或者在换电后的满电电池、锁止机构和/或定位机构等部件的影像，从 而有利于后续电池包、锁止机构和/或定位机构等部件损坏的溯源以及电池包、锁止机构和/或定位机构等部件损坏责任的厘清，以及在锁止机构和/或定位机构等部件被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
实施例2
本实施例提供一种换电车辆检测系统，参照图5，本实施例的换电车辆检测系统包括：
拍摄模块61，用于在换电车辆驶入至驶出载车平台的换电位的过程中，拍摄换电车辆的底部；
第一获取模块62，用于获取换电车辆底部的影像。
在本实施例中，拍摄模块61用于在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部的影像，具体地，在换电车辆驶出换电位之前，也即，在换电车辆驶入换电位、静止地位于换电位以及驶出换电位的过程中，拍摄模块61拍摄换电车辆的底部的影像，其中，影像可以包括照片或者视频。
进一步地，在另一实施例中，拍摄模块61可以用于在换电车辆静止地位于换电位时，拍摄换电车辆底部的第一完整照片。例如，第一完整照片可以包括在拆卸亏电电池之前和/或安装满电电池之后拍摄得到的照片。
在另一实施例中，拍摄模块61还可以用于在换电车辆位于换电位的静止过程中，采集换电车辆底部的第一部分图片，继而第一获取模块62合成多幅第一部分图片以获取换电车辆底部的第一完整图片。例如，拍摄位置可以被设置为在换电位上与换电车辆行驶方向相对的一侧，也即，换电位上靠近载车平台的驶出口的一侧，并且该拍摄位置大约能拍摄得到包含大部分换电车辆底部的第一部分图片。拍摄位置还可以被设置为在换电位上靠近载车平台的驶入口的一侧，并且该拍摄位置大约能拍摄得到包含大部分换电车辆底部的第一部分图片。
在另一实施例中，拍摄位置可以被设置为位于换电位的相对两侧，从而本实施例中拍摄模块61还可以用于在换电车辆位于换电位的静止过程中，分别沿两个相反方向采集换电车辆底部的第一部分图片，继而第一获取模块62合成多幅第一部分图片以获取换电车辆底部的第一完整图片。其中，所沿着的两个相反方向，可以是换电车辆行驶方向以及与换电车辆行驶方向相反的方向，例如，拍摄位置可以被设置为在换电位上靠近载车平台的驶入口的一侧以及靠近载车平台的驶出口的一侧，通过合成分别沿着两个方向采集到的换电车辆底部的两张第一部分图片可以获得换电车辆底部的第一完整图片。所沿着的两个相反方向，也可以是与换电车辆行驶方向垂直的两个相反方向，例如，拍摄位 置可以被设置为在换电位上与换电车辆行驶方向平行的两侧，通过合成分别沿着两个方向采集到的换电车辆底部的两张第一部分图片可以获得换电车辆底部的第一完整图片。
在另一实施例中，拍摄模块61还可以用于在换电车辆驶入换电位的过程中，采集多幅换电车辆底部的第一部分图片，继而第一获取模块62合成多幅第一部分图片以获取换电车辆底部的第一完整图片。例如，拍摄位置可以被设置为位于换电车辆驶入段至换电车辆停靠在换电位时的电池、锁止机构或定位机构末端之间，用于拍摄包括亏电电池、锁止机构和/或定位机构的第一部分图片。其中，所采集的是亏电电池被拆卸之前换电车辆底部的第一部分图片，并且由于换电车辆的运动，所采集到的第一部分图片所包含的亏电电池、锁止机构和/或定位机构的部分不尽相同，在此基础上，可以通过图像拼接等方式对采集到的多幅第一部分图片进行合成，以获取包含该亏电电池、锁止机构和/或定位机构的第一完整图片。
通过采集多幅部分图片合成完整图片，降低了对拍摄角度的要求，无需要求必然通过一张图片获取到包括亏电电池、锁止机构和/或定位机构的完整图片，从而增加了可选择的拍摄位置，尤其适用于针对换电车辆底盘的近距离拍摄，即使存在拍摄死角，也能通过多幅部分图片合成完整图片。
基于获取到的换电车辆上的亏电电池的影像，可以对从换电车辆上拆卸下来的亏电电池进行记录，从而有利于后续电池包损坏的溯源以及电池包损坏责任的厘清。此外，还可以对亏电电池的拆卸过程以及被拆卸下来的亏电电池进行记录，以明确亏电电池的损坏是否是由于拆卸动作所造成的，从而进一步有利于后续电池包损坏的溯源以及电池包损坏责任的厘清。
在另一实施例中，拍摄模块61还可以用于在换电车辆从换电位驶出的过程中，采集多幅换电车辆底部的第一部分图片，继而第一获取模块62合成多幅第一部分图片以获取换电车辆底部的第一完整图片。例如，拍摄位置可以被设置为位于换电车辆停靠在换电位时的电池、锁止机构或定位机构前端至换电车辆驶出段之间，用于拍摄包括满电电池、锁止机构和/或定位机构的第一部分图片。其中，所采集的是满电电池被安装至换电车辆之后的第一部分图片，并且由于换电车辆的运动，所采集到的第一部分图片所包含的满电电池的部分不尽相同，在此基础上，可以通过图像拼接等方式对采集到的多幅第一部分图片进行合成，以获取包含该满电电池、锁止机构和/或定位机构的第二完整图片。
基于获取到的换电车辆上的满电电池的影像，可以对安装至换电车辆上的满电电池进行记录，从而有利于后续电池包损坏的溯源以及电池包损坏责任的厘清。
基于获取到的换电车辆上的锁止机构的影像，可以对换电车辆进行换电之前的锁止 机构进行记录，从而有利于后续锁止机构损坏的溯源以及锁止机构损坏责任的厘清。此外，还可以对亏电电池的拆卸过程进行记录，以明确锁止机构的损坏是否是由于拆卸动作所造成的，从而进一步有利于后续锁止机构损坏的溯源以及锁止机构损坏责任的厘清。
基于获取到的换电车辆上的锁止机构和/定位机构的影像，可以对换电车辆进行换电之前的锁止机构和/定位机构进行记录，从而判断锁止机构和/定位机构被异物遮挡的情况，进而判断换电车辆是否具备换电条件，并在不具备换电条件的情况下及时停止换电，以免造成部件损坏。
在可选的一种实施方式中(如公开号为CN106080159A的中国专利申请)，如图2所示，安装于换电车辆底部的锁止机构包括固定组件40以及锁体组件50，固定组件40包括固定架41和锁紧板42，固定架41由四个第一螺栓43连接至例如换电车辆的底盘等车身上适当的部位，锁紧板42由两个第二螺栓44连接至固定架41。锁体组件50包括共同限定了容纳空间的套壳51和限位封板58、容置于该容纳空间内的中心拉轴52、调节块53、复位弹簧54、弹簧座55和56以及垫圈57等。具体地：通过向上推移调节块，使调节块与限位封板脱离，然后转动调节块从而驱动中心拉轴接合至锁紧板，当达到适当的锁紧角度或扭矩时释放调节块，使得复位弹簧推动调节块返回到与限位封板接合的位置，限制中心拉轴的转动，以实现满电电池的安装。通过向上推移调节块，使调节块与限位封板脱离，然后转动调节块从而驱动中心拉轴从锁紧板脱离，在中心拉轴从锁紧板脱离后释放调节块，使得复位弹簧推动调节块返回到与限位封板接合的位置，限制中心拉轴的转动，将亏电电池从锁止机构移离，以实现亏电电池的拆卸。图2中的固定组件40和锁体组件50处于锁止状态，其中，锁体组件50的中心拉轴52螺接至固定组件40的锁紧板42，从而将电池固定于换电车辆的车身。本实施方式中，若锁紧板42被坚硬的异物所遮挡、或锁紧板42、中心拉轴52、调节块53等部件被损坏，都可能会影响中心拉轴无法与锁紧板固定或脱离，从而造成换电车辆上的锁止机构和/或换电设备上的解锁机构发生损坏或失效，导致无法进行换电。
在可选的另一种实施方式中(如公开号为CN206186769U的中国专利申请)，如图3和图4所示，安装于换电车辆底部的锁止机构包括锁基座20、锁连杆10和锁轴30，锁轴30安装在电池的四周，锁基座20和锁连杆10安装在用于固定电池的车体固定座内侧面上，并与锁轴30的位置对应。锁轴30包括轴座34、轴杆31、定位磁钢32和轴套33。在使用时，电池在换电设备的控制下卡入换电车辆上的固定座内，解锁部件推动锁连杆10向上移动，带动锁舌离开锁槽21，电池四周的锁轴30分别利用轴杆31插入固定座上相应锁基座20的锁槽21内，然后在换电设备的推动下向锁槽21的另一方移动，直至与 锁槽21的另一端接触，完成电池的悬挂过程，在轴杆31的插入过程中，锁连杆10在解锁部件的推动下带动锁舌24向上移动，当轴杆31进入锁槽21内的锁定区域后，锁舌24会在锁连杆10的重力作用下下落从而从侧面封住轴杆31的回退路径。此时，处于电池完全被锁在换电车辆上的状态。当需要更换电池时，换电设备上的解锁装置会与锁连杆10接触，并推动锁连杆10上升，从而使锁舌离开锁槽21，此时，再移动电池使轴杆31由锁槽21中退出，即可完成电池的卸下过程。本实施方式中，若锁基座20被异物所遮挡、或锁基座20、锁舌24、轴杆31等部件被损坏，都可能会影响轴杆31出入锁槽21，从而造成换电车辆上的锁止机构和/或换电设备上的解锁机构发生损坏或失效，导致无法进行换电。
在可选的一种实施方式中(如公开号为CN105480209B的中国专利申请)，安装于换电车辆底部的定位机构包括定位块(如CN105480209B中的导向块42)，安装于换电设备上的定位部件包括叉子(如CN105480209B中的电池定位块12)。其中，叉子和定位块的位置相对应，换电设备根据定位块的位置确定换电车辆的电池位置。本实施方式中，若定位块被异物所遮挡或损坏，则影响换电设备的定位，从而导致换电效率降低甚至无法进行换电。
在可选的另一种实施方式中(如公开号为CN111745657A的中国专利申请)，安装于换电车辆底部的定位机构包括定位孔(如CN111745657A中的锥形定位套或CN111746341A中的锥形定位套17)，安装于换电设备上的定位部件包括定位柱(如CN111745657A中的定位锥销1001)。其中，定位孔和定位柱的位置相对应，换电设备根据定位孔的位置确定换电车辆的电池位置。本实施方式中，若定位孔被异物所遮挡或损坏，则影响换电设备的定位，从而导致换电效率降低甚至无法进行换电。
在可选的另一种实施方式中，安装于换电车辆底部的定位机构包括定位点，安装于换电设备上的定位部件包括摄像装置。换电设备根据摄像装置是否捕获到定位点来确定是否对准于换电车辆的电池位置。本实施方式中，若定位点被异物所遮挡或损坏，则影响换电设备的定位，从而导致换电效率降低甚至无法进行换电。
进一步地，在获取到的换电车辆底部的影像之后，还可以对换电车辆的底部是否损坏或是否适于换电进行检测。具体地，参照图5，本实施例的换电车辆检测系统还可以包括：
比对模块63，用于比对影像与参考影像以获取比对结果；
判断模块64，用于根据比对结果判断电车辆的底部是否损坏或是否适于换电；
标记模块65，用于在影像中标记出比对结果。
在另一实施例中，用于检测换电车辆的底部是否损坏的参考影像可以包括适用于所有电池包的预设基准图片，从而有利于统一检测亏电电池是否损坏的标准，还可以包括换电车辆出厂的预设基准图片，从而有利于统一检测定位机构和/或锁止机构是否损坏的标准。用于检测换电车辆是否适于换电的参考影像可以包括换电车辆出厂的预设基准图片，有利于统一检测换电车辆是否适于换电的标准。
在另一实施例中，用于检测换电车辆的底部是否损坏的参考影像也可以包括换电车辆上一次换电完成后采集到的换电车辆底部的第二完整图片，例如，可以在换电完成后采集换电车辆底部的第二完整图片并对其进行保存，通过比对保存的第二完整图片以及该换电车辆下一次驶入至驶出换电位的过程中采集的换电车辆底部的第一完整图片，能够更加灵活、准确地对换电车辆的底部是否损坏进行判断。
进一步地，在另一实施例中，还可以将换电车辆底部的第二完整图片与该换电车辆的识别码相关联，从而本实施例的换电车辆检测系统还可以包括用于获取换电车辆的识别码的第二获取模块66，以及用于根据获取到的识别码来调取与识别码关联保存的换电车辆上一次换电完成后采集到的换电车辆底部的第二完整图片的调取模块67，实现了换电车辆对应的第二完整图片的快速调取。其中，识别码具体可以采用车牌号，以便于识别。
在另一实施例中，还可以在获取到的影像上标记出该影像与参考影像之间的比对结果，从而可以直观地获取到该影像与参考影像的比对结果，进而，可以直观地判断换电车辆的底部是否损坏或是否适于换电。
本实施例可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，进而可以基于拍摄到的底部影像来获取换电车辆在换电前的亏电电池、锁止机构和/或定位机构等部件的影像或者在换电后的满电电池、锁止机构和/或定位机构等部件的影像，从而有利于后续电池包、锁止机构和/或定位机构等部件损坏的溯源以及电池包、锁止机构和/或定位机构等部件损坏责任的厘清，以及在锁止机构和/或定位机构等部件被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
实施例3
本实施例提供一种载车平台，参照图6，本实施例的载车平台包括换电位71、驶入口72、驶出口73以及拍摄装置，其中，换电位71用于停靠换电车辆以进行换电，拍摄装置设置于换电车辆驶入至驶出换电位71的路径上，用于拍摄换电车辆的底部，并且为了不影响换电车辆在载车平台上的移动，本实施例中的拍摄装置优选不露出于载车平台的上表面，也即，拍摄装置的最高处位于载车平台上表面的下方。
在另一实施例中，载车平台可以仅包括一个安装于载车平台的驶入口72至换电位71之间(例如，位置P A)的拍摄装置，以用于拍摄包括亏电电池的换电车辆的底部影像，可在换电车辆在扫车牌时或未进入换电位时先获取到电池、锁止机构和/或定位机构的影像信息。其中，该拍摄装置优选安装于载车平台的靠近换电位的位置，以增大拍摄装置的拍摄范围。
在另一实施例中，载车平台也可以仅包括一个安装于换电位71至载车平台的驶出口73之间(例如，位置P B)的拍摄装置，以用于拍摄包括满电电池的换电车辆的底部影像，其中，该拍摄装置优选安装于载车平台的靠近换电位的位置，以增大拍摄装置的拍摄范围，既可以拍摄拆卸前的亏电电池、锁止机构和/或定位机构，也可以拍摄安装后的满电电池、锁止机构和/或定位机构。
在另一实施例中，载车平台也可以仅包括两个分别安装于载车平台的驶入口72至换电位71之间(例如，位置P A)以用于拍摄包括亏电电池、锁止机构和/或定位机构的换电车辆的底部影像的拍摄装置，以及换电位至载车平台的驶出口73之间(例如，位置P B)以用于拍摄包括满电电池的换电车辆的底部影像的拍摄装置，并且，这两个拍摄装置优选安装于载车平台的靠近换电位的位置，以增大拍摄装置的拍摄范围，例如，可以分别用来拍摄拆卸前的亏电电池、锁止机构和/或定位机构，和安装后的满电电池、锁止机构和/或定位机构。
在另一实施例中，载车平台也可以仅包括两个分别设置于换电位的相对两侧的拍摄装置，并且这两个拍摄装置优选分别用于沿相反方向拍摄换电车辆的底部。例如，两个拍摄装置可以设置在换电位靠近驶入口的一侧(例如，位置P C)以及靠近驶出口的一侧(例如，位置P D)，这两个拍摄装置既可以用于在换电车辆位于换电位的静止过程中，分别沿换电车辆行驶方向以及与换电车辆行驶方向相反的方向采集换电车辆底部的部分图片，继而通过合成这两张部分图片可以获得换电车辆底部的完整图片，或直接拍摄底盘前半部分和后半部分的电池、锁止机构、定位机构，这两个拍摄装置还可以用于在换电车辆驶入以及驶出换电位的过程中采集换电车辆底部的多张部分图片，具体地，设置在靠近驶入口一侧的拍摄装置用于在换电车辆驶入换电位的过程中，采集多幅换电车辆底部的部分图片，继而用于合成得到亏电电池、锁止机构或定位机构的完整图片，设置在靠近驶出口一侧的拍摄装置用于在换电车辆从换电位驶出的过程中，采集多幅换电车辆底部的部分图片，继而用于合成得到满电电池、锁止机构或定位机构的完整图片。又例如，两个拍摄装置可以设置在换电位上与换电车辆行驶方向平行的两侧(例如，位置P E与P F)，这两个拍摄装置可以用于在换电车辆位于换电位的静止过程中，分别沿与换电车 辆行驶方向垂直的两个相反方向采集换电车辆底部的部分图片，继而通过合成这两张部分图片可以获得该电池包的完整图片，或直接拍摄底盘左半部分和右半部分的电池、锁止机构、定位机构。
在另一实施例中，载车平台还设有安装槽，拍摄装置设置于安装槽内，从而有利于实现拍摄装置的稳固安装，进而有利于提升拍摄装置的拍摄效果。
进一步地，在另一实施例中，安装槽的槽口安装有透明视窗，透明视窗的设置，在保证拍摄装置能够拍摄到换电车辆的底部影像的基础上，还能够保护拍摄装置不受污损，有利于延长拍摄装置的使用寿命。
本实施例提供的载车平台还包括拍摄装置，从而可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，进而可以基于拍摄到的底部影像来获取换电车辆在换电前的亏电电池、锁止机构和/或定位机构等部件的影像或者在换电后的满电电池、锁止机构和/或定位机构等部件的影像，有利于后续电池包、锁止机构和/或定位机构等部件损坏的溯源以及电池包、锁止机构和/或定位机构等部件损坏责任的厘清，以及在锁止机构和/或定位机构等部件被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
实施例4
本实施例提供一种载车平台，参照图7，本实施例的载车平台包括换电位81、驶入口82、驶出口83以及拍摄装置，其中，换电位81用于停靠换电车辆以进行换电，并且换电位81开设有电池更换口811以用于供在载车平台下方移动的换电设备对换电车辆进行换电操作，拍摄装置设置于换电车辆驶入至驶出换电位81的路径上，用于拍摄换电车辆的底部，并且为了不影响换电车辆在载车平台上的移动，本实施例中的拍摄装置优选不露出于载车平台的上表面，也即，拍摄装置的最高处位于载车平台上表面的下方。
参照图8，在本实施例中，电池更换口811与载车平台的其他部分之间存在间隔空间，从而载车平台靠近电池更换口811的下表面可以用于设置安装拍摄装置，如此，既有利于拍摄得到更大范围的电池包的影像，还不会影响换电车辆在载车平台上的移动。
具体地，载车平台可以仅包括一个设置在载车平台靠近电池更换口811的下表面的拍摄装置，例如，该拍摄装置可以设置在靠近驶入口82以及电池更换口811的载车平台的下表面(例如，与位置P G相对的位置)，以用于拍摄包括亏电电池、锁止机构和/或定位机构的换电车辆的底部影像，又例如，该拍摄装置可以设置在靠近驶出口83以及电池更换口811的载车平台的下表面(例如，位置P G)，以用于拍摄包括满电电池、锁止机构和/或定位机构的换电车辆的底部影像。
载车平台也可以仅包括两个分别设置于载车平台靠近电池更换口811的下表面的相对两侧的拍摄装置，并且这两个拍摄装置优选分别用于沿相反方向拍摄换电车辆的底部。例如，两个拍摄装置可以设置在换电位靠近驶入口的一侧(例如，与位置P G相对的位置)以及靠近驶出口的一侧(例如，位置P G)，这两个拍摄装置既可以用于在换电车辆位于换电位的静止过程中，分别沿换电车辆行驶方向以及与换电车辆行驶方向相反的方向采集换电车辆底部的部分图片，继而通过合成这两张部分图片可以获得换电车辆底部的完整图片，或直接拍摄底盘前半部分和后半部分的电池、锁止机构、定位机构，这两个拍摄装置还可以用于在换电车辆驶入以及驶出换电位的过程中采集换电车辆底部的多张部分图片，具体地，设置在靠近驶入口一侧的拍摄装置用于在换电车辆驶入换电位的过程中，采集多幅换电车辆底部的部分图片，继而用于合成得到亏电电池、锁止机构或定位机构的完整图片，设置在靠近驶出口一侧的拍摄装置用于在换电车辆从换电位驶出的过程中，采集多幅换电车辆底部的部分图片，继而用于合成得到满电电池、锁止机构或定位机构的完整图片。又例如，两个拍摄装置可以设置在换电位上与换电车辆行驶方向平行的两侧(例如，位置P H以及与其相对的位置)，这两个拍摄装置可以用于在换电车辆位于换电位的静止过程中，分别沿与换电车辆行驶方向垂直的两个相反方向采集换电车辆底部的部分图片，继而通过合成这两张部分图片可以获得换电车辆底部的完整图片，或直接拍摄底盘左半部分和右半部分的电池、锁止机构、定位机构。
在另一实施例中，载车平台也可以仅包括一个安装于载车平台的驶入口82至换电位81之间(例如，位置P I)的拍摄装置，以用于拍摄包括亏电电池、锁止机构和/或定位机构的换电车辆的底部影像，可在换电车辆在扫车牌时或未进入换电位时先获取到电池、锁止机构和/或定位机构的影像信息。其中，该拍摄装置优选安装于载车平台的靠近换电位的位置，以增大拍摄装置的拍摄范围。
在另一实施例中，载车平台也可以仅包括一个安装换电位81至载车平台的驶出口83之间(例如，位置P J)的拍摄装置，以用于拍摄包括满电电池、锁止机构和/或定位机构的换电车辆的底部影像，其中，该拍摄装置优选安装于载车平台的靠近换电位的位置，以增大拍摄装置的拍摄范围。
在另一实施例中，载车平台也可以仅包括两个分别安装于载车平台的驶入口82至换电位81之间(例如，位置P I)以用于拍摄包括亏电电池、锁止机构和/或定位机构的换电车辆的底部影像的拍摄装置，以及换电位81至载车平台的驶出口83之间(例如，位置P J)以用于拍摄包括满电电池、锁止机构和/或定位机构的换电车辆的底部影像的拍摄装置，并且，这两个拍摄装置优选安装于载车平台的靠近换电位的位置，以增大拍摄装置 的拍摄范围。
在另一实施例中，载车平台还设有安装槽，拍摄装置设置于安装槽内，从而有利于实现拍摄装置的稳固安装，进而有利于提升拍摄装置的拍摄效果。
进一步地，在另一实施例中，安装槽的槽口安装有透明视窗，透明视窗的设置，在保证拍摄装置能够拍摄到换电车辆的底部影像的基础上，还能够保护拍摄装置不受污损，有利于延长拍摄装置的使用寿命。
本实施例提供的载车平台还包括拍摄装置，从而可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，进而可以基于拍摄到的底部影像来获取换电车辆在换电前的亏电电池、锁止机构和/或定位机构等部件的影像或者在换电后的满电电池、锁止机构和/或定位机构等部件的影像，有利于后续电池包、锁止机构和/或定位机构等部件损坏的溯源以及电池包、锁止机构和/或定位机构等部件损坏责任的厘清，以及在锁止机构和/或定位机构等部件被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
实施例5
本实施例提供一种换电站，并且本实施例的换电站包括实施例3或4提供的安装有拍摄装置的载车平台，从而可以在换电车辆驶入至驶出换电位的过程中拍摄换电车辆的底部影像，进而可以基于拍摄到的底部影像来获取换电车辆在换电前的亏电电池、锁止机构和/或定位机构等部件的影像或者在换电后的满电电池、锁止机构和/或定位机构等部件的影像，从而有利于后续电池包、锁止机构和/或定位机构等部件损坏的溯源以及电池包、锁止机构和/或定位机构等部件损坏责任的厘清，以及在锁止机构和/或定位机构等部件被遮挡导致不具备换电条件的情况下及时停止换电，以免造成部件损坏。
虽然以上描述了本申请的具体实施方式，但是本领域的技术人员应当理解，这仅是举例说明，本申请的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本申请的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本申请的保护范围。

Claims (31)

  1. 一种换电车辆检测方法，其特征在于，包括：
    在换电车辆驶入至驶出载车平台的换电位的过程中，拍摄所述换电车辆的底部；
    获取所述换电车辆底部的影像。
  2. 如权利要求1所述的换电车辆检测方法，其特征在于，所述影像包括电池、用于锁止电池的锁止机构和/或用于换电定位的定位机构，所述电池为亏电电池或满电电池。
  3. 如权利要求2所述的换电车辆检测方法，其特征在于，所述影像还包括亏电电池的拆卸过程。
  4. 如权利要求2或3所述的换电车辆检测方法，其特征在于，包括：
    在换电车辆位于所述换电位时，拍摄所述换电车辆底部的完整照片。
  5. 如权利要求2或3所述的换电车辆检测方法，其特征在于，包括：
    在换电车辆驶入或驶出换电位的过程中，拍摄所述换电车辆底部的视频；
    优选地，处理所述视频，以获取包含所述换电车辆上的电池、锁止机构和/或定位机构的照片或视频。
  6. 如权利要求2或3所述的换电车辆检测方法，其特征在于，包括：
    在换电车辆驶入至驶出换电位的过程中，采集多幅所述换电车辆底部的第一部分图片；合成多幅所述第一部分图片以获取所述换电车辆底部的第一完整图片。
  7. 如权利要求1所述的换电车辆检测方法，其特征在于，在获取所述换电车辆底部的影像的步骤之后还包括：
    比对所述影像与参考影像以获取比对结果；
    根据所述比对结果判断所述换电车辆的底部是否损坏或是否适于换电。
  8. 如权利要求7所述的换电车辆检测方法，其特征在于，所述参考影像包括预设基准图片；和/或，
    所述参考影像包括所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片。
  9. 如权利要求6所述的换电车辆检测方法，其特征在于，采集多幅所述换电车辆底部的第一部分图片包括以下步骤：
    在所述换电车辆位于换电位的静止过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片；
    或者，
    在所述换电车辆驶入至换电位或从换电位驶出的过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的多幅第一部分图片；
    或者，
    在所述换电车辆位于换电位的静止过程中，分别沿两个相反方向采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片。
  10. 如权利要求6所述的换电车辆检测方法，其特征在于，拍摄位置被设置为位于换电车辆驶入段至换电车辆停靠在换电位时的电池、锁止机构或定位机构末端之间，用于拍摄包括亏电电池、锁止机构和/或定位机构的第一部分图片；
    和/或，
    拍摄位置被设置为位于换电车辆停靠在换电位时的电池、锁止机构或定位机构前端至换电车辆驶出段之间，用于拍摄包括满电电池、锁止机构和/或定位机构的第一部分图片。
  11. 如权利要求1所述的换电车辆检测方法，其特征在于，拍摄位置被设置为位于换电位的相对两侧。
  12. 如权利要求7所述的换电车辆检测方法，其特征在于，在比对所述影像与参考影像以获取比对结果的步骤之前还包括：
    获取所述换电车辆的识别码；
    根据所述识别码，调取与所述识别码关联保存的所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片；
    和/或，
    在比对所述影像与参考影像以获取比对结果的步骤之后还包括：
    在所述影像中标记出比对结果。
  13. 一种换电车辆检测系统，其特征在于，包括：
    拍摄模块，用于在换电车辆驶入至驶出载车平台的换电位的过程中，拍摄所述换电车辆的底部；
    第一获取模块，用于获取所述换电车辆底部的影像。
  14. 如权利要求13所述的换电车辆检测系统，其特征在于，所述影像包括电池、用于锁止电池的锁止机构和/或用于换电定位的定位机构，所述电池为亏电电池或满电电池。
  15. 如权利要求13所述的换电车辆检测系统，其特征在于，所述影像还包括亏电电池的拆卸过程。
  16. 如权利要求14或15所述的换电车辆检测系统，其特征在于，所述拍摄模块具体 用于在换电车辆位于所述换电位时，拍摄所述换电车辆底部的完整照片。
  17. 如权利要求14或15所述的换电车辆检测系统，其特征在于，所述拍摄模块具体用于在换电车辆驶入或驶出换电位的过程中，拍摄所述换电车辆底部的视频；
    优选地，所述第一获取模块具体用于处理所述视频，以获取包含所述换电车辆上的电池、锁止机构和/或定位机构的照片或视频。
  18. 如权利要求14或15所述的换电车辆检测系统，其特征在于，所述拍摄模块具体用于在换电车辆驶入至驶出换电位的过程中，采集多幅所述换电车辆底部的第一部分图片；
    所述第一获取模块具体用于合成多幅所述第一部分图片以获取所述换电车辆底部的第一完整图片。
  19. 如权利要求13所述的换电车辆检测系统，其特征在于，所述换电车辆检测系统还包括：
    比对模块，用于比对所述影像与参考影像以获取比对结果；
    判断模块，用于根据所述比对结果判断所述换电车辆的底部是否损坏或是否适于换电。
  20. 如权利要求19所述的换电车辆检测系统，其特征在于，所述参考影像包括预设基准图片；和/或，所述参考影像包括所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片。
  21. 如权利要求18所述的换电车辆检测系统，其特征在于，所述拍摄模块具体用于在所述换电车辆位于换电位的静止过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片；
    或者，
    所述拍摄模块具体用于在所述换电车辆驶入至换电位或从换电位驶出的过程中，采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的多幅第一部分图片；
    或者，
    所述拍摄模块具体用于在所述换电车辆位于换电位的静止过程中，分别沿两个相反方向采集亏电电池被拆卸之前或满电电池被安装至所述换电车辆之后所述换电车辆底部的第一部分图片。
  22. 如权利要求18所述的换电车辆检测系统，其特征在于，拍摄位置被设置为位于换电车辆驶入段至换电车辆停靠在换电位时的电池、锁止机构或定位机构末端之间，用于 拍摄包括亏电电池、锁止机构和/或定位机构的第一部分图片；
    和/或，
    拍摄位置被设置为位于换电车辆停靠在换电位时的电池、锁止机构或定位机构前端至换电车辆驶出段之间，用于拍摄包括满电电池、锁止机构和/或定位机构的第一部分图片。
  23. 如权利要求13所述的换电车辆检测系统，其特征在于，拍摄位置被设置为位于换电位的相对两侧。
  24. 如权利要求19所述的换电车辆检测系统，其特征在于，所述换电车辆检测系统还包括：
    第二获取模块，用于获取所述换电车辆的识别码；
    调取模块，用于根据所述识别码，调取与所述识别码关联保存的所述换电车辆上一次换电完成后采集到的所述换电车辆底部的第二完整图片；
    和/或，
    所述换电车辆检测系统还包括：
    标记模块，用于在所述影像中标记出比对结果。
  25. 一种载车平台，其特征在于，包括：
    换电位，用于停靠换电车辆以进行换电；
    拍摄装置，设置于所述换电车辆驶入至驶出所述换电位的路径上，用于拍摄所述换电车辆的底部。
  26. 如权利要求25所述的载车平台，其特征在于，所述拍摄装置安装于所述载车平台的靠近所述换电位的位置；或者，
    所述拍摄装置为两个，分别安装于所述载车平台的驶入口至所述换电位之间，以及所述换电位至所述载车平台的驶出口之间。
  27. 如权利要求26所述的载车平台，其特征在于，所述载车平台还设有安装槽，所述拍摄装置设置于所述安装槽内。
  28. 如权利要求27所述的载车平台，其特征在于，所述拍摄装置不露出于所述载车平台的上表面；和/或，所述安装槽的槽口安装有透明视窗。
  29. 如权利要求25所述的载车平台，其特征在于，所述拍摄装置为两个，设置于所述换电位的相对两侧。
  30. 如权利要求29所述的载车平台，其特征在于，所述换电位开设有电池更换口，所述电池更换口用于供在所述载车平台下方移动的换电设备对所述换电车辆进行换电操作；
    所述拍摄装置设置在所述载车平台靠近所述电池更换口的下表面。
  31. 一种换电站，其特征在于，包括如权利要求25-30中任一项所述的载车平台。
PCT/CN2022/076691 2021-02-23 2022-02-17 换电站、载车平台、换电车辆检测方法与系统 WO2022179433A1 (zh)

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