Visual analysis system and method for vehicle battery replacement

Abstract

The present invention discloses a visual analysis system and method for vehicle battery replacement. The visual analysis system includes at least one image acquisition module, an image analysis module and a battery replacement control module; the image acquisition module is used to acquire actual images, and the actual images include images of the battery box of the vehicle; the image analysis module is used to obtain spatial state information of the battery box according to the actual images; the battery replacement control module is used to generate control instructions according to the spatial state information of the battery box and send the control instructions to the battery replacement equipment used to replace the battery pack for the vehicle, and the control instructions are used to command the battery replacement equipment to adjust its own spatial state information. The present invention can accurately identify the battery box through the actual image acquired, and then determine the spatial state information of the battery box, and adjust the battery replacement equipment accordingly to ensure the success rate of battery pack replacement.

Description

[0001] This application is a divisional application of the Chinese patent application with the application date of July 27, 2018, application number 201810845849.7, and invention name “Visual analysis system and method for vehicle battery replacement”. Technical Field

[0002] The present invention belongs to the field of battery replacement control, and in particular relates to a visual analysis system and method applied to vehicle battery replacement. Background Art

[0003] At present, automobile exhaust emissions are still an important factor in environmental pollution. In order to control automobile exhaust, people have developed natural cars, hydrogen fuel cars, solar cars and electric cars to replace fuel-powered cars. Among them, electric cars have the most promising application prospects. At present, electric cars mainly include direct charging and quick-change types.

[0004] When replacing the battery pack of a quick-swap electric vehicle, the battery swap equipment needs to move to the bottom of the vehicle to remove the original battery pack from the battery box, and then install the new battery pack into the battery box. Existing battery swap equipment is often unable to remove the battery pack or install a new battery pack due to the inability to accurately locate the battery box, resulting in failure to replace the battery pack or even damage to the battery box or the associated structure of the battery pack. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the battery replacement equipment cannot accurately locate the position of the battery box and cannot remove the battery pack from the battery box or install a new battery pack into the battery box, thereby causing the battery pack replacement failure, and to provide a visual analysis system and method for vehicle battery replacement.

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

[0007] The present invention provides a visual analysis system applied to vehicle battery replacement, the visual analysis system comprising at least one image acquisition module, an image analysis module and a battery replacement control module;

[0008] The image acquisition module is used to acquire an actual image and send the actual image to the image analysis module, wherein the actual image includes an image of a battery box of the vehicle;

[0009] The image analysis module is used to obtain the spatial state information of the battery box according to the actual image, and send the spatial state information of the battery box to the battery replacement control module;

[0010] The battery replacement control module is used to generate a control instruction according to the spatial status information of the battery outer box and send the control instruction to the battery replacement equipment used to replace the battery pack for the vehicle, and the control instruction is used to command the battery replacement equipment to adjust its own spatial status information to adapt to the spatial status information of the battery outer box;

[0011] The spatial state information includes posture information, and the posture information includes: the setting direction of the battery box;

[0012] Acquiring a setting direction of the battery box according to the actual image includes:

[0013] Extracting the image contour of the battery box from the actual image;

[0014] Determine whether the image contour is the same as a standard image contour when the battery box is set in a reference direction:

[0015] If yes, determining that the setting direction of the battery box is the reference direction;

[0016] If not, the angle between the setting direction of the battery box and the reference direction is determined by the degree of rotation of the image outline relative to the standard image outline.

[0017] Preferably, the image acquisition module is arranged on the battery exchange device, or on the platform where the vehicle is parked.

[0018] Preferably, the spatial state information includes position information, and the image analysis module includes a position analysis submodule;

[0019] The position analysis submodule is used to obtain the position information of the battery box according to the actual image, and send the position information of the battery box to the battery replacement control module;

[0020] The control instructions include position movement instructions, and the battery replacement control module is also used to generate the position movement instructions based on the position information of the battery box. The position movement instructions are used to command the battery replacement equipment to move its own position to a target position, and the target position is related to the position of the battery box.

[0021] Preferably, when the target task of the battery swapping device is to place the battery pack on the battery swapping device into the battery box, the target position is the position where the battery pack is aligned with the battery box.

[0022] Preferably, when the target task of the battery swapping device is to remove the battery pack from the vehicle, the target position is the position where the battery swapping unlocking mechanism on the battery swapping device is aligned with the trigger unlocking mechanism on the battery box, and the trigger unlocking mechanism matches the battery swapping unlocking mechanism to trigger the battery pack to be unlocked from the vehicle.

[0023] Preferably, generating the position movement instruction according to the position information of the battery box includes:

[0024] Acquire the location information of the battery box and the location information of the target location;

[0025] Comparing the difference between the position information of the battery box and the position information of the target position;

[0026] A position movement instruction is generated, wherein the position movement instruction is used to command the battery exchange device to move in a direction to reduce the difference.

[0027] Preferably, the image analysis module includes a posture analysis submodule;

[0028] The posture analysis submodule is used to obtain the posture information of the battery box according to the actual image, and send the posture information of the battery box to the battery replacement control module;

[0029] The control instructions include posture adjustment instructions, and the battery replacement control module is also used to generate the posture adjustment instructions according to the posture information of the battery box. The posture adjustment instructions are used to command the battery replacement equipment to adjust its own posture so that the battery replacement mechanism on the battery replacement equipment has the same posture as the battery box.

[0030] Preferably, the posture information of the battery outer box includes: the angle between the battery outer box and the platform where the vehicle is parked;

[0031] Acquiring the angle between the battery box and the platform where the vehicle is parked according to the actual image, including:

[0032] Extracting the image contour of the battery box from the actual image;

[0033] Determine whether the image contour is the same as a standard image contour when the battery box and the platform are arranged in parallel:

[0034] If yes, it is determined that the angle between the battery box and the platform is 0;

[0035] If not, the angle between the battery box and the platform is determined by the degree of deformation of the image outline relative to the standard image outline.

[0036] Preferably, the posture information of the battery outer box includes: the angle between the battery outer box and the platform where the vehicle is parked;

[0037] Acquiring a relative position relationship between the battery box and the platform where the vehicle is parked according to the actual image, including:

[0038] Determine the relative height difference of at least two characteristic parts of the battery box through the depth of field information of the actual image;

[0039] Determine whether the relative height difference between the at least two characteristic parts is 0:

[0040] If yes, it is determined that the angle between the battery box and the platform is 0;

[0041] If not, the angle between the battery box and the platform is determined by the relative height difference between the at least two characteristic parts.

[0042] Preferably, the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex corners of the battery outer box.

[0043] Preferably, the angle at which the image acquisition module acquires the actual image is the same as the angle at which the standard image profile is acquired.

[0044] Preferably, the image acquisition module is further used to capture the actual image again after the battery exchange device executes the control instruction.

[0045] Preferably, the battery exchange control module is also used to send a parking instruction to the battery exchange device when the spatial status information of the battery exchange device itself has adapted to the spatial status information of the battery box, and the parking instruction is used to command the battery exchange device to maintain the current spatial status information until receiving an instruction again.

[0046] Preferably, the instruction received again includes: an instruction to remove the battery pack from the battery box, or an instruction to install the battery pack on the battery exchange device into the battery box.

[0047] Preferably, the image acquisition module is connected to the image analysis module via wired or wireless communication;

[0048] And / or, the image analysis module is connected to the battery replacement control module via wired or wireless communication;

[0049] And / or, the battery replacement control module is connected to the battery replacement device via wired or wireless communication.

[0050] Preferably, the image acquisition module is equipped with an infrared illumination light source, and the infrared illumination light source is used to turn on when the brightness of the ambient light is less than a threshold value.

[0051] Preferably, the image acquisition module is a camera that automatically zooms according to the battery box.

[0052] The present invention also provides a visual analysis method applied to vehicle battery replacement, the visual analysis method comprising:

[0053] Acquiring an actual image, wherein the actual image includes an image of a battery box of a vehicle;

[0054] Acquire spatial state information of the battery box according to the actual image;

[0055] Instruct the battery exchange device to adjust its own spatial status information to adapt to the spatial status information of the battery box according to the spatial status information of the battery box;

[0056] The spatial state information includes posture information; the posture information of the battery outer box includes: the setting direction of the battery outer box;

[0057] Acquiring a setting direction of the battery box according to the actual image includes:

[0058] Extracting the image contour of the battery box from the actual image;

[0059] Determine whether the image contour is the same as a standard image contour when the battery box is set in a reference direction:

[0060] If yes, determining that the setting direction of the battery box is the reference direction;

[0061] If not, the angle between the setting direction of the battery box and the reference direction is determined by the degree of rotation of the image outline relative to the standard image outline.

[0062] Preferably, the spatial state information includes position information, and the step of acquiring the spatial state information of the battery box according to the actual image includes:

[0063] Acquire the position information of the battery box according to the actual image;

[0064] The step of instructing the battery swapping device to adjust its own spatial state information to adapt to the spatial state information of the battery box includes:

[0065] Command the battery exchange device to move itself to a target position, where the target position is related to the position of the battery box.

[0066] Preferably, when the target task of the battery swapping device is to place the battery pack on the battery swapping device into the battery box, the target position is the position where the battery pack is aligned with the battery box.

[0067] Preferably, when the target task of the battery swapping device is to remove the battery pack from the vehicle, the target position is the position where the battery swapping unlocking mechanism on the battery swapping device is aligned with the trigger unlocking mechanism on the battery box, and the trigger unlocking mechanism matches the battery swapping unlocking mechanism to trigger the battery pack to be unlocked from the vehicle.

[0068] Preferably, it is characterized in that the step of commanding the battery swapping device to move its own position so that the battery swapping mechanism on the battery swapping device is aligned with the battery outer box comprises:

[0069] Acquire the location information of the battery box and the location information of the target location;

[0070] Comparing the difference between the position information of the battery box and the position information of the target position;

[0071] A position movement instruction is generated, wherein the position movement instruction is used to command the battery exchange device to move in a direction to reduce the difference.

[0072] Preferably, the step of acquiring the spatial state information of the battery box according to the actual image comprises:

[0073] Acquire the posture information of the battery box according to the actual image;

[0074] The step of commanding the battery exchange device to adjust its own spatial state information to adapt to the spatial state information of the battery box includes: commanding the battery exchange device to adjust its own posture so that the battery exchange mechanism on the battery exchange device has the same posture as the battery box.

[0075] Preferably, the posture information of the battery outer box includes: the angle between the battery outer box and the platform where the vehicle is parked;

[0076] Acquiring the angle between the battery box and the platform where the vehicle is parked according to the actual image, including:

[0077] Extracting the image contour of the battery box from the actual image;

[0078] Determine whether the image contour is the same as a standard image contour when the battery box and the platform are arranged in parallel:

[0079] If yes, it is determined that the angle between the battery box and the platform is 0;

[0080] If not, the angle between the battery box and the platform is determined by the degree of deformation of the image outline relative to the standard image outline.

[0081] Preferably, the posture information of the battery outer box includes: the angle between the battery outer box and the platform where the vehicle is parked;

[0082] Acquiring a relative position relationship between the battery box and the platform where the vehicle is parked according to the actual image, including:

[0083] Determine the relative height difference of at least two characteristic parts of the battery box through the depth of field information of the actual image;

[0084] Determine whether the relative height difference between the at least two characteristic parts is 0:

[0085] If yes, it is determined that the angle between the battery box and the platform is 0;

[0086] If not, the angle between the battery box and the platform is determined by the relative height difference between the at least two characteristic parts.

[0087] Preferably, the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex corners of the battery outer box.

[0088] Preferably, the posture information of the battery outer box includes: the setting direction of the battery outer box;

[0089] Acquiring a setting direction of the battery box according to the actual image includes:

[0090] Extracting the image contour of the battery box from the actual image;

[0091] Determine whether the image contour is the same as a standard image contour when the battery box is set in a reference direction:

[0092] If yes, determining that the setting direction of the battery box is the reference direction;

[0093] If not, the angle between the setting direction of the battery box and the reference direction is determined by the degree of rotation of the image outline relative to the standard image outline.

[0094] Preferably, the angle at which the actual image is captured is the same as the angle at which the standard image profile is captured.

[0095] Preferably, the visual analysis method further comprises:

[0096] The actual image is captured again after the battery exchange device has adjusted its own spatial state information.

[0097] Preferably, the visual analysis method also includes: when the spatial status information of the battery exchange device itself has adapted to the spatial status information of the battery box, commanding the battery exchange device to maintain the current spatial status information until receiving an instruction again.

[0098] Preferably, the instruction received again includes: an instruction to remove the battery pack from the battery box, or an instruction to install the battery pack on the battery exchange device into the battery box.

[0099] Preferably, the visual analysis method further comprises: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.

[0100] Preferably, the step of collecting the actual image is achieved by using a camera or a camera that automatically zooms according to the battery box.

[0101] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0102] The positive progressive effect of the present invention is that the present invention can accurately identify the battery box through the actual image collected, and then determine the spatial state information of the battery box, and adjust the battery replacement equipment accordingly, so as to accurately remove the battery pack from the battery box or install a new battery pack into the battery box, thereby ensuring the success rate of battery pack replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Figure 1 This is a schematic block diagram of a visual analysis system applied to vehicle battery replacement according to Embodiment 1 of the present invention;

[0104] Figure 2 This is a schematic diagram of the installation of an image acquisition module 11 according to Embodiment 1 of the present invention;

[0105] Figure 3 This is a schematic block diagram of a visual analysis system applied to vehicle battery replacement according to Embodiment 2 of the present invention;

[0106] Figure 4 This is a schematic diagram of the target position of Example 2 of the present invention;

[0107] Figure 5 This is a schematic diagram of the installation of an image acquisition module 11 according to Embodiment 3 of the present invention;

[0108] Figure 6 It is a schematic diagram of the standard image outline when the battery box is set in the reference direction X;

[0109] Figure 7 The image outline of the battery box in the actual image;

[0110] Figure 8 for Figure 6and Figure 7 Schematic diagram after overlap;

[0111] Fig. 9 This is a schematic block diagram of a visual analysis system applied to vehicle battery replacement according to Embodiment 4 of the present invention;

[0112] Fig.10 This is a flow chart of a visual analysis method applied to vehicle battery replacement according to Embodiment 5 of the present invention;

[0113] Fig.11 This is a flow chart of a visual analysis method applied to vehicle battery replacement according to Embodiment 6 of the present invention;

[0114] Fig.12 This is a flowchart of step 531 of embodiment 6 of the present invention;

[0115] Fig.13 This is a flow chart of a visual analysis method applied to vehicle battery replacement according to Embodiment 7 of the present invention;

[0116] Fig.14 A flow chart of step 522 of embodiment 7 of the present invention;

[0117] Fig.15 Another flow chart of step 522 of embodiment 7 of the present invention;

[0118] Fig.16 This is another flow chart of step 522 of embodiment 7 of the present invention;

[0119] Fig.17 This is a flow chart of a visual analysis method applied to vehicle battery replacement according to Example 8 of the present invention. DETAILED DESCRIPTION

[0120] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0121] Example 1

[0122] Figure 1 This is a visual analysis system 10 applied to vehicle battery replacement in this embodiment. The visual analysis system 10 includes at least one image acquisition module 11, an image analysis module 12 and a battery replacement control module 13. The image acquisition module 11 and the image analysis module 12 can be connected through wired or wireless communication; the image analysis module 12 and the battery replacement control module 13 can be connected through wired or wireless communication; the battery replacement control module 13 is connected to the battery replacement device 40 used to replace the battery for the vehicle through wired or wireless communication. Among them, the wired communication connection includes but is not limited to connection through cables, and the wireless communication connection includes but is not limited to connection through 2G, 3G, 4G, Bluetooth and other communication methods.

[0123] The image acquisition module 11 is used to acquire an actual image and send the actual image to the image analysis module 12 , wherein the actual image includes an image of a battery box of a vehicle.

[0124] The image analysis module 12 is used to obtain the spatial status information of the battery box according to the actual image, and send the spatial status information of the battery box to the battery replacement control module 13.

[0125] The battery replacement control module 13 is used to generate control instructions based on the spatial status information of the battery box and send the control instructions to the battery replacement device 40. The control instructions are used to command the battery replacement device 40 to adjust its own spatial status information to adapt to the spatial status information of the battery box.

[0126] The visual analysis system 10 of this embodiment realizes image acquisition through the image acquisition module 11 and image analysis through the image analysis module 12, accurately obtains the spatial state information of the battery box, and adjusts the battery replacement equipment 40 accordingly. The visual analysis system 10 can be used to position the battery box during the process of removing the battery pack from the battery box, and can also be used to position the battery box during the process of installing a new battery pack into the battery box, so as to ensure the success rate of battery pack replacement.

[0127] In order to further ensure that the battery swap device 40 is adjusted in place, the image acquisition module 11 can also be used to recapture the actual image after the battery swap device 40 executes the control instruction. Then, the image analysis module 12 and the battery swap control module 13 analyze and control the battery swap device 40 again according to the recaptured actual image.

[0128] In this embodiment, the image acquisition module 11 can be arranged on the battery exchange device 40. The battery exchange device 40 may generally include the function of loading a new or fully charged battery into a battery box, or include the function of removing the original low-power battery on the vehicle from the battery box, or have both of the above functions. The image acquisition module 11 can also be arranged on the platform where the vehicle is parked. The platform can be a special platform for parking the vehicle during the battery exchange process or other ordinary platforms. Of course, the present invention is not limited to this. In other embodiments, the image acquisition module 11 can also be arranged at other positions where the image of the battery box can be captured.

[0129] The number of the image acquisition modules 11 can be determined according to the actual conditions such as the specific structure of the battery box, cost requirements, and control accuracy requirements. When the number of the image acquisition modules 11 exceeds one, the image acquisition modules 11 can all be set in the same area, such as all are set on the battery exchange device 40 or all are set on the above-mentioned platform; the image acquisition modules 11 can also be dispersed in different areas, such as part of them are set on the battery exchange device 40 and the other parts are set on the above-mentioned platform. The image acquisition angle of each image acquisition module 11 can be different to achieve all-round image acquisition. Figure 2 A schematic diagram of the installation of an image acquisition module 11 is given. The vehicle 20 is parked on a platform 30, which is higher than the ground plane and has a hollow area A in the middle, and the battery exchange device 40 is located below the hollow area A. Four image acquisition modules 11 are shown in the figure, of which two image acquisition modules 11 are arranged on the platform 30 and close to the hollow area A, and the other two image acquisition modules 11 are arranged on the top of the battery exchange device 40.

[0130] In order to improve the clarity of image acquisition and the accuracy of spatial state analysis of the battery box, the image acquisition module 11 is preferably a camera that automatically zooms according to the battery box.

[0131] Considering that the battery box is usually set at the bottom of the vehicle, the battery replacement environment is usually dark, which will affect the clarity of the actual image. In this embodiment, the image acquisition module 11 is preferably equipped with an infrared lighting source. The image acquisition module 11 will automatically detect the brightness of the ambient light before acquiring the actual image. The infrared lighting source is used to turn on when the brightness of the ambient light is less than a threshold. The threshold can be determined according to the performance requirements of the camera or camera.

[0132] Example 2

[0133] This embodiment provides a visual analysis system applied to vehicle battery replacement, which is a further improvement of the visual analysis system of Embodiment 1. It is capable of analyzing the position information of the battery box and moving the position of the battery replacement equipment according to the position information of the battery box.

[0134] Figure 3 The visual analysis system 10 of the present embodiment is shown. In the present embodiment, the spatial state information includes position information, and the position information may be three-dimensional coordinate information. The image analysis module 12 includes a position analysis submodule 121. The position analysis submodule is used to obtain the position information of the battery box according to the actual image, and send the position information of the battery box to the battery replacement control module 13.

[0135] The control instructions generated by the battery exchange control module 13 include position movement instructions. The battery exchange control module 13 is also used to generate the position movement instructions according to the position information of the battery outer box, and the position movement instructions are used to command the battery exchange device 40 to move its own position to the target position, and the target position is related to the position of the battery outer box.

[0136] When the battery exchange device 40 performs different target tasks, the target position will also be different.

[0137] In this embodiment, when the target task of the battery replacement device 40 is to place the battery pack on the battery replacement device 40 into the battery outer box, the target position is the position where the battery pack is aligned with the battery outer box. Figure 4 For example, the battery exchange device 40 is located under the platform. When the battery exchange device 40 is parked at the target position D, the battery pack B on the battery exchange device 40 is aligned with the battery box C. The battery exchange device 40 lifts the battery pack to place the battery pack into the battery box.

[0138] In other embodiments, when the target task of the battery swapping device 40 is to remove the battery pack from the vehicle, the target position is the position where the battery swapping unlocking mechanism on the battery swapping device 40 is aligned with the trigger unlocking mechanism on the battery outer box, and the trigger unlocking mechanism matches the battery swapping unlocking mechanism to trigger the battery pack to be unlocked from the vehicle. That is, the battery swapping device 40 is located below the platform, and when the battery swapping device 40 is parked at the target position, the battery swapping unlocking mechanism is aligned with the trigger unlocking mechanism, and the battery swapping device 40 lifts the battery swapping unlocking mechanism to insert the battery swapping unlocking mechanism into the trigger unlocking mechanism, thereby unlocking the battery pack. The present invention does not limit the specific structure of the battery swapping unlocking mechanism and the trigger unlocking mechanism.

[0139] Specifically, generating the position movement instruction according to the position information of the battery box includes:

[0140] Acquire the location information of the battery box and the location information of the target location;

[0141] Comparing the difference between the position information of the battery box and the position information of the target position;

[0142] A position movement instruction is generated, and the position movement instruction is used to command the battery exchange device 40 to move in a direction to reduce the difference.

[0143] Among them, the difference is mainly the difference in the horizontal direction. The battery box can be projected to the plane where the battery exchange equipment 40 is located, and the distance difference between the battery box and the target position can be calculated, and the distance difference can be compensated by the position movement instruction.

[0144] The visual analysis system 10 of this embodiment can accurately determine the position information of the battery box and achieve high-precision position adjustment of the battery replacement equipment 40.

[0145] Example 3

[0146] This embodiment provides a visual analysis system applied to vehicle battery replacement, which is a further improvement of the visual analysis system of Embodiment 1. It can analyze the posture information of the battery box and adjust the posture of the battery replacement mechanism of the battery replacement equipment according to the posture information of the battery box.

[0147] Figure 5 The visual analysis system 10 of this embodiment is shown. In this embodiment, the spatial state information includes posture information. The image analysis module 12 includes a posture analysis submodule 122. The posture analysis submodule is used to obtain the posture information of the battery box according to the actual image, and send the posture information of the battery box to the battery replacement control module 13.

[0148] The control instructions generated by the battery exchange control module 13 include posture adjustment instructions. The battery exchange control module 13 is also used to generate the posture adjustment instructions according to the posture information of the battery outer box, and the posture adjustment instructions are used to command the battery exchange device 40 to adjust its own posture so that the battery exchange mechanism on the battery exchange device 40 has the same posture as the battery outer box.

[0149] Specifically, the posture information of the battery box may include: an angle between the battery box and the platform on which the vehicle is parked.

[0150] The battery replacement control module 13 obtains the angle between the battery box and the platform where the vehicle is parked according to the actual image. A specific implementation includes:

[0151] Extracting the image contour of the battery box from the actual image;

[0152] Determine whether the image contour is the same as the standard image contour when the battery box is arranged in parallel with the platform, wherein the standard image contour is collected in advance, and when comparing images, the judgment is mainly to compare whether the battery boxes in the two images are the same, and other images that may be collected together in the image, such as the bottom structure of the vehicle around the battery box, etc., can be ignored:

[0153] If yes, it is determined that the angle between the battery box and the platform is 0;

[0154] If not, the angle between the battery box and the platform is determined by the degree of deformation of the image outline relative to the standard image outline.

[0155] Among them, the angle at which the image acquisition module 11 acquires the actual image is preferably the same as the acquisition angle of the standard image contour. Taking the battery outer box as a rectangular parallelepiped as an example, when the battery outer box is arranged in parallel with the platform, the standard image contour of the battery outer box acquired from directly below the battery outer box should be a rectangle. If the image contour of the battery outer box in the actual image also acquired from directly below the battery outer box is a rectangle, it means that the image contour of the battery outer box is parallel to the standard image contour, that is, the battery outer box is also parallel to the platform. On the contrary, if the image contour of the battery outer box in the actual image also acquired from directly below the battery outer box is not a rectangle, such as there is a vertex that is not a right angle, it means that the image contour of the battery outer box is not parallel to the standard image contour, that is, the battery outer box is not parallel to the platform, and the angle between the battery outer box and the platform can be further determined by the angle of the vertex in the image contour.

[0156] It should be noted that, taking into account that different vehicle models and different battery boxes may correspond to different standard image contours, the battery swap control module 13 usually needs to pre-store standard image contours corresponding to multiple vehicle models and multiple 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.

[0157] The battery replacement control module 13 obtains the relative position relationship between the battery box and the platform where the vehicle is parked according to the actual image. Another specific implementation includes:

[0158] Determine the relative height difference of at least two characteristic parts of the battery box through the depth of field information of the actual image;

[0159] Determine whether the relative height difference between the at least two characteristic parts is 0:

[0160] If yes, it is determined that the angle between the battery box and the platform is 0;

[0161] If not, the angle between the battery box and the platform is determined by the relative height difference between the at least two characteristic parts.

[0162] Still taking the battery outer box as a rectangular parallelepiped as an example, in the actual image of the battery outer box collected from directly below the battery outer box when the battery outer box is arranged parallel to the platform, the relative height difference of each characteristic part of the battery outer box should be 0, that is, in the same plane, the angle with the platform is 0. If there is a relative height difference between each characteristic part of the battery outer box, that is, the battery outer box is not parallel to the platform, the angle between the battery outer box and the platform can be further determined by the relative height difference. Among them, the at least two characteristic parts are at least two vertex angles of the battery outer box.

[0163] In addition, the battery replacement control module 13 can adopt any one of the two implementations mentioned above according to actual conditions.

[0164] In this embodiment, the posture information of the battery box may further include: the setting direction of the battery box.

[0165] The battery replacement control module 13 obtains the setting direction of the battery outer box according to the actual image, and a specific implementation includes:

[0166] Extracting the image contour of the battery box from the actual image;

[0167] Determine whether the image contour is the same as the standard image contour when the battery box is set in the reference direction, wherein the standard image contour is pre-collected, and when comparing images, the judgment is mainly to compare whether the battery boxes in the two images are the same, and other images that may be collected together in the image, such as the bottom structure of the vehicle around the battery box, etc., can be ignored:

[0168] If yes, determining that the setting direction of the battery box is the reference direction;

[0169] If not, the angle between the setting direction of the battery box and the reference direction is determined by the degree of rotation of the image outline relative to the standard image outline.

[0170] The angle at which the image acquisition module 11 acquires the actual image is the same as the angle at which the standard image profile is acquired.

[0171] Still taking the battery outer box as a rectangular parallelepiped as an example, Figure 6 The standard image profile P0 when the battery casing is arranged in the reference direction X is shown. Figure 7 The image outline P1 of the battery box in the actual image is shown. Figure 6 and Figure 7 After overlapping, we get Figure 8(The dotted line represents the standard image contour P0, and the solid line represents the image contour P1 in the actual image), the image contour P1 is different from the standard image contour P0, and the angle α between the setting direction of the battery box and the reference direction X is determined.

[0172] It should also be noted that, considering that different vehicle models and different battery boxes may correspond to different standard image contours, the battery swap control module 13 usually needs to pre-store standard image contours corresponding to multiple vehicle models and multiple 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.

[0173] Example 4

[0174] Combining the visual analysis systems 10 of Embodiment 1, Embodiment 2 and Embodiment 3, a visual analysis system for vehicle battery replacement is formed in this embodiment. Fig. 9 As shown, it includes: an image acquisition module 11, an image analysis module 12, and a battery replacement control module 13. The image analysis module 12 includes the position analysis submodule of Example 2 and the posture analysis submodule 122 of Example 3. The image acquisition module 11, the position analysis submodule 121, the posture analysis submodule 122 and the battery replacement control module 13 are specifically described in Example 1, Example 2 and Example 3, and will not be repeated here.

[0175] In addition, the battery exchange control module 13 of this embodiment is also used to send a parking instruction to the battery exchange device 40 when the spatial status information of the battery exchange device 40 itself has adapted to the spatial status information of the battery box. The parking instruction is used to command the battery exchange device 40 to maintain the current spatial status information until receiving an instruction again.

[0176] When the target task of the battery exchange device 40 is to place the battery pack on the battery exchange device 40 into the battery box, the instruction received again includes: an instruction to install the battery pack on the battery exchange device 40 into the battery box.

[0177] In other embodiments, when the target task of the battery exchange device 40 is to remove the battery pack from the vehicle, the instruction received again includes: an instruction to remove the battery pack from the battery box.

[0178] Example 5

[0179] Fig.10 This is a visual analysis method applied to vehicle battery replacement in this embodiment. The visual analysis method includes:

[0180] Step 51: Acquire an actual image, wherein the actual image includes an image of a battery box of a vehicle.

[0181] Step 52: Acquire spatial status information of the battery box according to the actual image.

[0182] Step 53: According to the spatial status information of the battery box, command the battery exchange device to adjust its own spatial status information to adapt to the spatial status information of the battery box.

[0183] The visual analysis method of this embodiment accurately obtains the spatial status information of the battery box through image acquisition and image analysis, and adjusts the battery replacement equipment accordingly. The visual analysis method can be applied to the positioning of the battery box during the process of removing the battery pack from the battery box, and can also be applied to the positioning of the battery box during the process of installing a new battery pack into the battery box, to ensure the success rate of battery pack replacement.

[0184] In order to further ensure that the battery swapping equipment is adjusted in place, the visual analysis method may also include:

[0185] After the battery exchange device has adjusted its own spatial state information, the actual image is collected again. Then, according to the re-collected actual image, step 52 is executed again to obtain the spatial state information of the battery outer box, and step 53 is executed to control the battery exchange device.

[0186] In this embodiment, in order to improve the clarity of image acquisition and the accuracy of the status analysis of the battery box, step 51 is implemented using at least one camera that automatically zooms according to the battery box. The camera can be set on the battery exchange equipment. The battery exchange equipment is used to provide battery exchange services for the vehicle, and may usually include the function of loading new or fully charged batteries into the battery box, or include the function of removing the original low-power battery on the vehicle from the battery box, or have both of the above functions. The camera can also be set on the platform where the vehicle is parked. The platform can be a special platform for parking vehicles during the battery exchange process or other ordinary platforms. Of course, the present invention is not limited to this. In other embodiments, the camera can also be set at other positions where the image of the locking mechanism can be captured.

[0187] The number of the cameras can be determined according to the specific structure of the locking mechanism, cost requirements, locking accuracy requirements, and other actual conditions. When the number of the cameras exceeds one, all of them can be set in the same area, such as all of them are set on the battery exchange device or all of them are set on the above-mentioned platform; the cameras can also be dispersed in different areas, such as some are set on the battery exchange device and the other parts are set on the above-mentioned platform.

[0188] Considering that the battery box is usually set at the bottom of the vehicle, the battery replacement environment is usually dark, which will affect the clarity of the actual image. In this embodiment, the visual analysis method also includes: turning on the infrared lighting source when the brightness of the ambient light is less than a threshold. For example, if the camera is equipped with an infrared lighting source, the method will automatically detect the brightness of the ambient light before collecting the actual image. If the brightness of the ambient light is less than the threshold, the infrared lighting source on the camera will be turned on. Among them, the threshold can be determined according to the performance requirements of the camera.

[0189] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 1.

[0190] Example 6

[0191] This embodiment provides a visual analysis method applied to vehicle battery replacement, which is a further improvement on the visual analysis system of Embodiment 5. It is capable of analyzing the position information of the battery box and moving the position of the battery replacement equipment according to the position information of the battery box.

[0192] Fig.11 The visual analysis method of this embodiment is shown. In this embodiment, the spatial state information includes position information, and the position information can be three-dimensional coordinate information.

[0193] Step 52 specifically includes:

[0194] Step 521: Acquire the position information of the battery box according to the actual image.

[0195] Step 53 specifically includes:

[0196] Step 531: Command the battery exchange device to move itself to a target position, where the target position is related to the position of the battery box.

[0197] When the battery exchange device performs different target tasks, the target position will also be different.

[0198] In this embodiment, when the target task of the battery swapping device is to place the battery pack on the battery swapping device into the battery outer box, the target position is the position where the battery pack is aligned with the battery outer box. In other embodiments, when the target task of the battery swapping device 40 is to remove the battery pack from the vehicle, the target position is the position where the battery swapping unlocking mechanism on the battery swapping device 40 is aligned with the trigger unlocking mechanism on the battery outer box, and the trigger unlocking mechanism matches the battery swapping unlocking mechanism and is used to trigger the battery pack to be unlocked from the vehicle.

[0199] like Fig.12As shown, the specific process of step 531 includes:

[0200] Step 5311: Acquire the location information of the battery box and the location information of the target location;

[0201] Step 5312: Compare the difference between the position information of the battery box and the position information of the target position;

[0202] Step 5313: Generate a position movement instruction, where the position movement instruction is used to command the battery exchange device to move in a direction that reduces the difference.

[0203] Among them, the difference is mainly the difference in the horizontal direction. The battery box can be projected to the plane where the battery exchange equipment is located, and the distance difference between the battery box and the target position can be calculated, and the distance difference can be compensated by the position movement instruction.

[0204] The visual analysis method of this embodiment can accurately determine the position information of the battery box and achieve high-precision position adjustment of the battery replacement equipment.

[0205] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 2.

[0206] Example 7

[0207] This embodiment provides a visual analysis method applied to vehicle battery replacement, which is a further improvement of the visual analysis system of Example 5. It can analyze the posture information of the battery box and adjust the posture of the battery replacement mechanism of the battery replacement equipment according to the posture information of the battery box.

[0208] Fig.13 The visual analysis method of this embodiment is shown. In this embodiment, the spatial state information includes posture information. Step 52 specifically includes:

[0209] Step 522: Acquire the posture information of the battery box according to the actual image.

[0210] Step 53 specifically includes:

[0211] Step 532: Command the battery exchange device to adjust its own posture so that the battery exchange mechanism on the battery exchange device has the same posture as the battery box.

[0212] Specifically, the posture information of the battery box may include: the angle between the battery box and the platform where the vehicle is parked. Step 522 obtains the angle between the battery box and the platform where the vehicle is parked according to the actual image. A specific process is as follows: Fig.14 As shown, including:

[0213] Step 5221: extracting the image contour of the battery box from the actual image;

[0214] Step 5222: Determine whether the image contour is the same as the standard image contour when the battery box is arranged in parallel with the platform, wherein the standard image contour is collected in advance, and when comparing the images, it is mainly to compare whether the battery boxes in the two images are the same, and other images that may be collected together in the image, such as the bottom structure of the vehicle around the battery box, etc., can be ignored:

[0215] If yes, it is determined that the angle between the battery box and the platform is 0;

[0216] If not, the angle between the battery box and the platform is determined by the degree of deformation of the image outline relative to the standard image outline.

[0217] The angle at which the actual image is captured is preferably the same as the angle at which the standard image profile is captured.

[0218] Taking the battery box as a rectangular parallelepiped as an example, when the battery box is arranged parallel to the platform, the standard image outline of the battery box collected from directly below the battery box should be a rectangle. If the image outline of the battery box in the actual image also collected from directly below the battery box is a rectangle, it means that the image outline of the battery box is parallel to the standard image outline, that is, the battery box is also parallel to the platform. On the contrary, if the image outline of the battery box in the actual image also collected from directly below the battery box is not a rectangle, such as if there is a vertex that is not a right angle, it means that the image outline of the battery box is not parallel to the standard image outline, that is, the battery box is not parallel to the platform, and the angle between the battery box and the platform can be further determined by the angle of the vertex in the image outline.

[0219] It should be noted that, considering that different vehicle models and different battery boxes may correspond to different standard image contours, the method usually needs to pre-store standard image contours corresponding to multiple vehicle models and multiple 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.

[0220] Step 522 obtains the angle between the battery box and the platform where the vehicle is parked according to the actual image. Another specific process is as follows: Fig.15 As shown, including:

[0221] Step 5221': determining the relative height difference of at least two characteristic parts of the battery box through the depth of field information of the actual image;

[0222] Step 5222': Determine whether the relative height difference between the at least two characteristic parts is 0:

[0223] If yes, it is determined that the angle between the battery box and the platform is 0;

[0224] If not, the angle between the battery box and the platform is determined by the relative height difference between the at least two characteristic parts.

[0225] Still taking the battery outer box as a rectangular parallelepiped as an example, in the actual image of the battery outer box collected from directly below the battery outer box when the battery outer box is arranged parallel to the platform, the relative height difference of each characteristic part of the battery outer box should be 0, that is, in the same plane, the angle with the platform is 0. If there is a relative height difference between each characteristic part of the battery outer box, that is, the battery outer box is not parallel to the platform, the angle between the battery outer box and the platform can be further determined by the relative height difference. Among them, the at least two characteristic parts are at least two vertex angles of the battery outer box.

[0226] In addition, step 522 can adopt any one of the above two implementations according to actual conditions.

[0227] In this embodiment, the posture information of the battery box may further include: the setting direction of the battery box. Step 522 obtains the setting direction of the battery box according to the actual image, such as Fig.16 As shown, including:

[0228] Step 5221": extracting the image contour of the battery box from the actual image;

[0229] Step 5222": Determine whether the image contour is the same as the standard image contour when the battery box is set in the reference direction, wherein the standard image contour is pre-collected, and when comparing the images, it is mainly to compare whether the battery boxes in the two images are the same, and other images that may be collected together in the image, such as the bottom structure of the vehicle around the battery box, etc., can be ignored:

[0230] If yes, determining that the setting direction of the battery box is the reference direction;

[0231] If not, the angle between the setting direction of the battery box and the reference direction is determined by the degree of rotation of the image outline relative to the standard image outline.

[0232] The angle at which the actual image is captured is the same as the angle at which the standard image profile is captured.

[0233] It should also be noted that, considering that different vehicle models and different battery boxes may correspond to different standard image contours, the method usually needs to pre-store standard image contours corresponding to multiple vehicle models and multiple 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.

[0234] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 3.

[0235] Example 8

[0236] Combining the visual analysis methods of Embodiment 5, Embodiment 6 and Embodiment 7, a visual analysis method for vehicle battery replacement is formed in this embodiment, such as Fig.17 As shown, it includes:

[0237] Step 51: Acquire an actual image, wherein the actual image includes an image of a battery box of a vehicle.

[0238] Step 521: Acquire the position information of the battery box according to the actual image.

[0239] Step 522: Acquire the posture information of the battery box according to the actual image.

[0240] Step 531: Command the battery exchange device to move itself to a target position, where the target position is related to the position of the battery box.

[0241] Step 532: Command the battery exchange device to adjust its own posture so that the battery exchange mechanism on the battery exchange device has the same posture as the battery box.

[0242] For the above steps, please refer to the corresponding descriptions of Example 5, Example 6 and Example 7, which will not be repeated here.

[0243] In addition, the visual analysis method of this embodiment also includes:

[0244] Step 54: When the space status information of the battery exchange device itself has adapted to the space status information of the battery box, command the battery exchange device to maintain the current space status information until receiving another instruction.

[0245] When the target task of the battery swapping device is to place the battery pack on the battery swapping device into the battery box, the instruction received again includes: an instruction to install the battery pack on the battery swapping device into the battery box.

[0246] In other embodiments, when the target task of the battery exchange equipment is to remove the battery pack from the vehicle, the instruction received again includes: an instruction to remove the battery pack from the battery box.

[0247] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 4.

[0248] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A visual analysis system for vehicle battery replacement, characterized in that: The visual analysis system includes at least one image acquisition module, an image analysis module and a battery replacement control module; The image acquisition module is used to acquire an actual image and send the actual image to the image analysis module, wherein the actual image includes an image of a battery box of the vehicle; The image analysis module is used to obtain the spatial state information of the battery box according to the actual image, and send the spatial state information of the battery box to the battery replacement control module; The battery replacement control module is used to generate a control instruction according to the spatial status information of the battery outer box and send the control instruction to the battery replacement equipment used to replace the battery pack for the vehicle, and the control instruction is used to command the battery replacement equipment to adjust its own spatial status information to adapt to the spatial status information of the battery outer box; The spatial state information includes posture information, and the posture information includes: the setting direction of the battery box; Acquiring a setting direction of the battery box according to the actual image includes: Extracting the image contour of the battery box from the actual image; Determine whether the image contour is the same as a standard image contour when the battery box is set in a reference direction: If yes, determining that the setting direction of the battery box is the reference direction; If not, the angle between the setting direction of the battery box and the reference direction is determined by the degree of rotation of the image outline relative to the standard image outline.

2. The visual analysis system according to claim 1, characterized in that The image acquisition module is arranged on the battery exchange device, or on the platform where the vehicle is parked.

3. The visual analysis system according to claim 1, wherein: The spatial state information includes position information, and the image analysis module includes a position analysis submodule; The position analysis submodule is used to obtain the position information of the battery box according to the actual image, and send the position information of the battery box to the battery replacement control module; The control instructions include position movement instructions, and the battery replacement control module is also used to generate the position movement instructions based on the position information of the battery box. The position movement instructions are used to command the battery replacement equipment to move its own position to a target position, and the target position is related to the position of the battery box.

4. The visual analysis system according to claim 3, characterized in that: When the target task of the battery swapping device is to place the battery pack on the battery swapping device into the battery box, the target position is the position where the battery pack is aligned with the battery box.

5. The visual analysis system according to claim 3, characterized in that: When the target task of the battery swapping device is to remove the battery pack from the vehicle, the target position is the position where the battery swapping unlocking mechanism on the battery swapping device is aligned with the trigger unlocking mechanism on the battery box. The trigger unlocking mechanism matches the battery swapping unlocking mechanism and is used to trigger the battery pack to be unlocked from the vehicle.

6. The visual analysis system according to any one of claims 3 to 5, characterized in that: Generating the position movement instruction according to the position information of the battery box includes: Acquire the location information of the battery box and the location information of the target location; Comparing the difference between the position information of the battery box and the position information of the target position; A position movement instruction is generated, wherein the position movement instruction is used to command the battery exchange device to move in a direction to reduce the difference.

7. The visual analysis system according to claim 1, wherein: The image analysis module includes a posture analysis submodule; The posture analysis submodule is used to obtain the posture information of the battery box according to the actual image, and send the posture information of the battery box to the battery replacement control module; The control instructions include posture adjustment instructions, and the battery replacement control module is also used to generate the posture adjustment instructions according to the posture information of the battery box. The posture adjustment instructions are used to command the battery replacement equipment to adjust its own posture so that the battery replacement mechanism on the battery replacement equipment has the same posture as the battery box.

8. The visual analysis system according to claim 7, characterized in that: The posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked; Acquiring the angle between the battery box and the platform where the vehicle is parked according to the actual image, including: Extracting the image contour of the battery box from the actual image; Determine whether the image contour is the same as a standard image contour when the battery box and the platform are arranged in parallel: If yes, it is determined that the angle between the battery box and the platform is 0; If not, the angle between the battery box and the platform is determined by the degree of deformation of the image outline relative to the standard image outline.

9. The visual analysis system according to claim 7, characterized in that: The posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked; Acquiring a relative position relationship between the battery box and the platform where the vehicle is parked according to the actual image, including: Determine the relative height difference of at least two characteristic parts of the battery box through the depth of field information of the actual image; Determine whether the relative height difference between the at least two characteristic parts is 0: If yes, it is determined that the angle between the battery box and the platform is 0; If not, the angle between the battery box and the platform is determined by the relative height difference between the at least two characteristic parts.

10. The visual analysis system according to claim 9, wherein: The battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex corners of the battery outer box.

11. The visual analysis system according to claim 1 or 8, characterized in that: The angle at which the image acquisition module acquires the actual image is the same as the acquisition angle of the standard image profile.

12. The visual analysis system according to claim 1, wherein: The image acquisition module is also used to capture the actual image again after the battery exchange device executes the control instruction.

13. The visual analysis system according to claim 1, wherein: The battery exchange control module is also used to send a parking instruction to the battery exchange device when the spatial status information of the battery exchange device itself has adapted to the spatial status information of the battery box. The parking instruction is used to command the battery exchange device to maintain the current spatial status information until receiving an instruction again.

14. The visual analysis system according to claim 13, wherein: The instructions received again include: an instruction to remove the battery pack from the battery box, or an instruction to install the battery pack on the battery exchange device into the battery box.

15. The visual analysis system according to claim 1, wherein: The image acquisition module is connected to the image analysis module via wired or wireless communication; And / or, the image analysis module is connected to the battery replacement control module via wired or wireless communication; And / or, the battery replacement control module is connected to the battery replacement device via wired or wireless communication.

16. The visual analysis system according to claim 1, wherein: The image acquisition module is equipped with an infrared illumination light source, and the infrared illumination light source is used to be turned on when the brightness of the ambient light is less than a threshold value.

17. The visual analysis system according to claim 1, wherein: The image acquisition module is a camera or a camera that automatically zooms according to the battery outer box.

18. A visual analysis method applied to vehicle battery replacement, characterized in that: The visual analysis method comprises: Acquiring an actual image, wherein the actual image includes an image of a battery box of a vehicle; Acquire spatial state information of the battery box according to the actual image; Instruct the battery swapping device to adjust its own spatial status information to adapt to the spatial status information of the battery box according to the spatial status information of the battery box; The spatial state information includes posture information; the posture information of the battery outer box includes: the setting direction of the battery outer box; Acquiring a setting direction of the battery box according to the actual image includes: Extracting the image contour of the battery box from the actual image; Determine whether the image contour is the same as a standard image contour when the battery box is set in a reference direction: If yes, determining that the setting direction of the battery box is the reference direction; If not, the angle between the setting direction of the battery box and the reference direction is determined by the degree of rotation of the image outline relative to the standard image outline.

19. The visual analysis method according to claim 18, characterized in that: The spatial state information includes position information, and the step of acquiring the spatial state information of the battery box according to the actual image includes: Acquire the position information of the battery box according to the actual image; The step of instructing the battery swapping device to adjust its own spatial state information to adapt to the spatial state information of the battery box includes: Command the battery exchange device to move itself to a target position, where the target position is related to the position of the battery box.

20. The visual analysis method according to claim 19, characterized in that: When the target task of the battery swapping device is to place the battery pack on the battery swapping device into the battery box, the target position is the position where the battery pack is aligned with the battery box.

21. The visual analysis method according to claim 19, wherein: When the target task of the battery swapping device is to remove the battery pack from the vehicle, the target position is the position where the battery swapping unlocking mechanism on the battery swapping device is aligned with the trigger unlocking mechanism on the battery box. The trigger unlocking mechanism matches the battery swapping unlocking mechanism and is used to trigger the battery pack to be unlocked from the vehicle.

22. The visual analysis method according to any one of claims 19 to 21, characterized in that: The step of commanding the battery swapping device to move its position so that the battery swapping mechanism on the battery swapping device is aligned with the battery outer box includes: Acquire the location information of the battery box and the location information of the target location; Comparing the difference between the position information of the battery box and the position information of the target position; A position movement instruction is generated, wherein the position movement instruction is used to command the battery exchange device to move in a direction to reduce the difference.

23. The visual analysis method according to claim 18, wherein: The step of acquiring the spatial state information of the battery box according to the actual image comprises: Acquire the posture information of the battery box according to the actual image; The step of commanding the battery exchange device to adjust its own spatial state information to adapt to the spatial state information of the battery box includes: commanding the battery exchange device to adjust its own posture so that the battery exchange mechanism on the battery exchange device has the same posture as the battery box.

24. The visual analysis method according to claim 23, characterized in that: The posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked; Acquiring the angle between the battery box and the platform where the vehicle is parked according to the actual image, including: Extracting the image contour of the battery box from the actual image; Determine whether the image contour is the same as a standard image contour when the battery box and the platform are arranged in parallel: If yes, it is determined that the angle between the battery box and the platform is 0; If not, the angle between the battery box and the platform is determined by the degree of deformation of the image outline relative to the standard image outline.

25. The visual analysis method according to claim 23, characterized in that: The posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked; Acquiring a relative position relationship between the battery box and the platform where the vehicle is parked according to the actual image, including: Determine the relative height difference of at least two characteristic parts of the battery box through the depth of field information of the actual image; Determine whether the relative height difference between the at least two characteristic parts is 0: If yes, it is determined that the angle between the battery box and the platform is 0; If not, the angle between the battery box and the platform is determined by the relative height difference between the at least two characteristic parts.

26. The visual analysis method according to claim 25, characterized in that: The battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex corners of the battery outer box.

27. The visual analysis method according to claim 18 or 24, characterized in that: The angle at which the actual image is captured is the same as the angle at which the standard image profile is captured.

28. The visual analysis method according to claim 18, characterized in that: The visual analysis method further comprises: The actual image is captured again after the battery exchange device has adjusted its own spatial state information.

29. The visual analysis method according to claim 18, wherein: The visual analysis method also includes: when the spatial status information of the battery exchange device itself has adapted to the spatial status information of the battery box, commanding the battery exchange device to maintain the current spatial status information until receiving an instruction again.

30. The visual analysis method according to claim 29, wherein: The instructions received again include: an instruction to remove the battery pack from the battery box, or an instruction to install the battery pack on the battery exchange device into the battery box.

31. The visual analysis method according to claim 18, wherein: The visual analysis method also includes: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.

32. The visual analysis method according to claim 18, wherein: The step of collecting the actual image is achieved by using a camera or a camera that automatically zooms according to the battery box.

Images