A method and system for identifying vehicle arrival at a battery swap station, a storage medium, and a battery swap station

Abstract

The present invention belongs to the field of visual target detection and positioning technology, and specifically relates to a method and system for identifying the presence of vehicles at a battery swap station, a storage medium, and a battery swap station. The present invention calibrates the battery swap limit area and determines the standard length and width of battery packs of the same specification based on the limit swap position and standard swap position of battery packs of the same specification in the battery swap station; uses the information of battery packs of the same specification to establish an optimal model for battery pack detection and positioning, and then obtains the image of the battery pack to be detected, uses the model to obtain positioning information, completes the boundary detection and horizontal tilt angle detection of the battery pack to be detected, and judges whether the current posture of the battery pack to be detected meets the battery swap posture requirements based on the boundary detection and horizontal tilt angle detection results. The present invention effectively overcomes the problem of low battery swap efficiency due to different battery packs in battery swap stations. Compared with the existing multi-sensor joint detection parking guidance method, it has significant advantages in lower cost, convenient operation, and quickness.

Description

Technical Field

[0001] The present invention belongs to the field of visual target detection and positioning technology, and specifically relates to a method and system for identifying the arrival of vehicles at a battery swap station, a storage medium, and a battery swap station. Background Art

[0002] At present, the parking guidance scheme in battery swap stations mainly involves installing parking limit devices in the driving lanes of battery swap stations, including speed bumps laid on the driving lanes of battery swap stations or marking parking lines on the side wall of the driving lanes of battery swap stations. The installation of speed bumps requires that the ground of the driving lanes of battery swap stations must be hardened, and the speed bumps are installed protruding above the plane of the battery swap lanes, which can be easily damaged by being stepped on. In addition, some battery swap stations do not have the conditions to harden the road surface due to the construction period and operational requirements. The parking line method marked on the side wall of the driving lanes of battery swap stations cannot currently meet the parking guidance needs of different types of vehicles.

[0003] Moreover, when battery swap stations are faced with battery packs of different battery swap vehicles, there is still a problem of low battery swap efficiency. Existing battery swap stations use multi-sensor joint detection methods to guide parking to improve battery swap efficiency, resulting in high construction costs of battery swap stations. Therefore, a new method for identifying the arrival of battery swap vehicles is urgently needed to solve the problem of low battery swap efficiency caused by the difficulty in guiding vehicle parking at existing battery swap stations.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a method and system for identifying the presence of vehicles at a battery swap station, a storage medium, and a battery swap station.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In one aspect, the present invention provides a method for identifying a vehicle at a battery swap station, the specific steps of which are as follows:

[0008] Step 1: Capture a first image of a vehicle with a battery pack of the same specification at a battery swap station at the same shooting distance and angle;

[0009] Step 2: Based on the first image, obtain the coordinate information of the battery swap limit boundary corresponding to the battery pack of the same specification, as well as the length k1 and width k2 of the battery pack of the same specification;

[0010] Step 3: Establish a target detection model. After preprocessing, the first image is divided into a training set and a test set. The target detection model is trained and parameters are optimized to obtain the optimal target detection model.

[0011] Step 4: Using the optimal target detection model, the images of the battery pack to be inspected, captured at the same shooting distance and angle, are used to identify the battery pack to be inspected and obtain its location information. The location information of the battery pack to be inspected is the pixel coordinates of the upper left and lower right corners of the vertical rectangular box used to determine the battery pack's location outline.

[0012] Step 5: Use the positioning information of the battery pack to be tested in step 4, the coordinate information of the battery swap limit boundary in step 2, and the length k1 and width k2 of the battery pack to be tested to complete the posture calculation of the battery pack to be tested, and determine whether the posture of the battery pack to be tested meets the battery swap posture requirements;

[0013] Step 6: Based on the above judgment result, a corresponding prompt message is issued to the driver.

[0014] Specifically, under the premise of the same shooting distance and shooting angle and the same shooting camera, the standard length and width of the battery pack of the same specification corresponding to the standard battery swap position in the battery swap station are consistent with the length and width of the battery pack to be tested with a certain tilt angle. Furthermore, the battery pack of the same specification and the battery pack to be tested have the same size specifications, and are either installed on the same model of vehicle or on different models of vehicles.

[0015] Specifically, in step 1, the first image includes image A of a battery pack of the same specification of a vehicle at the limit position of battery replacement in the battery swap station at the same shooting distance and shooting angle, image B of a battery pack of the same specification of a vehicle entering and exiting the battery swap station continuously, and image C of a battery pack of the same specification of a vehicle at the standard parking position in the battery swap station.

[0016] Furthermore, the battery swap limit positions of vehicles with battery packs of the same specification in the battery swap station are: the front and rear lines perpendicular to the driving direction of vehicles with batteries of the same specification in the battery swap channel, specifically, the front and rear limit positions of the battery packs of the same specification corresponding to the front and rear limit positions of the vehicles parked in the driving direction of the battery swap channel;

[0017] Furthermore, the standard parking position of vehicles with battery packs of the same specifications in the battery swap station is specifically: the battery center point of the vehicle with battery packs of the same specifications is located directly below the shooting angle, and the posture of the battery swap vehicle has no angle with the horizontal driving channel in the battery swap station.

[0018] Specifically, the specific method of step 2 is as follows:

[0019] Step 2.1, determine the pixel position corresponding to the battery swap limit position of the battery pack of the same specification in image A, and further determine the position of the boundary detection pixel point;

[0020] Step 2.2: Determine the pixel position of the battery pack of the same specification in the C image, and further determine the length k1 and width k2 of the battery pack of the same specification in the C image.

[0021] Specifically, in step 3, the preprocessing includes: image annotation and image preprocessing; the image annotation includes: marking the outlines of battery packs of the same specification in the B image with rectangular frames; the image preprocessing includes: enhancing the images of battery packs of the same specification that have been annotated by resizing, multi-environment simulation, and color change technology.

[0022] Specifically, in step 3, the target detection model is an improved YOLOv11 model;

[0023] The improved YOLOv11 model includes an improvement mechanism for the feature fusion layer structure of the convolution, backbone network, and Neck part in the YOLOv11 basic model, or an improvement mechanism for the feature fusion layer structure of the fusion backbone network and Neck.

[0024] Specifically, the specific method of step 5 is:

[0025] Step 5.1: Based on the positioning information of the battery pack to be tested, determine whether the battery swapping vehicle is in a stationary state that satisfies the battery swapping posture calculation for the battery pack to be tested;

[0026] Step 5.2: Under the vehicle state that satisfies the battery pack swap posture calculation, determine whether the battery pack to be tested exceeds the battery swap limit boundary using the positioning information of the battery pack to be tested and the coordinate information of the battery swap limit boundary;

[0027] Step 5.3, using the positioning information of the battery pack to be detected and the length k1 and width k2 of the battery pack to be detected, calculate the horizontal tilt angle θ0 of the battery pack to be detected;

[0028] Step 5.4: Based on the judgment result of step 5.1 and the ratio of the horizontal tilt angle θ0 of the battery pack to be tested to the preset horizontal critical angle θ, determine whether the battery pack to be tested meets the battery swap posture requirements. When the battery pack to be tested does not exceed the battery swap limit boundary and the horizontal tilt angle θ0<θ, the posture of the battery pack to be tested meets the battery swap posture requirements.

[0029] Specifically, in step 5.3, the specific method for calculating the horizontal tilt angle θ0 of the battery pack to be tested is:

[0030] Step 5.3.1, based on the positioning information of the battery pack to be inspected, determine the length L3 and width L4 of the rectangular frame of the battery pack positioning outline;

[0031] Step 5.3.2: Based on the intersection of the vertex of the battery pack to be inspected with the long side and the wide side of the rectangular frame of the battery pack positioning outline, use the intersection point as the segmentation point. Assume that the distance of the intersection with the long side of the rectangular frame of the battery pack positioning outline is k6, and the other distance is k5. The corresponding distance of the intersection with the wide side of the rectangular frame of the battery pack positioning outline is k3, and the other distance is k4.

[0032] Step 5.3.3: Based on the fact that the structure of the battery pack to be tested and the outline of the battery pack positioning are both rectangular, calculate k6 according to Formula 1:

[0033]

[0034] The horizontal tilt angle θ0 of the battery pack to be tested is determined by formula 2:

[0035]

[0036] On the other hand, the present invention provides a vehicle arrival recognition system for a battery swap station, which utilizes the above-mentioned vehicle arrival recognition method for a battery swap station, specifically including a vehicle recognition device, a high-precision video acquisition device, an industrial computer with GPU computing power, and a display device;

[0037] The vehicle identification device is installed outside the entrance channel of the battery swap station and is used to identify the battery swap vehicle and read its identity information. At the same time, the read information is sent to the industrial computer. The identity information includes the license plate number and the battery pack specifications of the battery swap vehicle, namely the length, width and height;

[0038] The high-precision video acquisition device is installed at the top position just above the intersection of the driving channel and the battery outlet in the battery swap station, and is used to collect images of the battery pack to be inspected of the battery swap vehicle in the battery swap channel and send the images to the industrial computer;

[0039] The industrial computer is installed inside the working compartment of the battery swap station, and is used to receive the identity information of the battery swapping vehicle sent by the vehicle identification device, and to retrieve the coordinate information of the battery swapping limit boundary of the battery pack to be detected. At the same time, it receives the image of the battery pack to be detected of the battery swapping vehicle in the battery swapping channel captured by the high-precision video acquisition device, and inputs it into the target detection model after preprocessing to complete the identification of the battery pack to be detected and the acquisition of the positioning information of the battery pack to be detected, and further judges whether the current posture of the battery pack to be detected meets the battery swapping requirements based on the coordinate information of the corresponding battery swapping limit boundary, and sends the judgment result to the display device;

[0040] The display device is installed at the exit of the battery swap channel in the battery swap station, and is used to display the video collected by the high-precision video acquisition device in real time, and is used to show the driver whether the position of the battery pack to be tested of the current battery swap vehicle is within the set battery swap limit boundary position box;

[0041] When the industrial computer receives the battery pack information of the battery swap vehicle to be detected sent by the vehicle identification device, the industrial computer will simultaneously retrieve the coordinate information data of the corresponding battery swap limit boundary and send it to the display device for display;

[0042] When the industrial computer detects that the battery pack posture of the battery swap vehicle meets the battery swap posture, the battery swap limit boundary position box displayed on the display device will turn green;

[0043] When the industrial computer detects that the battery pack posture of the battery swap vehicle does not meet the battery swap posture, the battery swap limit boundary position box displayed on the display device will turn red and flash.

[0044] Furthermore, if the current position of the battery pack to be tested is not within the battery swap limit boundary position box or exceeds the battery swap limit boundary position box, the industrial computer controls the display device to prompt the driver to re-park the vehicle at a position that meets the battery swap requirements; if the current horizontal tilt angle of the battery pack to be tested is greater than the maximum value of the preset angle, that is, θ0>θ, the industrial computer controls the display device to prompt the driver to re-park the battery swap vehicle and straighten it to meet the horizontal posture of the battery pack to be tested that meets the battery swap requirements.

[0045] Specifically, the industrial computer also includes training the target detection model and controlling the high-precision video acquisition device to capture images. When the industrial computer receives the information of the battery pack to be detected of the battery swapping vehicle sent by the vehicle identification device, it controls the high-precision video acquisition device to start collecting images of the battery pack to be detected of the battery swapping vehicle in the battery swapping channel.

[0046] In another aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the steps of the method for identifying the presence of a vehicle at a battery swap station as described above.

[0047] In another aspect, the present invention provides a battery swap station, comprising the vehicle arrival identification system for the battery swap station as described above.

[0048] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0049] The present invention calibrates the battery swap limit area of ​​the battery packs of the same specification in the image based on the limit battery swap position of the battery packs of the same specification in the battery swap station, and determines the standard length and width of the battery packs of the same specification in the image based on the standard battery swap position of the battery packs of the same specification in the battery swap station; completes the establishment of the optimal model for battery pack detection and positioning based on the image data of the battery packs of the same specification; obtains the image information of the battery pack to be detected, and uses the optimal model for battery pack detection and positioning to complete the acquisition of the positioning information of the battery pack to be detected, and further completes the boundary detection and horizontal tilt angle detection of the battery pack to be detected based on the corresponding battery swap limit area of ​​the battery pack to be detected, the positioning information of the battery pack to be detected, and the standard length and width of the battery pack to be detected. According to the boundary detection and horizontal tilt angle detection results, it is judged whether the current posture of the battery pack to be detected meets the battery swap posture requirements. The present invention overcomes the problem of low battery swap efficiency caused by different battery packs in the current battery swap station, and uses visual sensors to complete the identification and positioning of the battery pack to be detected. It is lower in cost than the existing technology of using multi-sensor joint detection method for parking guidance, and is more convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, serve to explain the principles of the invention.

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0052] Figure 1 Flowchart of the vision-based vehicle identification method for battery swap stations provided by the present invention;

[0053] Figure 2 The network structure diagram of the improved YOLOv11 model provided by the present invention;

[0054] Figure 3 Schematic diagram of boundary detection for battery packs of the same specifications provided by the present invention;

[0055] Figure 4 A top view of a battery pack of the same specification provided by the present invention;

[0056] Figure 5 A schematic diagram showing the calculation of the horizontal tilt angle of the battery pack to be tested provided by the present invention;

[0057] Figure 6 This is a structural block diagram of the vision-based vehicle arrival recognition system for battery swap stations provided by the present invention. DETAILED DESCRIPTION

[0058] Exemplary embodiments will now be described in detail, with examples shown in the accompanying drawings. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present invention. Instead, they are merely examples consistent with some aspects of the present invention as detailed in the appended claims.

[0059] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.

[0060] In one aspect, the present invention provides a method for identifying a vehicle at a battery swap station, the specific steps of which are as follows:

[0061] Step 1: Capture a first image of a vehicle with a battery pack of the same specification at a battery swap station at the same shooting distance and angle;

[0062] Step 2: Based on the first image, obtain the coordinate information of the battery swap limit boundary corresponding to the battery pack of the same specification, as well as the length k1 and width k2 of the battery pack of the same specification;

[0063] Step 3: Establish a target detection model. After preprocessing, the first image is divided into a training set and a test set. The target detection model is trained and parameters are optimized to obtain the optimal target detection model.

[0064] Step 4: Using the optimal target detection model, the images of the battery pack to be inspected, captured at the same shooting distance and angle, are used to identify the battery pack to be inspected and obtain its location information. The location information of the battery pack to be inspected is the pixel coordinates of the upper left and lower right corners of the vertical rectangular box used to determine the battery pack's location outline.

[0065] Step 5: Use the positioning information of the battery pack to be tested in step 4, the coordinate information of the battery swap limit boundary in step 2, and the length k1 and width k2 of the battery pack to be tested to complete the posture calculation of the battery pack to be tested, and determine whether the posture of the battery pack to be tested meets the battery swap posture requirements;

[0066] Step 6: Based on the above judgment result, a corresponding prompt message is issued to the driver.

[0067] Specifically, under the premise of the same shooting distance and shooting angle and the same shooting camera, the standard length, width and height of the battery pack of the same specification corresponding to the standard battery swap position in the battery swap station are consistent with the length, width and height of the battery pack to be tested with a certain tilt angle. Furthermore, the battery pack of the same specification and the battery pack to be tested have the same size specifications, or are installed on the same model of battery swap vehicles, or are installed on different models of battery swap vehicles.

[0068] Specifically, in step 1, the first image includes image A of a battery pack of the same specification of a vehicle at the limit position of battery replacement in the battery swap station at the same shooting distance and shooting angle, image B of a battery pack of the same specification of a vehicle entering and exiting the battery swap station continuously, and image C of a battery pack of the same specification of a vehicle at the standard parking position in the battery swap station.

[0069] Furthermore, the battery swap limit positions of vehicles with battery packs of the same specification in the battery swap station are: the front and rear lines perpendicular to the driving direction of vehicles with batteries of the same specification in the battery swap channel, specifically, the front and rear limit positions of the battery packs of the same specification corresponding to the front and rear limit positions of the vehicles parked in the driving direction of the battery swap channel;

[0070] Furthermore, the standard parking position of vehicles with battery packs of the same specifications in the battery swap station is specifically: the battery center point of the vehicle with battery packs of the same specifications is located directly below the shooting angle, and the posture of the battery swap vehicle has no angle with the horizontal driving channel in the battery swap station.

[0071] Specifically, the specific method of step 2 is as follows:

[0072] Step 2.1, determine the pixel position corresponding to the battery swap limit position of the battery pack of the same specification in image A, and further determine the position of the boundary detection pixel point;

[0073] Step 2.2: Determine the pixel locations of battery packs of the same specifications in image C, and further determine the length k1 and width k2 of the battery pack to be inspected in image C.

[0074] Specifically, in step 3, the preprocessing includes: image annotation and image preprocessing; the image annotation includes: marking the outlines of battery packs of the same specification in the B image with rectangular frames; the image preprocessing includes: enhancing the images of battery packs of the same specification that have been annotated by resizing, multi-environment simulation, and color change technology.

[0075] Specifically, in step 3, the target detection model is an improved YOLOv11 model;

[0076] The improved YOLOv11 model includes an improvement mechanism for the feature fusion layer structure of the convolution, backbone network, and Neck part in the YOLOv11 basic model, or an improvement mechanism for the feature fusion layer structure of the fusion backbone network and Neck.

[0077] Specifically, the specific method of step 5 is:

[0078] Step 5.1: Based on the positioning information of the battery pack to be tested, determine whether the battery swapping vehicle is in a stationary state that satisfies the battery swapping posture calculation for the battery pack to be tested;

[0079] Step 5.2: Under the vehicle state that satisfies the battery pack swap posture calculation, determine whether the battery pack to be tested exceeds the battery swap limit boundary using the positioning information of the battery pack to be tested and the coordinate information of the battery swap limit boundary;

[0080] Step 5.3, using the positioning information of the battery pack to be detected and the length k1 and width k2 of the battery pack to be detected, calculate the horizontal tilt angle θ0 of the battery pack to be detected;

[0081] Step 5.4: Based on the judgment result of step 5.1 and the ratio of the horizontal tilt angle θ0 of the battery pack to be tested to the preset horizontal critical angle θ, determine whether the battery pack to be tested meets the battery swap posture requirements. When the battery pack to be tested does not exceed the battery swap limit boundary and the horizontal tilt angle θ0<θ, the posture of the battery pack to be tested meets the battery swap posture requirements.

[0082] Specifically, in step 5.3, the specific method for calculating the horizontal tilt angle θ0 of the battery pack to be tested is:

[0083] Step 5.3.1, based on the positioning information of the battery pack to be inspected, determine the length L3 and width L4 of the rectangular frame of the battery pack positioning outline;

[0084] Step 5.3.2: Based on the intersection of the vertex of the battery pack to be inspected with the long side and the wide side of the rectangular frame of the battery pack positioning outline, use the intersection point as the segmentation point. Assume that the distance of the intersection with the long side of the rectangular frame of the battery pack positioning outline is k6, and the other distance is k5. The corresponding distance of the intersection with the wide side of the rectangular frame of the battery pack positioning outline is k3, and the other distance is k4.

[0085] Step 5.3.3: Based on the fact that the structure of the battery pack to be tested and the outline of the battery pack positioning are both rectangular, calculate k6 according to Formula 1:

[0086]

[0087] The horizontal tilt angle θ0 of the battery pack to be tested is determined by formula 2:

[0088]

[0089] On the other hand, the present invention provides a vision-based vehicle identification system for a battery swap station, which utilizes the above-mentioned vehicle identification method for a battery swap station, specifically including a vehicle identification device, a high-precision video acquisition device, an industrial computer with GPU computing power, and a display device;

[0090] The vehicle identification device is installed outside the entrance channel of the battery swap station and is used to identify the battery swap vehicle and read its identity information. At the same time, the read information is sent to the industrial computer. The identity information includes the license plate number and the battery pack specifications of the battery swap vehicle, namely the length, width and height;

[0091] The high-precision video acquisition device is installed at the top position just above the intersection of the driving channel and the battery outlet in the battery swap station, and is used to collect images of the battery pack to be inspected of the battery swap vehicle in the battery swap channel and send the images to the industrial computer;

[0092] The industrial computer is installed inside the working compartment of the battery swap station, and is used to receive the identity information of the battery swapping vehicle sent by the vehicle identification device, and to retrieve the coordinate information of the battery swapping limit boundary of the battery pack to be detected, and at the same time receive the image of the battery pack to be detected of the battery swapping vehicle in the battery swapping channel captured by the high-precision video acquisition device. The image is input into the target detection model after preprocessing to complete the identification of the battery pack to be detected and the acquisition of the positioning information of the battery pack to be detected, and further judge whether the current posture of the battery pack to be detected meets the battery swapping requirements based on the coordinate information of the corresponding battery swapping limit boundary, and send the judgment result to the display device;

[0093] The display device is installed at the exit of the battery swap channel in the battery swap station, and is used to display the video collected by the high-precision video acquisition device in real time, and is used to show the driver whether the position of the battery pack to be tested of the current battery swap vehicle is within the set battery swap limit boundary position box;

[0094] When the industrial computer receives the battery pack information to be detected sent by the vehicle identification device, the industrial computer will retrieve the coordinate information data corresponding to the battery replacement limit boundary and send it to the display device for display;

[0095] When the industrial computer detects that the battery pack posture of the battery swap vehicle meets the battery swap posture, the battery swap limit boundary position box displayed on the display device will turn green;

[0096] When the industrial computer detects that the battery pack posture of the battery swap vehicle does not meet the battery swap posture, the battery swap limit boundary position box displayed on the display device will turn red and flash.

[0097] Furthermore, if the current position of the battery pack to be tested is not within the battery swap limit boundary position box or exceeds the battery swap limit boundary position box, the industrial computer controls the display device to prompt the driver to re-park the vehicle at a position that meets the battery swap requirements; if the current horizontal tilt angle of the battery pack to be tested is greater than the maximum value of the preset angle, that is, θ0>θ, the industrial computer controls the display device to prompt the driver to re-park the battery swap vehicle and straighten it to meet the horizontal posture of the battery pack to be tested that meets the battery swap requirements.

[0098] Specifically, the industrial computer also includes training the target detection model and controlling the high-precision video acquisition device to capture images. When the industrial computer receives the battery pack information to be detected of the battery swapping vehicle sent by the vehicle identification device, it controls the high-precision video acquisition device to start collecting images of the battery pack to be detected of the battery swapping vehicle in the battery swapping channel.

[0099] Example

[0100] This embodiment provides a method for identifying a vehicle at a battery swap station. The specific steps are as follows:

[0101] Step 1. Use a high-precision video acquisition device installed at the intersection of the driving passage and the battery swapping bay in the battery swapping station, at the vertical top of the center of the driving passage in the battery swapping station, to take image A of the same-specification battery pack at the battery swapping limit position in the battery swapping station, image B of the same-specification battery pack of the vehicle with the same-specification battery pack entering and exiting the battery swapping station continuously, and image C of the same-specification battery pack of the vehicle with the same-specification battery pack at the standard parking position in the battery swapping station; determine the pixel position corresponding to the battery swapping limit position of the same-specification battery pack in image A, and further determine the position of the boundary detection pixel point;

[0102] In image A, mark the outline of the battery pack with the same specifications and find the two pixel extreme points in the outline boundary that are consistent with the driving direction of the battery swap vehicle, such as Figure 3 As shown, Figure 3 It is a top view of the boundary detection of battery packs of the same specification; in the battery swap station in the figure, the direction of travel of the battery swap vehicle in the battery swap station is from the left to the right; the outline of the battery pack of the same specification photographed at this viewing angle is represented by a dotted rectangular frame, wherein the pixel positions of the left and right bottom corners of the battery pack of the same specification in the image are the left bottom corner (x3, y3) and the right bottom corner (x4, y4), L1 and L2 are respectively the boundary lines determined by the pixel position corresponding to the leftmost and rightmost battery swap limit positions of the battery pack of the same specification photographed at this viewing angle in the direction of travel of the battery swap vehicle in the battery swap station channel, wherein the coordinates of the lowermost pixels of L1 and L2 are (x1, y1) and (x2, y2), respectively;

[0103] Step 2: Determine the pixel position of the battery pack of the same specification in the C image, and further determine the length k1 and width k2 of the battery pack of the same specification in the C image;

[0104] Among them, the standard battery swap position for battery packs of the same specifications in the battery swap station is the standard parking position for battery swap vehicles with battery packs of the same specifications in the battery swap station, specifically: the battery center point of the battery swap vehicle with battery packs of the same specifications is directly below the shooting angle of the high-precision video acquisition device, and the posture of the battery swap vehicle has no angle with the horizontal driving channel in the battery swap station; Figure 4As shown, the left figure shows a top-down outline of a battery pack of the same specification at a standard battery swapping position in a battery swapping station, obtained from the viewing angle of a high-precision video acquisition device. The standard length k1 and width k2 of a battery pack to be tested at this viewing angle can be determined from the pixel positions of the four top corners of the outline.

[0105] Step 3: Establish a target detection model and perform image annotation and image preprocessing on the B image. First, mark the outlines of battery packs of the same specifications in the B image with rectangular boxes. Then, enhance the images of the battery packs of the same specifications after image annotation by resizing, multi-environment simulation, and color change technology. Then, divide the preprocessed images into training and test sets, train the target detection model, and tune its parameters to obtain the optimal target detection model.

[0106] The target detection model is an improved YOLOv11 model, and the improved YOLOv11 model is selected as the optimal model for battery pack detection and positioning; wherein, the improved YOLOv11 model mainly selects an improved mechanism for optimizing the network structures such as the convolution, backbone (feature extraction module in the backbone-YOLOv11 model), and Neck (feature integration module in the YOLOv11 model) parts in the YOLOv11 basic model, the feature fusion layer, the detection head, and the loss function, or integrates the improved mechanism for the network structure of the feature fusion layer in the backbone and neck structures; preferably, the improved mechanism for the network structure of the feature fusion layer in the backbone and neck is integrated;

[0107] The specific improvement strategies are as follows: Figure 2 As shown in the figure, the backbone network in the improved YOLOv11 model introduces the Universal InvertedBottleneck (UIB) structure of MobileNetV4 into the backbone network in the YOLOv11 model, replacing the original attention mechanism module (C2PSA). Although the UIB structure is simple, it successfully unifies several popular architectures, including Inverted Bottleneck (IB), ConvNext (convolutional network improved based on the ResNet50 model), and Feed Forward Network (FFN), and introduces additional depth convolution (Extra Depthwise) technology, so that the UIB block allows flexible trade-offs between space / channel mixing, receptive field adjustment and computational utilization, allowing the network to be adaptively adjusted according to the optimization goal;

[0108] Another improvement is to replace the neck structure of the YOLOv11 model with a BiFPN (bidirectional feature pyramid network) structure. Figure 2 As shown in the figure, BiFPN introduces bidirectional connections, allowing information to propagate bidirectionally between different resolution levels, which helps to better fuse low-level and high-level features, promotes the contextual propagation of features, and improves the accuracy of object detection and segmentation. This improvement allows the feature map to be detected to fuse more feature information without increasing the amount of computation.

[0109] Before completing the training of the optimal model for battery pack detection and positioning, the image data of battery packs of the same specification based on the shooting angle are preprocessed. The image data of battery packs of the same specification can be selected to include battery pack data of the same specification under different lighting conditions (such as at night and strong light), different weather conditions (such as rain and snow) and battery swap vehicle status (battery swap vehicle tilts, that is, battery packs of the same specification are tilted) and images of battery packs of different colors; the preprocessing includes image annotation and image preprocessing; the image annotation is specifically: rectangular frame annotation of the outline of battery packs of the same specification in the continuous images of battery swap vehicles entering and leaving the battery swap station; further the annotated images are adjusted by adjusting the image size, enhancing the contrast, etc., to improve the accuracy of the battery pack detection and positioning model algorithm; then the annotated image data is used to train the improved YOLOv11 model, and the optimal model is trained by setting parameters such as the learning rate and the number of iterations;

[0110] Step 4: Using the optimal target detection model, the images of the battery pack to be inspected, captured at the same shooting distance and angle, are used to identify the battery pack to be inspected and obtain its location information. The location information of the battery pack to be inspected is the pixel coordinates of the upper left and lower right corners of the vertical rectangular box used to determine the battery pack's location outline.

[0111] The image of the battery pack to be inspected is resized and contrast-enhanced, and then input into the optimal model for battery pack detection and positioning to complete the positioning of the battery pack to be inspected. The positioning information specifically includes locating the outline of the battery pack to be inspected in the image of the battery pack to be inspected with a vertical rectangular frame and outputting the pixel coordinates of the upper left corner and lower right corner of the vertical rectangular frame; Figure 5 As shown in the figure on the right, the dotted box is the vertical rectangular box diagram of the battery pack positioning outline under the battery posture to be detected obtained through the optimal model of battery pack detection and positioning;

[0112] Step 5: Use the positioning information of the battery pack to be tested in step 4, the coordinate information of the battery swap limit boundary in step 2, and the length k1 and width k2 of the battery pack to be tested to complete the posture calculation of the battery pack to be tested, and determine whether the posture of the battery pack to be tested meets the battery swap posture requirements. The specific method is as follows:

[0113] Step 5.1: According to the positioning information of the battery pack to be detected, determine whether the battery swapping vehicle is in a stationary state that meets the calculation requirements of the battery swapping position and posture of the battery pack to be detected;

[0114] If it is satisfied, continue to execute the following steps; if not, continue to judge the state of the battery swapping vehicle until it reaches a stationary state that meets the calculation requirements of the battery swapping position and posture of the battery pack to be detected;

[0115] Judge the state of the battery swapping vehicle as follows: Determine whether the current vehicle is in a stationary state or a driving state by judging the change of the pixel point coordinates at the lower right corner of the vertical rectangular frame of the battery pack positioning contour of the battery pack to be detected at an interval time. If the change amount of the pixel point coordinates corresponding to the lower right corner of the vertical rectangular frame of the battery pack to be detected is less than the set limit value Lc, the vehicle is in a stationary state; otherwise, the vehicle is in a driving state. It can also be judged by the vehicle speed information uploaded by the current vehicle;

[0116] Step 5.2: In the vehicle state that meets the calculation requirements of the battery swapping position and posture of the battery pack to be detected, use the positioning information of the battery pack to be detected and the coordinate information of the battery swapping limit boundary to determine whether the battery pack to be detected exceeds the battery swapping limit boundary;

[0117] Specifically, as Figure 3 shown, in the vehicle state that meets the calculation requirements of the battery swapping position and posture of the battery pack to be detected, for the vertical rectangular block diagram of the battery pack positioning contour corresponding to the battery pack to be detected, further obtain the pixel point coordinates at the lower left corner and the lower right corner of the vertical rectangular block diagram. Compare the x3 coordinate in the pixel points at the lower left corner with the x4 coordinate in the pixel points at the lower right corner, and the x1 coordinate in the pixel points at the lowest end of the left limit position boundary line L1 of the same specification battery pack and the x2 coordinate in the pixel points at the lowest end of the right limit position boundary line L2 obtained in step S1. If x3 > x1 and x4 < x2, the battery pack to be detected is within the battery swapping limit boundary; otherwise, it is not;

[0118] Step 5.3: Use the positioning information of the battery pack to be detected and the length k1 and width k2 of the battery pack to be detected to calculate the horizontal tilt angle θ0 of the battery pack to be detected. The specific method is as follows:

[0119] As Figure 5 shown, Figure 5In order to obtain a top view of the vertical rectangular frame diagram of the battery pack positioning outline of the battery pack to be detected at a certain tilt angle under this viewing angle, the dotted frame is the vertical rectangular frame of the battery pack positioning outline, and the solid frame is the actual boundary frame of the battery pack to be detected; under the same shooting distance and shooting angle and the same shooting camera, the standard length, width and height of the battery pack of the same specification corresponding to the standard battery swap position in the battery swap station are consistent with the length, width and height of the battery pack to be detected with a certain tilt angle, so that the image under this viewing angle can be obtained. Figure 5 As shown in FIG, the length k1 and width k2 of the battery pack to be detected with a certain tilt angle are shown; wherein θ1 is the angle between the wide side of the battery pack to be detected and the vertical rectangular frame of the battery pack positioning contour, and θ0 is the angle between the long side of the right bottom corner of the battery pack to be detected and the vertical rectangular frame of the battery pack positioning contour. Since the battery pack to be detected is actually a rectangular frame, the battery pack positioning contour of the optimal model for battery pack detection and positioning is also a vertical rectangular frame, so (θ1+θ0)=90°, and the pixel coordinates of the upper left corner and lower right corner of the vertical rectangular frame of the battery pack positioning contour of the battery pack to be detected with a certain tilt angle are known, the length L3 and width L4 of the vertical rectangular frame of the battery pack positioning contour can be obtained, as shown in FIG. Figure 5 As shown, where L3=k5+k6, L4=k3+k4; according to the Pythagorean theorem, it is shown as follows:

[0120]

[0121] If L3, L4, k1, and k2 are known, k3, k4, k5, and k6 can be calculated. The horizontal tilt angle of the battery pack to be tested is further obtained as θ0 = acrsin(k6 / k2).

[0122] Step 6: Based on the boundary detection and tilt angle detection results, determine whether the current posture of the battery pack to be tested meets the battery swap posture requirements; wherein, the critical angle θ is set to 3°. If the battery pack to be tested is determined to be within the battery swap limit boundary by step 5, and the horizontal tilt angle of the battery pack to be tested θ0 < θ, then the battery swap posture requirements are met;

[0123] If the horizontal tilt angle θ0 of the battery pack to be tested is ≥θ or the battery pack to be tested is not within the battery swap limit boundary, the posture of the battery pack to be tested does not meet the battery swap posture requirements;

[0124] Step 6: Based on the above judgment result, a corresponding prompt message is issued to the driver.

[0125] like Figure 6 As shown, this embodiment also provides a vehicle arrival recognition system for a battery swap station, and this system adopts the vehicle arrival recognition method for a battery swap station as described above;

[0126] Specifically including: vehicle identification device, high-precision video acquisition device, industrial computer with GPU computing power and display device;

[0127] The vehicle identification device is installed outside the entrance channel of the battery swap station and is used to interact with the battery swap vehicle, obtain the vehicle information of the battery swap vehicle, and send the obtained information to the industrial computer; the battery swap vehicle information mainly includes the vehicle VIN code and the specification information of the battery pack of the battery swap vehicle, namely the length, width, height and other information. In this embodiment, the vehicle identification device specifically uses an RFID reader. When a vehicle with an electronic tag approaches the RFID reader, the RFID reader reads the specific information in the electronic tag, and the electronic tag contains vehicle information.

[0128] The high-precision video acquisition device is installed at the top position directly above the intersection of the driving channel and the battery exit port in the battery swap station. It is used to capture images of the battery packs to be inspected of the battery swap vehicles in the battery swap channel and send the images to the industrial computer.

[0129] At the same time, the high-precision video acquisition device is also used to calibrate the image acquisition work of the battery replacement limit area of ​​the battery pack to be tested in the image and to calibrate the standard length and width corresponding to the standard battery replacement position of the battery pack to be tested for image acquisition work.

[0130] The industrial computer is installed inside the working compartment of the battery swap station. The program in the industrial computer receives the battery pack information to be tested of the battery swap vehicle sent by the RFID reader, and retrieves the battery swap limit boundary position of the corresponding battery pack based on the acquired battery pack information to be tested. At the same time, the high-precision video acquisition device is controlled to obtain the video information in the battery swap channel in real time, and the image of the battery pack to be tested is captured based on the video information in the battery swap channel received from the high-precision video acquisition device. At the same time, the video information in the battery swap channel obtained by the high-precision video acquisition device in real time is synchronously displayed on the display device, and the battery swap limit boundary position of the retrieved corresponding battery pack is also displayed on the display device. The image of the battery pack to be detected is then preprocessed and input into the optimal battery pack detection and positioning model to complete the acquisition of the positioning information of the battery pack to be detected. The positioning information of the battery pack to be detected is further used to determine the vehicle state that satisfies the calculation of the posture of the battery pack to be detected. When the condition for starting to calculate the posture of the battery pack to be detected is met, that is, the vehicle is in a stationary state, the positioning information of the battery pack to be detected and the standard length and width of the corresponding battery pack are further used to calculate the horizontal tilt angle θ0 of the battery pack to be detected. The battery swap limit boundary position of the corresponding battery pack and the preset maximum horizontal tilt angle θ are further retrieved. It is determined whether the battery pack to be detected is within the battery swap limit boundary and whether the horizontal tilt angle θ0 of the battery pack to be detected is greater than the preset maximum horizontal tilt angle θ, and the judgment result is sent to the display device.

[0131] The display device is installed on the exit of the battery swap channel in the battery swap station, and displays the video collected by the high-precision video acquisition device in real time, which is used to show the driver whether the position of the battery pack to be detected of the current battery swap vehicle is within the set battery swap limit boundary position box. When the industrial computer receives the battery pack information to be detected of the battery swap vehicle sent by the vehicle identification device, it retrieves the corresponding battery swap limit boundary position box data and sends it to the display device for display, and the initial battery swap limit boundary position box is red. When the industrial computer detects that the posture of the battery pack to be detected meets the corresponding battery pack swap posture, the battery swap limit boundary position box on the display device changes from red to green and displays TRUE; if the industrial computer detects that the posture of the battery pack to be detected does not meet the corresponding battery pack swap posture, the battery swap limit boundary position box changes from a red border to a red dotted box, flashes, and displays FALSE at the same time;

[0132] If the current position of the battery pack to be tested is not within the battery swap limit boundary position box or exceeds the battery swap limit boundary position box, the industrial computer controls the display device to prompt the driver to park the vehicle again at a position that meets the battery swap requirements; if the current horizontal tilt angle of the battery pack to be tested is greater than the maximum value of the preset angle, that is, θ0>θ, the industrial computer controls the display device to prompt the driver to park the battery swap vehicle again and straighten it to meet the horizontal posture of the battery pack to be tested that meets the battery swap requirements.

[0133] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0134] It should be understood that the present invention is not limited to the above description and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for identifying a vehicle at a battery swap station, characterized in that: The specific steps are as follows: Step 1: Capture a first image of a vehicle with a same-specification battery pack at a battery swap station at the same shooting distance and angle. The first image includes an image A of a vehicle with a same-specification battery pack at the battery swap limit position at the battery swap station, an image B of a vehicle with a same-specification battery pack entering and exiting the battery swap station, and an image C of a vehicle with a same-specification battery pack at a standard parking position at the battery swap station. Step 2: Based on image A, obtain the coordinate information of the battery swap limit boundary corresponding to the battery pack of the same specification, and based on image C, obtain the length k1 and width k2 of the battery pack of the same specification; Step 3: Establish an improved YOLOv11 model, wherein the improved YOLOv11 model includes an improvement mechanism for the feature fusion layer structure of the convolution, backbone network, and Neck part of the YOLOv11 basic model, or an improvement mechanism for the feature fusion layer structure of the backbone network and the Neck; after preprocessing, the B image is divided into a training set and a test set, and the target detection model is trained and the parameters are tuned to obtain the optimal target detection model; Step 4: Using the optimal target detection model to identify the battery pack to be inspected and obtain its location information, the images of the battery pack to be inspected, captured at the same shooting distance and angle, are used. Step 5: Use the positioning information of the battery pack to be tested in step 4, the coordinate information of the battery swap limit boundary in step 2, and the length k1 and width k2 of the battery pack to be tested to complete the posture calculation of the battery pack to be tested, and determine whether the posture of the battery pack to be tested meets the battery swap posture requirements; Step 5.1: Based on the positioning information of the battery pack to be tested, determine whether the battery swapping vehicle is in a stationary state that satisfies the battery swapping posture calculation for the battery pack to be tested; Step 5.2: Under the vehicle state that satisfies the battery pack swap posture calculation, determine whether the battery pack to be tested exceeds the battery swap limit boundary using the positioning information of the battery pack to be tested and the coordinate information of the battery swap limit boundary; Step 5.3, using the positioning information of the battery pack to be detected and the length k1 and width k2 of the battery pack to be detected, calculate the horizontal tilt angle θ0 of the battery pack to be detected; Step 5.4: Based on the judgment result of step 5.1 and the ratio of the horizontal tilt angle θ0 of the battery pack to be tested to the preset horizontal critical angle θ, determine whether the battery pack to be tested meets the battery swap posture requirements. If the battery pack to be tested does not exceed the battery swap limit boundary and the horizontal tilt angle θ0 < θ, then the posture of the battery pack to be tested meets the battery swap posture requirements; Step 6: Based on the above judgment result, a corresponding prompt message is issued to the driver.

2. The method for identifying a vehicle at a battery swap station according to claim 1, characterized in that: The specific method of step 2 is as follows: Step 2.1, determine the pixel position corresponding to the battery swap limit position of the battery pack of the same specification in image A, and further determine the position of the boundary detection pixel point; Step 2.2: Determine the pixel position of the battery pack of the same specification in the C image, and further determine the length k1 and width k2 of the battery pack of the same specification in the C image.

3. The method for identifying a vehicle at a battery swap station according to claim 1, characterized in that: In step 3, the preprocessing includes: image annotation and image preprocessing; The image annotation includes: marking the outlines of battery packs of the same specification in the B image with rectangular frames; the image preprocessing includes: enhancing the images of the battery packs of the same specification that have been annotated by resizing, multi-environment simulation, and color change technology.

4. The method for identifying a vehicle at a battery swap station according to claim 1, characterized in that: In step 5.3, the specific method for calculating the horizontal tilt angle θ0 of the battery pack to be tested is: Step 5.3.1, based on the positioning information of the battery pack to be inspected, determine the length L3 and width L4 of the rectangular frame of the battery pack positioning outline; Step 5.3.2: Based on the intersection of the vertex of the battery pack to be inspected with the long side and the wide side of the rectangular frame of the battery pack positioning outline, use the intersection point as the segmentation point. Assume that the distance of the intersection with the long side of the rectangular frame of the battery pack positioning outline is k6, and the other distance is k5. The corresponding distance of the intersection with the wide side of the rectangular frame of the battery pack positioning outline is k3, and the other distance is k4. Step 5.3.3: Based on the fact that the structure of the battery pack to be tested and the outline of the battery pack positioning are both rectangular, calculate k6 according to Formula 1: （1） The horizontal tilt angle θ0 of the battery pack to be tested is determined by formula 2: （2）。 5. A vehicle identification system for a battery swap station, characterized in that: The method for identifying a vehicle at a battery swap station according to any one of claims 1 to 4 specifically includes a vehicle identification device, a high-precision video acquisition device, an industrial computer with GPU computing power, and a display device; The vehicle identification device is installed outside the entrance channel of the battery swap station and is used to identify the battery swap vehicle and read its identity information. The read information is sent to the industrial computer. The identity information includes the license plate number and the battery pack specification information of the battery swap vehicle. The high-precision video acquisition device is installed at the top position just above the intersection of the driving channel and the battery outlet in the battery swap station, and is used to collect images of the battery pack to be inspected of the battery swap vehicle in the battery swap channel and send the images to the industrial computer; The industrial computer is installed inside the working compartment of the battery swap station, and is used to receive the identity information of the battery swapping vehicle sent by the vehicle identification device, and to retrieve the coordinate information of the battery swapping limit boundary of the battery pack to be detected. At the same time, it receives the image of the battery pack to be detected of the battery swapping vehicle in the battery swapping channel captured by the high-precision video acquisition device, and inputs it into the target detection model after preprocessing to complete the identification of the battery pack to be detected and the acquisition of the positioning information of the battery pack to be detected, and further judges whether the current posture of the battery pack to be detected meets the battery swapping requirements based on the coordinate information of the corresponding battery swapping limit boundary, and sends the judgment result to the display device; The display device is installed at the exit of the battery swap channel in the battery swap station, and is used to display the video collected by the high-precision video acquisition device in real time, and is used to show the driver whether the position of the battery pack to be tested of the current battery swap vehicle is within the set battery swap limit boundary position box; When the industrial computer receives the battery pack information of the battery swap vehicle to be detected sent by the vehicle identification device, the industrial computer will simultaneously retrieve the coordinate information data of the corresponding battery swap limit boundary and send it to the display device for display; When the industrial computer detects that the battery pack posture of the battery swap vehicle meets the battery swap posture, the battery swap limit boundary position box displayed on the display device changes from red to green; When the industrial computer detects that the battery pack posture of the battery swap vehicle does not meet the battery swap posture, the battery swap limit boundary position box displayed on the display device will turn into a red dotted box and flash.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the steps of the method for identifying the vehicle at the battery swap station as described in any one of claims 1 to 4 are implemented.

7. A battery swap station, characterized in that: It includes the vehicle arrival identification system at the battery swap station as described in claim 5.

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