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

Abstract

The application provides a collision detection method, a collision detection device, a calibration method, a calibration device, an electrical equipment and a computer readable storage medium. The method comprises detecting collision information of a battery, the bottom surface of the battery is provided with a plurality of vibration sensors, the collision information comprises a collision position and an impact energy, the collision detection method comprises obtaining collection information of the plurality of vibration sensors, preset positioning parameters of a plurality of positioning mark points on the bottom surface, and preset energy parameters of a plurality of energy mark points on the bottom surface; determining the collision position of the bottom surface according to the collection information and the preset positioning parameters; determining a target energy parameter according to the collision position and the preset energy parameters; and determining the impact energy according to the target energy parameter, the collection information and the collision position. By detecting the collision position and the impact energy of the bottom surface of the battery, the impact situation of the battery can be accurately evaluated, and the safety of the user and property is prevented from being damaged by the battery.

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 protrusion or stone during long-term service, and forms plastic deformation which is difficult to recover, thereby causing 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. Therefore, a scheme capable of detecting the impact condition of the battery is urgently needed. 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, which detect the impact position and impact energy of the bottom surface of the battery, thereby facilitating accurate evaluation of the impact condition of the battery and preventing damage of the battery from endangering the personal and property safety of the user.

[0004] In a first aspect, the present application provides a collision detection method,

[0005] The collision detection method of the embodiments of the present application is used for detecting the collision information of the battery, the bottom surface of the battery is provided with a plurality of vibration sensors, the collision information includes a collision position and an impact energy, and the collision detection method includes obtaining acquisition information of the plurality of vibration sensors, preset positioning parameters of a plurality of positioning identification points of the bottom surface, and preset energy parameters of a plurality of energy identification points of the bottom surface; determining the collision position of the bottom surface according to the acquisition information and the preset positioning parameters; determining a target energy parameter according to the collision position and the preset energy parameters; and determining the impact energy according to the target energy parameter, the acquisition information, and the collision position.

[0006] The collision detection method of the present application accurately detects the collision position through the preset positioning parameters of the plurality of positioning identification points on the bottom surface of the battery subjected to impact and the real-time output acquisition information of the vibration sensors, and after detecting the collision position, the appropriate target energy parameter is selected through the collision position, so that the impact energy is accurately calculated according to the target energy parameter, the acquisition information, the collision position, and the impact energy calculation formula based on the wave-based energy calculation principle, the detection of the collision position and the impact energy is realized, which is beneficial to accurately evaluate the impact condition of the battery and prevent damage of the battery from endangering the personal and property safety of the user.

[0007] Secondly, this application provides a calibration method, which includes striking positioning markers and energy markers on the bottom surface of a battery with a calibration ball having a preset energy to obtain calibration information collected by multiple vibration sensors set on the bottom surface; and calibrating preset positioning parameters for each positioning marker and preset energy parameters for each energy marker based on the collected calibration information.

[0008] The calibration method of this application rapidly calibrates each positioning marker or energy marker by impacting it with a calibration ball at a preset energy level. After calibration, during subsequent collision detection, the electrical signal output by the vibration sensor is processed based on the random collision and compared with the preset positioning parameters of the positioning markers to detect the collision position. Based on the collision position, a preset energy parameter adapted to that position can be selected. Then, by processing the electrical signal output by the vibration sensor and combining it with the adapted preset energy parameter, the impact energy can be accurately calculated.

[0009] Thirdly, this application provides a collision detection device. The collision detection device includes an acquisition module, a first determination module, a second determination module, and a third determination module. The acquisition module is used to acquire information collected by multiple vibration sensors, preset positioning parameters of multiple positioning markers on the bottom surface, and preset energy parameters of multiple energy markers on the bottom surface; the first determination module is used to determine the collision position on the bottom surface based on the acquired information and the preset positioning parameters; the second determination module is used to determine a target energy parameter based on the collision position and the preset energy parameters; and the third determination module is used to determine the impact energy based on the target energy parameter, the acquired information, and the collision position.

[0010] The collision detection device 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 battery subjected to an impact and real-time data collected from vibration sensors. After detecting the collision location, it can select appropriate target energy parameters based on the collision location, and then accurately calculate the impact energy according to the target energy parameters, the collected information, the collision location, and the impact energy calculation formula obtained based on the wave energy calculation principle. This realizes the detection of collision location and impact energy, which is beneficial for accurately assessing the impact situation of the battery and preventing battery damage from endangering the personal and property safety of users.

[0011] Fourthly, this application provides a calibration device. The calibration device includes an impact module and a calibration module. The impact module is used to impact positioning markers and energy markers on the bottom surface of a battery with a calibration ball having a preset energy, to obtain calibration information collected by multiple vibration sensors disposed on the bottom surface; and the calibration module is used to calibrate preset positioning parameters for each positioning marker and preset energy parameters for each energy marker based on the collected calibration information.

[0012] The calibration device of this application calibrates each positioning marker or energy marker by impacting it with a calibration ball at a preset energy level. After calibration, during subsequent collision detection, the electrical signal output by the vibration sensor is processed based on the randomly occurring collision and compared with the preset positioning parameters of the positioning marker to detect the collision location. Based on the collision location, a preset energy parameter adapted to that location can be selected. Then, by processing the electrical signal output by the vibration sensor and combining it with the adapted preset energy parameter, the impact energy can be accurately calculated.

[0013] Fifthly, this application provides an electrical device, which includes a controller and a battery. The bottom surface of the battery is provided with multiple vibration sensors. The controller is used to acquire data from the multiple vibration sensors, preset positioning parameters for multiple positioning markers on the bottom surface, and preset energy parameters for multiple energy markers on the bottom surface; determine the collision position on the bottom surface based on the acquired data and the preset positioning parameters; determine a target energy parameter based on the collision position and the preset energy parameters; and determine the impact energy based on the target energy parameter, the acquired data, and the collision position.

[0014] The electrical device described in this application accurately detects the collision location by using preset positioning parameters of multiple positioning markers pre-marked on the bottom surface of the battery that has been impacted, and real-time data collected from vibration sensors. After detecting the collision location, it can select appropriate target energy parameters based on the collision location, and accurately calculate the impact energy according to the target energy parameters, collected information, collision location, and impact energy calculation formula obtained based on wave energy calculation principles. This achieves the detection of both the collision location and the impact energy, which is beneficial for accurately assessing the impact situation of the battery and preventing battery damage from endangering the personal and property safety of users.

[0015] Sixthly, this application provides a computer-readable storage medium. The computer-readable storage medium includes a computer program that, when executed by one or more processors, implements the above-described collision detection method or the above-described calibration method.

[0016] Additional aspects and advantages of the embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0018] Figure 1 This is a schematic diagram of the structure of an electrical device according to certain embodiments of this application;

[0019] Figure 2 This is a flowchart illustrating the calibration method of some embodiments of this application;

[0020] Figure 3 This is a plan view of the bottom surface of a battery according to certain embodiments of this application;

[0021] Figure 4 This is a flowchart illustrating the calibration method of some embodiments of this application;

[0022] Figure 5 This is a schematic diagram illustrating the principle of a calibration method according to certain embodiments of this application;

[0023] Figure 6 This is a flowchart illustrating the calibration method of some embodiments of this application;

[0024] Figure 7 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0025] Figure 8 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0026] Figure 9 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0027] Figure 10 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0028] Figure 11 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0029] Figure 12 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0030] Figure 13 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0031] Figure 14This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0032] Figure 15 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0033] Figure 16 This is a flowchart illustrating a collision detection method according to certain embodiments of this application;

[0034] Figure 17 This is a schematic diagram of a calibration device according to certain embodiments of this application;

[0035] Figure 18 This is a schematic diagram of a collision detection device according to certain embodiments of this application; and

[0036] Figure 19 This is a schematic diagram illustrating the interaction between a computer-readable storage medium and a processor (or controller) according to certain embodiments of this application. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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).

[0043] 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.

[0044] 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, developing a method that can simultaneously and accurately monitor both the collision location and impact energy is essential.

[0045] 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 varies depending on the collision location. Therefore, 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 preset positioning parameters for the positioning markers. Furthermore, the energy markers on the bottom surface of the battery can be calibrated according to the formula for calculating impact energy to obtain preset energy parameters for the energy markers.

[0046] 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, thus achieving collision location detection. First, a target energy parameter is selected from multiple preset energy parameters based on the collision location. Finally, the final impact energy is calculated according to the impact energy calculation formula, the collision location, and the data collected by the vibration sensor, thus achieving impact energy detection.

[0047] Thus, the collision detection method of this application can not only detect the impact energy, but also accurately detect the collision location, thereby reminding the driver to check the battery in time when it is damaged by a collision, and informing the maintenance personnel of the specific location of the damage (i.e. the collision location), enabling targeted maintenance of the damaged battery, thereby reducing labor and maintenance costs.

[0048] The collision detection method disclosed in this application can be used to detect collision information (i.e., collision location and impact energy) of a battery. 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.

[0049] For ease of explanation, the following embodiments use a vehicle as an example of electrical equipment 1000.

[0050] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of 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.

[0051] 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.

[0052] In order to implement the collision detection method of this application, it is necessary to calibrate the preset positioning parameters of the positioning markers of the battery 100 and the energy markers in advance. Therefore, the calibration process of the positioning markers and the energy markers is described below.

[0053] Please see Figures 1 to 3 The calibration method of this application includes:

[0054] Step 011: Use a calibration ball with preset energy to strike the positioning mark point and energy mark point on the bottom surface of the battery 100 to obtain the collection and calibration information of multiple vibration sensors 60 set on the bottom surface;

[0055] The calibration ball simulates an impact. During calibration, the battery 100 is first positioned with its bottom surface facing upwards, and then the calibration ball is dropped from a height to impact the positioning and energy markers on the bottom surface of the battery 100. Alternatively, the battery 100 is first positioned with its bottom surface facing downwards, and then the calibration ball is controlled to impact the positioning and energy markers on the bottom surface of the battery 100 from bottom to top.

[0056] The bottom surface of the battery 100 is the surface opposite to the chassis of the electrical equipment 1000 (such as a vehicle) when the battery 100 is installed on the chassis of the electrical equipment 1000.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] Among them, a piezoelectric sensor is a sensor based on the piezoelectric effect. 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 forces 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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 the subsequent collision position and impact energy, 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.

[0066] 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).

[0067] 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.

[0068] Both the positioning markers and energy markers are locations on the bottom surface of the battery 100 that need to be marked. 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, each battery cell 70 is positioned at the center of the bottom surface (e.g., ...). 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 Points #3, #5, #7, and #9 are set as positioning markers, and each battery cell 70 is positioned at the center of the bottom surface (e.g., ...). Figure 3 Points #15, #10, #32, #29, #17, #20, #22, and #27 on the bottom surface are designated as energy markers. This means that the locations on the bottom surface that need calibration can be both positioning markers and energy markers. Therefore, by setting positioning markers on the battery core 70, a key energy supply component of the vehicle, and on the central support beam 81, which contributes significantly to the structural strength of the battery 100, and by setting energy markers on the battery core 70, a key energy supply component of the vehicle, the calibration effect can be improved.

[0069] When calibrating each positioning marker or each energy 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 or energy marker with an energy of 100J, thereby obtaining the collection and calibration information of the vibration sensor 60 corresponding to each positioning marker or each energy marker.

[0070] Step 012: Based on the collected calibration information, calibrate the preset positioning parameters of each positioning marker and the preset energy parameters of each energy marker.

[0071] 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.

[0072] 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.

[0073] The preset energy parameters of the energy markers are calculated based on the calibration information collected by multiple vibration sensors 60 after the energy markers are struck by the calibration ball.

[0074] To detect impact energy, the energy of the mechanical wave detected by the vibration sensor 60 is required. Therefore, it is necessary to determine the energy of the mechanical wave received by each vibration sensor 60 after the energy marker point collides, based on multiple electrical signals of the calibration information collected corresponding to the energy marker point. The energy received by the vibration sensor 60 is also related to the distance between the vibration sensor 60 and the energy marker point (i.e., the collision position during calibration). Since the calibration ball impacts with a preset energy each time, that is, the impact energy is known, the preset energy parameters of the energy marker point can be determined based on the preset energy, the energy received by the vibration sensor 60, and the distance between the vibration sensor 60 and the energy marker point.

[0075] Optionally, since the positions of energy markers and some positioning markers are overlapping, in order to improve calibration efficiency, the collected calibration information of energy markers and positioning markers with the same position can be shared, without having to perform an impact and acquire calibration information for each energy marker and each positioning marker.

[0076] Thus, by impacting each positioning marker or energy marker with a calibration ball at a preset energy level, the preset positioning parameters of the positioning markers and the preset energy parameters of the energy markers are quickly calibrated. After calibration, during subsequent collision detection, the electrical signal output by the vibration sensor 60 after a random collision is processed and compared with the preset positioning parameters of the positioning markers to detect the collision position. Based on the collision position, a preset energy parameter adapted to the collision position can be selected. Then, by processing the electrical signal output by the vibration sensor 60 and combining it with the adapted preset energy parameter, the impact energy can be accurately calculated.

[0077] 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:

[0078] Step 0121: Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each calibration information acquisition;

[0079] The calibration voltage signal is the electrical signal output by the vibration sensor 60.

[0080] 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).

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Step 0122: Calibrate the preset positioning parameters of each corner positioning marker point according to the maximum amplitude value.

[0086] 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.

[0087] 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.

[0088] 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:

[0089] Step 0123: Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each calibration information acquisition;

[0090] For details of step 0123, please refer to step 0121, which will not be repeated here.

[0091] 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;

[0092] 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.

[0093] 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 corresponding to the vibration sensor 60. For example, the preset ratio might be 15% or 20%. That is, on the envelope, the acquisition time corresponding to the point where the amplitude is a preset ratio of the maximum amplitude 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 is a preset ratio of the maximum amplitude; the earliest time among these multiple points is used as the calibration flight time.

[0094] 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 is acquired (e.g., ...). Figure 5 The time (i.e., T0) of point I2 in the timeline is the calibrated flight time.

[0095] 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.

[0096] Step 0125: Calibrate the preset positioning parameters for each positioning marker point according to the calibrated flight time.

[0097] 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.

[0098] 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.

[0099] Please see Figure 6 In some implementations, the calibration information acquisition includes multiple calibration voltage signals. Step 012: Calibrate the preset energy parameters of each energy marker point according to the acquired calibration information, including:

[0100] 0126: Perform Fourier transform on multiple calibration voltage signals to obtain amplitude and frequency;

[0101] The Fourier transform converts a time-domain aperiodic continuous signal (i.e., the multiple calibration voltage signals of this application) into a frequency-domain aperiodic continuous signal. After the multiple calibration voltage signals undergo the Fourier transform, the distribution of signals at different frequencies can be obtained. The horizontal axis of the transformed continuous signal represents the frequency, and the vertical axis represents the amplitude of the signal at each frequency.

[0102] 0127: Based on the distance, amplitude, and frequency between each energy marker and multiple vibration sensors 60, calibrate the preset energy parameters of each energy marker.

[0103] Specifically, after an impact, it is necessary to accurately calculate the impact energy and effectively locate the collision position. For a two-dimensional circular wave, the total energy of the wavefront can be calculated using the formula E = 2πR·e(R), which reflects the energy generated at the wave's center point (i.e., the collision position) at different locations, where R is the distance between the collision position and the vibration sensor 60, and e(R) is the wave's energy density. The wave's energy density can be calculated using the formula e(R) = κ·A 2 (R) is calculated, where κ is the preset energy parameter that needs to be calibrated, and A 2(R) is the integral of the square of the amplitude (u) of the time-domain voltage sensing signal received by the vibration sensor 60 after Fourier transform with respect to the frequency (f), which can be expressed by formula A. 2 (R)=∫u 2 df is obtained, which represents the sum of the energy contributions of each frequency. Finally, the formula for calculating the impact energy is E(R)=2πκR·∫u 2 df.

[0104] During calibration, the frequency domain signal (i.e., the amplitude and frequency obtained after Fourier transform) corresponding to the energy marker point at each vibration sensor 60 can be obtained. Then, the area is integrated over the frequency domain signal. Specifically, according to the formula... The value of the area integral in the frequency domain can be calculated, where the value of n depends on the sampling frequency; Represents frequency f n The corresponding squared amplitude value. Distance from the 8 energy markers to the 4 sensors. It can be calculated in advance. The preset energy coefficient for each energy marker can be obtained using the impact energy calculation formula. The calculation yields the following: E0 represents the preset energy, i indicates the energy marker number, and j indicates the sensor number. Thus, for each energy marker, four preset energy parameters are calibrated corresponding to the four sensors, resulting in 32 preset energy parameters.

[0105] Of course, the preset energy parameters of multiple energy markers can be processed based on the actual data required for subsequent impact energy calculations to obtain more preset energy parameters. For example, the average of the preset energy parameters of two energy markers can also be used as preset energy parameters, thus obtaining more than 32 preset energy parameters.

[0106] In this way, the energy markers can be calibrated using the acquisition and calibration signals corresponding to each energy marker and the distance between the energy marker and each vibration sensor 60. When calculating the impact energy later, the collision location can be detected first, and an energy marker suitable for that location can be selected. Then, based on the electrical signal output by any vibration sensor 60 and the preset energy parameters of the suitable energy marker, the impact energy can be calculated, ensuring the accuracy of the impact energy calculation.

[0107] After the location markers and energy markers are calibrated, collision detection of battery 100 can be performed, as follows:

[0108] Please see Figure 1 and Figure 7 The collision detection method of this application includes:

[0109] Step 021: Acquire the data collected by multiple vibration sensors 60, the preset positioning parameters of multiple positioning markers on the bottom surface, and the preset energy parameters of multiple energy markers on the bottom surface;

[0110] 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.

[0111] After the preset positioning parameters of the positioning markers and the preset energy parameters of the energy markers are calibrated using the above calibration method, the preset positioning parameters of multiple positioning markers and the preset energy parameters of multiple energy markers can be obtained.

[0112] Step 022: Determine the collision location on the bottom surface based on the collected information and preset positioning parameters;

[0113] The collision location is the point where the bottom surface of battery 100 is struck.

[0114] 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 information (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.

[0115] 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.

[0116] Step 023: Determine the target energy parameters based on the collision location and preset energy parameters;

[0117] Specifically, after determining the collision location, a preset energy parameter corresponding to the collision location can be found among multiple preset energy parameters and used as the target energy parameter. For example, the preset energy parameter corresponding to the energy marker point close to the collision location on the same vibration sensor 60 can be selected as the target energy parameter.

[0118] Step 024: Determine the impact energy based on the target energy parameters, collected information, and collision location.

[0119] Specifically, after determining the target energy parameters, the collected information, and the collision location, the integral ∫u is formed by integrating the square of the amplitude of the target energy parameters κ and the collected information after Fourier transform with respect to the frequency. 2 Substituting df, and the distance R between the collision location and the vibration sensor 60, into the formula for calculating the impact energy E(R)=2πκR·∫u 2 df gives the final impact energy.

[0120] 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 battery subjected to impact and the real-time data collected by the vibration sensor 60. After detecting the collision location, a suitable target energy parameter can be selected based on the collision location. Then, based on the target energy parameter, the collected information, the collision location, and the impact energy calculation formula obtained from the wave energy calculation principle, the impact energy is accurately calculated. This method realizes the detection of collision location and impact energy, which is beneficial for accurately assessing the impact situation of the battery 100 and preventing damage to the battery 100 from endangering the personal and property safety of users.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] Please see Figure 3The distribution of corner points, center line points, diagonal points, interior points, and center points on the bottom surface is as follows:

[0125] (1) Corner locations: #13, #19, #25 and #31;

[0126] (2) Centerline locations: #2, #3, #4, #5, #6, #7, #8 and #9;

[0127] (3) Diagonal positions: #12, #18, #24 and #30;

[0128] (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, and (#28, #29, #37, #32, #33, #41) are grouped into another group;

[0129] (5) Center location point: #1.

[0130] 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).

[0131] 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.

[0132] Please see Figure 8 In some implementations, step 022: determining the collision location of the bottom surface based on the collected information and preset positioning parameters includes:

[0133] Step 0221: Based on the collected information and preset positioning parameters, determine whether the collision location is any corner point;

[0134] 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.

[0135] 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;

[0136] 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.

[0137] 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.

[0138] Step 0223: If not, then determine the collision location as the center point.

[0139] 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.

[0140] 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.

[0141] Please see Figure 9 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:

[0142] Step 02211: Obtain the maximum amplitude of the envelope of multiple voltage signals for each acquired information;

[0143] The voltage signal is the electrical signal output by the vibration sensor 60.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] Please see Figure 10 In some implementations, step 02212 specifically includes:

[0149] 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;

[0150] The target positioning parameters are calculated in the same way as the preset positioning parameters, but are calculated based on the collected information.

[0151] 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.

[0152] 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.

[0153] 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, if 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), then the target positioning parameter (a1 / a2, a1 / a3, a1 / a4) is determined to be greater than the corresponding preset positioning parameter (A1 / A2, A1 / A3, A1 / A4) only if a1 / a2 is greater than A1 / A2, a1 / a3 is greater than A1 / A3, and a1 / a4 is greater than A1 / A4.

[0154] 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.

[0155] 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.

[0156] Please see Figure 11 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:

[0157] Step 0223: Obtain the maximum amplitude of the envelope of multiple voltage signals;

[0158] 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.

[0159] 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;

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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 need to be represented by the preset positioning parameters of one or more positioning markers. 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.

[0164] Please refer to it again. Figure 11 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:

[0165] 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;

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] Thus, while ensuring the accuracy of collision location detection, simplifying the collision location judgment logic helps reduce the complexity of the algorithm.

[0172] Please see Figure 12 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:

[0173] 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;

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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.).

[0179] 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 central support beam 2). Therefore, if the collision position is centerline position point #2, then t3+t4 should be greater than t1+t2.

[0180] 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.

[0181] For #2, if the average value R1 of (T2 + T3) / (T1 + T4) for #10 and #32, the average value 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, the collision position can be determined to be #2 at this time. Similarly, for other center line position points, there are also corresponding preset judgment conditions.

[0182] According to the target positioning parameters corresponding to each center line position point and the preset positioning parameters corresponding to the center line position point, each center line position point is judged in sequence to determine whether the collision position is any center line position point. When any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any center line position point, the center line position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition can be determined as the collision position.

[0183] In this way, based on the position of each center line position point, the corresponding preset positioning parameters and preset judgment conditions are determined, and it can be accurately judged whether the collision position is the center line position point.

[0184] Please refer to again Figure 12 , in some embodiments, step 02252: Determine whether the collision position is any diagonal position point or any internal position point according to the flight time corresponding to each acquisition information and the preset positioning parameters of the second positioning reference point, including:

[0185] Step 02255: According to the flight time corresponding to each acquisition information, calculate the target positioning parameters corresponding to the preset positioning parameters corresponding to each diagonal position point respectively, and calculate the target positioning parameters corresponding to the preset positioning parameters corresponding to each internal position point respectively;

[0186] Specifically, according to the positions of each diagonal position point and internal position point, first determine the second positioning reference points corresponding to each diagonal position point and internal position point, that is, use the second positioning reference points corresponding to the diagonal position points to determine whether the collision position is a diagonal position point, and use the second positioning reference points corresponding to the internal position points to determine whether the collision position is an internal position point. For example, to determine whether the diagonal position point #12 is the collision position, the second positioning reference points #10 and #15 are required; to determine whether the internal position point #10 is the collision position, the second positioning reference points #10 and #15 are required.

[0187] 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.

[0188] 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 second positioning marker point can be calculated. For example, to determine whether the diagonal position point #12 is a collision location, the preset positioning parameters T3 / T1 and T2 / T4 of the second positioning marker point #10 and the preset positioning parameter T2 / T4 of the second positioning marker point #15 are needed, 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.

[0189] Step 02256: If any target positioning parameter and the corresponding preset positioning parameter satisfy the preset judgment condition corresponding to any diagonal position point, determine the diagonal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition as the collision position.

[0190] Specifically, there is a corresponding preset judgment condition for each diagonal position point. 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. The target positioning parameters 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 parameters 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, the collision position can be determined as the diagonal position point #12. Similarly, for other diagonal position points, there are also corresponding preset judgment conditions.

[0191] Judge each diagonal position point in turn according to the target positioning parameters corresponding to each diagonal position point and the preset positioning parameters corresponding to the diagonal position point, so as 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, the diagonal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition can be determined as the collision position.

[0192] 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 the internal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition as the collision position.

[0193] Specifically, there is a corresponding preset judgment condition for each internal position point. The preset judgment condition 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. 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 mean 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 mean 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, the collision position can be determined as the internal position point #10. Similarly, for other internal position points, there are also corresponding preset judgment conditions.

[0194] Judging 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, the internal position point corresponding to the target positioning parameter that satisfies the corresponding preset judgment condition can be determined as the collision position.

[0195] 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.

[0196] Please refer to Figure 13 , in some embodiments, the collision detection method further includes:

[0197] Step 025: Calculate multiple error parameters based on the target positioning parameter and the preset positioning parameter corresponding to the target positioning parameter to determine the credibility of the collision position;

[0198] The error parameter is the parameter value obtained after calculation of the target positioning parameter and the preset positioning parameter corresponding to the target positioning parameter. For example, taking the determination of the center line position point #2 as the collision position, 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.

[0199] 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.

[0200] 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.

[0201] 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.

[0202] 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.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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.

[0208] Please see Figure 14 In some embodiments, the energy marker is located at the center of the bottom surface of the battery cell 70. Step 023: Determine the target energy parameters based on the collision location and preset energy parameters, including:

[0209] Step 0231: Obtain the mapping table between feature markers and preset energy parameters;

[0210] The mapping table shows the correspondence between feature markers and preset energy parameters. The mapping table records the preset energy parameters corresponding to each feature marker.

[0211] Based on the relative positions between each feature marker and each vibration sensor 60, and between each feature marker and each energy marker, the energy marker corresponding to each feature marker can be found, thereby establishing the correspondence between the feature marker and the preset energy parameters of the corresponding energy marker.

[0212] For example, consider four points #38, #14, #16, and #40 on support beam 801. Based on the distribution of these feature points, it can be observed that #38 is closer to vibration sensor #1, while #14 is farther away. Similarly, energy marker #15 is closer to vibration sensor #1, while energy marker #10 is farther away. Therefore, it can be determined that feature marker #38 corresponds to energy marker #15, feature marker #14 corresponds to energy marker #10, feature marker #16 corresponds to energy marker #20, and feature marker #14 corresponds to energy marker #17. Thus, it can be determined that the preset energy parameter of feature marker #38 is the same as the preset energy parameter of energy marker #15, the preset energy parameter of feature marker #14 is the same as the preset energy parameter of energy marker #10, the preset energy parameter of feature marker #16 is the same as the preset energy parameter of energy marker #20, and the preset energy parameter of feature marker #14 is the same as the preset energy parameter of energy marker #17.

[0213] For example, consider four points #8, #9, #4, and #5 on support beam 802. Based on the distribution of these feature points, #8 and #9 are closer to vibration sensors #1 and #4, and farther from vibration sensors #2 and #3, and are equidistant from them. Therefore, feature points #8 and #9 correspond to energy markers #10 and #32, and feature points #4 and #5 correspond to energy markers #20 and #22. Thus, the average of the preset energy parameters of energy markers #10 and #32 can be used as the preset energy parameters of feature points #8 and #9, while the average of the preset energy parameters of energy markers #20 and #22 can be used as the preset energy parameters of feature points #4 and #5.

[0214] Step 0232: Based on the mapping table, obtain the preset energy parameters corresponding to the feature markers at the collision locations, and use them as the target energy parameters.

[0215] After determining the mapping table, the corresponding preset energy parameter can be found in the mapping table by looking up the feature markers corresponding to the collision location, and used as the target energy parameter.

[0216] Please see Figure 15 In some implementations, the acquired information includes multiple voltage signals. Step 024: Determine the impact energy based on the target energy parameters, the acquired information, and the collision location, including:

[0217] Step 0241: Perform Fourier transform on multiple voltage signals to obtain amplitude and frequency;

[0218] The specific steps for performing Fourier transforms on multiple voltage signals to obtain amplitude and frequency are detailed in step 0126: "Performing Fourier transforms on multiple calibrated voltage signals to obtain amplitude and frequency descriptions," and will not be repeated here.

[0219] Step 0242: Determine the impact energy based on the amplitude, frequency, target energy parameters, and collision location.

[0220] Once the amplitude and frequency are determined, the integral of the square of the amplitude with respect to the frequency, ∫u, can be calculated. 2 df, then ∫u 2 Substituting df, the target energy parameter κ, and the distance R between the collision location and the vibration sensor 60 into the formula for calculating the impact energy, E(R)=2πκR·∫u 2 df gives the final impact energy.

[0221] Specifically, the impact energy E1 can be determined based on the energy parameter corresponding to vibration sensor #1 in the target energy parameter κ, the frequency and amplitude corresponding to vibration sensor #1, and the distance R1 between the collision position and vibration sensor #1; or, the impact energy E2 can be determined based on the energy parameter corresponding to vibration sensor #2 in the target energy parameter κ, the frequency and amplitude corresponding to the information collected by vibration sensor #2, and the distance R2 between the collision position and vibration sensor #2; or, the impact energy E2 can be determined based on the energy parameter corresponding to vibration sensor #3 in the target energy parameter κ, the frequency and amplitude corresponding to the information collected by vibration sensor #3, and the distance R2 between the collision position and vibration sensor #3. The impact energy E3 can be determined by the distance R3; or, the impact energy E4 can be determined by the energy parameter corresponding to vibration sensor #1 in the target energy parameter κ, the frequency and amplitude corresponding to the information collected by vibration sensor #4, and the distance R4 between the collision position and vibration sensor #4. Theoretically, E1 to E4 should be the same, but in reality, due to factors such as the manufacturing error of vibration sensor 60 itself and the difference in the medium between the installation position of vibration sensor 60 and the collision position, there are certain differences between E1 and E4. Therefore, the average value of E1 to E4 can be used as the final impact energy to reduce the error and improve the accuracy of impact energy calculation.

[0222] Please see Figure 16 In some implementations, the collision detection method further includes:

[0223] Step 028: Determine the damage level based on the impact energy and collision location;

[0224] The damage level refers to the severity of damage to battery 100.

[0225] Generally, the greater the impact energy, the more severe the damage to battery 100. Furthermore, the closer the impact location is to a critical area of ​​battery 100, the more severe the damage. For example, with the same impact energy, the degree of damage to battery 100 differs depending on whether it impacts the support beam 80 or the area of ​​the battery core 70 on its bottom surface. Impacting the support beam 80 results in less damage because of its higher structural strength and the fact that it does not directly contact the battery core 70. Therefore, by comprehensively considering the impact energy and the impact location, the damage level of battery 100 can be determined, leading to a more accurate assessment of the extent of damage.

[0226] Damage levels can be divided into 1 to 3, with level 1 corresponding to the least damage and level 3 corresponding to the most damage. If the impact energy is less than the preset energy threshold and the collision location is a feature marker point on the support beam 80, the damage level is determined to be level 1; if the impact energy is greater than the preset energy threshold and the collision location is a feature marker point on the support beam 80, the damage level is determined to be level 2; if the impact energy is greater than the preset energy threshold and the collision location is a feature marker point located on the bottom surface of the battery cell 70, the damage level is determined to be level 3.

[0227] Step 029: Provide prompts based on the damage level.

[0228] Specifically, after determining the damage level, prompts can be issued based on the different damage levels. For example, at damage level 1, a prompt 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 required. At damage level 2, a prompt message can be displayed on the vehicle's central control screen and the vehicle's speaker can be controlled to issue a voice prompt, 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 required. At damage level 3, a prompt message can be displayed on the vehicle's central control screen and the vehicle's speaker can be controlled to issue a voice prompt, 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.

[0229] In addition, the prompting operation also includes sending a prompt message 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 the repair personnel in judging the extent of the damage to the battery 100 and carrying out targeted repairs based on the collision location, reducing maintenance costs and improving the vehicle's economy.

[0230] 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.

[0231] 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.

[0232] 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.

[0233] 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.

[0234] Please see Figure 17 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:

[0235] Impact module 11 is used to impact positioning and energy marking points 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

[0236] The calibration module 12 is used to calibrate the preset positioning parameters of each positioning marker and the preset energy parameters of each energy marker based on the collected calibration information.

[0237] Calibration module 12 is also specifically used for:

[0238] Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each acquired calibration information;

[0239] The preset positioning parameters of each corner positioning marker are determined based on the maximum amplitude value.

[0240] Calibration module 12 is also specifically used for:

[0241] Obtain the maximum amplitude of the envelope of multiple calibration voltage signals for each acquired calibration information;

[0242] 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;

[0243] The preset positioning parameters for each positioning marker are determined based on the calibrated flight time.

[0244] Calibration module 12 is also specifically used for:

[0245] Perform Fourier transform on multiple calibration voltage signals to obtain amplitude and frequency;

[0246] Based on the distance, amplitude, and frequency between each energy marker and multiple vibration sensors 60, the preset energy parameters of each energy marker are calibrated.

[0247] Please see Figure 18 To 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 impact energy. The collision detection device 20 may include:

[0248] The acquisition module 21 is used to acquire the collection information of multiple vibration sensors 60, the preset positioning parameters of multiple positioning markers on the bottom surface, and the preset energy parameters of multiple energy markers on the bottom surface.

[0249] 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;

[0250] The second determining module 23 is used to determine the target energy parameters based on the collision location and preset energy parameters;

[0251] The third determining module 24 is used to determine the impact energy based on the target energy parameters, the collected information, and the collision location.

[0252] The first determining module 22 is specifically used for:

[0253] Based on the collected information and preset positioning parameters, determine whether the collision location is a corner point;

[0254] 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.

[0255] 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.

[0256] The first determining module 22 is also specifically used for:

[0257] Obtain the maximum amplitude of the envelope of multiple voltage signals for each acquired information;

[0258] 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.

[0259] The first determining module 22 is also specifically used for:

[0260] 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;

[0261] 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.

[0262] The first determining module 22 is also specifically used for:

[0263] Obtain the maximum amplitude of the envelope of multiple voltage signals;

[0264] 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;

[0265] 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.

[0266] The first determining module 22 is also specifically used for:

[0267] 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

[0268] 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.

[0269] The first determining module 22 is also specifically used for:

[0270] 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.

[0271] 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.

[0272] 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.

[0273] The collision detection device 20 also includes:

[0274] The calculation module 25 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;

[0275] The fourth determining module 26 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.

[0276] The fifth determination module is used to determine the centerline position point or internal position point of 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.

[0277] The second determining module 23 is specifically used for:

[0278] Obtain the mapping table between feature markers and preset energy parameters;

[0279] Based on the mapping table, the preset energy parameters corresponding to the feature markers at the collision locations are obtained and used as the target energy parameters.

[0280] The third determining module 24 is specifically used for:

[0281] Perform Fourier transform on multiple voltage signals to obtain amplitude and frequency; and

[0282] The impact energy is determined based on the amplitude, frequency, target energy parameters, and collision location.

[0283] The collision detection device 20 also includes:

[0284] The sixth determining module 28 is used to determine the damage level based on the impact energy and collision location;

[0285] The prompting module 29 is used to provide prompts based on the damage level.

[0286] Please refer to it again. Figure 1The 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 for the sake of simplicity, it will not be described in detail here.

[0287] Please see Figure 19 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.

[0288] 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.

[0289] 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.

[0290] 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 a battery, multiple vibration sensors are installed on the bottom surface of the battery. The collision information includes the collision location and impact energy. The collision detection method includes: Acquire the data collected by multiple vibration sensors, the preset positioning parameters of multiple positioning markers on the bottom surface, and the preset energy parameters of multiple energy markers on the bottom surface; Based on the collected information and the preset positioning parameters, the collision position of the bottom surface is determined; Based on the collision location and the preset energy parameters, the target energy parameters are determined; and The impact energy is determined based on the target energy parameters, the collected information, and the collision location; 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 4, characterized in that, The energy marker is located at the center of the battery pack core on the bottom surface. Determining the target energy parameters based on the collision location and the preset energy parameters includes: Obtain the mapping table between the feature markers and the preset energy parameters; According to the mapping table, the preset energy parameter corresponding to the feature marker point corresponding to the collision position is obtained as the target energy parameter.

15. The collision detection method according to claim 4, characterized in that, The acquired information includes multiple voltage signals. Determining the impact energy based on the target energy parameters, the acquired information, and the collision location includes: Perform Fourier transform on the multiple voltage signals to obtain the amplitude and frequency; and The impact energy is determined based on the amplitude, the frequency, the target energy parameter, and the collision location.

16. The collision detection method according to claim 1, characterized in that, Also includes: The damage level is determined based on the impact energy and collision location; Provide a prompt based on the damage level.

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

18. The calibration method according to claim 17, characterized in that, The acquired calibration information includes multiple calibration voltage signals, and the positioning markers include corner positioning marker points. The step of calibrating preset positioning parameters for each positioning marker point 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.

19. The calibration method according to claim 17, 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.

20. The calibration method according to claim 17, characterized in that, The acquired calibration information includes multiple calibration voltage signals, and the step of calibrating the preset energy parameters of each energy marker point according to the acquired calibration information includes: Perform Fourier transform on the multiple calibration voltage signals to obtain the amplitude and frequency; The preset energy parameters of each energy marker are calibrated based on the distance between each energy marker and the plurality of vibration sensors, the amplitude, and the frequency.

21. A collision detection device, characterized in that, For detecting collision information of a battery, multiple vibration sensors are installed on the bottom surface of the battery. The collision information includes the collision location and impact energy. The collision detection device includes: The acquisition module is used to acquire the data collected by multiple vibration sensors, the preset positioning parameters of multiple positioning markers on the bottom surface, and the preset energy parameters of multiple energy 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; The second determining module is used to determine the target energy parameters based on the collision location and the preset energy parameters; The third determining module is used to determine the impact energy based on the target energy parameters, the collected information, and the collision position; the bottom surface also includes multiple feature markers, including the positioning markers, and the collision position is one of the multiple feature markers; the multiple feature markers are distributed at key positions of the battery, including corner position points, center line position points, diagonal position points, internal position points, and center position points.

22. A calibration device, characterized in that, Implementing the calibration method according to any one of claims 17-20, comprising: The impact module is used to impact positioning and energy markers 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 of the positioning markers and the preset energy parameters of each of the energy markers based on the collected calibration information.

23. An electrical appliance, characterized in that, The device includes a controller and a battery. The bottom surface of the battery is equipped with multiple vibration sensors. The controller is used to acquire the collected information from the multiple vibration sensors, the preset positioning parameters of multiple positioning markers on the bottom surface, and the preset energy parameters of multiple energy markers on the bottom surface. Based on the collected information and the preset positioning parameters, the device determines the collision position of the bottom surface. The target energy parameters are determined based on the collision location and the preset energy parameters; The impact energy is determined based on the target energy parameters, the collected information, and the collision position. The bottom surface also includes multiple feature markers, including the positioning markers, and the collision position is one of the multiple feature markers. The multiple feature markers are distributed at key positions of the battery, including corner positions, centerline positions, diagonal positions, internal positions, and center positions.

24. 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 1-16, or the calibration method according to any one of claims 17-20.

Images