WO2023109735A1 - Image detection system and method for electrical connector sealing ring of battery pack, and battery swapping station - Google Patents

Abstract

Disclosed are an image detection system and method for an electrical connector sealing ring of a battery pack, a battery swapping station and a storage medium. The image detection system comprises a photographing device and a control module which are in communication connection. The photographing device is used for collecting a target image. The target image at least comprises an electrical connector sealing ring on the battery pack taken off from a vehicle with battery to be swapped. The control module is used for acquiring the target image and determining, according to the target image, whether the electrical connector sealing ring is in a normal state. The present invention makes full use of a battery swapping process wherein the battery pack is taken off from the vehicle with battery to be swapped and charged, performs targeted image detection by photographing images and analyzing the characteristics of the electrical connector sealing ring, and can accurately and timely identify potential problems of the electrical connector sealing ring, thereby providing a basis for further maintenance and replacement of the battery pack, timely and efficiently identifying the potential safety hazard of the vehicle with battery to be swapped, and ensuring the personnel and vehicle safety.

Description

Image detection system and method for electrical connector sealing ring of battery pack, battery replacement station

This application claims the priority of Chinese patent application 2021115308532 with a filing date of 2021/12/14. This application cites the full text of the above-mentioned Chinese patent application.

technical field

The invention relates to the field of new energy technology, in particular to an image detection system and method for a sealing ring of an electrical connector of a battery pack, a power station and a storage medium.

Background technique

Due to the advantages of zero emission, low noise, and low operation and maintenance costs, electric vehicles are increasingly favored by users. The energy used by an electric vehicle is the electric energy provided by its own power battery pack, and the electric vehicle needs to be charged after the electric energy is used up. Due to the limitations of existing battery technology and charging technology, it takes a long time for electric vehicles to be fully charged, which is not as simple and fast as fuel vehicles directly refueling. Therefore, in order to reduce the user's waiting time, it is an effective means to replace the battery when the electric energy of the electric vehicle is almost exhausted. Therefore, different from recharging electric vehicles, batteries used in battery swapping electric vehicles should be equipped with electrical connectors that facilitate docking with the vehicle end or the charging equipment end of the swapping station.

At present, the electrical connectors on the vehicle side and the battery side are made of hard metal materials, and the connection between the two cannot be accurately sealed, which may easily cause external water to enter the connection between the two, affecting the normal use of the battery. Therefore, a sealing ring is provided on the outer edge of the electrical connector at the battery end for waterproof, dustproof and fixed protection. However, in use, due to the aging of the sealing ring or the deformation or even falling off due to scratches during the battery replacement process; or even the expansion and deformation of the material itself due to the heating of the battery, or the deformation due to the pressure of the internal air drum due to the failure of the battery breathing valve, This will reduce the working performance of the battery pack and even cause potential safety hazards. At the same time, because the battery is located at the bottom of the vehicle, car owners often neglect to check this situation and cannot find it in time.

Contents of the invention

The technical problem to be solved by the present invention is to provide an image detection system and method for the electrical connector sealing ring of the battery pack, Replace the power station and storage medium.

The present invention solves the above technical problems through the following technical solutions:

The present invention provides an image detection system for a sealing ring of an electrical connector of a battery pack. The image detection system includes a photographing device and a control module, and the photographing device and the control module are connected in communication;

The photographing device is used to collect target images; the target images at least include images of the corresponding area of the electrical connector sealing ring on the battery pack removed from the battery swap vehicle;

The control module is used to obtain the target image, and judge whether the state of the sealing ring of the electrical connector is normal according to the target image.

This solution makes full use of the process that the battery pack is removed from the vehicle for charging when the vehicle is replaced. By taking images and performing targeted image detection combined with the characteristics of the electrical connector sealing ring, it is possible to timely and accurately detect the sealing of the electrical connector. The problems that may exist in the battery pack can be detected, so as to provide a basis for further maintenance or replacement of battery packs, and timely and efficient detection of potential safety hazards of battery replacement vehicles to ensure the safety of people and vehicles.

Preferably, the control module includes:

An acquisition unit, configured to acquire edge pixel parameters corresponding to the electrical connector sealing ring based on the target image;

The detection unit is used to detect whether the edge pixel point parameters meet the edge detection conditions; if yes, determine that the state of the electrical connector sealing ring is normal; if not, determine that the state of the electrical connector sealing ring is abnormal.

This solution aims at the deformation or shedding that is easy to occur in the sealing ring of the electrical connector, and uses the method of edge pixel detection to screen out its state, so that it can relatively accurately determine whether the state of the sealing ring of the electrical connector is abnormal .

Preferably, the edge pixel parameters include edge pixel coordinate values; the edge detection conditions include a coordinate difference threshold;

The detection unit is specifically used to detect whether there are two edge pixel points whose coordinate value difference is greater than the coordinate difference threshold;

If it exists, it is determined that the coordinate value of the edge pixel point does not meet the edge detection condition, and the sealing ring of the electrical connector is in a deformed state; if it does not exist, it is determined that the coordinate value of the edge pixel point meets the edge detection condition.

In this solution, by detecting edge pixel values, possible edge bumps and convex points can be found, and then it can be judged that there is a deformation state of the sealing ring of the electrical connector.

Preferably, the control module also includes:

A division unit, configured to divide the electrical connector sealing ring in the target image into several pixel intervals according to the edge direction;

The acquiring unit is configured to acquire at least one edge pixel point corresponding to each of the pixel intervals, so as to acquire edge pixel point parameters corresponding to the electrical connector sealing ring.

By performing edge segmentation on the image of the sealing ring of the electrical connector, and selecting some pixels for sampling detection according to the segmentation results, it is possible to reduce the computational load of the detection process while ensuring the accuracy of the detection results, thereby taking into account the detection efficiency. By shortening the detection time, the setting of the application scene of the present invention is more flexible.

Preferably, the acquisition unit is also used for:

Obtain the sampling point parameters of the preset sampling points in the target image;

The detection unit is also used for:

According to the matching result of the sampling point parameter and the preset sampling value, it is determined whether the sealing ring of the electrical connector is in a detached state.

This program obtains the parameters of the preset sampling points from the captured images of the electrical connector sealing ring and performs matching analysis with the preset sampling values, so that the preset sampling can be set in a targeted manner according to the model and empirical parameters of the electrical connector sealing ring value, and then detect whether the corresponding type of electrical connector sealing ring falls off.

Preferably, the photographing device is arranged on the path of transferring the battery pack to the battery rack after the battery pack is removed from the battery replacement vehicle, and is located above or below the corresponding position of the electrical connector sealing ring.

In this solution, by installing a camera at a reasonable position on the delivery path where the battery pack is removed from the battery exchange vehicle and then transferred to the battery rack, it can make full use of the movement process of the battery pack during the entire battery exchange process for detection. Ample time is left, and on the other hand, it will not affect the charging and replacing process of the battery pack, taking into account the accuracy and efficiency of the inspection of the electrical connector sealing ring.

Preferably, the image detection system further includes a light source device, and the light source device is communicatively connected to the control module;

The light source device is arranged on the shuttle car that transfers the battery pack or on the transfer path of the shuttle car, and corresponds to the position of the electrical connector sealing ring;

The control module is further configured to control the light source device to provide illumination when the photographing device captures the target image.

In this solution, by setting the light source device and the photographing device together, the photographed image of the sealing ring of the electrical connector can be clear, and the recognition degree of the edge pixels is higher, thereby helping to improve the detection accuracy of the edge pixels.

Preferably, the sealing ring of the electrical connector is located between the light source device and the photographing device; the light source device is arranged above or below the sealing ring of the electrical connector, and provides a Lighting from the direction of the sealing ring.

In this solution, the light source device is reasonably set according to the position of the sealing ring of the electrical connector, and the captured image has better pixel quality by increasing the ambient light intensity, thereby providing a more reliable basis for image processing, and when the electrical connection When the seal ring is located between the light source device and the photographing device, it can function as a backlight source and increase the edge definition of the image.

The present invention also provides an image detection method for the sealing ring of the electrical connector of the battery pack, comprising the following steps:

Collecting a target image; the target image includes at least an image of the area corresponding to the electrical connector sealing ring on the battery pack removed from the battery replacement vehicle;

Acquiring the target image, and judging whether the state of the sealing ring of the electrical connector is normal according to the target image.

This solution makes full use of the process that the battery pack is removed from the vehicle for charging when the vehicle is replaced. By taking images and performing targeted image detection combined with the characteristics of the electrical connector sealing ring, it is possible to timely and accurately detect the sealing of the electrical connector. The problems that may exist in the battery pack can be detected, so as to provide a basis for further maintenance or replacement of battery packs, and timely and efficient detection of potential safety hazards of battery replacement vehicles to ensure the safety of people and vehicles.

Preferably, the step of judging whether the state of the sealing ring of the electrical connector is normal according to the target image includes: acquiring edge pixel parameters corresponding to the sealing ring of the electrical connector based on the target image;

Detecting whether the edge pixel point parameters meet the edge detection condition; if yes, determine that the state of the electrical connector sealing ring is normal; if not, determine that the state of the electrical connector sealing ring is abnormal.

This solution aims at the deformation or shedding that is easy to occur in the sealing ring of the electrical connector, and uses the method of edge pixel detection to screen out its state, so that it can relatively accurately determine whether the state of the sealing ring of the electrical connector is abnormal .

Preferably, the edge pixel parameters include edge pixel coordinate values; the edge detection condition includes a coordinate difference threshold; the step of detecting whether the edge pixel parameter meets the edge detection condition includes:

Detecting whether there are two edge pixel points whose coordinate value difference is greater than the coordinate difference threshold;

If it exists, the coordinate value of the edge pixel point does not meet the edge detection condition, and the sealing ring of the battery pack is in a deformed state; if it does not exist, the coordinate value of the edge pixel point meets the edge detection condition.

In this solution, by detecting edge pixel values, possible edge bumps and convex points can be found, and then it can be judged that there is a deformation state of the sealing ring of the electrical connector.

Preferably, before the step of detecting whether there are two edge pixel points whose coordinate value difference is greater than the coordinate difference threshold, the step further includes:

dividing the electrical connector sealing ring in the target image into several pixel intervals according to the edge direction;

The step of detecting whether there are two edge pixels whose coordinate value difference is greater than the coordinate difference threshold includes:

Acquiring at least one edge pixel point corresponding to each of the pixel intervals, so as to obtain edge pixel point parameters corresponding to the electrical connector sealing ring.

This solution performs edge segmentation on the image of the sealing ring of the electrical connector, and selects some pixels for sampling detection according to the segmentation results, which can reduce the computational load of the detection process while ensuring the accuracy of the detection results, thus taking into account the detection efficiency. , so that the setting of the application scene of the present invention is more flexible by shortening the detection time.

Preferably, the step of obtaining edge pixel parameters corresponding to the electrical connector sealing ring based on the target image includes:

Obtain the sampling point parameters of the preset sampling points in the target image;

The image detection method also includes:

According to the matching result of the sampling point parameter and the preset sampling value, it is determined whether the sealing ring of the electrical connector is in a detached state.

This program obtains the parameters of the preset sampling points from the captured images of the electrical connector sealing ring and performs matching analysis with the preset sampling values, so that the preset sampling can be set in a targeted manner according to the model and empirical parameters of the electrical connector sealing ring value, and then detect whether the corresponding type of electrical connector sealing ring falls off.

The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned method for detecting the sealing ring of the electrical connector of the battery pack is implemented.

The computer-readable storage medium of this embodiment executes the image detection method of the electrical connector sealing ring of the battery pack by running the computer program stored thereon, and can make full use of the battery pack being removed from the vehicle for charging when the vehicle is replaced. Through the process of taking images and carrying out targeted image detection combined with the characteristics of the electrical connector sealing ring, the possible problems of the electrical connector sealing ring can be found in a timely and accurate manner, which provides a basis for further maintenance or replacement of the battery pack. Timely and efficient detection of potential safety hazards of battery-swapping vehicles to ensure the safety of people and vehicles.

The present invention also provides a power exchange station, which includes a power exchange station, a battery rack, a shuttle car, and an image detection system for the sealing ring of the electrical connector of the battery pack, and the shuttle car is used to shuttle back and forth between the battery rack and the battery rack, and after removing the battery pack of the battery swapping vehicle that is staying at the battery rack, transport the battery pack to the battery rack; the imaging device of the image detection system is set on the on the transfer path of the shuttle car, and above or below the corresponding position of the electrical connector sealing ring.

In this solution, the battery pack is removed from the battery pack in the battery swap station and transferred to the battery rack at a reasonable position on the delivery path to set up a shooting device, and the image detection system of the battery pack sealing ring is used to detect the battery pack for power swapping , can make full use of the moving process of the battery pack during the entire battery replacement process for detection. On the one hand, ample time is reserved for detection, and on the other hand, it will not affect the charging and replacement process of the battery pack, taking into account the electrical connector Inspection accuracy and efficiency of sealing rings. According to the image analysis of the electrical connector sealing ring of the battery pack, the damage degree and damage location can be obtained, and the relevant information will be passed on to the disposal personnel in time, so that timely and proper disposal can be carried out during the battery replacement process, which is helpful for the first time The potential safety hazards of battery replacement vehicles will be discovered within a short period of time to ensure the safety of people and vehicles.

Preferably, the image detection system further includes a light source device, the light source device is arranged on the shuttle car for transferring the battery pack, or is arranged on the transfer path of the shuttle car, and is sealed with the electrical connector The position of the electrical connector seal ring is corresponding; the electrical connector sealing ring is located between the light source device and the photographing device; the light source device is arranged above or below the electrical connector sealing ring, and provides a Lighting in the direction of the connector seal.

In this scheme, by setting the light source device and the shooting device together, it can make the image of the sealing ring of the electrical connector captured clearly, and the recognition degree of the edge pixels is higher; and by using the light source device according to the position of the electrical connector sealing ring Corresponding to the setting, by increasing the ambient light intensity to ensure that the captured image has better pixel quality, providing a more reliable basis for image processing, which is conducive to the detection process of the battery pack sealing ring image detection system for the electrical connector sealing ring, The detection accuracy of the edge pixels is improved, thereby further increasing the detection accuracy of the sealing ring of the electrical connector.

The positive and progressive effect of the present invention lies in: the image detection system and method, the power exchange station and the storage medium of the electrical connector sealing ring of the battery pack provided by the present invention fully utilize the battery pack to be removed from the battery exchange vehicle for charging when the vehicle is exchanged. Through the process of taking images and carrying out targeted image detection combined with the characteristics of the electrical connector sealing ring, the possible problems of the electrical connector sealing ring can be found in a timely and accurate manner, which provides a basis for further maintenance or replacement of the battery pack. Timely and efficient detection of potential safety hazards of battery-swapping vehicles to ensure the safety of people and vehicles.

Description of drawings

FIG. 1 is a block diagram of an image detection system for an electrical connector sealing ring of a battery pack in Embodiment 1 of the present invention.

FIG. 2 is a schematic diagram of a battery pack in Embodiment 1 of the present invention.

3 is a schematic diagram of an electrical connector of a battery pack and its sealing ring in Embodiment 1 of the present invention.

FIG. 4 is a schematic diagram of edge detection of the image detection system in Embodiment 1 of the present invention.

FIG. 5 is a schematic diagram of sampling detection of the image detection system in Embodiment 1 of the present invention.

FIG. 6 is a schematic diagram of sampling point detection of the image detection system in Embodiment 1 of the present invention.

FIG. 7 is a schematic diagram of the installation position of the photographing device in Embodiment 1 of the present invention.

FIG. 8 is a flow chart of the image detection method for the sealing ring of the electrical connector of the battery pack in Embodiment 2 of the present invention.

FIG. 9 is a flow chart of a preferred embodiment of the image detection method for the sealing ring of the electrical connector of the battery pack in Embodiment 2 of the present invention.

Fig. 10 is a schematic diagram of the composition of the power station in Embodiment 3 of the present invention.

Detailed ways

The present invention is further illustrated below by means of examples, but the present invention is not limited to the scope of the examples.

Example 1

Referring to FIG. 1 , this embodiment specifically provides an image detection system for a sealing ring of an electrical connector of a battery pack, including a photographing device 1 and a control module 2 , and the photographing device 1 and the control module 2 are connected in communication.

The photographing device 1 is used to collect the target image; the target image includes at least the image of the area corresponding to the electrical connector sealing ring on the battery pack removed from the battery swap vehicle; the control module 2 is used to acquire the target image, and judge according to the target image Whether the condition of the sealing ring of the electrical connector is normal.

The electrical connector in this embodiment includes but is not limited to the circuit organization structure connecting the battery packs in the battery pack, and can usually be arranged at the end of the battery pack, and the electrical connector sealing ring is usually attached to it for insulation, Waterproof, dustproof and fixed functions. The shooting device 1 collects the target image; since the target image is used to detect whether the state of the sealing ring of the electrical connector is normal, those skilled in the art can understand that the target image is determined according to the position of the electrical connector on the battery pack, and should at least include The image of the sealing ring of the electrical connector on the battery pack, of course, includes the image of the electrical connector when the sealing ring of the electrical connector falls off; that is, the target image may include the whole or part of the image of the battery pack.

FIG. 2 shows a battery pack 100 , and FIG. 3 is a partially enlarged view of the battery pack 100 , wherein the electrical connector 200 and its sealing ring 300 are located at the end of the battery pack 100 . Those skilled in the art know that the detection system of this embodiment is not limited by the battery pack, its electrical connector, and the sealing ring of the electrical connector shown in the above illustration.

The control module 2 is used to obtain the target image, and judge whether the state of the sealing ring of the electrical connector is normal according to the target image.

The control module 2 communicates with the photographing device 1, and after obtaining the target image from the photographing device 1, judges the state of the sealing ring of the electrical connector according to the target image. Those skilled in the art can understand that a common fault of the sealing ring of the electrical connector is It falls off from the sealing port of the electrical connector of the battery pack, which will cause the electrical connector and even the entire battery pack to lose the corresponding protection; another common fault is that the protection of the electrical connector is weakened due to the plastic deformation of the sealing ring. For the situation that the sealing ring of the electrical connector is detached or deformed, the method of image detection is used in this embodiment to judge, which has high accuracy and reference value.

As a preferred embodiment, the control module 2 includes:

The acquisition unit 21 is used to obtain the edge pixel parameters corresponding to the electrical connector sealing ring based on the target image; the detection unit 22 is used to detect whether the edge pixel parameters meet the edge detection conditions; if so, determine the electrical connector sealing ring The state is normal; if not, it is determined that the state of the electrical connector sealing ring is abnormal. The detection unit 22 makes a judgment based on the edge pixel point parameters obtained by the acquisition unit 21 . A pixel is a data structure used to describe image information elements. According to the image structure obtained by the shooting device 1, edge pixel points can be identified and detected through image processing methods including but not limited to RGB color coding or YUV color coding, that is, recognition Edge pixels in the image. Among them, the RGB color coding method divides the pixel into three sub-pixels (or called 3 components) of red, green and blue; the YUV color coding method expresses the color through brightness and color difference, where the brightness refers to the black-white signal, and the chroma refers to the color Signal. Specifically, in the YUV color coding method, the edge pixel parameters are divided into Y (brightness) and UV (chroma), and the chroma is divided into two independent signals for storage. Of course, image processing for edge pixels is not limited to the above two methods, and can be flexibly selected according to shooting environment, image format, output result standard, application interface, etc.

On the basis of identifying and determining the pixels, the state of the electrical connector sealing ring can be restored according to the relative position of the pixels, such as whether it has fallen off or deformed; or the color parameters of the edge pixels obtained above can be used to determine the degree of damage, etc. For example, the degree of exposure of the electrical connector can be judged by the color represented by the pixel value, and then the specific damage or displacement of the electrical connector sealing ring can be analyzed when it is deformed.

In this embodiment, aiming at the deformation problem or falling off situation that is relatively easy to occur in the sealing ring of the electrical connector, the method of edge pixel point detection is used to screen out its state, and it is possible to relatively accurately determine whether the state of the sealing ring of the electrical connector exists. abnormal.

As a preferred embodiment, the edge pixel point parameters include the edge pixel point coordinate value; the edge detection condition includes a coordinate difference threshold; the detection unit 22 is specifically used to detect whether there are two edge pixels whose coordinate value difference is greater than the coordinate difference threshold point; if it exists, it is determined that the coordinate value of the edge pixel point does not meet the edge detection condition, and the sealing ring of the electrical connector is in a deformed state; if it does not exist, it is determined that the coordinate value of the edge pixel point meets the edge detection condition.

This embodiment provides a detection method for edge pixels. Since the edge pixels can reflect the state of the sealing ring of the electrical connector at its setting position through the outer contour, if the outer contour represented by the current edge pixels is detected and the specified The shape of the outline does not match, and some abnormal protrusions or depressions are produced, which can be considered as deformation. Referring to Figure 4, it shows a specific application example of electrical connector seal ring detection, where the difference between the coordinates of points A and B is greater than the coordinate difference threshold, therefore, it can be considered that the seal ring of the electrical connector in part A-B exists Deformation, specifically, point B with a larger coordinate value is a protruding point, then it can be considered that the sealing ring at the position of point B is wrinkled and protrudes from the specified position.

In this embodiment, by detecting edge pixel values, possible edge bumps and convexities can be found, and then it can be determined that the sealing ring of the electrical connector is deformed.

As a preferred embodiment, the control module 2 also includes:

A division unit 23, configured to divide the electrical connector sealing ring in the target image into several pixel intervals according to the edge direction;

The acquiring unit 21 is configured to acquire at least one edge pixel point corresponding to each pixel interval, so as to acquire edge pixel point parameters corresponding to the sealing ring of the electrical connector.

The division unit 23 divides the corresponding portion of the image of the electrical connector sealing ring into several pixel intervals according to its edge direction in the target image, so that the acquisition unit 21 does not need to acquire all the edge pixel points, but only needs to set the interval span reasonably Under the same conditions, it is also possible to obtain enough edge pixels for edge detection, so that by performing edge segmentation on the image of the electrical connector sealing ring, and selecting some pixels for sampling detection according to the segmentation results, while ensuring the accuracy of the detection results At the same time, the calculation amount of the detection process is reduced, and the detection efficiency is taken into consideration. By shortening the detection time, the application scenarios of the image detection system in this embodiment are wider. For example, in Fig. 5, by obtaining the pixels in the divided n pixel intervals for sampling detection, for example, obtaining the pixel points T ₁ to T _n , so as to detect the above pixel points, it is possible to judge the electrical connector The state of the sealing ring can greatly reduce the amount of calculation compared with the detection method based on all edge pixels, thereby improving the detection efficiency.

As a preferred embodiment, the acquisition unit 21 is also used to acquire the sampling point parameters of the preset sampling points in the target image; the detection unit 22 is also used to determine the electrical connector according to the matching result of the sampling point parameters and the preset sampling values Whether the sealing ring is falling off. According to the model of the electrical connector sealing ring, the empirical parameters obtained by statistics, etc., the preset sampling value can be set in a targeted manner; that is, the shape characteristics that the electrical connector sealing ring should have under normal conditions; thus only the target image obtained from The state of the sealing ring of the electrical connector can be deduced by detecting several sampling points in the test and matching the preset sampling values. As shown in FIG. 6, if the edge position of the electrical connector sealing ring under normal conditions should be L, in fact, the edge position of the electrical connector is at L' because the electrical connector sealing ring has fallen off. Then judge by setting the sampling point parameters of sampling points L1~L5, and know that the sampling point parameters of L1~L5 do not match the preset sampling values through including but not limited to the above-mentioned image processing methods, so as to determine whether the sealing ring of the electrical connector is is off state.

In this embodiment, the parameter of the preset sampling point is obtained from the photographed image of the sealing ring of the electrical connector, and the parameters of the preset sampling point are matched and analyzed to detect whether the sealing ring of the corresponding type of electrical connector falls off.

As a preferred embodiment, the photographing device 1 is arranged on the path where the battery pack is transferred to the battery rack after it is removed from the battery exchange vehicle, and is located above the corresponding position of the sealing ring of the electrical connector. The battery pack is usually removed from the battery swapping vehicle at the battery swapping point, and transported to a preset location such as a battery rack for charging by a transmission tool such as a shuttle car; Take pictures more clearly when the battery pack is blocked by the battery rack or the potential replacement. As an example, refer to the scene of the power exchange station shown in FIG. After being removed from the battery replacement vehicle, it is transported to the battery rack 53 located in the charging room 51 along the track Q by the shuttle car. Figure 7 shows the driving direction of the shuttle. Those skilled in the art can understand that the shuttle car can flexibly choose to transport the battery pack to any charging room 51 according to the situation such as full warehouse. Figure 7 only shows the situation that the shuttle car runs to the left charging room 51, and it will be described as an example. The running path of the shuttle. The photographing device 1 can be arranged on the path of the transfer. Specifically, the installation range of the photographing device 1 can be determined according to the length and distance of the track Q, and the actual size of the swapping potential 52 and the battery rack 53, such as the battery shown in FIG. 7 The area below the shelf 53, such as the CM1 position; or the partition 511 between the battery exchange chamber 50 and the charging chamber 51 (on the side of the charging chamber 51), such as the CM2 position; or the area between the battery rack 53 and the partition 511 On the ceiling, or below the equipment in the area between the battery rack 53 and the partition 511, when equipment is installed in the area between the battery rack 53 and the partition 511, for example, it is located at the CM3 position. CM1, CM2, and CM3 in the figure are only examples. It can be understood that the corresponding setting in the right charging chamber 51 can also set the shooting device 1 . At the same time, those skilled in the art know that the shooting lens in the shooting device 1 can be composed of a single lens or multiple lenses. If there are multiple lenses, the final target image can be obtained through image superposition and stitching, and satisfy the above-mentioned conditions. Since the electrical connector sealing ring is usually attached to the electrical connector, the photographing device 1 is arranged above the corresponding position of the electrical connector sealing ring, preferably directly above and so that the photographing direction is the same as that of the electrical connector sealing ring. The planes at the position are parallel, so that the target image can better restore the state of the electrical connector sealing ring.

In this embodiment, by installing a camera at a reasonable position on the delivery path of the battery pack from the battery replacement vehicle to the battery rack, it can make full use of the movement process of the battery pack during the entire battery replacement process for detection. On the one hand, ample space is reserved for detection. Time, on the other hand, will not affect the process of charging and replacing the battery pack, taking into account the accuracy and efficiency of the inspection of the electrical connector seal.

As a preferred embodiment, the image detection system also includes a light source device 3, which is communicatively connected to the control module 2; the light source device 3 is arranged on the shuttle car for transferring the battery pack and corresponds to the position of the electrical connector sealing ring; The control module 2 is also used to control the light source device 3 to provide illumination when the photographing device 1 captures the target image.

Because there may be insufficient illumination in the working environment of the shooting device 1, the quality of the target image containing the sealing ring of the electrical connector is poor, which affects the subsequent image detection; The shooting requirements of device 1. Specifically, the installation position of the light source device 3 can be located on the shuttle car for transferring the battery pack; and the position of the light source device 3 and the sealing ring of the electrical connector are set correspondingly, so as to ensure that the illumination range covers the sealing ring of the electrical connector.

The control module 2 controls the light source device 3 according to the photographing device 1 to provide illumination for photographing. For example, according to the installation position of the photographing device 1 , the light source device 3 is turned on when the battery pack is transported close to or moved to the installation position, and the corresponding illumination time length is set according to the shutter time of the photographing device 1 .

In this embodiment, by using a light source device and a photographing device together, the photographed image of the sealing ring of the electrical connector can be clear, and the recognition degree of the edge pixels is higher, which is beneficial to improve the detection accuracy of the edge pixels.

As a preferred embodiment, the sealing ring of the electrical connector is located between the light source device 3 and the photographing device 1 ; the light source device 3 is arranged under the sealing ring of the electrical connector, and provides light toward the sealing ring of the electrical connector.

The electrical connector sealing ring is located between the light source device 3 and the photographing device 1. In this way, the light source emitted by the light source device 3 can increase the intensity of ambient light to make the captured image have better pixel quality, thereby providing better image processing. Reliable basis, and when the electrical connector sealing ring is located between the light source device and the camera device, it can play the role of a backlight and increase the definition of the edge of the image.

Regarding the setting of the photographing device 1 and the light source device 3, in another preferred embodiment, the photographing device can be arranged on the path where the battery pack is removed from the battery replacement vehicle and then transferred to the battery rack, and located at the location where the electrical connector is sealed. Correspondingly, the light source device 3 is also arranged on the path where the battery pack is removed from the battery replacement vehicle and then transferred to the battery rack, and corresponds to the installation position of the camera 1 and is located on the sealing ring of the electrical connector. to ensure that the battery is just positioned between the camera device 1 and the light source device 3 when passing through the installation positions of the camera device 1 and the light source device 3 during transport by the shuttle car, and the light source device 3 provides the camera device with an electrical connection Light from the direction of the seal ring. Such a setting can also obtain the above-mentioned advantages of not affecting the battery replacement process and capturing clear images. The setting of the light source device 3 can also refer to the scene shown in FIG. 7 and the corresponding description above. On the premise that the location of the shooting device 1 is determined, the light source device 3 and the shooting device 1 can be set correspondingly according to the aforementioned requirements.

The image detection system for the sealing ring of the electrical connector of the battery pack in this embodiment makes full use of the process that the battery pack is removed from the vehicle for charging when the vehicle is replaced, by taking images and combining the characteristics of the sealing ring of the electrical connector to detect The comprehensive image detection can timely and accurately find possible problems with the sealing ring of the electrical connector, thus providing a basis for further maintenance or replacement of the battery pack, timely and efficiently discovering potential safety hazards of the battery replacement vehicle, and ensuring the safety of people and vehicles.

Example 2

Referring to Fig. 8, this embodiment specifically provides a method for detecting the sealing ring image of the electrical connector of the battery pack, including steps:

S31. Collect the target image; the target image at least includes an image of the area corresponding to the electrical connector sealing ring on the battery pack removed from the battery replacement vehicle;

S32. Obtain the target image, and judge whether the state of the sealing ring of the electrical connector is normal according to the target image.

The electrical connector in this embodiment includes but is not limited to the circuit organization structure connecting the battery packs in the battery pack, usually it can be set at the end of the battery pack, and the sealing ring is usually attached to it for insulation, waterproof, waterproof Dust and fixation. Step S31 collects the target image; since the target image is used to detect whether the state of the sealing ring of the electrical connector is normal, those skilled in the art can understand that the target image is determined according to the position of the electrical connector on the battery pack, and should at least include the battery The image of the sealing ring of the electrical connector on the package, of course, includes the image of the electrical connector when the sealing ring of the electrical connector falls off; that is, the whole or part of the image of the battery pack can be included in the target image.

Step S32 is used to acquire the target image, and judge whether the state of the sealing ring of the electrical connector is normal according to the target image. Judging the state of the electrical connector sealing ring according to the target image, those skilled in the art can understand that a common failure of the electrical connector sealing ring is to fall off from the sealing port of the electrical connector of the battery pack, which will cause the electrical connector and even the entire battery to be damaged. package loses the corresponding protection; another common failure is due to the plastic deformation of the sealing ring, which weakens the protection of the electrical connector. For the above-mentioned situation that the sealing ring of the electrical connector falls off or is deformed, image detection is used in this embodiment to judge, which has high accuracy and reference value.

Referring to FIG. 9, as a preferred implementation manner, step S32 includes:

S321. Based on the target image, obtain edge pixel parameters corresponding to the sealing ring of the electrical connector;

S322. Detect whether the edge pixel point parameters meet the edge detection condition; if yes, determine that the state of the electrical connector sealing ring is normal; if not, determine that the state of the electrical connector sealing ring is abnormal.

Step S322 judges based on the edge pixel point parameters obtained in step S321. A pixel is a data structure used to describe image information elements. According to the image structure obtained by the shooting device 1, edge pixel points can be identified and detected through image processing methods including but not limited to RGB color coding or YUV color coding, that is, recognition Edge pixels in the image. Among them, the RGB color coding method divides the pixel into three sub-pixels (or called 3 components) of red, green and blue; the YUV color coding method expresses the color through brightness and color difference, where the brightness refers to the black-white signal, and the chroma refers to the color Signal. Specifically, in the YUV color coding method, the edge pixel parameters are divided into Y (brightness) and UV (chroma), and the chroma is divided into two independent signals for storage. Of course, image processing for edge pixels is not limited to the above two methods, and can be flexibly selected according to shooting environment, image format, output result standard, application interface, etc.

On the basis of identifying and determining the pixels, the state of the electrical connector sealing ring can be restored according to the relative position of the pixels, such as whether it has fallen off or deformed; or the color parameters of the edge pixels obtained above can be used to determine the degree of damage, etc. For example, the degree of exposure of the electrical connector can be judged by the color represented by the pixel value, and then the specific damage or displacement of the electrical connector sealing ring can be analyzed when it is deformed.

In this embodiment, aiming at the deformation problem or falling off situation that is relatively easy to occur in the sealing ring of the electrical connector, the method of edge pixel point detection is used to screen out its state, and it is possible to relatively accurately determine whether the state of the sealing ring of the electrical connector exists. abnormal.

As a preferred embodiment, the edge pixel point parameters include edge pixel point coordinate values; the edge detection condition includes a coordinate difference threshold; step S322 includes:

S3221. Detect whether there are two edge pixel points whose coordinate value difference is greater than the coordinate difference threshold;

S3222. If it exists, the coordinate value of the edge pixel point does not meet the edge detection condition, and the sealing ring of the battery pack is in a deformed state; if it does not exist, the coordinate value of the edge pixel point meets the edge detection condition.

This embodiment provides a detection method for edge pixels. Since the edge pixels can reflect the state of the sealing ring of the electrical connector at its setting position through the outer contour, if the outer contour represented by the current edge pixels is detected and the specified The shape of the outline does not match, and some abnormal protrusions or depressions are produced, which can be considered as deformation. Referring to Figure 4, it shows a specific application example of electrical connector seal ring detection, where the difference between the coordinates of points A and B is greater than the coordinate difference threshold, therefore, it can be considered that the seal ring of the electrical connector in part A-B exists Deformation, specifically, point B with a larger coordinate value is a protruding point, then it can be considered that the sealing ring at the position of point B is wrinkled and protrudes from the specified position.

In this embodiment, by detecting edge pixel values, possible edge bumps and convexities can be found, and then it can be determined that the sealing ring of the electrical connector is deformed.

As a preferred implementation manner, before step S3221, step S3220 is also included, and step S3220 divides the electrical connector sealing ring in the target image into several pixel intervals according to the edge direction;

Step S3221 includes: obtaining at least one edge pixel point corresponding to each pixel interval, so as to obtain edge pixel point parameters corresponding to the sealing ring of the electrical connector.

Referring to Fig. 5, in step S3220, in the target image, the corresponding portion of the image of the electrical connector sealing ring is divided into several pixel intervals according to its edge direction, so that when step S3221 is executed, it is not necessary to obtain all the edge pixels, but only need to be within a reasonable Under the premise of setting the interval span, it is also possible to obtain enough edge pixels for edge detection, so that by performing edge segmentation on the image of the electrical connector sealing ring, and selecting some pixels for sampling detection according to the segmentation results, the detection is guaranteed. While the accuracy of the result is reduced, the calculation load of the detection process is reduced, and the detection efficiency is taken into account. By shortening the detection time, the application scenarios of the image detection method in this embodiment are wider.

As a preferred implementation, step S321 includes: obtaining the sampling point parameters of the preset sampling points in the target image; the image detection method further includes: determining the sealing ring of the electrical connector according to the matching result of the sampling point parameters and the preset sampling values Whether it is off state.

Referring to Figure 6, preset sampling values can be set in a targeted manner according to the model of the electrical connector sealing ring and empirical parameters obtained through statistics; that is, the shape characteristics that the electrical connector sealing ring should have under normal conditions; The state of the sealing ring of the electrical connector can be deduced by detecting several sampling points in the acquired target image and matching the preset sampling values. As shown in FIG. 6, if the edge position of the electrical connector sealing ring in a normal state should be L, in fact, the edge position of the electrical connector is at L' because the electrical connector sealing ring has fallen off. Then judge by setting the sampling point parameters of sampling points L1~L5, and know that the sampling point parameters of L1~L5 do not match the preset sampling values through including but not limited to the above-mentioned image processing methods, so as to determine whether the sealing ring of the electrical connector is is off state.

In this embodiment, the parameter of the preset sampling point is obtained from the captured image of the area corresponding to the sealing ring of the electrical connector, and the matching analysis is performed with the preset sampling value to detect whether the sealing ring of the corresponding type of electrical connector is detached.

The image detection method for the sealing ring of the electrical connector of the battery pack in this embodiment makes full use of the process that the battery pack is removed from the battery replacement vehicle and transferred to the battery rack when the vehicle is replaced, by taking images and combining the characteristics of the sealing ring of the electrical connector Targeted image detection can timely and accurately discover possible problems with the sealing ring of the electrical connector, thereby providing a basis for further maintenance or replacement of the battery pack, and timely and efficiently discovering potential safety hazards of the battery replacement vehicle to ensure the safety of people and vehicles.

Example 3

Referring to FIG. 10 , this embodiment specifically provides a battery exchange station, which includes a battery exchange station 71, a battery rack 72, a shuttle car 73, and an image detection system 74 for the electrical connector sealing ring of the battery pack in Embodiment 1. The car 73 is used to reciprocate between the battery rack 72 and the battery exchange 71, and after removing the battery pack of the battery exchange vehicle staying at the battery exchange 71, the battery pack is transported to the battery rack 72; the imaging device 742 of the image detection system is set It is on the transfer path of the shuttle car 73 and above the corresponding position of the sealing ring of the electrical connector.

As a preferred embodiment, the image detection system 74 also includes a light source device 741, the light source device 741 is arranged on the shuttle car 73 for transferring the battery pack, and corresponds to the position of the electrical connector sealing ring; the electrical connector sealing ring is located on the light source Between the device 741 and the camera device 742 of the image detection system; the light source device 741 is arranged under the sealing ring of the electrical connector, and provides light toward the sealing ring of the electrical connector. In this embodiment, by setting the light source device in conjunction with the photographing device, the photographed image of the sealing ring of the electrical connector can be clear, and the recognition degree of the edge pixels is higher; and by using the light source device according to the position of the electrical connector sealing ring Reasonably correspond to the setting, increase the intensity of ambient light, and make the captured image have better pixel quality, which can provide a more reliable basis for image processing, and is conducive to the image detection system of the battery pack sealing ring for the electrical connector sealing ring. During the detection process, the detection accuracy of the edge pixels is improved, thereby further increasing the detection accuracy of the sealing ring of the electrical connector.

For the photographing device 742 and the light source device 741 in the image detection system 74, the installation positions can be adjusted according to actual usage requirements. At the same time, those skilled in the art know that the shooting lens in the shooting device 1 can be composed of a single lens or multiple lenses. If there are multiple lenses, the final target image can be obtained by image superposition and stitching, and satisfy the above-mentioned conditions. In addition, the light source device may be set as described above. Of course, the specific installation positions of the photographing device 742 and the light source device 741 in this embodiment are not limited thereto. In another preferred embodiment, the camera 742 can be set on the path where the battery pack is removed from the battery exchange vehicle and then transferred to the battery rack, and is located below the corresponding position of the electrical connector sealing ring. Correspondingly, the light source The device 741 is also installed on the path where the battery pack is removed from the battery exchange vehicle and then transferred to the battery rack, and it corresponds to the installation position of the camera and is located above the sealing ring of the electrical connector to ensure that the battery pack is transported by the shuttle car. During the process, when passing through the installation positions of the photographing device 742 and the light source device 741, it is just between the photographing device 742 and the light source device 741, and the light source device 741 provides the photographing device 742 with light toward the sealing ring of the electrical connector. Such a setting can also obtain the above-mentioned advantages of not affecting the battery replacement process and capturing clear images.

In this embodiment, the working principles of the imaging device 742 and the control device included in the image detection system 74 of the electrical connector sealing ring of the battery pack, and the specific setting method of the light source device 741 are all introduced in the above content, so No longer.

As a specific example of this embodiment, refer to the scene of the power exchange station shown in FIG. After the battery swapping battery 52 is removed from the battery swapping vehicle, it is transported to the battery rack 53 located in the charging room 51 along the track Q by the shuttle car. Figure 7 shows the driving direction of the shuttle. Those skilled in the art can understand that the shuttle car can flexibly choose to transport the battery pack to any charging room 51 according to the situation such as full warehouse. Figure 7 only shows the situation that the shuttle car runs to the left charging room 51, and it will be described as an example. The running path of the shuttle. The photographing device 1 can be arranged on the path of the transfer. Specifically, the installation range of the photographing device 1 can be determined according to the length and distance of the track Q, and the actual size of the swapping potential 52 and the battery rack 53, such as the battery shown in FIG. 7 The area below the frame 53, such as the CM1 position; or the partition 511 between the battery exchange chamber 50 and the charging chamber 51 (on the side of the charging chamber 51), such as the CM2 position; or the area between the battery rack 53 and the partition 511 On the ceiling, or below the equipment in the area between the battery rack 53 and the partition 511, when equipment is installed in the area between the battery rack 53 and the partition 511, for example, it is located at the CM3 position. CM1, CM2, and CM3 in the figure are only examples. It can be understood that the corresponding setting in the charging chamber 51 on the right side can also set the photographing device 1 .

In the battery swap station of this embodiment, a camera is installed at a reasonable position on the transport path of the battery pack from the battery swap vehicle to the battery rack in the swap station, and the image detection system of the battery pack sealing ring is used to perform related detection on the battery pack for battery swap , can make full use of the moving process of the battery pack during the entire battery replacement process for detection. On the one hand, ample time is reserved for detection, and on the other hand, it will not affect the charging and replacement process of the battery pack, taking into account the electrical connector Inspection accuracy and efficiency of sealing rings. According to the image analysis of the electrical connector sealing ring of the battery pack, the damage degree and damage location can be obtained, and the relevant information will be passed on to the disposal personnel in time, so that timely and proper disposal can be carried out during the battery replacement process, which is helpful for the first time The potential safety hazards of battery replacement vehicles will be discovered within a short period of time to ensure the safety of people and vehicles.

Example 4

This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the image detection method for the electrical connector sealing ring of the battery pack in Embodiment 2 is implemented.

Wherein, the readable storage medium may more specifically include but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device or any of the above-mentioned the right combination.

In a possible implementation, the present invention can also be implemented in the form of a program product, which includes program code, and when the program product runs on the terminal device, the program code is used to make the terminal device execute the battery in Embodiment 2. In the image detection method of the electrical connector sealing ring of the package.

Wherein, the program code for executing the present invention may be written in any combination of one or more programming languages, and the program code may be completely executed on the user equipment, partially executed on the user equipment, or used as an independent software Package execution, partly on the user device and partly on the remote device, or entirely on the remote device.

Although the specific implementation of the present invention has been described above, those skilled in the art should understand that this is only an example, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims (16)

1. An image detection system for a sealing ring of an electrical connector of a battery pack, wherein the image detection system includes a photographing device and a control module, and the photographing device and the control module are connected in communication;

   The photographing device is used to collect target images; the target images at least include images of the corresponding area of the electrical connector sealing ring on the battery pack removed from the battery swap vehicle;

   The control module is used to obtain the target image, and judge whether the state of the sealing ring of the electrical connector is normal according to the target image.
2. The image detection system of the electrical connector sealing ring of the battery pack according to claim 1, wherein the control module comprises:

   An acquisition unit, configured to acquire edge pixel parameters corresponding to the electrical connector sealing ring based on the target image;

   The detection unit is used to detect whether the edge pixel point parameters meet the edge detection conditions; if yes, determine that the state of the electrical connector sealing ring is normal; if not, determine that the state of the electrical connector sealing ring is abnormal.
3. The image detection system of the electrical connector sealing ring of the battery pack according to claim 2, wherein the edge pixel parameters include edge pixel coordinate values; the edge detection conditions include a coordinate difference threshold;

   The detection unit is specifically used to detect whether there are two edge pixel points whose coordinate value difference is greater than the coordinate difference threshold;

   If it exists, it is determined that the coordinate value of the edge pixel point does not meet the edge detection condition, and the sealing ring of the electrical connector is in a deformed state; if it does not exist, it is determined that the coordinate value of the edge pixel point meets the edge detection condition.
4. The image detection system of the electrical connector sealing ring of the battery pack according to claim 3, wherein the control module further comprises:

   A division unit, configured to divide the electrical connector sealing ring in the target image into several pixel intervals according to the edge direction;

   The acquiring unit is configured to acquire at least one edge pixel point corresponding to each of the pixel intervals, so as to acquire edge pixel point parameters corresponding to the electrical connector sealing ring.
5. The image detection system of the electrical connector sealing ring of the battery pack according to claim 2, wherein the acquisition unit is also used for:

   Obtain the sampling point parameters of the preset sampling points in the target image;

   The detection unit is also used for:

   According to the matching result of the sampling point parameter and the preset sampling value, it is determined whether the sealing ring of the electrical connector is in a detached state.
6. The image detection system for the sealing ring of the electrical connector of the battery pack according to claim 1, wherein the photographing device is arranged on the path where the battery pack is transferred to the battery rack after it is removed from the battery replacement vehicle , and located above or below the corresponding position of the sealing ring of the electrical connector.
7. The image detection system for the sealing ring of the electrical connector of the battery pack according to claim 1, wherein the image detection system further comprises a light source device, and the light source device is connected to the control module in communication;

   The light source device is arranged on the shuttle car that transfers the battery pack or on the transfer path of the shuttle car, and corresponds to the position of the electrical connector sealing ring;

   The control module is further configured to control the light source device to provide illumination when the photographing device captures the target image.
8. The image detection system for the sealing ring of the electrical connector of the battery pack according to claim 7, wherein the sealing ring of the electrical connector is located between the light source device and the photographing device; the light source device is arranged on above or below the sealing ring of the electrical connector, and provide light toward the sealing ring of the electrical connector.
9. An image detection method for an electrical connector sealing ring of a battery pack, comprising the steps of:

   Collecting a target image; the target image includes at least an image of the area corresponding to the electrical connector sealing ring on the battery pack removed from the battery replacement vehicle;

   Acquiring the target image, and judging whether the state of the sealing ring of the electrical connector is normal according to the target image.
10. The image detection method for the sealing ring of the electrical connector of the battery pack according to claim 9, wherein the step of judging whether the state of the sealing ring of the electrical connector is normal according to the target image comprises: based on the target image , obtaining the edge pixel point parameters corresponding to the electrical connector sealing ring;

    Detecting whether the edge pixel point parameters meet the edge detection condition; if yes, determine that the state of the electrical connector sealing ring is normal; if not, determine that the state of the electrical connector sealing ring is abnormal.
11. The image detection method of the electrical connector sealing ring of the battery pack according to claim 10, wherein the edge pixel parameters include edge pixel coordinate values; the edge detection conditions include a coordinate difference threshold; The step of detecting whether the edge pixel point parameters meet the edge detection conditions includes:

    Detecting whether there are two edge pixel points whose coordinate value difference is greater than the coordinate difference threshold;

    If it exists, the coordinate value of the edge pixel point does not meet the edge detection condition, and the sealing ring of the battery pack is in a deformed state; if it does not exist, the coordinate value of the edge pixel point meets the edge detection condition.
12. The image detection method for the sealing ring of the electrical connector of the battery pack according to claim 11, characterized in that, before the step of detecting whether there are two edge pixels whose coordinate value difference is greater than the coordinate difference threshold include:

    dividing the electrical connector sealing ring in the target image into several pixel intervals according to the edge direction;

    The step of detecting whether there are two edge pixels whose coordinate value difference is greater than the coordinate difference threshold includes:

    Acquiring at least one edge pixel point corresponding to each of the pixel intervals, so as to obtain edge pixel point parameters corresponding to the electrical connector sealing ring.
13. The image detection method for the sealing ring of the electrical connector of the battery pack according to claim 10, wherein the step of acquiring edge pixel parameters corresponding to the sealing ring of the electrical connector based on the target image comprises:

    Obtain the sampling point parameters of the preset sampling points in the target image;

    The image detection method also includes:

    According to the matching result of the sampling point parameter and the preset sampling value, it is determined whether the sealing ring of the electrical connector is in a detached state.
14. A computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the sealing ring of the electrical connector of the battery pack according to any one of claims 9-13 is realized. Detection method.
15. A power exchange station, characterized in that the power exchange station includes a power exchange station, a battery rack, a shuttle, and an image detection system for the electrical connector sealing ring of the battery pack according to any one of claims 1-8, the The shuttle car is used to reciprocate between the battery rack and the battery exchange station, and after removing the battery pack of the battery exchange vehicle staying at the battery exchange station, transport the battery pack to the battery rack; The photographing device of the image detection system is arranged on the transfer path of the shuttle, and is located above or below the corresponding position of the sealing ring of the electrical connector.
16. The battery swapping station according to claim 15, wherein the image detection system further comprises a light source device, the light source device is arranged on the shuttle car for transferring the battery pack, or is arranged on the transfer path of the shuttle car above, and corresponding to the position of the electrical connector sealing ring; the electrical connector sealing ring is located between the light source device and the photographing device; the light source device is arranged on the electrical connector sealing ring above or below, and provide light toward the direction of the electrical connector sealing ring.

Images