Visual processing method and system of battery swap station

Abstract

The application provides a visual processing method and system for a battery swap station. The method comprises a first view acquisition step, a second view acquisition step and an appearance judgment step, and optionally comprises a third view acquisition step. The first view acquisition step is to acquire a first view containing the overall appearance of the bottom of the battery pack of the vehicle. The second view acquisition step is to acquire a second view containing the locking state of the lock body of the battery pack of the vehicle. The third view acquisition step is to acquire a third view containing the water and electricity joint of the battery pack of the vehicle and the overall appearance of the top of the battery pack. The appearance judgment step is to judge whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view, or according to the first view, the second view and the third view. The application can simplify the detection method for different types of battery packs.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, in particular to a visual processing method and system of a battery swap station. BACKGROUND

[0002] The appearance of a battery pack is one of the detection items of the battery pack. Currently, the detection of the battery pack by the battery swap station mainly includes two items, one is whether the top and bottom surfaces of the battery pack are knocked during the operation of the battery swap vehicle, and whether there is foreign matter in the water and electricity connector of the top of the battery pack, and the other is whether the fitting state of the battery pack with the battery swap vehicle is normal during the unlocking and locking process. However, in the current battery swap process, although there are public technical documents that mention setting a visual sensor on the battery swap equipment to shoot the battery pack as a basis for judgment, in the battery swap station, the types of battery packs include new battery packs to be installed and old battery packs to be removed from the vehicle. The steps of each type of battery pack are different, and it is difficult to use the same set of fixed position visual detection system to detect the appearance of the two types of battery packs. SUMMARY

[0003] An object of the present application is to provide a visual processing method and system of a battery swap station capable of simplifying the detection method of different types of battery packs.

[0004] A further object of the present application is to avoid the situation that the battery cannot be charged or the antifreeze is leaked during the battery swap process.

[0005] Another further object of the present application is to improve the health degree of the appearance state of the battery.

[0006] In particular, the present application provides a visual processing method of a battery swap station, comprising a first view acquisition step, a second view acquisition step and an appearance judgment step, and selectively comprising a third view acquisition step;

[0007] The first view acquisition step is to acquire a first view containing the overall appearance of the bottom of the battery pack of the vehicle;

[0008] The second view acquisition step is to acquire a second view containing the locking state of the lock body of the battery pack of the vehicle;

[0009] The third view acquisition step is to acquire a third view containing the overall appearance of the water and electricity connector of the battery pack and the top of the battery pack of the vehicle;

[0010] The appearance judgment step is to judge whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view, or according to the first view, the second view and the third view.

[0011] Further, the following steps are further included: judging which one of a new battery pack and an old battery pack the battery pack is.

[0012] When the battery pack is determined as the old battery pack, the visual processing method sequentially performs the first view acquisition step, the third view acquisition step and the appearance judgment step, or sequentially performs the first view acquisition step, the second view acquisition step, the third view acquisition step and the appearance judgment step.

[0013] Further, when the battery pack is determined as the new battery pack, the visual processing method sequentially performs the third view acquisition step, the second view acquisition step, the first view acquisition step and the appearance judgment step.

[0014] In particular, the present application provides a visual processing system of a battery swap station, comprising:

[0015] A locking and unlocking platform is arranged for locking and unlocking the battery pack of the vehicle, and the locking and unlocking platform is provided with a first image acquisition unit and a second image acquisition unit, the first image acquisition unit is used to acquire a first view containing the overall appearance of the bottom of the battery pack of the vehicle, and the second image acquisition unit is used to acquire a second view containing the locking state of the lock body of the battery pack of the vehicle.

[0016] A battery lifting frame is arranged with a third image acquisition unit, and the third image acquisition unit is used to acquire a third view containing the water and electricity joint of the battery pack of the vehicle and the overall appearance of the top of the battery pack.

[0017] A cloud server is configured to determine whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view, or according to the first view, the second view and the third view.

[0018] Further, the second image acquisition unit is arranged at the edge of the locking and unlocking platform in a telescopic manner, and is arranged to be located in the gap between the battery pack and the vehicle body of the battery swap vehicle when it is extended out of the locking and unlocking platform to acquire the image of the locking state of the old battery pack and the vehicle, or the image of the locking state of the new battery pack and the vehicle.

[0019] Further, the second image acquisition unit comprises a telescopic mechanism and a camera unit connected to the free end of the telescopic mechanism.

[0020] Further, the second image acquisition unit is provided with a plurality of second image acquisition units, and the projections of the plurality of second image acquisition units in the vertical direction are located in the gap between the battery pack and the vehicle body of the battery swap vehicle.

[0021] Further, the battery lifting frame is arranged beside the unlocking platform, and the bottom of the battery lifting frame is provided with a horizontal transmission mechanism for transferring the battery pack from the unlocking platform to the battery lifting frame.

[0022] Further, the vehicle position adjusting device is arranged outside the unlocking platform and is arranged to be liftable for adjusting the spatial position of the vehicle.

[0023] Further, the vehicle position adjusting device comprises a gantry and a centering mechanism, the gantry is arranged outside the unlocking platform, the gantry is provided with a support for abutting against the bottom of the vehicle to lift the battery swap vehicle and a lifting mechanism connected to the support, and the centering mechanism is arranged outside the periphery of the gantry, the centering mechanism is provided with a planar displacement mechanism and a support plate driven by the planar displacement mechanism to move on a horizontal plane, the support plate is used for supporting the tire part of the battery swap vehicle to drive the battery swap vehicle to move to the position aligned with the first image acquisition unit.

[0024] The visual processing method of the battery swap station can directly judge the appearance of the battery pack and obtain the image information of the new battery pack or the old battery pack by using the same system without complicated adjustment.

[0025] Further, the visual processing method of the battery swap station first judges whether the battery pack is a new battery pack or an old battery pack, and then determines the execution order of the first view acquisition step, the third view acquisition step and the appearance judgment step, or the first view acquisition step, the second view acquisition step, the third view acquisition step and the appearance judgment step according to the type of the battery pack, so as to ensure that the installed battery pack meets the standard.

[0026] Further, the visual processing system of the battery swap station of the present application, the locking and unlocking platform is used for locking and unlocking the battery pack of the vehicle, the first image acquisition unit and the second image acquisition unit are arranged on the locking and unlocking platform, the first image acquisition unit is used for acquiring a first view containing the overall appearance of the bottom of the battery pack of the vehicle, and the second image acquisition unit is used for acquiring a second view containing the locking state of the lock body of the battery pack. The third image acquisition unit is arranged on the battery lifting frame, and the third image acquisition unit is used for acquiring a third view containing the water and electricity joint of the battery pack of the vehicle and the overall appearance of the top of the battery pack. The third image acquisition unit is arranged on the battery lifting frame, and the third image acquisition unit is used for acquiring a third view containing the water and electricity joint of the vehicle and the overall appearance of the top of the battery pack. Through the linkage of the locking and unlocking platform and the battery lifting frame, the old battery pack and the new battery pack can be operated, and whether it is a new battery pack or an old battery pack, the appearance data of the battery pack can be acquired through the first image acquisition unit arranged on the locking and unlocking platform and the second image unit arranged on the battery lifting frame, so that the appearance of the new battery pack and the old battery pack can be judged without adjusting the structure of the system.

[0027] Further, the visual processing system of the battery swap station of the present application, the second image acquisition unit is arranged on the edge of the locking and unlocking platform in a telescopic manner, and is arranged to be located in the gap between the battery pack and the vehicle body when the locking and unlocking platform is extended, so as to acquire the image of the locking state of the old battery pack and the vehicle, or the image of the locking state of the new battery pack and the vehicle. Compared with the traditional way of shooting the chassis and then judging the rotation angle of the lock body, this way of directly shooting the lock body to judge whether the battery pack is locked does not need to shoot a large number of pictures, and does not need to use a large number of cloud server resources to judge the rotation angle of the lock body, reduces the interaction between the cloud server and the camera, thereby reducing the communication delay between the cloud server and the camera device, greatly reducing the probability of the camera device being empty, and also reducing the shooting time.

[0028] Further, the visual processing system of the battery swap station of the present application, whether it is a new battery pack or an old battery pack, the top of the battery pack can be photographed by the battery lifting frame during replacement, so the second camera is arranged on the battery lifting frame in the present application, and the lifting action of the battery lifting frame is utilized, so that the camera can shoot the image of the top of the battery pack when the camera is lifted to a certain height on the battery lifting frame, thereby judging the appearance condition of the top of the battery pack.

[0029] The above and other objects, advantages and features of the present application will become more apparent from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0030] Some specific embodiments of the present application will be described in detail in the following with reference to the accompanying drawings, which are provided by way of illustration only and therefore are not intended to limit the present application in any manner. The same reference numbers in the drawings identify the same or similar components or parts throughout the various figures. Those skilled in the art will appreciate that the figures are not necessarily drawn to scale. In the drawings:

[0031] Figure 1 is a system topology diagram of the visual processing system of the battery swap station according to an embodiment of the present application;

[0032] Figure 2 is Figure 1 is a schematic top view of the locking and unlocking platform of the visual processing system of the battery swap station shown in

[0033] Figure 3 is Figure 1 is a first state schematic right side view of the locking and unlocking platform of the visual processing system of the battery swap station shown in

[0034] Figure 4 is Figure 1 is a second state schematic right side view of the locking and unlocking platform of the visual processing system of the battery swap station shown in

[0035] Figure 5 is Figure 1 is a schematic view of the first image acquisition machine on the locking and unlocking platform of the visual processing system of the battery swap station shown in

[0036] Figure 6 is Figure 1 is a schematic top view of the visual processing system of the battery swap station shown in

[0037] Figure 7 is Figure 1 is a schematic front view of the visual processing system of the battery swap station shown in

[0038] Figure 8 is Figure 1 is a schematic right side view of the cooperation between the locking and unlocking platform and the gantry of the visual processing system of the battery swap station shown in

[0039] Figure 9 is a method block diagram of the visual processing method of the battery swap station according to an embodiment of the present application;

[0040] in the drawings:

[0041] 1 - locking and unlocking platform;

[0042] 101 - flat plate;

[0043] 102 - platform lifting mechanism;

[0044] 2 - locking and unlocking device;

[0045] 20 - parking platform;

[0046] 3 - second image acquisition unit;

[0047] 31 - second camera unit;

[0048] 32 - camera telescopic mechanism;

[0049] 4 - cloud server;

[0050] 5 - control cabinet;

[0051] 51 - PLC;

[0052] 52 - station control platform;

[0053] 53 - NVR;

[0054] 6 - gantry;

[0055] 601 - centering mechanism;

[0056] 7 - battery storage rack;

[0057] 71 - new battery pack;

[0058] 701 - first battery storage rack;

[0059] 702 - second battery storage rack;

[0060] 10 - battery lifting frame;

[0061] 11 - third image acquisition unit;

[0062] 8 - battery swap vehicle;

[0063] 81 - old battery pack;

[0064] 9 - first image acquisition unit. DETAILED DESCRIPTION

[0065] Figure 1 is a system topology diagram of a visual processing system of a battery swap station according to an embodiment of the present application. As shown in the figure, the visual processing system comprises a first image acquisition unit 9, a second image acquisition unit 3, a third image acquisition unit 11, a first camera unit 31, a second camera unit 71, a camera telescopic mechanism 32, a battery lifting frame 10, a battery storage rack 7, a battery swap vehicle 8, a control cabinet 5, a station control platform 52, a PLC 51, a NVR 53, a cloud server 4, and a centering mechanism 601. Figure 1As shown, the visual processing system of the battery swap station includes a locking and unlocking platform 1, a battery lifting frame 10, and a cloud server 4. The locking and unlocking platform 1 is used to lock and unlock the battery pack of the vehicle, and the locking and unlocking platform 1 is provided with a first image acquisition unit 9 and a second image acquisition unit 3. The first image acquisition unit 9 is used to obtain a first view containing the overall appearance of the bottom of the battery pack of the vehicle, and the second image acquisition unit 3 is used to obtain a second view containing the locking state of the lock body of the battery pack. The battery lifting frame 10 is provided with a third image acquisition unit 11 on the battery lifting frame 10, and the third image acquisition unit 11 is used to obtain a third view containing the overall appearance of the top of the battery pack of the vehicle and the water and electricity joint of the battery pack. The cloud server 4 is configured to determine whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view, or according to the first view, the second view, and the third view. In the embodiment, the old battery pack 81 and the new battery pack 71 can be operated through the linkage of the locking and unlocking platform 1 and the battery lifting frame 10. Whether it is a new battery pack 71 or an old battery pack 81, the appearance data of the battery pack can be obtained through the first image acquisition unit 9 arranged on the locking and unlocking platform 1 and the second image unit arranged on the battery lifting frame 10, without the need to adjust the structure of the system to realize the judgment of the appearance of the new battery pack 71 and the old battery pack 81.

[0066] Figure 2 is Figure 1 A schematic top view of the locking and unlocking platform 1 of the visual processing system of the battery swap station shown. Figure 3 is Figure 1 A schematic right side view of the first state of the locking and unlocking platform 1 of the visual processing system of the battery swap station shown. Figure 4 is Figure 1 A schematic right side view of the second state of the locking and unlocking platform 1 of the visual processing system of the battery swap station shown. Figure 5 is Figure 1 A schematic view of the state of the first image acquisition unit on the locking and unlocking platform 1 of the visual processing system of the battery swap station when taking a picture. According to Figure 2 to Figure 5 According to the embodiment shown, the locking and unlocking platform 1 includes a flat plate 101 and a platform lifting mechanism 102. The bottom of the flat plate 101 is connected to the platform lifting mechanism 102, and the platform lifting mechanism 102 can drive the locking and unlocking platform 1 to move up and down so that the locking and unlocking platform 1 can lock and unlock. In some examples, the shape and size of the locking and unlocking platform 1 are the same as or similar to those of the battery pack, so that the first image acquisition unit 9 is arranged at the edge of the locking and unlocking platform 1. In some examples, the periphery of the flat plate 101 is provided with a locking and unlocking device 2, which is used to operate the lock. The locking and unlocking device 2 is a prior art, for example, the structure form in the invention patent CN202021349546.5, which will not be described here. The flat plate 101 is provided with a notch at each corner for mounting a camera, and four first cameras are arranged at the notches at the four corners of the flat plate 101.

[0067] According to an embodiment of the present invention, the above-mentioned unlocking platform 1 is provided with a second image acquisition unit 3. The second image acquisition unit 3 includes a second camera unit 31 and a camera telescopic mechanism 32. In this embodiment, the fixed end of the camera telescopic mechanism 32 is called the fixed end, and the movable end of the camera telescopic mechanism 32 is called the movable end. The second camera unit 31 is located at the movable end of the camera telescopic mechanism 32. The second image acquisition unit 3 is vertically arranged, and the projection of the second image acquisition unit 3 in the vertical direction is located in the gap between the battery pack and the body of the battery swapping vehicle 8, such as... Figure 3 to Figure 5 As shown, the second camera unit 31 can enter the gap between the vehicle body and the battery pack as the free end of the camera telescopic mechanism 32 moves, thereby acquiring a second view including the locked state of the vehicle's battery pack lock body. In some examples, the camera telescopic mechanism 32 is a cylinder or a hydraulic cylinder. In some examples, the fixed end of the camera mechanism is fixedly connected to the unlocking platform 1 component below the plate 101, and the free end of the camera telescopic mechanism 32 passes through the notch of the plate 101, so that the second camera unit 31 located at the free end of the camera telescopic mechanism 32 can extend out of the plate 101 into the gap between the vehicle body and the battery pack to acquire images of the locked state of the old battery pack 81 and the vehicle, or images of the locked state of the new battery pack 71 and the vehicle. In some examples, there are four second image acquisition units 3, and the vertical projections of the four second image acquisition units 3 are all located within the gap between the battery pack and the vehicle body of the battery swapping vehicle 8. In some examples, the vertical projections of the four second image acquisition units 3 are all located within the gap between the four corners of the battery pack and the vehicle body of the battery swapping vehicle 8.

[0068] Figure 6 yes Figure 1 The diagram shows a schematic right view of the locking / unlocking platform 1 and gantry 6 working together in the visual processing system of the battery swapping station. According to one embodiment of the invention, the locking / unlocking platform 1 is provided with a first image acquisition unit 9. The first image acquisition unit 9 includes a first camera unit, which is vertically fixed at the center or around the center of the plate 101 to obtain a first view containing the entire bottom of the vehicle's battery pack. In some examples, the first image acquisition unit 9 also includes a bracket, which connects both the first camera unit and the plate 101. In some examples, the plate 101 has a mounting hole at its center, the bracket is frame-shaped, the first camera unit is connected to the inner edge of the bracket, the first camera unit is placed in the mounting hole, and the bracket is fixedly connected to the plate 101, so that the camera part of the first camera unit can be flush with the plate 101. In some examples, such as... Figure 6 As shown, when there is a height difference between the unlocking platform 1 and the lifting mechanism, the first camera captures an image of the bottom of the battery pack.

[0069] Figure 7 is Figure 1 is a schematic overall plan view of the visual processing system of the battery swap station. Figure 8 is Figure 1 is a schematic overall front view of the visual processing system of the battery swap station. According to Figure 7 and Figure 8 According to the embodiments shown in FIGS. 7 and 8, the battery lifting frame 10 is the battery lifting mechanism disclosed in the patent application with publication number CN216805180U. It can be understood that the battery lifting frame 10 is arranged in cooperation with the battery storage rack 7. The battery storage rack 7 includes a first battery rack 701 and a second battery rack 702 arranged at intervals. Both the first battery rack 701 and the second battery rack 702 are disclosed in the patent application with publication number CN216805180U, and will not be described here. In one example, the bottom of the battery lifting frame 10 is provided with a third camera unit, which is arranged downward. When the battery lifting frame 10 is raised to a set position, the third camera unit can capture a full-view image containing the top of the battery pack.

[0070] According to one embodiment of the present application, the first camera unit, the second camera unit 31 and the third camera unit all adopt a camera, which at least includes a lens, a photosensitive element, a processor and a shell wrapping the photosensitive element and the processor, and the lens is connected to the shell. In other embodiments, the camera unit can also adopt a finished digital camera or a mobile phone or other components that can take pictures and transmit images. In some examples, the camera angles of the first camera unit and the third camera unit are 120°, and the camera angle of the second camera unit 31 is 180°, to meet the shooting requirements of the camera unit. In addition, considering the working environment of the battery swap station, the cameras selected for the first camera unit, the second camera unit 31 and the third camera unit all have waterproof and dustproof functions.

[0071] According to an embodiment of the present application, the cloud server 4 can include a processor, a communication bus, a user interface, a network interface and a memory. The communication bus is used to realize the connection communication between components, and is also connected with the plurality of camera units, the unlocking and locking platform 1 and the battery lifting frame 10. The user interface can include a display screen (Display) and an input unit such as a keyboard (Keyboard). The optional user interface can also include a standard wired interface and a wireless interface. The network interface can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory can be a high-speed RAM memory, or a stable memory such as a disk memory. The memory can also be an independent storage device from the aforementioned processor. In some examples, the cloud server 4 sends control signals to the unlocking and locking platform 1, the unlocking and locking device 2 and the camera device. In order to enable these control signals to drive the corresponding components, a control cabinet 5 is also provided in the embodiment. The control instructions from the cloud server 4 are transmitted to the corresponding components through the processing of the control cabinet 5. In some examples, the control cabinet 5 is provided with a PLC 51 (Programmable Logic Controller, programmable logic controller), a station control platform 52 and an NVR 53 (Network Video Recorder, network video recorder). The PLC 51 receives the signal that the battery swap vehicle 88 is in place and sends an action instruction. The station control platform 52 receives and stores the photos taken by the camera, and uploads the photos to the cloud server 44. The NVR 53 is connected with each camera through a POE (Power Over Ethernet, active Ethernet) network cable. It can be understood that, in the physical layer, the PLC 51 is connected with the unlocking and locking platform 1, and the station control platform 52 is connected with the NVR 53.

[0072] According to an embodiment of the present application, the visual processing system of the battery swap station further includes a parking platform 20 and a vehicle pose adjustment device. The vehicle pose adjustment device is arranged at the parking platform 20 and is arranged to be liftable for adjusting the spatial position of the vehicle. The above-mentioned battery storage rack 7 is arranged at one side of the parking platform 20, and the above-mentioned unlocking and locking platform 1 is located in the vehicle pose adjustment device. In some examples, the parking platform 20 is provided with slopes from both sides to the middle, and the slopes are used to guide the vehicle to drive onto the gantry 6 in the middle of the parking platform 20.

[0073] According to an embodiment of the present application, the vehicle pose adjusting device comprises a vehicle lifting mechanism and a centering mechanism 601. The vehicle lifting mechanism comprises lifting plates and lifting lifting mechanisms, wherein the two lifting plates are connected to the lifting mechanism, so that the lifting lifting mechanisms can drive the lifting plates to reciprocate up and down. The two lifting plates are arranged in parallel, and the two lifting plates are respectively used to abut against the two side edges of the vehicle chassis to lift the vehicle. The unlocking platform 1 is arranged between the two lifting plates. It can be understood that the lifting mechanism and the unlocking platform 1 can cooperate to meet the working needs of the battery swap station. The centering mechanism 601 is arranged around the vehicle lifting mechanism. The centering mechanism 601 is provided with a planar displacement mechanism and a support plate driven by the planar displacement mechanism to move on a horizontal plane. The support plate is used to support the tire part of the battery swap vehicle 8 to drive the battery swap vehicle 8 to move to the position aligned with the first image acquisition unit 9. It can be understood that the centering mechanism 601 can adjust the position of the battery swap vehicle 8 on the plane, and the vehicle lifting mechanism can adjust the position of the battery swap vehicle 8 in the longitudinal direction.

[0074] Figure 9 is a visual processing method step diagram of the battery swap station according to an embodiment of the present application. As shown in Figure 9 , the visual processing method of the battery swap station comprises a first view acquisition step, a second view acquisition step and an appearance judgment step, and optionally comprises a third view acquisition step;

[0075] The first view acquisition step is: step S100, acquiring a first view containing the overall appearance of the bottom of the battery pack of the vehicle.

[0076] The second view acquisition step is: step S200, acquiring a second view containing the locking state of the lock body of the battery pack of the vehicle.

[0077] The third view acquisition step is: step S300, acquiring a third view containing the water and electricity connector of the battery pack of the vehicle and the overall appearance of the top of the battery pack.

[0078] The appearance judgment step is: step S400, judging whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view, or according to the first view, the second view and the third view.

[0079] The battery pack visual processing method of the battery swap station of the present embodiment acquires a first view containing the overall appearance of the bottom of the battery pack of the vehicle, a second view containing the locking state of the lock body of the battery pack of the vehicle, and a third view containing the water and electricity connector of the battery pack of the vehicle and the overall appearance of the top of the battery pack. Then, whether the appearance of the battery pack of the vehicle is normal is judged according to the first view and the third view, or according to the first view, the second view and the third view. The appearance of the battery pack can be directly judged, and the image information of the new battery pack 71 or the old battery pack 81 can be acquired using the same system without complicated adjustment.

[0080] According to an embodiment of the present application, before performing the above-mentioned steps S100, S200, S300 and S400, the method further comprises a step S500 of determining whether the battery pack is a new battery pack 71 or an old battery pack 81. It can be understood that the bottom of the vehicle body of the battery swap vehicle 8 has a recess for accommodating the battery pack, the battery pack is generally cuboid in shape, and the recess is also cuboid in shape. The battery pack is connected with the vehicle body through a lock. When swapping the battery, the lock needs to be locked or unlocked by the lock / unlock platform 1. Generally, when swapping the battery, the battery pack to be unloaded from the vehicle or the battery pack that has been unloaded is referred to as an old battery pack 81, and the battery pack stored in the battery swap station is referred to as a new battery pack 71.

[0081] According to an embodiment of the present application, after performing the above-mentioned step S500, when it is determined that the battery pack is an old battery pack 81, the visual processing method sequentially performs the first view acquisition step, the third view acquisition step and the appearance determination step, or sequentially performs the first view acquisition step, the second view acquisition step, the third view acquisition step and the appearance determination step. In some embodiments, when it is determined that the battery pack is a new battery pack 71, the visual processing method sequentially performs the third view acquisition step, the second view acquisition step, the first view acquisition step and the appearance determination step.

[0082] According to an embodiment of the present application, when the visual processing system of the battery swap station performs the first view acquisition step and the second view acquisition step, at least the first image acquisition unit 9 on the lock / unlock platform 1 is maintained in an operating state when the lock / unlock platform 1 operates the battery pack, and at least the second image acquisition unit 3 on the battery lifting frame 10 is maintained in an operating state when the battery pack is located at the bottom of the battery lifting frame 10. At least according to the images acquired by the first image acquisition unit 9 and the second image acquisition unit 3, it is determined whether the appearance of the battery pack is normal. After it is determined that the appearance of the current battery pack is normal, a battery swap end instruction of the current battery pack is issued.

[0083] According to one embodiment of the present application, the comparison order of the first image acquisition unit 9 and the second image acquisition unit 3 with the pre-stored image needs to be set first. The first image of the battery pack collected by the first image acquisition unit is compared with the pre-stored image to determine whether the first area of the battery pack is abnormal. When it is determined that the first area of the battery pack is abnormal, the battery replacement stop instruction of the current battery pack is issued, and the abnormal information of the current battery pack is issued. If the current battery pack continues the battery replacement step, the second image of the battery pack collected by the second image acquisition unit is compared with the pre-stored image to determine whether the second area of the battery pack is abnormal. When it is determined that the second area of the battery pack is abnormal, the battery replacement stop instruction of the current battery pack is issued, and the abnormal information of the current battery pack is issued. When it is determined that the second area of the battery pack is normal, it is determined that the appearance of the current battery pack is normal. It can be understood that the first image acquisition unit, the second image acquisition unit and the third image acquisition unit are all the substitutes obtained by the first image acquisition unit 9, the second image acquisition unit 3 and the third image acquisition unit 11 according to the sorting result after sorting. It can also be understood that the pre-stored image is the image of the battery pack when it is factory-out.

[0084] In some examples, at least when the battery pack is operated by the battery replacement platform 1, the first image acquisition unit on the battery replacement platform 1 is maintained, and the third image acquisition unit 11 on the battery replacement platform 1 is also maintained in the working state. The third image acquisition unit 11 also participates in the sorting of the first image acquisition unit 9 and the second image acquisition unit 3. In this embodiment, the comparison order of the first image acquisition unit 9, the second image acquisition unit 3 and the third image acquisition unit 11 with the pre-stored image needs to be set. Then the first image of the battery pack collected by the first image acquisition unit is compared with the pre-stored image to determine whether the first area of the battery pack is abnormal. When it is determined that the first area of the battery pack is abnormal, the battery replacement stop instruction of the current battery pack is issued, and the abnormal information of the current battery pack is issued. If the current battery pack continues the battery replacement step, the second image of the battery pack collected by the second image acquisition unit is compared with the pre-stored image to determine whether the second area of the battery pack is abnormal. When it is determined that the second area of the battery pack is abnormal, the battery replacement stop instruction of the current battery pack is issued, and the abnormal information of the current battery pack is issued. If the current battery pack continues the battery replacement step, the third image of the battery pack collected by the third image acquisition unit is compared with the pre-stored image to determine whether the third area of the battery pack is abnormal. When it is determined that the third area of the battery pack is normal, it is determined that the appearance of the current battery pack is normal.

[0085] In a specific use scenario, the disassembly of the battery replacement vehicle 8 by the battery replacement station includes the following steps:

[0086] Step S101, the battery replacement vehicle 8 drives to the gantry 6 through the parking platform 20, the gantry 6 lifts the vehicle to a specified height, the PLC 51 analyzes the lifting height of the battery replacement vehicle 8 by recognizing the motor encoder of the vehicle lifting mechanism of the gantry 6, when the battery replacement vehicle 8 is lifted to the specified height H, the first camera takes a photo of the bottom of the battery pack to be replaced, and uploads the photo to the cloud server 4 through the station control platform 52, judges whether the bottom is normal, if the cloud server 4 judges that it is not normal, the current battery replacement operation is stopped, and the owner of the battery pack to be replaced is informed of the abnormal information of the battery pack to be replaced in time, so as to avoid the battery pack to be replaced flowing into the battery replacement station. If the state of the battery pack to be replaced is normal, the next stage of battery replacement is continued.

[0087] Step S301, the battery pack to be replaced is moved to the bottom of the battery lifting frame 10 through the horizontal transmission mechanism, the PLC 51 is calibrated at the specified position at the bottom of the battery lifting frame 10, after the PLC 51 recognizes that the battery pack to be replaced reaches the specified position, the third camera takes a photo of the top of the battery pack to be replaced and the health state of the water and electricity connector, and uploads the photo to the cloud server 4 through the station control platform 52. If there is damage or scratch on the upper surface of the battery pack, or there is obvious foreign matter in the water and electricity connector, the current battery replacement is stopped, and the owner is informed of the abnormal state, if the battery replacement station has maintenance conditions, the owner is asked whether to repair on site, if the owner chooses not to repair on site, the battery pack to be replaced with problems can be reloaded into the battery replacement vehicle 8 and solved at the nearest service station. If the state of the upper surface of the battery pack and the water and electricity connector is normal, the battery pack to be replaced is normally moved into the battery storage rack 7.

[0088] In a specific use scenario, between the above steps S101 and S301, it also includes:

[0089] Step S201, the unlocking platform 1 rises, the unlocking sleeve and the second camera are extended at the same time, the PLC 51 recognizes that the unlocking sleeve and the second camera cylinder are extended to the position, and then feeds back the information to the station control platform 52, the station control platform 52 issues a shooting instruction to the second camera through the NRV, recognizes the adhesion state of the battery pack to be replaced and the battery replacement vehicle 8 before unlocking, and uploads the adhesion state information to the cloud server 4, if the cloud server 4 judges that the adhesion state of the battery pack to be replaced and the battery replacement vehicle 8 is not good, the battery replacement station can inform the owner in time to go to the nearest service station or repair on site at the battery replacement station, so as to avoid the battery pack falling off during the unlocking process and affecting the operation efficiency of the battery replacement station. If the cloud server 4 judges that the adhesion state of the battery pack to be replaced and the battery replacement vehicle 8 is normal, the unlocking and battery replacement step is normally carried out, and the second camera and the unlocking platform 1 are lowered to the initial position at the same time.

[0090] In one specific use scenario, the step of the battery swap station installing a new battery pack 71 to the battery swap vehicle 8 is opposite to the step of the battery swap station dismounting the battery pack to be swapped from the battery swap vehicle 8, that is, the step S301, the step S201 and the step S101 are sequentially executed. In the step S101, if the determination is normal, the gantry 6 normally falls to the initial state, the whole battery swap is completed, and the battery swap vehicle 8 drives out of the battery swap station.

[0091] It can be seen that in the embodiment, when the image of the battery pack collected by one image collection unit is compared with the pre-stored image to determine that the appearance of the battery pack photographed by the current image collection unit is normal, the next image collection unit performs image collection and comparison again, otherwise, the current battery swap step is suspended, and the current battery pack abnormal information is issued, so as to ensure that the installed battery pack meets the standard.

[0092] According to one embodiment of the present application, when the first camera photographs the image of the bottom of the battery pack, the following steps are included:

[0093] S21, acquiring the height difference between the unlocking platform 1 and the lifting mechanism;

[0094] S22, determining whether to issue a photographing signal to the camera according to the height difference between the unlocking platform 1 and the lifting mechanism;

[0095] S23, if the photographing signal is issued to the camera, the camera starts photographing after receiving the photographing signal.

[0096] The step S22 includes the following steps:

[0097] S221, setting the range of the height difference; specifically, the height difference satisfies the following formula: 1 / u+1 / v=1 / f, wherein u is the distance between the optical center of the lens and the top surface of the gantry 6, v is the distance between the optical center of the lens and the photosensitive element, and f is the focal length of the lens.

[0098] S222, determining whether the height difference between the unlocking platform 1 and the lifting mechanism is located in the range of the height difference, and issuing the photographing signal if yes.

[0099] At this point, those skilled in the art should recognize that although the present application has been fully shown and described with reference to the multiple exemplary embodiments, many other variants or modifications conforming to the principles of the present application can be directly determined or deduced from the disclosure of the present application without departing from the spirit and scope of the present application. Therefore, the scope of the present application should be understood and recognized as covering all these other variants or modifications.

Claims

1. A visual processing method of a battery swap station, characterized in that, The method comprises a first view acquisition step, a second view acquisition step, and an appearance judgment step, and optionally comprises a third view acquisition step; The first view acquisition step is to acquire a first view containing the overall appearance of the bottom of the battery pack of the vehicle; The second view acquisition step is to acquire a second view containing the locking state of the lock body of the battery pack of the vehicle; The third view acquisition step is to acquire a third view containing the water and electricity joint of the battery pack of the vehicle and the overall appearance of the top of the battery pack; The appearance judgment step is to judge whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view, or according to the first view, the second view, and the third view; Further comprising: judging which one of a new battery pack and an old battery pack the battery pack is; When it is determined that the battery pack is the old battery pack, the visual processing method sequentially executes the first view acquisition step, the third view acquisition step, and the appearance judgment step, or sequentially executes the first view acquisition step, the second view acquisition step, the third view acquisition step, and the appearance judgment step; When it is determined that the battery pack is the new battery pack, the visual processing method sequentially executes the third view acquisition step, the second view acquisition step, the first view acquisition step, and the appearance judgment step.

2. A visual processing system of a battery swap station, characterized in that, Comprise: A locking and unlocking platform for locking and unlocking the battery pack of the vehicle, the locking and unlocking platform is provided with a first image acquisition unit and a second image acquisition unit, the first image acquisition unit is used to acquire a first view containing the overall appearance of the bottom of the battery pack of the vehicle, and the second image acquisition unit is used to acquire a second view containing the locking state of the lock body of the battery pack of the vehicle; A battery lifting frame, the battery lifting frame is provided with a third image acquisition unit, the third image acquisition unit is used to acquire a third view containing the water and electricity joint of the battery pack of the vehicle and the overall appearance of the top of the battery pack; A cloud server, the cloud server is configured to judge whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view, or according to the first view, the second view, and the third view; Further judge which one of a new battery pack and an old battery pack the battery pack is; And, when it is determined that the battery pack is the old battery pack, the cloud server judges whether the appearance of the battery pack of the vehicle is normal according to the first view and the third view sequentially acquired by the first image acquisition unit and the third image acquisition unit, or according to the first view, the second view, and the third view sequentially acquired by the first image acquisition unit, the second image acquisition unit, and the third image acquisition unit; When it is determined that the battery pack is the new battery pack, the cloud server judges whether the appearance of the battery pack of the vehicle is normal according to the third view, the second view, and the first view sequentially acquired by the third image acquisition unit, the second image acquisition unit, and the first image acquisition unit.

3. The visual processing system of the battery swap station according to claim 2, characterized in that, The second image acquisition unit is telescopically arranged at the edge of the locking / unlocking platform and is arranged to be located in the gap between the battery pack and the vehicle body when the locking / unlocking platform is extended to acquire images of the locking state of the old battery pack and the vehicle or the locking state of the new battery pack and the vehicle.

4. The visual processing system of the battery swap station according to claim 3, characterized in that, The second image acquisition unit comprises a telescopic mechanism and a camera unit connected to the free end of the telescopic mechanism.

5. The visual processing system of the battery swap station according to claim 3, characterized in that, The second image acquisition unit is provided in plurality, and the projections of the plurality of second image acquisition units in the vertical direction are all located in the gap between the battery pack and the vehicle body of the battery swap vehicle.

6. The visual processing system of the battery swap station according to claim 2, characterized in that, The battery lifting frame is arranged beside the locking / unlocking platform, and the bottom of the battery lifting frame is provided with a horizontal transmission mechanism for transferring the battery pack from the locking / unlocking platform to the battery lifting frame.

7. The visual processing system of the battery swap station according to claim 2, characterized in that, Further comprising a vehicle pose adjusting device, which is arranged at the periphery of the locking / unlocking platform and is arranged to be liftable for adjusting the spatial position of the vehicle.

8. The visual processing system of the battery swap station according to claim 7, characterized in that, The vehicle pose adjusting device comprises a gantry and a centering mechanism, the gantry surrounds the locking / unlocking platform, the gantry is provided with a support for abutting against the bottom of the vehicle to lift the vehicle and a lifting mechanism connected to the support; the centering mechanism surrounds the periphery of the gantry, the centering mechanism is provided with a planar displacement mechanism and a support plate driven by the planar displacement mechanism to move on the horizontal plane, the support plate is used to support the tire part of the vehicle to drive the vehicle to move to the position aligned with the first image acquisition unit.

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