A battery pack locking and unlocking system and method for a battery swap station

Abstract

This invention provides a battery pack locking / unlocking system and method for battery swapping stations. The system includes: a locking / unlocking platform; a locking / unlocking device disposed on the platform for locking / unlocking the battery pack of a battery swapping vehicle; a camera device retractably disposed on the platform, positioned between the battery pack and the vehicle body when extended from the platform, to capture images showing the locking state of the battery pack and the vehicle body; and a cloud server connected to the camera device and the platform, used to compare the images captured by the camera device with pre-stored images to determine if the locking state of the battery pack and the vehicle body is normal, and to send a normal locking / unlocking command to the locking / unlocking device after determining that the locking state is normal. This invention can accurately determine whether the battery pack lock body is properly installed between the battery pack and the vehicle body while reducing the time required to capture valid images.

Description

Technical Field

[0001] This invention relates to the field of battery swapping stations, and in particular to a battery pack unlocking and unlocking system and method for battery swapping stations. Background Technology

[0002] During the battery swapping process, if the battery pack lock body and the vehicle being swapped are not on the same reference plane, improper installation may occur. This situation may cause the battery pack to fall off when the vehicle encounters bumpy road conditions, affecting the normal use of the vehicle.

[0003] Existing battery swapping stations' cameras on the platform can only capture images from outside the vehicle, unable to directly photograph the installation status of the battery pack lock body between the battery pack and the vehicle body. They can only roughly determine whether the battery pack lock body is properly installed based on partial details in the captured images, such as judging the rotation angle of the battery pack lock body by photographing the chassis. This method of judgment has very low accuracy. Furthermore, the cameras currently used in this scenario have long recording times and may require taking many images to capture even the most relevant details for determining the installation status. This is because the current cameras have a certain transmission delay, easily missing images within a 2-3 second window. Sufficient time intervals are needed to take pictures to prevent this. Therefore, the current battery swapping process is slow, typically taking 3-4 minutes. Summary of the Invention

[0004] One objective of this invention is to provide a battery pack locking and unlocking system and method for a battery swapping station that can accurately determine whether the battery pack lock body is properly installed between the battery pack and the vehicle body while reducing the time required to capture valid images.

[0005] A further objective of this invention is to reduce the communication latency between the cloud server and the camera device.

[0006] Specifically, the present invention provides a battery pack unlocking and unlocking system for a battery swapping station, comprising:

[0007] Unlocking / unlocking platforms;

[0008] An unlocking / unlocking device is installed at the unlocking / unlocking platform and is used to unlock / unlock the battery pack of the battery swapping vehicle.

[0009] A camera device is retractably mounted on the locking / unlocking platform and is positioned in the gap between the battery pack and the body of the battery swapping vehicle when the locking / unlocking platform is extended, so as to capture an image containing the locked state of the battery pack and the body.

[0010] A cloud server, connected to the camera device and the unlocking platform, is used to compare the images captured by the camera device with pre-stored images to determine whether the locking status of the battery pack and the vehicle body is normal, and after determining that the locking status is normal, sends a normal unlocking and battery swapping instruction to the unlocking device.

[0011] Furthermore, it also includes:

[0012] The first lifting mechanism is connected to the unlocking platform and is used to drive the unlocking platform to move up and down, thereby adjusting the distance between the unlocking platform and the battery swapping vehicle.

[0013] Furthermore, there are multiple camera devices, which are respectively set at different positions on the locking and unlocking platform to capture images of the locked state from different angles.

[0014] Furthermore, each of the camera devices includes:

[0015] The camera unit is used to capture images;

[0016] The second lifting mechanism has a floating end connected to the camera unit, which is used to drive the camera unit to retract into or extend out of the locking / unlocking platform.

[0017] Furthermore, the cloud server is configured to determine that the locking state of the battery pack and the vehicle body is normal when the gap between the lock body of the battery pack and the vehicle body is within a preset range.

[0018] Specifically, the present invention also provides a battery pack unlocking and unlocking control method for a battery swapping station, applied to a cloud server, the control method comprising the following steps:

[0019] Determine whether the camera device has extended into position;

[0020] After confirming that the camera device has been extended to the correct position, a command is sent to the camera device to capture an image showing the locked state of the battery pack and the vehicle body.

[0021] The image captured by the camera device is compared with the pre-stored image to determine whether the locking state of the battery pack and the vehicle body is normal. After determining that the locking state is normal, a normal locking / unlocking battery swapping command is sent to the locking / unlocking device.

[0022] Further, the step of comparing the image captured by the camera device with a pre-stored image to determine whether the locking state of the battery pack and the vehicle body is normal includes:

[0023] The first distance L1 between the battery pack and the vehicle body in the image captured by the camera device is determined, and the second distance L2 between the battery pack and the vehicle body in the pre-stored image is determined.

[0024] The locking state is determined to be normal when the first distance and the second distance satisfy the following formula; otherwise, the locking state is determined to be abnormal.

[0025] L2-a≤L1≤L2+a, where a≥0 and a is a constant.

[0026] Furthermore, the bottom of the vehicle body has a recess for accommodating a battery pack, and the step of determining whether the camera device is extended into position includes:

[0027] Obtain the distance between the bottom of the recess closest to the unlocking / unlocking platform and the unlocking / unlocking platform;

[0028] Obtain the extension height of the camera device from the unlocking / unlocking platform;

[0029] Based on the distance between the bottom of the groove and the unlocking platform and the extension height of the camera device, it is determined whether the camera device has extended to the correct position.

[0030] Further, the step of determining whether the camera device has extended to its full position based on the distance between the bottom of the groove and the unlocking platform and the extension height of the camera device includes:

[0031] Compare the distance between the bottom of the groove and the unlocking platform with the protrusion height of the camera device;

[0032] The camera device is determined to be in position when its extension height is greater than or equal to the distance between the bottom of the recess and the unlocking platform.

[0033] In the system and method provided by this invention, a camera device is retractably mounted at the unlocking platform, positioned in the gap between the battery pack and the vehicle body when extended from the unlocking platform. This allows the camera to capture images showing the locking state of the battery pack and the vehicle body. A cloud server is connected to the camera device and the unlocking platform, comparing the images captured by the camera with pre-stored images to determine if the locking state of the battery pack and the vehicle body is normal. Upon confirming a normal locking state, the server sends a normal unlocking / unlocking command to the unlocking device. Thus, the cloud server can directly determine whether the battery pack is locked based on the image of the lock body captured by the camera. This method of directly photographing the lock body to determine if the battery pack is locked, compared to the traditional method of photographing the chassis to determine the lock body's rotation angle, eliminates the need to capture numerous images and utilize significant cloud server resources for lock body rotation angle determination. This reduces interaction between the cloud server and the camera, thereby lowering communication latency between the cloud server and the camera device, significantly reducing the chance of the camera missing its target, and also reducing shooting time.

[0034] Furthermore, in the system provided by the present invention, multiple camera devices are provided, and the multiple camera devices are respectively set at different positions on the locking and unlocking platform. This method of setting up the camera devices can simultaneously capture images of the locked state from different angles, saving time for taking pictures.

[0035] Furthermore, in the method provided by the present invention, after determining that the camera device has extended to the correct position, an instruction is sent to the camera device to capture an image containing the locking state of the battery pack and the vehicle body. This method of taking pictures can directly acquire photos containing the lock body, part of the vehicle body and part of the battery pack. This method of taking pictures and recognizing at the appropriate time can accurately identify whether the battery pack and the vehicle body are locked.

[0036] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0037] The following sections will describe some specific embodiments of the invention in a detailed manner by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0038] Figure 1 This is a schematic topology diagram of a battery pack unlocking system according to an embodiment of the present invention;

[0039] Figure 2 yes Figure 1 A schematic top view of the unlocking platform shown;

[0040] Figure 3 yes Figure 1 A schematic side view of the camera unit of the unlocking platform in its retracted state;

[0041] Figure 4 yes Figure 1 A schematic side view of the unlocking platform with the camera unit extended.

[0042] Figure 5 This is a schematic partial side view of a battery pack unlocking system taking a picture according to an embodiment of the present invention;

[0043] Figure 6 This is a step diagram of a battery pack unlocking and unlocking control method for a battery swapping station according to an embodiment of the present invention;

[0044] Figure 7 yes Figure 6 The diagram shows the detailed steps of step S1 in the battery pack unlocking and unlocking control method for a battery swapping station.

[0045] In the picture:

[0046] 1- Unlocking platform;

[0047] 11-Panel;

[0048] 2-Unlocking device;

[0049] 3-Camera device;

[0050] 31 - Camera Unit;

[0051] 32-Second lifting mechanism;

[0052] 4-Cloud server;

[0053] 5-Control cabinet;

[0054] 51-PLC;

[0055] 52-Station Control Platform;

[0056] 53-NVR;

[0057] 6- Lifting mechanism;

[0058] 7-Battery storage rack;

[0059] 71 - New battery pack;

[0060] 8- Battery swapping vehicles;

[0061] 81 - Used battery pack. Detailed Implementation

[0062] Figure 1This is a schematic topology diagram of a battery pack unlocking system according to an embodiment of the present invention. Figure 1 As shown, the battery pack unlocking / unlocking system for a battery swapping station includes an unlocking / unlocking platform 1, an unlocking / unlocking device 2, a camera device 3, and a cloud server 4. The unlocking / unlocking device 2 is located at the unlocking / unlocking platform 1 and is used to unlock / unlock the battery pack of the battery swapping vehicle 8. The camera device 3 is retractably mounted at the unlocking / unlocking platform 1 and is positioned in the gap between the battery pack and the body of the battery swapping vehicle 8 when extended from the unlocking / unlocking platform 1, so as to capture images containing the locked state of the battery pack and the body. The cloud server 4 is connected to the camera device 3 and the unlocking / unlocking platform 1 and is used to compare the images captured by the camera device 3 with pre-stored images to determine whether the locked state of the battery pack and the body is normal. After determining that the locked state is normal, the cloud server 4 sends a normal unlocking / unlocking command to the unlocking / unlocking device 2 for battery swapping. In the system provided in this embodiment, the camera device 3 is retractably mounted on the unlocking platform 1 and is positioned in the gap between the battery pack and the body of the battery swapping vehicle 8 when extended from the unlocking platform 1. This allows it to capture images showing the locking state of the battery pack and the vehicle body. The cloud server 4 is connected to the camera device 3 and the unlocking platform 1, and compares the images captured by the camera device 3 with pre-stored images to determine if the locking state of the battery pack and the vehicle body is normal. After confirming that the locking state is normal, the cloud server 4 sends a normal unlocking / unlocking command to the unlocking device 2. Thus, the cloud server 4 can directly determine whether the battery pack is locked by using the image containing the lock body captured by the camera device 3. This method of directly photographing the lock body to determine whether the battery pack is locked, compared to the traditional method of photographing the chassis to determine the lock body rotation angle, eliminates the need to capture numerous images of the lock body rotation angle and avoids using significant cloud server 4 resources for lock body rotation angle determination. This reduces the interaction between the cloud server 4 and the camera, thereby reducing the communication latency between the cloud server 4 and the camera device 3. The probability of the camera device 3 missing its target is greatly reduced, and the shooting time is also decreased.

[0063] Figure 2 yes Figure 1 The diagram shows a schematic top view of the unlocking platform. Figure 3 yes Figure 1 A schematic side view of the camera unit of the unlocking platform in its retracted state. Figure 4 yes Figure 1 A schematic side view of the unlocking platform with the camera unit extended. Figure 5This is a schematic partial side view of the battery pack unlocking system taking a photograph according to an embodiment of the present invention. According to one embodiment of the present invention, the unlocking platform 1 includes a plate 11 and a first lifting mechanism connected to the plate 11. The first lifting mechanism can adjust the distance between the unlocking platform 1 and the battery swapping vehicle 8 to facilitate battery swapping. Specifically, the bottom of the battery swapping vehicle in this embodiment has a groove for accommodating the battery pack. Considering that the battery pack is generally rectangular in shape and its edge is connected to the vehicle body, the unlocking device 2 needs to operate on the connection between the battery pack and the vehicle body. Therefore, the plate 11 is also rectangular. The unlocking device 2 is located on the edge of the plate 11 to facilitate operation on the latching part between the battery pack and the vehicle body. To facilitate the installation of the camera device 3, notches for installing the camera device 3 are also provided at the four corners of the plate 11.

[0064] More specifically, the vertical projection of the battery pack is the same as the edge of the unlocking platform 1, so as to facilitate the operation of the camera device 3 and the unlocking device 2 mounted on the unlocking platform 1. In more examples, the vertical projection of the battery pack is completely within the edge of the unlocking platform 1, which also facilitates the operation of the camera device 3 and the unlocking device 2 mounted on the unlocking platform 1 on the battery pack.

[0065] According to one embodiment of the present invention, the unlocking device 2 is a prior art, for example, it can be the structural form in the utility model patent CN202021349546.5, which will not be described in detail here.

[0066] According to one embodiment of the present invention, the number of camera devices 3 is four. The four camera devices 3 are respectively disposed at the notches at the four corners of the plate 11 of the unlocking platform 1 to capture images of the locked state from different angles. Specifically, the gap between the battery pack and the vehicle body above this location is located at the corner of the battery pack, and its area is slightly larger than the gap between the edge of the battery pack and the vehicle body. Each camera device 3, at this mounting position, can extend upward into the gap between the battery pack and the vehicle body above this location. In other examples, the number of camera devices 3 can also be other numbers, such as two or three.

[0067] According to one embodiment of the present invention, each camera device 3 includes a camera unit 31 and a second lifting mechanism 32. The camera unit 31 is connected to the moving end of the second lifting mechanism 32, which can drive the camera unit 31 to retract into or extend out of the unlocking platform 1. Specifically, the camera unit 31 uses a CCD camera or a CMOS camera, which can directly convert optical signals into analog current signals. The current signals are amplified and converted from analog to digital to achieve image acquisition, storage, transmission, processing, and reproduction. The second lifting mechanism 32 uses a cylinder or a hydraulic cylinder, which can move precisely. More specifically, in this embodiment, a wide-angle camera with a 120° viewing angle is specifically selected to capture images of the lock body and the surrounding vehicle body and battery pack in a relatively small space, obtaining an overall image of the lock body. It is understood that in this embodiment, each camera unit 31 needs to capture images of the lock body to determine whether the battery pack is locked, therefore a wide-angle camera is required.

[0068] According to one embodiment of the present invention, since the second lifting mechanism 32 in the present invention adopts a pneumatic cylinder or a hydraulic cylinder, the second lifting mechanism 32 also needs to be connected to an air pump or a hydraulic pump to obtain power. The second lifting mechanism 32 has a fixed end and a floating end. The camera unit 31 is fixedly connected to the floating end of the second lifting mechanism 32. When selecting the second lifting mechanism 32, a model whose maximum stroke meets the photography requirements of the camera unit 31 is selected, so as to make full use of the limiting function of the second lifting mechanism 32 itself.

[0069] According to one embodiment of the present invention, the cloud server 4 is configured to determine that the locking state between the battery pack and the vehicle body is normal when the gap between the battery pack's lock body and the vehicle body is within a preset range. Specifically, the cloud server 4 sends control signals to the aforementioned unlocking platform 1, unlocking device 2, and camera device 3. In order for these control signals to drive the corresponding components, this embodiment also includes a control cabinet 5. The control commands from the cloud server 4 are processed by the control cabinet 5 and then transmitted to the corresponding components. Specifically, the control cabinet 5 includes a PLC 51 (Programmable Logic Controller), a station control platform 52, and an NVR 53 (Network Video Recorder). The PLC 51 receives the arrival signal of the battery swapping vehicle 8 and issues action commands. The station control platform 52 receives and stores the photos taken by the camera and uploads the photos to the cloud server 4. The NVR 53 is connected to each camera via a PoE (Power Over Ethernet) network cable. It can be understood that, at the physical level, the PLC 51 is connected to the unlocking platform 1, and the station control platform 52 is connected to the NVR 53.

[0070] According to one embodiment of the present invention, the battery pack unlocking system further includes a battery storage rack 7 for storing battery packs. The battery storage rack 7 has multiple areas for storing battery packs and can store multiple battery packs. A robotic arm in the battery swapping station can access and retrieve battery packs from the battery storage rack 7 to complete the battery swapping operation.

[0071] Figure 6 This is a flowchart illustrating the steps of a battery pack unlocking / unlocking control method for a battery swapping station according to an embodiment of the present invention. This embodiment discloses a battery pack unlocking / unlocking control method for a battery swapping station, applied to a cloud server 4. The control method includes:

[0072] Step S1: Determine whether the camera device 3 has extended into place.

[0073] Step S2: After confirming that the camera device 3 has been extended into position, send a command to the camera device 3 to capture an image containing the locked state of the battery pack and the vehicle body.

[0074] Step S3: Compare the image captured by the camera device 3 with the pre-stored image to determine whether the locking status of the battery pack and the vehicle body is normal, and send a normal locking / unlocking battery swapping command to the locking / unlocking device 2 after confirming that the locking status is normal.

[0075] Figure 7 yes Figure 6 The diagram shows the detailed steps of step S1 in the battery pack unlocking and unlocking control method for a battery swapping station. (See attached diagram.) Figure 6 As shown, according to an embodiment of the present invention, in step S1, determining whether the camera device 3 has extended to its full position specifically includes the following steps:

[0076] Step S11: Obtain the distance n between the bottom of the recess closest to the unlocking platform 1 and the unlocking platform 1. This distance n is the height difference between the vehicle body and the unlocking platform 1. It is understood that this height difference n can vary. Specifically, it can be obtained by measuring with a rangefinder installed on the unlocking platform 1, or by measuring with a rangefinder installed on the lifting mechanism 6, or by measuring with an image recognition algorithm using cameras installed in other areas of the battery swapping station.

[0077] Step S12: Obtain the height h of the extension of the camera device 3 to the unlocking platform 1. It can be understood that the extension height of the camera device 3 is also the extension height of the second lifting mechanism 32, which is the extension height of its floating end. The extension height of the floating end of the second lifting mechanism 32 can be obtained by calculating the real-time stroke of the second lifting mechanism 32.

[0078] Step S13: Based on the distance *n* between the bottom of the recess closest to the unlocking platform 1 and the unlocking platform 1, and the height *h* of the camera device 3 extending from the unlocking platform 1, determine whether the camera device 3 has extended fully. Specifically, if *h* ≥ *n*, the floating end of the second lifting mechanism 32 is located inside the vehicle body, and the camera device 3 has extended fully. If *h* < *n*, the floating end of the second lifting mechanism 32 is located below the vehicle body, and the camera device 3 has not extended fully. It is understood that this determination is performed by the cloud server 4. In more examples, this determination can also be performed by the PLC 51.

[0079] According to one embodiment of the present invention, in step S2, the camera device 3 passes through the gap between the battery pack and the vehicle body within a set time t1 to acquire image information of the battery pack lock body and the vehicle body. More specifically, t1 ranges from 0.5s to 2s to minimize the time required for taking pictures. When the camera device 3 takes pictures, since the camera is already inside the vehicle body, the camera can capture an image of the lock body without having to take multiple pictures to prevent missing the target.

[0080] According to an embodiment of the present invention, in step S3, the image captured by the camera device 3 is compared with a pre-stored image. The comparison method is as follows: a first distance L1 between the battery pack and the vehicle body in the image captured by the camera device 3 is determined, and a second distance L2 between the battery pack and the vehicle body in the pre-stored image is determined. If the first distance L1 and the second distance L2 satisfy the following formula, the locking state is determined to be normal; otherwise, the locking state is determined to be abnormal.

[0081] L2-a≤L1≤L2+a, where a≥0 and a is a constant.

[0082] Specifically, the cloud server 4 can recognize the image and identify the edges of objects in the image. In this embodiment, the cloud server 4 can identify the upper edge of the battery pack and the edge of the vehicle body, and then calculate the first distance L1 between the upper edge of the battery pack and the edge of the vehicle body. At the same time, it determines the second distance L2 between the battery pack and the vehicle body in the pre-stored image, where L2±a represents the error of the second distance L2. It should be noted that in step S3, the pre-stored image is an image taken under the condition that the connection requirements between the vehicle body and the battery pack are met. In this step, by recognizing and judging the first distance L1 between the battery pack and the vehicle body, it is possible to further determine whether the locking state between the battery pack and the vehicle body is normal.

[0083] According to one embodiment of the present invention, before step S1, the following steps are further included:

[0084] The battery pack type is determined, including a new battery pack 71 to be installed and an old battery pack 81 removed from the vehicle body. In this embodiment, distinguishing between the new battery pack 71 and the old battery pack 81 is to determine subsequent operational steps, such as... Figure 1 As shown, when the vehicle enters the battery swapping station while driving, the battery pack on the vehicle body is the old battery pack 81. After the old battery pack 81 is replaced, the bottom of the vehicle body is empty, and a new battery pack needs to be installed on the vehicle body.

[0085] Specifically, after confirming that the battery pack type is the old battery pack 81, the lifting mechanism 6 lifts the vehicle to the designated height. At the same time, the unlocking platform 1 rises to the specified height, and the unlocking device 2 and the second lifting mechanism 32 extend synchronously. After the unlocking device 2 and the second lifting mechanism 32 extend synchronously and send a signal to the PLC 51 in the control cabinet 5, the PLC 51 sends the information to the station control platform 52. The station control platform 52 sends a photo-taking command to the old battery pack 81 through the NVR 53. The camera unit 31 uploads the captured photo to the cloud server 4 through the station control platform 52. The cloud server 4 determines the first gap between the lock body of the old battery pack 81 and the vehicle body. If L2-a≤L1≤L2+a, the battery is unlocked and swapped normally, and the second lifting mechanism 32 retracts. If L1<L2-a or L1≥L2+a, the cloud server 4 determines that the battery swapping is abnormal, stops the current battery swapping, and performs vehicle maintenance.

[0086] Specifically, before installing the new battery pack 71, the bottom of the vehicle is empty. The new battery pack 71 is placed on the unlocking platform 1 via a transmission mechanism. After the new battery pack 71 is transmitted to the designated position on the unlocking platform 1, the unlocking platform 1 is raised to the designated height. Simultaneously, the unlocking device 2 and the second lifting mechanism 32 extend synchronously. The unlocking device 2 and the second lifting mechanism 32 send a signal indicating that they have reached their extended positions to the PLC 51 in the control cabinet 5. The PLC 51 then sends the information back to the station control platform 52. The station control platform 52 then transmits the information to the NVR 5. 3. Send a photo-taking command to the new battery pack 71. The camera unit 31 uploads the photos taken to the cloud server 4 via the station control platform 52. The cloud server 4 determines the gap between the lock body of the old battery pack 81 and the vehicle body. If L2-a≤L1≤L2+a, the battery is unlocked and swapped normally. If the cloud server 4 determines that the battery swapping is abnormal, it will stop the current battery swapping. If L1<L2-a or L1≥L2+a, the battery is locked and swapped normally. The second lifting mechanism 32 retracts, the lifting mechanism 6 and the unlocking platform 1 descend to the initial state, and the battery swapping process ends.

[0087] More specifically, in this embodiment, L2 is 0, and a is also 0. That is, the cloud server 4 determines the first gap between the lock body of the old battery pack 81 and the vehicle body. If the first gap is 0, the battery is unlocked and swapped normally, and the second lifting mechanism 32 retracts. If the first gap is not 0, the cloud server 4 determines that the battery swapping is abnormal, stops the current battery swapping, and performs vehicle maintenance. In more examples, it is also possible to determine whether the lock tongue of the battery pack lock body is recognized based on the collected image information of the battery pack lock body and the vehicle body. If the lock tongue is not recognized, the gap width is 0; otherwise, it is not 0.

[0088] Therefore, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Thus, the scope of the present invention should be understood and construed as covering all such other variations or modifications.

Claims

1. A battery pack unlocking and unlocking system for a battery swapping station, characterized in that, include: Unlocking / unlocking platforms; An unlocking / unlocking device is installed at the unlocking / unlocking platform and is used to unlock / unlock the battery pack of the battery swapping vehicle. A camera device is retractably mounted on the locking / unlocking platform and is positioned in the gap between the battery pack and the body of the battery swapping vehicle when the locking / unlocking platform is extended, so as to capture an image containing the locked state of the battery pack and the body. A cloud server, connected to the camera device and the unlocking platform, is used to compare the images captured by the camera device with pre-stored images to determine whether the locking status of the battery pack and the vehicle body is normal, and after determining that the locking status is normal, sends a normal unlocking and battery swapping instruction to the unlocking device; The cloud server is configured to determine that the locking state of the battery pack and the vehicle body is normal when the gap between the lock body of the battery pack and the vehicle body is within a preset range.

2. The battery pack unlocking and unlocking system for a battery swapping station according to claim 1, characterized in that, Also includes: The first lifting mechanism is connected to the unlocking platform and is used to drive the unlocking platform to move up and down, thereby adjusting the distance between the unlocking platform and the battery swapping vehicle.

3. The battery pack unlocking and unlocking system for a battery swapping station according to claim 2, characterized in that, The number of camera devices is multiple, and the multiple camera devices are respectively set at different positions on the locking and unlocking platform to capture images of the locked state from different angles.

4. The battery pack unlocking and unlocking system for a battery swapping station according to claim 3, characterized in that, Each of the camera devices includes: The camera unit is used to capture images; The second lifting mechanism has a floating end connected to the camera unit, which is used to drive the camera unit to retract into or extend out of the locking / unlocking platform.

5. A battery pack unlocking and unlocking control method for a battery swapping station, characterized in that, When applied to cloud servers, the control method includes the following steps: Confirm that the camera device is fully extended; After confirming that the camera device has been extended to the correct position, a command is sent to the camera device to capture an image showing the locked state of the battery pack and the vehicle body. The image captured by the camera device is compared with the pre-stored image to determine whether the locking state of the battery pack and the vehicle body is normal, and after determining that the locking state is normal, a normal locking / unlocking battery swapping command is sent to the locking / unlocking device. The step of comparing the image captured by the camera device with a pre-stored image to determine whether the locking state of the battery pack and the vehicle body is normal includes: The first distance L1 between the battery pack and the vehicle body in the image captured by the camera device is determined, and the second distance L2 between the battery pack and the vehicle body in the pre-stored image is determined. The locking state is determined to be normal when the first distance and the second distance satisfy the following formula; otherwise, the locking state is determined to be abnormal. L2-a≤L1≤L2+a, where a≥0 and a is a constant.

6. The battery pack unlocking and unlocking control method for a battery swapping station according to claim 5, characterized in that, The bottom of the vehicle body has a recess for accommodating a battery pack, and the step of determining whether the camera device is extended in place includes: Obtain the distance between the bottom of the groove closest to the unlocking / unlocking platform and the unlocking / unlocking platform; Obtain the extension height of the camera device from the unlocking / unlocking platform; Based on the distance between the bottom of the groove and the unlocking platform and the extension height of the camera device, it is determined whether the camera device has extended to the correct position.

7. The battery pack unlocking and unlocking control method for a battery swapping station according to claim 6, characterized in that, The step of determining whether the camera device has extended to its full position based on the distance between the bottom of the groove and the unlocking platform and the extension height of the camera device includes: Compare the distance between the bottom of the groove and the unlocking platform with the protrusion height of the camera device; The camera device is determined to be in position when its extension height is greater than or equal to the distance between the bottom of the recess and the unlocking platform.

Images