Image detection method and system for sealing gasket, battery swap station and medium

Abstract

The invention discloses an image detection method and system for a sealing gasket, a battery swap station and a medium, which are used for carrying out image detection on the sealing gasket of an electric connector on a battery pack placed on a stacker crane, and a sealing gasket visual detection device is arranged at the position, corresponding to the sealing gasket, of the stacker crane. The image detection method comprises the following steps: adjusting the pose of a sealing gasket visual detection device based on the model of a to-be-detected battery pack; controlling a sealing gasket visual detection device to collect a target image; and performing state detection on the target sealing gasket based on the target image and the standard information. According to the invention, the pose of the sealing gasket visual detection device is adjusted according to the model of the battery pack, and then the sealing gasket visual detection device carries out targeted image acquisition, so that the effectiveness of the target image is ensured, and the state of the sealing gasket is detected by using the standard information and the target image. Therefore, the possible abnormal state of the sealing gasket can be found accurately and timely, and a basis is provided for further overhauling or replacing the sealing gasket.

Description

Technical Field

[0001] The present invention relates to the field of new energy technology, and in particular to an image detection method, system, battery swap station and medium for a sealing gasket. Background Art

[0002] With the gradual development of electric vehicles, various automobile manufacturers have launched a variety of different models of electric vehicles. Through battery swap stations, the depleted battery packs of electric vehicles can be replaced with fully charged battery packs to achieve rapid battery replacement. The battery packs of electric vehicles can be divided into fixed and replaceable types. The replaceable battery packs are fixed to the vehicle's bracket through a movable installation method. The battery packs can be removed for separate replacement or charging operations and then installed on the vehicle.

[0003] The battery pack is used to achieve electrical connection through the battery connector. For example, when the battery pack is electrically connected to the electric vehicle and the battery pack is electrically connected to the charging rack, the battery connector on the battery pack needs to be plugged into the vehicle-end electrical connector on the electric vehicle or the charging electrical connector on the charging rack to achieve electrical connection. A sealing gasket is provided on the battery connector for waterproof sealing.

[0004] At present, the sealing ring may be deformed or fall off due to aging or scratching during the battery replacement process, causing the waterproof seal to fail, ultimately reducing the safety of the sealing ring. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the sealing ring of the electrical connector of the battery pack is easy to deform and fall off but not easy to detect, and to provide an image detection method, system, battery swap station and medium for the sealing gasket.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] In a first aspect, the present invention provides a sealing gasket image detection method for performing image detection on a sealing gasket of an electrical connector on a battery pack placed on a palletizer, wherein a sealing gasket visual detection device is provided at a position corresponding to the sealing gasket on the palletizer, and the image detection method comprises:

[0008] Adjusting the position information of the sealing gasket visual inspection device based on the model of the battery pack to be inspected;

[0009] Controlling the adjusted sealing gasket visual inspection device to collect a target image; the target image includes an image of an area corresponding to the target sealing gasket;

[0010] The state of the target sealing gasket is detected based on the target image and standard information.

[0011] This solution adjusts the posture of the gasket visual inspection device according to the model of the battery pack, and then performs targeted image acquisition through the gasket visual inspection device to ensure the validity of the target image, and uses standard information and target images to detect the status of the gasket, so as to accurately and timely discover possible abnormal conditions of the gasket, providing a basis for further maintenance or replacement of the gasket.

[0012] Preferably, the step of adjusting the posture of the sealing gasket visual inspection device based on the model of the battery pack to be inspected includes:

[0013] Identify the model of the battery pack to be tested;

[0014] Acquire the posture information of the sealing gasket visual inspection device, and determine whether the sealing gasket visual inspection device is in a preset posture corresponding to the battery pack;

[0015] If not, based on the model of the battery pack, the current posture of the sealing gasket visual inspection device is adjusted to the preset posture.

[0016] This solution identifies the model of the battery pack grabbed by the palletizer, and based on the model of the battery pack, confirms the preset position where the visual inspection device for the gasket should be located when inspecting the gasket of the battery pack of that model, and then obtains the current posture information of the visual inspection device for the gasket, and compares it with the preset posture to ensure that the visual inspection device for the gasket is in the preset posture, thereby achieving accurate inspection of the gasket. At the same time, since the visual inspection device for the gasket can be adjusted, its inspection range can be adjusted, which means that the inspection range is expanded and the flexibility of gasket inspection is improved.

[0017] Preferably, the step of adjusting the current posture of the sealing gasket visual inspection device to the preset posture comprises:

[0018] Acquire a coordinate parameter value corresponding to a current posture of the sealing gasket visual inspection device based on the posture information;

[0019] Calculating an adjustment amount according to the coordinate parameter value and the coordinate parameter value corresponding to the preset posture;

[0020] The sealing gasket visual inspection device is controlled to adjust to the preset posture according to the adjustment amount.

[0021] This solution ensures the accuracy of posture adjustment of the sealing gasket visual inspection device by calculating the adjustment amount based on the coordinate parameter value corresponding to the current posture and the coordinate parameter value corresponding to the preset posture.

[0022] Preferably, the sealing gasket visual inspection device comprises a mounting bracket disposed on the palletizer and a visual inspection device movable on the mounting bracket;

[0023] The step of controlling the sealing gasket visual inspection device to adjust to the preset posture according to the adjustment amount includes:

[0024] Adjusting the visual inspection device to a position corresponding to the preset posture along the length direction of the battery pack;

[0025] and / or,

[0026] Adjust the visual inspection device along the width direction of the battery pack to a position corresponding to the preset posture.

[0027] This solution utilizes visual inspection equipment to make adjustments along the length direction or width direction or both directions of the battery pack, thereby improving the accuracy of the preset posture adjustment.

[0028] Preferably, the step of detecting the state of the target sealing gasket based on the target image and standard information comprises:

[0029] Acquiring the standard information based on the model of the battery pack, wherein the standard information includes an identification reference line of a target sealing gasket;

[0030] Divide the target sealing gasket in the target image into a number of pixel intervals at equal intervals in the edge direction, and convert the pixel intervals into distance values ​​using a preset algorithm; the distance values ​​are used to represent the distance from the edge pixel point to the identification reference line;

[0031] The current state of the target sealing gasket is determined according to a comparison result between the distance value and a preset range.

[0032] This solution divides the target image into edges and then compares the distance from the edge pixel to the recognition baseline with the preset range, thereby ensuring the accuracy of the detection results while reducing the amount of calculation in the detection process.

[0033] Preferably, the step of determining the current state of the target sealing gasket according to the comparison result of the distance value and the preset range includes:

[0034] If the distance value falls within the preset range, it is determined that the target sealing gasket is in a normal state;

[0035] If the distance value does not fall within the preset range, it is determined that the target sealing gasket is in an abnormal state; the abnormal state includes any one of a detached state, a protruding state, a missing state and a disconnected state.

[0036] This solution can simply, directly and accurately determine whether the sealing gasket is in a normal state or an abnormal state by comparing the distance value with a preset range.

[0037] Preferably, before the step of performing status detection on the target sealing gasket based on the target image and standard information, the image detection method further comprises:

[0038] Analyzing the target image to determine whether the target sealing gasket is within the recognition range of the sealing gasket visual detection device;

[0039] If not, the current posture of the sealing gasket visual inspection device is adjusted to a preset posture, and the target image is updated.

[0040] This solution enhances the accuracy of the image detection result by pre-analyzing whether the position of the gasket visual inspection device exceeds the recognition range based on the target image. When it exceeds the recognition range, the current posture of the gasket visual inspection device is pre-adjusted. At the same time, the target image pre-analysis method can be used as a further judgment after adjusting the posture of the gasket visual inspection device based on the battery pack model, so that the gasket visual inspection device can detect the gasket more accurately. The target image preset analysis can also directly replace the adjustment of the gasket visual inspection device based on the battery pack model, so that there is no need to identify the battery pack model, which makes the overall detection method simpler and improves the detection speed.

[0041] Preferably, the palletizer includes an extension mechanism, and before the step of controlling the adjusted sealing gasket visual inspection device to collect a target image, the image inspection method further includes:

[0042] Controlling the extending mechanism to extend the palletizer to obtain the battery pack, and carrying the battery pack back into the palletizer;

[0043] Determine whether the battery pack and the extension mechanism meet a first detection condition; the first detection condition is used to indicate that the first position information corresponding to the battery pack meets a first preset position and the second position information corresponding to the extension mechanism meets a second preset position at the same time;

[0044] If not, the states of the battery pack and the extension mechanism are determined to be abnormal and adjusted.

[0045] This solution effectively avoids interference caused by abnormal position of the battery pack and / or the extension mechanism by detecting whether the corresponding position information of the battery pack and the extension mechanism simultaneously meets the first detection condition, thereby ensuring the accuracy of the image detection result.

[0046] Preferably, a light source device is further provided on the palletizer corresponding to the position of the target sealing gasket, the target sealing gasket is located between the sealing gasket visual detection device and the light source device, and the sealing gasket visual detection device is arranged on the backlight surface of the target sealing gasket;

[0047] Before the step of controlling the adjusted sealing gasket visual inspection device to collect a target image, the method further includes:

[0048] The light source device is turned on to provide the sealing gasket visual inspection apparatus with a light source directed toward the sealing gasket.

[0049] This solution uses a light source device in conjunction with a sealing gasket visual inspection device, so that the image of the sealing ring of the electrical connector captured has better pixel quality, providing a more reliable basis for image processing; and when the target sealing gasket is located between the light source device and the sealing gasket visual inspection device, the light source device acts as a backlight source, enhancing the clarity of the image edge.

[0050] In a second aspect, the present invention provides an image detection system for a sealing gasket, which is used to perform image detection on a sealing gasket of an electrical connector on a battery pack placed on a palletizer, the image detection system comprising:

[0051] A sealing gasket visual inspection device is arranged at a position corresponding to a target sealing gasket on the palletizer, and is used to collect a target image; the target image includes an image of an area corresponding to the target sealing gasket;

[0052] An adjustment module, used for adjusting the position information of the sealing gasket visual inspection device based on the model of the battery pack to be inspected;

[0053] A detection module is used to perform status detection on the target sealing gasket based on the target image and standard information.

[0054] This solution adjusts the posture of the gasket visual inspection device according to the model of the battery pack, and then performs targeted image acquisition through the gasket visual inspection device to ensure the validity of the target image, and uses standard information and target images to detect the status of the gasket, so as to accurately and timely discover possible abnormal conditions of the gasket, providing a basis for further maintenance or replacement of the gasket.

[0055] Preferably, the adjustment module includes:

[0056] An identification unit, used to identify the model of the battery pack to be tested;

[0057] A judging unit, configured to obtain the position information of the sealing gasket visual inspection device, and judge whether the sealing gasket visual inspection device is in a preset position corresponding to the battery pack; if not, calling an adjusting unit;

[0058] An adjustment unit is used to adjust the current posture of the sealing gasket visual inspection device to the preset posture based on the model of the battery pack.

[0059] This solution identifies the model of the battery pack grabbed by the palletizer, and based on the model of the battery pack, confirms the preset position where the visual inspection device for the gasket should be located when inspecting the gasket of the battery pack of that model, and then obtains the current posture information of the visual inspection device for the gasket, and compares it with the preset posture to ensure that the visual inspection device for the gasket is in the preset posture, thereby achieving accurate inspection of the gasket. At the same time, since the visual inspection device for the gasket can be adjusted, its inspection range can be adjusted, which means that the inspection range is expanded and the flexibility of gasket inspection is improved.

[0060] Preferably, the adjustment unit is specifically used for:

[0061] Acquire a coordinate parameter value corresponding to a current posture of the sealing gasket visual inspection device based on the posture information;

[0062] Calculating an adjustment amount according to the coordinate parameter value and the coordinate parameter value corresponding to the preset posture;

[0063] The sealing gasket visual inspection device is controlled to adjust to the preset posture according to the adjustment amount.

[0064] This solution ensures the accuracy of posture adjustment of the sealing gasket visual inspection device by calculating the adjustment amount based on the coordinate parameter value corresponding to the current posture and the coordinate parameter value corresponding to the preset posture.

[0065] Preferably, the sealing gasket visual inspection device comprises a mounting bracket disposed on the palletizer and a visual inspection device movable on the mounting bracket;

[0066] The adjustment unit is specifically used for:

[0067] Adjusting the visual inspection device to a position corresponding to the preset posture along the length direction of the battery pack;

[0068] and / or,

[0069] Adjust the visual inspection device along the width direction of the battery pack to a position corresponding to the preset posture.

[0070] This solution utilizes visual inspection equipment to make adjustments along the length direction or width direction or both directions of the battery pack, thereby improving the accuracy of the preset posture adjustment.

[0071] Preferably, the detection module comprises:

[0072] An information acquisition unit, configured to acquire the standard information based on the model of the battery pack, wherein the standard information includes an identification reference line of a target sealing gasket;

[0073] A division unit, used to divide the target sealing gasket in the target image into a plurality of pixel intervals at equal intervals in the edge direction, and convert the pixel intervals into distance values ​​through a preset algorithm; the distance values ​​are used to represent the distance from the edge pixel point to the identification reference line;

[0074] The determination unit is used to determine the current state of the target sealing gasket according to the comparison result of the distance value and the preset range.

[0075] This solution divides the target image into edges and then compares the distance from the edge pixel to the recognition baseline with the preset range, thereby ensuring the accuracy of the detection results while reducing the amount of calculation in the detection process.

[0076] Preferably, the determining unit is specifically used for:

[0077] If the distance value falls within the preset range, it is determined that the target sealing gasket is in a normal state;

[0078] If the distance value does not fall within the preset range, it is determined that the target sealing gasket is in an abnormal state; the abnormal state includes any one of a detached state, a protruding state, a missing state and a disconnected state.

[0079] This solution can simply, directly and accurately determine whether the sealing gasket is in a normal state or an abnormal state by comparing the distance value with a preset range.

[0080] Preferably, the image detection system further includes:

[0081] an analysis module, configured to analyze the target image to determine whether the target gasket is within the recognition range of the gasket visual detection device; if not, calling an update module;

[0082] The updating module is used to adjust the current posture of the sealing gasket visual inspection device to a preset posture and update the target image.

[0083] This solution enhances the accuracy of the image detection result by pre-analyzing whether the position of the gasket visual inspection device exceeds the recognition range based on the target image. When it exceeds the recognition range, the current posture of the gasket visual inspection device is pre-adjusted. At the same time, the target image pre-analysis method can be used as a further judgment after adjusting the posture of the gasket visual inspection device based on the battery pack model, so that the gasket visual inspection device can detect the gasket more accurately. The target image preset analysis can also directly replace the adjustment of the gasket visual inspection device based on the battery pack model, so that there is no need to identify the battery pack model, which makes the overall detection method simpler and improves the detection speed.

[0084] Preferably, the palletizer includes an extension mechanism, and the image detection system further includes:

[0085] A control module, used for controlling the extending mechanism to extend out of the palletizer to obtain the battery pack, and to carry the battery pack back into the palletizer;

[0086] a judgment module, used to judge whether the battery pack and the extension mechanism meet a first detection condition; the first detection condition is used to indicate that the first position information corresponding to the battery pack meets the first preset position and the second position information corresponding to the extension mechanism meets the second preset position; if not, calling the judgment module;

[0087] The determination module is used to determine whether the states of the battery pack and the extending mechanism are abnormal and to make adjustments.

[0088] This solution effectively avoids interference caused by abnormal position of the battery pack and / or the extension mechanism by detecting whether the corresponding position information of the battery pack and the extension mechanism simultaneously meets the first detection condition, thereby ensuring the accuracy of the image detection result.

[0089] Preferably, a light source device is further provided on the palletizer corresponding to the position of the target sealing gasket, the target sealing gasket is located between the sealing gasket visual detection device and the light source device, and the sealing gasket visual detection device is arranged on the backlight surface of the target sealing gasket; the image detection system further comprises:

[0090] The starting module is used to start the light source device to provide the sealing gasket visual inspection device with a light source directed toward the sealing gasket.

[0091] This solution uses a light source device in conjunction with a sealing gasket visual inspection device, so that the image of the sealing ring of the electrical connector captured has better pixel quality, providing a more reliable basis for image processing; and when the target sealing gasket is located between the light source device and the sealing gasket visual inspection device, the light source device acts as a backlight source, enhancing the clarity of the image edge.

[0092] In a third aspect, the present invention provides a battery swap station, the battery swap station comprising a battery swap station, a battery rack, a shuttle vehicle, a palletizer, and an image detection system for the sealing pad according to the second aspect;

[0093] The palletizer is used to shuttle back and forth between the shuttle vehicle and the battery rack, and after removing the battery packs resting on the shuttle vehicle, transport the battery packs to the battery rack. The image detection system of the sealing gasket is arranged on the palletizer and corresponds to the position of the electrical connector of the battery pack.

[0094] This solution uses a sealing gasket image detection system to perform relevant inspections on the battery pack. It can perform image inspection on the battery pack transportation process using a palletizer during the battery replacement process. On the one hand, it reserves sufficient time for inspection, and on the other hand, it will not affect the charging and replacement process of the battery pack, taking into account the accuracy and efficiency of sealing gasket inspection.

[0095] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the image detection method for the sealing gasket as described in any one of the first aspects.

[0096] The positive progressive effect of the present invention is that the image detection method, system, battery swap station and medium of the sealing gasket provided by the present invention adjust the posture of the sealing gasket visual detection device according to the model of the battery pack, and then perform targeted image acquisition through the sealing gasket visual detection device, thereby ensuring the validity of the target image, and using standard information and target image to detect the status of the sealing gasket, thereby accurately and timely discovering possible abnormal conditions of the sealing gasket, providing a basis for further maintenance or replacement of the sealing gasket. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] Figure 1 This is a first flow chart of the image detection method for a sealing gasket according to Embodiment 1 of the present invention.

[0098] Figure 2 This is a second flow chart of the image detection method for the sealing gasket according to Embodiment 1 of the present invention.

[0099] Figure 3 This is a third flow chart of the image detection method for the sealing gasket according to the first embodiment of the present invention.

[0100] Figure 4 This is a fourth flow chart of the image detection method for a sealing gasket according to Embodiment 1 of the present invention.

[0101] Figure 5 This is a fifth flow chart of the image detection method for the sealing gasket according to the first embodiment of the present invention.

[0102] Figure 6 This is the sixth flow chart of the image detection method for the sealing gasket according to the first embodiment of the present invention.

[0103] Figure 7 This is the seventh flow chart of the image detection method for the sealing gasket according to the first embodiment of the present invention.

[0104] Figure 8 This is a module schematic diagram of the image detection system for the sealing gasket of Example 2 of the present invention.

[0105] Fig. 9 This is a schematic diagram of the structure of a battery swap station according to Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0106] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0107] Example 1

[0108] The image detection method of the sealing gasket of this embodiment is as follows: Figure 1 As shown, it is used to perform image detection on the sealing gasket of the electrical connector on the battery pack placed on the palletizer. The position corresponding to the sealing gasket on the palletizer is provided with a sealing gasket visual detection device. The image detection method includes:

[0109] S11. Adjust the position information of the gasket visual inspection device based on the model of the battery pack to be inspected.

[0110] S12, controlling the adjusted sealing gasket visual inspection device to collect a target image; the target image includes an image of an area corresponding to the target sealing gasket.

[0111] S13, performing status detection on the target sealing gasket based on the target image and standard information.

[0112] For the above steps S11-S13, the posture information includes at least one of the position information and posture information of the gasket visual inspection device. The position information and / or posture information of the gasket visual inspection device corresponding to each type of battery pack is different. The gasket visual inspection device is pre-adjusted to the corresponding detection position and / or detection posture according to the battery pack model to ensure the effectiveness of subsequent image detection. The standard information corresponding to each type of battery pack is different, that is, the position of the identification reference line is different, and because the target image includes an image of the gasket of the electrical connector on the battery pack that has completely fallen off, a partial image that has not completely fallen off, and an overall image that has not fallen off, the target image is used to detect whether the gasket of the electrical connector has fallen off from the electrical connector sealing port of the battery pack, causing the battery pack to lose protection or whether plastic deformation has occurred.

[0113] This solution adjusts the posture of the gasket visual inspection device according to the model of the battery pack, and then performs targeted image acquisition through the gasket visual inspection device to ensure the validity of the target image, and uses standard information and target images to detect the status of the gasket, so as to accurately and timely discover possible abnormal conditions of the gasket, providing a basis for further maintenance or replacement of the gasket.

[0114] In an optional embodiment, Figure 2 As shown, step S11 specifically includes:

[0115] S111. Identify the model of the battery pack to be tested.

[0116] S112, obtaining the posture information of the sealing gasket visual inspection device, and determining whether the sealing gasket visual inspection device is in a preset posture corresponding to the battery pack; if not, executing step S113.

[0117] S113. Based on the model of the battery pack, adjust the current posture of the sealing gasket visual inspection device to a preset posture.

[0118] With respect to the above steps S111-S113, the battery pack model identification method includes but is not limited to using the identification system at the entrance of the battery swap station to identify the battery swap vehicle to determine the model corresponding to the battery pack, and the battery pack may also be identified by using the identification system in the charging station after the battery pack is removed from the battery swap vehicle. The preset posture of the gasket visual inspection device corresponding to different battery pack models is different. When it is detected that the current posture of the gasket visual inspection device is different from the preset posture, the posture is adjusted in time to ensure the accuracy of the inspection of the gasket of the electrical connector.

[0119] This solution identifies the model of the battery pack grabbed by the palletizer, and based on the model of the battery pack, confirms the preset position where the visual inspection device for the gasket should be located when inspecting the gasket of the battery pack of that model, and then obtains the current posture information of the visual inspection device for the gasket, and compares it with the preset posture to ensure that the visual inspection device for the gasket is in the preset posture, thereby achieving accurate inspection of the gasket. At the same time, since the visual inspection device for the gasket can be adjusted, its inspection range can be adjusted, which means that the inspection range is expanded and the flexibility of gasket inspection is improved.

[0120] like Figure 3 As shown, step S113 specifically includes:

[0121] S1131, obtaining coordinate parameter values ​​corresponding to the current posture of the sealing gasket visual inspection device based on the posture information;

[0122] S1132, calculating the adjustment amount according to the coordinate parameter value and the coordinate parameter value corresponding to the preset posture;

[0123] S1133, controlling the sealing gasket visual inspection device to adjust to a preset posture according to the adjustment amount.

[0124] This solution ensures the accuracy of posture adjustment of the sealing gasket visual inspection device by calculating the adjustment amount based on the coordinate parameter value corresponding to the current posture and the coordinate parameter value corresponding to the preset posture.

[0125] The sealing gasket visual inspection device includes a mounting bracket arranged on the palletizer and a visual inspection device movable on the mounting bracket; step S1133 specifically includes:

[0126] Adjust the visual inspection device along the length direction of the battery pack to a position corresponding to the preset posture;

[0127] and / or,

[0128] Adjust the visual inspection equipment along the width direction of the battery pack to the position corresponding to the preset posture.

[0129] According to the size of the adjustment amount, the visual inspection equipment can be flexibly controlled to move along the length direction of the battery pack, or the width direction, or move in both the length direction and the width direction at the same time. This meets the inspection needs of battery packs in different placement positions and improves the diversity of preset position adjustment methods and the accuracy of adjustment results.

[0130] This solution utilizes visual inspection equipment to make adjustments along the length direction or width direction or both directions of the battery pack, thereby improving the accuracy of the preset posture adjustment.

[0131] In an optional embodiment, Figure 4 As shown, step S13 specifically includes:

[0132] S131. Obtain standard information based on the model of the battery pack; the standard information includes an identification reference line of the target sealing gasket.

[0133] S132, dividing the target sealing gasket in the target image into a number of pixel intervals with equal spacing in the edge direction, and converting the pixel intervals into distance values ​​through a preset algorithm; the distance value is used to represent the distance from the edge pixel point to the identification reference line.

[0134] S133: Determine the current state of the target sealing gasket according to the comparison result between the distance value and the preset range.

[0135] For the above steps S131-S133, the positions of the identification reference lines of the target gaskets corresponding to different types of battery packs are different, so it is necessary to determine the standard information corresponding to the image detection according to the type of battery pack. The area corresponding to the target gasket in the target image is divided into N pixel intervals with equal spacing in the edge direction, and a preset algorithm is used to obtain the distance values ​​S1-S corresponding to each pixel area. n Compared with the detection method of calculating the distance between each edge pixel point and the identification baseline to judge the current state of the target gasket, the image detection result is guaranteed while reducing the amount of calculation in the image detection process and taking into account the detection efficiency.

[0136] This solution divides the target image into edges and then compares the distance from the edge pixel to the recognition baseline with the preset range, thereby ensuring the accuracy of the detection results while reducing the amount of calculation in the detection process.

[0137] Step S133 specifically includes:

[0138] If the distance value falls within the preset range, it is determined that the target gasket is in a normal state;

[0139] If the distance value does not fall within the preset range, it is determined that the target sealing gasket is in an abnormal state; the abnormal state includes any one of a detached state, a protruding state, a missing state and a disconnected state.

[0140] The pixel points in several pixel intervals in the edge direction can reflect the state of the sealing gasket of the electrical connector at its setting position. By comparing the distance value with the preset range, possible concave and convex points can be found, and then it can be determined whether the target sealing gasket of the electrical connector is deformed, missing or disconnected.

[0141] This solution can simply, directly and accurately determine whether the sealing gasket is in a normal state or an abnormal state by comparing the distance value with a preset range.

[0142] In an optional embodiment, Figure 5 As shown, before step S13, the image detection method further includes:

[0143] S121, analyzing the target image to determine whether the target gasket is within the recognition range of the gasket visual inspection device, if not, executing step S122;

[0144] S122, adjusting the current posture of the sealing gasket visual inspection device to a preset posture, and updating the target image.

[0145] For the above steps S121-S122, when it is analyzed based on the target image that the current detection position of the target gasket is not within the image recognition range, the current posture of the gasket visual inspection device is adjusted in time, and the target image is updated again. If it is detected again that the target gasket is not within the recognition range of the gasket visual inspection device, the current posture of the gasket visual inspection device is adjusted in a cycle until the current posture of the gasket visual inspection device is adjusted to a preset posture, thereby enhancing the effectiveness of image detection and the accuracy of the detection results.

[0146] This solution enhances the accuracy of the image detection result by pre-analyzing whether the position of the gasket visual detection device exceeds the recognition range based on the target image. When it exceeds the recognition range, the current posture of the gasket visual detection device is pre-adjusted. At the same time, the target image pre-analysis method can be used as a further judgment after adjusting the posture of the gasket visual detection device based on the battery pack model, so that the gasket visual detection device can detect the gasket more accurately. Of course, in other embodiments, the target image preset analysis can also directly replace the adjustment of the gasket visual detection device based on the battery pack model, so that there is no need to identify the battery pack model, which makes the detection method simpler as a whole and improves the detection speed.

[0147] In an optional embodiment, the palletizer includes an extension mechanism, such as Figure 6 As shown, before step S12, the image detection method further includes:

[0148] S1101, control the extending mechanism to extend the palletizer to obtain the battery pack, and carry the battery pack back to the palletizer;

[0149] S1102, determine whether the battery pack and the extension mechanism meet the first detection condition; the first detection condition is used to indicate that the first position information corresponding to the battery pack meets the first preset position and the second position information corresponding to the extension mechanism meets the second preset position; if not,

[0150] S1103, determine whether the status of the battery pack and the extension mechanism is abnormal and make adjustments.

[0151] With respect to the above steps S1101-S1103, after the battery pack is obtained by the palletizer, when it is determined that the corresponding position information of the battery pack and the extending mechanism do not match the first detection condition, it indicates that the battery pack may have fallen during the transportation process or the battery pack is placed in an abnormal position, and relevant personnel are notified in time to deal with the abnormal situation, providing an effective basis for repairing or moving the battery pack.

[0152] This solution effectively avoids interference caused by abnormal position of the battery pack and / or the extension mechanism by detecting whether the corresponding position information of the battery pack and the extension mechanism simultaneously meets the first detection condition, thereby ensuring the accuracy of the image detection result.

[0153] In an optional embodiment, a light source device is further provided on the palletizer corresponding to the position of the target sealing gasket, the target sealing gasket is located between the sealing gasket visual detection device and the light source device, and the sealing gasket visual detection device is provided on the backlight surface of the target sealing gasket;

[0154] like Figure 7 As shown, before step S12, the image detection method further includes:

[0155] S1104, turning on the light source device to provide a light source toward the sealing gasket for the sealing gasket visual inspection device.

[0156] When the light in the working environment for gasket image detection is slightly insufficient, it will lead to poor quality of the captured image, affecting the subsequent detection results of the target gasket. Therefore, before image detection, start the light source device in the direction of the target gasket to ensure that the illumination range can completely cover the range of the area corresponding to the target gasket of the electrical connector machine, providing a more reliable basis for subsequent image processing. And when the target gasket is between the light source device and the gasket visual detection device, the light source device acts as a backlight source, enhancing the accuracy of image detection. This solution uses the light source device in conjunction with the gasket visual detection device, so that the image of the sealing ring of the electrical connector captured has better pixel quality, providing a more reliable basis for image processing; and when the target gasket is located between the light source device and the gasket visual detection device, the light source device acts as a backlight source, enhancing the clarity of the image edge.

[0157] The image detection method for the sealing gasket of the present embodiment adjusts the posture of the sealing gasket visual detection device according to the model of the battery pack, and then performs targeted image acquisition through the sealing gasket visual detection device to ensure the validity of the target image, and uses standard information and the target image to detect the status of the sealing gasket, so as to accurately and timely discover possible abnormal conditions of the sealing gasket, providing a basis for further maintenance or replacement of the sealing gasket.

[0158] Example 2

[0159] The image detection system of the sealing gasket of this embodiment is as follows: Figure 8 As shown, the image detection system is used to perform image detection on the sealing gasket of the electrical connector on the battery pack placed on the palletizer, and the image detection system includes:

[0160] The gasket visual inspection device 310 is arranged at a position corresponding to the target gasket on the palletizer, and is used to collect a target image; the target image includes an image of the area corresponding to the target gasket;

[0161] An adjustment module 320, configured to adjust the position information of the sealing gasket visual inspection device based on the model of the battery pack to be inspected;

[0162] The detection module 330 is used to detect the state of the target sealing gasket based on the target image and the standard information.

[0163] The posture includes at least one of the position information and posture information of the gasket visual detection device. The position information and / or posture information of the gasket visual detection device corresponding to each model of battery pack is different. The adjustment module 320 pre-adjusts the gasket visual detection device to the corresponding detection position and / or detection posture according to the model of the battery pack to ensure the effectiveness of subsequent image detection. The standard information corresponding to each model of battery pack is different, that is, the position of the identification reference line is different, and because the target image includes the image of the gasket of the electrical connector on the battery pack that has completely fallen off, the partial image that has not completely fallen off, and the overall image that has not fallen off, the detection module 330 uses the target image to detect whether the gasket of the electrical connector has fallen off from the sealing port of the electrical connector of the battery pack, causing the battery pack to lose protection or whether plastic deformation has occurred.

[0164] This solution adjusts the posture of the gasket visual inspection device according to the model of the battery pack, and then performs targeted image acquisition through the gasket visual inspection device to ensure the validity of the target image, and uses standard information and target images to detect the status of the gasket, so as to accurately and timely discover possible abnormal conditions of the gasket, providing a basis for further maintenance or replacement of the gasket.

[0165] In an optional embodiment, Figure 8 As shown, the adjustment module 320 specifically includes:

[0166] An identification unit 321, used to identify the model of the battery pack to be detected;

[0167] The judging unit 322 is used to obtain the position information of the sealing gasket visual inspection device and judge whether the sealing gasket visual inspection device is in a preset position corresponding to the battery pack; if not, calling the adjusting unit 323;

[0168] The adjustment unit 323 is used to adjust the current posture of the sealing gasket visual inspection device to a preset posture based on the model of the battery pack.

[0169] This solution identifies the model of the battery pack grabbed by the palletizer, and based on the model of the battery pack, confirms the preset position where the visual inspection device for the gasket should be located when inspecting the gasket of the battery pack of that model, and then obtains the current posture information of the visual inspection device for the gasket, and compares it with the preset posture to ensure that the visual inspection device for the gasket is in the preset posture, thereby achieving accurate inspection of the gasket. At the same time, since the visual inspection device for the gasket can be adjusted, its inspection range can be adjusted, which means that the inspection range is expanded and the flexibility of gasket inspection is improved.

[0170] This solution identifies the model of the battery pack grabbed by the palletizer, makes full use of the sealing gasket visual inspection device to perform targeted image acquisition of the battery pack on the palletizer, and detects and adjusts the current posture of the sealing gasket visual inspection device through posture information, thereby improving the flexibility and accuracy of the sealing gasket inspection of the electrical connector.

[0171] like Figure 8 As shown, the adjustment unit 323 is specifically used for:

[0172] Acquire the coordinate parameter value corresponding to the current posture of the sealing gasket visual inspection device based on the posture information;

[0173] Calculate the adjustment amount according to the coordinate parameter value and the coordinate parameter value corresponding to the preset posture;

[0174] The sealing gasket visual inspection device is controlled to adjust to a preset position and posture according to the adjustment amount.

[0175] This solution ensures the accuracy of posture adjustment of the sealing gasket visual inspection device by calculating the adjustment amount based on the coordinate parameter value corresponding to the current posture and the coordinate parameter value corresponding to the preset posture.

[0176] The sealing gasket visual inspection device includes a mounting bracket arranged on the palletizer and a visual inspection device movable on the mounting bracket; the adjustment unit 323 is also specifically used for:

[0177] Adjust the visual inspection device along the length direction of the battery pack to a position corresponding to the preset posture;

[0178] and / or,

[0179] Adjust the visual inspection equipment along the width direction of the battery pack to the position corresponding to the preset posture.

[0180] According to the size of the adjustment amount, the visual inspection equipment can be flexibly controlled to move along the length direction of the battery pack, or the width direction, or move in both the length direction and the width direction at the same time. This meets the inspection needs of battery packs in different placement positions and improves the diversity of preset position adjustment methods and the accuracy of adjustment results.

[0181] This solution utilizes visual inspection equipment to make adjustments along the length direction or width direction or both directions of the battery pack, thereby improving the accuracy of the preset posture adjustment.

[0182] In an optional embodiment, Figure 8 As shown, the detection module 330 specifically includes:

[0183] The information acquisition unit 331 is used to acquire standard information based on the model of the battery pack; the standard information includes an identification reference line of the target sealing gasket.

[0184] The division unit 332 is used to divide the target sealing gasket in the target image into a number of pixel intervals with equal spacing along the edge direction, and convert the pixel intervals into distance values ​​through a preset algorithm; the distance value is used to represent the distance from the edge pixel point to the identification reference line.

[0185] The determination unit 333 is used to determine the current state of the target sealing gasket according to the comparison result between the distance value and the preset range.

[0186] The positions of the identification reference lines of the target gaskets corresponding to different types of battery packs are different, so the information acquisition unit 331 needs to determine the standard information corresponding to the image detection according to the type of battery pack. The division unit 332 divides the area corresponding to the target gasket in the target image into N pixel intervals with equal spacing along the edge direction, and uses a preset algorithm to obtain the distance value S1-S corresponding to each pixel area. n Compared with the detection method of calculating the distance between each edge pixel point and the identification baseline to judge the current state of the target gasket, the image detection result is guaranteed while reducing the amount of calculation in the image detection process and taking into account the detection efficiency.

[0187] This solution divides the target image into edges and then compares the distance from the edge pixel to the recognition baseline with the preset range, thereby ensuring the accuracy of the detection results while reducing the amount of calculation in the detection process.

[0188] The determining unit 333 is specifically used for:

[0189] If the distance value falls within the preset range, it is determined that the target gasket is in a normal state;

[0190] If the distance value does not fall within the preset range, it is determined that the target sealing gasket is in an abnormal state; the abnormal state includes any one of a detached state, a protruding state, a missing state and a disconnected state.

[0191] The pixel points in several pixel intervals in the edge direction can reflect the state of the sealing gasket of the electrical connector at its setting position. By comparing the distance value with the preset range, possible concave and convex points can be found, and then it can be determined whether the target sealing gasket of the electrical connector is deformed, missing or disconnected.

[0192] This solution can simply, directly and accurately determine whether the sealing gasket is in a normal state or an abnormal state by comparing the distance value with a preset range.

[0193] In an optional embodiment, Figure 8 As shown, the image detection system also includes:

[0194] The analysis module 321 is used to analyze the target image to determine whether the target gasket is within the recognition range of the gasket visual detection device, and if not, call the update module;

[0195] The updating module 322 is used to adjust the current posture of the sealing gasket visual inspection device to a preset posture and update the target image.

[0196] For the above steps S121-S122, when the analysis module 321 analyzes the target image and finds that the current detection position of the target gasket is not within the image recognition range, the current posture of the gasket visual detection device is adjusted in time, and the update module 322 updates the target image again. If it is detected again that the target gasket is not within the recognition range of the gasket visual detection device, the current posture of the gasket visual detection device is adjusted in a cycle until the current posture of the gasket visual detection device is adjusted to the preset posture, thereby enhancing the effectiveness of image detection and the accuracy of the detection results.

[0197] This solution enhances the accuracy of the image detection result by pre-analyzing whether the position of the gasket visual detection device exceeds the recognition range based on the target image. When it exceeds the recognition range, the current posture of the gasket visual detection device is pre-adjusted. At the same time, the target image pre-analysis method can be used as a further judgment after adjusting the posture of the gasket visual detection device based on the battery pack model, so that the gasket visual detection device can detect the gasket more accurately. Of course, in other embodiments, the target image preset analysis can also directly replace the adjustment of the gasket visual detection device based on the battery pack model. In this way, there is no need to install a battery pack model recognition system in the battery swap station, thereby reducing costs and increasing detection speed.

[0198] In an optional embodiment, the palletizer includes an extension mechanism, such as Figure 8 As shown, the image detection system also includes:

[0199] A control module 311, used to control the extending mechanism to extend out of the palletizer to obtain the battery pack, and carry the battery pack back into the palletizer;

[0200] The judgment module 312 is used to judge whether the battery pack and the extension mechanism meet the first detection condition; the first detection condition is used to indicate that the first position information corresponding to the battery pack meets the first preset position and the second position information corresponding to the extension mechanism meets the second preset position at the same time; if not, the judgment module 313 is called.

[0201] The determination module 313 is used to determine whether the states of the battery pack and the extension mechanism are abnormal and make adjustments.

[0202] When the control module 311 uses the palletizer to obtain the battery pack, and the judgment module 312 determines that the corresponding position information of the battery pack and the extending mechanism does not match the first detection condition, the judgment module 313 determines that the battery pack may have fallen during the transportation process or the battery pack is placed in an abnormal position, and promptly notifies relevant personnel to deal with the abnormal situation, providing an effective basis for repairing or moving the battery pack.

[0203] This solution effectively avoids interference caused by abnormal position of the battery pack and / or the extension mechanism by detecting whether the corresponding position information of the battery pack and the extension mechanism simultaneously meets the first detection condition, thereby ensuring the accuracy of the image detection result.

[0204] In an optional embodiment, a light source device is further provided on the palletizer corresponding to the position of the target sealing gasket, the target sealing gasket is located between the sealing gasket visual detection device and the light source device, and the sealing gasket visual detection device is provided on the backlight surface of the target sealing gasket;

[0205] like Figure 8 As shown, the image detection system also includes:

[0206] The start module 314 is used to start the light source device to provide a light source toward the sealing gasket for the sealing gasket visual inspection device.

[0207] When the working environment for gasket image detection is slightly insufficient in light, the quality of the captured image will be poor, affecting the subsequent detection results of the target gasket. Therefore, before image detection, the light source device facing the target gasket is started to ensure that the illumination range can completely cover the area corresponding to the target gasket of the electric connection machine, providing a more reliable basis for subsequent image processing. And when the target gasket is between the light source device and the gasket visual detection device, the light source device acts as a backlight source, enhancing the accuracy of image detection.

[0208] This solution uses a light source device in conjunction with a sealing gasket visual inspection device, so that the image of the sealing ring of the electrical connector captured has better pixel quality, providing a more reliable basis for image processing; and when the target sealing gasket is located between the light source device and the sealing gasket visual inspection device, the light source device acts as a backlight source, enhancing the clarity of the image edge.

[0209] The sealing gasket image detection system of the present embodiment adjusts the posture of the sealing gasket visual detection device according to the model of the battery pack, and then performs targeted image acquisition through the sealing gasket visual detection device to ensure the validity of the target image, and uses standard information and target image to detect the status of the sealing gasket, so as to accurately and timely discover possible abnormal conditions of the sealing gasket, providing a basis for further maintenance or replacement of the sealing gasket.

[0210] Example 3

[0211] The battery swap station of this embodiment, Fig. 9 As shown, the battery swap station includes a battery swap station, a battery rack, a shuttle vehicle, a palletizer, and an image detection system for the sealing pad of Example 2;

[0212] The palletizer is used to shuttle back and forth between the shuttle car and the battery rack, and after removing the battery packs resting on the shuttle car, the battery packs are transported to the battery rack. The image detection system of the sealing pad is set on the palletizer and corresponds to the position of the electrical connector of the battery pack.

[0213] The shooting device in the visual inspection device of the gasket in the visual inspection system of the gasket can capture a single or multiple target images, and can perform image inspection based on a single target image, or can perform image inspection on a single target image obtained by superimposing, splicing and graying multiple target images at the same time. The image inspection system of the gasket can take pictures at any time during the process of the battery pack being transported to the palletizer. When an abnormality is detected based on the target image, the alarm information will be promptly transmitted to the relevant personnel so that the battery pack can be properly handled in a timely manner during the transportation process, avoiding safety hazards of the battery swapping vehicles at the battery swapping station and improving the user experience of the battery swapping station.

[0214] The battery swap station of this embodiment uses a sealing gasket image detection system to perform relevant inspections on the battery packs. It can use a palletizer to perform image inspection on the battery pack transportation process during the battery swap process, reserving sufficient time for the inspection without affecting the charging and swapping process of the battery pack, and taking into account the accuracy and efficiency of the sealing gasket inspection.

[0215] Example 4

[0216] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the image detection method of the sealing gasket of Embodiment 1 is implemented.

[0217] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0218] In a possible implementation manner, the present invention may also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the image detection method for the sealing gasket of Example 1.

[0219] Among them, the program code for executing the present invention can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0220] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A sealing gasket image detection method for performing image detection on a sealing gasket of an electrical connector on a battery pack placed on a palletizer, characterized in that: The position of the palletizer corresponding to the sealing gasket is provided with a sealing gasket visual detection device, and the image detection method comprises: Adjusting the position information of the sealing gasket visual inspection device based on the model of the battery pack to be inspected; Controlling the adjusted sealing gasket visual inspection device to collect a target image; the target image includes an image of an area corresponding to the target sealing gasket; The state of the target sealing gasket is detected based on the target image and standard information.

2. The image detection method of the sealing gasket according to claim 1, characterized in that: The step of adjusting the posture of the sealing gasket visual inspection device based on the model of the battery pack to be inspected includes: Identify the model of the battery pack to be tested; Acquire the posture information of the sealing gasket visual inspection device, and determine whether the sealing gasket visual inspection device is in a preset posture corresponding to the battery pack; If not, based on the model of the battery pack, the current posture of the sealing gasket visual inspection device is adjusted to the preset posture.

3. The image detection method of the sealing gasket according to claim 2, characterized in that: The step of adjusting the current posture of the sealing gasket visual inspection device to the preset posture comprises: Acquire a coordinate parameter value corresponding to a current posture of the sealing gasket visual inspection device based on the posture information; Calculating an adjustment amount according to the coordinate parameter value and the coordinate parameter value corresponding to the preset posture; The sealing gasket visual inspection device is controlled to adjust to the preset posture according to the adjustment amount.

4. The image detection method of the sealing gasket according to claim 3, characterized in that: The sealing gasket visual inspection device comprises a mounting bracket disposed on the palletizer and a visual inspection device movable on the mounting bracket; The step of controlling the sealing gasket visual inspection device to adjust to the preset posture according to the adjustment amount includes: Adjusting the visual inspection device to a position corresponding to the preset posture along the length direction of the battery pack; and / or, Adjust the visual inspection device along the width direction of the battery pack to a position corresponding to the preset posture.

5. The image detection method for a sealing gasket according to any one of claims 1 to 4, characterized in that: The step of detecting the state of the target sealing gasket based on the target image and the standard information includes: Acquiring the standard information based on the model of the battery pack; the standard information includes an identification reference line of the target sealing gasket; Divide the target sealing gasket in the target image into a number of pixel intervals at equal intervals in the edge direction, and convert the pixel intervals into distance values ​​using a preset algorithm; the distance values ​​are used to represent the distance from the edge pixel point to the identification reference line; The current state of the target sealing gasket is determined according to a comparison result between the distance value and a preset range.

6. The image detection method of the sealing gasket according to claim 5, characterized in that: The step of determining the current state of the target sealing gasket according to the comparison result between the distance value and the preset range includes: If the distance value falls within the preset range, it is determined that the target sealing gasket is in a normal state; If the distance value does not fall within the preset range, it is determined that the target sealing gasket is in an abnormal state; the abnormal state includes any one of a detached state, a protruding state, a missing state and a disconnected state.

7. The image detection method of the sealing gasket according to claim 5, characterized in that: Before the step of performing status detection on the target sealing gasket based on the target image and standard information, the image detection method further includes: Analyzing the target image to determine whether the target sealing gasket is within the recognition range of the sealing gasket visual detection device; If not, the current posture of the sealing gasket visual inspection device is adjusted to a preset posture, and the target image is updated.

8. The image detection method of the sealing gasket according to claim 2, characterized in that: The palletizer includes an extension mechanism, and before the step of controlling the adjusted sealing gasket visual inspection device to collect a target image, the image inspection method further includes: Controlling the extending mechanism to extend the palletizer to obtain the battery pack, and carrying the battery pack back into the palletizer; Determine whether the battery pack and the extension mechanism meet a first detection condition; the first detection condition is used to indicate that the first position information corresponding to the battery pack meets a first preset position and the second position information corresponding to the extension mechanism meets a second preset position at the same time; If not, the states of the battery pack and the extension mechanism are determined to be abnormal and adjusted.

9. The image detection method of the sealing gasket according to claim 1, characterized in that: A light source device is further provided on the palletizer corresponding to the position of the target sealing gasket, the target sealing gasket is located between the sealing gasket visual detection device and the light source device, and the sealing gasket visual detection device is arranged on the backlight surface of the target sealing gasket; Before the step of controlling the adjusted sealing gasket visual inspection device to collect a target image, the method further includes: The light source device is turned on to provide the sealing gasket visual inspection apparatus with a light source directed toward the sealing gasket.

10. A gasket image detection system for performing image detection on the gasket of an electrical connector on a battery pack placed on a palletizer, characterized in that: The image detection system comprises: A sealing gasket visual inspection device is arranged at a position corresponding to a target sealing gasket on the palletizer, and is used to collect a target image; the target image includes an image of an area corresponding to the target sealing gasket; An adjustment module, used for adjusting the position information of the sealing gasket visual inspection device based on the model of the battery pack to be inspected; A detection module is used to perform status detection on the target sealing gasket based on the target image and standard information.

11. A battery swap station, characterized in that: The battery swap station includes a battery swap station, a battery rack, a shuttle, a palletizer, and an image detection system for the sealing pad as claimed in claim 10; The palletizer is used to shuttle back and forth between the shuttle vehicle and the battery rack, and after removing the battery packs resting on the shuttle vehicle, transport the battery packs to the battery rack. The image detection system of the sealing gasket is arranged on the palletizer and corresponds to the position of the electrical connector of the battery pack.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the image detection method for the sealing gasket according to any one of claims 1 to 9 is implemented.

Images