A debugging and calibration system and method for a battery swapping station

Abstract

The present invention provides a commissioning and calibration system and a commissioning and calibration method for a battery swapping station, which relate to the technical field of vehicle battery swapping stations. The commissioning and calibration system includes a battery swapping station main body, a test device for simulating a vehicle to be battery-swapped, a positioning device, and a visual recognition device. The bottom of the battery swapping station main body has a battery swapping platform. The test device is arranged to be located at the battery swapping platform when commissioning and calibrating the visual recognition system. The positioning device is used to position the test device when the test device is at the battery swapping platform to ensure that the test device is located at a preset position on the battery swapping platform. The visual recognition device is located at the top of the battery swapping station main body and is used to acquire an image of the test device to commission and calibrate the field of view of the visual recognition device according to the image. The above technical solution commissions and calibrates the field of view of the visual recognition device through the test device, which can avoid the differences brought by different vehicle models and vehicle states and improve the accuracy of commissioning and calibration.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle battery swapping stations, and particularly to a debugging and calibration system and method for a battery swapping station. Background Art

[0002] Currently, the assembly and debugging methods of the visual recognition system of heavy truck battery swapping stations mainly rely on multiple debuggings and calibrations of vehicles, and there are differences in the debugging and calibration results of each battery swapping station.

[0003] Currently, the visual recognition system of heavy truck battery swapping stations mostly uses a single station and actual vehicles for physical debugging. Due to the uncertainty of vehicle models and vehicle states, the debugging accuracy of the visual recognition system is poor, and there are differences between the factory and on-site acceptance states, which require repeated debugging and calibration. Based on the above uncertain debugging standards and methods, if the requirements still cannot be met after repeated debugging and calibration, differential settings will ultimately be made on the program parameters of each station, that is, compensation values are set, which in turn causes the parameters of each station to be inconsistent, bringing trouble to subsequent maintenance and repair. In addition, the current debugging and calibration methods are time-consuming and laborious. The factory calibration of each station takes about 1 working day, and the on-site calibration takes about 1.5 working days, with too low efficiency. Summary of the Invention

[0004] The first object of the present invention is to provide a debugging and calibration system for a battery swapping station, so as to solve the technical problem of low precision in debugging and calibrating the visual recognition system in a vehicle battery swapping station in the prior art.

[0005] The second object of the present invention is to provide a debugging and calibration method for a battery swapping station.

[0006] According to the first object of the present invention, the present invention provides a debugging and calibration system for a battery swapping station, which is used for debugging and calibrating a visual recognition device in the battery swapping station. The debugging and calibration system includes:

[0007] A battery swapping station main body with a battery swapping platform at the bottom;

[0008] An experimental device for simulating a vehicle to be battery-swapped, which is arranged at the battery swapping platform when debugging and calibrating the visual recognition system;

[0009] A positioning device for positioning the experimental device when the experimental device is at the battery swapping platform to ensure that the experimental device is located at a preset position on the battery swapping platform;

[0010] The visual recognition device, which is located at the top of the battery swapping station main body and is used to acquire an image of the experimental device, so as to debug and calibrate the field of view of the visual recognition device according to the image.

[0011] Optionally, it further includes:

[0012] A leveling structure, installed at the visual recognition device, the leveling structure is configured to be adjusted according to the offset calculated from the image to change the field of view of the visual recognition device until the offset approaches or reaches 0.

[0013] Optionally, the main body of the battery swapping station includes:

[0014] A battery storage bin for storing multiple battery swapping batteries;

[0015] A battery swapping station frame, extending outward from the top of the battery storage bin to at least cover the battery swapping platform in its projection on the battery swapping platform;

[0016] The visual recognition device is located at the top of the battery swapping station frame and corresponds to the preset position of the battery swapping platform to be able to acquire an image at the corresponding position.

[0017] Optionally, the main body of the battery swapping station further includes:

[0018] A battery transmission mechanism, movably located at the top of the battery swapping station frame and spatially staggered from the visual recognition device, for moving the battery swapping batteries in the battery storage bin to the battery swapping platform;

[0019] The battery transmission mechanism includes the positioning device, and the positioning device includes multiple laser emitters to emit lasers to the preset position, so that the test device is aligned with the preset position.

[0020] Optionally, multiple positioning points are provided on the test device, and when the multiple positioning points are configured to correspond one by one to the lasers emitted by the multiple laser emitters, the test device is located at the preset position of the battery swapping platform.

[0021] Optionally, the test device includes at least one permanent magnet, which is used to rotate a preset angle after the test device is aligned with the preset position to fixedly connect the test device to the battery swapping platform.

[0022] Optionally, it further includes:

[0023] A control device, connected to the battery transmission mechanism, for controlling the movement of the battery transmission mechanism.

[0024] According to the purpose of the second aspect of the present invention, the present invention also provides a debugging and calibration method for a battery swapping station, which is used to debug and calibrate the visual recognition device in the above-mentioned debugging and calibration system. The debugging and calibration method includes the following steps:

[0025] Locate the test device of the debugging and calibration system to position the test device at a preset position on the battery swapping platform of the debugging and calibration system;

[0026] Obtain an image of the test device to debug and calibrate the field of view of the visual recognition device based on the image.

[0027] Optionally, the step of obtaining an image of the test device to debug and calibrate the field of view of the visual recognition device based on the image specifically includes the following steps:

[0028] Obtain an image of the test device and calculate the offset;

[0029] Adjust the field of view of the visual recognition device according to the offset until the offset approaches or reaches 0.

[0030] Optionally, the step of locating the test device of the debugging and calibration system to position the test device at a preset position on the battery swapping platform of the debugging and calibration system specifically includes:

[0031] Control the battery transfer mechanism of the battery swapping station main body to move to the top of the battery swapping platform, and control multiple laser generators on the battery transfer mechanism to turn on to emit laser light towards the preset position;

[0032] Place the test device on the battery swapping platform so that the positioning points on the test device correspond to the lasers one by one, so that the test device is located at the preset position.

[0033] In the present invention, the debugging and calibration system includes a battery swapping station main body, a test device for simulating a vehicle to be battery-swapped, a positioning device, and a visual recognition device. The bottom of the battery swapping station main body has a battery swapping platform. The test device is arranged to be located at the battery swapping platform when debugging and calibrating the visual recognition system. The positioning device is used to position the test device when the test device is at the battery swapping platform to ensure that the test device is located at a preset position on the battery swapping platform. The visual recognition device is located at the top of the battery swapping station main body and is used to obtain an image of the test device to debug and calibrate the field of view of the visual recognition device based on the image. The above technical solution uses the test device to debug and calibrate the field of view of the visual recognition device, which can avoid differences brought by different vehicle models and vehicle states, and improve the accuracy of debugging and calibration. In addition, it ensures that the program parameters of all sample stations are kept unified, avoiding subsequent maintenance and maintenance failures.

[0034] Based on the following detailed description of specific embodiments of the present invention in conjunction with the drawings, those skilled in the art will more clearly understand the above and other objects, advantages, and features of the present invention. Description of the Drawings

[0035] Some specific embodiments of the present invention will be described in detail hereinafter with reference to the accompanying drawings in an illustrative rather than restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0036] Figure 1 is a schematic structural diagram of a commissioning and calibration system for a battery swapping station according to an embodiment of the present invention;

[0037] Figure 2 is Figure 1 a schematic structural diagram of a visual recognition device in the shown commissioning and calibration system;

[0038] Figure 3 is Figure 1 a schematic structural diagram of a battery transmission mechanism in the shown commissioning and calibration system;

[0039] Figure 4 is Figure 1 a schematic structural diagram of a test device in the shown commissioning and calibration system;

[0040] Figure 5 is Figure 1 a schematic position diagram of the test device, the battery transmission mechanism and the visual recognition device in the shown commissioning and calibration system;

[0041] Figure 6 is a schematic flow chart of a commissioning and calibration method for a battery swapping station according to an embodiment of the present invention.

[0042] Reference numerals:

[0043] 100 - Commissioning and calibration system of the battery swapping station, 10 - Battery swapping station main body, 11 - Battery swapping platform, 12 - Battery storage bin, 13 - Battery swapping station frame, 20 - Test device, 21 - Permanent magnet, 22 - Positioning point, 30 - Battery transmission mechanism, 31 - Positioning device, 40 - Visual recognition device, 50 - Leveling structure. Detailed Description of the Embodiment

[0044] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0045] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

[0046] Figure 1 FIG. 4 is a schematic structural diagram of a commissioning and calibration system 100 of a battery swapping station according to an embodiment of the present invention. Figure 2 is Figure 1 a schematic structural diagram of a visual recognition device 40 in the commissioning and calibration system 100 shown in FIG. Figure 3 is Figure 1 a schematic structural diagram of a battery transmission mechanism 30 in the commissioning and calibration system 100 shown in FIG. Figure 4 is Figure 1 a schematic structural diagram of a test device 20 in the commissioning and calibration system 100 shown in FIG. Figure 5 is Figure 1 a schematic positional diagram of the test device 20, the battery transmission mechanism 30, and the visual recognition device 40 in the commissioning and calibration system 100 shown in FIG. As shown in FIGS. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 shown, in a specific embodiment, the commissioning and calibration system 100 of the battery swapping station is used to commission and calibrate the visual recognition device 40 in the battery swapping station. The commissioning and calibration system 100 includes a battery swapping station main body 10, a test device 20 for simulating a vehicle to be swapped with a battery, a positioning device 31, and a visual recognition device 40. The bottom of the battery swapping station main body 10 has a battery swapping platform 11, and the test device 20 is arranged to be located at the battery swapping platform 11 when commissioning and calibrating the visual recognition system. The positioning device 31 is used to position the test device 20 when the test device 20 is at the battery swapping platform 11 to ensure that the test device 20 is located at a preset position of the battery swapping platform 11. The visual recognition device 40 is located at the top of the battery swapping station main body 10 and is used to acquire an image of the test device 20 to commission and calibrate the field of view of the visual recognition device 40 according to the image. Here, the battery swapping station is a heavy truck battery swapping station.

[0047] This embodiment commissions and calibrates the field of view of the visual recognition device 40 through the test device 20, which can avoid the differences brought by different vehicle models and vehicle states, and improve the accuracy of commissioning and calibration. In addition, it ensures that the program parameters of all sample stations are unified, avoiding subsequent maintenance and maintenance failures.

[0048] In this embodiment, the debugging and calibration system 100 further includes a leveling structure 50, which is installed at the visual recognition device 40. The leveling structure 50 is configured to be adjusted according to the offset calculated from the image to change the field of view of the visual recognition device 40 until the offset approaches or reaches 0. Here, the leveling structure 50 is a leveling nut and a leveling bolt, which are manually adjusted by the user. The visual recognition device 40 includes a camera, and the camera is installed on the main body 10 of the battery swapping station through the leveling nut, the leveling bolt and the fastening bolt. Each time the visual recognition device 40 acquires an image, it outputs an offset, and the user adjusts the leveling structure 50 according to the offset to adjust the field of view of the visual recognition device 40, so that the offset output by the visual recognition device 40 finally approaches or equals 0.

[0049] In this embodiment, the main body 10 of the battery swapping station includes a battery storage bin 12 and a battery swapping station frame 13. The battery storage bin 12 is used to store a plurality of battery swapping batteries. The battery swapping station frame 13 extends outward from the top of the battery storage bin 12 to a projection on the battery swapping platform 11 that can at least cover the battery swapping platform 11. The visual recognition device 40 is located at the top of the battery swapping station frame 13 and corresponds to a preset position on the battery swapping platform 11 to be able to acquire an image at the corresponding position.

[0050] In this embodiment, the main body 10 of the battery swapping station further includes a battery transmission mechanism 30, which is movably located at the top of the battery swapping station frame 13 and is spatially staggered from the visual recognition device 40, and is used to move the battery swapping batteries in the battery storage bin 12 to the battery swapping platform 11. The battery transmission mechanism 30 includes a positioning device 31. The positioning device 31 includes a plurality of laser emitters to emit laser to a preset position, so that the test device 20 is aligned with the preset position. Figure 5 It can be seen that the visual recognition device 40 is located above the battery transmission mechanism 30. When the test device 20 needs to be positioned, the battery transmission mechanism 30 moves from the origin to a preset coordinate, and the preset coordinate is located above the test platform.

[0051] In this embodiment, a plurality of positioning points 22 are provided on the test device 20. When the plurality of positioning points 22 are constructed to correspond one by one to the laser emitted by the plurality of laser emitters, the test device 20 is located at a preset position on the battery swapping platform 11. When the battery transmission mechanism 30 moves to the preset coordinate position, the plurality of laser emitters are controlled to be turned on to emit laser to the battery swapping platform 11. Then the test device 20 is moved so that the positioning points 22 on the test device 20 correspond to the laser one by one. Here, the number of the plurality of laser emitters is four, and the four laser emitters are installed at the four corners of the battery transmission mechanism 30.

[0052] The test device 20 includes at least one permanent magnet 21. The permanent magnet 21 is used to rotate a preset angle after the test device 20 is aligned with the preset position, so as to fixedly connect the test device 20 with the battery swapping platform 11. Here, the number of permanent magnets 21 is two, and the two permanent magnets 21 are staggeredly installed on both sides of the test device 20.

[0053] In this embodiment, the commissioning and calibration system 100 of the battery swapping station further includes a control device, which is connected to the battery transfer mechanism 30 and is used to control the movement of the battery transfer mechanism 30.

[0054] Figure 6 is a schematic flowchart of a commissioning and calibration method for a battery swapping station according to an embodiment of the present invention. As Figure 6 shown, in a specific embodiment, the commissioning and calibration method is used to commission and calibrate the vision recognition device 40 in the above-mentioned commissioning and calibration system 100. The commissioning and calibration method includes the following steps:

[0055] Step S100, position the test device 20 of the commissioning and calibration system 100 to position the test device 20 at a preset position of the battery swapping platform 11 of the commissioning and calibration system 100;

[0056] Step S200, acquire an image of the test device 20 to commission and calibrate the field of view of the vision recognition device 40 according to the image.

[0057] In this embodiment, in this embodiment, step S100 specifically includes the following steps:

[0058] Step 1: Control the battery transfer mechanism 30 of the battery swapping station main body 10 to move to the top of the battery swapping platform 11, and control a plurality of laser generators on the battery transfer mechanism 30 to turn on to emit laser to a preset position;

[0059] Step 2: Place the test device 20 on the battery swapping platform 11 so that the positioning points 22 on the test device 20 correspond to the lasers one by one, so that the test device 20 is located at the preset position. When the test device 20 is located at the preset position, rotate the permanent magnet 21 on the test device 20 so that the test device 20 is tightly connected to the battery swapping platform 11, and then confirm again whether the lasers and the positioning points 22 correspond one by one.

[0060] Step S200 specifically includes the following steps:

[0061] Step 3: Acquire an image of the test device 20 and calculate the offset;

[0062] Step 4: Adjust the field of view of the vision recognition device 40 according to the offset until the offset approaches or reaches 0.

[0063] After the above step 2, the following steps are further included:

[0064] Step Five: Control the vision recognition device 40 to collect images of the test device 20 for a preset number of times, and output the corresponding offset; the preset number of times here can be set to 10 times.

[0065] Step Six: When the deviation between all offsets and 0 is less than or equal to the preset deviation value, fasten the vision recognition device 40, thereby completing the position calibration and turning off the vision recognition device 40. The preset deviation value here is 2 mm. That is to say, after the offset output by the vision recognition device 40 is close to or equal to 0, 10 consecutive vision recognitions are performed. When the deviation of the 10 offsets is ≤ 2 mm, the fastening bolt is tightened and fixed in place, thereby completing the calibration of the vision recognition device 40.

[0066] It can be understood that first control the battery transfer mechanism 30 to move from the coordinate origin to the preset coordinate position, then control the multiple laser emitters on the battery transfer mechanism 30 to turn on. After that, when the multiple positioning points 22 on the test device 20 correspond one by one to the laser emitted by the multiple laser emitters and the test device 20 is fixed to the battery swapping platform 11, control the battery transfer mechanism 30 to return to the coordinate origin. Then control the vision recognition device 40 to collect images of the test device 20 and output the offset. Finally, after adjusting the position of the vision recognition device 40 according to the offset and completing the position calibration, control the vision recognition device 40 to turn off. After the vision recognition device 40 completes the calibration, loosen the permanent magnet 21 on the test device 20, so that the test device 20 is loosened from the battery swapping platform 11, and replace it with a battery swapping vehicle for actual vehicle testing and result verification.

[0067] Before controlling the vision recognition device 40 to collect images, it is necessary to first perform a preliminary positioning on the vision recognition device 40 so that the test device 20 is located at the center position of the vision field of the vision recognition device 40.

[0068] This embodiment develops a test device 20 for the debugging and calibration of the vision recognition device 40, which avoids the differences brought by different vehicle models and vehicle states, and improves the accuracy of debugging and calibration. The program parameters of all sample stations are kept unified, avoiding subsequent maintenance and maintenance failures. Using the standard test device 20 for debugging and calibration, the estimated working hours can be shortened to within 0.5 days, improving the efficiency of debugging and calibration and reducing costs. And the equipment maintenance and calibration of the subsequent battery swapping stations can also be completed within 0.5 days.

[0069] At this point, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived from the disclosed content of the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all such other variations or modifications.

Claims

1. A debugging and calibration system for a battery swapping station, characterized in that, For commissioning and calibration of a visual recognition device in a battery swapping station, the commissioning and calibration system includes: A battery swapping station main body with a battery swapping platform at the bottom; A test device for simulating a vehicle to be battery-swapped, arranged to be located at the battery swapping platform when commissioning and calibrating the visual recognition system; A positioning device for positioning the test device when the test device is at the battery swapping platform to ensure that the test device is located at a preset position of the battery swapping platform; The visual recognition device, located at the top of the battery swapping station main body, for acquiring an image of the test device to commission and calibrate the field of view of the visual recognition device based on the image.

2. The debugging and calibration system according to claim 1, characterized in that, It further includes: A leveling structure installed at the visual recognition device, and the leveling structure is arranged to be adjusted according to the offset calculated from the image to change the field of view of the visual recognition device until the offset is less than or equal to 2 mm.

3. The debugging and calibration system according to claim 1, characterized in that, The battery swapping station main body includes: A battery storage bin for storing multiple battery swapping batteries; A battery swapping station frame extending outward from the top of the battery storage bin to at least cover the battery swapping platform in its projection on the battery swapping platform; The visual recognition device is located at the top of the battery swapping station frame and corresponds to the preset position of the battery swapping platform to be able to acquire an image at the corresponding position.

4. The debugging and calibration system according to claim 3, characterized in that, The battery swapping station main body further includes: A battery transmission mechanism movably located at the top of the battery swapping station frame and spatially staggered from the visual recognition device, for moving the battery swapping batteries in the battery storage bin to the battery swapping platform; The battery transmission mechanism includes the positioning device, and the positioning device includes multiple laser emitters for emitting laser to the preset position so that the test device is aligned with the preset position.

5. The debugging and calibration system according to claim 4, characterized in that, Multiple positioning points are provided on the test device, and when the multiple positioning points are constructed to correspond one by one to the laser emitted by the multiple laser emitters, the test device is located at the preset position of the battery swapping platform.

6. The debugging and calibration system according to claim 1, characterized in that, The test device includes: At least one permanent magnet for rotating a preset angle after the test device is aligned with the preset position to fixedly connect the test device to the battery swapping platform.

7. The debugging and calibration system according to claim 4, characterized in that, It further includes: A control device connected to the battery transmission mechanism for controlling the movement of the battery transmission mechanism.

8. A debugging and calibration method for a battery swapping station, characterized in that, For commissioning and calibrating the visual recognition device in the commissioning and calibration system according to any one of claims 1-7, the commissioning and calibration method includes the following steps: Position the test device of the commissioning and calibration system to position the test device at the preset position of the battery swapping platform of the commissioning and calibration system; Acquire an image of the test device to commission and calibrate the field of view of the visual recognition device based on the image.

9. The debugging and calibration method according to claim 8, characterized in that, The step of acquiring an image of the test device to commission and calibrate the field of view of the visual recognition device based on the image specifically includes the following steps: Acquire an image of the test device and calculate the offset; Adjust the field of view of the visual recognition device according to the offset until the offset is less than or equal to 2 mm.

10. The debugging and calibration method according to claim 9, characterized in that, Steps for positioning the test device of the debugging and calibration system to position the test device at a preset position on the battery swapping platform of the debugging and calibration system, specifically including: Controlling the battery transfer mechanism of the main body of the battery swapping station to move to the top of the battery swapping platform, and controlling a plurality of laser generators on the battery transfer mechanism to be turned on to emit laser light towards the preset position; Placing the test device on the battery swapping platform so that the positioning points on the test device correspond to the lasers one by one, so that the test device is located at the preset position.

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