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 status information of the battery box according to the actual images; the battery replacement control module 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 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 status information. The present invention can accurately identify the battery box through the actual image acquired, and then determine the spatial status 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] Currently, automobile exhaust emissions remain a significant factor in environmental pollution. To address these issues, natural gas vehicles, hydrogen fuel vehicles, solar vehicles, and electric vehicles have been developed to replace gasoline-powered vehicles. Among these, electric vehicles hold the greatest potential for application. Currently, electric vehicles primarily come in two types: direct-charge and quick-change models.

[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 because it cannot accurately locate the position of 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 outer box and cannot remove the battery pack from the battery outer box or install a new battery pack into the battery outer 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 for 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 the battery box of the vehicle;

[0009] The image analysis module 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;

[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 position information, and the image analysis module includes a position analysis submodule;

[0012] 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;

[0013] The control instruction includes a position movement instruction. The battery replacement control module is also used to generate the position movement instruction based on the position information of the battery outer box. The position movement instruction is used to command the battery replacement equipment to move its own position to the target position, and the target position is related to the position of the battery outer box.

[0014] Preferably, the image acquisition module is arranged on the battery exchange device, or on the platform where the vehicle is parked.

[0015] Preferably, 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.

[0016] 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 outer box, and the trigger unlocking mechanism matches the battery swapping unlocking mechanism to trigger the battery pack to be unlocked from the vehicle.

[0017] Preferably, generating the position movement instruction according to the position information of the battery box includes:

[0018] Acquire the location information of the battery box and the location information of the target location;

[0019] comparing the difference between the position information of the battery box and the position information of the target position;

[0020] Generate a position movement instruction, which is used to command the battery exchange device to move in a direction to reduce the difference.

[0021] Preferably, the image analysis module includes a posture analysis submodule;

[0022] 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;

[0023] The control instructions include posture adjustment instructions. The battery exchange control module is also used to generate the posture adjustment instructions based on the posture information of the battery box. The posture adjustment instructions are used to 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.

[0024] Preferably, the posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked;

[0025] Acquiring an angle between the battery box and the platform where the vehicle is parked according to the actual image, including:

[0026] Extracting the image contour of the battery box from the actual image;

[0027] Determine whether the image profile is identical to a standard image profile when the battery box and the platform are arranged parallel to each other:

[0028] If yes, it is determined that the angle between the battery box and the platform is 0;

[0029] 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.

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

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

[0032] Determining the relative height difference between at least two characteristic parts of the battery box using depth of field information of the actual image;

[0033] Determine whether the relative height difference between the at least two characteristic parts is 0:

[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 relative height difference between the at least two characteristic parts.

[0036] 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.

[0037] Preferably, the posture information of the battery outer box includes: the setting direction of the battery outer box;

[0038] Acquiring a setting direction of the battery box according to the actual image includes:

[0039] Extracting the image contour of the battery box from the actual image;

[0040] Determine whether the image outline is identical to a standard image outline when the battery box is set in a reference direction:

[0041] If yes, determining that the setting direction of the battery box is the reference direction;

[0042] If not, the angle between the setting direction of the battery box and the reference direction is determined according to the rotation degree of the image outline relative to the standard image outline.

[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 outline 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. 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 and the image analysis module are connected 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 exchange control module is connected to the battery exchange device via wired or wireless communication.

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

[0051] Preferably, the image acquisition module is a camera or 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] Acquiring spatial state information of the battery box according to the actual image;

[0055] According to the spatial state information of the battery box, the battery swapping device is commanded to adjust its own spatial state information to adapt to the spatial state information of the battery box; the spatial state information includes position information, and the step of obtaining the spatial state information of the battery box according to the actual image includes:

[0056] Acquire the position information of the battery box according to the actual image;

[0057] 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:

[0058] 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.

[0059] Preferably, 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.

[0060] 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 outer box, and the trigger unlocking mechanism matches the battery swapping unlocking mechanism to trigger the battery pack to be unlocked from the vehicle.

[0061] Preferably, 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 includes:

[0062] Acquire the location information of the battery box and the location information of the target location;

[0063] comparing the difference between the position information of the battery box and the position information of the target position;

[0064] Generate a position movement instruction, which is used to command the battery exchange device to move in a direction to reduce the difference.

[0065] Preferably, the step of acquiring the spatial state information of the battery box according to the actual image includes:

[0066] Acquire posture information of the battery box according to the actual image;

[0067] The step of commanding the battery exchange device to adjust its own spatial status information to adapt to the spatial status 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.

[0068] Preferably, the posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked;

[0069] Acquiring an angle between the battery box and the platform where the vehicle is parked according to the actual image, including:

[0070] Extracting the image contour of the battery box from the actual image;

[0071] Determine whether the image profile is identical to a standard image profile when the battery box and the platform are arranged parallel to each other:

[0072] If yes, it is determined that the angle between the battery box and the platform is 0;

[0073] 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.

[0074] Preferably, the posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked;

[0075] Acquiring a relative positional relationship between the battery box and the platform where the vehicle is parked according to the actual image, including:

[0076] Determining the relative height difference between at least two characteristic parts of the battery box using depth of field information of the actual image;

[0077] Determine whether the relative height difference between the at least two characteristic parts is 0:

[0078] If yes, it is determined that the angle between the battery box and the platform is 0;

[0079] 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.

[0080] 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.

[0081] Preferably, the posture information of the battery outer box includes: the setting direction of the battery outer box;

[0082] Acquiring a setting direction of the battery box according to the actual image includes:

[0083] Extracting the image contour of the battery box from the actual image;

[0084] Determine whether the image outline is identical to a standard image outline when the battery box is set in a reference direction:

[0085] If yes, determining that the setting direction of the battery box is the reference direction;

[0086] If not, the angle between the setting direction of the battery box and the reference direction is determined according to the rotation degree of the image outline relative to the standard image outline.

[0087] Preferably, the angle at which the actual image is captured is the same as the angle at which the standard image profile is captured.

[0088] Preferably, the visual analysis method further comprises:

[0089] The actual image is collected again after the battery exchange device adjusts its own spatial status information.

[0090] Preferably, the visual analysis method further 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.

[0091] 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.

[0092] Preferably, the visual analysis method further comprises: turning on the infrared lighting source when the brightness of the ambient light is less than a threshold value.

[0093] Preferably, the step of capturing the actual image is achieved by using a camera or a camera that automatically zooms according to the battery box.

[0094] 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.

[0095] The positive progressive effect of the present invention is that the present invention can accurately identify the battery outer box through the actual image collected, and then determine the spatial state information of the battery outer box, and adjust the battery replacement equipment accordingly, so as to accurately remove the battery pack from the battery outer box or install a new battery pack into the battery outer box, thereby ensuring the success rate of battery pack replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Figure 1This is a schematic block diagram of a visual analysis system applied to vehicle battery replacement according to embodiment 1 of the present invention;

[0097] Figure 2 This is a schematic diagram of the installation of an image acquisition module 11 according to embodiment 1 of the present invention;

[0098] 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;

[0099] Figure 4 This is a schematic diagram of the target position of Example 2 of the present invention;

[0100] Figure 5 This is a schematic diagram of the installation of an image acquisition module 11 according to embodiment 3 of the present invention;

[0101] Figure 6 This is a schematic diagram of the standard image outline when the battery box is set in the reference direction X;

[0102] Figure 7 is the image outline of the battery box in the actual image;

[0103] Figure 8 for Figure 6 and Figure 7 Schematic diagram after overlap;

[0104] Figure 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;

[0105] Figure 10 This is a flowchart of a visual analysis method applied to vehicle battery replacement according to embodiment 5 of the present invention;

[0106] Figure 11 This is a flowchart of a visual analysis method applied to vehicle battery replacement according to Example 6 of the present invention;

[0107] Figure 12 This is a flowchart of step 531 of embodiment 6 of the present invention;

[0108] Figure 13 This is a flowchart of a visual analysis method applied to vehicle battery replacement according to embodiment 7 of the present invention;

[0109] Figure 14 A flowchart of step 522 of embodiment 7 of the present invention;

[0110] Figure 15 Another flow chart of step 522 of embodiment 7 of the present invention;

[0111] Figure 16 This is another flow chart of step 522 of embodiment 7 of the present invention;

[0112] Figure 17 This is a flowchart of a visual analysis method applied to vehicle battery replacement according to Example 8 of the present invention. DETAILED DESCRIPTION

[0113] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0114] Example 1

[0115] Figure 1 This embodiment is a visual analysis system 10 applied to vehicle battery replacement. 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 a cable, and the wireless communication connection includes but is not limited to connection through 2G, 3G, 4G, Bluetooth and other communication methods.

[0116] The image acquisition module 11 is used to acquire an actual image and send the actual image to the image analysis module 12 . The actual image includes an image of the battery box of the vehicle.

[0117] The image analysis module 12 is used to obtain the spatial status information of the battery box based on the actual image, and send the spatial status information of the battery box to the battery replacement control module 13.

[0118] The battery exchange control module 13 is used to generate a control instruction based on the spatial status information of the battery outer box and send the control instruction to the battery exchange device 40. The control instruction is used to command the battery exchange device 40 to adjust its own spatial status information to adapt to the spatial status information of the battery outer box.

[0119] 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 status information of the battery outer box, and adjusts the battery replacement equipment 40 accordingly. The visual analysis system 10 can be used to position the battery outer box during the process of removing the battery pack from the battery outer box, and can also be used to position the battery outer box during the process of installing a new battery pack into the battery outer box, thereby ensuring the success rate of battery pack replacement.

[0120] 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 reanalyze and control the battery swap device 40 based on the recaptured actual image.

[0121] In this embodiment, the image acquisition module 11 can be provided 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 functions. The image acquisition module 11 can also be provided on the platform where the vehicle is parked. The platform can be a dedicated 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 image acquisition module 11 can also be provided at other locations where the image of the battery box can be captured.

[0122] The number of the image acquisition modules 11 can be determined according to the actual conditions such as the specific structure of the battery outer box, cost requirements, and control accuracy requirements. When the number of the image acquisition modules 11 exceeds one, all of the image acquisition modules 11 can be set in the same area, such as all of them are set on the battery exchange device 40 or all of them are set on the above-mentioned platform; the image acquisition modules 11 can also be dispersed in different areas, such as some 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 of the image acquisition modules 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 provided. A vehicle 20 is parked on a platform 30, which is elevated above ground level and has a hollowed-out area A in the middle. A battery swapping device 40 is located below this hollowed-out area. The diagram shows four image acquisition modules 11: two are located on the platform 30 near the hollowed-out area A, and the remaining two are located on top of the battery swapping device 40.

[0123] 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.

[0124] Considering that the battery box is usually located at the bottom of the vehicle and the battery swapping environment is usually dark, which may 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 brightness of the ambient light before acquiring the actual image. The infrared illumination source is configured to turn on when the brightness of the ambient light is less than a threshold. The threshold can be determined based on the performance requirements of the camera or camera.

[0125] Example 2

[0126] This embodiment provides a visual analysis system for vehicle battery replacement, which is a further improvement of the visual analysis system of Example 1. It can analyze the position information of the battery box and move the position of the battery replacement equipment according to the position information of the battery box.

[0127] Figure 3 The visual analysis system 10 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. 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 based on the actual image, and send the position information of the battery box to the battery replacement control module 13.

[0128] The control instructions generated by the battery swap control module 13 include position movement instructions. The battery swap control module 13 is also used to generate the position movement instructions based on the position information of the battery outer box, and the position movement instructions are used to command the battery swap device 40 to move its own position to a target position, and the target position is related to the position of the battery outer box.

[0129] When the battery exchange device 40 performs different target tasks, the target position will also be different.

[0130] In this embodiment, 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 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 outer box C. The battery exchange device 40 lifts the battery pack and places the battery pack into the battery outer box.

[0131] 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.

[0132] Specifically, generating the position movement instruction according to the position information of the battery box includes:

[0133] Acquire the location information of the battery box and the location information of the target location;

[0134] comparing the difference between the position information of the battery box and the position information of the target position;

[0135] 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.

[0136] 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.

[0137] The visual analysis system 10 of this embodiment can accurately determine the position information of the battery outer box and achieve high-precision position adjustment of the battery replacement equipment 40.

[0138] Example 3

[0139] This embodiment provides a visual analysis system for vehicle battery replacement, which is a further improvement of the visual analysis system of Example 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.

[0140] 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 based on the actual image, and send the posture information of the battery box to the battery replacement control module 13.

[0141] The control instructions generated by the battery swap control module 13 include posture adjustment instructions. The battery swap control module 13 is also used to generate the posture adjustment instructions based on the posture information of the battery outer box, and the posture adjustment instructions are used to command the battery swap device 40 to adjust its own posture so that the battery swap mechanism on the battery swap device 40 has the same posture as the battery outer box.

[0142] 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.

[0143] The battery replacement control module 13 obtains the angle between the battery box and the platform where the vehicle is parked based on the actual image. A specific implementation includes:

[0144] Extracting the image contour of the battery box from the actual image;

[0145] Determine whether the image contour is identical to a standard image contour when the battery box is arranged parallel to the platform, wherein the standard image contour is pre-collected. When comparing images, the judgment is mainly based on whether the battery boxes in the two images are identical. Other images that may be collected together, such as the vehicle bottom structure around the battery box, can be ignored.

[0146] If yes, it is determined that the angle between the battery box and the platform is 0;

[0147] 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.

[0148] 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 outline. For example, if the battery case is a rectangular parallelepiped and the battery case is arranged parallel to the platform, the standard image outline of the battery case acquired from directly below the battery case should be a rectangle. If the image outline of the battery case in the actual image also acquired from directly below the battery case is a rectangle, then the image outline of the battery case is parallel to the standard image outline, i.e., the battery case is also parallel to the platform. Conversely, if the image outline of the battery case in the actual image also acquired from directly below the battery case is not a rectangle, such as if there are vertex angles that are not right angles, then the image outline of the battery case is not parallel to the standard image outline, i.e., the battery case is not parallel to the platform. The angle of the vertex angles in the image outline can be used to further determine the angle between the battery case and the platform.

[0149] It should 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.

[0150] The battery replacement control module 13 obtains the relative position relationship between the battery box and the platform where the vehicle is parked based on the actual image. Another specific implementation includes:

[0151] Determining the relative height difference between at least two characteristic parts of the battery box using depth of field information of the actual image;

[0152] Determine whether the relative height difference between the at least two characteristic parts is 0:

[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 relative height difference between the at least two characteristic parts.

[0155] Taking the rectangular battery case as an example, when the battery case is parallel to the platform, in an actual image of the battery case captured from directly below the battery case, the relative height difference between the characteristic features of the battery case should be 0, that is, the angle between the battery case and the platform is 0 when in the same plane. If there is a relative height difference between the characteristic features of the battery case, that is, the battery case is not parallel to the platform, the relative height difference can be used to further determine the angle between the battery case and the platform. The at least two characteristic features are at least two vertex corners of the battery case.

[0156] In addition, the battery replacement control module 13 can adopt any one of the above two implementations according to actual conditions.

[0157] In this embodiment, the posture information of the battery box may further include: the setting direction of the battery box.

[0158] The battery replacement control module 13 obtains the setting direction of the battery box according to the actual image. A specific implementation includes:

[0159] Extracting the image contour of the battery box from the actual image;

[0160] Determine whether the image contour is identical to a standard image contour of the battery box set in a reference orientation, wherein the standard image contour is pre-collected. When comparing images, the determination is mainly based on whether the battery boxes in the two images are identical. Other images that may have been collected together, such as the vehicle bottom structure around the battery box, may be ignored.

[0161] If yes, determining that the setting direction of the battery box is the reference direction;

[0162] If not, the angle between the setting direction of the battery box and the reference direction is determined according to the rotation degree of the image outline relative to the standard image outline.

[0163] The angle at which the image acquisition module 11 acquires the actual image is the same as the angle at which the standard image outline is acquired.

[0164] Still taking the battery outer box as a rectangular parallelepiped as an example, Figure 6 A standard image profile P0 when the battery case is arranged in a 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 profile P0, and the solid line represents the image profile P1 in the actual image). The image profile P1 is different from the standard image profile P0, and the angle α between the setting direction of the battery box and the reference direction X is determined.

[0165] It should also be noted that, considering that the standard image contours corresponding to different vehicle models and different battery boxes may be different, 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.

[0166] Example 4

[0167] Combining the visual analysis systems 10 of Example 1, Example 2 and Example 3, a visual analysis system for vehicle battery replacement is formed in this embodiment. Figure 9 As shown, it includes: an image acquisition module 11, an image analysis module 12, and a battery swap 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. For the specific details of the image acquisition module 11, the position analysis submodule 121, the posture analysis submodule 122 and the battery swap control module 13, please refer to the corresponding descriptions of Example 1, Example 2 and Example 3, and will not be repeated here.

[0168] 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.

[0169] 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 outer box, the instruction received again includes: an instruction to install the battery pack on the battery exchange device 40 into the battery outer box.

[0170] 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.

[0171] Example 5

[0172] Figure 10 This is a visual analysis method applied to vehicle battery replacement in this embodiment. The visual analysis method includes:

[0173] Step 51: Acquire an actual image, wherein the actual image includes an image of the battery box of the vehicle.

[0174] Step 52: Acquire spatial status information of the battery box according to the actual image.

[0175] Step 53: Command 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.

[0176] The visual analysis method of this embodiment accurately obtains the spatial status information of the battery enclosure through image acquisition and image analysis, and adjusts the battery replacement equipment accordingly. The visual analysis method can be used to position the battery enclosure during the process of removing the battery pack from the enclosure, and can also be used to position the battery enclosure during the process of installing a new battery pack into the enclosure, thereby ensuring the success rate of battery pack replacement.

[0177] In order to further ensure that the battery swapping equipment is adjusted in place, the visual analysis method may further include:

[0178] After the battery exchange device has adjusted its own spatial state information, the actual image is collected again. Then, based on 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 again to control the battery exchange device.

[0179] In this embodiment, in order to improve the clarity of image acquisition and the accuracy of the status analysis of the battery outer box, step 51 is implemented using at least one camera that automatically zooms according to the battery outer box. The camera or camera can be set on the battery exchange equipment. The battery exchange equipment is used to provide battery exchange services for the vehicle, which may usually include the function of loading new or fully charged batteries into the battery outer box, or the function of removing the original low-power battery on the vehicle from the battery outer box, or both of the above functions. The camera or camera can also be set on the platform where the vehicle is parked. The platform can be a dedicated 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 or camera can also be set at other positions where the image of the locking mechanism can be captured.

[0180] The number of cameras can be determined based on the specific structure of the locking mechanism, cost requirements, locking accuracy requirements, and other practical circumstances. When there are more than one camera, all of them can be located in the same area, such as all on the battery swapping device or all on the aforementioned platform. They can also be dispersed across different areas, such as some on the battery swapping device and others on the aforementioned platform.

[0181] Taking into account that the battery box is usually set at the bottom of the vehicle and 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 capturing the actual image. If the brightness of the ambient light is less than the threshold, the infrared lighting source on the camera is turned on. The threshold can be determined according to the performance requirements of the camera.

[0182] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 1.

[0183] Example 6

[0184] 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 position information of the battery box and move the position of the battery replacement equipment according to the position information of the battery box.

[0185] Figure 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.

[0186] Step 52 specifically includes:

[0187] Step 521: Acquire the position information of the battery box according to the actual image.

[0188] Step 53 specifically includes:

[0189] 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.

[0190] When the battery exchange device performs different target tasks, the target position will also be different.

[0191] 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. The trigger unlocking mechanism matches the battery swapping unlocking mechanism and is used to trigger the battery pack to be unlocked from the vehicle.

[0192] like Figure 12 As shown, the specific process of step 531 includes:

[0193] Step 5311: Acquire the location information of the battery box and the location information of the target location;

[0194] Step 5312: Compare the difference between the location information of the battery box and the location information of the target location;

[0195] Step 5313: Generate a position movement instruction, which is used to command the battery exchange device to move in a direction to reduce the difference.

[0196] 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.

[0197] The visual analysis method of this embodiment can accurately determine the position information of the battery outer box and achieve high-precision position adjustment of the battery replacement equipment.

[0198] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 2.

[0199] Example 7

[0200] 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.

[0201] Figure 13 The visual analysis method of this embodiment is shown. In this embodiment, the spatial state information includes posture information. Step 52 specifically includes:

[0202] Step 522: Acquire the posture information of the battery box according to the actual image.

[0203] Step 53 specifically includes:

[0204] 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.

[0205] 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: Figure 14 Shown, including:

[0206] Step 5221: extracting the image contour of the battery box from the actual image;

[0207] Step 5222: Determine whether the image contour is identical to a standard image contour when the battery box is arranged parallel to the platform. The standard image contour is pre-collected. When comparing the images, the determination is mainly based on whether the battery boxes in the two images are identical. Other images that may have been collected together, such as the vehicle bottom structure around the battery box, may be ignored.

[0208] If yes, it is determined that the angle between the battery box and the platform is 0;

[0209] 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.

[0210] The angle at which the actual image is captured is preferably the same as the angle at which the standard image profile is captured.

[0211] 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. Conversely, 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. The angle between the battery box and the platform can be further determined by the angle of the vertex in the image outline.

[0212] It should be noted that, considering that the standard image contours corresponding to different vehicle models and different battery boxes may be different, the method usually requires pre-storing 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.

[0213] 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: Figure 15 As shown, including:

[0214] Step 5221': determining the relative height difference between at least two characteristic parts of the battery box using the depth of field information of the actual image;

[0215] Step 5222': Determine whether the relative height difference between the at least two characteristic parts is 0:

[0216] If yes, it is determined that the angle between the battery box and the platform is 0;

[0217] 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.

[0218] Taking the rectangular battery case as an example, when the battery case is parallel to the platform, in an actual image of the battery case captured from directly below the battery case, the relative height difference between the characteristic features of the battery case should be 0, that is, the angle between the battery case and the platform is 0 when in the same plane. If there is a relative height difference between the characteristic features of the battery case, that is, the battery case is not parallel to the platform, the relative height difference can be used to further determine the angle between the battery case and the platform. The at least two characteristic features are at least two vertex corners of the battery case.

[0219] In addition, step 522 can adopt any one of the above two implementations according to actual conditions.

[0220] 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 Figure 16 Shown, including:

[0221] Step 5221": extracting the image contour of the battery box from the actual image;

[0222] Step 5222": Determine whether the image contour is identical to a standard image contour of the battery box when the battery box is set in the reference orientation. The standard image contour is pre-collected. When comparing the images, the main focus is on comparing whether the battery boxes in the two images are identical. Other images that may have been collected together, such as the vehicle bottom structure around the battery box, may be ignored.

[0223] If yes, determining that the setting direction of the battery box is the reference direction;

[0224] If not, the angle between the setting direction of the battery box and the reference direction is determined according to the rotation degree of the image outline relative to the standard image outline.

[0225] The angle at which the actual image is captured is the same as the angle at which the standard image outline is captured.

[0226] It should also be noted that, considering that the standard image contours corresponding to different vehicle models and different battery boxes may be different, the method usually requires pre-storing 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.

[0227] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 3.

[0228] Example 8

[0229] Combining the visual analysis methods of Example 5, Example 6 and Example 7, a visual analysis method for vehicle battery replacement is formed in this embodiment, such as Figure 17 As shown, it includes:

[0230] Step 51: Acquire an actual image, wherein the actual image includes an image of the battery box of the vehicle.

[0231] Step 521: Acquire the position information of the battery box according to the actual image.

[0232] Step 522: Acquire the posture information of the battery box according to the actual image.

[0233] 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.

[0234] 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.

[0235] For the above steps, please refer to the corresponding descriptions of Example 5, Example 6 and Example 7, which will not be repeated here.

[0236] In addition, the visual analysis method of this embodiment further includes:

[0237] Step 54: When the spatial status information of the battery exchange device itself has adapted to the spatial status information of the battery box, command the battery exchange device to maintain the current spatial status information until receiving another instruction.

[0238] 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 instruction received again includes: an instruction to install the battery pack on the battery swapping device into the battery outer box.

[0239] In other embodiments, when the target task of the battery exchange device 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.

[0240] The visual analysis method of this embodiment can be implemented using the visual analysis system of Example 4.

[0241] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the 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, and such changes and modifications are intended to fall within the 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 an 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 the battery box of the vehicle; The image analysis module 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; 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 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 instruction includes a position movement instruction, and the battery replacement control module is further used to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to command the battery replacement device to move its own position to a target position, and the target position is related to the position of the battery outer box; The image analysis module also 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 instruction includes a posture adjustment instruction. The battery exchange control module is also used to generate the posture adjustment instruction based on the posture information of the battery outer box. The posture adjustment instruction is used to 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 outer box.

2. The visual analysis system according to claim 1, wherein: The image acquisition module is arranged on the battery-exchanging device, or on the platform where the vehicle is parked.

3. The visual analysis system according to claim 1, wherein: 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.

4. The visual analysis system according to claim 1, 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 outer 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.

5. The visual analysis system according to any one of claims 1 to 4, wherein: 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; Generate a position movement instruction, which is used to command the battery exchange device to move in a direction to reduce the difference.

6. The visual analysis system according to claim 1, wherein: The posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked; Acquiring an 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 profile is identical to a standard image profile when the battery box and the platform are arranged parallel to each other: 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.

7. The visual analysis system according to claim 1, wherein: 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 positional relationship between the battery box and the platform where the vehicle is parked according to the actual image, including: Determining the relative height difference between at least two characteristic parts of the battery box using 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.

8. The visual analysis system according to claim 7, 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.

9. The visual analysis system according to claim 1, wherein: 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 outline is identical to a standard image outline 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 according to the rotation degree of the image outline relative to the standard image outline.

10. The visual analysis system according to claim 6 or 9, wherein: The angle at which the image acquisition module acquires the actual image is the same as the acquisition angle of the standard image outline.

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

12. 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.

13. The visual analysis system according to claim 12, wherein: The instructions received again include: instructions to remove the battery pack from the battery box, or instructions to install the battery pack on the battery exchange device into the battery box.

14. 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 exchange control module is connected to the battery exchange device via wired or wireless communication.

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

16. 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.

17. 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; Acquiring spatial state information of the battery box according to the actual image; According to the spatial state information of the battery box, the battery swapping device is commanded to adjust its own spatial state information to adapt to the spatial state information of the battery box; the spatial state information includes position information, and the step of obtaining 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: Instructing the battery swapping device to move itself to a target position, where the target position is related to the position of the battery box; The step of acquiring the spatial state information of the battery box according to the actual image further includes: Acquire posture 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 also includes: 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 outer box.

18. The visual analysis method according to claim 17, wherein: 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.

19. The visual analysis method according to claim 17, 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 outer 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.

20. The visual analysis method according to any one of claims 17 to 19, wherein: The step of commanding the battery swapping device to move itself to a target position 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; Generate a position movement instruction, which is used to command the battery exchange device to move in a direction to reduce the difference.

21. The visual analysis method according to claim 17, wherein: The posture information of the battery box includes: the angle between the battery box and the platform where the vehicle is parked; Acquiring an 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 profile is identical to a standard image profile when the battery box and the platform are arranged parallel to each other: 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.

22. The visual analysis method according to claim 17, wherein: 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 positional relationship between the battery box and the platform where the vehicle is parked according to the actual image, including: Determining the relative height difference between at least two characteristic parts of the battery box using 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.

23. The visual analysis method according to claim 22, 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.

24. The visual analysis method according to claim 17, wherein: 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 outline is identical to a standard image outline 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 according to the rotation degree of the image outline relative to the standard image outline.

25. The visual analysis method according to claim 21 or 24, wherein: The angle at which the actual image is captured is the same as the angle at which the standard image profile is captured.

26. The visual analysis method according to claim 17, wherein: The visual analysis method further comprises: The actual image is collected again after the battery exchange device adjusts its own spatial status information.

27. The visual analysis method according to claim 17, 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.

28. The visual analysis method according to claim 27, wherein: The instructions received again include: instructions to remove the battery pack from the battery box, or instructions to install the battery pack on the battery exchange device into the battery box.

29. The visual analysis method according to claim 17, wherein: The visual analysis method further includes: turning on the infrared lighting source when the brightness of the ambient light is less than a threshold.

30. The visual analysis method according to claim 17, wherein: The step of collecting the actual image is achieved by using a camera or a camera that automatically zooms according to the battery outer box.

Images