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

Abstract

The application discloses a vehicle battery pack positioning detection method, device and system and a battery swap station, and belongs to the technical field of charging and battery swapping. The method comprises the following steps: after adjusting the position of a vehicle, a lifting mechanism of the battery swap station is controlled to lift the vehicle to level the attitude of the vehicle; in the case 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 photographed by a camera is acquired; a pixel difference value in the horizontal direction between a positioning hole of the battery pack and a positioning pin of the locking and unlocking platform in the target image is calculated; and a deviation distance in the horizontal direction between the positioning hole and the positioning pin is calculated according to the pixel difference value. The application identifies the positions of the positioning hole and the positioning pin through image processing technology, calculates the pixel difference value in the horizontal direction between the positioning pin and the positioning hole, and converts the pixel difference value into an actual deviation distance, so that the position of the battery pack of different load vehicles can be detected, the positioning deviation of the battery pack is reduced, and the battery swapping efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of charging and battery swapping technology, and in particular relates to a method, device, system and battery swapping station for locating and detecting vehicle battery packs. Background Technology

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

[0003] During the battery swapping process, the vehicle first enters the battery swapping station and parks in the designated location. This allows the position of the positioning hole on the battery pack to be determined. By inserting the positioning pin on the unlocking platform into the battery positioning hole, the unlocking mechanism on the unlocking platform can be aligned with the lock body that secures 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 can easily lead to misalignment of the battery positioning holes and cause battery removal failure. Summary of the Invention

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

[0006] Firstly, this application provides a method for locating and detecting a vehicle battery pack, including:

[0007] After adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture.

[0008] While controlling the lifting mechanism to lift the vehicle to a preset height, a target image including the vehicle battery pack and the unlocking platform is captured by the camera.

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

[0010] The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference.

[0011] According to the vehicle battery pack positioning detection method of this application, after adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture. While the lifting mechanism is controlling the vehicle to a preset height, a target image including the vehicle battery pack and the unlocking / unlocking platform is acquired by a camera. The horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking / unlocking platform in the target image is calculated. The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference. This embodiment of the application uses image processing technology to identify the position of the battery pack positioning hole and the position of the unlocking / unlocking platform positioning pin, calculates the horizontal pixel difference between the positioning pin and the positioning hole, and converts the pixel difference into an actual deviation distance. This allows for the detection of battery pack positions for vehicles with different load capacities, reducing battery pack positioning deviation and improving battery swapping efficiency.

[0012] According to one embodiment of this application, the camera is disposed on the side wall of the battery swapping station, and the preset height is determined based on the position of the camera on the side wall of the battery swapping station.

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

[0014] According to one embodiment of this application, calculating the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference includes:

[0015] According to the formula

[0016]

[0017]

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

[0019] Where 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.

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

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

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

[0023] In this embodiment, when the calculated horizontal deviation between the positioning hole and the positioning pin is greater than or equal to a preset threshold, the position adjustment mechanism of the unlocking platform is automatically triggered. This can compensate for errors caused by inaccurate vehicle parking or battery pack position deviation, reduce manual intervention, and improve battery swapping efficiency.

[0024] According to one embodiment of this application, adjusting the position of the unlocking / unlocking platform based on the deviation distance includes:

[0025] The adjustment direction is determined based on the relative positions of the battery pack and the unlocking / unlocking platform in the target image;

[0026] The adjustment distance is matched from a preset database based on the deviation distance; the database stores the correspondence between deviation distances and adjustment distances.

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

[0028] In this embodiment, image recognition technology can capture and analyze the relative position of the battery pack and the unlocking platform, thereby accurately determining which direction the unlocking platform should be adjusted to align with the positioning hole of the battery pack. Furthermore, the database pre-stores the correspondence between various deviation distances and corresponding adjustment distances, which allows for the rapid matching of appropriate adjustment distances based on the deviation distances, reducing complex calculation processes and improving the accuracy and efficiency of the battery swapping process.

[0029] Secondly, this application provides a vehicle battery pack positioning and detection device, comprising:

[0030] The lifting module is used to control the lifting mechanism of the battery swapping station to lift the vehicle after the vehicle position is adjusted, so as to level the vehicle's posture.

[0031] The acquisition module is used to acquire a target image captured by a camera, including the vehicle battery pack and the unlocking platform, when the lifting mechanism is controlled to lift the vehicle to a preset height.

[0032] The first calculation module is used to calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking platform in the target image;

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

[0034] According to the vehicle battery pack positioning detection device of this application, after adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture. While the lifting mechanism is controlling the vehicle to be lifted to a preset height, a target image including the vehicle battery pack and the unlocking / unlocking platform is acquired by a camera. The horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking / unlocking platform in the target image is calculated. The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference. This embodiment of the application uses image processing technology to identify the position of the battery pack positioning hole and the position of the unlocking / unlocking platform positioning pin, calculates the horizontal pixel difference between the positioning pin and the positioning hole, and converts the pixel difference into an actual deviation distance. This allows for the detection of the battery pack position of vehicles with different load capacities, reducing battery pack positioning deviation and improving battery swapping efficiency.

[0035] Thirdly, this application provides a vehicle battery pack positioning and 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 swapping station to lift the vehicle after adjusting the vehicle's position, so as to level the vehicle's posture; and to send a detection command to the algorithm detection module when the lifting mechanism lifts the vehicle to a preset height.

[0037] The algorithm detection module is used to acquire a target image including a vehicle battery pack and an unlocking platform captured by the camera module when it receives a detection command from the control module; calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking platform in the target image; calculate the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference; and send the deviation distance to the control module.

[0038] According to the vehicle battery pack positioning and detection system of this application, after adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture. While the lifting mechanism is controlling the vehicle to a preset height, a target image including the vehicle battery pack and the unlocking / unlocking platform is acquired by a camera. The horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking / unlocking platform in the target image is calculated. The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference. This embodiment of the application uses image processing technology to identify the position of the battery pack positioning hole and the position of the unlocking / unlocking platform positioning pin, calculates the horizontal pixel difference between the positioning pin and the positioning hole, and converts the pixel difference into an actual deviation distance. This allows for the detection of the battery pack position of vehicles with different load capacities, reducing battery pack positioning deviation and improving battery swapping efficiency.

[0039] According to one embodiment of this application, the control module is further configured to:

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

[0041] According to one embodiment of this application, the control module is further configured to:

[0042] The adjustment direction is determined based on the relative positions of the battery pack and the unlocking / unlocking platform in the target image;

[0043] The adjustment distance is matched from a preset database based on the deviation distance; the database stores the correspondence between deviation distances and adjustment distances.

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

[0045] Fourthly, this application provides an electronic device including a processor connected to a memory, the memory storing a computer program executable on the processor, wherein the processor executes the computer program to implement the vehicle battery pack positioning detection method as described in the first aspect above.

[0046] Fifthly, this application provides a battery swapping station, including: a camera, an encryption / unlocking platform, and a controller;

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

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

[0049] In a seventh aspect, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the vehicle battery pack positioning and detection method as described in the first aspect above.

[0050] Eighthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle battery pack positioning and detection method as described in the first aspect above.

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

[0052] According to the vehicle battery pack positioning detection method of this application, after adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture. While the lifting mechanism is controlling the vehicle to a preset height, a target image including the vehicle battery pack and the unlocking / unlocking platform is acquired by a camera. The horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking / unlocking platform in the target image is calculated. The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference. This embodiment of the application uses image processing technology to identify the position of the battery pack positioning hole and the position of the unlocking / unlocking platform positioning pin, calculates the horizontal pixel difference between the positioning pin and the positioning hole, and converts the pixel difference into an actual deviation distance. This allows for the detection of battery pack positions for vehicles with different load capacities, reducing battery pack positioning deviation and improving battery swapping efficiency.

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

[0054] Furthermore, in some embodiments, the conversion from pixel difference to actual deviation distance is achieved based on fixed parameters of the camera, thereby improving the accuracy of deviation distance calculation.

[0055] Furthermore, in some embodiments, when the calculated horizontal deviation between the positioning hole and the positioning pin is greater than or equal to a preset threshold, the position adjustment mechanism of the unlocking platform is automatically triggered, which can compensate for errors caused by inaccurate vehicle parking or battery pack position deviation, reduce manual intervention, and improve battery swapping efficiency.

[0056] Furthermore, in some embodiments, image recognition technology can capture and analyze the relative position of the battery pack and the unlocking platform, thereby accurately determining which direction the unlocking platform should be adjusted to align with the positioning hole of the battery pack. In addition, the database pre-stores the correspondence between various deviation distances and corresponding adjustment distances, so that a suitable adjustment distance can be quickly matched according to the deviation distance, reducing the complex calculation process and thus improving the accuracy and efficiency of the battery swapping process.

[0057] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0058] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a schematic flowchart of the vehicle battery pack positioning and detection method provided in the embodiments of this application;

[0060] Figure 2 This is one of the schematic diagrams of the target image provided in the embodiments of this application;

[0061] Figure 3 This is a second schematic diagram of the target image provided in the embodiments of this application;

[0062] Figure 4 This is a partial structural schematic diagram of the battery swapping station provided in an embodiment of this application;

[0063] Figure 5 This is a schematic diagram of the vehicle battery pack positioning and detection device provided in the embodiments of this application;

[0064] Figure 6 This is one of the schematic diagrams illustrating the scenario examples provided in the embodiments of this application;

[0065] Figure 7 This is a second schematic diagram of a scenario example provided in the embodiments of this application;

[0066] Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0067] Figure label:

[0068] 201. Camera; 202. Unlocking platform; 203. Gantry lifting mechanism; 301. Positioning pin; 302. Positioning hole. Detailed Implementation

[0069] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0070] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0071] With the development of battery swapping technology, battery swapping stations can be compatible with more and more vehicle models. Currently, passenger car battery swapping stations are the most common on the market. The principle is generally that after the vehicle enters the battery swapping station, the mechanical structure inside the station first uses a four-wheel alignment system to adjust the vehicle's position. Then, a lifting mechanism is used to lift the vehicle to be swapped slightly to ensure that the vehicle's posture is leveled. After completing the above operations, the position of the positioning hole on the battery pack can be determined. By inserting the positioning pin on the unlocking platform into the battery positioning hole, the unlocking mechanism on the unlocking platform can be aligned with the lock body that fixes the battery, thus completing the battery removal.

[0072] However, for some heavier vehicles, such as light trucks and heavy trucks, the battery position may shift slightly under different loads due to their wide load range. This means that even if the vehicle is leveled during battery swapping, the position of the battery pack positioning hole cannot be determined. Specifically, the deformation of the vehicle suspension varies due to different pressures, causing a slight horizontal displacement of the battery pack. If the vehicle is swapped using the same method as passenger car batteries, the battery positioning pin on the unlocking platform will not align with the battery's positioning hole after leveling the vehicle, leading to battery removal failure.

[0073] To address at least one of the aforementioned technical problems, embodiments of this application provide a vehicle battery pack positioning and detection method, apparatus, system, and battery swapping station. The following, in conjunction with the accompanying drawings, provides a detailed description of the vehicle battery pack positioning and detection method, apparatus, system, and battery swapping station provided by this application through specific embodiments and application scenarios.

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

[0075] Optionally, the terminal may include, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). In some embodiments, the terminal may also be an optical receiver with a processor, a fiber optic switch, etc.

[0076] However, it should be understood that a 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 and detection method provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can implement the vehicle battery pack positioning and detection method. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras, and wearable devices. The vehicle battery pack positioning and detection method provided in this application embodiment is described below using an electronic device as the execution subject.

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

[0079] Step 110: After adjusting the vehicle's position, control the lifting mechanism of the battery swapping station to lift the vehicle and level its posture.

[0080] In this embodiment, a battery swapping station is a facility that provides rapid battery replacement services for electric vehicles. The station can quickly remove a depleted battery from an electric vehicle using mechanical devices and replace it with a fully charged battery. The station can be equipped with multiple battery storage locations, allowing it to serve multiple electric vehicles simultaneously. Figure 2 This is a partial structural diagram of a battery swapping station, as shown below. Figure 2 As shown, a battery swapping station may include a camera 201, an unlocking platform 202, a gantry lifting mechanism 203, etc.

[0081] In this embodiment, after the vehicle enters the battery swapping station, the mechanical structure within the station guides the vehicle to a specific parking platform. This parking platform meets the requirements of battery swapping operations and can accommodate battery swapping models with different wheelbases and track widths. The parking platform has the function of guiding and adjusting the vehicle's parking position, ensuring the battery swapping vehicle is accurately positioned in the parking space. For example, a four-wheel alignment system can be used to adjust the vehicle's position, ensuring accurate parking. Once the vehicle is parked, the lifting mechanism begins operation. The lifting mechanism can include at least four sets of column units, with two sets located on either side of the front and rear wheel lifting units respectively. The column units drive the front and rear wheel lifting units to rise / fall. The front wheel lifting unit can include V-groove wheels and clamping elements for clamping the front wheels, while the rear wheel lifting unit can include straight wheels and clamping elements for clamping the rear wheels. The lifting mechanism can be equipped with photoelectric sensors to detect whether the wheels are in position, and a servo motor driven by a lead screw to achieve a smooth lifting process. During the lifting process, the lifting mechanism will lift the vehicle slightly to level its position, which will facilitate the subsequent battery swapping process.

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

[0083] In this embodiment, the unlocking platform 202 can be a key component in a battery swapping station for realizing the battery pack replacement and unlocking functions. The unlocking platform 202 can be a component of a robotic arm, robot, or other structure. The unlocking platform 202 may be equipped with a positioning pin, and the battery pack may be equipped with a positioning hole. Inserting the positioning pin on the unlocking platform 202 into the battery positioning hole will align the unlocking mechanism on the unlocking platform 202 with the lock body that fixes the battery, thereby completing the removal and installation of the battery.

[0084] In this embodiment, a target image including the vehicle battery pack and the unlocking platform 202 can be captured by a camera 201. Specifically, the camera 201 can be installed at a preset position close to the unlocking platform 202. The camera 201 can be fixed or mounted on a structure with a telescopic function, thereby allowing adjustment of the shooting angle. There can be one or multiple cameras 201, allowing for shooting from multiple different angles.

[0085] With the lifting mechanism controlling the vehicle to a preset height, camera 201 can be controlled to start shooting, thereby obtaining a target image captured by camera 201, including the vehicle battery pack and the unlocking platform 202. By adjusting the vehicle position and controlling the lifting mechanism of the battery swapping station, the vehicle's posture is leveled. After adjusting the vehicle position, the lifting mechanism lifts the vehicle to the preset height, making the position between the battery pack and the unlocking platform 202 relatively accurate, reducing image distortion or blurring caused by vehicle tilting or improper positioning.

[0086] In one example, the captured target image is as follows: Figure 3 and Figure 4 As shown, in Figure 3 In the process, the horizontal deviation between the positioning pin 301 of the unlocking platform 202 and the center point of the positioning hole 302 of the battery pack of the vehicle to be swapped is small. After the positioning pin 301 moves toward the positioning hole 302, it can be inserted into the positioning hole 302, thus meeting the conditions for battery removal. Figure 4 In the process, the horizontal deviation between the positioning pin 301 of the unlocking platform 202 and the center point of the positioning hole 302 of the battery pack of the vehicle to be swapped is relatively large. After the positioning pin 301 moves toward the positioning hole 302, it is difficult to insert into the positioning hole 302, which does not meet the battery removal conditions. The position of the unlocking platform 202 needs to be adjusted.

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

[0088] In this embodiment, after acquiring the target image, image processing software or algorithms, such as edge detection and feature point extraction, can be used to identify the positions of the positioning hole 302 and the positioning pin 301 in the target image. This allows for the determination of the coordinates of the pixels representing the positioning hole 302 and the pixels representing the positioning pin 301 in the target image. Then, the pixel difference between the positioning hole 302 and the positioning pin 301 in the horizontal direction is calculated. For example, the pixel difference can be obtained by subtracting the coordinates of the pixel representing the positioning hole 302 from the coordinates of the pixel representing the positioning pin 301 in the horizontal direction.

[0089] Taking the use of edge detection algorithms to identify the positions of positioning holes 302 and positioning pins 301 in a target image as an example, after acquiring the target image, it can be preprocessed, such as by grayscale conversion, Gaussian blurring, and resizing. Then, the gradient of each pixel in the target image is calculated using an edge detection algorithm. For example, filters (such as Sobel operators or Canny operators) can be applied to the target image to calculate the gradient of each pixel. Then, the pixels are sorted according to the gradient magnitude. The algorithm can cluster pixels with similar gradient directions and magnitudes and calculate the optimal straight lines using 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 positioning hole 302 or positioning pin 301, the position of that contour can be determined as the position of positioning hole 302 or positioning pin 301 in the image.

[0090] Of course, in some embodiments, a model can also be trained using deep learning, and the target image can 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 based on the pixel difference.

[0092] In this embodiment, 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 based on the resolution and focal length of the camera 201, as well as the distance between the imaging device and the object being photographed.

[0093] In some embodiments, it can be based on the formula

[0094]

[0095]

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

[0097] Where M represents the optical magnification of the camera capturing 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, while the working distance D is determined by the actual working conditions.

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

[0099] According to the vehicle battery pack positioning detection method of this application, after adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture. While the lifting mechanism is controlling the vehicle to be lifted to a preset height, a target image including the vehicle battery pack and the unlocking / unlocking platform is acquired by a camera. The horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking / unlocking platform in the target image is calculated. The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference. This embodiment of the application uses image processing technology to identify the position of the battery pack positioning hole and the position of the unlocking / unlocking platform positioning pin, calculates the horizontal pixel difference between the positioning pin and the positioning hole, and converts the pixel difference into an actual deviation distance. This allows for the detection of the battery pack position of vehicles with different load capacities, reducing battery pack positioning deviation and improving battery swapping efficiency.

[0100] In some embodiments, the camera 201 is mounted on the side wall of the battery swapping station, and the preset height is determined based on the position of the camera 201 on the side wall of the battery swapping station.

[0101] like Figure 2 As shown, camera 201 can be mounted on the side wall of the battery swapping station to provide a sufficiently wide field of view for photographing the battery pack and unlocking platform 202, capturing features such as the positioning hole 302 of the battery pack on the vehicle chassis and the positioning pin 301 of the unlocking platform 202. Camera 201 can be fixedly mounted on the side wall of the battery swapping station, or it can be mounted on the side wall of the station via a telescopic or sliding structure to facilitate adjustment of the camera 201's shooting angle and shooting distance.

[0102] In some embodiments, target images captured by camera 201 at different shooting angles can be acquired, and calculations can be performed on at least two target images. Specifically, the horizontal pixel difference between the positioning hole 302 of the battery pack and the positioning pin 301 of the unlocking platform 202 in at least two target images can be calculated; the horizontal deviation distance between the positioning hole 302 and the positioning pin 301 can be calculated based on the pixel difference. In this way, at least two deviation distances can be obtained, and the final horizontal actual deviation distance between the positioning pins 301 of the unlocking platform 202 can be determined based on the at least two deviation distances. For example, the average or mode 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 based on the position of the camera 201 on the side wall of the battery swapping station. Specifically, the preset height can be pre-calibrated based on the position of the camera 201 on the side wall of the battery swapping 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 unlocking / 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 unlocking / unlocking platform 202 are located within a preset range at the center of the image.

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

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

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

[0107] In this embodiment, the preset threshold can be determined based on 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 2mm, then the preset threshold can be 2mm or less than 2mm. Of course, the preset threshold can also be other values, such as 1mm, 1.5mm, 2.5mm, 3mm, etc., and this embodiment does not limit this.

[0108] In this embodiment, when the deviation distance is greater than or equal to a preset threshold, such as Figure 4 As shown, in this situation, it is difficult to align the positioning hole 302 and the positioning pin 301. Therefore, the position of the unlocking platform 202 can be adjusted according to the deviation distance. For example, the unlocking platform 202 can be moved horizontally towards the battery pack. The greater the deviation distance, the greater the distance to move. After adjustment, new target images can be acquired to determine the new deviation distance. If the new deviation distance is still greater than or equal to a preset threshold, the unlocking platform 202 can be adjusted until the adjusted deviation distance is less than the preset threshold.

[0109] If 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 removal 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 removal.

[0110] In this embodiment, when the calculated horizontal deviation between the positioning hole and the positioning pin is greater than or equal to a preset threshold, the position adjustment mechanism of the unlocking platform is automatically triggered. This can compensate for errors caused by inaccurate vehicle parking or battery pack position deviation, reduce manual intervention, and improve battery swapping efficiency.

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

[0112] The adjustment direction is determined based on the relative positions of the battery pack and the unlocking / unlocking platform 202 in the target image;

[0113] The adjustment distance is matched from a preset database based on the deviation distance; the database stores the correspondence between deviation distance and adjustment distance.

[0114] Adjust the position of the unlocking platform 202 according to the adjustment direction and adjustment distance.

[0115] In this embodiment, the adjustment direction can be determined based on the relative positions of the battery pack and the unlocking platform 202 in the target image. Specifically, the adjustment direction of the unlocking platform 202 is towards the battery pack in the horizontal direction. The relative positions of the battery pack and the unlocking platform 202 can be identified from the target image, thereby determining which direction of the unlocking platform 202 is towards the battery pack in the horizontal direction. For example, if the battery pack is to the right of the unlocking platform 202 in the horizontal direction, the adjustment direction is to the right; if the battery pack is to the left of the 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 unlocking / unlocking platform 202 can be pre-calibrated. For example, if the deviation distance is 5mm, the adjustment distance can be 4mm, 5mm, 6mm, etc., based on the calibration results. By calibrating different deviation distances, the optimal adjustment distance corresponding to each deviation distance is obtained, and each deviation distance and its corresponding adjustment distance are associated and stored in the database. After calculating the deviation distance, the adjustment distance corresponding to that deviation distance can be matched from the database.

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

[0118] In this embodiment, image recognition technology can capture and analyze the relative position of the battery pack and the unlocking platform, thereby accurately determining which direction the unlocking platform should be adjusted to align with the positioning hole of the battery pack. Furthermore, the database pre-stores the correspondence between various deviation distances and corresponding adjustment distances, which allows for the rapid matching of appropriate adjustment distances based on the deviation distances, reducing complex calculation processes and improving the accuracy and efficiency of the battery swapping process.

[0119] The vehicle battery pack positioning and detection method provided in this application can be executed by a vehicle battery pack positioning and detection device. This application uses the vehicle battery pack positioning and detection device executing the method as an example to illustrate the vehicle battery pack positioning and detection device provided in this application.

[0120] This application also provides a vehicle battery pack positioning and detection device.

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

[0122] The lifting module 510 is used to control the lifting mechanism of the battery swapping station to lift the vehicle after the vehicle position is adjusted, so as to level the vehicle's posture.

[0123] The acquisition module 520 is used to acquire target images, including the vehicle battery pack and the unlocking platform, captured by the camera when the lifting mechanism is controlled to lift the vehicle to a preset height.

[0124] The first calculation module 530 is used to calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking platform in the target image.

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

[0126] According to the vehicle battery pack positioning detection device of this application, after adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture. While the lifting mechanism is controlling the vehicle to be lifted to a preset height, a target image including the vehicle battery pack and the unlocking / unlocking platform is acquired by a camera. The horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking / unlocking platform in the target image is calculated. The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference. This embodiment of the application uses image processing technology to identify the position of the battery pack positioning hole and the position of the unlocking / unlocking platform positioning pin, calculates the horizontal pixel difference between the positioning pin and the positioning hole, and converts the pixel difference into an actual deviation distance. This allows for the detection of the battery pack position of vehicles with different load capacities, reducing battery pack positioning deviation and improving battery swapping efficiency.

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

[0128] According to the formula

[0129]

[0130]

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

[0132] Where M represents the optical magnification of the camera capturing 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 includes:

[0134] The adjustment module is used to adjust the position of the 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] The adjustment direction is determined based on the relative positions of the battery pack and the unlocking / unlocking platform in the target image;

[0137] The adjustment distance is matched from a preset database based on the deviation distance; the database stores the correspondence between deviation distance and adjustment distance.

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

[0139] The vehicle battery pack positioning and detection device in this application embodiment can be an electronic device or a component of an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the device.

[0140] The vehicle battery pack positioning and detection device in this application embodiment can be a device with an operating system. This operating system can be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems; this application embodiment does not specifically limit it.

[0141] This application also provides a vehicle battery pack positioning and detection system, including: a control module, an algorithm detection module, and a camera module;

[0142] The control module is used to control the lifting mechanism of the battery swapping station to lift the vehicle after the vehicle position is adjusted, so as to level the vehicle's posture; and to send a detection command to the algorithm detection module when the lifting mechanism lifts the vehicle to a preset height.

[0143] The algorithm detection module is used to acquire target images including the vehicle battery pack and the unlocking platform captured by the camera module when it receives a detection command from the control module; calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking platform in the target image; calculate the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference; and send the deviation distance to the control module.

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

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

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

[0147] The adjustment direction is determined based on the relative positions of the battery pack and the unlocking / unlocking platform in the target image;

[0148] The adjustment distance is matched from a preset database based on the deviation distance; the database stores the correspondence between deviation distance and adjustment distance.

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

[0150] The vehicle battery pack positioning and detection system of this application embodiment will be described below with reference to a scenario example. Figure 6 As shown in the example scenario, the control module can be a PLC (programmable logic controller) module, the vehicle can be a light truck, and the camera module can be an industrial camera module.

[0151] In this scenario example, when the light truck enters the battery swapping station, the mechanical structure inside the station uses a four-wheel alignment system to adjust the truck's position. Then, a lifting mechanism slightly lifts the truck to a preset height to level its posture, before sending a detection command to the algorithm detection module. Upon receiving the command, the algorithm detection module uses an industrial camera deployed on the side wall of the station to capture images of the battery pack and the unlocking / unlocking platform. These images are then input into the detection algorithm for calculation. The algorithm detection module outputs the results to the PLC module, which determines whether the battery removal conditions are met. If the deviation is less than 2mm, the removal conditions are met, and the battery pack is removed. If the deviation is greater than or equal to 2mm, the removal conditions are not met, and the system enters a return distance adjustment step to adjust the position of the unlocking / 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 images and inputs them into the algorithm detection module;

[0154] Step 2: Adjust 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 unlocking platform and the positioning hole of the battery pack of the vehicle to be swapped 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 the industrial camera, and the working distance is determined by the actual working conditions.

[0157] According to the vehicle battery pack positioning and detection system of this application, a target image including a vehicle battery pack and an unlocking platform is acquired; the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the 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. This embodiment of the application uses image processing technology to identify the position of the battery pack positioning hole and the position of the unlocking platform positioning pin, calculates the horizontal pixel difference between the positioning pin and the positioning hole, and converts the pixel difference into an actual deviation distance. This allows for the detection of battery pack positions in vehicles with different load capacities, reducing battery pack positioning deviation and improving battery swapping efficiency.

[0158] In some embodiments, such as Figure 8 As shown, this application embodiment also provides an electronic device 800, including a processor 801, the processor 801 being connected to a memory 802, the memory 802 storing a computer program that can run on the processor 801. When the program is executed by the processor 801, it implements the various processes of the above-described vehicle battery pack positioning detection method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

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

[0160] This application embodiment also provides a battery swapping station, including: a camera, an encryption / unlocking platform, and a controller;

[0161] The controller is used to perform the vehicle battery pack positioning and detection method described above.

[0162] The controller can be one of the aforementioned electronic devices.

[0163] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described vehicle battery pack positioning and detection method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

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

[0165] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle battery pack positioning and detection method.

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

[0167] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described vehicle battery pack positioning and detection method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0168] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0169] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0170] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0171] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0172] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

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

Claims

1. A method for locating and detecting a vehicle battery pack, characterized in that, include: After adjusting the vehicle's position, the lifting mechanism of the battery swapping station is controlled to lift the vehicle to level its posture. While controlling the lifting mechanism to lift the vehicle to a preset height, a target image including the vehicle battery pack and the unlocking platform is captured by the camera. Calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking platform in the target image; Calculate the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference; the calculation of the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference includes: according to the formula: Calculate the horizontal deviation distance between the positioning hole and the positioning pin; Where 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.

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

3. The method according to claim 1, characterized in that, The method further includes: If the deviation distance is greater than or equal to a preset threshold, the position of the unlocking / unlocking platform is adjusted according to the deviation distance.

4. The method according to claim 3, characterized in that, Adjusting the position of the unlocking / unlocking platform according to the deviation distance includes: The adjustment direction is determined based on the relative positions of the battery pack and the unlocking / unlocking platform in the target image; The adjustment distance is matched from a preset database based on the deviation distance; the database stores the correspondence between deviation distances and adjustment distances. The position of the unlocking / unlocking platform is adjusted according to the adjustment direction and the adjustment distance.

5. A vehicle battery pack positioning and detection device, characterized in that, include: The lifting module is used to control the lifting mechanism of the battery swapping station to lift the vehicle after the vehicle position is adjusted, so as to level the vehicle's posture. The acquisition module is used to acquire a target image captured by a camera, including the vehicle battery pack and the unlocking platform, when the lifting mechanism is controlled to lift the vehicle to a preset height. The first calculation module is used to calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking platform in the target image; The second calculation module is used to calculate the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference; the calculation of the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference includes: according to the formula: Calculate the horizontal deviation distance between the positioning hole and the positioning pin; Where 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.

6. A vehicle battery pack positioning and 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 swapping station to lift the vehicle after the vehicle position is adjusted, so as to level the vehicle's posture. When the lifting mechanism is controlled to lift the vehicle to a preset height, a detection command is sent to the algorithm detection module. The algorithm detection module is used to acquire a target image including a vehicle battery pack and an unlocking platform captured by the camera module when it receives a detection command from the control module, and to calculate the horizontal pixel difference between the positioning hole of the battery pack and the positioning pin of the unlocking platform in the target image. The horizontal deviation distance between the positioning hole and the positioning pin is calculated based on the pixel difference, and the deviation distance is sent to the control module. The step of calculating the horizontal deviation distance between the positioning hole and the positioning pin based on the pixel difference includes: according to the formula: Calculate the horizontal deviation distance between the positioning hole and the positioning pin; Where 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.

7. The system according to claim 6, characterized in that, The control module is also used for: If the deviation distance is greater than or equal to a preset threshold, the position of the unlocking / unlocking platform is adjusted according to the deviation distance.

8. The system according to claim 7, characterized in that, The control module is also used for: The adjustment direction is determined based on the relative positions of the battery pack and the unlocking / unlocking platform in the target image; The adjustment distance is matched from a preset database based on the deviation distance; the database stores the correspondence between deviation distances and adjustment distances. The position of the unlocking / unlocking platform is adjusted according to the adjustment direction and the adjustment distance.

9. A battery swapping station, characterized in that, include: Camera, encryption / unlocking platform, and controller; The controller is configured to perform the method as described in any one of claims 1-4.

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