A visual analysis-based battery swapping control method

Abstract

This invention discloses a battery swapping control method based on visual analysis. The method includes: entering a vehicle parking and positioning stage; entering a battery compartment positioning stage; entering a battery removal stage where the battery swapping device unlocks from the battery compartment and removes the depleted battery pack assembly; re-entering the battery compartment positioning stage; entering a battery installation stage where the battery swapping device installs the battery pack assembly to be installed into the battery compartment; and entering a lock detection stage for the battery compartment. This invention can monitor the entire battery swapping process using image processing technology, control the objects involved in the process (such as the vehicle and the battery swapping device), and ensure a high success rate for battery swapping.

Description

[0001] This application is a divisional application of Chinese patent application filed on July 27, 2018, with application number 201810843795.0 and invention title "Visual Analysis System, Method and Battery Swapping Control Method for Vehicle Battery Swapping". Technical Field

[0002] This invention belongs to the field of battery swapping control, and particularly relates to a battery swapping control method based on visual analysis. Background Art

[0003] Currently, vehicle exhaust emissions remain a significant contributor to environmental pollution. To address this issue, researchers have developed natural gas vehicles, hydrogen fuel cell vehicles, solar-powered vehicles, and electric vehicles to replace gasoline-powered cars. Among these, electric vehicles hold the most promise for application. Current electric vehicles primarily fall into two categories: direct-charging and fast-charging.

[0004] When replacing the battery pack assembly in a fast-swap electric vehicle, the battery swapping equipment needs to travel underneath the vehicle to remove the old battery pack assembly from the battery casing and then install the new battery pack assembly. In existing technology, the battery swapping operation is typically controlled by the swapping equipment itself, lacking external monitoring, which can easily lead to battery pack assembly replacement failures. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art in which the battery swapping action is controlled by the battery swapping equipment itself and lacks external monitoring, and to provide a battery swapping control method based on visual analysis.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0007] A battery swapping control method based on visual analysis, the battery swapping control method comprising:

[0008] Entering the vehicle parking and positioning stage;

[0009] Entering the battery outer casing positioning stage of the vehicle;

[0010] The battery removal phase begins, in which the battery swapping equipment for the vehicle unlocks from the battery casing and removes the depleted battery pack assembly.

[0011] And / or,

[0012] Entering the battery outer casing positioning stage of the vehicle;

[0013] The battery installation stage involves the battery swapping equipment for the vehicle installing the battery pack assembly to be installed into the vehicle's battery casing.

[0014] Enter the lock detection stage of the battery casing.

[0015] Optionally, the battery swapping control method includes:

[0016] During the vehicle battery swapping process, actual images of the vehicle and battery pack assembly are captured.

[0017] The battery swapping process is monitored based on the actual images.

[0018] The objects involved in regulating the battery swapping process.

[0019] Optionally, during the vehicle parking positioning stage, the actual images collected include images of the vehicle and images of the pre-marked parking area;

[0020] The vehicle's parking location information is extracted from the actual image. The location information is used to determine whether the vehicle is parked within the preset parking area. If not, the vehicle is ordered to re-park within the preset parking area.

[0021] Optionally, during the battery casing positioning stage, the actual images acquired include images of the vehicle's battery casing;

[0022] The spatial state information of the battery outer casing is obtained based on the actual image;

[0023] Based on the spatial state information of the battery casing, the battery swapping device is commanded to adjust its own spatial state information to adapt to the spatial state information of the battery casing.

[0024] Optionally, the battery outer casing positioning stage applies to: before the battery swapping equipment removes the depleted battery pack assembly from the battery outer casing, or before the battery swapping equipment installs the battery pack assembly to be installed into the battery outer casing.

[0025] Optionally, during the battery removal stage, the actual images acquired include images of the locking mechanism inside the battery casing, which is used to lock the battery pack assembly inside the battery casing.

[0026] Based on the actual image analysis, determine whether the locking mechanism unlocks the battery pack assembly, and when the locking mechanism unlocks the battery pack assembly, command the battery swapping device to remove the battery pack assembly from the battery casing.

[0027] Optionally, the battery swapping device is pre-programmed with a first battery movement trajectory required to remove the battery pack assembly from the battery casing when executing the battery removal command.

[0028] Optionally, during the battery installation stage, the actual images are acquired in real time, and the actual images include images of the battery outer casing and the battery pack assembly;

[0029] Based on the analysis of the actual image, it is determined whether the battery pack assembly has reached the designated position inside the battery casing. If so, the battery swapping equipment is informed that the battery installation stage has been completed.

[0030] Optionally, during the lock detection phase, the acquired actual image includes an image of a locking mechanism in the vehicle's battery compartment, the locking mechanism being used to lock the battery pack assembly inside the battery compartment;

[0031] Based on the actual image analysis, determine whether the locking mechanism locks the battery pack assembly.

[0032] Optionally, the lock detection phase occurs after the battery swapping equipment has installed the battery pack assembly to be installed into the battery casing.

[0033] Optionally, the spatial state information includes location information;

[0034] The location information of the battery casing is obtained based on the actual image;

[0035] Based on the location information of the battery casing, the battery swapping device is commanded to move its own position to the target position, which is related to the position of the battery casing.

[0036] Optionally, the spatial state information includes attitude information;

[0037] The attitude information of the battery casing is obtained based on the actual image;

[0038] Based on the attitude information of the battery casing, the battery swapping device is commanded to adjust its own attitude so that the battery swapping mechanism on the battery swapping device has the same attitude as the battery casing.

[0039] Optionally, based on the actual image, the locking mechanism is analyzed to determine whether the battery pack assembly is unlocked through the following steps:

[0040] Obtain the length of the locking link extending out of the locking block in the locking mechanism from the actual image;

[0041] Compare whether the length is 0:

[0042] If so, the locking mechanism unlocks the battery pack assembly;

[0043] If not, the locking mechanism has not unlocked the battery pack assembly;

[0044] Alternatively, compare whether the actual image is the same as the standard image. The standard image is the image when the locking mechanism unlocks the battery pack assembly. The standard image includes pre-stored standard images corresponding to various vehicle models, battery models, and locking mechanisms.

[0045] If so, the locking mechanism unlocks the battery pack assembly;

[0046] If not, the locking mechanism does not unlock the battery pack assembly.

[0047] Optionally, when the battery pack assembly reaches the designated location, the vehicle's battery power supply circuit is turned on, and the battery swapping equipment is pre-programmed with a battery movement trajectory required to install the battery pack assembly at the designated location when performing the target task.

[0048] Optionally, analyzing whether the battery pack assembly has reached a designated location inside the battery casing based on the actual image includes:

[0049] Extract the images of the battery pack assembly and the battery casing from the actual images;

[0050] Extract images of the battery pack assembly and the battery casing from a standard image when the battery pack assembly is located at the specified position;

[0051] Compare the relative positions of the battery pack assembly and the battery casing in the actual image and the standard image to see if they are the same in a first direction and / or in other directions perpendicular to the first direction, where the first direction is perpendicular to the platform where the vehicle is parked:

[0052] If so, the battery pack assembly reaches the designated location;

[0053] If not, the battery pack assembly has not reached the designated location.

[0054] Optionally, based on the actual image, the locking mechanism is analyzed through the following steps to determine whether it locks the battery pack assembly:

[0055] Obtain the length of the locking link extending out of the locking block in the locking mechanism from the actual image;

[0056] Compare whether the length is less than the standard length of the locking link extending out of the locking block when the locking mechanism locks the battery pack assembly;

[0057] If so, the locking mechanism has not locked the battery pack assembly;

[0058] If not, the locking mechanism locks the battery pack assembly;

[0059] Alternatively, compare the actual image with a standard image, where the standard image is the image of the locking mechanism locking the battery pack assembly;

[0060] If so, the locking mechanism locks the battery pack assembly;

[0061] If not, the locking mechanism has not locked the battery pack assembly.

[0062] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0063] The positive and progressive effects of this invention are as follows: This invention can monitor the entire battery swapping process through image processing technology, control the objects involved in the battery swapping process (such as vehicles and battery swapping equipment), and ensure the success rate of battery swapping. Attached Figure Description

[0064] Figure 1 This is a schematic block diagram of a vision analysis system applied to vehicle battery swapping according to Embodiment 1 of the present invention;

[0065] Figure 2 This is a schematic diagram of the installation of an image acquisition module according to Embodiment 1 of the present invention;

[0066] Figure 3 This is a schematic diagram of a preset parking area according to Embodiment 2 of the present invention;

[0067] Figure 4 This is a schematic block diagram of a vision analysis system applied to vehicle battery swapping according to Embodiment 2 of the present invention;

[0068] Figure 5 This is a flowchart of a visual analysis method applied to vehicle battery swapping according to Embodiment 3 of the present invention;

[0069] Figure 6 This is a flowchart of a battery swapping control method based on visual analysis according to Embodiment 5 of the present invention. Detailed Implementation

[0070] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0071] Example 1

[0072] Figure 1This embodiment illustrates a visual analysis system 10 applied to vehicle battery swapping. The visual analysis system 10 includes at least one image acquisition module 11, an image analysis module 12, and a battery swapping control module 13. The image acquisition module 11 and the image analysis module 12 can be connected via wired or wireless communication; the image analysis module 12 and the battery swapping control module 13 can be connected via wired or wireless communication; the battery swapping control module 13 is connected to the objects involved in the battery swapping process via wired or wireless communication. Wired communication connections include, but are not limited to, connections via cables, and wireless communication connections include, but are not limited to, connections via 2G, 3G, 4G, Bluetooth, and other communication methods.

[0073] The image acquisition module 11 is used to acquire actual images of the vehicle and battery pack assembly during the vehicle battery swapping process and send the actual images to the image analysis module 12. Specifically, the present invention defines the structure of the battery pack assembly, which typically includes a battery pack housing and connecting mechanisms disposed around the battery pack housing.

[0074] The image analysis module 12 is used to monitor the battery swapping process based on the actual image and send the battery swapping process to the battery swapping control module 13.

[0075] The battery swapping control module 13 is used to generate control commands for regulating the objects involved in the battery swapping process.

[0076] The visual analysis system in this embodiment can monitor the entire battery swapping process through image processing technology, control the objects involved in the battery swapping process (such as vehicles and battery swapping equipment), and ensure the success rate of battery swapping.

[0077] In this embodiment, the image acquisition module 11 can be mounted on the battery swapping device 40 for the vehicle. The battery swapping device 40 typically includes the function of installing a new or fully charged battery pack assembly into the battery casing, or the function of removing the existing depleted battery pack assembly from the battery casing, or both. The image acquisition module 11 can also be mounted on a platform where the vehicle is parked. The platform can be a dedicated platform for parking the vehicle during the battery swapping process or another ordinary platform. Of course, the invention is not limited to this; in other embodiments, the image acquisition module 11 can also be mounted at other locations capable of acquiring images of the vehicle and the battery pack assembly.

[0078] The number of image acquisition modules 11 can be determined based on actual conditions such as the battery swapping process, cost requirements, and control accuracy requirements. When the number of image acquisition modules 11 exceeds one, all of them can be set in the same area, such as all on the battery swapping equipment 40 or all on the aforementioned platform; alternatively, they can be distributed in different areas, such as some on the battery swapping equipment 40 and others on the aforementioned platform. The image acquisition angle of each image acquisition module 11 can be different, achieving omnidirectional image acquisition. Figure 2 An installation diagram of an image acquisition module 11 is provided. A vehicle 20 is parked on a platform 30, which is above ground level and has a hollowed-out area A in the middle. The battery swapping equipment 40 is located below the hollowed-out area A. The diagram shows four image acquisition modules 11: two are mounted on the platform 30 near the hollowed-out area A, and the other two are mounted on top of the battery swapping equipment 40.

[0079] To improve the clarity of image acquisition, the image acquisition module 11 is preferably a camera or camera that automatically zooms according to the subject being photographed.

[0080] Considering that the battery casing is usually located at the bottom of the vehicle, and the battery swapping environment is often dark, which can affect the clarity of the actual image, in this embodiment, the image acquisition module 11 is preferably equipped with an infrared illumination source. The image acquisition module 11 automatically detects the ambient light brightness before acquiring the actual image, and the infrared illumination source is used to turn on when the ambient light brightness is less than a threshold. The threshold can be determined according to the performance requirements of the camera or video camera.

[0081] Example 2

[0082] This embodiment provides a visual analysis system for vehicle battery swapping, which is a further improvement on the visual analysis system of Embodiment 1.

[0083] In this embodiment, the battery swapping process includes at least one of the following: a vehicle parking and positioning stage, a battery box positioning stage, a battery removal stage where the battery swapping device unlocks from the battery box of the vehicle and removes the depleted battery pack assembly, a battery installation stage where the battery swapping device installs the battery pack assembly to be installed into the battery box of the vehicle, and a lock detection stage for the battery box.

[0084] During the vehicle parking positioning phase:

[0085] like Figure 3 As shown, a preset parking area 31 is marked within platform 30.

[0086] The actual images acquired by the image acquisition module 11 include images of the vehicle and images of the pre-marked parking area 31.

[0087] The image analysis module 12 is specifically used to extract the vehicle parking location information from the actual image, and determine whether the vehicle is parked in the preset parking area through the location information. If not, it sends a first notification to the battery swapping control module 13.

[0088] The battery swapping control module 13 is specifically used to generate a vehicle control command after receiving the first notification. The vehicle control command is used to command the vehicle to re-park in the preset parking area.

[0089] At this stage, the image acquisition module 11 that acquires actual images is preferably set up around the preset parking area. That is, the image acquisition module 11 set up around the preset parking area acquires actual images containing images of the vehicle and images of the marked preset parking area.

[0090] During the battery casing positioning phase of the vehicle;

[0091] The actual images acquired by the image acquisition module 11 include images of the vehicle's battery compartment.

[0092] The image analysis module 12 is specifically used to obtain the spatial status information of the battery outer box based on the actual image, and send the spatial status information of the battery outer box to the battery swapping control module 13.

[0093] The battery swapping control module 13 is specifically used to generate a first control command based on the spatial state information of the battery outer box and send the first control command to the battery swapping device for swapping the battery of the vehicle. The first control command is used to command the battery swapping device to adjust its own spatial state information to adapt to the spatial state information of the battery outer box.

[0094] At this stage, the image acquisition module 11 that acquires actual images is preferably installed on the battery swapping equipment. Figure 2 The image acquisition module 11 around the hollow area in the middle, that is, the image acquisition module 11 installed on the battery swapping equipment or Figure 2 The image acquisition module 11 around the hollowed-out area in the battery box acquires an actual image containing the image of the battery box.

[0095] The battery outer casing positioning stage applies before the battery removal stage or before the battery installation stage.

[0096] Specifically, if Figure 4As shown, the spatial state information may include location information, and the image analysis module 12 includes a location analysis unit 121;

[0097] The location analysis unit 121 is used to obtain the location information of the battery outer box based on the actual image, and send the location information of the battery outer box to the battery swapping control module 13;

[0098] The first control command includes a position movement command. The battery swapping control module 13 is further configured to generate the position movement command based on the position information of the battery outer casing. The position movement command is used to command the battery swapping device to move its own position to a target position, and the target position is related to the position of the battery outer casing.

[0099] Specifically, when the battery outer casing positioning stage occurs before the battery removal stage, the target position is the alignment of the battery swapping unlocking mechanism on the battery swapping device 40 with the trigger unlocking mechanism on the battery outer casing. The trigger unlocking mechanism matches the battery swapping unlocking mechanism to trigger the battery pack assembly to unlock from the vehicle. That is, the battery swapping device is located below the platform. When the battery swapping device is parked at the target position, the battery swapping unlocking mechanism is aligned with the trigger unlocking mechanism. The battery swapping device can lift the battery swapping unlocking mechanism to insert it into the trigger unlocking mechanism, thereby unlocking the battery pack assembly. This invention does not limit the specific structure of the battery swapping unlocking mechanism and the trigger unlocking mechanism.

[0100] When the battery casing positioning stage occurs before the battery installation stage, the target position is the position where the battery pack assembly is aligned with the battery casing. That is, the battery swapping device 40 is located below the platform. When the battery swapping device is parked at the target position, the battery pack assembly on the battery swapping device is aligned with the battery casing, and the battery swapping device can lift the battery pack assembly to place it into the battery casing.

[0101] The spatial state information may also include attitude information, and the image analysis module 12 includes an attitude analysis unit 122;

[0102] The attitude analysis unit 122 is used to obtain the attitude information of the battery outer box based on the actual image, and send the attitude information of the battery outer box to the battery swapping control module 13;

[0103] The first control command includes an attitude adjustment command. The battery swapping control module 13 is further configured to generate the attitude adjustment command based on the attitude information of the battery outer casing. The attitude adjustment command is used to command the battery swapping device to adjust its own attitude so that the battery swapping mechanism on the battery swapping device has the same attitude as the battery outer casing.

[0104] Specifically, the attitude information of the battery casing may include the angle between the battery casing and the platform on which the vehicle is parked.

[0105] Based on the actual image, the angle between the battery casing and the platform where the vehicle is parked is obtained. One specific implementation includes:

[0106] Extract the image outline of the battery casing from the actual image;

[0107] The system determines whether the image outline is the same as the standard image outline when the battery casing is parallel to the platform. This standard image outline is pre-captured. When comparing images, the system primarily compares whether the battery casing is identical in the two images, ignoring other images that may have been captured together, such as the vehicle's undercarriage structure around the battery casing.

[0108] If so, then the angle between the battery casing and the platform is determined to be 0.

[0109] If not, the angle between the battery casing and the platform is determined by the degree of deformation of the image contour relative to the standard image contour.

[0110] Preferably, the angle at which the image acquisition module 11 acquires the actual image is the same as the acquisition angle of the standard image contour. Taking the battery casing as a cuboid as an example, when the battery casing is set parallel to the platform, the standard image contour of the battery casing acquired from directly below the battery casing should be a rectangle. If the image contour of the battery casing in the actual image acquired from directly below the battery casing is a rectangle, it indicates that the image contour of the battery casing is parallel to the standard image contour, that is, the battery casing is also parallel to the platform. Conversely, if the image contour of the battery casing in the actual image acquired from directly below the battery casing is not a rectangle, such as having a non-right-angled apex, it indicates that the image contour of the battery casing is not parallel to the standard image contour, that is, the battery casing is not parallel to the platform. The angle between the battery casing and the platform can be further determined by the angle of the apex corner in the image contour.

[0111] It should be noted that, considering that the standard image contours corresponding to different vehicle models and battery boxes may be different, it is usually necessary to pre-store the standard image contours corresponding to multiple vehicle models and battery boxes. Before or during the battery swap, the vehicle model and battery box of the battery swapping vehicle are determined, and the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for subsequent comparison.

[0112] Based on the actual image, the relative positional relationship between the battery casing and the platform where the vehicle is parked can be obtained. Another specific implementation includes:

[0113] The relative height difference between at least two feature parts of the battery casing is determined by using the depth information inherent in the actual image.

[0114] Determine whether the relative height difference between the at least two feature parts is 0:

[0115] If so, then the angle between the battery casing and the platform is determined to be 0.

[0116] If not, the angle between the battery casing and the platform is determined by the relative height difference between the at least two feature parts.

[0117] Taking the battery casing as a cuboid as an example, when the battery casing is parallel to the platform, in the actual image of the battery casing taken directly below it, the relative height difference between the various feature parts of the battery casing should be 0, that is, the angle between it and the platform is 0 in the same plane. If there is a relative height difference between the various feature parts of the battery casing, that is, the battery casing is not parallel to the platform, the angle between the battery casing and the platform can be further determined by the relative height difference. Here, the at least two feature parts are at least two apex corners of the battery casing.

[0118] Alternatively, either of the two implementations described above can be used, depending on the actual situation.

[0119] In this embodiment, the attitude information of the battery outer casing may further include: the setting direction of the battery outer casing.

[0120] The setting orientation of the battery casing is obtained based on the actual image. One specific implementation includes:

[0121] Extract the image outline of the battery casing from the actual image;

[0122] The system determines whether the image contour is the same as the standard image contour when the battery casing is set in a reference direction. This standard image contour is pre-acquired. When comparing images, the system primarily compares whether the battery casing is identical in the two images, ignoring other images that may have been captured together, such as the vehicle's undercarriage structure around the battery casing.

[0123] If so, then the setting direction of the battery outer casing is determined to be the reference direction;

[0124] If not, the angle between the setting direction of the battery casing and the reference direction is determined by the degree of rotation of the image contour relative to the standard image contour.

[0125] The image acquisition module 11 acquires the actual image at the same angle as the acquisition angle of the standard image contour.

[0126] It should also be noted that, considering that the standard image contours corresponding to different vehicle models and battery boxes may be different, it is usually necessary to pre-store the standard image contours corresponding to multiple vehicle models and battery boxes. Before or during the battery swap, the vehicle model and battery box of the battery swapping vehicle are determined, and the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for subsequent comparison.

[0127] During the battery removal phase;

[0128] The actual image acquired by the image acquisition module 11 includes an image of the locking mechanism in the battery outer casing, which is used to lock the battery pack assembly inside the battery outer casing.

[0129] The image analysis module 12 is specifically used to analyze whether the locking mechanism unlocks the battery pack assembly based on the actual image, and to send a second notification to the battery swapping control module 13 when the locking mechanism unlocks the battery pack assembly.

[0130] The battery swapping control module 13 is specifically used to send a battery removal command to the battery swapping device after receiving the second notification. The battery removal command is used to instruct the battery swapping device to remove the battery pack assembly from the battery casing.

[0131] The battery swapping device is pre-programmed with a first battery movement trajectory required to remove the battery pack assembly from the battery casing when executing the battery removal command.

[0132] At this stage, the image acquisition module 11 that acquires actual images is preferably installed on the battery swapping equipment. Figure 2 The image acquisition module 11 around the hollow area in the middle, that is, the image acquisition module 11 installed on the battery swapping equipment or Figure 2 The image acquisition module 11 around the hollowed-out area in the battery case acquires actual images containing images of the locking mechanism in the battery case.

[0133] Specifically, if Figure 4 As shown, the image analysis module 12 includes an unlocking analysis unit 123;

[0134] The image acquisition module 11 captures an actual image of a locking mechanism (the locking mechanism structure used in this embodiment is as described in Chinese patent application CN106427514A). The image is captured by the image acquisition module 11 from below the battery casing. The image shows the battery casing, the battery pack assembly installed inside the battery casing, and a gap between the battery casing and the battery pack assembly. The visible part of the locking mechanism is shown through the gap. The visible part includes the latch, the locking block, and a locking link extending out of the locking block. (When the locking mechanism locks the battery, the locking link moves forward, thereby driving the latch. The latch blocks the locking shaft inside the locking block, and the front end of the locking link extends out of the front end face of the locking block by a certain length.)

[0135] Based on the aforementioned actual image, the unlocking analysis unit 123 is used to analyze whether the locking mechanism has unlocked the battery pack assembly according to the actual image in the following manner:

[0136] The length of the locking link extending out of the locking block in the locking mechanism can be obtained from the actual image. This can be achieved using image processing techniques such as locking link and locking block contour extraction and length measurement. Alternatively, the boundary line can be photographed as a reference, and the distance between the front end of the locking link and the photographed boundary line can be measured. The length of the locking link extending out of the locking block can then be calculated in reverse using this distance.

[0137] Compare whether the length is 0:

[0138] If so, the locking mechanism unlocks the battery pack assembly;

[0139] If not, the locking mechanism does not unlock the battery pack assembly.

[0140] The unlocking analysis unit 123 determines whether the locking linkage mechanism has unlocked the battery by analyzing the length of the locking linkage extending out of the locking block. The determination is simple and highly accurate.

[0141] Similarly, for the actual image mentioned above, the unlocking analysis unit 123 can also be used to compare whether the actual image is the same as a standard image, where the standard image is the image when the locking mechanism unlocks the battery pack assembly;

[0142] If so, the locking mechanism unlocks the battery pack assembly;

[0143] If not, the locking mechanism does not unlock the battery pack assembly.

[0144] Since the locking mechanism should be in the unlocked position when unlocking the battery pack assembly, and the locking tongue will not block the locking shaft inside the locking block in this unlocked position, the unlocking analysis unit 123 can focus on comparing the position of the locking tongue in the actual image and the standard image (this unlocked position can be shown in the standard image) to determine whether the locking tongue is in the unlocked position in the actual image. If it is, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.

[0145] Of course, the second implementation of the unlocking analysis unit 123 described above can also be applied to analyze whether other types of locking mechanisms have locked the battery pack assembly. These locking mechanisms can use bolts, nuts, or other structures to lock the battery pack assembly. This implementation of the unlocking analysis unit 123 can still determine whether the locking mechanism has locked the battery pack assembly by observing the changes in the external shape of the locking mechanism and its associated structures when the battery pack assembly is locked and when it is not locked. It is not limited to a specific locking mechanism structure and has a wider range of applications.

[0146] It should be noted that, considering that the standard images corresponding to different vehicle models, battery models, and locking mechanisms may be different, the unlocking analysis unit 123 usually needs to pre-store standard images corresponding to multiple vehicle models, battery models, and locking mechanisms. Before or during the battery swap, the vehicle model, battery model, and locking mechanism of the battery swapping vehicle are determined, and the standard image corresponding to the battery swapping vehicle is selected from the pre-stored standard images for subsequent comparison.

[0147] Furthermore, the unlocking analysis unit 123 can adopt either of the two implementations described above, depending on the actual situation. For example, if the locking mechanism does not include a locking rod or similar structure, it is recommended to use the second implementation to analyze whether the locking mechanism locks the battery pack assembly. If the locking mechanism includes a locking rod or similar structure, both implementations can be used.

[0148] During the battery installation stage:

[0149] The image acquisition module 11 acquires the actual image in real time and sends the actual image to the image analysis module 12 in real time. The actual image includes an image of the battery outer casing and an image of the battery pack assembly.

[0150] The image analysis module 12 is specifically used to analyze whether the battery pack assembly has reached the designated position inside the battery casing based on the actual image. If so, it sends a third notification to the battery swapping control module 13.

[0151] The battery swapping control module 13 is specifically used to send a second control command to the battery swapping device after receiving the third notification. The second control command is used to inform the battery swapping device that the battery installation stage has been reached.

[0152] When the battery pack assembly reaches the designated location, the vehicle's battery power supply circuit is turned on, and the battery swapping equipment is pre-programmed with a battery movement trajectory required to install the battery pack assembly at the designated location when performing the target task.

[0153] Specifically, analyzing whether the battery pack assembly has reached the designated position inside the battery casing based on the actual image includes:

[0154] Extract the images of the battery pack assembly and the battery casing from the actual images;

[0155] Extract images of the battery pack assembly and the battery casing from a standard image when the battery pack assembly is located at the specified position;

[0156] Compare the relative positions of the battery pack assembly and the battery casing in the actual image and the standard image to see if they are the same in a first direction and / or in other directions perpendicular to the first direction, where the first direction is perpendicular to the platform where the vehicle is parked:

[0157] If so, the battery pack assembly reaches the designated location;

[0158] If not, then the battery pack assembly has not reached the designated location.

[0159] For example, Figure 2 The platform described herein is horizontal or nearly horizontal, and the first direction is vertical or nearly vertical. There is a relative height difference between the battery outer casing and the battery pack assembly. During comparison, the relative height difference between the battery outer casing and the battery pack assembly in the actual image is compared with the relative height difference between the battery outer casing and the battery pack assembly in the standard image. If they are the same, the battery pack assembly has reached the designated position in the vertical direction. If they are not the same, the battery pack assembly has not reached the designated position in the vertical direction.

[0160] Other directions perpendicular to the first direction are directions within the horizontal plane, which may be the front-back or left-right directions. There is a relative horizontal distance difference between the battery outer casing and the battery pack assembly. During comparison, the relative horizontal distance difference between the battery outer casing and the battery pack assembly in the actual image is compared with the relative horizontal distance difference between the battery outer casing and the battery pack assembly in the standard image. If they are the same, the battery pack assembly has reached the designated position in the front-back or left-right direction. If they are not the same, the battery pack assembly has not reached the designated position in the front-back or left-right direction.

[0161] In practical implementation, the battery can be moved from either of the two directions mentioned above, based on its specific location and movement trajectory. To improve comparison accuracy, both directions can be used simultaneously. For example, if the specified location is at the very front of a certain height inside the battery casing, and the corresponding battery movement trajectory is that the battery swapping device first lifts the battery pack assembly to that height and then moves it forward until it reaches the very front, then it is recommended to use comparisons in both directions simultaneously. That is, compare whether the relative positional relationship between the battery pack assembly and the battery casing in the first direction is the same in both the actual image and the standard image, and compare whether the relative positional relationship between the battery pack assembly and the battery casing in other directions perpendicular to the first direction is the same in both the actual image and the standard image. If both directions are the same, then it is determined that the battery pack assembly has reached the specified location in both height and horizontal. For example, if the designated position is at the very top of the battery casing, and the corresponding battery movement trajectory is that the battery swapping device lifts the battery pack assembly until it reaches the very top, then it is recommended to compare whether the relative positional relationship between the battery pack assembly and the battery casing in the first direction is the same in the actual image and the standard image. If the comparison is the same, then it is determined that the battery pack assembly has reached the designated position in terms of height.

[0162] During the lock detection phase;

[0163] The actual image acquired by the image acquisition module 11 includes an image of the locking mechanism in the battery compartment of the vehicle. The locking mechanism is used to lock the battery pack assembly inside the battery compartment.

[0164] The image analysis module 12 is specifically used to analyze whether the locking mechanism locks the battery pack assembly based on the actual image.

[0165] The lock detection phase occurs after the battery installation phase.

[0166] Specifically, if Figure 4 As shown, the image analysis module 12 includes a locking analysis unit 124;

[0167] The image acquisition module 11 captures an actual image of a locking mechanism (the locking mechanism structure used in this embodiment is as described in Chinese patent application CN106427514A). The image is captured by the image acquisition module 11 from below the battery casing. The image shows the battery casing, the battery pack assembly installed inside the battery casing, and a gap between the battery casing and the battery pack assembly. The visible part of the locking mechanism is shown through the gap. The visible part includes the latch, the locking block, and a locking link extending out of the locking block. (When the locking mechanism locks the battery, the locking link moves forward, thereby driving the latch. The latch blocks the locking shaft inside the locking block, and the front end of the locking link extends out of the front end face of the locking block by a certain length.)

[0168] Based on the aforementioned actual image, the locking analysis unit 124 is used to analyze whether the locking mechanism has locked the battery pack assembly according to the actual image in the following manner:

[0169] The length of the locking link extending out of the locking block in the locking mechanism can be obtained from the actual image. This can be achieved using image processing techniques such as locking link and locking block contour extraction and length measurement. Alternatively, the boundary line can be photographed as a reference, and the distance between the front end of the locking link and the photographed boundary line can be measured. The length of the locking link extending out of the locking block can then be calculated in reverse using this distance.

[0170] Compare whether the length is less than the standard length of the locking link extending out of the locking block when the locking mechanism locks the battery pack assembly;

[0171] If so, the locking mechanism has not locked the battery pack assembly;

[0172] If not, the locking mechanism locks the battery pack assembly.

[0173] Based on a similar principle, this locking analysis unit 124 can still determine whether the locking mechanism has locked the battery by the length of the lock shaft extending out of the lock face. For example, it can compare whether the length of the lock shaft extending out of the lock face is less than the standard length of the lock shaft extending out of the lock face when the locking mechanism locks the battery pack assembly. If so, the locking mechanism has not locked the battery pack assembly; if not, the locking mechanism has locked the battery pack assembly.

[0174] Also referring to the aforementioned actual image, this embodiment provides another implementation of the locking analysis unit 124. The locking analysis unit 124 is used for:

[0175] Compare whether the actual image is the same as the standard image, where the standard image is the image of the locking mechanism locking the battery pack assembly;

[0176] If so, the locking mechanism locks the battery pack assembly;

[0177] If not, the locking mechanism has not locked the battery pack assembly.

[0178] Since the locking mechanism should be in the locked position when locking the battery pack assembly, and in this locked position the locking tongue can block the locking shaft inside the locking block, the locking analysis unit 124 can focus on comparing the position of the locking tongue in the actual image and the standard image (the locking position can be shown in the standard image) to determine whether the locking tongue is in the locked position in the actual image. If it is, the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.

[0179] Of course, the second implementation of the locking analysis unit 124 described above can also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly. These locking mechanisms can use bolts, nuts, or other structures to lock the battery pack assembly. This implementation of the locking analysis unit can still determine whether the locking mechanism locks the battery pack assembly by observing the changes in the external shape of the locking mechanism and its associated structures when the battery pack assembly is locked and when it is not locked. It is not limited to a specific locking mechanism structure and has a wider range of applications.

[0180] It should be noted that, considering that the standard length / standard image of the locking link extending from the locking block may differ for different vehicle models, battery models, and locking mechanisms, the locking analysis unit 124 typically needs to pre-store the standard length / standard image of the locking link extending from the locking block for multiple vehicle models, battery models, and locking mechanisms. Before or during battery swapping, the vehicle model, battery model, and locking mechanism of the battery swapping vehicle are determined, and the standard length / standard image corresponding to the battery swapping vehicle is selected from the pre-stored standard length / standard image for subsequent comparison.

[0181] Furthermore, the locking analysis unit 124 can adopt either of the two implementations described above, depending on the actual situation. For example, if the locking mechanism does not include a locking link, it is recommended to use the second implementation to analyze whether the locking mechanism locks the battery pack assembly. If the locking mechanism includes a locking link, both implementations can be used.

[0182] Example 3

[0183] Figure 5 This embodiment illustrates a visual analysis method applied to vehicle battery swapping. The visual analysis method includes:

[0184] Step 51: During the vehicle battery swapping process, acquire actual images of the vehicle and battery pack assembly.

[0185] Step 52: Monitor the battery swapping process based on the actual images.

[0186] Step 53: Regulate the objects involved in the battery swapping process.

[0187] In this embodiment, to improve the clarity of image acquisition and the accuracy of battery pack status analysis, step 51 utilizes at least one camera with automatic zoom. The camera can be mounted on a battery swapping device used for swapping the vehicle's battery. Alternatively, the camera can be mounted on a platform where the vehicle is parked. The platform can be a dedicated platform for parking the vehicle during the battery swapping process or another ordinary platform. However, the invention is not limited to this; in other embodiments, the camera can be mounted at other locations capable of capturing images of the vehicle and battery pack assembly.

[0188] The number of cameras can be determined based on the actual situation, such as the battery swapping process, cost requirements, and locking accuracy requirements. When the number of cameras exceeds one, they can all be set in the same area, such as all on the battery swapping equipment or all on the aforementioned platform; or they can be distributed in different areas, such as some on the battery swapping equipment and others on the aforementioned platform.

[0189] Furthermore, considering that the battery casing is typically located at the bottom of the vehicle, and the battery swapping environment is usually quite dark, which can affect the clarity of the actual image, this embodiment of the visual analysis method further includes: activating an infrared illumination source when the ambient light brightness is less than a threshold. For example, by configuring an infrared illumination source in the camera or sensor, the method automatically detects the ambient light brightness before acquiring the actual image, and activates the infrared illumination source on the camera or sensor if the ambient light brightness is less than a threshold. The threshold value can be determined based on the performance requirements of the camera or sensor.

[0190] The visual analysis method in this embodiment can be implemented using the visual analysis system of Embodiment 1.

[0191] Example 4

[0192] This embodiment provides a visual analysis method for vehicle battery swapping, which is a further improvement on the visual analysis method of Embodiment 3.

[0193] In this embodiment, the battery swapping process includes at least one of the following: a vehicle parking and positioning stage, a battery box positioning stage, a battery removal stage where the battery swapping device unlocks from the battery box of the vehicle and removes the depleted battery pack assembly, a battery installation stage where the battery swapping device installs the battery pack assembly to be installed into the battery box of the vehicle, and a lock detection stage for the battery box.

[0194] During the vehicle parking positioning phase:

[0195] The actual images acquired in step 51 include images of the vehicle and images of the pre-marked parking areas.

[0196] Steps 52 and 53 include:

[0197] The vehicle's parking location information is extracted from the actual image. The location information is used to determine whether the vehicle is parked within the preset parking area. If not, the vehicle is ordered to re-park within the preset parking area.

[0198] During the battery outer casing positioning stage:

[0199] The actual images acquired in step 51 include images of the vehicle's battery compartment.

[0200] Steps 52 and 53 include:

[0201] The spatial state information of the battery outer casing is obtained based on the actual image;

[0202] Based on the spatial state information of the battery casing, the battery swapping device is commanded to adjust its own spatial state information to adapt to the spatial state information of the battery casing.

[0203] The battery outer casing positioning stage applies to: before the battery swapping equipment removes the depleted battery pack assembly from the battery outer casing, or before the battery swapping equipment installs the battery pack assembly to be installed into the battery outer casing.

[0204] Specifically, the spatial state information includes location information;

[0205] The location information of the battery casing is obtained based on the actual image;

[0206] Based on the location information of the battery casing, the battery swapping device is commanded to move its own position to the target position, which is related to the position of the battery casing.

[0207] The spatial state information includes attitude information;

[0208] The attitude information of the battery casing is obtained based on the actual image;

[0209] Based on the attitude information of the battery casing, the battery swapping device is commanded to adjust its own attitude so that the battery swapping mechanism on the battery swapping device has the same attitude as the battery casing.

[0210] During the battery removal phase;

[0211] The actual image acquired in step 51 includes an image of the locking mechanism in the battery casing, which is used to lock the battery pack assembly inside the battery casing.

[0212] Steps 52 and 53 include:

[0213] Based on the actual image analysis, determine whether the locking mechanism unlocks the battery pack assembly, and when the locking mechanism unlocks the battery pack assembly, command the battery swapping device to remove the battery pack assembly from the battery casing.

[0214] The battery swapping device is pre-programmed with a first battery movement trajectory required to remove the battery pack assembly from the battery casing when executing the battery removal command.

[0215] Step 51 involves capturing an actual image of a locking mechanism (the locking mechanism structure used in this embodiment is as described in Chinese patent application CN106427514A). The image can be captured from below the battery casing. The image shows the battery casing, the battery pack assembly inside the battery casing, and a gap between the battery casing and the battery pack assembly. The visible part of the locking mechanism is shown through the gap. The visible part includes the latch, the locking block, and a locking link extending from the locking block. (When the locking mechanism locks the battery, the locking link moves forward, thereby driving the latch. The latch blocks the locking shaft inside the locking block, and the front end of the locking link extends a certain length beyond the front end face of the locking block.)

[0216] Specifically, based on the aforementioned actual image, the following steps are used to analyze whether the locking mechanism has unlocked the battery pack assembly:

[0217] The length of the locking link extending out of the locking block in the locking mechanism can be obtained from the actual image. This can be achieved using image processing techniques such as locking link and locking block contour extraction and length measurement. Alternatively, the boundary line can be photographed as a reference, and the distance between the front end of the locking link and the photographed boundary line can be measured. The length of the locking link extending out of the locking block can then be calculated in reverse using this distance.

[0218] Compare whether the length is 0:

[0219] If so, the locking mechanism unlocks the battery pack assembly;

[0220] If not, the locking mechanism does not unlock the battery pack assembly.

[0221] Alternatively, also based on the actual image described above, the following steps are used to analyze whether the locking mechanism unlocks the battery pack assembly:

[0222] Compare whether the actual image is the same as the standard image, where the standard image is the image when the locking mechanism unlocks the battery pack assembly;

[0223] If so, the locking mechanism unlocks the battery pack assembly;

[0224] If not, the locking mechanism does not unlock the battery pack assembly.

[0225] Since the locking mechanism should be in the unlocked position when unlocking the battery pack assembly, and the locking tongue will not block the locking shaft inside the locking block in the unlocked position, the second process described above can focus on comparing the position of the locking tongue in the actual image and the standard image (the unlocked position can be shown in the standard image) to determine whether the locking tongue is in the unlocked position in the actual image. If it is, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.

[0226] Of course, the second process described above can also be applied to analyze whether other types of locking mechanisms secure the battery pack assembly. These locking mechanisms can use bolts, nuts, or other structures to secure the battery pack assembly. The second process can still determine whether the locking mechanism secures the battery pack assembly by observing the changes in the external shape of the locking mechanism and its associated structures when the battery pack assembly is secured and when it is not. It is not limited to a specific locking mechanism structure and has a wider range of applications.

[0227] During the battery installation stage:

[0228] Step 51: Real-time acquisition of the actual images, which include images of the battery casing and the battery pack assembly.

[0229] Steps 52 and 53 include:

[0230] Based on the analysis of the actual image, it is determined whether the battery pack assembly has reached the designated position inside the battery casing. If so, the battery swapping equipment is informed that the battery installation stage has been completed.

[0231] When the battery pack assembly reaches the designated location, the vehicle's battery power supply circuit is turned on, and the battery swapping equipment is pre-programmed with a battery movement trajectory required to install the battery pack assembly at the designated location when performing the target task.

[0232] Specifically, analyzing whether the battery pack assembly has reached the designated position inside the battery casing based on the actual image includes:

[0233] Extract the images of the battery pack assembly and the battery casing from the actual images;

[0234] Extract images of the battery pack assembly and the battery casing from a standard image when the battery pack assembly is located at the specified position;

[0235] Compare the relative positions of the battery pack assembly and the battery casing in the actual image and the standard image to see if they are the same in a first direction and / or in other directions perpendicular to the first direction, where the first direction is perpendicular to the platform where the vehicle is parked:

[0236] If so, the battery pack assembly reaches the designated location;

[0237] If not, the battery pack assembly has not reached the designated location.

[0238] During the lock detection phase:

[0239] The actual image acquired in step 51 includes an image of a locking mechanism in the vehicle's battery compartment, which is used to lock the battery pack assembly inside the battery compartment.

[0240] Steps 52 and 53 include:

[0241] Based on the actual image analysis, determine whether the locking mechanism locks the battery pack assembly.

[0242] The lock detection phase occurs after the battery installation phase.

[0243] Step 51 involves capturing an actual image of a locking mechanism (the locking mechanism structure used in this embodiment is as described in Chinese patent application CN106427514A). The image can be captured from below the battery casing. The image shows the battery casing, the battery pack assembly inside the battery casing, and a gap between the battery casing and the battery pack assembly. The visible part of the locking mechanism is shown through the gap. The visible part includes the latch, the locking block, and a locking link extending from the locking block. (When the locking mechanism locks the battery, the locking link moves forward, thereby driving the latch. The latch blocks the locking shaft inside the locking block, and the front end of the locking link extends a certain length beyond the front end face of the locking block.)

[0244] Specifically, based on the above actual image, the following steps are used to analyze whether the locking mechanism locks the battery pack assembly:

[0245] The length of the locking link extending out of the locking block in the locking mechanism can be obtained from the actual image. This can be achieved using image processing techniques such as locking link and locking block contour extraction and length measurement. Alternatively, the boundary line can be photographed as a reference, and the distance between the front end of the locking link and the photographed boundary line can be measured. The length of the locking link extending out of the locking block can then be calculated in reverse using this distance.

[0246] Compare whether the length is less than the standard length of the locking link extending out of the locking block when the locking mechanism locks the battery pack assembly;

[0247] If so, the locking mechanism has not locked the battery pack assembly;

[0248] If not, the locking mechanism locks the battery pack assembly.

[0249] Based on a similar principle, the above process can still determine whether the locking mechanism has locked the battery by the length of the lock shaft extending out of the lock face. For example, compare whether the length of the lock shaft extending out of the lock face is less than the standard length of the lock shaft extending out of the lock face when the locking mechanism locks the battery pack assembly. If so, the locking mechanism has not locked the battery pack assembly; if not, the locking mechanism has locked the battery pack assembly.

[0250] Alternatively, also based on the actual image mentioned above, the following steps are used to analyze whether the locking mechanism has locked the battery pack assembly:

[0251] Compare whether the actual image is the same as the standard image, where the standard image is the image of the locking mechanism locking the battery pack assembly;

[0252] If so, the locking mechanism locks the battery pack assembly;

[0253] If not, the locking mechanism has not locked the battery pack assembly.

[0254] Since the locking mechanism should be in the locked position when locking the battery pack assembly, and in this locked position the locking tongue can block the locking shaft inside the locking block, the above process can focus on comparing the position of the locking tongue in the actual image and the standard image (the locking position can be shown in the standard image) to determine whether the locking tongue is in the locked position in the actual image. If it is, the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.

[0255] Of course, the second process described above can also be applied to analyze whether other types of locking mechanisms secure the battery pack assembly. These locking mechanisms can use bolts, nuts, or other structures to secure the battery pack assembly. The second process can still determine whether the locking mechanism secures the battery pack assembly by observing the changes in the external shape of the locking mechanism and its associated structures when the battery pack assembly is secured and when it is not. It is not limited to a specific locking mechanism structure and has a wider range of applications.

[0256] Example 5

[0257] Figure 6 This embodiment illustrates a battery swapping control method based on visual analysis. The battery swapping control method includes:

[0258] Step 61: The vehicle enters the platform and proceeds to the vehicle parking and positioning stage. During this stage, the visual analysis system performs its corresponding functions, or the visual analysis method executes its corresponding steps.

[0259] Step 62: Proceed to the battery compartment positioning stage of the vehicle. In this stage, the vision analysis system performs its corresponding functions, or the vision analysis method executes its corresponding steps.

[0260] Step 63: The battery swapping equipment for the vehicle is unlocked from the battery casing and the depleted battery pack assembly is removed. During this stage, the visual analysis system performs its corresponding functions, or the visual analysis method executes its corresponding steps.

[0261] Step 64: Re-enter the battery outer casing positioning stage of the vehicle. In this stage, the vision analysis system performs the corresponding functions, or the vision analysis method executes the corresponding steps.

[0262] Step 65: The battery swapping equipment for the vehicle then installs the battery pack assembly to be installed into the vehicle's battery compartment. During this stage, the visual analysis system performs its corresponding functions, or the visual analysis method executes its corresponding steps.

[0263] Step 66: Proceed to the lock detection stage of the battery casing. In this stage, the visual analysis system performs the corresponding functions, or the visual analysis method executes the corresponding steps.

[0264] Through the above stages, a complete battery swap for the vehicle is completed.

[0265] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection 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 principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A battery swapping control method based on visual analysis, characterized in that, The battery swapping control method includes: Entering the vehicle parking and positioning stage; Entering the battery outer casing positioning stage of the vehicle; The battery removal phase begins, in which the battery swapping equipment for the vehicle unlocks from the battery casing and removes the depleted battery pack assembly. and / or, Entering the battery outer casing positioning stage of the vehicle; The battery installation stage involves the battery swapping equipment for the vehicle installing the battery pack assembly to be installed into the vehicle's battery casing. Entering the lock detection phase of the battery casing; During the battery installation stage, actual images are acquired in real time, including images of the battery outer casing and the battery pack assembly. Based on the analysis of the actual image, it is determined whether the battery pack assembly has reached the designated position inside the battery casing. If so, the battery swapping equipment is informed that the battery installation stage has been achieved. The step of analyzing whether the battery pack assembly has reached the designated position inside the battery casing based on the actual image includes: Extract the images of the battery pack assembly and the battery casing from the actual images; Extract images of the battery pack assembly and the battery casing from a standard image when the battery pack assembly is located at the specified position; Compare the relative positions of the battery pack assembly and the battery casing in the actual image and the standard image to see if they are the same in a first direction and / or in other directions perpendicular to the first direction, where the first direction is perpendicular to the platform where the vehicle is parked: If so, the battery pack assembly reaches the designated location; If not, the battery pack assembly has not reached the designated location.

2. The battery swapping control method based on visual analysis according to claim 1, characterized in that, The battery swapping control method includes: During the vehicle battery swapping process, the actual images of the vehicle and battery pack assembly are captured; The battery swapping process is monitored based on the actual images. The objects involved in regulating the battery swapping process.

3. The battery swapping control method based on visual analysis as described in claim 2, characterized in that, During the vehicle parking positioning phase, the actual images collected include images of the vehicle and images of the pre-marked parking area; The vehicle's parking location information is extracted from the actual image. The location information is used to determine whether the vehicle is parked within the preset parking area. If not, the vehicle is ordered to re-park within the preset parking area.

4. The battery swapping control method based on visual analysis as described in claim 2, characterized in that, During the battery outer casing positioning phase, the actual images acquired include images of the vehicle's battery outer casing; The spatial state information of the battery outer casing is obtained based on the actual image; Based on the spatial state information of the battery casing, the battery swapping device is commanded to adjust its own spatial state information to adapt to the spatial state information of the battery casing.

5. The battery swapping control method based on visual analysis as described in claim 4, characterized in that, The battery outer casing positioning stage applies to: before the battery swapping equipment removes the depleted battery pack assembly from the battery outer casing, or before the battery swapping equipment installs the battery pack assembly to be installed into the battery outer casing.

6. The battery swapping control method based on visual analysis as described in claim 2, characterized in that, During the battery removal phase, the actual images captured include images of the locking mechanism inside the battery casing, which is used to lock the battery pack assembly inside the battery casing. Based on the actual image analysis, determine whether the locking mechanism unlocks the battery pack assembly, and when the locking mechanism unlocks the battery pack assembly, command the battery swapping device to remove the battery pack assembly from the battery casing.

7. The battery swapping control method based on visual analysis as described in claim 6, characterized in that, The battery swapping device is pre-programmed with a first battery movement trajectory required to remove the battery pack assembly from the battery casing when executing the battery removal command.

8. The battery swapping control method based on visual analysis as described in claim 2, characterized in that, During the lock detection phase, the acquired actual images include images of the locking mechanism inside the vehicle's battery compartment, which is used to lock the battery pack assembly inside the battery compartment. Based on the actual image analysis, determine whether the locking mechanism locks the battery pack assembly.

9. The battery swapping control method based on visual analysis as described in claim 8, characterized in that, The lock detection phase occurs after the battery swapping equipment has installed the battery pack assembly to be installed into the battery casing.

10. The battery swapping control method based on visual analysis as described in claim 4, characterized in that, The spatial status information includes location information; The location information of the battery casing is obtained based on the actual image; Based on the location information of the battery casing, the battery swapping device is commanded to move its own position to the target position, which is related to the position of the battery casing.

11. The battery swapping control method based on visual analysis as described in claim 4, characterized in that, The spatial state information includes attitude information; The attitude information of the battery casing is obtained based on the actual image; Based on the attitude information of the battery casing, the battery swapping device is commanded to adjust its own attitude so that the battery swapping mechanism on the battery swapping device has the same attitude as the battery casing.

12. The battery swapping control method based on visual analysis as described in claim 6, characterized in that, Based on the actual image, analyze whether the locking mechanism unlocks the battery pack assembly using the following steps: Obtain the length of the locking link extending out of the locking block in the locking mechanism from the actual image; Compare whether the length is 0: If so, the locking mechanism unlocks the battery pack assembly; If not, the locking mechanism has not unlocked the battery pack assembly; Alternatively, compare whether the actual image is the same as the standard image. The standard image is the image when the locking mechanism unlocks the battery pack assembly. The standard image includes pre-stored standard images corresponding to various vehicle models, battery models, and locking mechanisms. If so, the locking mechanism unlocks the battery pack assembly; If not, the locking mechanism does not unlock the battery pack assembly.

13. The battery swapping control method based on visual analysis as described in claim 1, characterized in that, When the battery pack assembly reaches the designated location, the vehicle's battery power supply circuit is turned on, and the battery swapping equipment is pre-programmed with a battery movement trajectory required to install the battery pack assembly at the designated location when performing the target task.

14. The battery swapping control method based on visual analysis as described in claim 8, characterized in that, Based on the actual image, analyze whether the locking mechanism locks the battery pack assembly using the following steps: Obtain the length of the locking link extending out of the locking block in the locking mechanism from the actual image; Compare whether the length is less than the standard length of the locking link extending out of the locking block when the locking mechanism locks the battery pack assembly; If so, the locking mechanism has not locked the battery pack assembly; If not, the locking mechanism locks the battery pack assembly; Alternatively, compare the actual image with a standard image, where the standard image is the image of the locking mechanism locking the battery pack assembly; If so, the locking mechanism locks the battery pack assembly; If not, the locking mechanism has not locked the battery pack assembly.

Images