Vehicle battery pack positioning detection method, device and system and battery swap station

Abstract

The invention discloses a vehicle battery pack positioning detection method, device and system and a battery swap station, and belongs to the technical field of battery charging and swap. The method comprises the steps that after the position of a vehicle is adjusted, a lifting mechanism of a battery replacing station is controlled to lift the vehicle, so that the posture of the vehicle is leveled; under the condition that the lifting mechanism is controlled to lift the vehicle to a preset height, a target image which is shot by a camera and comprises a vehicle battery pack and a locking and unlocking platform is obtained; calculating a pixel difference value between a positioning hole of the battery pack in the target image and a positioning pin of the locking and unlocking platform in the horizontal direction; and calculating the deviation distance between the positioning hole and the positioning pin in the horizontal direction according to the pixel difference value. According to the method, the positions of the positioning holes and the positions of the positioning pins are identified through the image processing technology, the pixel difference values of the positioning pins and the positioning holes in the horizontal direction are calculated, and the pixel difference values are converted into the actual deviation distances, so that the positions of the battery packs of different load-carrying vehicles can be detected, the positioning deviation of the battery packs is reduced, and the battery replacement efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of charging and battery swapping technology, and in particular, relates to a vehicle battery pack positioning detection method, device, system and battery swapping station. Background Art

[0002] In the field of new energy vehicles, battery swapping technology, as an innovative way of energy replenishment, is gradually gaining attention and importance from the industry. The battery swapping model uses centralized charging stations to centrally store, charge, and distribute a large number of batteries, and provides battery replacement services for electric vehicles at the battery swapping stations.

[0003] During the battery swapping process, the vehicle first enters the battery swapping station and parks at the designated position to determine the position of the locating hole on the battery pack. By inserting the locating pin on the locking and unlocking platform into the battery locating hole, the unlocking mechanism on the locking and unlocking platform can be aligned with the lock body that fixes the battery, thus completing the battery removal.

[0004] However, for some heavier vehicles, such as light trucks, the battery position may shift slightly under different loads, which may cause the positioning holes of the vehicle battery to not align, resulting in failure of battery removal. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a vehicle battery pack positioning detection method, device, system and battery swap station to reduce the positioning deviation of the battery pack and improve the battery swap efficiency.

[0006] In a first aspect, the present application provides a vehicle battery pack positioning detection method, comprising:

[0007] After adjusting the position of the vehicle, controlling the lifting mechanism of the battery swap station to lift the vehicle to level the posture of the vehicle;

[0008] Under the condition that the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including a vehicle battery pack and a locking and unlocking platform captured by a camera is acquired;

[0009] Calculating the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image;

[0010] The deviation distance between the positioning hole and the positioning pin in the horizontal direction is calculated according to the pixel difference.

[0011] According to the vehicle battery pack positioning detection method of the present application, after adjusting the position of the vehicle, the lifting mechanism of the battery swap station is controlled to lift the vehicle to level the posture of the vehicle; when the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including the vehicle battery pack and the locking and unlocking platform taken by the camera is obtained; the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image is calculated; and the deviation distance in the horizontal direction between the positioning hole and the positioning pin is calculated based on the pixel difference. The embodiment of the present application uses image processing technology to identify the position of the battery pack positioning hole and the position of the locking and unlocking platform positioning pin, calculates the pixel difference between the positioning pin and the positioning hole in the horizontal direction, and converts the pixel difference into the actual deviation distance, so that the battery pack position of vehicles with different loads can be detected, reducing the positioning deviation of the battery pack and improving the battery swap efficiency.

[0012] According to one embodiment of the present application, the camera is disposed on a side wall of the battery swap station, and the preset height is determined according to a position of the camera on the side wall of the battery swap station.

[0013] In this embodiment, by setting the camera on the side wall of the battery swap station, the camera can obtain an image that is easy to capture including the vehicle battery pack and the locking and unlocking platform. The preset height is determined based on the specific position of the camera on the side wall of the battery swap station. When the vehicle is lifted to this height by the lifting mechanism, the camera can better capture the image between the battery pack locating hole and the locking and unlocking platform locating pin, thereby providing accurate visual data for subsequent pixel difference calculation and horizontal deviation distance measurement.

[0014] According to an embodiment of the present application, the step of calculating the deviation distance between the positioning hole and the positioning pin in the horizontal direction according to the pixel difference includes:

[0015] According to the formula

[0016]

[0017]

[0018] Calculating the horizontal deviation distance between the positioning hole and the positioning pin;

[0019] Wherein, M represents the optical magnification of the camera used to capture the target image, f represents the focal length of the camera, D represents the working distance of the camera, d represents the horizontal deviation distance between the positioning hole and the positioning pin, Δx represents the pixel difference, and p represents the pixel size of the camera.

[0020] In this embodiment, the conversion from the pixel difference to the actual deviation distance is realized according to the fixed parameters of the camera, thereby improving the accuracy of the deviation distance calculation.

[0021] According to one embodiment of the present application, the method further includes:

[0022] When the deviation distance is greater than or equal to a preset threshold, the position of the locking and unlocking platform is adjusted according to the deviation distance.

[0023] In this embodiment, when the calculated horizontal deviation distance between the positioning hole and the positioning pin is greater than or equal to a preset threshold, the position adjustment mechanism of the locking and unlocking platform is automatically triggered, thereby compensating for errors caused by inaccurate vehicle parking or battery pack position deviation, reducing manual intervention and improving battery replacement efficiency.

[0024] According to an embodiment of the present application, adjusting the position of the locking and unlocking platform according to the deviation distance includes:

[0025] Determining an adjustment direction according to the relative positions of the battery pack and the locking and unlocking platform in the target image;

[0026] Matching the adjustment distance from a preset database according to the deviation distance; the database stores a correspondence between the deviation distance and the adjustment distance;

[0027] The position of the locking and unlocking platform is adjusted according to the adjustment direction and the adjustment distance.

[0028] In this embodiment, through image recognition technology, the relative position of the battery pack and the locking and unlocking platform can be captured and analyzed, so that the direction in which the locking and unlocking platform should be adjusted to align with the positioning hole of the battery pack can be accurately determined, and the correspondence between various deviation distances and corresponding adjustment distances is pre-stored in the database, so that the appropriate adjustment distance can be quickly matched according to the deviation distance, reducing the complex calculation process, thereby improving the accuracy and efficiency of the battery replacement process.

[0029] In a second aspect, the present application provides a vehicle battery pack positioning detection device, comprising:

[0030] A lifting module, used to control the lifting mechanism of the battery swap station to lift the vehicle after adjusting the position of the vehicle, so as to level the posture of the vehicle;

[0031] An acquisition module, used to acquire a target image including a vehicle battery pack and an unlocking and locking platform taken by a camera while controlling the lifting mechanism to lift the vehicle to a preset height;

[0032] A first calculation module, used for calculating the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image;

[0033] The second calculation module is used to calculate the deviation distance between the positioning hole and the positioning pin in the horizontal direction according to the pixel difference.

[0034] According to the vehicle battery pack positioning detection device of the present application, after adjusting the position of the vehicle, the lifting mechanism of the battery swap station is controlled to lift the vehicle to level the posture of the vehicle; when the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including the vehicle battery pack and the locking and unlocking platform taken by the camera is obtained; the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image is calculated; and the deviation distance in the horizontal direction between the positioning hole and the positioning pin is calculated based on the pixel difference. The embodiment of the present application uses image processing technology to identify the position of the battery pack positioning hole and the position of the locking and unlocking platform positioning pin, calculates the pixel difference between the positioning pin and the positioning hole in the horizontal direction, and converts the pixel difference into the actual deviation distance, so that the battery pack position of vehicles with different loads can be detected, reducing the positioning deviation of the battery pack and improving the battery swap efficiency.

[0035] In a third aspect, the present application provides a vehicle battery pack positioning detection system, including: a control module, an algorithm detection module and a camera module;

[0036] The control module is used to control the lifting mechanism of the battery swap station to lift the vehicle to level the posture of the vehicle after adjusting the position of the vehicle; and send a detection instruction to the algorithm detection module when the lifting mechanism is controlled to lift the vehicle to a preset height;

[0037] The algorithm detection module is used to obtain the target image including the vehicle battery pack and the locking and unlocking platform taken by the camera module, upon receiving the detection instruction sent by the control module, and calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image; calculate the horizontal deviation distance between the positioning hole and the positioning pin according to the pixel difference, and send the deviation distance to the control module.

[0038] According to the vehicle battery pack positioning detection system of the present application, after adjusting the position of the vehicle, the lifting mechanism of the battery swap station is controlled to lift the vehicle to level the posture of the vehicle; when the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including the vehicle battery pack and the locking and unlocking platform taken by the camera is obtained; the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image is calculated; and the deviation distance in the horizontal direction between the positioning hole and the positioning pin is calculated based on the pixel difference. The embodiment of the present application uses image processing technology to identify the position of the battery pack positioning hole and the position of the locking and unlocking platform positioning pin, calculates the pixel difference between the positioning pin and the positioning hole in the horizontal direction, and converts the pixel difference into the actual deviation distance, so that the battery pack position of vehicles with different loads can be detected, reducing the positioning deviation of the battery pack and improving the battery swap efficiency.

[0039] According to one embodiment of the present application, the control module is further used for:

[0040] When the deviation distance is greater than or equal to a preset threshold, the position of the locking and unlocking platform is adjusted according to the deviation distance.

[0041] According to one embodiment of the present application, the control module is further used for:

[0042] Determining an adjustment direction according to the relative positions of the battery pack and the locking and unlocking platform in the target image;

[0043] Matching the adjustment distance from a preset database according to the deviation distance; the database stores a correspondence between the deviation distance and the adjustment distance;

[0044] The position of the locking and unlocking platform is adjusted according to the adjustment direction and the adjustment distance.

[0045] In a fourth aspect, the present application provides an electronic device, comprising a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the vehicle battery pack positioning detection method as described in the first aspect above is implemented.

[0046] In a fifth aspect, the present application provides a battery swap station, including: a camera, an unlocking and locking platform, and a controller;

[0047] The controller is used to execute the vehicle battery pack positioning detection method as described in the first aspect above.

[0048] In a sixth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle battery pack positioning detection method as described in the first aspect above is implemented.

[0049] In a seventh aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the vehicle battery pack positioning detection method as described in the first aspect above.

[0050] In an eighth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the vehicle battery pack positioning detection method as described in the first aspect above.

[0051] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0052] According to the vehicle battery pack positioning detection method of the present application, after adjusting the position of the vehicle, the lifting mechanism of the battery swap station is controlled to lift the vehicle to level the posture of the vehicle; when the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including the vehicle battery pack and the locking and unlocking platform taken by the camera is obtained; the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image is calculated; and the deviation distance in the horizontal direction between the positioning hole and the positioning pin is calculated based on the pixel difference. The embodiment of the present application uses image processing technology to identify the position of the battery pack positioning hole and the position of the locking and unlocking platform positioning pin, calculates the pixel difference between the positioning pin and the positioning hole in the horizontal direction, and converts the pixel difference into the actual deviation distance, so that the battery pack position of vehicles with different loads can be detected, reducing the positioning deviation of the battery pack and improving the battery swap efficiency.

[0053] Furthermore, in some embodiments, by setting the camera on the side wall of the battery swap station, the camera can obtain an image that is easy to capture including the vehicle battery pack and the locking and unlocking platform. The preset height is determined based on the specific position of the camera on the side wall of the battery swap station. When the vehicle is lifted to this height by the lifting mechanism, the camera can better capture the image between the battery pack locating hole and the locking and unlocking platform locating pin, thereby providing accurate visual data for subsequent pixel difference calculation and horizontal deviation distance measurement.

[0054] Furthermore, in some embodiments, the accuracy of deviation distance calculation is improved by converting pixel difference to actual deviation distance according to fixed parameters of the camera.

[0055] Furthermore, in some embodiments, when the calculated horizontal deviation distance between the positioning hole and the positioning pin is greater than or equal to a preset threshold, the position adjustment mechanism of the locking and unlocking platform is automatically triggered, thereby compensating for errors caused by inaccurate vehicle parking or battery pack position deviation, reducing manual intervention and improving battery replacement efficiency.

[0056] Furthermore, in some embodiments, through image recognition technology, the relative position of the battery pack and the locking and unlocking platform can be captured and analyzed, so that the direction in which the locking and unlocking platform should be adjusted to align with the positioning hole of the battery pack can be accurately determined, and the correspondence between various deviation distances and corresponding adjustment distances is pre-stored in the database, so that the appropriate adjustment distance can be quickly matched according to the deviation distance, reducing the complex calculation process, thereby improving the accuracy and efficiency of the battery replacement process.

[0057] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 It is a flow chart of a vehicle battery pack positioning detection method provided in an embodiment of the present application;

[0060] Figure 2 is one of the schematic diagrams of the target image provided in the embodiment of the present application;

[0061] Figure 3 This is the second schematic diagram of the target image provided in the embodiment of the present application;

[0062] Figure 4 It is a partial structural schematic diagram of a battery swap station provided in an embodiment of the present application;

[0063] Figure 5 is a structural schematic diagram of a vehicle battery pack positioning detection device provided in an embodiment of the present application;

[0064] Figure 6 It is one of the schematic diagrams of the scenario examples provided in the embodiments of the present application;

[0065] Figure 7 This is the second schematic diagram of the scenario example provided in the embodiment of the present application;

[0066] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0067] Reference numerals:

[0068] 201, camera; 202, locking and unlocking platform; 203, gantry lifting mechanism; 301, positioning pin; 302, positioning hole. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0070] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0071] With the development of battery swapping technology, battery swapping stations are compatible with more and more vehicle models. Currently, most of the battery swapping stations on the market are passenger car stations. The principle is generally that after the vehicle enters the battery swapping station, the mechanical structure inside the station first uses the four-wheel alignment system to adjust the vehicle position, and then uses the lifting mechanism to lift the vehicle to be swapped slightly to ensure that the vehicle posture is level. After completing the above operations, the position of the locating hole on the battery pack can be determined, and the locating pin on the locking and unlocking platform can be inserted into the battery locating hole to align the unlocking mechanism on the locking and unlocking platform with the lock body that fixes the battery, thereby completing the battery removal.

[0072] However, for some heavier vehicles, such as light trucks and heavy trucks, their battery positions will shift slightly under different loads due to their wide load range, resulting in the battery pack positioning hole position being unable to be determined even though the vehicle is leveled during battery replacement. Specifically, the vehicle suspension will have different deformations due to different pressures, resulting in a slight horizontal displacement of the vehicle battery pack position. If the vehicle is still replaced according to the passenger car battery removal method, then after the vehicle is leveled, the battery positioning pin on the unlocking platform will not be aligned with the vehicle battery positioning hole when the battery is removed, resulting in battery removal failure.

[0073] In order to solve at least one of the above technical problems, the embodiments of the present application provide a vehicle battery pack positioning detection method, device, system and battery swap station. The vehicle battery pack positioning detection method, device, system and battery swap station provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0074] Among them, the vehicle battery pack positioning detection method can be applied to a terminal, and can be specifically executed by hardware or software in the terminal.

[0075] Optionally, the terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). In some embodiments, the terminal may also be an optical receiver, an optical fiber switch, etc. having a processor.

[0076] However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse and joystick.

[0077] The vehicle battery pack positioning detection method provided in the embodiment of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the vehicle battery pack positioning detection method. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices. The vehicle battery pack positioning detection method provided in the embodiment of the present application is described below using an electronic device as an example of the execution subject.

[0078] like Figure 1 As shown, the vehicle battery pack positioning detection method includes: step 110, step 120, step 130 and step 140.

[0079] Step 110: After adjusting the position of the vehicle, control the lifting mechanism of the battery swap station to lift the vehicle to level the vehicle.

[0080] In the embodiment of the present application, a battery swap station is a facility that provides a quick battery replacement service for electric vehicles. The battery swap station can quickly remove the exhausted battery from the electric vehicle through a mechanical device and replace it with a fully charged battery. The battery swap station can be equipped with multiple battery storage locations and can provide services for multiple electric vehicles at the same time. Figure 2 It is a schematic diagram of the local structure of the battery swap station. Figure 2 As shown, the battery swap station may include a camera 201, a locking and unlocking platform 202, a gantry lifting mechanism 203, and the like.

[0081] In this embodiment, after the vehicle enters the battery swap station, the mechanical structure in the battery swap station will guide the vehicle to a specific parking platform. The parking platform can meet the battery swap operation requirements and can adapt to battery swap models with different wheelbases and track widths. The parking platform has the function of guiding and adjusting the parking position of the vehicle, so that the battery swap vehicle is accurately positioned in the parking space. For example, the position of the vehicle can be adjusted by a four-wheel alignment system so that the vehicle can be accurately parked. When the vehicle is parked, the lifting mechanism will start working. The lifting mechanism may include at least four groups of column units, each two groups are respectively arranged on both sides of the front wheel lifting unit and the rear wheel lifting unit, and the column unit drives the front wheel lifting unit and the rear wheel lifting unit to rise / fall. The front wheel lifting unit may include a V-groove wheel and a clamping piece for clamping the front wheel, and the rear wheel lifting unit may include a straight wheel and a clamping piece for clamping the rear wheel. The lifting mechanism may be equipped with a photoelectric sensor for detecting whether the wheel is in place, and the servo motor is driven by a screw rod to achieve a smooth lifting process. During the lifting process, the lifting mechanism will lift the vehicle slightly to level the vehicle's posture for the subsequent battery replacement process.

[0082] Step 120: While controlling the lifting mechanism to lift the vehicle to a preset height, obtain a target image including the vehicle battery pack and the locking and unlocking platform captured by the camera.

[0083] In the embodiment of the present application, the unlocking and locking platform 202 may be a key component in the battery swap station for realizing the vehicle battery pack replacement and unlocking and locking functions. The unlocking and locking platform 202 may be a component of a mechanical arm, a robot or other structure. A positioning pin may be provided on the unlocking and locking platform 202, and a positioning hole is provided on the battery pack. Inserting the positioning pin on the unlocking and locking platform 202 into the battery positioning hole can align the unlocking mechanism on the unlocking and locking platform 202 with the lock body that fixes the battery, thereby completing the removal and installation of the battery.

[0084] In the embodiment of the present application, the target image including the vehicle battery pack and the locking and unlocking platform 202 can be captured by the camera 201. Specifically, the camera 201 can be installed at a preset position close to the locking and unlocking platform 202. The camera 201 can be fixed or installed on a structure with a telescopic function, so that the shooting angle can be adjusted. The number of cameras 201 can be one or more, so that shooting can be performed from multiple different angles.

[0085] When the lifting mechanism is controlled to lift the vehicle to a preset height, the camera 201 can be controlled to start shooting, thereby obtaining a target image including the vehicle battery pack and the locking and unlocking platform 202 captured by the camera 201. By adjusting the position of the vehicle and controlling the lifting mechanism of the battery swap station, the vehicle posture is leveled. After adjusting the position of the vehicle, the lifting mechanism lifts the vehicle to a preset height, so that the position between the battery pack and the locking and unlocking platform 202 is relatively accurate, reducing image distortion or blurring caused by vehicle tilt or improper position.

[0086] In one example, the captured target image is as follows: Figure 3 and Figure 4 As shown, in Figure 3 In the embodiment, the deviation distance between the locating pin 301 of the unlocking platform 202 and the center point of the locating hole 302 of the battery pack of the vehicle to be replaced is small in the horizontal direction. After the locating pin 301 moves toward the locating hole 302, it can be inserted into the locating hole 302, meeting the battery removal conditions; Figure 4 In the embodiment, the deviation distance in the horizontal direction between the locating pin 301 of the locking and unlocking platform 202 and the center point of the locating hole 302 of the battery pack of the vehicle to be replaced is relatively large. After the locating pin 301 moves toward the locating hole 302, it is difficult to insert into the locating hole 302, and the battery disassembly conditions are not met. The position of the locking and unlocking platform 202 needs to be adjusted.

[0087] Step 130: Calculate the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image.

[0088] In the embodiment of the present application, after acquiring the target image, the positions of the positioning hole 302 and the positioning pin 301 in the target image can be identified by image processing software or algorithms, such as edge detection, feature point extraction, etc., and then the position coordinates of the pixel points representing the positioning hole 302 and the pixel points representing the positioning pin 301 in the target image are determined, and then the pixel difference in the horizontal direction between the positioning hole 302 and the positioning pin 301 is calculated. For example, the horizontal coordinates of the pixel points representing the positioning hole 302 can be subtracted from the horizontal coordinates of the pixel points representing the positioning pin 301 to obtain the pixel difference.

[0089] Taking the use of edge detection algorithm to identify the position of the positioning hole 302 and the positioning pin 301 in the target image as an example, in this example, after acquiring the target image, the target image can be preprocessed, such as graying, Gaussian blurring, resizing, etc., and then the gradient of each pixel in the target image can be calculated by the edge detection algorithm. For example, a filter (such as Sobel operator, Canny operator) can be applied to the target image to calculate the gradient of each pixel in the target image. Then, the pixels are sorted according to the gradient size. The algorithm can cluster pixels with similar gradient directions and sizes, and calculate the best straight line by the least squares method. These straight lines represent the edges in the image. Different contours can be identified through the edges in the image. If a contour is similar to the contour of the positioning hole 302 or the positioning pin 301, the position of the contour can be determined as the position of the positioning hole 302 or the positioning pin 301 in the image.

[0090] Of course, in some embodiments, a model may be trained by deep learning, and the target image may be input into the model to obtain the positions of the positioning hole 302 and the positioning pin 301 output by the model.

[0091] Step 140: Calculate the horizontal deviation distance between the positioning hole and the positioning pin according to the pixel difference.

[0092] In the embodiment of the present application, since the pixel difference is measured in a two-dimensional image, it needs to be converted into an actual physical distance. Specifically, the pixel difference can be converted into a horizontal deviation distance between the positioning hole 302 and the positioning pin 301 according to the resolution and focal length of the camera 201 and the distance between the camera device and the object being photographed.

[0093] In some embodiments, the formula

[0094]

[0095]

[0096] Calculate the horizontal deviation distance between the positioning hole 302 and the positioning pin 301;

[0097] Among them, M represents the optical magnification of the camera that captures the target image, f represents the focal length of the camera, D represents the working distance of the camera, d represents the horizontal deviation distance between the positioning hole and the positioning pin, Δx represents the pixel difference, and p represents the pixel size of the camera. The pixel size p and the focal length f are fixed parameters of the camera, and the working distance D is determined by the actual working conditions.

[0098] In this embodiment, the conversion from the pixel difference to the actual deviation distance is realized according to the fixed parameters of the camera, thereby improving the accuracy of the deviation distance calculation.

[0099] According to the vehicle battery pack positioning detection method of the present application, after adjusting the position of the vehicle, the lifting mechanism of the battery swap station is controlled to lift the vehicle to level the vehicle's posture; when the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including the vehicle battery pack and the locking and unlocking platform taken by the camera is obtained; the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image is calculated; and the deviation distance in the horizontal direction between the positioning hole and the positioning pin is calculated based on the pixel difference. The embodiment of the present application uses image processing technology to identify the position of the battery pack positioning hole and the positioning pin of the locking and unlocking platform, calculates the pixel difference in the horizontal direction between the positioning pin and the positioning hole, and converts the pixel difference into the actual deviation distance, so that the battery pack position of vehicles with different loads can be detected, reducing the positioning deviation of the battery pack and improving the battery swap efficiency.

[0100] In some embodiments, the camera 201 is disposed on a side wall of the battery swap station, and the preset height is determined according to the position of the camera 201 on the side wall of the battery swap station.

[0101] like Figure 2 As shown, the camera 201 can be installed on the side wall of the battery swap station, thereby providing a wide enough viewing angle to facilitate the shooting of the battery pack and the unlocking platform 202, and to capture the positioning holes 302 of the battery pack on the vehicle chassis and the positioning pins 301 of the unlocking platform 202. The camera 201 can be fixedly installed on the side wall of the battery swap station, or it can be installed on the side wall of the battery swap station through a telescopic structure or a sliding structure, so as to adjust the shooting angle, shooting distance, etc. of the camera 201.

[0102] In some embodiments, the target images obtained by the camera 201 at different shooting angles can be obtained, and calculations can be performed for at least two target images. Specifically, the pixel difference in the horizontal direction between the positioning hole 302 of the battery pack and the positioning pin 301 of the locking and unlocking platform 202 in the at least two target images can be calculated; the deviation distance in the horizontal direction between the positioning hole 302 and the positioning pin 301 is calculated based on the pixel difference. In this way, at least two deviation distances can be obtained, and the actual deviation distance in the horizontal direction between the positioning pins 301 of the locking and unlocking platform 202 can be determined based on the at least two deviation distances. For example, the average value, mode, etc. of the at least two deviation distances can be used as the actual deviation distance.

[0103] In this embodiment, the preset height can be determined according to the position of the camera 201 on the side wall of the battery swap station. Specifically, the preset height can be calibrated in advance according to the position of the camera 201 on the side wall of the battery swap station, so that when the lifting mechanism lifts the vehicle to the preset height, the shooting range of the camera 201 can cover the battery pack and the locking and unlocking platform 202. For example, the preset height can be calibrated so that in the image captured by the camera 201, the battery pack and the locking and unlocking platform 202 are located within the preset range of the center of the image.

[0104] In this embodiment, by setting the camera on the side wall of the battery swap station, the camera can obtain an image that is easy to capture including the vehicle battery pack and the locking and unlocking platform. The preset height is determined based on the specific position of the camera on the side wall of the battery swap station. When the vehicle is lifted to this height by the lifting mechanism, the camera can better capture the image between the battery pack locating hole and the locking and unlocking platform locating pin, thereby providing accurate visual data for subsequent pixel difference calculation and horizontal deviation distance measurement.

[0105] In some embodiments, the method further comprises:

[0106] When the deviation distance is greater than or equal to the preset threshold, the position of the locking and unlocking platform 202 is adjusted according to the deviation distance.

[0107] In this embodiment, the preset threshold value can be determined according to the accuracy of the positioning hole 302 and the positioning pin 301. For example, if the positioning hole 302 and the positioning pin 301 can be precisely aligned within a horizontal distance of 2 mm, the preset threshold value can be 2 mm or less than 2 mm. Of course, the preset threshold value can also be other values, such as 1 mm, 1.5 mm, 2.5 mm, 3 mm, etc., which is not limited in the embodiment of the present application.

[0108] In this embodiment, when the deviation distance is greater than or equal to the preset threshold, Figure 4 As shown, in this case, the positioning hole 302 and the positioning pin 301 are difficult to align, so the position of the locking and unlocking platform 202 can be adjusted according to the deviation distance. For example, the locking and unlocking platform 202 can be moved horizontally toward the direction of the battery pack. The larger the deviation distance, the larger the moving distance. After the adjustment is completed, a new target image can be continuously acquired to determine a new deviation distance. If the new deviation distance is still greater than or equal to the preset threshold, the locking and unlocking platform 202 is continuously adjusted until the adjusted deviation distance is less than the preset threshold.

[0109] When the deviation distance is less than the preset threshold, such as Figure 3As shown, in this case, the positioning hole 302 and the positioning pin 301 can be aligned, and it can be determined that the battery disassembly conditions are met. The locking and unlocking platform 202 is controlled to insert the positioning pin 301 into the positioning hole 302 of the battery pack, thereby aligning the unlocking mechanism on the locking and unlocking platform 202 with the lock body that fixes the battery, and completing the battery disassembly.

[0110] In this embodiment, when the calculated horizontal deviation distance between the positioning hole and the positioning pin is greater than or equal to a preset threshold, the position adjustment mechanism of the locking and unlocking platform is automatically triggered, thereby compensating for errors caused by inaccurate vehicle parking or battery pack position deviation, reducing manual intervention and improving battery replacement efficiency.

[0111] In some embodiments, adjusting the position of the unlocking and locking platform 202 according to the deviation distance includes:

[0112] Determine the adjustment direction according to the relative positions of the battery pack and the locking and unlocking platform 202 in the target image;

[0113] Matching the adjustment distance from a preset database according to the deviation distance; the database stores the corresponding relationship between the deviation distance and the adjustment distance;

[0114] The position of the locking and unlocking platform 202 is adjusted according to the adjustment direction and the adjustment distance.

[0115] In this embodiment, the adjustment direction can be determined according to the relative position of the battery pack and the locking and unlocking platform 202 in the target image. Specifically, the adjustment direction of the locking and unlocking platform 202 is the direction close to the battery pack in the horizontal direction. The relative position of the battery pack and the locking and unlocking platform 202 can be identified from the target image, so that it can be determined which direction of the locking and unlocking platform 202 is the direction close to the battery pack in the horizontal direction. For example, in the horizontal direction, if the battery pack is on the right side of the locking and unlocking platform 202, the adjustment direction is to the right, and if the battery pack is on the left side of the locking and unlocking platform 202, the adjustment direction is to the left.

[0116] In this embodiment, the correspondence between the deviation distance and the adjustment distance of the locking and unlocking platform 202 can be pre-calibrated. For example, if the deviation distance is 5 mm, according to the calibration result, the adjustment distance can be 4 mm, 5 mm, 6 mm, etc. By calibrating different deviation distances, the optimal adjustment distance corresponding to each deviation distance is obtained, and each deviation distance and the corresponding adjustment distance are associated and stored in a database. After the deviation distance is calculated, the adjustment distance corresponding to the deviation distance can be matched from the database.

[0117] The position of the locking and unlocking platform 202 is adjusted according to the adjustment direction and the adjustment distance, so that the positioning pin 301 can be aligned with the positioning hole 302 of the battery pack.

[0118] In this embodiment, through image recognition technology, the relative position of the battery pack and the locking and unlocking platform can be captured and analyzed, so that the direction in which the locking and unlocking platform should be adjusted to align with the positioning hole of the battery pack can be accurately determined, and the correspondence between various deviation distances and corresponding adjustment distances is pre-stored in the database, so that the appropriate adjustment distance can be quickly matched according to the deviation distance, reducing the complex calculation process, thereby improving the accuracy and efficiency of the battery replacement process.

[0119] The vehicle battery pack positioning detection method provided in the embodiment of the present application can be executed by a vehicle battery pack positioning detection device. In the embodiment of the present application, the vehicle battery pack positioning detection device executing the vehicle battery pack positioning detection method is taken as an example to illustrate the vehicle battery pack positioning detection device provided in the embodiment of the present application.

[0120] An embodiment of the present application also provides a vehicle battery pack positioning detection device.

[0121] like Figure 5 As shown, the vehicle battery pack positioning detection device includes:

[0122] The lifting module 510 is used to control the lifting mechanism of the battery swap station to lift the vehicle to level the vehicle after adjusting the position of the vehicle;

[0123] An acquisition module 520 is used to acquire a target image including a vehicle battery pack and an unlocking platform taken by a camera when the lifting mechanism is controlled to lift the vehicle to a preset height;

[0124] A first calculation module 530, used to calculate the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image;

[0125] The second calculation module 540 is used to calculate the deviation distance between the positioning hole and the positioning pin in the horizontal direction according to the pixel difference.

[0126] According to the vehicle battery pack positioning detection device of the present application, after adjusting the position of the vehicle, the lifting mechanism of the battery swap station is controlled to lift the vehicle to level the vehicle's posture; when the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including the vehicle battery pack and the locking and unlocking platform taken by the camera is obtained; the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image is calculated; and the deviation distance in the horizontal direction between the positioning hole and the positioning pin is calculated based on the pixel difference. The embodiment of the present application uses image processing technology to identify the position of the battery pack positioning hole and the position of the locking and unlocking platform positioning pin, calculates the pixel difference between the positioning pin and the positioning hole in the horizontal direction, and converts the pixel difference into the actual deviation distance, so that the battery pack position of vehicles with different loads can be detected, reducing the positioning deviation of the battery pack and improving the battery swap efficiency.

[0127] In some embodiments, the second calculation module 540 is further configured to:

[0128] According to the formula

[0129]

[0130]

[0131] Calculate the horizontal deviation distance between the positioning hole and the positioning pin;

[0132] Wherein, M represents the optical magnification of the camera used to capture the target image, f represents the focal length of the camera, D represents the working distance of the camera, d represents the horizontal deviation distance between the positioning hole and the positioning pin, Δx represents the pixel difference, and p represents the pixel size of the camera.

[0133] In some embodiments, the apparatus further comprises:

[0134] The adjustment module is used to adjust the position of the locking and unlocking platform according to the deviation distance when the deviation distance is greater than or equal to a preset threshold.

[0135] In some embodiments, the adjustment module is further configured to:

[0136] Determine the adjustment direction according to the relative positions of the battery pack and the locking and unlocking platform in the target image;

[0137] Matching the adjustment distance from a preset database according to the deviation distance; the database stores the corresponding relationship between the deviation distance and the adjustment distance;

[0138] Adjust the position of the locking and unlocking platform according to the adjustment direction and adjustment distance.

[0139] The vehicle battery pack positioning detection device in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., and the embodiment of the present application is not specifically limited.

[0140] The vehicle battery pack positioning detection device in the embodiment of the present application may be a device having an operating system. The operating system may be a Microsoft (Windows) operating system, an Android (Android) operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0141] The embodiment of the present application also provides a vehicle battery pack positioning detection system, including: a control module, an algorithm detection module and a camera module;

[0142] A control module is used to control the lifting mechanism of the battery swap station to lift the vehicle to level the vehicle after adjusting the position of the vehicle; when the lifting mechanism is controlled to lift the vehicle to a preset height, a detection instruction is sent to the algorithm detection module;

[0143] The algorithm detection module is used to obtain the target image including the vehicle battery pack and the locking and unlocking platform taken by the camera module when receiving the detection instruction sent by the control module, calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image; calculate the horizontal deviation distance between the positioning hole and the positioning pin according to the pixel difference, and send the deviation distance to the control module.

[0144] In some embodiments, the control module is further configured to:

[0145] When the deviation distance is greater than or equal to a preset threshold, the position of the locking and unlocking platform is adjusted according to the deviation distance.

[0146] In some embodiments, the control module is further configured to:

[0147] Determine the adjustment direction according to the relative positions of the battery pack and the locking and unlocking platform in the target image;

[0148] Matching the adjustment distance from a preset database according to the deviation distance; the database stores the corresponding relationship between the deviation distance and the adjustment distance;

[0149] Adjust the position of the locking and unlocking platform according to the adjustment direction and adjustment distance.

[0150] The following is a description of the vehicle battery pack positioning detection system according to an embodiment of the present application in conjunction with a scenario example. Figure 6 As shown, in this scenario example, the control module may be a PLC (programmable logic controller) module, the vehicle may be a light truck, and the camera module may be an industrial camera module.

[0151] In this scenario example, when a light truck enters the battery swap station, the mechanical structure in the battery swap station uses the four-wheel alignment system to adjust the position of the light truck, and then uses the lifting mechanism to lift the light truck to a preset height. After the light truck is leveled, a detection instruction is sent to the algorithm detection module. After receiving the detection instruction, the algorithm detection module uses the industrial camera deployed on the side wall of the battery swap station to capture images including the battery pack and the unlocking platform, and inputs the image into the detection algorithm for calculation. The algorithm detection module then outputs the result to the PLC module, which determines whether the battery removal conditions are met. If the deviation distance is less than 2mm, the removal conditions are met and the battery pack is removed. If the deviation distance is greater than or equal to 2mm, it means that the removal conditions are not met, and the return distance adjustment step is entered to adjust the position of the unlocking platform before removing the battery pack.

[0152] In the scenario example, the calculation process of the algorithm detection module is as follows Figure 7 As shown, the process may include:

[0153] Step 1: The industrial camera captures the image and inputs it into the algorithm detection module;

[0154] Step 2: Resize the image to the input size required by the detection algorithm;

[0155] Step 3: The detection algorithm locates the positions of the positioning pin of the locking and unlocking platform and the positioning hole of the battery pack of the vehicle to be replaced in the image, and calculates the pixel difference between the two;

[0156] Step 4: Convert the pixel difference into deviation distance, where the pixel size and focal length are fixed parameters of industrial cameras, and the working distance is determined by the actual working conditions.

[0157] According to the vehicle battery pack positioning detection system of the present application, a target image including the vehicle battery pack and the locking and unlocking platform is obtained; the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image is calculated; and the horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference. The embodiment of the present application uses image processing technology to identify the position of the battery pack positioning hole and the position of the locking and unlocking platform positioning pin, calculates the pixel difference between the positioning pin and the positioning hole in the horizontal direction, and converts the pixel difference into the actual deviation distance, so that the battery pack position of vehicles with different loads can be detected, reducing the positioning deviation of the battery pack and improving the battery replacement efficiency.

[0158] In some embodiments, Figure 8 As shown, an embodiment of the present application also provides an electronic device 800, including a processor 801, and the processor 801 is connected to a memory 802, and the memory 802 stores a computer program that can be run on the processor 801. When the program is executed by the processor 801, each process of the above-mentioned vehicle battery pack positioning detection method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0159] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0160] The embodiment of the present application also provides a battery swap station, including: a camera, a locking and unlocking platform, and a controller;

[0161] A controller is used to execute the above-mentioned vehicle battery pack positioning detection method.

[0162] The controller may be the electronic device mentioned above.

[0163] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned vehicle battery pack positioning detection method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0164] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0165] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned vehicle battery pack positioning detection method when executed by a processor.

[0166] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0167] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned vehicle battery pack positioning detection method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0168] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0169] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0170] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0171] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0172] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0173] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle battery pack positioning detection method, characterized in that: include: After adjusting the position of the vehicle, controlling the lifting mechanism of the battery swap station to lift the vehicle to level the posture of the vehicle; Under the condition that the lifting mechanism is controlled to lift the vehicle to a preset height, a target image including a vehicle battery pack and a locking and unlocking platform captured by a camera is acquired; Calculating the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image; The deviation distance between the positioning hole and the positioning pin in the horizontal direction is calculated according to the pixel difference.

2. The method according to claim 1, characterized in that The camera is disposed on a side wall of the battery swap station, and the preset height is determined according to a position of the camera on the side wall of the battery swap station.

3. The method according to claim 1, characterized in that The calculating the deviation distance between the positioning hole and the positioning pin in the horizontal direction according to the pixel difference includes: According to the formula Calculating the horizontal deviation distance between the positioning hole and the positioning pin; Wherein, M represents the optical magnification of the camera used to capture the target image, f represents the focal length of the camera, D represents the working distance of the camera, d represents the horizontal deviation distance between the positioning hole and the positioning pin, Δx represents the pixel difference, and p represents the pixel size of the camera.

4. The method according to claim 1, characterized in that: The method further comprises: When the deviation distance is greater than or equal to a preset threshold, the position of the locking and unlocking platform is adjusted according to the deviation distance.

5. The method according to claim 4, characterized in that The adjusting the position of the locking and unlocking platform according to the deviation distance includes: Determining an adjustment direction according to the relative positions of the battery pack and the locking and unlocking platform in the target image; Matching the adjustment distance from a preset database according to the deviation distance; the database stores a correspondence between the deviation distance and the adjustment distance; The position of the locking and unlocking platform is adjusted according to the adjustment direction and the adjustment distance.

6. A vehicle battery pack positioning detection device, characterized in that: include: A lifting module, used to control the lifting mechanism of the battery swap station to lift the vehicle after adjusting the position of the vehicle, so as to level the posture of the vehicle; An acquisition module, used to acquire a target image including a vehicle battery pack and an unlocking and locking platform taken by a camera while controlling the lifting mechanism to lift the vehicle to a preset height; A first calculation module, used for calculating the pixel difference in the horizontal direction between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image; The second calculation module is used to calculate the deviation distance between the positioning hole and the positioning pin in the horizontal direction according to the pixel difference.

7. A vehicle battery pack positioning detection system, characterized in that: include: Control module, algorithm detection module and camera module; The control module is used to control the lifting mechanism of the battery swap station to lift the vehicle to level the posture of the vehicle after adjusting the position of the vehicle; When controlling the lifting mechanism to lift the vehicle to a preset height, sending a detection instruction to the algorithm detection module; The algorithm detection module is used to obtain the target image including the vehicle battery pack and the locking and unlocking platform taken by the camera module when receiving the detection instruction sent by the control module, and calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the locking and unlocking platform in the target image; The deviation distance between the positioning hole and the positioning pin in the horizontal direction is calculated according to the pixel difference, and the deviation distance is sent to the control module.

8. The system according to claim 7, characterized in that The control module is also used for: When the deviation distance is greater than or equal to a preset threshold, the position of the locking and unlocking platform is adjusted according to the deviation distance.

9. The system according to claim 8, characterized in that The control module is also used for: Determining an adjustment direction according to the relative positions of the battery pack and the locking and unlocking platform in the target image; Matching the adjustment distance from a preset database according to the deviation distance; the database stores a correspondence between the deviation distance and the adjustment distance; The position of the locking and unlocking platform is adjusted according to the adjustment direction and the adjustment distance.

10. A battery swap station, characterized in that: include: Camera, unlocking platform and controller; The controller is used to execute the method according to any one of claims 1 to 5.

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