Battery detection device, battery detection method and system

Abstract

The present application provides a battery detection device, a battery detection method and a system. It relates to the field of battery detection. The battery detection device includes a first controller, a first image acquisition device and a battery placement platform for placing the battery to be detected; the first image acquisition device is installed at a preset position on the battery transport vehicle to acquire a three-dimensional image of the battery to be detected; the first controller is configured to determine the first image acquisition device corresponding to the target battery placement area as the target image acquisition device according to the target battery placement area in the battery swapping information, and control the target image acquisition device according to the movement control signal of the battery transport vehicle, so that the target image acquisition device acquires the three-dimensional image of the battery to be detected while the battery transport vehicle is moving. Moreover, the first controller is configured to analyze the three-dimensional image of the battery to be detected to obtain a battery detection result, and the battery detection result includes the status information of the battery to be detected. The present application can improve the safety of the battery during the battery swapping process.

Description

Technical Field

[0001] This application relates to the field of battery detection, and particularly to a battery detection device, a battery detection method, and a system. Background Art

[0002] New energy vehicles such as electric vehicles are usually equipped with a power battery system, and the battery pack in the power battery system is the main power supply device. Since the energy of the battery pack is limited, service stations and systems for electric vehicles have also developed to facilitate the replacement of the vehicle's battery pack during long-distance driving.

[0003] During the replacement process of the battery pack, problems with the battery pack such as whether the position of the battery pack is correct and whether there are defects in the battery pack itself will affect the safety of the vehicle during subsequent driving. However, most of the related technologies perform corresponding actions of disassembling or installing the battery pack when the trolley transporting the battery pack moves into place, without detecting the battery pack itself.

[0004] It should be noted that the above statements are only used to provide background technical information related to this application, and do not necessarily constitute prior art. Summary of the Invention

[0005] In view of this, the purpose of this application is to propose a battery detection device, a battery detection method, and a system, which can specifically solve the problem that the battery itself is not detected during the existing battery replacement process.

[0006] Based on the above purpose, in the first aspect, this application proposes a battery detection device. The battery detection device includes a battery transport vehicle, and the battery transport vehicle includes a first controller, a first image acquisition device, and a battery placement platform for placing the battery to be tested. The battery placement platform includes at least one battery placement area, and each battery placement area is correspondingly provided with a first image acquisition device. The first image acquisition device is installed at a preset position of the battery transport vehicle to acquire a three-dimensional image of the battery to be tested. The first controller is used to obtain battery replacement information, determine the first image acquisition device corresponding to the target battery placement area as the target image acquisition device according to the target battery placement area in the battery replacement information, and control the target image acquisition device according to the movement control signal of the battery transport vehicle, so that the target image acquisition device acquires the three-dimensional image of the battery to be tested while the battery transport vehicle moves. In addition, the first controller is used to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested.

[0007] In the above embodiments, during the process of installing the battery on the battery placement platform into the vehicle or removing the battery on the vehicle to the battery placement platform, the first image acquisition device corresponding to the battery to be measured can be correctly selected as the target image acquisition device, and the three-dimensional image of the battery to be measured can be acquired through the target image acquisition device. The battery detection device includes a battery transport vehicle, and the motion control signal of the battery transport vehicle is obtained through the first controller, and the target image acquisition device is controlled to acquire the three-dimensional image of the battery to be measured while the battery transport vehicle is moving, thereby saving the rhythm of image acquisition. At the same time, the three-dimensional image is analyzed by the first controller to obtain a battery detection result including the status information of the battery to be measured, and the battery to be measured can be detected during the battery swapping process, improving the safety of the battery during the battery swapping process.

[0008] In some embodiments, at least three ranging devices are provided on the battery placement platform; the at least three ranging devices are used to obtain the distance information between the battery to be measured and the battery placement platform; the first controller is used to detect a first inclination angle between the battery to be measured and the battery placement platform according to the distance information; and, the first controller is used to obtain a second inclination angle between the battery to be measured and the battery placement platform according to the three-dimensional image of the battery to be measured, and adjust the position of the battery transport vehicle according to the first inclination angle and the second inclination angle.

[0009] In this way, the accuracy of the inclination angle data can be improved through two different inclination angle calculation methods, and then the position of the battery transport vehicle can be adjusted according to the first inclination angle and the second inclination angle, so that the battery transport vehicle can accurately remove the discharged battery from the vehicle or install the fully charged battery on the vehicle, reducing battery bumps.

[0010] In some embodiments, four ranging devices are provided on the battery placement platform; the four ranging devices are respectively installed at the four corners of the battery placement platform.

[0011] In this embodiment, the four ranging devices are respectively installed at the four corners of the battery placement platform, which can realize the symmetry of the spatial positions of the four ranging devices, make the acquired distance information more accurate, and further improve the calculation accuracy of the first inclination angle.

[0012] In a second aspect, a battery detection device is further provided. The battery detection device includes a battery palletizer, which includes a main body bracket, a loading platform, a second controller, and a second image acquisition device. The second image acquisition device is installed at the top of the main body bracket. The loading platform is used to carry the battery to be tested. The second image acquisition device is used to acquire the three-dimensional image of the battery to be tested on the loading platform. The second controller is used to obtain the fork control signal of the battery palletizer, and based on the fork control signal, control the image information acquisition action of the second image acquisition device to be synchronized with the movement of the fork of the battery palletizer. In addition, the second controller is used to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested.

[0013] In the above embodiment, the three-dimensional image of the battery to be tested is acquired by the second image acquisition device. The battery detection device includes a battery palletizer. The fork control signal of the battery palletizer is obtained by the second controller, and the image acquisition device is controlled to acquire the three-dimensional image of the battery to be tested while the fork of the battery palletizer moves, thereby saving the image acquisition cycle. At the same time, the three-dimensional image is analyzed by the second controller to obtain a battery detection result including the status information of the battery to be tested, so that the battery to be tested can be detected during the battery swapping process.

[0014] In a third aspect, a battery detection method is further provided. The method includes: obtaining battery swapping information, and determining the first image acquisition device corresponding to the target battery placement area in the battery swapping information as the target image acquisition device according to the target battery placement area; obtaining the motion control signal of the battery transport vehicle, and based on the motion signal, controlling the target image acquisition device of the battery transport vehicle so that the target image acquisition device acquires the three-dimensional image of the battery to be tested while the battery transport vehicle moves; analyzing the three-dimensional image of the battery to be tested to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested.

[0015] In this embodiment, the motion control signal of the battery transport vehicle is obtained, and the target image acquisition device is controlled to acquire the three-dimensional image of the battery to be tested while the battery transport vehicle moves, thereby saving the image acquisition cycle. At the same time, the three-dimensional image is analyzed by the first controller to obtain a battery detection result including the status information of the battery to be tested, so that the battery to be tested can be detected during the battery swapping process.

[0016] In some embodiments, the three-dimensional image of the battery to be tested is analyzed to obtain a battery detection result, including: extracting features from the three-dimensional image of the battery to be tested to obtain battery feature information; based on the battery feature information, detecting whether there is an abnormality on the surface of the battery to be tested to obtain abnormality information indicating that the battery is in an abnormal state, where the abnormality information includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery.

[0017] In this way, it is possible to identify whether there are foreign objects such as stones, bolts, and nuts on the surface of the battery or whether there are defects such as damage and pits on the surface of the battery during the battery swapping process.

[0018] In some embodiments, analyzing the three-dimensional image of the battery to be tested to obtain a battery detection result further includes: obtaining the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle; based on the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle, determining the current position of the target image acquisition device; based on the current position of the target image acquisition device and the three-dimensional image of the battery to be tested, determining the position of the battery to be tested.

[0019] In this embodiment, the position information of the battery to be tested is obtained through the position relationship among the current position of the battery transport vehicle, the relative position relationship between the first image acquisition device and the battery transport vehicle, and the battery to be tested in the three-dimensional image, which can improve the calculation accuracy of the position of the battery to be tested, so as to guide the battery transport vehicle to accurately move below the battery to be tested.

[0020] In some embodiments, the method further includes: obtaining the distance information between the battery to be tested and the battery placement platform of the battery transport vehicle; detecting the first inclination angle between the battery to be tested and the battery placement platform according to the distance information; obtaining the second inclination angle between the battery to be tested and the battery placement platform according to the three-dimensional image of the battery to be tested, and adjusting the position of the battery transport vehicle according to the first inclination angle and the second inclination angle.

[0021] In the above embodiment, the accuracy of the inclination angle data is improved by two different inclination angle calculation methods of the first inclination angle and the second inclination angle, and then the position of the battery transport vehicle can be adjusted according to the first inclination angle and the second inclination angle, so that the battery transport vehicle can accurately remove the depleted battery from the vehicle or install the fully charged battery on the vehicle, reducing battery collision.

[0022] In some embodiments, adjusting the position of the battery transport vehicle according to the first inclination angle and the second inclination angle includes: comparing and fitting the first inclination angle and the second inclination angle to obtain a target inclination angle; obtaining a battery transport vehicle position adjustment signal when the target inclination angle is greater than a preset inclination angle; and adjusting the position of the battery transport vehicle according to the battery transport vehicle position adjustment signal.

[0023] In the above embodiments, by comparing and fitting the first inclination angle and the second inclination angle to obtain a target inclination angle, the calculation accuracy of the inclination angle can be improved. Then, by comparing the target inclination angle with the preset inclination angle to determine whether to adjust the position of the battery transport vehicle, the calculation accuracy of the battery transport vehicle position adjustment signal can be improved, thereby improving the battery safety during the battery swapping process.

[0024] Fourthly, a battery detection method is also provided. The method includes: obtaining a fork control signal of a battery palletizer, controlling the image information acquisition action of a second image acquisition device of the battery palletizer to be synchronized with the movement of the fork of the battery palletizer based on the fork control signal; obtaining a three-dimensional image of a battery to be detected collected by the second image acquisition device, extracting features from the three-dimensional image of the battery to be detected to obtain battery feature information; and detecting whether there is an abnormality on the surface of the battery to be detected based on the battery feature information to obtain abnormality information indicating that the battery is in an abnormal state, where the abnormality information includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery.

[0025] Fifthly, a battery detection system is also provided. The system includes the battery detection device according to any one of the first aspect and the second aspect.

[0026] The above description is only an overview of the technical solutions of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In the drawings, unless otherwise specified, the same reference numerals throughout the drawings denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed according to the present application and should not be regarded as limiting the scope of the present application. And in all the drawings, the same reference numerals are used to denote the same components.

[0028] Figure 1 It is a schematic structural diagram of the battery detection device shown in the embodiments of the present application;

[0029] Figure 2Schematic diagram of the battery placement platform shown in the embodiments of the present application;

[0030] Figure 3 Schematic diagram of the installation position of the ranging device on the battery placement platform shown in the embodiments of the present application;

[0031] Figure 4 Another schematic diagram of the installation position of the ranging device on the battery placement platform shown in the embodiments of the present application;

[0032] Figure 5 Another schematic diagram of the battery detection device shown in the embodiments of the present application;

[0033] Figure 6 Flowchart of the steps of the battery detection method shown in the embodiments of the present application;

[0034] Figure 7 Another flowchart of the steps of the battery detection method shown in the embodiments of the present application;

[0035] Figure 8 Schematic diagram of the structure of the battery detection system shown in the embodiments of the present application. Detailed implementation manners

[0036] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusion.

[0038] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality" is more than two, unless otherwise specifically defined.

[0039] Reference to "embodiment" in this document means that the specific features, structures, or characteristics described in connection with the embodiment may be included in at least one embodiment of this application. The phrase appearing at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] In the description of the embodiments of this application, the term "and / or" is merely a relational term describing the associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after.

[0041] In the description of the embodiments of this application, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0042] In the description of the embodiments of this application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the embodiments of this application.

[0043] In the description of the embodiments of this application, unless otherwise clearly specified and defined, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances.

[0044] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will detail this application with reference to the drawings and in combination with the embodiments.

[0045] Currently, new energy vehicles such as electric vehicles usually have a power battery system, and the battery pack in the power battery system is the main power supply device. Since the energy of the battery pack is limited, service stations and systems for electric vehicles have also developed to facilitate the replacement of the vehicle's battery pack during long-distance driving.

[0046] Taking an electric heavy truck as an example, the process of battery swapping generally includes: when the electric heavy truck drives into the swapping station, it stops stably in the designated swapping area. The automated robotic arm moves to the side of the vehicle and prepares to start the battery replacement work. The unlocking device operates to safely release and remove the depleted old battery pack, and places the old battery pack on the storage rack on one side for charging or maintenance. Then, a fully charged battery pack is taken from the charging rack and precisely installed on the heavy truck, ensuring that the electrical connections and fixing devices are correctly installed. After the battery swapping is completed, the heavy truck drives out of the swapping station and continues to perform the transportation task.

[0047] Battery pack problems such as whether the position of the battery pack is correct and whether there are defects in the battery pack itself will affect the safety of the vehicle during subsequent driving. However, during the above battery pack replacement process, after the vehicle is in place, the actions of disassembling or installing the battery pack are carried out randomly, and the battery pack itself is not detected.

[0048] Based on the above problems, the embodiments of the present application provide a battery detection device and a battery detection method. The three-dimensional image of the battery to be detected is collected by an image acquisition device. The battery detection device is a battery transport vehicle or a battery palletizer. The motion control signal of the battery detection device is obtained through a controller, and the target image acquisition device is controlled to collect the three-dimensional image of the battery to be detected while the battery detection device is moving, thereby saving the rhythm of image acquisition. At the same time, the three-dimensional image is analyzed by the controller to obtain a battery detection result including the status information of the battery to be detected, which can realize the detection of the battery pack itself during the battery transportation process.

[0049] Among them, the battery in the embodiments of the present application can be a battery product such as a battery module, a battery pack, or a battery cell. For the convenience of description in the following embodiments, in the embodiments of the present application, taking the battery swapping scenario of a heavy truck vehicle and the battery being a battery pack as an example, in one example, the swapping station includes an Automated Guided Vehicle (RGV) and a palletizer. The RGV is used to disassemble the fed battery from the heavy truck vehicle and hand it over to the palletizer. The palletizer places the fed battery in the battery storage for charging. The palletizer also transfers the fully charged battery to the RGV, and the RGV transports the fully charged battery to the heavy truck vehicle and installs the fully charged battery on the heavy truck vehicle.

[0050] Figure 1 Schematic diagram of the structure of the battery detection device shown in the embodiments of the present application. Figure 2The structural schematic diagram of the battery placement platform shown in the embodiments of the present application is as follows. As Figure 1 shown, the battery detection device includes a battery transport vehicle 01, and the battery transport vehicle 01 includes a first controller 011, a first image acquisition device 012, and a battery placement platform 013 for placing the battery to be tested.

[0051] As Figure 2 shown, the battery placement platform 013 includes at least one battery placement area, and a first image acquisition device 012 is correspondingly arranged in each battery placement area.

[0052] Wherein, the first image acquisition device 012 is installed at a preset position of the battery transport vehicle 01 to acquire the three-dimensional image of the battery to be tested.

[0053] The first controller 011 is used to obtain the battery replacement information, determine the first image acquisition device 012 corresponding to the target battery placement area as the target image acquisition device according to the target battery placement area in the battery replacement information, and control the target image acquisition device according to the movement control signal of the battery transport vehicle 01, so that the target image acquisition device acquires the three-dimensional image of the battery to be tested while the battery transport vehicle 01 is moving. Moreover, the first controller 011 is used to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested.

[0054] Wherein, the battery transport vehicle 01 can be an RGV, and the first image acquisition device 012 is an image acquisition device with three-dimensional function, such as a line scan camera or other 3D cameras. The first image acquisition device 012 is installed at a preset position of the battery transport vehicle 01 to acquire the three-dimensional image of the battery to be tested. For example, the first image acquisition device 012 is installed on the upper surface of the battery placement platform 013, and the image acquisition lens of the first image acquisition device 012 has a preset angle with the battery placement platform 013, and this preset angle enables the battery to be tested to be within the acquisition view range of the first image acquisition device 012 to acquire the three-dimensional image of the battery to be tested.

[0055] The first controller 011 refers to the main controller of the battery transport vehicle 01, that is, the first controller 011 can control the movement of the battery transport vehicle 01 according to the movement control signal. The first controller 011 is electrically connected to the first image acquisition device 012, and then controls the first image acquisition device 012 according to the movement control signal of the battery transport vehicle 01, so that the first image acquisition device 012 acquires the three-dimensional image of the battery to be tested while the battery transport vehicle 01 is moving.

[0056] In this embodiment, the battery to be tested can be a fully charged battery placed on the battery transport vehicle 01 that is about to be installed on the vehicle, or a discharged battery that is about to be removed from the vehicle. That is, in this embodiment, during the battery replacement process, image acquisition of the battery can be realized, and then the battery can be detected based on the acquired images.

[0057] In one example, the motion control signal is a motion pulse signal. The motion pulse signal has a specific frequency, quantity, and duration. The first image acquisition device 012 includes a line scan camera. The line scan camera captures images row by row by moving or using a moving object, thereby reconstructing the entire image. Then, the first controller 011 can, based on the motion pulse signal, while the battery transport vehicle 01 is moving, control the image acquisition action of the first image acquisition device 012 to be synchronized with the movement of the battery transport vehicle 01 based on the motion pulse signal. Three-dimensional images can be acquired in real time during the entire movement of the battery transport vehicle 01, and image information can be obtained without wasting the scanning rhythm of the line scan camera. Additionally, the current position of the battery to be tested can be detected through the acquired three-dimensional images to guide the battery transport vehicle 01 to move below the battery to be tested, which helps improve the accuracy of battery replacement.

[0058] The first controller 011 is further configured to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result. The battery detection result includes the status information of the battery to be tested. The status information of the battery to be tested can indicate whether the battery to be tested is in an abnormal state. The abnormal state includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery. In this way, it can be realized to detect in real time whether there are abnormalities on the surface of the battery to be tested during the process of the battery transport vehicle 01 transporting the battery, and the battery pack itself can be detected.

[0059] As Figure 1 and 2 shown, the battery placement platform 013 includes at least one battery placement area, and a first image acquisition device 012 is correspondingly arranged in each battery placement area; the first controller 011 is configured to obtain battery replacement information, and determine the first image acquisition device 012 corresponding to the target battery placement area as the target image acquisition device according to the target battery placement area in the battery replacement information.

[0060] In one example, the battery transport vehicle 01 can transport multiple batteries at a time. For example, a battery module includes multiple battery cells, and each battery cell is placed in a battery placement area on the battery placement platform 013. A first image acquisition device 012 is correspondingly arranged in each battery placement area. If the current battery replacement requirement only needs to replace one of the battery cells, the first controller 011 acquires the battery replacement information, and the battery replacement information includes the target battery placement area on the battery placement platform 013 where the target battery cell to be replaced is located. Furthermore, the first controller 011 determines the first image acquisition device 012 corresponding to the target battery placement area as the target image acquisition device.

[0061] In the above embodiment, during the process of installing the battery on the battery placement platform 013 to the vehicle or removing the battery on the vehicle to the battery placement platform 013, the first image acquisition device 012 corresponding to the battery to be measured can be correctly selected as the target image acquisition device, improving the image acquisition accuracy. And the three-dimensional image of the battery to be measured is acquired by the target image acquisition device. The battery detection device includes the battery transport vehicle 01. The first controller 011 acquires the motion control signal of the battery transport vehicle 01 and controls the target image acquisition device to acquire the three-dimensional image of the battery to be measured while the battery transport vehicle 01 is moving, thereby saving the rhythm of image acquisition. At the same time, the first controller 011 analyzes the three-dimensional image to obtain the battery detection result including the state information of the battery to be measured, and the detection of the battery to be measured itself can be realized during the battery replacement process.

[0062] According to some embodiments of the present application, Figure 3 is a schematic diagram of the installation position of the ranging device on the battery placement platform shown in the embodiments of the present application. As Figure 3 shown, at least three ranging devices 014 are arranged on the battery placement platform 013; the at least three ranging devices 014 are used to acquire the distance information between the battery to be measured and the battery placement platform 013; the first controller 011 is used to detect the first inclination angle between the battery to be measured and the battery placement platform 013 according to the distance information; and, the first controller 011 is used to acquire the second inclination angle between the battery to be measured and the battery placement platform 013 according to the three-dimensional image of the battery to be measured, and adjust the position of the battery transport vehicle 01 according to the first inclination angle and the second inclination angle.

[0063] The ranging device 014 is, for example, a laser ranging sensor. It can be understood that three points form a plane. Therefore, in the present application, the distance information between the battery to be measured and the battery placement platform 013 is respectively acquired by the three ranging devices 014, and then the first controller 011 can detect the first inclination angle between the battery to be measured and the battery placement platform 013 according to the distance information acquired by the three ranging devices 014.

[0064] In this embodiment, the first image acquisition device 012 acquires a three-dimensional image with depth information. Therefore, the second inclination angle between the battery to be measured and the battery placement platform 013 can be obtained according to the relative coordinates of the battery to be measured and the battery placement platform 013 in the three-dimensional image. Furthermore, the position of the battery transport vehicle 01 can be adjusted according to the first inclination angle and the second inclination angle.

[0065] In this way, the accuracy of the inclination angle data can be improved through two different inclination angle calculation methods. Furthermore, the position of the battery transport vehicle 01 can be adjusted according to the first inclination angle and the second inclination angle, so that the battery transport vehicle 01 can accurately remove the power supply battery from the vehicle or install the fully charged battery on the vehicle, reducing battery bumps.

[0066] According to some embodiments of the present application, Figure 4 is a schematic diagram of another installation position of the ranging device 014 on the battery placement platform 013 shown in the embodiment of the present application. As Figure 4 shown, four ranging devices 014 are provided on the battery placement platform 013; the four ranging devices 014 are respectively installed at the four corners of the battery placement platform 013.

[0067] In this embodiment, the four ranging devices 014 are respectively installed at the four corners of the battery placement platform 013, which can achieve the symmetry of the spatial positions of the four ranging devices 014, making the measured distance information more accurate, and further improving the calculation accuracy of the first inclination angle.

[0068] Figure 5 is another schematic diagram of the structure of the battery detection device shown in the embodiment of the present application. As Figure 5 shown, the battery detection device includes a battery palletizer 02. The battery palletizer 02 includes a main body bracket 023, a load platform 024, a second controller 021, and a second image acquisition device 022. The second image acquisition device 022 is installed at the top of the main body bracket 023. The load platform 024 is used to carry the battery to be measured. The second image acquisition device 022 is used to acquire a three-dimensional image of the battery to be measured on the load platform 024; the second controller 021 is used to obtain the fork control signal of the battery palletizer 02, control the image information acquisition action of the second image acquisition device to be synchronized with the movement of the fork of the battery palletizer 02 based on the fork control signal, and the second controller 021 is used to analyze the three-dimensional image of the battery to be measured to obtain a battery detection result, and the battery detection result includes the status information of the battery to be measured.

[0069] The second controller 021 refers to the main controller of the battery palletizer 02. The second controller 021 can control the fork action of the battery palletizer 02 to clamp the power supply battery on the battery transport vehicle 01, put the power supply battery into the charging bin, or place the fully charged battery in the charging bin on the battery transport vehicle 01.

[0070] The second image acquisition device 022 is an image acquisition device with three-dimensional functions, such as a 3D camera like a line scan camera. In one example, the forklift control signal is a motion pulse signal, which has a specific frequency, quantity, and duration. The second image acquisition device 022 includes a line scan camera that captures images row by row by moving or using a moving object to reconstruct the entire image. Then, the second controller 021 can, based on the motion pulse signal, while the forklift is moving, control the image acquisition action of the second image acquisition device 022 to be synchronized with the movement of the forklift of the battery palletizer 02, can acquire three-dimensional images in real time during the movement of the forklift of the battery palletizer 02, and can obtain image information without wasting the scanning rhythm of the line scan camera.

[0071] The second controller 021 is further configured to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested. The status information of the battery to be tested can characterize whether the battery to be tested is in an abnormal state, and the abnormal state includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery. In this way, it can be realized to detect in real time whether there is an abnormality on the surface of the battery to be tested during the process of the battery palletizer 02 clamping the battery, and realize the detection of the battery pack itself.

[0072] In the above embodiment, the three-dimensional image of the battery to be tested is acquired by the second image acquisition device 022. The battery detection device includes the battery palletizer 02. The second controller 021 obtains the forklift control signal of the battery palletizer 02 and controls the second image acquisition device 022 to acquire the three-dimensional image of the battery to be tested while the forklift of the battery palletizer 02 is moving, thereby saving the rhythm of image acquisition. At the same time, the second controller 021 analyzes the three-dimensional image to obtain a battery detection result including the status information of the battery to be tested, and can realize the detection of the battery to be tested itself during the battery replacement process.

[0073] Figure 6 It is a step flowchart of the battery detection method shown in the embodiment of the present application. This method is applied to a battery detection device, and the battery detection device is a battery transport vehicle 01. Specifically, it can be executed by the first controller 011 of the battery moving vehicle. Refer to Figure 6 , the battery detection method includes the following steps S601 to S603:

[0074] S601. Obtain battery replacement information, and determine the first image acquisition device corresponding to the target battery placement area as the target image acquisition device according to the target battery placement area in the battery replacement information.

[0075] S602. Obtain the motion control signal of the battery transport vehicle, and control the target image acquisition device of the battery transport vehicle based on the motion signal, so that the target image acquisition device acquires the three-dimensional image of the battery to be tested while the battery transport vehicle is moving.

[0076] S603. Analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, where the battery detection result includes the status information of the battery to be tested.

[0077] In one example, the battery transport vehicle can transport multiple batteries at a time. For example, a battery module includes multiple battery cells, each battery cell is placed in a battery placement area on the battery placement platform 013, and a first image acquisition device 012 is correspondingly arranged in each battery placement area. If the current battery replacement requirement only needs to replace one of the battery cells, the first controller obtains the battery replacement information, where the battery replacement information includes the target battery placement area of the target battery cell to be replaced on the battery placement platform 013. Then, the first controller determines the first image acquisition device 012 corresponding to the target battery placement area as the target image acquisition device.

[0078] In this way, during the process of installing the battery on the battery placement platform 013 to the vehicle or removing the battery on the vehicle to the battery placement platform 013, the target image acquisition device corresponding to the battery to be tested can be correctly selected, improving the image acquisition accuracy.

[0079] The motion control signal of the battery transport vehicle is used to control the battery transport vehicle to carry a fully charged battery and move from the initial position to below the battery rack of the vehicle, or control the battery transport vehicle to transport the removed discharged battery to the position where the battery palletizer 02 is located, so that the battery palletizer 02 puts the discharged battery into the charging bin.

[0080] The motion control signal of the battery transport vehicle can be a control signal from a PLC (Programmable Logic Controller), a motion controller or a computer system. The motion control signal has a specific frequency, quantity and duration, and then controls the rotation speed and acceleration of the motor of the battery transport device.

[0081] Control the image acquisition action of the target image acquisition device of the battery transport vehicle based on the motion signal, so that the target image acquisition device acquires the three-dimensional image of the battery to be tested while the battery transport vehicle is moving. The three-dimensional image can be acquired in real time during the entire movement of the battery transport vehicle, and the image information can be obtained without wasting the scanning cycle of the line scan camera.

[0082] The first controller can also analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, which includes the status information of the battery to be tested. The status information of the battery to be tested can characterize whether the battery to be tested is in an abnormal state, and the abnormal state includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery. In this way, it is possible to detect in real time whether there are abnormalities on the surface of the battery to be tested during the process of the battery transport vehicle transporting the battery, and to detect the battery pack itself.

[0083] In addition, by analyzing the three-dimensional image of the battery to be tested, the current position of the battery to be tested can be detected to guide the battery transport vehicle to move below the battery to be tested, which helps to improve the accuracy of battery replacement.

[0084] In this embodiment, by obtaining the motion control signal of the battery transport vehicle and controlling the target image acquisition device to collect the three-dimensional image of the battery to be tested while the battery transport vehicle is moving, the rhythm of image acquisition is saved. At the same time, by analyzing the three-dimensional image with the first controller, a battery detection result including the status information of the battery to be tested can be obtained, and it is possible to detect the battery to be tested itself during the battery replacement process.

[0085] According to some embodiments of the present application, analyzing the three-dimensional image of the battery to be tested to obtain a battery detection result includes: extracting features from the three-dimensional image of the battery to be tested to obtain battery feature information; based on the battery feature information, detecting whether there are abnormalities on the surface of the battery to be tested to obtain abnormal information indicating that the battery is in an abnormal state, and the abnormal information includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery.

[0086] Analyzing the three-dimensional image of the battery to be tested, for example, performing detections such as battery identification, foreign object identification, battery position detection, and battery inclination identification according to the image features in the three-dimensional image.

[0087] The features in the image can be extracted by computer vision algorithms to extract features from the three-dimensional image to obtain battery feature information. The battery feature information can include features such as the edges, corners, textures, and shapes on the surface of the battery. Based on the battery feature information, detecting whether there are abnormalities on the surface of the battery, and methods such as template matching, pattern recognition, or deep learning can be used to identify the abnormalities on the surface of the battery to obtain abnormal information indicating that the battery is in an abnormal state, and the abnormal information includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery.

[0088] In this way, it is possible to identify whether there are foreign objects such as stones, bolts, and nuts on the surface of the battery or whether there are defects such as cracks and pits on the surface of the battery during the battery replacement process.

[0089] According to some embodiments of the present application, analyzing the three-dimensional image of the battery to be tested to obtain the battery detection result further includes: obtaining the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle; determining the current position of the target image acquisition device based on the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle; and determining the position of the battery to be tested based on the current position of the target image acquisition device and the three-dimensional image of the battery to be tested.

[0090] In one example, the current position of the battery transport vehicle can be obtained according to the position sensor installed on the battery transport vehicle. During the movement of the battery transport vehicle, the current position of the battery transport vehicle changes. The target image acquisition device, that is, the first image acquisition device 012, is installed on the battery transport vehicle. That is to say, the relative position between the first image acquisition device 012 as the target image acquisition device and the battery transport vehicle is unchanged. Therefore, the current position of the target image acquisition device can be determined based on the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle.

[0091] The three-dimensional image is acquired by the target image acquisition device. Therefore, after obtaining the current position of the target image acquisition device, the position information of the battery to be tested can be determined according to the position relationship between the current position of the target image acquisition device and the battery to be tested in the three-dimensional image. In one example, the position relationship between the battery and the target image acquisition device in the three-dimensional image can be calculated by computer vision techniques such as the calibration pattern method, the depth information method, the machine learning method, and the triangulation method.

[0092] In this embodiment, the position information of the battery to be tested is obtained through the position relationship among the current position of the battery transport vehicle, the relative position relationship between the target image acquisition device and the battery transport vehicle, and the battery to be tested in the three-dimensional image, which can improve the calculation accuracy of the position of the battery to be tested, so as to guide the battery transport vehicle to accurately move below the battery to be tested.

[0093] In one example, when the battery transport vehicle has not yet traveled to the bottom of the battery swapping vehicle, considering that the battery to be tested may not yet appear in the three-dimensional image, the battery rack on which the battery to be tested is installed can be used as the guiding target. That is, first, the position information of the battery rack is determined according to the three-dimensional image, and then the battery transport vehicle can be guided to drive below the battery rack according to the position information of the battery rack, and further, the position of the battery can be accurately located to realize battery swapping for the vehicle. For example, by identifying the image features in the three-dimensional image, the battery rack in the three-dimensional image is identified, and then the distance and direction between the battery rack in the three-dimensional image and the first image acquisition device 012 are calculated using the image distance calculation model. Then, the battery transport vehicle can be controlled to move below the battery rack based on the position information of the battery rack of the battery swapping vehicle.

[0094] As can be seen from the above embodiments, this embodiment involves the transportation of the feeding battery and the fully charged battery. Among them, the transportation of the feeding battery means that the battery operation vehicle drives under the vehicle to disassemble the feeding battery and then transports it to the stacker. The transportation of the fully charged battery means that the battery transport vehicle transports the fully charged battery to the vehicle and installs the fully charged battery on the vehicle. During the transportation of the feeding battery and the fully charged battery, the above method can be used to guide the battery transport vehicle to accurately drive under the battery rack to realize battery swapping for the vehicle.

[0095] According to some embodiments of the present application, if the installation angle of the battery is displaced, it may cause the battery to be bumped and damaged. Therefore, in order to improve the safety during the battery swapping process. The method of this embodiment further includes: obtaining the distance information between the battery to be measured and the battery placement platform 013 of the battery transport vehicle; detecting the first inclination angle between the battery to be measured and the battery placement platform 013 according to the distance information; obtaining the second inclination angle between the battery to be measured and the battery placement platform 013 according to the three-dimensional image of the battery to be measured, and adjusting the position of the battery transport vehicle according to the first inclination angle and the second inclination angle.

[0096] The distance information between the battery to be measured and the battery placement platform 013 of the battery transport vehicle can be collected by the ranging device 014 provided on the battery placement platform 013. By detecting whether the distance information collected by each ranging device 014 is equal, it is determined whether the bottom surface of the battery to be measured is parallel to the battery placement platform 013. The bottom surface of the measured battery refers to the side of the battery close to the battery placement platform 013 with reference to the top of the vehicle. When the battery is parallel to the battery placement platform 013, it means that the battery can be vertically installed on the vehicle frame or vertically placed on the battery placement platform 013, which can reduce the battery bump caused by too large a first inclination angle. When the battery is not parallel to the battery placement platform 013, it means that there is a first inclination angle between the battery to be measured and the battery placement platform 013, and then the first inclination angle can be obtained by calculating according to the distance information collected by each ranging device 014.

[0097] In this embodiment, the first image acquisition device 012 is a 3D camera, and the acquired image is a three-dimensional image with coordinate and depth information. In this way, the second inclination angle of the battery to be measured relative to the battery placement plane can be calculated according to the coordinates of the battery to be measured and the battery placement plane in the three-dimensional image. Then, the position of the battery transport vehicle is adjusted according to the first inclination angle and the second inclination angle.

[0098] In the above embodiments, two different inclination angle calculation methods, namely the first inclination angle and the second inclination angle, are used to improve the accuracy of the inclination angle data. Furthermore, the position of the battery transport vehicle can be adjusted according to the first inclination angle and the second inclination angle, so that the battery transport vehicle can accurately remove the power supply battery from the vehicle or install the fully charged battery on the vehicle, reducing battery collisions.

[0099] According to some embodiments of the present application, adjusting the position of the battery transport vehicle according to the first inclination angle and the second inclination angle includes: comparing and fitting the first inclination angle and the second inclination angle to obtain a target inclination angle; obtaining a position adjustment signal for the battery transport vehicle when the target inclination angle is greater than a preset inclination angle; and adjusting the position of the battery transport vehicle according to the position adjustment signal for the battery transport vehicle.

[0100] In one example, the first inclination angle and the second inclination angle can be compared and fitted by means of linear regression or polynomial fitting, or the first inclination angle and the second inclination angle can be weighted averaged to predict the target inclination angle. In this way, the target inclination angle can be obtained based on the inclination angles obtained by different methods, so as to improve the calculation accuracy of the inclination angle.

[0101] After obtaining the target inclination angle, compare the target inclination angle with the preset inclination angle. When the target inclination angle is greater than the preset inclination angle, it indicates that the battery may be damaged by collision during the battery replacement operation at this time. Therefore, a position adjustment signal for the battery transport vehicle is generated, and the position of the battery transport vehicle is adjusted according to the position adjustment signal for the battery transport vehicle. Adjusting the position of the battery transport vehicle includes, but is not limited to, operations such as moving and rotating, so that the target inclination angle is less than or equal to the preset inclination angle, thereby improving the battery safety during the battery replacement process.

[0102] In the above embodiments, by comparing and fitting the first inclination angle and the second inclination angle to obtain the target inclination angle, the calculation accuracy of the inclination angle can be improved. Then, comparing the target inclination angle with the preset inclination angle to determine whether to adjust the position of the battery transport vehicle can improve the calculation accuracy of the position adjustment signal for the battery transport vehicle, thereby improving the battery safety during the battery replacement process.

[0103] Figure 7 It is another step flowchart of the battery detection method shown in the embodiments of the present application. This method is applied to a battery detection device, and the battery detection device is a battery palletizer 02. Specifically, it can be executed by the second controller of the battery palletizer 02. Refer to Figure 7 , the battery detection method includes the following steps S701 to S703:

[0104] S701. Obtain the fork control signal of the battery palletizer, and based on the fork control signal, control the image information acquisition action of the second image acquisition device of the battery palletizer to be synchronized with the movement of the fork of the battery palletizer;

[0105] S702. Obtain the three-dimensional image of the battery under test collected by the second image acquisition device, extract features from the three-dimensional image of the battery under test, and obtain battery feature information;

[0106] S703. Based on the battery feature information, detect whether there is an abnormality on the surface of the battery under test, and obtain abnormality information indicating that the battery is in an abnormal state.

[0107] The fork control signal of the battery palletizer can be a control signal from a PLC (Programmable Logic Controller), a motion controller or a computer system. The motion control signal has a specific frequency, quantity and duration, and then controls the fork of the battery palletizer to clamp the power supply battery on the battery transport vehicle, put the power supply battery into the charging bin, or place the fully charged battery in the charging bin on the battery transport vehicle.

[0108] Based on the fork control signal, synchronize the image information acquisition action of the second image acquisition device of the battery palletizer with the movement of the fork of the battery palletizer. Three-dimensional images can be collected in real time during the movement of the fork of the battery palletizer, and image information can be obtained without wasting the scanning rhythm of the line scan camera.

[0109] The features in the image can be extracted through computer vision algorithms to extract features from the three-dimensional image and obtain battery feature information. The battery feature information can include features such as the edges, corners, textures, and shapes on the surface of the battery. Based on the battery feature information, detect whether there is an abnormality on the surface of the battery. The abnormalities on the surface of the battery can be identified by methods such as template matching, pattern recognition or deep learning, and abnormality information indicating that the battery is in an abnormal state is obtained. The abnormality information includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery. In this way, it can be realized to detect in real time whether there is an abnormality on the surface of the battery under test during the process of the battery palletizer clamping the battery, and realize the detection of the battery pack itself.

[0110] In some embodiments, the method of this embodiment further includes: when there is an abnormality on the surface of the battery under test, generating an artificial processing alarm message according to the abnormality information.

[0111] For example, when the abnormality information is the presence of foreign objects such as stones, bolts, and nuts on the surface of the battery, an alarm message for manually removing the foreign objects is generated to prompt the staff to clean the foreign objects.

[0112] For another example, when the abnormality information is the presence of breakage and pits on the surface of the battery, an artificial detection alarm message is generated to prompt the staff to perform detection in time to prevent electrolyte leakage.

[0113] In the case of obtaining abnormal information, an artificial processing alarm message is generated according to the abnormal information, which can realize the closed-loop processing of abnormal situations and improve the safety during the battery replacement process.

[0114] Figure 8 The following is a schematic structural diagram of the battery detection system shown in the embodiments of the present application. Refer to Figure 8 As shown, a battery detection system 03 includes a battery detection device 04, and the battery detection device 04 includes a battery transport vehicle and a battery palletizer. The battery transport vehicle includes the battery transport vehicle shown in the above embodiments, such as Figure 1 the battery transport vehicle shown. The battery palletizer includes the battery palletizer shown in the above embodiments, such as Figure 5 the battery palletizer shown.

[0115] The battery transport vehicle includes a first controller, a first image acquisition device, and a battery placement platform for placing the battery to be tested; the battery placement platform includes at least one battery placement area, and each battery placement area is correspondingly provided with one of the first image acquisition devices. The first image acquisition device is installed at a preset position of the battery transport vehicle to acquire a three-dimensional image of the battery to be tested; the first controller is used to obtain battery replacement information, determine the first image acquisition device corresponding to the target battery placement area in the battery replacement information as the target image acquisition device according to the target battery placement area, and control the target image acquisition device according to the movement control signal of the battery transport vehicle, so that the target image acquisition device acquires the three-dimensional image of the battery to be tested while the battery transport vehicle is moving. In addition, the first controller is used to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested.

[0116] The battery palletizer includes a main body bracket, a load-carrying platform, a second controller, and a second image acquisition device. The second image acquisition device is installed at the top of the main body bracket. The load-carrying platform is used to carry the battery to be tested. The second image acquisition device is used to acquire a three-dimensional image of the battery to be tested on the load-carrying platform; the second controller is used to obtain the fork control signal of the battery palletizer, control the image information acquisition action of the second image acquisition device to be synchronized with the movement of the fork of the battery palletizer based on the fork control signal, and the second controller is used to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested.

[0117] The battery detection system of this embodiment can realize the detection of the battery to be tested itself during the process of the battery transport vehicle replacing the vehicle battery and during the process of the battery palletizer clamping the battery to be tested.

[0118] The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments. The similarities or resemblances among them can be referred to each other. For the sake of brevity, they will not be elaborated herein.

[0119] In a specific example, a battery detection method is provided, which may include:

[0120] In the case of about to disassemble the depleted battery of a battery-swapping vehicle, obtain battery-swapping information. According to the target battery placement area in the battery-swapping information, determine the first image acquisition device corresponding to the target battery placement area as the target image acquisition device. The first controller of the RGV obtains the RGV movement pulse signal. The first image acquisition device on the RGV is a line-scan camera. Control the line-scan camera, i.e., the target image acquisition device, according to the RGV movement pulse signal to synchronously acquire images, and obtain a three-dimensional image. Calculate the battery rack position information of the battery-swapping vehicle according to the three-dimensional image. Control the RGV to move to the lower part of the battery rack according to the battery rack position information. When the RGV reaches the lower part of the battery rack, the target image includes an image of the depleted battery. At this time, based on the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle, determine the current position of the target image acquisition device. Furthermore, based on the current position of the target image acquisition device and the target image, determine the position information of the depleted battery to be detected. And, perform feature extraction on the depleted battery to detect whether there are abnormalities on the surface of the depleted battery, and obtain status information to detect whether there are defects such as breakage and cavities on the surface of the depleted battery. When it is detected that there are defects such as breakage and cavities on the surface of the depleted battery, generate an artificial handling alarm information.

[0121] Among them, laser range sensors are respectively installed at the four corners of the battery placement platform 013 of the RGV. After determining the position information of the depleted battery, based on the distance information collected by the laser range sensors at the four corners, obtain the first inclination angle of the battery relative to the preset plane, and also perform feature analysis on the three-dimensional image to calculate the second inclination angle of the depleted battery relative to the battery placement platform 013; according to the first inclination angle and the second inclination angle, adjust the position of the battery transport vehicle so that the battery transport vehicle can accurately disassemble the depleted battery from the vehicle and reduce battery bumping. In the case where there are no abnormalities in the depleted battery, the RGV can execute the action of disassembling the depleted battery from the battery-swapping vehicle according to the position of the depleted battery.

[0122] The RGV transports the power supply battery to the palletizer. The palletizer places the power supply battery into the battery compartment for charging and transfers the fully charged battery to the battery placement platform 013 of the RGV. During this process, the second controller of the palletizer obtains the fork control signal of the battery palletizer, controls the image information acquisition action of the second image acquisition device to be synchronized with the movement of the fork of the battery palletizer based on the fork control signal, and then performs image acquisition on the battery to be tested on the loading platform. The three-dimensional image of the battery to be tested is analyzed to obtain a battery detection result, and the battery detection result includes the status information of the battery to be tested. Furthermore, it is detected whether there is an abnormality on the surface of the battery to be tested, and abnormality information indicating that the battery is in an abnormal state is obtained. The abnormality information includes one or more of the presence of foreign objects on the surface of the battery and the presence of defects on the surface of the battery. When there is no abnormality in the battery to be tested, the fully charged battery can be transferred to the battery placement platform 013 of the RGV.

[0123] The RGV transports the fully charged battery to the battery swapping vehicle. During this process, the first controller of the RGV controls the target image acquisition device to synchronously acquire images according to the movement pulse signal of the RGV to obtain a three-dimensional image, calculates the battery rack position information of the battery swapping vehicle according to the three-dimensional image, controls the RGV to move to the lower part of the battery rack according to the battery rack position information, and installs the fully charged battery onto the battery swapping vehicle. At the same time, during the installation of the fully charged battery, the three-dimensional image includes an image of the fully charged battery. At this time, based on the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle, the current position of the target image acquisition device is determined, and then based on the current position of the target image acquisition device and the three-dimensional image, the position information of the fully charged battery is determined. Moreover, feature extraction is performed on the fully charged battery to detect whether there is an abnormality on the surface of the fully charged battery to obtain status information, so as to detect whether there are defects such as cracks and holes on the surface of the fully charged battery. When it is detected that there are defects such as cracks and holes on the surface of the fully charged battery, an artificial handling alarm message is generated.

[0124] Moreover, during the process of installing the fully charged battery onto the battery swapping vehicle, based on the distance information collected by the laser ranging sensors at the four corners, the first inclination angle of the battery relative to the preset plane is obtained, and by performing feature analysis on the three-dimensional image, the second inclination angle of the battery relative to the preset plane is calculated. According to the first inclination angle and the second inclination angle, the position of the battery transport vehicle is adjusted to accurately install the fully charged battery on the battery rack of the battery swapping vehicle and reduce battery collision.

[0125] The battery detection method in this example can track the position of the battery transport device in real time during the entire movement process, can detect the abnormal state of whether there is an abnormality in the battery, improve the accuracy of battery detection, and can improve the safety of the battery during the battery swapping process.

[0126] The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments. For the similarities, reference can be made to each other. For the sake of brevity, they will not be elaborated herein again.

[0127] It should be noted that:

[0128] In the above text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the presence of additional identical elements in the process, method, article or device including such element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0129] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better embodiment. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present application.

[0130] The embodiments of the present application have been described above in conjunction with the accompanying drawings, which are only specific embodiments of the present application. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

Claims

1. A battery detection device, characterized in that: The battery detection device includes a battery transport vehicle, which includes a first controller, a first image acquisition device, and a battery placement platform for placing batteries to be tested; the battery placement platform includes at least one battery placement area, and each battery placement area is correspondingly provided with one first image acquisition device; The first image acquisition device is installed at a preset position of the battery transport vehicle to acquire a three-dimensional image of the battery to be tested; The first controller is used to obtain battery replacement information, determine the first image acquisition device corresponding to the target battery placement area as the target image acquisition device according to the target battery placement area in the battery replacement information, and control the target image acquisition device according to the motion control signal of the battery transport vehicle, so that the target image acquisition device acquires the three-dimensional image of the battery to be tested while the battery transport vehicle moves, and the first controller is used to analyze the three-dimensional image of the battery to be tested to obtain a battery detection result, wherein the battery detection result includes the status information of the battery to be tested; The state information includes abnormal information indicating that the battery is in an abnormal state and the position of the battery to be tested, wherein the abnormal information includes one or more of the presence of foreign matter on the surface of the battery and the presence of defects on the surface of the battery; The first controller is further used to obtain distance information between the battery to be tested and the battery placement platform of the battery transport vehicle; detect a first inclination angle between the battery to be tested and the battery placement platform according to the distance information; obtain a second inclination angle between the battery to be tested and the battery placement platform according to the three-dimensional image of the battery to be tested, and adjust the position of the battery transport vehicle according to the first inclination angle and the second inclination angle; The position of the battery transport vehicle is adjusted according to the first inclination angle and the second inclination angle, including: comparing and fitting the first inclination angle and the second inclination angle to obtain a target inclination angle; when the target inclination angle is greater than a preset inclination angle, obtaining a battery transport vehicle position adjustment signal; and adjusting the position of the battery transport vehicle according to the battery transport vehicle position adjustment signal.

2. The battery detection device according to claim 1, characterized in that: At least three distance measuring devices are arranged on the battery placement platform; The at least three distance measuring devices are used to obtain distance information between the battery to be tested and the battery placement platform.

3. The battery detection device according to claim 2, characterized in that: The battery placement platform is provided with four distance measuring devices; the four distance measuring devices are respectively installed at the four corners of the battery placement platform.

4. A battery detection method, characterized in that: The method comprises: Acquire battery replacement information, and determine, according to the target battery placement area in the battery replacement information, a first image acquisition device corresponding to the target battery placement area as a target image acquisition device; Acquire a motion control signal of the battery transport vehicle, and control a target image acquisition device of the battery transport vehicle based on the motion control signal, so that the target image acquisition device acquires a three-dimensional image of the battery to be tested while the battery transport vehicle moves; Analyze the three-dimensional image of the battery to be tested to obtain a battery test result, wherein the battery test result includes status information of the battery to be tested; the status information includes abnormal information indicating that the battery is in an abnormal state and the position of the battery to be tested, and the abnormal information includes one or more of the presence of foreign matter on the surface of the battery and the presence of defects on the surface of the battery; and Acquire distance information between the battery to be tested and the battery placement platform of the battery transport vehicle; detect a first inclination angle between the battery to be tested and the battery placement platform according to the distance information; acquire a second inclination angle between the battery to be tested and the battery placement platform according to a three-dimensional image of the battery to be tested, and adjust the position of the battery transport vehicle according to the first inclination angle and the second inclination angle.

5. A battery detection method according to claim 4, characterized in that: Analyzing the three-dimensional image of the battery to be tested to obtain a battery test result includes: Extracting features from the three-dimensional image of the battery to be tested to obtain battery feature information; Based on the battery characteristic information, it is detected whether there is an abnormality on the surface of the battery to be tested, and abnormality information indicating that the battery is in an abnormal state is obtained.

6. A battery detection method according to claim 4 or 5, characterized in that: Analyzing the three-dimensional image of the battery to be tested to obtain a battery test result, further comprising: Acquire the current position of the battery transport vehicle and the relative position relationship between the target image acquisition device and the battery transport vehicle; Determining the current position of the target image acquisition device based on the current position of the battery transport vehicle and the relative positional relationship between the target image acquisition device and the battery transport vehicle; The position of the battery to be tested is determined based on the current position of the target image acquisition device and the three-dimensional image of the battery to be tested.

7. A battery detection method according to claim 4, characterized in that: According to the first inclination angle and the second inclination angle, the position of the battery transport vehicle is adjusted, including: Compare and fit the first inclination angle and the second inclination angle to obtain a target inclination angle; When the target inclination angle is greater than the preset inclination angle, a battery transport vehicle position adjustment signal is obtained; The position of the battery transport vehicle is adjusted according to the battery transport vehicle position adjustment signal.

8. A battery detection system, characterized in that: The system comprises the battery detection device according to any one of claims 1 to 3.

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