Collision detection method and device, calibration method and device, electric device and storage medium

Abstract

The application provides a collision detection method and device, a calibration method and device, an electric device and a storage medium. The collision detection method is used for detecting collision information of a battery. A bottom surface of the battery is provided with a plurality of vibration sensors. The collision information includes a collision position and a damage evaluation parameter. The collision detection method comprises the following steps: acquiring acquisition information of the plurality of vibration sensors and preset positioning parameters of a plurality of positioning mark points of the bottom surface; determining the collision position of the bottom surface according to the acquisition information and the preset positioning parameters; and determining the damage evaluation parameter according to the collision position and the acquisition information. The obtained collision information is more, which is not only beneficial to accurately evaluating the impact situation of the battery and preventing the battery damage from endangering the safety of users and property, but also enables personnel to overhaul the collision position according to the collision position, so that the labor service and maintenance cost are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of collision detection of batteries, and particularly relates to a collision detection method, a collision detection device, a calibration method, a calibration device, an electrical equipment and a computer readable storage medium. BACKGROUND

[0002] At present, with the development of electric vehicles, more and more electric vehicles are driving on the road. However, the battery of the electric vehicle is usually arranged at the chassis position. The chassis structure is easily subjected to impact load such as road protrusions or stones during long-term service, and forms plastic deformation which is difficult to recover, resulting in local damage of the battery, and further inducing accidents such as electric leakage and explosion, which endangers the personal and property safety of the user. At present, the scheme for detecting the impact of the battery generally detects the severity of the impact through an acceleration sensor or a pressure sensor, and the collision information obtained is limited. SUMMARY

[0003] In view of this, the embodiments of the present application provide a collision detection method, a collision detection device, a calibration method, a calibration device, an electrical equipment and a computer readable storage medium. By detecting the collision position and damage evaluation parameters of the bottom surface of the battery, more collision information is obtained, which is not only conducive to accurately evaluating the impact of the battery and preventing the battery damage from endangering the personal and property safety of the user. Moreover, through the collision position, personnel can carry out maintenance according to the collision position, thereby reducing the labor service and maintenance cost.

[0004] In the first aspect, the present application provides a collision detection method for detecting collision information of a battery. The bottom surface of the battery is provided with a plurality of vibration sensors. The collision information includes a collision position and a damage evaluation parameter. The collision detection method comprises: acquiring collection information of the plurality of vibration sensors and preset positioning parameters of a plurality of positioning mark points of the bottom surface; determining the collision position of the bottom surface according to the collection information and the preset positioning parameters; and determining the damage evaluation parameter according to the collision position and the collection information.

[0005] The collision detection method of the present application accurately detects the collision position by using the preset positioning parameters of the plurality of positioning mark points on the bottom surface of the battery subjected to impact and the collection information output in real time by the vibration sensors. After detecting the collision position, the collection information of the vibration sensors can be used to evaluate the energy generated when the mechanical wave generated by the collision is conducted to the vibration sensors. The actual damage evaluation parameter of the battery can be accurately evaluated according to the collision position and the collection information. More collision information is obtained, which is not only conducive to accurately evaluating the impact of the battery and preventing the battery damage from endangering the personal and property safety of the user. Moreover, through the collision position, personnel can carry out maintenance according to the collision position, thereby reducing the labor service and maintenance cost.

[0006] In a second aspect, the application provides a calibration method, which comprises using a calibration ball with a preset energy to hit a positioning mark point on the bottom surface of a battery to obtain calibration information collected by a plurality of vibration sensors arranged on the bottom surface; and calibrating a preset positioning parameter of each positioning mark point according to the calibration information.

[0007] The calibration method of the application calibrates each positioning mark point by using a calibration ball with a preset energy, so as to quickly realize calibration of the positioning mark point. After calibration of the positioning mark point, in subsequent collision detection, the output electrical signal of the vibration sensor is processed after a random collision occurs, and then compared with the preset positioning parameter of the positioning mark point, so as to realize detection of the collision position.

[0008] In a third aspect, the application provides a collision detection device. The collision detection device comprises an acquisition module, a first determination module, a second determination module and a third determination module. The acquisition module is configured to acquire calibration information of a plurality of vibration sensors and a preset positioning parameter of a plurality of positioning mark points on the bottom surface; the first determination module is configured to determine the collision position on the bottom surface according to the calibration information and the preset positioning parameter; and the second determination module is configured to determine the damage evaluation parameter according to the collision position and the calibration information.

[0009] The collision detection device of the application accurately detects the collision position by using the preset positioning parameter of the plurality of positioning mark points on the bottom surface of the battery subjected to the impact and the calibration information output in real time by the vibration sensor, and after the collision position is detected, the calibration information of the vibration sensor can be used to evaluate the energy generated when the mechanical wave generated by the collision is conducted to the vibration sensor, so that the actual damage evaluation parameter of the battery can be accurately evaluated according to the collision position and the calibration information. The obtained collision information is more, which is not only conducive to accurately evaluating the impact of the battery and preventing the battery damage from endangering the safety of the user's person and property, but also enables personnel to repair the collision position, thereby reducing labor and maintenance costs.

[0010] In a fourth aspect, the application provides a calibration device. The calibration device comprises a hitting module and a calibration module. The hitting module is configured to use a calibration ball with a preset energy to hit a positioning mark point on the bottom surface of a battery to obtain calibration information collected by a plurality of vibration sensors arranged on the bottom surface; and the calibration module is configured to calibrate a preset positioning parameter of each positioning mark point according to the calibration information.

[0011] The calibration device of the present application calibrates each positioning mark point by impacting it with a calibration ball at a preset energy, so as to quickly calibrate the positioning mark point. After the calibration of the positioning mark point, when subsequent collision detection is performed, the electrical signal output by the vibration sensor after a random collision is processed, and then compared with the preset positioning parameter of the positioning mark point, so as to realize the detection of the collision position.

[0012] In a fifth aspect, the present application provides a power-using device, which comprises a controller and a battery, a bottom surface of the battery is provided with a plurality of vibration sensors, the controller is configured to acquire collection information of the plurality of vibration sensors and preset positioning parameters of a plurality of positioning marks on the bottom surface; determine a collision position of the bottom surface according to the collection information and the preset positioning parameters; and determine a damage evaluation parameter according to the collision position and the collection information.

[0013] The power-using device of the present application can accurately detect the collision position by using the preset positioning parameters of the plurality of positioning marks on the bottom surface of the battery subjected to the impact and the collection information output by the vibration sensor in real time, and after the collision position is detected, the collection information of the vibration sensor can be used to evaluate the energy generated when the mechanical wave generated by the collision is conducted to the vibration sensor, so that the actual damage evaluation parameter of the battery can be accurately evaluated according to the collision position and the collection information. The obtained collision information is more, which is not only beneficial to accurately evaluate the impact of the battery and prevent the damage of the battery from endangering the safety of the user and property, but also allows personnel to repair the collision position, thereby reducing the labor and maintenance costs.

[0014] In a sixth aspect, the present application provides a computer-readable storage medium. The computer-readable storage medium contains a computer program, when the computer program is executed by one or more processors, the collision detection method or the calibration method described above is implemented.

[0015] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description of embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application can become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0017] Figure 1 is a structural schematic diagram of a power-using device according to some embodiments of the present application;

[0018] Figure 2 is a flowchart of a calibration method according to some embodiments of the present application;

[0019] Figure 3is a plan view of the bottom surface of a battery of certain embodiments of the present application;

[0020] Figure 4 is a flowchart of a calibration method of certain embodiments of the present application;

[0021] Figure 5 is a schematic diagram of the principle of a calibration method of certain embodiments of the present application;

[0022] Figure 6 is a flowchart of a collision detection method of certain embodiments of the present application;

[0023] Figure 7 is a flowchart of a collision detection method of certain embodiments of the present application;

[0024] Figure 8 is a flowchart of a collision detection method of certain embodiments of the present application;

[0025] Figure 9 is a flowchart of a collision detection method of certain embodiments of the present application;

[0026] Figure 10 is a flowchart of a collision detection method of certain embodiments of the present application;

[0027] Figure 11 is a flowchart of a collision detection method of certain embodiments of the present application;

[0028] Figure 12 is a flowchart of a collision detection method of certain embodiments of the present application;

[0029] Figure 13 is a flowchart of a collision detection method of certain embodiments of the present application;

[0030] Figure 14 is a flowchart of a collision detection method of certain embodiments of the present application;

[0031] Figure 15 is a block diagram of a calibration device of certain embodiments of the present application;

[0032] Figure 16 is a block diagram of a collision detection device of certain embodiments of the present application; and

[0033] Figure 17 is an interaction diagram of a computer readable storage medium and a processor (or controller) of certain embodiments of the present application. DETAILED DESCRIPTION

[0034] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0036] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0039] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0040] With China's energy transition and efforts to reduce reliance on traditional fossil fuels and further achieve energy conservation and emission reduction goals, new energy vehicles, especially pure electric vehicles, have received strong government policy support and have experienced rapid development, resulting in substantial growth in sales and market size. However, the batteries in new energy vehicles are typically located in the chassis, which is susceptible to impact loads from road bumps or stones during long-term service. This can cause plastic deformation that is difficult to recover, leading to localized damage to the battery and potentially triggering accidents such as leakage or explosions, endangering the safety of users and their property. Therefore, damage diagnosis and routine maintenance of the battery, the primary power source for new energy vehicles, have become particularly important.

[0041] The inventors of this application have noted that current solutions typically detect battery impacts by using pressure or acceleration sensors, which only provide a rough estimate of the impact severity. While this can alert drivers to timely inspection when the battery is damaged in a collision, it is difficult to inform repair personnel of the specific location of the damage, hindering targeted maintenance and increasing labor and maintenance costs. Therefore, it is essential to develop a method that can simultaneously and accurately monitor the collision location and damage assessment parameters.

[0042] To detect the collision location, the inventors installed a vibration sensor on the bottom surface of the battery. When a collision occurs, the vibration sensor can detect the mechanical waves transmitted from the collision location. The information collected by the vibration sensor is different for different collision locations. Therefore, in order to ensure the accuracy of collision location detection, multiple positioning markers on the bottom surface of the battery can be calibrated in advance to obtain the preset positioning parameters of the positioning markers.

[0043] Then, by utilizing the real-time data collected by the vibration sensor and the preset positioning parameters of multiple positioning markers, the collision location can be accurately detected. After detecting the collision location, the data collected by the vibration sensor can be used to assess the energy generated when the mechanical waves from the collision are transmitted to the vibration sensor. The distance between the collision location and the vibration sensor can determine the energy attenuation when the mechanical waves are transmitted to the vibration sensor. Based on the collision location and the collected data, damage assessment parameters can be accurately calculated.

[0044] Thus, the collision detection method of this application can not only detect damage assessment parameters, but also accurately detect the collision location, obtaining more collision information. This is beneficial for accurately assessing the impact on the battery and preventing battery damage from endangering the personal and property safety of users. Moreover, by identifying the collision location, personnel can conduct repairs at the collision site, reducing labor and maintenance costs.

[0045] The collision detection method disclosed in this application can be used to detect battery collision information (i.e., collision location and damage assessment parameters). Specifically, multiple vibration sensors are installed on the bottom surface of the battery to detect collision information. The battery can serve as a power source for an electrical device or as an energy storage element in various energy storage systems. The electrical device can be, but is not limited to, mobile phones, tablets, laptops, electric toys, power tools, electric vehicles, electric cars, ships, spacecraft, etc. Among them, electric toys can include stationary or mobile electric toys, such as game consoles, electric car toys, electric ship toys, and electric airplane toys, etc., and spacecraft can include airplanes, rockets, space shuttles, and spacecraft, etc.

[0046] For ease of explanation, the following embodiments use a vehicle as an example of electrical equipment 1000.

[0047] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of an electrical device 1000 (such as a vehicle) provided in some embodiments of this application. The vehicle can be a gasoline-powered vehicle, a natural gas-powered vehicle, or a new energy vehicle. New energy vehicles can be pure electric vehicles, hybrid electric vehicles, or range-extended electric vehicles, etc. A battery 100 is installed inside the vehicle, and the battery 100 can be located at the bottom, front, or rear of the vehicle. The battery 100 can be used to power the vehicle; for example, the battery 100 can serve as the vehicle's operating power source. The vehicle may also include a controller 200 and a motor 300. The controller 200 is used to control the battery 100 to supply power to the motor 300, for example, to meet the power needs of the vehicle during starting, navigation, and driving.

[0048] In some embodiments of this application, the battery 100 can not only serve as the operating power source for the vehicle, but also as the driving power source for the vehicle, replacing or partially replacing fuel or natural gas to provide driving power for the vehicle.

[0049] In order to implement the collision detection method of this application, the preset positioning parameters of the positioning markers of the battery 100 need to be calibrated in advance. Therefore, the calibration process of the positioning markers is described below.

[0050] Please see Figures 1 to 3 The calibration method of this application includes:

[0051] Step 011: Use a calibration ball with preset energy to strike the positioning mark point on the bottom surface of the battery 100 to obtain the calibration information collected by multiple vibration sensors 60 set on the bottom surface;

[0052] The calibration ball is a simulated impact object. During calibration, the bottom surface of the battery 100 is first turned upwards, and then the calibration ball is dropped from a height to impact the positioning mark on the bottom surface of the battery 100. Alternatively, the bottom surface of the battery 100 is first turned downwards, and then the calibration ball is controlled to impact the positioning mark on the bottom surface of the battery 100 from bottom to top.

[0053] The bottom surface of battery 100 is the surface opposite to the chassis of electrical equipment 1000 (such as a vehicle) when battery 100 is installed on the chassis of electrical equipment 1000.

[0054] Battery 100 is generally composed of multiple battery cells 70 arranged in an array, such as a matrix arrangement. Support beams 80 are provided between adjacent battery cells 70 to ensure the overall strength of battery 100.

[0055] Please see Figure 3 This application uses a battery 100 comprising eight battery cells 70 arranged in a 4*2 matrix as an example for illustration. Multiple support beams 80 are included; for ease of description, the two support beams 80 passing through the center of the bottom surface of the battery 100 are referred to as central support beams 81. These two central support beams 81 divide the battery 100 into four parts, each including two battery cells 70. The two support beams 80 near the edge of the battery cells 70 are referred to as edge support beams 82. The edge support beams 82 are parallel to the shorter side of the battery 100. Compared to the longer side of the battery 100, the shorter edge support beams 82 have a smaller stress-bearing area, resulting in higher structural strength of the battery 100.

[0056] The preset energy is the energy generated when the calibration ball strikes the bottom surface of battery 100. To ensure calibration accuracy, the kinetic energy of the calibration ball before each impact must be consistent, such as E=mV. 2 / 2, thus ensuring that the preset energy is the same for each impact. The preset energy can also be determined based on the mass m of the calibration ball (in kilograms), the acceleration due to gravity g (in meters per second square meters), and the distance h (in meters) from the bottom of the calibration ball to the bottom surface of the battery 100, i.e., E=mgh. This application uses an energy E of 100 joules (J) for calibration as an example.

[0057] The vibration sensor 60 can be a piezoelectric sensor, accelerometer, gyroscope, or other sensor capable of acquiring relevant information about mechanical waves. This application describes an embodiment where the vibration sensor 60 is a piezoelectric sensor as an example.

[0058] The vibration sensor 60 is a piezoelectric sensor. It is a self-generating and electromechanical conversion sensor. Its sensing element is made of piezoelectric material. When the piezoelectric material is subjected to force, a charge is generated on its surface. This charge is amplified by a charge amplifier and a measuring circuit, and after impedance transformation, it becomes an electrical signal output proportional to the applied external force. Piezoelectric sensors are used to measure force and non-electrical physical quantities that can be converted into electricity. In this application, after the bottom surface of the battery 100 is impacted, the vibration sensor 60 can convert the impact force into an electrical signal for output based on the generated mechanical wave. Since the mechanical wave lasts for a period of time from its appearance to its disappearance, the vibration sensor 60 can collect and output multiple electrical signals after the bottom surface of the battery 100 is impacted.

[0059] The vibration sensor 60 can acquire and output signals at a preset sampling frequency within a preset time period (such as within 1 second (S), 2 seconds, etc.). This application takes the vibration sensor 60 acquiring and outputting signals at 1000 Hz within 1 second as an example. In order to improve the acquisition accuracy or reduce the cost of the vibration sensor 60, higher or lower acquisition frequencies can also be used for signal acquisition and output, which is not limited here.

[0060] The calibration information consists of multiple electrical signals (such as voltage and current) output by the vibration sensor 60. That is to say, the vibration sensor 60 collects and outputs multiple electrical signals at a preset sampling frequency for a preset duration. For example, if 1,000 electrical signals can be collected within 1 second, the sampling calibration information includes 1,000 electrical signals.

[0061] The vibration sensor 60 is mounted on the bottom surface of the battery 100. When the bottom surface of the battery 100 is impacted, the vibration sensor 60 can quickly detect the mechanical wave generated by the impact and output multiple electrical signals. Compared to connecting the vibration sensor 60 to the support beam 80 with bolts or other means, this avoids the ineffective propagation path of the mechanical wave from affecting the sampling and positioning accuracy.

[0062] The vibration sensor 60 includes multiple sensors, such as 2, 3, 4, 5, etc. It can be understood that the more vibration sensors 60 there are, the higher the accuracy of detecting subsequent collision locations and damage assessment parameters, but the cost also increases accordingly. In order to reduce the cost of the vibration sensor 60 while ensuring detection accuracy, the number and configuration of the vibration sensor 60 need to be determined according to the shape of the bottom surface of the battery 100.

[0063] In some embodiments, vibration sensors 60 may be disposed at multiple corners of the bottom surface of the battery 100. For example, if the bottom surface of the battery 100 is triangular, then there are three vibration sensors 60, each disposed at one of the three vertices of the triangle; if the bottom surface of the battery 100 is rectangular, then there are four vibration sensors 60, each disposed at one of the four vertices of the rectangle. In this application, since the bottom surface of the battery 100 is rectangular, four vibration sensors 60 are disposed at the four corners of the bottom surface of the battery 100 (i.e., vibration sensors #1, #2, #3, and #4 at the four vertices of the bottom surface).

[0064] Thus, the vibration sensor 60 is positioned at the corner of the bottom surface of the battery 100, which not only ensures the coverage of the vibration sensor 60, but also allows the mechanical waves to be detected in time when they propagate to the boundary of the battery 100 after an impact. This reduces the impact of boundary reflection of mechanical waves and superposition of normal mechanical waves on subsequent signal processing, which is beneficial to improving detection accuracy.

[0065] The positioning markers are all located on the bottom surface of the battery 100 where marking is required. Considering that the battery cell 70 is a key power supply component for the vehicle, and the contribution of the support beam 80 to the structural strength of the battery 100, the center of each battery cell 70 on the bottom surface (e.g., ...) is marked. Figure 3 #15, #10, #32, #29, #17, #20, #22, and #27) and the positions located on the central support beam 81 and near the edge of the battery 100 (e.g., ... Figure 3 The #3, #5, #7, and #9 points are set as positioning markers. In this way, by setting positioning markers on the battery core 70, a key power supply component of the vehicle, and on the central support beam 81, which contributes significantly to the structural strength of the battery 100, the calibration effect can be improved.

[0066] When calibrating each positioning marker, the calibration ball will fall from a height h above the bottom surface of the battery 100 to ensure that each impact hits the positioning marker with an energy of 100J, thereby obtaining the collection and calibration information of the vibration sensor 60 corresponding to each positioning marker.

[0067] Step 012: Calibrate the preset positioning parameters for each positioning marker point based on the collected calibration information.

[0068] The preset positioning parameters of the positioning marker are calculated based on the calibration information collected by multiple vibration sensors 60 after the positioning marker is struck by a calibration ball. For example, the preset positioning parameters of the positioning marker are obtained by processing multiple electrical signals of the calibration information collected corresponding to the positioning marker.

[0069] It is understandable that in order to detect the collision location, the time required for the mechanical wave generated by the collision to reach the vibration sensor 60 is necessary. Therefore, it is necessary to determine the time for the mechanical wave to reach each vibration sensor 60 after the collision of the positioning marker point based on multiple electrical signals of the collected calibration information corresponding to the positioning marker point, so as to calibrate the preset positioning parameters of the positioning marker point.

[0070] In this way, by impacting each positioning marker with a calibration ball using a preset energy, the preset positioning parameters of the positioning markers are quickly calibrated. After calibration, during subsequent collision detection, the electrical signals output by the vibration sensor 60 after a random collision are processed and compared with the preset positioning parameters of the positioning markers to detect the collision location. Based on the collision location and the electrical signals output by each vibration sensor 60, the damage assessment parameters can be accurately calculated.

[0071] Please see Figure 4 In some implementations, the collected calibration information includes multiple calibration voltage signals, and the positioning markers include corner positioning marker points. Step 012: Calibrate the preset positioning parameters of each positioning marker point according to the collected calibration information, including:

[0072] Step 0121: Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each calibration information acquisition;

[0073] The calibration voltage signal is the electrical signal output by the vibration sensor 60.

[0074] The corner positioning marker is the battery pack core located at the center of the bottom surface of the battery 100, near the corner of the bottom surface (e.g., the corner of the battery pack core). Figure 3 (As shown in #15, #29, #27, and #17).

[0075] The envelope is the curve obtained by connecting the peak points of the electrical signal output by the vibration sensor 60 within a preset time period.

[0076] Considering that the corner of battery 100 is extremely close to one of the vibration sensors 60, when the corner of battery 100 is near (e.g.) Figure 3 After a collision occurs at the locations shown (#13, #31, #25 and #19), the vibration sensor 60 closest to the impact point receives much more energy than the other vibration sensors 60. Therefore, based on this characteristic, the preset positioning parameters of the corner positioning marker can be calibrated for subsequent determination of whether the collision location is a corner location.

[0077] It can be understood that when the vibration sensor 60 receives the energy of the mechanical wave to generate an electrical signal, the energy of the mechanical wave gradually increases as it first reaches the sensor, causing the electrical signal to gradually rise until it reaches a maximum value. Then, the mechanical wave begins to attenuate until it disappears. In other words, the amplitude of the electrical signal will show a trend of first increasing and then decreasing. The greater the energy received by the vibration sensor 60, the greater the maximum value among the multiple calibration voltage signals in the calibration information collected by the sensor 60 will be. Therefore, the maximum amplitude of the envelope of the multiple calibration voltage signals in each calibration information can be obtained to replace the energy received by the vibration sensor 60 for calibrating the preset positioning parameters of the corner positioning marker.

[0078] Each corner positioning marker can obtain a maximum amplitude value corresponding to each vibration sensor 60, namely, the maximum amplitude value A1 corresponding to vibration sensor #1, the maximum amplitude value A2 corresponding to vibration sensor #2, the maximum amplitude value A3 corresponding to vibration sensor #3, and the maximum amplitude value A4 corresponding to vibration sensor #4.

[0079] Step 0122: Calibrate the preset positioning parameters of each corner positioning marker point according to the maximum amplitude value.

[0080] Specifically, based on the location of the corner positioning marker, the maximum value among the four maximum amplitude values ​​can be determined. For example, if the corner positioning marker is #15, then the maximum amplitude value A1 is the maximum value among the four maximum amplitude values. In this case, A1 / A2, A1 / A3, and A1 / A4 can be used as the preset calibration parameters for positioning marker #15. Repeating the above process, the preset calibration parameters for corner positioning markers #29, #27, and #17 can be obtained.

[0081] In this way, by using the maximum amplitude value corresponding to each vibration sensor 60, the preset positioning parameters of each corner positioning marker point can be calibrated to improve the accuracy of subsequent collision position detection.

[0082] Please refer to it again. Figure 4 In some implementations, the calibration information acquisition includes multiple calibration voltage signals. Step 012: calibrating the preset positioning parameters of each positioning marker point according to the acquired calibration information, including:

[0083] Step 0123: Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each calibration information acquisition;

[0084] For details of step 0123, please refer to step 0121, which will not be repeated here.

[0085] Step 0124: Obtain the acquisition time corresponding to the calibration voltage signal with an amplitude of a preset ratio of the maximum amplitude to determine the calibration flight time;

[0086] The calibration flight time refers to the time it takes for the mechanical wave generated after the calibration ball hits the positioning marker to reach the vibration sensor 60 during the calibration process.

[0087] The preset ratio is an empirical value. Generally, the vibration sensor 60 is considered to start receiving mechanical waves when the amplitude reaches a preset ratio of the maximum amplitude value corresponding to the vibration sensor 60. For example, the preset ratio might be 15% or 20%. That is to say, on the envelope, the acquisition time corresponding to the point where the amplitude reaches a preset ratio of the maximum amplitude value is the time when the vibration sensor 60 starts receiving mechanical waves, which is the calibration flight time of this application. Of course, there may be multiple preset ratios where the amplitude reaches the maximum amplitude value; specifically, the earliest time among the times corresponding to these multiple points is used as the calibration flight time.

[0088] Please see Figure 5 The horizontal axis of the coordinate system represents time, and the vertical axis represents amplitude. Each calibration information acquisition corresponds to a time interval of 0 to 1 second, i.e., within a preset duration of 1 second. The calibration information includes multiple calibration voltage signals acquired by the vibration sensor 60 at different times; the value of the calibration voltage signal is the amplitude. After drawing the envelope S1 of the multiple calibration voltage signals, the maximum amplitude can be determined, such as... Figure 5 For the amplitude corresponding to point I1, draw a straight line S2 parallel to the horizontal axis according to the preset ratio of the maximum amplitude. Based on the intersection of this line and the envelope, one or more points with amplitudes at the preset ratio of the maximum amplitude (such as I2 and I3) can be determined. This allows us to determine the first point where the amplitude at the preset ratio of the maximum amplitude was acquired (e.g., ...). Figure 5 The time (i.e., T0) at point I2 in the timeline is the calibrated flight time.

[0089] Each vibration sensor 60 can acquire a calibration flight time from its calibration information. That is, each positioning marker can obtain a calibration flight time corresponding to each vibration sensor 60, such as the calibration flight time T1 corresponding to vibration sensor #1, the calibration flight time T2 corresponding to vibration sensor #2, the calibration flight time T3 corresponding to vibration sensor #3, and the calibration flight time T4 corresponding to vibration sensor #4.

[0090] Step 0125: Calibrate the preset positioning parameters for each positioning marker point according to the calibrated flight time.

[0091] Specifically, after determining the calibration flight time corresponding to each positioning marker and each vibration sensor 60, the positioning marker can be calibrated based on the calibration flight time. For example, calibration flight times T1, T2, T3, and T4 can be used as preset positioning parameters for the positioning marker; or, based on the data required for subsequent collision detection, calibration flight times T1, T2, T3, and T4 can be processed, and the processed data can be used as preset positioning parameters for the positioning marker. For example, (T2+T3) / (T1+T4) can be used as the preset positioning parameter for the positioning marker; or (T3+T4) / (T1+T2) can be used as the preset positioning parameter for the positioning marker.

[0092] In this way, by using the flight time corresponding to each vibration sensor 60, the preset positioning parameters of each positioning marker point can be calibrated to improve the accuracy of subsequent collision position detection.

[0093] After the location markers are calibrated, collision detection of battery 100 can be performed, as follows:

[0094] Please see Figure 1 and Figure 6 The collision detection method of this application includes:

[0095] Step 021: Acquire the data collected by multiple vibration sensors 60 and the preset positioning parameters of multiple positioning markers on the bottom surface;

[0096] The information acquired by the vibration sensor 60 is similar to the calibration information acquired by the vibration sensor 60, which is the electrical signal output by the vibration sensor 60 in real time.

[0097] After the preset positioning parameters of the positioning markers are calibrated using the above calibration method, the preset positioning parameters of multiple positioning markers can be obtained.

[0098] Step 022: Determine the collision location on the bottom surface based on the collected information and preset positioning parameters;

[0099] The collision location is the point where the bottom surface of battery 100 is struck.

[0100] After obtaining the preset positioning parameters of all positioning markers, the collision location can be detected based on the real-time data output by the vibration sensor 60. Taking the corner of the battery 100, which is the easiest to determine, as an example, it is only necessary to calculate the maximum amplitude of each vibration sensor 60 based on the collected data (for the specific calculation method of the maximum amplitude, please refer to the description of step 0121, which will not be repeated here). Then, obtain the maximum value of the maximum amplitude and the three ratios of the other maximum amplitudes. If all three ratios are greater than the preset positioning parameter corresponding to one of the corner positioning markers, the collision location can be determined to be the corner location corresponding to that corner positioning marker. For example, if all three ratios are greater than the preset positioning parameter of corner positioning marker #27, the collision location can be determined to be #25.

[0101] Similarly, when the collision location is determined to be any position on the bottom surface of battery 100, it is only necessary to find the preset positioning parameters that match the location and make a judgment to determine the specific location of the collision location, thereby realizing the detection of the collision location.

[0102] Step 023: Determine the damage assessment parameters based on the collision location and collected information.

[0103] Among them, the damage assessment parameter is used to characterize the damage of battery 100. The larger the damage assessment parameter, the more severe the damage to battery 100.

[0104] After determining the collected information and the collision location, the maximum amplitude value obtained after processing the collected information, as well as the distance between the collision location and the vibration sensor 60, can be substituted into the damage assessment parameter calculation formula E=a1R1+a2R2+a3R3+a4R4 to obtain the final damage assessment parameters.

[0105] Where a1, a2, a3, and a4 represent the maximum amplitude corresponding to vibration sensor #1, vibration sensor #2, vibration sensor #3, and vibration sensor #4, respectively; the maximum amplitude corresponding to vibration sensor #1, vibration sensor #2, vibration sensor #3, and vibration sensor #4 can be determined based on the data collected by each vibration sensor 60. R1, R2, R3, and R4 represent the distances between the collision location and vibration sensor #1, the collision location and vibration sensor #2, the collision location and vibration sensor #3, and the collision location and vibration sensor #4, respectively. The distance between the collision location and the vibration sensor 60 can be calculated using the position coordinates of the collision location on the bottom surface of the battery 100 and the position coordinates of the vibration sensor 60 on the bottom surface of the battery 100.

[0106] The collision detection method of this application accurately detects the collision location by using preset positioning parameters of multiple positioning markers pre-marked on the bottom surface of the impacted battery and real-time data collected by the vibration sensor 60. After detecting the collision location, the data collected by the vibration sensor 60 can be used to assess the energy generated when the mechanical waves from the collision are transmitted to the vibration sensor 60. Based on the collision location and the collected information, the actual damage assessment parameters of the battery 100 can be accurately evaluated. The abundant collision information not only helps to accurately assess the impact situation of the battery and prevent damage to the battery 100 from endangering the personal and property safety of users, but also allows personnel to conduct repairs based on the collision location, reducing labor and maintenance costs.

[0107] Please refer to it again. Figure 3 In some embodiments, the bottom surface also includes multiple feature markers, including positioning markers. The collision position is one of the multiple feature markers. The multiple feature markers include corner position points, center line position points, diagonal position points, internal position points, and center position points. The corner position points are located near the corner of the bottom surface. The center line position points are located on the central support beam 81. The diagonal position points are located on the diagonal of the bottom surface. The internal position points are located in the area of ​​the battery pack core 70 on the bottom surface and the edge support beam 82. The center position point is located at the center of the bottom surface.

[0108] Among them, the feature identification points are multiple location points selected on the bottom surface of the battery 100 based on the structural features of the battery 100.

[0109] To ensure that collision location can be detected across the entire bottom surface of the battery 100, feature markers need to be selected based on the battery 100's structure. The selection principle is to ensure that feature markers are distributed at all key locations on the battery 100. These key locations include corner markers, centerline markers, diagonal markers, internal markers, and center markers. Specifically, corner markers are located near the corners of the bottom surface; centerline markers are located on the central support beam 81; diagonal markers are located on the diagonals of the bottom surface; internal markers are located in the area of ​​the battery core 70 on the bottom surface and along the edge support beam 82; and center markers are located at the center of the bottom surface.

[0110] Please see Figure 3 The distribution of corner points, center line points, diagonal points, interior points, and center points on the bottom surface is as follows:

[0111] (1) Corner locations: #13, #19, #25 and #31;

[0112] (2) Centerline locations: #2, #3, #4, #5, #6, #7, #8 and #9;

[0113] (3) Diagonal positions: #12, #18, #24 and #30;

[0114] (4) Internal location points: (#10, #11, #38, #14, #15, #34) are grouped into one group; (#16, #17, #35, #20, #21, #40) are grouped into one group; (#22, #23, #39, #26, #27, #36) are grouped into one group; (#28, #29, #37, #32, #33, #41) are grouped into one group.

[0115] (5) Center location point: #1.

[0116] The positioning markers are further selected from the feature markers. Considering that the battery cell 70 is a key power supply part of the vehicle and that the central support beam 81 contributes significantly to the structural strength of the battery 100, the feature markers at the center of the bottom surface of each battery cell 70 (such as #15, #10, #32, #29, #17, #20, #22 and #27) and the feature markers located on the periphery of the central support beam 81 are set as positioning markers (such as #3, #5, #7 and #9).

[0117] Thus, by setting feature markers on the bottom surface of the battery 100, a corresponding feature marker exists at any collision location, achieving full coverage of collision detection on the bottom surface of the battery 100. Furthermore, by setting the collision location as one of the feature markers and classifying the feature markers, the algorithmic complexity of subsequent collision location detection is reduced.

[0118] Please see Figure 7 In some implementations, step 022: determining the collision location of the bottom surface based on the collected information and preset positioning parameters includes:

[0119] Step 0221: Based on the collected information and preset positioning parameters, determine whether the collision location is any corner point;

[0120] Specifically, corner locations, being closer to the vibration sensors 60, exhibit significant differences in the maximum amplitude values ​​corresponding to the data collected by different vibration sensors 60 after an impact. These characteristics are more prominent and make them the easiest to identify. Therefore, the collision location can be determined first based on the collected information and preset positioning parameters to determine whether it is a corner location.

[0121] Step 0222: If not, determine whether the collision location is any centerline location point, diagonal location point, or internal location point based on the collected information and preset positioning parameters;

[0122] Specifically, if the collision location is determined not to be a corner point based on the collected information and preset positioning parameters, then the system will start to determine whether the collision location is any center line point, diagonal point, or internal point.

[0123] For example, it can be determined in turn whether the collision location is a centerline location point, a diagonal location point, or an internal location point, so as to determine whether the collision location is any one of the centerline location point, diagonal location point, or internal location point.

[0124] Step 0223: If not, then determine the collision location as the center point.

[0125] Specifically, if it is determined that the collision location is not a corner location, center line location, diagonal location, or internal location, then it can be determined that all feature markers except the center location have been judged and are not collision locations. In this case, the collision location can be directly determined as the center location.

[0126] Thus, by determining the difficulty of collision location and based on the distribution of feature markers, the collision location determination is performed in three steps, thereby reducing the computational load required for collision location detection while ensuring the accuracy of collision location detection.

[0127] Please see Figure 8 In some embodiments, the positioning markers include corner positioning markers, where the battery pack core 70 is located at the center of the bottom surface near a corner. The collected information includes multiple voltage signals. Step 221: Based on the collected information and preset positioning parameters, determine whether the collision location is a corner location point, including:

[0128] Step 02211: Obtain the maximum amplitude of the envelope of multiple voltage signals for each acquired information;

[0129] The voltage signal is the electrical signal output by the vibration sensor 60.

[0130] The collected information consists of multiple electrical signals (such as voltage and current) output by the vibration sensor 60. That is to say, the vibration sensor 60 can collect 1,000 electrical signals within 1 second, and the sampled information includes 1,000 voltage signals.

[0131] The method and steps for obtaining the maximum amplitude of the envelope of multiple voltage signals in the acquired information are basically similar to those for obtaining the maximum amplitude of the envelope of multiple calibration voltage signals in each acquired calibration information, and will not be repeated here.

[0132] Step 02212: Based on the maximum amplitude value corresponding to each collected information and the preset positioning parameters of each corner positioning marker, determine whether the collision location is any corner position point.

[0133] Specifically, after determining the maximum amplitude value corresponding to each collected information, the maximum amplitude value corresponding to each vibration sensor 60 can be obtained. Then, the ratio between the maximum amplitude values ​​corresponding to each vibration sensor 60 is matched with the preset positioning parameters of each corner positioning marker. If it matches the preset positioning parameters of any corner positioning marker, the collision position is determined to be the corner position point corresponding to the matched corner positioning marker.

[0134] Please see Figure 9 In some implementations, step 02212 specifically includes:

[0135] Step 02213: Based on the maximum amplitude value corresponding to each collected information, calculate the target positioning parameters corresponding to the preset positioning parameters of each corner positioning marker point;

[0136] The target positioning parameters are calculated in the same way as the preset positioning parameters, but are calculated based on the collected information.

[0137] In order to match the ratio between the maximum amplitude values ​​of each vibration sensor 60 with the preset positioning parameters of the corner positioning marker, the maximum amplitude values ​​of each vibration sensor 60 can be processed according to the preset positioning parameters of each corner positioning marker to calculate the corresponding target positioning parameters. For example, if the preset positioning parameters for corner positioning marker #15 are (A1 / A2, A1 / A3, A1 / A4), and taking the maximum amplitude a1, maximum amplitude a2, maximum amplitude a3, and maximum amplitude a4 determined based on the collected information as corresponding to vibration sensors #1, #2, #3, and #4 respectively, then the target positioning parameters to be calculated are (a1 / a2, a1 / a3, a1 / a4). Similarly, if the preset positioning parameters for corner positioning marker #17 are (A2 / A1, A2 / A3, A2 / A4), then the target positioning parameters to be calculated are (a2 / a1, a2 / a3, a2 / a4). In this way, the target positioning parameters corresponding to the preset positioning parameters of each corner positioning marker can be obtained.

[0138] Step 02214: If any target positioning parameter is greater than the corresponding preset positioning parameter, determine the vibration sensor 60 corresponding to the target positioning parameter that is greater than the corresponding preset positioning parameter as the target vibration sensor, and determine the collision position as the corner position point closest to the target vibration sensor.

[0139] The phrase "the target positioning parameter is greater than the corresponding preset positioning parameter" means that each ratio in the target positioning parameter is greater than each corresponding ratio in the preset positioning parameter. For example, the preset positioning parameters of corner positioning marker #15 are (A1 / A2, A1 / A3, A1 / A4), and the corresponding target positioning parameters are (a1 / a2, a1 / a3, a1 / a4). Only when a1 / a2 is greater than A1 / A2, a1 / a3 is greater than A1 / A3, and a1 / a4 is greater than A1 / A4 is the target positioning parameter (a1 / a2, a1 / a3, a1 / a4) determined to be greater than the corresponding preset positioning parameter (A1 / A2, A1 / A3, A1 / A4).

[0140] If any target positioning parameter is greater than the corresponding preset positioning parameter, the vibration sensor 60 corresponding to the target positioning parameter that is greater than the corresponding preset positioning parameter can be determined as the target vibration sensor. For example, if the target positioning parameter (a1 / a2, a1 / a3, a1 / a4) is determined to be greater than the preset positioning parameter (A1 / A2, A1 / A3, A1 / A4) of the corner positioning marker #15, then the vibration sensor #1 is determined as the target vibration sensor, and then the corner position #13 closest to the target vibration sensor can be obtained as the collision position.

[0141] Of course, to save computational effort, it's understandable that, based on the characteristics of the maximum amplitude at the corner location, we can first find the maximum value among the maximum amplitude values ​​a1, a2, a3, and a4. Then, we calculate the ratio between the maximum value and the other maximum amplitude values, and simply compare it with the preset positioning parameters of the corner positioning marker point corresponding to the vibration sensor 60 corresponding to the maximum value. For example, if the maximum amplitude value a1 is the maximum value, then the maximum value corresponds to vibration sensor #1, and the corner positioning marker point corresponding to vibration sensor #1 is the corner positioning marker point #15 closest to vibration sensor #1. Therefore, we can compare the ratio between the maximum value and the other maximum amplitude values ​​with the preset positioning parameters of corner positioning marker point #15. In this way, we can quickly determine whether the collision location is a corner location.

[0142] Please see Figure 10 In some implementations, step 0222: determining whether the collision location is a centerline point, a diagonal point, or an internal point based on the collected information and preset positioning parameters, includes:

[0143] Step 0223: Obtain the maximum amplitude of the envelope of multiple voltage signals;

[0144] The method and steps for obtaining the maximum amplitude of the envelope of multiple voltage signals are basically similar to those for obtaining the maximum amplitude of the envelope of multiple calibration voltage signals for each calibration information acquisition, and will not be repeated here.

[0145] Step 0224: Obtain the acquisition time corresponding to the voltage signal with an amplitude of a preset ratio of the maximum amplitude to determine the flight time;

[0146] The flight time refers to the time it takes for the mechanical waves generated after the impact of the collision on the bottom surface of the battery 100 to reach each vibration sensor 60.

[0147] The method for obtaining flight time is basically similar to the method for obtaining calibration flight time in step 0124, and will not be repeated here.

[0148] Step 0225: Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of all positioning markers, determine whether the collision location is any centerline position point, diagonal position point, or internal position point.

[0149] Specifically, it can be understood that when calibrating the positioning markers, the preset positioning parameters for each positioning marker have been obtained (specifically determined based on the calibration flight time corresponding to each positioning marker). The characteristics of the flight time from different collision locations to different vibration sensors 60 are different. For example, the characteristics of the flight time of a centerline position point may require the preset positioning parameters of one or more positioning markers to represent it. When determining the collision location, the positioning markers corresponding to each centerline position point, diagonal position point, and internal position point can be obtained first. Then, it can be determined whether the collision location is any centerline position point, diagonal position point, or internal position point. The flight time is matched with the preset positioning parameters of the positioning markers corresponding to any centerline position point, diagonal position point, or internal position point to find the centerline position point, diagonal position point, or internal position point that matches the flight time as the collision location.

[0150] Please refer to it again. Figure 10 In some embodiments, the positioning markers include multiple first positioning markers located on the central support beam 81 and multiple second positioning markers located at the center of each battery cell 70 on the bottom surface. Step 0225 specifically includes:

[0151] Step 02251: Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the first and second positioning markers, determine whether the collision location is any centerline location point;

[0152] Step 02252: Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the second positioning marker, determine whether the collision location is any diagonal position point or any internal position point.

[0153] The first positioning mark is the positioning mark located on the central support beam 81, and the second positioning mark is the second positioning mark located at the center of the bottom surface of each battery cell 70.

[0154] Based on the positional characteristics of the centerline, diagonal, and internal points, we will discuss two cases to determine whether any centerline, diagonal, or internal point is a collision point.

[0155] For the centerline position point, when determining whether the collision position is the centerline position point, it is necessary to use the preset positioning parameters of the first positioning mark point located on the central support beam 81 and the preset positioning parameters of the second positioning mark point located at the center of the bottom surface of each battery pack core 70.

[0156] For diagonal and internal position points, when determining whether the collision position is a diagonal or internal position point, it is only necessary to use the preset positioning parameters of the second positioning mark point located at the center of the bottom surface of each battery cell 70.

[0157] Thus, while ensuring the accuracy of collision location detection, simplifying the collision location judgment logic helps reduce the complexity of the algorithm.

[0158] Please see Figure 11 In some implementations, step 02251: determining whether the collision location is any centerline location point based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the first and second positioning markers, includes:

[0159] Step 02253: Based on the flight time corresponding to each piece of collected information, calculate the target positioning parameters corresponding to the preset positioning parameters of the first and second positioning markers for each centerline position point;

[0160] Specifically, based on the position of each centerline location point, the first and second positioning markers corresponding to the centerline location points are first determined. That is, the first and second positioning markers corresponding to the centerline location points are used to determine whether the collision location is a centerline location point. For example, to determine whether centerline location point #2 or #3 is a collision location, the first positioning marker #3 and the second positioning markers #10, #32, #20, and #22 are needed.

[0161] Before making a judgment, the corresponding target positioning parameters need to be calculated based on the preset positioning parameters of the first and second positioning markers. For example, determining whether the collision location is a centerline location requires the preset positioning parameters (T3+T4) / (T1+T2) of the first and second positioning markers, and (T2+T3) / (T1+T4) of the second positioning marker. It can be understood that for different centerline locations, the preset positioning parameters of the first and second positioning markers required to determine whether the collision location is that centerline location will also be different. The preset positioning parameters of the first and second positioning markers required for each centerline location can be calculated and stored in advance. When subsequently determining whether the collision location is a centerline location, the preset positioning parameters of the first and second positioning markers corresponding to each centerline location can be directly obtained, and the target positioning parameters corresponding to the preset positioning parameters of the first and second positioning markers can be calculated.

[0162] After obtaining the flight time corresponding to each collected information (e.g., flight time t1, flight time t2, flight time t3, and flight time t4 correspond to vibration sensors #1, #2, #3, and #4 respectively), the target positioning parameters corresponding to the preset positioning parameters of the first and second positioning markers can be calculated. For example, to determine whether #2 or #3 is a collision location, the preset positioning parameter (T3+T4) / (T1+T2) of the first positioning marker #3 and the preset positioning parameter (T2+T3) / (T1+T4) of the second positioning markers #10, #32, #20, and #22 are needed. Therefore, the target positioning parameters are (t3+t4) / (t1+t2) and (t2+t3) / (t1+t4). For each centerline position point, the corresponding target positioning parameters need to be calculated.

[0163] Step 02254: If any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any centerline position point, determine the centerline position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition as the collision position.

[0164] The preset judgment condition is a preset relationship that should be satisfied between the target positioning parameter and the corresponding preset positioning parameter. For example, the target positioning parameter is greater than the corresponding preset positioning parameter, or the target positioning parameter is greater than the corresponding preset positioning parameter by a predetermined proportion (such as 1 / 3, 2 / 3, etc.).

[0165] Optionally, the preset judgment conditions may also include preset relationships that the target positioning parameters themselves should satisfy. For example, for centerline position point #2, the position of centerline position point #2 is below the horizontal centerline of battery 100 (and the horizontal centerline of center support beam 2). Therefore, if the collision position is centerline position point #2, then t3+t4 should be greater than t1+t2.

[0166] Each centerline position point has a corresponding preset judgment condition. The preset judgment condition is determined based on the flight time relationship that the position of the centerline position point and the position of the corresponding positioning marker point should satisfy. For example, for centerline position point #2, centerline position point #2 is closer to vibration sensor #3 and vibration sensor #4 than the first positioning marker point #3, but farther away from vibration sensor #1 and vibration sensor #2. Therefore, (t3+t4) / (t1+t2) of centerline position point #2 should be less than (T3+T4) / (T1+T2) of the first positioning marker point #3. Of course, it is difficult to directly determine that the collision position is centerline position point #2 based solely on the preset positioning parameters of the first positioning marker point #3, because the same relationship is satisfied for centerline position points #6 and #7. Therefore, it is necessary to use other second positioning marker points to further determine whether the collision position is centerline position point #2.

[0167] For example, for #2, if the mean R1 of (T2+T3) / (T1+T4) for #10 and #32, the mean R2 of (T2+T3) / (T1+T4) for #20 and #22, and (t2+t3) / (t1+t4) satisfy p1(R1-R2) (t2+t3) / (t1+t4) p2(R1-R2), and (t3+t4) / (t1+t2) (T3+T4) / (T1+T2), where p1 and p2 are both values ​​in the interval [0, 1], and p2 is greater than p1. In this case, the collision position can be determined as #2. Similarly, there are also corresponding preset judgment conditions for other centerline position points.

[0168] Each centerline position point is judged sequentially based on the target positioning parameters and the preset positioning parameters corresponding to each centerline position point to determine whether the collision position is any centerline position point. If any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any centerline position point, the centerline position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition can be determined as the collision position.

[0169] Thus, based on the position of each centerline location point, the corresponding preset positioning parameters and preset judgment conditions are determined, which can accurately determine whether the collision location is a centerline location point.

[0170] Please refer to it again. Figure 11 In some implementations, step 02252: determining whether the collision location is any diagonal position or any internal position based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the second positioning marker, includes:

[0171] Step 02255: Based on the flight time corresponding to each piece of collected information, calculate the target positioning parameters corresponding to the preset positioning parameters for each diagonal position point, and calculate the target positioning parameters corresponding to the preset positioning parameters for each internal position point.

[0172] Specifically, based on the positions of each diagonal and internal position point, a second positioning marker corresponding to each diagonal and internal position point is first determined. That is, the second positioning marker corresponding to the diagonal position point is used to determine whether the collision location is a diagonal position point, and the second positioning marker corresponding to the internal position point is used to determine whether the collision location is an internal position point. For example, determining whether diagonal position point #12 is a collision location requires using second positioning markers #10 and #15; determining whether internal position point #10 is a collision location also requires using second positioning markers #10 and #15.

[0173] Before making a judgment, it is necessary to calculate the corresponding target positioning parameters based on the preset positioning parameters of the second positioning marker. For example, when determining whether the collision position is a diagonal position point or an internal position point, the preset positioning parameters of the second positioning marker are required. It can be understood that the preset positioning parameters of the second positioning marker are different for different diagonal or internal position points. The preset positioning parameters of the second positioning marker required for each diagonal and internal position point can be calculated and stored in advance. When determining whether the collision position is a diagonal or internal position point in the future, the preset positioning parameters of the second positioning marker corresponding to each diagonal or internal position point can be directly obtained, and the target positioning parameters corresponding to the preset positioning parameters of the second positioning marker can be calculated.

[0174] After obtaining the flight time corresponding to each acquisition information (for example, the flight times t1, t2, t3, and t4 correspond to vibration sensors #1, #2, #3, and #4 respectively), the target positioning parameters corresponding to the preset positioning parameters of the second positioning identification point can be calculated. For example, when determining whether the diagonal position point #12 is a collision position, the preset positioning parameters T3 / T1 and T2 / T4 of the second positioning identification point #10 and the preset positioning parameter T2 / T4 of the second positioning identification point #15 are required, and the target positioning parameters are t3 / t1 and t2 / t4. For each diagonal position point or internal position point, the corresponding target positioning parameters need to be calculated.

[0175] Step 02256: When any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any diagonal position point, determine that the diagonal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition is the collision position;

[0176] Specifically, each diagonal position point has a corresponding preset judgment condition, and the preset judgment condition is determined according to the relationship of the flight time that should be satisfied between the position of the diagonal position point and the position of the corresponding second positioning identification point. For example, for the diagonal position point #12, the diagonal position point #12 is located in the lower left corner area of the battery 100, and the target positioning parameter corresponding to the diagonal position point #12 should satisfy (t2 + t3) / (t1 + t4) > 1 and (t3 + t4) / (t1 + t2) > 1. The diagonal position point #12 also needs to make the preset positioning parameter T3 / T1 (hereinafter referred to as R3) and T2 / T4 (hereinafter referred to as R4) of the second positioning identification point #10, the preset positioning parameter T2 / T4 (hereinafter referred to as R5) of the second positioning identification point #15, and the target positioning parameters t3 / t1 and t2 / t4 satisfy T3 / T1 < R3, T2 / T4 < R4, and T2 / T4 > R5. At this time, it can be determined that the collision position is the diagonal position point #12. Similarly, for other diagonal position points, there are also corresponding preset judgment conditions.

[0177] Judge each diagonal position point in turn according to the target positioning parameter corresponding to each diagonal position point and the preset positioning parameter corresponding to the diagonal position point to determine whether the collision position is any diagonal position point. When any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any diagonal position point, it can be determined that the diagonal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition is the collision position.

[0178] Step 02257: When any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any internal position point, determine that the internal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition is the collision position.

[0179] Specifically, each internal position point has a corresponding preset judgment condition, which is determined according to the relationship of the flight time that should be satisfied between the position of the internal position point and the position of the corresponding second positioning identification point. For example, for the internal position point #10, the internal position point #10 is located in the lower left corner area of the battery 100, and the target positioning parameter corresponding to the internal position point #10 should satisfy (t2 + t3) / (t1 + t4) > 1 and (t3 + t4) / (t1 + t2) > 1. The internal position point #10 also needs to make the average value R6 of the preset positioning parameter T2 / T4 of the second positioning identification point #10 and the preset positioning parameter T2 / T4 of the second positioning identification point #15, the average value R7 of the preset positioning parameter (T2 + T3) / (T1 + T4) of the second positioning identification point #10 and the preset positioning parameter (T2 + T3) / (T1 + T4) of the second positioning identification point #15, and the target positioning parameters t2 / t4 and (t2 + t3) / (t1 + t4) satisfy t2 / t4 < R6 and (t2 + t3) / (t1 + t4) < R7. At this time, it can be determined that the collision position is the internal position point #10. Similarly, for other internal position points, there are also corresponding preset judgment conditions.

[0180] Judge each internal position point in turn according to the target positioning parameter corresponding to each internal position point and the preset positioning parameter corresponding to the internal position point to determine whether the collision position is any internal position point. When any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any internal position point, it can be determined that the internal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition is the collision position.

[0181] In this way, based on the positions of each diagonal position point or internal position point, the corresponding preset positioning parameters and preset judgment conditions are determined, and it can be accurately judged whether the collision position is a diagonal position point or an internal position point.

[0182] Please refer to Figure 12 , in some embodiments, the collision detection method further includes:

[0183] Step 025: Calculate multiple error parameters according to the target positioning parameter and the preset positioning parameter corresponding to the target positioning parameter to determine the credibility of the collision position;

[0184] The error parameter is the value obtained by calculating the target positioning parameter and the corresponding preset positioning parameter. For example, if the collision position is determined to be the centerline position #2, since (t3+t4) / (t1+t2) should be less than (T3+T4) / (T1+T2), the difference between (T3+T4) / (T1+T2) and (t3+t4) / (t1+t2) is calculated as the error parameter.

[0185] Confidence level is used to indicate the accuracy of determining the collision location. The higher the confidence level, the more accurate the determined collision location.

[0186] The error parameter can be positively or negatively correlated with the confidence level, depending on the actual calculation method. For example, if the difference between (T3+T4) / (T1+T2) and (t3+t4) / (t1+t2) (i.e., (T3+T4) / (T1+T2)-(t3+t4) / (t1+t2)) is used as the error parameter, then the larger the error parameter, the higher the confidence level that the collision location is the centerline position point #2; conversely, if the difference between (t3+t4) / (t1+t2) and (T3+T4) / (T1+T2) (i.e., (t3+t4) / (t1+t2)-(T3+T4) / (T1+T2)) is used as the error parameter, then the larger the error parameter, the lower the confidence level that the collision location is the centerline position point #2.

[0187] Step 026: If the confidence level is greater than the preset threshold, determine the centerline position point of the target positioning parameter that meets the corresponding preset judgment condition as the collision position.

[0188] Step 027: If the confidence level is greater than the preset threshold, determine the centerline position point or internal position point of the target positioning parameter that meets the corresponding preset judgment condition as the collision position.

[0189] Specifically, the preset threshold is an empirical value, and each centerline position point, diagonal position point, and internal position point can have a corresponding preset threshold.

[0190] It is understandable that the flight time of a collision may simultaneously satisfy the preset judgment conditions of at least one of the centerline position point, the diagonal position point, and the internal position point. That is to say, the flight time of a collision can determine one or more collision positions. Therefore, before finally determining the collision position, it is necessary to calculate the confidence level of each collision position.

[0191] If the collision location is determined to be a centerline point, a diagonal point, or an internal point, then it is only necessary to calculate the confidence level of the collision location being the centerline point, diagonal point, or internal point and determine whether the confidence level is greater than the corresponding preset threshold. If the confidence level is greater than the preset threshold, it means that the accuracy of the determined collision location is high. At this time, the centerline point, diagonal point, or internal point corresponding to the target positioning parameters that meet the corresponding preset judgment conditions can be determined as the collision location.

[0192] If the collision location is determined to be centerline point #2 and diagonal point #12, then the confidence level X1 for the collision location being centerline point #2 and the confidence level X2 for the collision location being diagonal point #12 are calculated. It is then determined which of the confidence levels X1 and X2 is greater than a corresponding preset threshold. If confidence level X1 is greater than the preset threshold, the collision location is determined to be centerline point #2; if confidence level X2 is greater than the preset threshold, the collision location is determined to be diagonal point #12. If both confidence levels X1 and X2 are greater than their respective preset thresholds, then the collision location corresponding to the larger of the two confidence levels is determined as the final collision location.

[0193] In this way, by calculating the confidence level of each collision location, and only when the confidence level is greater than a preset threshold, the validity of the collision location determination is confirmed, thus ensuring the accuracy of the collision location determination.

[0194] Please see Figure 13 In some implementations, the acquired information includes multiple voltage signals. Step 023: Based on the collision location and the acquired information, determine the damage assessment parameters, including:

[0195] Step 0231: Obtain the maximum amplitude of the envelope of multiple voltage signals for each acquired information;

[0196] The principle of obtaining the maximum amplitude of the envelope of multiple voltage signals for each acquisition information is basically similar to that of obtaining the maximum amplitude of the envelope of multiple calibration voltage signals for each acquisition calibration information in step 0121, and will not be repeated here.

[0197] Step 0232: Determine the damage assessment parameters based on the maximum amplitude value corresponding to each vibration sensor 60 and the distance between each vibration sensor 60 and the collision location.

[0198] Specifically, after obtaining the maximum amplitude value corresponding to each collected information, the maximum amplitude value corresponding to each vibration sensor 60 is obtained. It can be understood that the more violent the collision, the larger the maximum amplitude value corresponding to the vibration sensor 60; conversely, the greater the distance between the vibration sensor 60 and the collision location, the smaller the maximum amplitude value corresponding to the vibration sensor 60. Therefore, when calculating damage assessment parameters, it is necessary to consider both the maximum amplitude value corresponding to each vibration sensor 60 and the distance between each vibration sensor 60 and the collision location. When the distance between the vibration sensor 60 and the collision location is larger, the maximum amplitude value is obtained after significant distance attenuation, resulting in a smaller maximum amplitude value. Therefore, the product of the maximum amplitude value corresponding to the vibration sensor 60 and the distance between the vibration sensor 60 and the collision location can be used to characterize the actual impact severity at the collision location.

[0199] The final formula for calculating the damage assessment parameters is E=a1R1+a2R2+a3R3+a4R4. Substituting the maximum amplitude a1 corresponding to vibration sensor #1, the distance R1 between vibration sensor #1 and the collision position, the maximum amplitude a2 corresponding to vibration sensor #2, the distance R2 between vibration sensor #2 and the collision position, the maximum amplitude a3 corresponding to vibration sensor #3, the distance R3 between vibration sensor #3 and the collision position, the maximum amplitude a4 corresponding to vibration sensor #4, and the distance R4 between vibration sensor #4 and the collision position into the formula for calculating the damage assessment parameters, the final damage assessment parameters can be obtained.

[0200] Thus, by comprehensively considering the maximum amplitude value corresponding to the vibration sensor 60 and the distance between the vibration sensor 60 and the collision position, the calculation formula for the damage assessment parameters is accurately designed, thereby ensuring the accuracy of the damage assessment parameters.

[0201] Please see Figure 14 In some implementations, the collision detection method further includes:

[0202] Step 028: Issue a prompt message if the damage assessment parameter is greater than the preset damage threshold.

[0203] Among them, the preset damage threshold is an empirical value. For example, multiple preset damage thresholds can be pre-calibrated according to the battery 100 with different damage levels. For example, the damage level of the battery 100 is divided into 1 to 3, where damage level 1 indicates that the damage level of the battery 100 is the lightest and damage level 3 indicates that the damage level of the battery 100 is the most severe. The preset damage thresholds include a first preset damage threshold corresponding to damage level 1, a second preset damage threshold corresponding to damage level 2, and a third preset damage threshold corresponding to damage level 3. The first preset damage threshold, the second preset damage threshold, and the third preset damage threshold increase sequentially.

[0204] If the damage assessment parameter is greater than or equal to the first preset damage threshold and less than the second preset damage threshold, the damage level is determined to be 1. If the damage assessment parameter is greater than or equal to the second preset damage threshold and less than the third preset damage threshold, the damage level is determined to be 2. If the damage assessment parameter is greater than or equal to the third preset damage threshold, the damage level is determined to be 3.

[0205] The system can provide alerts based on the damage level. For example, at damage level 1, a warning message can be displayed on the vehicle's central control screen, or the vehicle's battery 100 fault indicator light can illuminate (in a color corresponding to the damage level, such as blue), to inform the driver that the battery 100 is slightly damaged and driving can continue, but timely repair is necessary. At damage level 2, a warning message can be displayed on the vehicle's central control screen and a voice prompt can be issued through the vehicle's speaker, or the vehicle's battery 100 fault indicator light can illuminate (in a color corresponding to the damage level, such as light red), to inform the driver that the battery 100 is moderately damaged and driving is not recommended; timely repair is necessary. At damage level 3, a warning message can be displayed on the vehicle's central control screen and a voice prompt can be issued through the vehicle's speaker, or the vehicle's battery 100 fault indicator light can illuminate and flash (in a color corresponding to the damage level, such as dark red), to inform the driver that the battery 100 is severely damaged, driving is prohibited, and immediate repair is required.

[0206] In addition, a notification message can be sent to the vehicle's after-sales personnel to inform them that the vehicle has a battery 100 fault and the location of the collision. This allows the after-sales personnel to immediately dispatch professional repair personnel to inspect the collision location, thereby assisting them in determining the extent of battery 100 damage and carrying out targeted repairs based on the collision location. This reduces maintenance costs and improves the vehicle's economy.

[0207] In some implementations, to further improve the accuracy of the acquired and calibration information, the acquired or calibration information can be converted into a frequency domain signal by performing a Fourier transform. This frequency domain signal is then filtered (e.g., using a Tukey window function) to remove components below 20Hz that contain invalid information. Finally, the filtered signal undergoes an inverse Fourier transform to obtain multiple voltage signals and a calibration voltage signal containing valid collision information. This improves the accuracy of the acquired and calibration information.

[0208] The Fourier transform can convert a time-domain aperiodic continuous signal (i.e., the multiple calibration voltage signals of this application) into a frequency-domain aperiodic continuous signal.

[0209] In some implementations, multiple voltage signals of the collected information are linearly interpolated to obtain multiple interpolated voltage signals, and the number of multiple interpolated voltage signals is greater than the number of multiple voltage signals before interpolation.

[0210] Specifically, since the sampling frequency of the vibration sensor 60 is limited (e.g., 1000 Hz), only 1000 discrete voltage signals can be obtained within 1 second. Therefore, by performing linear interpolation on multiple voltage signals of the collected information, multiple continuous voltage signals can be obtained (forming a voltage signal curve), which enriches the time domain information and helps to improve the accuracy of flight time calculation.

[0211] It is understandable that linear interpolation can also be performed on the collected calibration information to obtain multiple interpolated calibration voltage signals, which will not be elaborated here.

[0212] Please see Figure 15 To facilitate better implementation of the calibration method of this application, this application also provides a calibration device 10. The calibration device 10 may include:

[0213] Impact module 11 is used to impact positioning markers on the bottom surface of battery 100 with a calibration ball having a preset energy, in order to obtain calibration information collected by multiple vibration sensors 60 set on the bottom surface; and

[0214] The calibration module 12 is used to calibrate the preset positioning parameters of each positioning marker point based on the collected calibration information.

[0215] Calibration module 12 is also specifically used for:

[0216] Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each acquired calibration information;

[0217] The preset positioning parameters of each corner positioning marker are determined based on the maximum amplitude value.

[0218] Calibration module 12 is also specifically used for:

[0219] Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each acquired calibration information;

[0220] The acquisition time corresponding to the calibration voltage signal with an amplitude of a preset ratio of the maximum amplitude is obtained in order to determine the calibration flight time;

[0221] The preset positioning parameters for each positioning marker are determined based on the calibrated flight time.

[0222] Please see Figure 16To facilitate better implementation of the collision detection method of this application, this application also provides a collision detection device 20. This collision detection device 20 is used to detect collision information of the battery 100. Multiple vibration sensors 60 are disposed on the bottom surface of the battery 100. The collision information includes the collision location and damage assessment parameters. The collision detection device 20 may include:

[0223] The acquisition module 21 is used to acquire the collection information of multiple vibration sensors 60 and the preset positioning parameters of multiple positioning markers on the bottom surface;

[0224] The first determining module 22 is used to determine the collision position of the bottom surface based on the collected information and preset positioning parameters;

[0225] The second determining module 23 is used to determine damage assessment parameters based on the collision location and the collected information.

[0226] The first determining module 22 is specifically used for:

[0227] Based on the collected information and preset positioning parameters, determine whether the collision location is a corner point;

[0228] If the collision location is not a corner location, then based on the collected information and preset positioning parameters, determine whether the collision location is a center line location, a diagonal location, or an internal location.

[0229] If the collision location is not a centerline location, a diagonal location, or an interior location, then the collision location is determined to be the centerline location.

[0230] The first determining module 22 is also specifically used for:

[0231] Obtain the maximum amplitude of the envelope of multiple voltage signals for each acquired information;

[0232] Based on the maximum amplitude value corresponding to each collected information and the preset positioning parameters of each corner positioning marker, determine whether the collision location is any corner position point.

[0233] The first determining module 22 is also specifically used for:

[0234] Based on the maximum amplitude value corresponding to each collected information, calculate the target positioning parameters corresponding to the preset positioning parameters of each corner positioning marker point;

[0235] If any target positioning parameter is greater than the corresponding preset positioning parameter, the vibration sensor 60 corresponding to the target positioning parameter that is greater than the corresponding preset positioning parameter is determined as the target vibration sensor, and the collision position is determined as the corner position point closest to the target vibration sensor.

[0236] The first determining module 22 is also specifically used for:

[0237] Obtain the maximum amplitude of the envelope of multiple voltage signals;

[0238] The acquisition time corresponding to the voltage signal with an amplitude of a preset proportion of the maximum amplitude is obtained to determine the flight time;

[0239] Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of all positioning markers, determine whether the collision location is any centerline position point, diagonal position point, or internal position point.

[0240] The first determining module 22 is also specifically used for:

[0241] Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the first and second positioning markers, determine whether the collision location is any centerline position point; and

[0242] Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the second positioning marker, determine whether the collision location is any diagonal position point or any internal position point.

[0243] The first determining module 22 is also specifically used for:

[0244] The target positioning parameters corresponding to the preset positioning parameters are calculated, and the target positioning parameters corresponding to the preset positioning parameters for each internal location point are calculated respectively.

[0245] If any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any diagonal position point, the diagonal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition is determined as the collision position.

[0246] If any target positioning parameter and its corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any internal position point, the internal position point corresponding to the target positioning parameter that satisfies the preset judgment condition is determined as the collision position.

[0247] The collision detection device 20 also includes:

[0248] The calculation module 24 is used to calculate multiple error parameters based on the target positioning parameters and the preset positioning parameters corresponding to the target positioning parameters, so as to determine the confidence level of the collision position;

[0249] The third determining module 25 is used to determine the centerline position point corresponding to the target positioning parameter that meets the corresponding preset judgment condition as the collision position when the confidence level is greater than the preset threshold.

[0250] The fourth determining module 26 is used to determine the centerline position point or internal position point corresponding to the target positioning parameter that meets the corresponding preset judgment conditions as the collision position when the confidence level is greater than the preset threshold.

[0251] The second determining module 23 is specifically used for:

[0252] Obtain the maximum amplitude of the envelope of multiple voltage signals for each acquired data point; and

[0253] Damage assessment parameters are determined based on the maximum amplitude value corresponding to each vibration sensor 60 and the distance between each vibration sensor 60 and the collision location.

[0254] The collision detection device 20 also includes:

[0255] The prompt module 27 is used to issue a prompt message when the damage assessment parameter is greater than the preset damage threshold.

[0256] Please refer to it again. Figure 1 The electrical device 1000 of this application includes a controller 200 and a battery 100. The controller 200 is used to execute the collision detection method of any of the above embodiments, and will not be described in detail here for the sake of brevity.

[0257] Please see Figure 17 This application also provides a computer-readable storage medium 2000 storing a computer program 2001. When the computer program 2001 is executed by a processor 2002 (such as the controller 200 of the electrical device 1000), it implements the steps of the collision detection method of any of the above embodiments. Alternatively, when the computer program 2001 is executed by the processor 2002, it implements the steps of the calibration method of any of the above embodiments. For the sake of brevity, these will not be described in detail here.

[0258] In the description of this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0259] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0260] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A collision detection method, characterized in that, For detecting collision information of the battery, multiple vibration sensors are installed on the bottom surface of the battery. The collision information includes the collision location and damage assessment parameters. The collision detection method includes: Acquire the data collected by multiple vibration sensors and the preset positioning parameters of multiple positioning markers on the bottom surface; Based on the collected information and the preset positioning parameters, the collision position of the bottom surface is determined; The damage assessment parameters are determined based on the collision location and the collected information; The bottom surface also includes multiple feature markers, including the positioning markers, and the collision location is one of the multiple feature markers; the multiple feature markers are distributed at key locations of the battery, including corner locations, centerline locations, diagonal locations, internal locations, and center locations.

2. The collision detection method according to claim 1, characterized in that, Multiple vibration sensors are respectively disposed at the corners of the bottom surface.

3. The collision detection method according to claim 1, characterized in that, The battery includes multiple battery cores arranged in a matrix on the bottom surface. A support beam is provided between two adjacent battery cores. The support beam includes a central support beam passing through the center of the bottom surface and an edge support beam not passing through the center of the bottom surface. Multiple positioning markers are located at the center of the battery core on the bottom surface and on the central support beam, respectively.

4. The collision detection method according to claim 3, characterized in that, The corner position point is located near the corner of the bottom surface, the center line position point is located on the central support beam, the diagonal position point is located on the diagonal of the bottom surface, the inner position point is located in the area of ​​the battery pack core on the bottom surface and the edge support beam, and the center position point is located at the center of the bottom surface.

5. The collision detection method according to claim 4, characterized in that, Determining the collision position of the bottom surface based on the collected information and the preset positioning parameters includes: Based on the collected information and the preset positioning parameters, determine whether the collision location is any of the corner locations; If not, then based on the collected information and the preset positioning parameters, determine whether the collision location is any of the centerline location points, the diagonal location points, or the internal location points; If not, then the collision location is determined to be the center location point.

6. The collision detection method according to claim 5, characterized in that, The positioning markers include corner positioning markers, which are located at the corner of the battery pack core near the bottom surface, at the center of the bottom surface. The collected information includes multiple voltage signals. Determining whether the collision location is the corner position point based on the collected information and the preset positioning parameters includes: Obtain the maximum amplitude of the envelope of multiple voltage signals for each of the acquired information; Based on the maximum amplitude value corresponding to each of the collected information and the preset positioning parameters of each corner positioning marker, it is determined whether the collision location is any of the corner positions.

7. The collision detection method according to claim 6, characterized in that, The step of determining whether the collision location is any of the corner locations based on the maximum amplitude value corresponding to each of the collected information and the preset positioning parameters of each corner positioning marker includes: Based on the maximum amplitude value corresponding to each of the collected information, the target positioning parameters corresponding to the preset positioning parameters of each corner positioning marker are calculated respectively; If any of the target positioning parameters is greater than the corresponding preset positioning parameter, the vibration sensor corresponding to the target positioning parameter that is greater than the corresponding preset positioning parameter is determined as the target vibration sensor, and the collision position is determined as the corner position point closest to the target vibration sensor.

8. The collision detection method according to claim 5, characterized in that, The acquired information includes multiple voltage signals. Determining whether the collision location is the centerline location, the diagonal location, or the internal location point based on the acquired information and the preset positioning parameters includes: Obtain the maximum amplitude of the envelope of the multiple voltage signals; The acquisition time corresponding to the voltage signal with an amplitude of a preset proportion of the maximum amplitude is obtained to determine the flight time; Based on the flight time corresponding to each of the collected information and the preset positioning parameters of all the positioning markers, determine whether the collision location is any of the centerline position points, the diagonal position points, or the internal position points.

9. The collision detection method according to claim 8, characterized in that, The positioning markers include multiple first positioning markers located on the central support beam and multiple second positioning markers located at the center of each battery pack core on the bottom surface. Determining whether the collision location is any of the centerline location points, the diagonal location points, or the internal location points based on the flight time corresponding to each piece of collected information and the preset positioning parameters of all the positioning markers includes: Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the first and second positioning markers, it is determined whether the collision location is any of the centerline positions; and Based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the second positioning marker, it is determined whether the collision location is any of the diagonal position points or any of the internal position points.

10. The collision detection method according to claim 9, characterized in that, The step of determining whether the collision location is any of the centerline locations based on the flight time corresponding to each piece of collected information and the preset positioning parameters of the first and second positioning markers includes: Based on the flight time corresponding to each piece of collected information, the target positioning parameters corresponding to the preset positioning parameters of the first positioning marker point and the second positioning marker point corresponding to each centerline position point are calculated respectively. If any of the target positioning parameters and the corresponding preset positioning parameters satisfy the preset judgment condition corresponding to any of the centerline position points, the centerline position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition is determined as the collision position.

11. The collision detection method according to claim 10, characterized in that, The collision detection method further includes: Multiple error parameters are calculated based on the target positioning parameters and the preset positioning parameters corresponding to the target positioning parameters to determine the confidence level of the collision location; If the confidence level is greater than a preset threshold, the centerline position point corresponding to the target positioning parameter that satisfies the preset judgment condition is determined as the collision position.

12. The collision detection method according to claim 9, characterized in that, The step of determining whether the collision location is any of the diagonal positions or any of the internal positions based on the flight time corresponding to each of the collected information and the preset positioning parameters of the second positioning marker includes: Based on the flight time corresponding to each of the collected information, the target positioning parameters corresponding to the preset positioning parameters corresponding to each of the diagonal position points are calculated, and the target positioning parameters corresponding to the preset positioning parameters corresponding to each of the internal position points are also calculated. If any of the target positioning parameters and the corresponding preset positioning parameters satisfy the preset judgment condition corresponding to any of the diagonal position points, the diagonal position point corresponding to the target positioning parameters that satisfy the corresponding preset judgment condition is determined as the collision position. If any of the target positioning parameters and the corresponding preset positioning parameters satisfy the preset judgment condition corresponding to any of the internal position points, the internal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition is determined as the collision position.

13. The collision detection method according to claim 12, characterized in that, The collision detection method further includes: Multiple error parameters are calculated based on the target positioning parameters and the preset positioning parameters corresponding to the target positioning parameters to determine the confidence level of the collision location; If the confidence level is greater than a preset threshold, the diagonal position point or the internal position point corresponding to the target positioning parameter that satisfies the preset judgment condition is determined as the collision position.

14. The collision detection method according to claim 1, characterized in that, The acquired information includes multiple voltage signals. The determination of damage assessment parameters based on the collision location and the acquired information includes: Obtain the maximum amplitude of the envelope of multiple voltage signals for each of the acquired information; The damage assessment parameters are determined based on the maximum amplitude value corresponding to each vibration sensor and the distance between each vibration sensor and the collision location.

15. The collision detection method according to claim 1 or 12, characterized in that, Also includes: If the damage assessment parameter exceeds a preset damage threshold, a warning message will be issued.

16. A calibration method, characterized in that, include: A calibration ball with a preset energy is used to strike the positioning mark point on the bottom surface of the battery to obtain calibration information collected by multiple vibration sensors set on the bottom surface. and The preset positioning parameters of each positioning marker are calibrated according to the collected calibration information; the preset positioning parameters are used to implement the collision detection method according to any one of claims 1-15.

17. The calibration method according to claim 16, characterized in that, The acquired calibration information includes multiple calibration voltage signals, and the positioning markers include corner positioning markers. The step of calibrating the preset positioning parameters of each positioning marker based on the acquired calibration information includes: Obtain the maximum amplitude of the envelope of the plurality of calibration voltage signals for each of the acquired calibration information; The preset positioning parameters of each corner positioning marker are calibrated according to the maximum amplitude value.

18. The calibration method according to claim 16, characterized in that, The acquired calibration information includes multiple calibration voltage signals, and the step of calibrating the preset positioning parameters of each positioning marker point according to the acquired calibration information includes: Obtain the maximum amplitude of the envelope of the plurality of calibration voltage signals for each of the acquired calibration information; The acquisition time corresponding to the calibration voltage signal with an amplitude of a preset proportion of the maximum amplitude is obtained to determine the calibration flight time; The preset positioning parameters of each positioning marker are calibrated according to the calibrated flight time.

19. A collision detection device, characterized in that, For detecting collision information of the battery, multiple vibration sensors are installed on the bottom surface of the battery. The collision information includes the collision location and damage assessment parameters. The collision detection device includes: The acquisition module is used to acquire the collected information from multiple vibration sensors and the preset positioning parameters of multiple positioning markers on the bottom surface; The first determining module is used to determine the collision position of the bottom surface based on the collected information and the preset positioning parameters; and The second determining module is used to determine the damage assessment parameters based on the collision location and the collected information; The bottom surface also includes multiple feature markers, including the positioning markers, and the collision location is one of the multiple feature markers; the multiple feature markers are distributed at key locations of the battery, including corner locations, centerline locations, diagonal locations, internal locations, and center locations.

20. A calibration device, characterized in that, A calibration method for implementing any one of claims 16-18 includes: An impact module is used to impact a positioning marker on the bottom surface of the battery with a calibration ball having a preset energy, in order to obtain calibration information collected by multiple vibration sensors installed on the bottom surface; and The calibration module is used to calibrate the preset positioning parameters of each positioning marker point based on the collected calibration information.

21. An electrical appliance, characterized in that, The device includes a controller and a battery. Multiple vibration sensors are mounted on the bottom surface of the battery. The controller acquires data from the vibration sensors and preset positioning parameters for multiple positioning markers on the bottom surface. Based on the acquired data and the preset positioning parameters, the controller determines the collision location on the bottom surface. Based on the collision location and the acquired data, damage assessment parameters are determined. The bottom surface also includes multiple feature markers, including the positioning markers. The collision location is one of the multiple feature markers. The multiple feature markers are distributed at key locations on the battery, including corner points, centerline points, diagonal points, internal points, and center points.

22. A computer-readable storage medium, characterized in that, The device includes a computer program that, when executed by one or more processors, implements the collision detection method according to any one of claims 1-15, or the calibration method according to any one of claims 16-18.

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