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

Abstract

The application discloses a kind of image detection method, system, battery swap station and medium of sealing pad, for the image detection of the sealing pad of the electrical connector on the battery pack placed on the stacker, the position corresponding sealing pad on stacker is equipped with sealing pad visual detection device, this image detection method includes: the pose of sealing pad visual detection device is adjusted based on the model of battery pack to be detected;Control sealing pad visual detection device to collect target image;Based on target image and standard information, the state of target sealing pad is detected.The pose of sealing pad visual detection device is adjusted according to the model of battery pack in the application, and then image acquisition is carried out by sealing pad visual detection device, to ensure the effectiveness of target image, and the state of sealing pad is detected using standard information and target image, so that the abnormal state that sealing pad may exist is accurately and timely found, to provide basis for further maintenance or replacement of sealing pad.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy, in particular to a gasket image detection method and system, a battery swap station and a medium. BACKGROUND

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

[0003] The battery pack is used for electrical connection through a battery connector. For example, when the battery pack is electrically connected with the electric vehicle and the battery pack is electrically connected with the charging rack, the battery connector on the battery pack needs to be inserted with the vehicle end connector on the electric vehicle or the charging 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 is aging or deformed or falls off due to scratching during the battery replacement process, causing the waterproof sealing to fail, and ultimately reducing the safety of the sealing ring. SUMMARY

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

[0006] The present application solves the above technical problems by the following technical solutions:

[0007] In a first aspect, the present application provides a gasket image detection method for image detection of a sealing gasket of an electrical connector on a battery pack placed on a stacker. The stacker is provided with a sealing gasket visual detection device corresponding to the position of the sealing gasket. The image detection method comprises:

[0008] Adjusting the pose information of the sealing gasket visual detection device based on the model of the battery pack to be detected;

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

[0010] Performing state detection on the target sealing gasket based on the target image and standard information.

[0011] The scheme adjusts the pose of the gasket visual detection device according to the model of the battery pack, then carries out image acquisition by the gasket visual detection device, ensures the effectiveness of the target image, detects the state of the gasket by using the standard information and the target image, and thus accurately and timely discovers the abnormal state that may exist in the gasket, and provides a basis for further maintenance or replacement of the gasket.

[0012] Preferably, the step of adjusting the pose of the gasket visual detection device based on the model of the battery pack to be detected comprises:

[0013] identifying the model of the battery pack to be detected;

[0014] obtaining the pose information of the gasket visual detection device, and judging whether the gasket visual detection device is in a preset pose corresponding to the battery pack;

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

[0016] The scheme identifies the model of the battery pack grabbed by the stacker, confirms the preset position of the gasket visual detection device when detecting the gasket of the battery pack of the model based on the model of the battery pack, then obtains the current pose information of the gasket visual detection device, and compares the current pose information with the preset pose, so as to ensure that the gasket visual detection device is in the preset pose, and thus accurate detection of the gasket is realized. At the same time, the detection range of the gasket visual detection device can be adjusted, that is, the detection range is expanded, and the flexibility of the detection of the gasket is improved.

[0017] Preferably, the step of adjusting the current pose of the gasket visual detection device to the preset pose comprises:

[0018] obtaining a coordinate parameter value corresponding to the current pose of the gasket visual detection device based on the pose information;

[0019] calculating an adjustment amount according to the coordinate parameter value corresponding to the current pose and a coordinate parameter value corresponding to the preset pose;

[0020] controlling the gasket visual detection device to adjust to the preset pose according to the adjustment amount.

[0021] The adjustment amount calculated according to the coordinate parameter value corresponding to the current pose and the coordinate parameter value corresponding to the preset pose ensures the accuracy of the pose adjustment of the gasket visual detection device.

[0022] Preferably, the gasket visual detection device comprises a mounting bracket arranged on the stacker and a visual detection device movable on the mounting bracket.

[0023] The step of controlling the gasket visual inspection device to adjust to the preset pose according to the adjustment amount comprises:

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

[0025] And / or,

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

[0027] The present scheme adjusts the visual inspection device along the length direction or the width direction or both directions of the battery pack, thereby improving the accuracy of the preset pose adjustment.

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

[0029] Obtaining the standard information based on the model of the battery pack, the standard information comprising an identification reference line of the target gasket;

[0030] Dividing the target gasket in the target image into a plurality of pixel intervals at equal intervals along the edge direction, and converting 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;

[0031] Determining the current state of the target gasket according to the comparison result of the distance values and a preset range.

[0032] The present scheme divides the target image along the edge, and compares the distance from the edge pixel point to the identification reference line with the preset range, thereby ensuring the accuracy of the detection result while reducing the computational load of the detection process.

[0033] Preferably, the step of determining the current state of the target gasket according to the comparison result of the distance values and a preset range comprises:

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

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

[0036] The present scheme compares the distance value with the preset range, which can simply, directly and accurately determine whether the gasket is in a normal state or an abnormal state.

[0037] Preferably, before the step of detecting the state of the target 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 gasket is within the recognition range of the gasket visual detection device;

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

[0040] The present scheme can pre-analyze whether the position of the gasket visual detection device exceeds the recognition range according to the target image, and pre-adjust the current pose of the gasket visual detection device when it exceeds the recognition range, thereby enhancing the accuracy of the image detection result. At the same time, the target image pre-analysis method can be used as a further judgment after adjusting the pose of the gasket visual detection device based on the battery pack model, thereby making the detection of the gasket by the gasket visual detection device more accurate. The target image pre-analysis can also directly replace the adjustment of the gasket visual detection device based on the battery pack model, so that the battery pack model identification is not required, thereby making the overall detection method simpler and improving the detection speed.

[0041] Preferably, the stacker comprises an extension mechanism, and before the step of controlling the adjusted gasket visual detection device to collect the target image, the image detection method further comprises:

[0042] controlling the extension mechanism to extend the stacker to obtain the battery pack and carry the battery pack back into the stacker;

[0043] determining whether the battery pack and the extension mechanism meet a first detection condition; the first detection condition is used to represent that the first position information corresponding to the battery pack satisfies a first preset position and the second position information corresponding to the extension mechanism satisfies a second preset position;

[0044] If not, it is determined that the state of the battery pack and the extension mechanism is abnormal and is adjusted.

[0045] The present scheme can detect whether the respective position information of the battery pack and the extension mechanism meets the first detection condition at the same time, thereby effectively avoiding interference caused by abnormal positions of the battery pack and / or the extension mechanism, and ensuring the accuracy of the image detection result.

[0046] Preferably, the stacker is further provided with a light source device corresponding to the position of the target gasket, the target gasket is located between the gasket visual detection device and the light source device, and the gasket visual detection device is arranged on the back light surface of the target gasket.

[0047] The control adjusts the step of the gasket visual detection device collecting a target image, and further comprises the following steps of:

[0048] Turning on the light source device to provide light source for the gasket visual detection device.

[0049] The present scheme uses the light source device in cooperation with the gasket visual detection device, so that the image of the gasket of the electrical connector has better pixel quality, and provides 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 plays the role of a backlight source, and the image edge definition is enhanced.

[0050] In a second aspect, the present application provides a gasket image detection system for detecting the gasket of an electrical connector on a battery pack placed on a stacking machine, comprising:

[0051] A gasket visual detection device is arranged on the stacking machine at a position corresponding to a target gasket, and is used to collect a target image; the target image includes an image of a region corresponding to the target gasket;

[0052] An adjustment module is used to adjust the pose information of the gasket visual detection device based on the model of the battery pack to be detected;

[0053] A detection module is used to detect the state of the target gasket based on the target image and standard information.

[0054] The present scheme adjusts the pose of the gasket visual detection device according to the model of the battery pack, and then collects images by the gasket visual detection device, so as to ensure the effectiveness of the target image, and detects the state of the gasket by using the standard information and the target image, so as to accurately and timely find the abnormal state of the gasket, and provide a basis for further repairing or replacing the gasket.

[0055] Preferably, the adjustment module comprises:

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

[0057] A judgment unit is used to obtain the pose information of the gasket visual detection device, and judge whether the gasket visual detection device is in a preset pose corresponding to the battery pack; if not, the adjustment unit is called;

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

[0059] The scheme identifies the model of the battery pack grabbed by the stacking machine, confirms the preset position of the sealing gasket visual detection device when detecting the sealing gasket of the battery pack of the model based on the model of the battery pack, and then acquires the current pose information of the sealing gasket visual detection device, and ensures that the sealing gasket visual detection device is in the preset pose through comparison with the preset pose, so as to realize accurate detection of the sealing gasket. At the same time, the sealing gasket visual detection device can be adjusted, so that its detection range can be adjusted, that is, the detection range is expanded, and the flexibility of sealing gasket detection is improved.

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

[0061] acquiring coordinate parameter values corresponding to the current pose of the sealing gasket visual detection device based on the pose information;

[0062] calculating an adjustment amount according to the coordinate parameter values and the coordinate parameter values corresponding to the preset pose;

[0063] controlling the sealing gasket visual detection device to adjust to the preset pose according to the adjustment amount.

[0064] The scheme calculates the adjustment amount according to the coordinate parameter values corresponding to the current pose and the coordinate parameter values corresponding to the preset pose, which ensures the accuracy of the pose adjustment of the sealing gasket visual detection device.

[0065] Preferably, the sealing gasket visual detection device comprises a mounting bracket arranged on the stacking machine and a visual detection device movable on the mounting bracket.

[0066] The adjusting unit is specifically used for:

[0067] adjusting the visual detection device to a position corresponding to the preset pose along the length direction of the battery pack;

[0068] and / or,

[0069] adjusting the visual detection device to a position corresponding to the preset pose along the width direction of the battery pack.

[0070] The scheme adjusts the visual detection device along the length direction or the width direction or both directions of the battery pack, thereby improving the accuracy of the preset pose 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, the standard information comprising an identification reference line of a target sealing gasket;

[0073] The dividing unit is configured to divide the target gasket in the target image into a plurality of pixel intervals at equal intervals in an edge direction, and convert the pixel intervals into distance values by using a preset algorithm; the distance values are used to represent distances from edge pixel points to the recognition reference line;

[0074] The determining unit is configured to determine a current state of the target gasket according to a comparison result of the distance values and a preset range.

[0075] The present scheme can ensure the accuracy of the detection result and reduce the operation amount of the detection process by dividing the target image, and comparing the distance from the edge pixel point to the recognition reference line with the preset range.

[0076] Preferably, the determining unit is specifically configured to:

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

[0078] if the distance value does not fall within the preset range, it is determined that the target gasket is in an abnormal state; the abnormal state includes any one of a separation state, a protrusion state, a missing state and a breakage state.

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

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

[0081] The analysis module is 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, the updating module is called;

[0082] The updating module is configured to adjust the current pose of the gasket visual detection device to a preset pose, and update the target image.

[0083] The present scheme can pre-analyze whether the position of the gasket visual detection device exceeds the recognition range according to the target image, and pre-adjust the current pose of the gasket visual detection device when it exceeds the recognition range, thereby enhancing the accuracy of the image detection result. At the same time, the target image pre-analysis method can be used as a further judgment after adjusting the pose of the gasket visual detection device based on the battery pack model, so that the detection of the gasket visual detection device on the gasket is more accurate. The target image pre-analysis can also directly replace the adjustment of the gasket visual detection device based on the battery pack model, so that the battery pack model identification is not needed, which makes the overall detection method simpler and improves the detection speed.

[0084] Preferably, the stacker comprises an extension mechanism, and the image detection system further comprises:

[0085] a control module configured to control the extension mechanism to extend the stacker to obtain the battery pack and carry the battery pack back into the stacker;

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

[0087] the determination module is configured to determine that the state of the battery pack and the extension mechanism is abnormal and adjust.

[0088] The present scheme effectively avoids interference caused by abnormal position of the battery pack and / or the extension mechanism by detecting whether the position information corresponding to the battery pack and the extension mechanism meets the first detection condition at the same time, thereby ensuring the accuracy of the image detection result.

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

[0090] a starting module configured to start the light source device to provide light source for the gasket visual detection device.

[0091] The present scheme uses the light source device in cooperation with the gasket visual detection device, so that the image of the sealing ring of the electric connector has better pixel quality, and provides 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 plays the role of a backlight source, thereby enhancing the image edge definition.

[0092] In a third aspect, the present application provides a battery swap station, the battery swap station comprising a battery swap position, a battery rack, a shuttle vehicle, a stacker and the gasket image detection system of the second aspect;

[0093] The stacker is used to reciprocate between the shuttle vehicle and the battery rack, take down the battery pack stopped on the shuttle vehicle, and then transport the battery pack to the battery rack; the gasket image detection system is arranged on the stacker and corresponds to the position of the electric connector of the battery pack.

[0094] The image detection system of the sealing gasket is used for detecting the battery pack, image detection can be performed on the transfer process of the battery pack by the stacking machine during the battery replacement process, on the one hand, sufficient time is reserved for detection, on the other hand, the battery replacement process is not affected, and the detection accuracy and efficiency of the sealing gasket are balanced.

[0095] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the image detection method of the sealing gasket according to any one of the first aspect.

[0096] The positive progress effect of the present application is that the image detection method, system, battery replacement station and medium of the sealing gasket provided by the present application adjust the pose of the sealing gasket visual detection device according to the model of the battery pack, then the sealing gasket visual detection device is used for targeted image acquisition, the effectiveness of the target image is ensured, the state of the sealing gasket is detected by using the standard information and the target image, so that the abnormal state of the sealing gasket can be found accurately and timely, and the basis for further maintenance or replacement of the sealing gasket is provided. BRIEF DESCRIPTION OF DRAWINGS

[0097] Figure 1 The first flowchart of the image detection method of the sealing gasket of the embodiment 1 of the present application.

[0098] Figure 2 The second flowchart of the image detection method of the sealing gasket of the embodiment 1 of the present application.

[0099] Figure 3 The third flowchart of the image detection method of the sealing gasket of the embodiment 1 of the present application.

[0100] Figure 4 The fourth flowchart of the image detection method of the sealing gasket of the embodiment 1 of the present application.

[0101] Figure 5 The fifth flowchart of the image detection method of the sealing gasket of the embodiment 1 of the present application.

[0102] Figure 6 The sixth flowchart of the image detection method of the sealing gasket of the embodiment 1 of the present application.

[0103] Figure 7 The seventh flowchart of the image detection method of the sealing gasket of the embodiment 1 of the present application.

[0104] Figure 8 The module schematic diagram of the image detection system of the sealing gasket of the embodiment 2 of the present application.

[0105] Figure 9 The structural schematic diagram of the battery replacement station of the embodiment 3 of the present application. DETAILED DESCRIPTION

[0106] The application will be further described in the following examples without limiting the application to the examples.

[0107] Example 1

[0108] The image detection method of the sealing gasket of the present example, as shown in Figure 1 for image detection of the sealing gasket of the electrical connector on the battery pack placed on the palletizer, the sealing gasket visual detection device is provided at the position corresponding to the sealing gasket on the palletizer, and the image detection method comprises:

[0109] S11, adjusting the pose information of the sealing gasket visual detection device based on the model of the battery pack to be detected.

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

[0111] S13, detecting the state of the target sealing gasket based on the target image and standard information.

[0112] For the above steps S11-S13, the pose information includes at least one of the position information and the attitude information of the sealing gasket visual detection device, the position information and / or the attitude information of the sealing gasket visual detection device corresponding to each model of the battery pack is different, the sealing gasket visual detection device is adjusted to the corresponding detection position and / or detection attitude according to the model of the battery pack in advance, to ensure the effectiveness of subsequent image detection. The standard information corresponding to each model of the battery pack is different, that is, the position of the recognition reference line is different, and since the target image includes an image of the sealing gasket of the electrical connector on the battery pack that has completely fallen off, a local image that has not completely fallen off, and an integral image that has not fallen off, the target image is used to detect whether the sealing gasket of the electrical connector has fallen off from the sealing port of the battery pack, resulting in a situation where the battery pack loses protection or whether plastic deformation occurs.

[0113] The present scheme adjusts the pose of the sealing gasket visual detection device according to the model of the battery pack, and then performs image collection by the sealing gasket visual detection device, to ensure the effectiveness of the target image, and detects the state of the sealing gasket by using the standard information and the target image, to accurately and timely find the abnormal state that the sealing gasket may have, to provide a basis for further maintenance or replacement of the sealing gasket.

[0114] In an optional implementation, as shown in Figure 2 S11 specifically comprises:

[0115] S111, recognizing the model of the battery pack to be detected.

[0116] S112, acquire the pose information of the gasket visual detection device, and determine whether the gasket visual detection device is in a preset pose corresponding to the battery pack; if not, perform step S113.

[0117] S113, based on the model of the battery pack, adjust the current pose of the gasket visual detection device to the preset pose.

[0118] For the above steps S111-S113, the battery pack model identification method includes but is not limited to identifying the battery pack corresponding model by using the identification system at the entrance of the battery swap station to determine the battery pack corresponding model, and also can identify the battery pack by using the identification system in the charging station after the battery pack is detached from the battery swap vehicle. The preset pose of the gasket visual detection device corresponding to the model of different battery packs is different, when the current pose of the gasket visual detection device is detected to be different from the preset pose, the pose is adjusted in time, and the accuracy of the inspection of the gasket of the electrical connector is ensured.

[0119] The scheme identifies the model of the battery pack grabbed by the stacker, confirms the preset position of the gasket visual detection device when detecting the gasket of the battery pack of the model based on the model of the battery pack, and then acquires the current pose information of the gasket visual detection device, compares the current pose information with the preset pose, ensures that the gasket visual detection device is in the preset pose, and then realizes the accurate detection of the gasket. At the same time, since the gasket visual detection device can be adjusted, the detection range thereof can be adjusted, that is, the detection range is expanded, and the flexibility of the detection of the gasket is improved.

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

[0121] S1131, acquire the coordinate parameter value corresponding to the current pose of the gasket visual detection device based on the pose information;

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

[0123] S1133, control the gasket visual detection device to adjust to the preset pose according to the adjustment amount.

[0124] The scheme calculates the adjustment amount according to the coordinate parameter value corresponding to the current pose and the coordinate parameter value corresponding to the preset pose, and ensures the accuracy of the pose adjustment of the gasket visual detection device.

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

[0126] Adjusting the visual inspection equipment to the position corresponding to the preset pose along the length direction of the battery pack;

[0127] and / or,

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

[0129] Flexibly selecting the control of the visual inspection equipment to move along the length direction of the battery pack, or to move along the width direction, or to move along both the length direction and the width direction according to the size of the adjustment amount, meets the detection requirements of the battery pack in different placement positions, and improves the diversity of the preset position adjustment mode and the accuracy of the adjustment result.

[0130] The scheme adjusts the visual inspection equipment along the length direction or the width direction of the battery pack or simultaneously along both directions, thereby improving the accuracy of the preset pose adjustment.

[0131] In an optional implementation, as shown in Figure 4 S13 specifically includes:

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

[0133] S132, dividing the target gasket in the target image into a plurality of pixel intervals at equal intervals along the edge direction, and converting 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.

[0134] S133, determining the current state of the target gasket according to the comparison result of 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 models of the battery pack are different, so it is necessary to determine the standard information corresponding to the image detection according to the model of the battery pack. The area corresponding to the target gasket in the target image is divided into N pixel intervals at equal intervals along the edge direction, and a preset algorithm is used to obtain the distance value S1-S n of each pixel area, which ensures the image detection result and reduces the operation amount of the image detection process while judging the current state of the target gasket by calculating the distance from each edge pixel point to the identification reference line, and takes into account the detection efficiency.

[0136] The scheme divides the edge of the target image, and compares the distance from the edge pixel point to the identification reference line with the preset range, which ensures the accuracy of the detection result while reducing the operation amount of the detection process.

[0137] The step S133 specifically comprises:

[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 gasket is in an abnormal state, which includes any one of a separation state, a protrusion state, a missing state and a breakage state.

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

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

[0142] In an optional embodiment, as shown in FIG. 13, before the step S13, the image detection method further comprises: Figure 5

[0143] S121, analyzing the target image to determine whether the target gasket is in the recognition range of the gasket visual detection device. If not, the step S122 is performed.

[0144] S122, the current pose of the gasket visual detection device is adjusted to the preset pose, and the target image is updated.

[0145] For the steps S121-S122, when it is analyzed according to the target image that the current detection position of the target gasket is not in the image recognition range, the current pose of the gasket visual detection device is timely adjusted, and the target image is updated again. If the target gasket is not detected to be in the recognition range of the gasket visual detection device again, the current pose adjustment of the gasket visual detection device is circularly performed until the current pose of the gasket visual detection device is adjusted to the preset pose, thereby enhancing the effectiveness of image detection and the accuracy of detection results.

[0146] ​This solution enhances the accuracy of image detection results by pre-analyzing the target image to determine if the position of the sealing gasket visual inspection device exceeds the recognition range. If it does, the current pose of the sealing gasket visual inspection device is pre-adjusted, thus improving the accuracy of the image detection results. Furthermore, the target image pre-analysis method can serve as a further judgment after adjusting the pose of the sealing gasket visual inspection device based on the battery pack model, thereby making the detection of the sealing gasket more precise. Of course, in other embodiments, target image pre-analysis can directly replace adjusting the sealing gasket visual inspection device based on the battery pack model, eliminating the need for battery pack model recognition, thus simplifying the overall detection method and improving detection speed.

[0147] In one alternative implementation, 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 extension mechanism to extend out of the palletizer to obtain the battery pack, and carry the battery pack back into 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 characterize 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 simultaneously meets the second preset position; if they do not meet the condition...

[0150] S1103. Determine if the battery pack and extension mechanism are in abnormal condition and adjust accordingly.

[0151] Regarding steps S1101-S1103 above, after the battery pack is obtained using the palletizer, if the corresponding position information of the battery pack and the extension mechanism does not match the first detection condition, it indicates that the battery pack may have fallen during the transfer process or that the battery pack is placed in an abnormal position. The relevant personnel should be notified in a timely manner to handle the abnormal situation, providing a valid basis for taking repair or moving the position of the battery pack.

[0152] This solution effectively avoids interference caused by abnormal positions 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, thus ensuring the accuracy of the image detection results.

[0153] In one optional embodiment, a light source device is also provided on the palletizer corresponding to the position of the target sealing gasket. The target sealing gasket is located between the sealing gasket visual inspection device and the light source device, and the sealing gasket visual inspection device is set on the backlight side of the target sealing gasket.

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

[0155] S1104, turn on the light source device to provide light source to the sealing gasket for the sealing gasket visual detection device.

[0156] When the light in the working environment of the sealing gasket image detection is slightly insufficient, it will cause the image quality to be poor, and the detection result of the target sealing gasket will be affected, so before the image detection, the light source device in the direction of the target sealing gasket is started, so as to ensure that the light range can completely cover the range of the target sealing gasket of the electric connection machine, and provide more reliable basis for subsequent image processing. And when the target sealing gasket is between the light source device and the sealing gasket visual detection device, the light source device plays the role of backlight source, which enhances the accuracy of image detection. The scheme uses the light source device with the sealing gasket visual detection device, so that the image of the sealing ring of the electric connector has better pixel quality, and provides more reliable basis for image processing; and when the target sealing gasket is between the light source device and the sealing gasket visual detection device, the light source device plays the effect of backlight source, which enhances the image edge definition.

[0157] The image detection method of the sealing gasket of the embodiment adjusts the pose of the sealing gasket visual detection device according to the model of the battery pack, and then carries out image acquisition by the sealing gasket visual detection device, so as to ensure the effectiveness of the target image, and detect the state of the sealing gasket by using the standard information and the target image, so as to accurately and timely find the abnormal state of the sealing gasket, and provide basis for further maintenance or replacement of the sealing gasket.

[0158] Embodiment 2

[0159] The image detection system of the sealing gasket of the embodiment, as shown in Figure 8 Fig. 1, is used for image detection of the sealing gasket of the electric connector on the battery pack placed on the stacking machine. The image detection system comprises:

[0160] The sealing gasket visual detection device 310 is arranged on the stacking machine at a position corresponding to the target sealing gasket, and is used for acquiring a target image; the target image comprises an image of a region corresponding to the target sealing gasket;

[0161] The adjustment module 320 is used for adjusting the pose information of the sealing gasket visual detection device based on the model of the battery pack to be detected;

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

[0163] The pose includes at least one of position information and attitude information of the gasket visual detection device, the position information and / or the attitude information of the gasket visual detection device corresponding to each type of battery pack is different, the adjusting module 320 adjusts the gasket visual detection device to the corresponding detection position and / or detection attitude according to the type of the battery pack in advance, and ensures 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 since 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 integral image that has not fallen off, the detection module 330 detects whether the gasket of the electrical connector falls off from the sealing port of the electrical connector of the battery pack, causes the battery pack to lose protection, or whether plastic deformation occurs.

[0164] The scheme adjusts the pose of the gasket visual detection device according to the type of the battery pack, then specifically acquires images by the gasket visual detection device, ensures the effectiveness of the target image, detects the state of the gasket by using the standard information and the target image, and thus accurately and timely discovers the abnormal state that may exist in the gasket, and provides a basis for further repairing or replacing the gasket.

[0165] In an optional implementation manner, as shown in Figure 8 The adjusting module 320 specifically includes:

[0166] The identification unit 321 is configured to identify the type of the battery pack to be detected.

[0167] The judgment unit 322 is configured to acquire the pose information of the gasket visual detection device, and judge whether the gasket visual detection device is in a preset pose corresponding to the battery pack; if not, the adjusting unit 323 is called.

[0168] The adjusting unit 323 is configured to adjust the current pose of the gasket visual detection device to the preset pose based on the type of the battery pack.

[0169] The scheme identifies the type of the battery pack grabbed by the stacker, confirms the preset position of the gasket visual detection device when detecting the gasket of the battery pack of the type based on the type of the battery pack, then acquires the current pose information of the gasket visual detection device, and compares the current pose information with the preset pose, so as to ensure that the gasket visual detection device is in the preset pose, and then accurately detects the gasket. Meanwhile, the gasket visual detection device can be adjusted, so that the detection range of the gasket visual detection device can be adjusted, that is, the detection range is expanded, and the flexibility of detecting the gasket is improved.

[0170] The scheme identifies the model of the battery pack grabbed by the stacking machine, fully utilizes the sealing gasket vision detection device to perform targeted image acquisition on the battery pack located on the stacking machine, detects and adjusts the current pose of the sealing gasket vision detection device through the pose information, and thus improves the flexibility and accuracy of the sealing gasket detection of the electrical connector.

[0171] As shown in Figure 8 , the adjusting unit 323 is specifically configured to:

[0172] obtain the coordinate parameter value corresponding to the current pose of the sealing gasket vision detection device based on the pose information;

[0173] calculate the adjustment amount according to the coordinate parameter value and the coordinate parameter value corresponding to the preset pose;

[0174] control the sealing gasket vision detection device to adjust to the preset pose according to the adjustment amount.

[0175] The scheme calculates the adjustment amount according to the coordinate parameter value corresponding to the current pose and the coordinate parameter value corresponding to the preset pose, which ensures the accuracy of the pose adjustment of the sealing gasket vision detection device.

[0176] The sealing gasket vision detection device includes a mounting bracket arranged on the stacking machine and a vision detection device movable on the mounting bracket; the adjusting unit 323 is further specifically configured to:

[0177] adjust the vision detection device to the position corresponding to the preset pose along the length direction of the battery pack;

[0178] and / or,

[0179] adjust the vision detection device to the position corresponding to the preset pose along the width direction of the battery pack.

[0180] According to the size of the adjustment amount, any one of the following modes is flexibly selected to control the vision detection device to move along the length direction of the battery pack, or to move along the width direction, or to move along both the length direction and the width direction, which meets the detection requirements of the battery pack placed in different positions and improves the diversity of the preset position adjustment mode and the accuracy of the adjustment result.

[0181] The scheme adjusts the vision detection device along the length direction or the width direction of the battery pack or simultaneously along both directions, thereby improving the accuracy of the preset pose adjustment.

[0182] In an optional implementation, as shown in Figure 8 , the detection module 330 specifically includes:

[0183] an information obtaining unit 331, configured to obtain standard information based on the model of the battery pack; the standard information includes an identification reference line of a target sealing gasket.

[0184] The dividing unit 332 is configured to divide the target 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 by using a preset algorithm; the distance values are used to represent the distance from the edge pixel point to the recognition reference line.

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

[0186] The recognition reference line of the target gasket corresponding to the battery pack of different models is different in position, so the information acquisition unit 331 needs to determine the standard information corresponding to the image detection according to the model of the battery pack. The dividing unit 332 divides the area corresponding to the target gasket in the target image into N pixel intervals at equal intervals in the edge direction, and obtains the distance value S1-SN corresponding to each pixel area by using a preset algorithm. n The image detection result is ensured, and at the same time, the detection method of judging the current state of the target gasket by calculating the distance from each edge pixel point to the recognition reference line can reduce the operation amount of the image detection process, and the detection efficiency is taken into account.

[0187] The present scheme divides the target image by the edge, and then compares the distance from the edge pixel point to the recognition reference line with the preset range, so as to ensure the accuracy of the detection result and reduce the operation amount of the detection process.

[0188] The determining unit 333 is specifically configured to:

[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 gasket is in an abnormal state; the abnormal state includes any one of a separation state, a protrusion state, a missing state and a breakage state.

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

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

[0193] In an optional embodiment, as shown in Figure 8 The image detection system further includes:

[0194] The analysis module 321 is 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, the updating module is called.

[0195] The updating module 322 is configured to adjust the current pose of the gasket visual detection device to the preset pose and update the target image.

[0196] For the steps S121-S122, when the analysis module 321 analyzes the target image and determines that the current detection position of the target gasket is not within the image recognition range, the current pose of the gasket visual detection device is adjusted in time, and the updating module 322 updates the target image again. If the target gasket is still not within the recognition range of the gasket visual detection device, the current pose of the gasket visual detection device is adjusted repeatedly until the current pose of the gasket visual detection device is adjusted to the preset pose. The effectiveness of image detection and the accuracy of detection results are improved.

[0197] The scheme can analyze in advance whether the position of the gasket visual detection device exceeds the recognition range according to the target image. When the position exceeds the recognition range, the current pose of the gasket visual detection device is adjusted in advance, and the accuracy of the image detection result is improved. At the same time, the target image pre-analysis method can be used as a further judgment after adjusting the pose of the gasket visual detection device based on the battery pack model, so that the detection of the gasket visual detection device on the gasket is more accurate. Of course, in other embodiments, the target image pre-analysis can directly replace the adjustment of the gasket visual detection device based on the battery pack model, so that the battery pack model identification system does not need to be installed in the battery swap station, thereby reducing the cost and improving the detection speed.

[0198] In an optional embodiment, the stacking machine comprises an extension mechanism, as shown in the image detection system further comprises: Figure 8

[0199] The control module 311 is configured to control the extension mechanism to extend the stacking machine to obtain the battery pack and carry the battery pack back to the stacking machine.

[0200] The judgment module 312 is configured to determine whether the battery pack and the extension mechanism meet the first detection condition. The first detection condition is used to represent 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, the determination module 313 is called.

[0201] The determination module 313 is configured to determine the abnormal state of the battery pack and the extension mechanism and adjust.

[0202] ​When the control module 311 obtains the battery pack by the stacking machine, when the judgment module 312 judges that the position information corresponding to the battery pack and the extension mechanism respectively does not match the first detection condition, the determination module 313 determines that the battery pack may fall during the transfer process or the battery pack placement position is abnormal, and timely informs the relevant personnel to handle the abnormal situation, and provides an effective basis for taking maintenance or moving the position of the battery pack.

[0203] The scheme effectively avoids interference caused by abnormal positions of the battery pack and / or the extension mechanism by detecting whether the position information corresponding to the battery pack and the extension mechanism respectively meets the first detection condition at the same time, thereby ensuring the accuracy of the image detection result.

[0204] In an optional embodiment, a light source device is further arranged on the stacking machine corresponding to the position of the target gasket, the target gasket is located between the gasket visual detection device and the light source device, and the gasket visual detection device is arranged on the back light surface of the target gasket.

[0205] As shown in Figure 8 The image detection system further includes:

[0206] The starting module 314 is configured to start the light source device to provide light source for the gasket visual detection device.

[0207] When the light in the working environment of the gasket image detection is insufficient, the quality of the captured image is poor, which affects the detection result of the target gasket. Therefore, before image detection, the light source device in the direction of the target gasket is started, so that the light range can completely cover the range of the target gasket of the electrical connection machine, and a more reliable basis is provided for subsequent image processing. 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, thereby enhancing the accuracy of image detection.

[0208] The scheme uses the light source device in cooperation with the gasket visual detection device, so that the image of the gasket of the electrical connector captured has better pixel quality, and a more reliable basis is provided for image processing. 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, thereby enhancing the image edge definition.

[0209] The gasket image detection system of the embodiment adjusts the pose of the gasket visual detection device according to the model of the battery pack, and then performs image acquisition by the gasket visual detection device, thereby ensuring the effectiveness of the target image. The state of the gasket is detected by using the standard information and the target image, so that the abnormal state of the gasket can be accurately and timely found, thereby providing a basis for further maintenance or replacement of the gasket.

[0210] Embodiment 3

[0211] The battery swap station of the embodiment, as shown in Figure 9 includes a battery swap site, a battery rack, a shuttle vehicle, a stacker, and the image detection system of the sealing gasket of embodiment 2.

[0212] The stacker is used to reciprocate between the shuttle vehicle and the battery rack, and after taking the battery pack staying on the shuttle vehicle, the stacker transports the battery pack to the battery rack. The image detection system of the sealing gasket is arranged on the stacker and corresponds to the position of the electrical connector of the battery pack.

[0213] The shooting device in the sealing gasket visual detection device in the sealing gasket visual detection system can collect single or multiple target images. The image detection can be performed according to the single target image, or the image detection can be performed on the single target image obtained after the multiple target images are superimposed, spliced, and grayed at the same time. The image detection system of the sealing gasket can take pictures at any time point during the transportation of the battery pack to the stacker. When an abnormal situation is detected according to the target image, the alarm information is transmitted to the relevant personnel in time, so as to timely and properly handle the battery pack transportation process, avoid safety hazards of the battery swap vehicle of the battery swap station, and provide user experience of the battery swap station.

[0214] The battery swap station of the embodiment uses the image detection system of the sealing gasket to detect the battery pack. The image detection of the transportation process of the battery pack by the stacker in the battery swap process is performed, sufficient time is reserved for detection, and the charging and battery swap process of the battery pack is not affected. The detection accuracy and efficiency of the sealing gasket are considered.

[0215] Embodiment 4

[0216] The embodiment provides a computer readable storage medium, which stores a computer program. The program is executed by a processor to implement the image detection method of the sealing gasket of embodiment 1.

[0217] More specifically, the readable storage medium can 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 possible implementation manners, the present application can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to make the terminal device execute the image detection method of the sealing gasket of embodiment 1.

[0219] programmable logic arrays, field programmable gate arrays, programmable logic devices, microcode, etc. In this manner, the program code can implement a virtual machine that operates in response to execution of the program code by the operation of a virtual machine instruction counter.

[0220] Although the present application has been described in connection with the embodiments thereof, it will be understood that the application is capable of further modifications. This application is intended to cover any variations, uses or adaptations of the application other than those shown in the specification.

Claims

1. A method for image detection of sealing gaskets, used for image detection of sealing gaskets of electrical connectors on battery packs placed on a palletizer, characterized in that, The palletizer is equipped with a visual inspection device for the sealing gasket at the corresponding position. The image detection method includes: The pose information of the sealing gasket visual inspection device is adjusted based on the model of the battery pack to be inspected; The controlled and adjusted visual inspection device for the sealing gasket acquires a target image; the target image includes an image of the area corresponding to the target sealing gasket; The target sealing gasket is subjected to state detection based on the target image and standard information; The step of adjusting the pose 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 pose information of the sealing gasket visual inspection device, and determine whether the sealing gasket visual inspection device is in a preset pose corresponding to the battery pack; If not, based on the model of the battery pack, adjust the current pose of the sealing gasket visual inspection device to the preset pose; The palletizer includes an extension mechanism. Before the step of the controlled and adjusted visual inspection device for the sealing gasket acquiring the target image, the image detection method further includes: The extension mechanism is controlled to extend from the palletizer to obtain the battery pack and carry the battery pack back into the palletizer; Determine whether the battery pack and the extension mechanism meet the first detection condition; the first detection condition is used to characterize that the first position information corresponding to the battery pack satisfies the first preset position and the second position information corresponding to the extension mechanism simultaneously satisfies the second preset position. If the conditions are not met, the battery pack and the extension mechanism are determined to be in an abnormal state and are adjusted accordingly.

2. The image detection method for sealing gaskets as described in claim 1, characterized in that, The step of adjusting the current pose of the sealing gasket visual inspection device to the preset pose includes: Based on the pose information, obtain the coordinate parameter values ​​corresponding to the current pose of the visual inspection device for the sealing gasket; The adjustment amount is calculated based on the coordinate parameter values ​​and the coordinate parameter values ​​corresponding to the preset pose; The visual inspection device for the sealing gasket is adjusted to the preset position according to the adjustment amount.

3. The image detection method for sealing gaskets as described in claim 2, characterized in that, The sealing gasket visual inspection device includes a mounting bracket disposed on the palletizer and a visual inspection device movable on the mounting bracket; The step of controlling the visual inspection device of the sealing gasket to adjust to the preset position according to the adjustment amount includes: Adjust the visual inspection device along the length of the battery pack to the position corresponding to the preset pose; And / or, Adjust the visual inspection device to the position corresponding to the preset pose along the width direction of the battery pack.

4. The image detection method for a sealing gasket as described in any one of claims 1-3, characterized in that, The step of performing state detection on the target sealing gasket based on the target image and standard information includes: The standard information is obtained based on the battery pack model; the standard information includes the identification baseline of the target sealing gasket; The target sealing pad in the target image is divided into several pixel intervals at equal intervals along the edge direction, and the pixel intervals are converted into distance values ​​using a preset algorithm; the distance values ​​are used to characterize the distance from the edge pixel to the recognition baseline; The current state of the target sealing gasket is determined based on the comparison between the distance value and the preset range.

5. The image detection method for sealing gaskets as described in claim 4, characterized in that, The step of determining the current state of the target sealing gasket based on the comparison result between the distance value and the preset range includes: If the distance value falls within the preset range, the target sealing gasket is determined to be in a normal state; If the distance value does not fall within the preset range, the target sealing gasket is determined to be in an abnormal state; the abnormal state includes any one of the following: detachment state, protrusion state, missing state, and breakage state.

6. The image detection method for sealing gaskets as described in claim 4, characterized in that, Before the step of performing state detection on the target sealing gasket based on the target image and standard information, the image detection method further includes: The target image is analyzed to determine whether the target sealing gasket is within the recognition range of the sealing gasket visual detection device; If not, the current pose of the sealing gasket visual inspection device is adjusted to the preset pose, and the target image is updated.

7. The image detection method for a sealing gasket as described in claim 1, characterized in that, The palletizer is also equipped with a light source device corresponding to the position of the target sealing gasket. The target sealing gasket is located between the sealing gasket visual inspection device and the light source device. The sealing gasket visual inspection device is set on the backlight side of the target sealing gasket. Before the step of acquiring the target image by the visual inspection device for the sealing gasket after control adjustment, the method further includes: Turn on the light source device to provide a light source toward the sealing gasket for the visual inspection device of the sealing gasket.

8. A sealing gasket image detection system based on the sealing gasket image detection method according to any one of claims 1-7, used for image detection of the sealing gasket of the electrical connector on a battery pack placed on a palletizer, characterized in that, The image detection system includes: A visual inspection device for gaskets is installed on the palletizer at a position corresponding to the target gasket, for acquiring target images; the target image includes an image of the area corresponding to the target gasket; An adjustment module is used to adjust the pose information of the sealing gasket visual inspection device based on the model of the battery pack to be inspected; The detection module is used to perform state detection on the target sealing gasket based on the target image and standard information.

9. A battery swapping station, characterized in that, The battery swapping station includes a battery swapping device, a battery rack, a shuttle, a palletizer, and an image detection system for the sealing gasket as described in claim 8; The palletizer is used to shuttle back and forth between the shuttle car and the battery rack, and after removing the battery packs that are stationary on the shuttle car, it transports the battery packs to the battery rack. The image detection system for the sealing gasket is installed on the palletizer and corresponds to the position of the electrical connector of the battery pack.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the image detection method for the sealing gasket as described in any one of claims 1-7.

Images