Method and system for detecting automobile chassis of battery swap station

Abstract

The invention discloses a method and a system for detecting an automobile chassis of a battery swap station, and relates to the technical field of automobile battery swap. Comprising the following steps that S10, a camera is arranged on a path from an automobile to a battery replacement potential of a battery replacement station, when the automobile passes through the camera, the bottom of the automobile is shot through the camera, and multiple photos of an automobile chassis and a battery are obtained; s20, synthesizing the obtained pictures of the automobile chassis and the battery into a complete automobile chassis picture; and S30, analyzing the synthesized complete automobile chassis picture, and analyzing whether the automobile chassis and / or the battery are / is damaged or not. The beneficial effects of the invention are that the chassis and the battery of the electric vehicle can be detected conveniently and accurately.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle battery swapping, and particularly to a method and system for detecting the chassis of an electric vehicle in a battery swapping station. Background Art

[0002] The rapid charging and battery swapping of electric vehicles are the keys to their wide application. Therefore, electric vehicle swapping stations have emerged, which can quickly swap the batteries of electric vehicles. When the battery power of an electric vehicle is about to run out, it drives into the swapping station, where the nearly depleted battery is removed and a fully charged battery in the swapping station is installed on the electric vehicle, thus greatly reducing the charging time.

[0003] Before an electric vehicle swaps its battery in a swapping station, it is necessary to detect the battery and chassis of the electric vehicle to ensure that there is no battery damage or chassis fault. The safety and reliability of the battery and chassis are crucial.

[0004] When an electric vehicle swaps its battery at the swapping position in the swapping station, it is not lifted very high, usually 30 - 40 centimeters off the ground. A battery lifting pit opened under the electric vehicle provides space for battery lifting. Since the electric vehicle is close to the ground, it is difficult to observe the situation of the vehicle chassis and battery.

[0005] Currently, the traditional detection method mainly relies on manual inspection. This method not only has low efficiency, but also is easily affected by human factors and cannot be accurate because it is difficult to observe the vehicle chassis close to the ground. There is also a method of setting a camera at the swapping position in the swapping station. After the electric vehicle stops stably at the swapping position, the bottom of the vehicle is photographed to obtain photos of the electric vehicle battery and chassis (the battery of the electric vehicle is not wrapped by the chassis at the bottom of the electric vehicle, and both the battery and chassis can be photographed from the bottom of the vehicle). However, due to the long length of the vehicle and the small shooting angle of the camera, it is difficult to photograph completely, or a camera with a large shooting angle is used, but the photos taken by the camera with a large shooting angle are easily distorted and cannot obtain chassis and battery photos with high accuracy. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a method and system for detecting the chassis of an electric vehicle in a battery swapping station, which can accurately detect the chassis and battery of an electric vehicle before battery swapping.

[0007] The present invention provides a method for detecting the chassis of an electric vehicle in a battery swapping station, including the following steps: S10. Set a camera on the path of the vehicle driving to the swapping position in the swapping station. When the vehicle passes by the camera, photograph the bottom of the vehicle through the camera to obtain multiple photos of the vehicle chassis and battery; S20. Combine the obtained multiple photos of the vehicle chassis and battery into a complete vehicle chassis picture; S30. Analyze the combined complete vehicle chassis picture to determine whether there is damage to the vehicle chassis and / or battery.

[0008] Optionally, in step S10, during the vehicle's driving, detect the driving speed of the vehicle, and the camera adjusts the exposure time and shooting frequency according to the driving speed of the vehicle to improve the clarity of the captured photos.

[0009] Optionally, the camera is inductively activated. In step S10, the vehicle is identified before it reaches the shooting position of the camera. When the vehicle is identified and it is sensed that the vehicle is approaching, the camera is activated; if the vehicle is not identified or no object is sensed approaching, the camera is not activated.

[0010] Optionally, in step S20, the complete vehicle chassis picture is synthesized in the following way: Detect the driving speed of the vehicle in step S10, calculate the pixel point distance of the vehicle's forward displacement within each shooting interval of the camera according to the driving speed of the vehicle, intercept multiple photo segments according to the pixel point distance, remove the overlapping parts of the multiple photos, and splice them into a complete picture.

[0011] Optionally, step S30 includes the following steps: S31. Perform structured processing on the combined complete vehicle chassis picture, divide the complete vehicle chassis picture into regions according to the structure of the vehicle chassis, and divide the vehicle chassis region into an identification region and a non-identification region; S32. Extract features from the identification region of the complete vehicle chassis picture, where the features are those that can identify the chassis and / or battery in the complete vehicle chassis picture; S33. Analyze the chassis and / or battery in the complete vehicle chassis picture according to the extracted features to determine whether the vehicle chassis and / or battery is damaged.

[0012] The present invention also provides a vehicle chassis detection system for a battery swapping station, including a shooting module, an image synthesis module, and an analysis module. The shooting module is used to take photos of the vehicle chassis and battery, and it includes a camera. The camera is set on the path of the vehicle entering the battery swapping position of the battery swapping station. When the vehicle passes by the camera, the camera takes multiple photos of the vehicle bottom to obtain multiple photos of the vehicle chassis and / or battery. The image synthesis module is used to combine the multiple photos taken by the camera into a complete vehicle chassis photo. The analysis module is used to analyze the combined complete vehicle chassis picture to determine whether there is damage to the vehicle chassis and / or battery.

[0013] Optionally, it further includes a speed measurement module, which is used to detect the driving speed of the vehicle when the vehicle approaches, and transmit the driving speed of the vehicle to the shooting module. The shooting module adjusts the shooting frequency and exposure time according to the received driving speed of the vehicle to improve the shooting clarity.

[0014] Optionally, it further includes a control module, which includes an identification module, a sensing module and a starting module. The control module is used to identify and sense the vehicle and start the camera. When the vehicle drives in front of the shooting module, the identification module identifies the vehicle. When it is identified as a vehicle and the sensing module senses that the vehicle is approaching the shooting module, the starting module starts the shooting module. If the identification module identifies that the approaching object is not a vehicle or the sensing module fails to sense an object approaching the shooting module, the starting module does not start the shooting module.

[0015] Optionally, the speed measurement module detects the driving speed of the vehicle and transmits the driving speed of the vehicle to the image synthesis module. The image synthesis module calculates the pixel point distance of the vehicle's forward displacement within each shooting interval of the camera based on the driving speed of the vehicle, intercepts multiple photo segments according to the pixel point distance, removes the overlapping parts of the multiple photos, and splices and synthesizes them into a complete picture.

[0016] Optionally, the analysis module performs structured processing on the complete vehicle chassis picture synthesized by the image synthesis module, divides the complete vehicle chassis picture into regions according to the structure of the vehicle chassis, divides the vehicle chassis region into an identification region and a non-identification region, extracts features from the identification region of the complete vehicle chassis picture. The features are the features that can identify the chassis and battery in the complete vehicle chassis picture. Analyze the chassis and / or battery in the complete vehicle chassis picture according to the extracted features to determine whether the chassis and / or battery of the vehicle is damaged.

[0017] The beneficial effect of the present invention is that when the vehicle drives on the path to the replacement position of the battery replacement station, the camera takes pictures of the bottom of the vehicle, obtains multiple pictures of the bottom of the vehicle and splices these pictures into a complete picture of the vehicle chassis and battery. The obtained vehicle chassis and battery have high accuracy and high efficiency. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0019] Figure 1This is the method flow chart of a method for detecting the vehicle chassis of an electric vehicle swapping station according to the present invention.

[0020] Figure 2 This is the method flow chart of step S30 in a method for detecting the vehicle chassis of an electric vehicle swapping station according to the present invention.

[0021] Figure 3 This is the module schematic diagram of a system for detecting the vehicle chassis of an electric vehicle swapping station according to the present invention. Specific Embodiments

[0022] The following will describe in detail specific embodiments of the present invention with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the description of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0023] Unless otherwise clearly defined and limited, terms such as "arranged", "installed", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0024] The orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0025] Terms such as "first", "second", "third", etc. are only used to distinguish elements with similar attributes, rather than indicating or implying relative importance or a specific order.

[0026] The term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion. In addition to including the listed elements, it may also include other elements not specifically listed.

[0027] As Figure 1 shown in , this embodiment provides a method for detecting the vehicle chassis of an electric vehicle swapping station, including the following steps: S10. Set up a camera on the path of the vehicle traveling to the battery swapping position of the battery swapping station. When the vehicle passes by the camera, take pictures of the bottom of the vehicle through the camera to obtain multiple pictures of the vehicle chassis and the battery. These pictures contain images of all parts of the vehicle chassis. It can be achieved by setting up a single camera on the path of the vehicle traveling towards the battery swapping station. When the vehicle passes by the camera, take multiple pictures containing all parts of the vehicle chassis through the single camera taking pictures multiple times, or arrange multiple cameras in sequence along the driving direction of the vehicle. When the vehicle passes by these cameras, these cameras are activated simultaneously to obtain multiple pictures containing all parts of the vehicle chassis. In this embodiment, the method of taking multiple pictures of the vehicle chassis by a single camera is used to obtain images containing all parts of the vehicle chassis. When the electric vehicle passes through the shooting area of the camera, each time the camera takes a picture, it is of a partial area of the vehicle chassis and the battery. The multiple pictures obtained by the camera taking pictures multiple times can contain all the information of the vehicle chassis and the battery. Since the camera takes multiple pictures of the bottom of the vehicle, and each time the camera only needs to take pictures of a partial area of the vehicle chassis and the battery, there is no requirement for the shooting wide angle of the camera, which can improve the shooting accuracy. The camera can be a line scan camera with the model number PD030001-01, which has the ability of high-speed imaging and can take pictures at a maximum speed of 120 km / h, adapting to the environment of the high-speed movement of the electric vehicle. In addition, during the shooting process, if the light is dim, the area under the vehicle can be supplemented with light to improve the shooting accuracy. At the same time, during the driving process of the vehicle, detect the driving speed of the vehicle, and the camera adjusts the exposure time and shooting frequency according to the driving speed of the vehicle, which can further improve the clarity of the taken pictures. It should be noted that during this section of the journey, it is preferred that the vehicle travels in a straight line, which is convenient for the subsequent processing of the pictures of the vehicle chassis taken by the camera multiple times. If there is a change in the driving direction when the vehicle passes by the camera, that is, it does not travel in a straight line, then the orientations of the vehicle chassis shown in the multiple pictures of the vehicle chassis taken by the camera are different, increasing the processing difficulty of the multiple pictures.

[0028] S20. Synthesize the multiple pictures of the vehicle chassis and the battery obtained by the camera shooting into a complete vehicle chassis picture. The synthesis method is as follows: Detect the driving speed of the vehicle in step S10, calculate the pixel point distance of the vehicle moving forward within the shooting interval of the camera each time according to the driving speed of the vehicle, intercept multiple picture segments according to the pixel point distance, remove the overlapping parts of the multiple pictures, and splice them into a complete picture.

[0029] S30. Analyze the synthesized complete vehicle chassis picture to analyze whether there are damages to the vehicle chassis and the battery.

[0030] In the above - mentioned manner, on the way of the electric vehicle driving to the battery - swapping position of the battery - swapping station, the camera takes multiple local - area photos of the vehicle chassis by photographing the bottom of the vehicle, and synthesizes these local - area photos into a complete and clear vehicle - chassis picture, overcoming the problem of inaccurate detection caused by manual inspection and static photographing after the electric vehicle stops at the battery - swapping position. And this method can detect and analyze the chassis and battery of the electric vehicle on the way of the electric vehicle driving to the battery - swapping position in the battery - swapping station, without waiting until the electric vehicle reaches the battery - swapping position in the battery - swapping station to start the detection and analysis, which can improve the battery - swapping efficiency.

[0031] Furthermore, the camera is inductively started. Before the vehicle in step S10 drives to the shooting position of the camera, the vehicle is identified. When it is identified as a vehicle and the vehicle is sensed to be approaching, the camera starts. If it is not identified as a vehicle, even if an object is sensed to be approaching, the camera will not start. Through the inductive start of the camera, the camera can be automatically started when the vehicle approaches, without the need to add relevant personnel on duty. And the vehicle needs to be identified before the camera starts to prevent the camera from being accidentally started when people in the battery - swapping station approach. For example, a license - plate recognition device is added on the path of the vehicle driving to the battery - swapping station. The camera is set between the license - plate recognition device and the battery - swapping station, and a radar is added at the camera. Both the license - plate recognition device and the radar are electrically connected to a control device, and the control device controls the camera to start. The license - plate recognition device first identifies the vehicle. Then, on the way of the vehicle continuing to drive to the battery - swapping station, the radar senses the approach of an object at the camera. After the license - plate recognition device recognizes the vehicle license plate and determines it as a vehicle, it uploads the confirmation information to the control device. The vehicle continues to drive into the battery - swapping station. When it drives to the camera position, the radar senses the approach of the vehicle and uploads the approach information to the control device, and the control device starts the camera. The camera takes pictures of the bottom of the vehicle. After the vehicle drives through the camera shooting area, it continues to drive to the battery - swapping position in the battery - swapping station. When the vehicle is on the way to the battery - swapping position, it can decide whether the battery can be replaced according to the analysis result of the complete vehicle - chassis picture. If the license - plate recognition device does not recognize the vehicle license plate, even if the radar senses the approach of an object, the control device will not start the camera, which can avoid the camera taking irrelevant photos.

[0032] Furthermore, in order to improve the detection and analysis speed of the obtained complete vehicle - chassis photos, step S30 includes the following steps: S31. Perform structured processing on the synthesized complete vehicle - chassis picture, and divide the complete vehicle - chassis picture into regions according to the structure of the vehicle chassis. For example, it is divided into a wheel region, a vehicle - front region, a battery region, a vehicle - rear region, etc., and the vehicle - chassis region is divided into an identification region and a non - identification region. The identification region is the region where the position of the chassis and / or battery to be detected is located.

[0033] S32. Extract features from the recognition area of the complete vehicle chassis picture. The features are those that can recognize the chassis and / or battery in the complete vehicle chassis picture. For example, features such as the shape, color, and size of the chassis or battery.

[0034] S33. Analyze the chassis and / or battery in the complete vehicle chassis picture according to the extracted features to determine whether the vehicle chassis and / or battery is damaged. For example, when the features such as the shape, color, and size of the chassis and / or battery extracted from the complete vehicle chassis picture do not match the features of the normal chassis or battery, it is determined that there is a safety risk. If they match, it is determined that there is no safety risk.

[0035] After the feature comparison is completed, the processing results can be further classified. The complete vehicle chassis pictures determined to have no safety risk are classified into the category of no safety risk, and the complete vehicle chassis pictures determined to have a safety risk are classified into the category of having a safety risk. The classified complete vehicle pictures are reported. The complete vehicle chassis pictures with safety risks are reported as risk pictures, and the complete vehicle chassis pictures without safety risks are reported as safety pictures. And the risk pictures are transferred to manual processing or the control program is called to automatically terminate the vehicle battery swapping to avoid risks. And the complete vehicle chassis pictures classified as having a safety risk can be further classified according to the divided areas. For example, the chassis is divided into key area anomalies and ordinary area anomalies according to the importance of the areas. Key area anomalies mean that there is damage in the chassis and / or battery area, and ordinary area anomalies mean that there are anomalies in other areas, such as anomalies in areas like tires and the front of the vehicle. Damage in these areas does not affect subsequent battery swapping, and these classified areas are reported. Different processing methods are corresponding to different classifications. For example, when there are both key area anomalies and ordinary area anomalies at the same time, the key area anomalies and ordinary area anomalies are uploaded, and the battery swapping is terminated. If there is only an ordinary area anomaly, the battery swapping continues but the ordinary area anomaly is uploaded to remind the vehicle owner that there is a safety risk in the vehicle chassis. This can improve the analysis and detection efficiency, and the detection and analysis of the vehicle bottom area are more comprehensive and reasonable. At the same time, the classified data can be used for further algorithm training.

[0036] In summary, the vehicle chassis detection method provided in this embodiment can conveniently obtain high-precision pictures of the vehicle chassis and battery, and can complete the detection and analysis during the vehicle's journey to the battery swapping station, with high battery swapping efficiency.

[0037] This embodiment also provides a vehicle chassis detection system for a battery swapping station, which includes a photographing module, an image synthesis module, a supplementary lighting module, and an analysis module. The photographing module is used to take photos of the vehicle chassis and the battery. It includes a camera, which is set on the path of the battery swapping position where the vehicle enters the battery swapping station. When the vehicle passes by the camera, the camera takes photos of the bottom of the vehicle to obtain multiple photos of the vehicle chassis and / or the battery. Among them, it can be that one camera takes multiple photos when the vehicle passes by the camera to obtain multiple photos covering all parts of the vehicle chassis, or multiple cameras are arranged in sequence along the driving direction of the vehicle towards the battery swapping station. When the vehicle passes by these cameras, these cameras take photos simultaneously to obtain multiple photos covering all parts of the vehicle chassis. The supplementary lighting module is used to supplement light to the bottom of the vehicle when the photographing module takes photos to improve the photographing clarity. The image synthesis module is used to synthesize the multiple photos taken by the camera into a complete vehicle chassis photo. The analysis module is used to analyze the synthesized complete vehicle chassis photo to determine whether there is damage to the vehicle chassis and / or the battery.

[0038] Furthermore, the vehicle chassis detection system for a battery swapping station provided in this embodiment further includes a speed measurement module. The speed measurement module is used to detect the driving speed of the vehicle when the vehicle approaches and transmit the driving speed of the vehicle to the photographing module. The photographing module adjusts the photographing frequency and exposure time according to the received driving speed of the vehicle to improve the photographing clarity.

[0039] The vehicle chassis detection system for a battery swapping station provided in this embodiment further includes a control module. The control module includes an identification module, a sensing module, and a starting module. The control module is used to identify and sense the vehicle and start the camera. When the vehicle travels in front of the photographing module, the identification module identifies the vehicle. When it is identified as a vehicle and the sensing module senses that the vehicle approaches the camera of the photographing module, the starting module starts the camera of the photographing module. If the identification module identifies that the approaching object is not a vehicle and the sensing module senses that the object approaches the camera, the starting module does not start the camera of the photographing module.

[0040] Among them, the speed measurement module detects the driving speed of the vehicle and transmits the driving speed of the vehicle to the image synthesis module. The image synthesis module calculates the pixel point distance of the displacement of the vehicle forward within each photographing interval of the camera according to the driving speed of the vehicle, intercepts multiple photo segments according to the pixel point distance, removes the overlapping parts of the multiple photos, and splices and synthesizes them into a complete picture.

[0041] The analysis module performs structured processing on the complete vehicle chassis photo synthesized by the image synthesis module, divides the complete vehicle chassis photo into regions according to the structure of the vehicle chassis, and divides the multiple regions into identification regions and non-identification regions. Feature extraction is performed on the identification regions of the complete vehicle chassis photo. The feature is a feature that can identify the chassis and the battery in the complete vehicle chassis photo. According to the extracted features, the chassis and the battery in the complete vehicle chassis photo are analyzed to determine whether the chassis and the battery of the vehicle are damaged.

[0042] In summary, the vehicle chassis detection system of the battery swapping station provided in this embodiment can conveniently and accurately obtain complete photos of the vehicle chassis, and can complete the detection and analysis of the vehicle chassis and battery during the journey of the electric vehicle into the battery swapping station. For electric vehicles with safety risks, timely announcements are made to terminate the battery swapping, improving the battery swapping efficiency.

[0043] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for detecting chassis of a vehicle in a battery swap station, characterized in that: The following steps are involved: S10. A camera is set on the path of the car traveling to the swap station for the potential change. When the car passes the camera, the camera is used to shoot the bottom of the car to obtain multiple photos of the car chassis and battery; S20. synthesizing the acquired multiple photos of the vehicle chassis and the battery into a complete vehicle chassis image; S30. Analyze the synthesized complete vehicle chassis image to determine whether the vehicle chassis and / or battery is damaged.

2. The vehicle chassis detection method for a battery swap station according to claim 1, characterized in that: In step S10, the driving speed of the car is detected during the driving process, and the camera adjusts the exposure time and shooting frequency according to the driving speed of the car to improve the clarity of the captured photos.

3. The vehicle chassis detection method for a battery swap station according to claim 1, characterized in that: The camera is activated by induction. In step S10, the car is identified before the car drives to the shooting position of the camera. If it is identified as a car and senses that the car is approaching, the camera is activated. If it is not identified as a car or no object is sensed to be approaching, the camera is not activated.

4. The vehicle chassis detection method for a battery swap station according to claim 1, characterized in that: In step S20, a complete picture of the car chassis is synthesized in the following manner: in step S10, the driving speed of the car is detected, and the pixel distance of the forward displacement of the car during each shooting interval of the camera is calculated according to the driving speed of the car, multiple photo fragments are intercepted according to the pixel distance, and repeated parts of the multiple photos are removed, and the photos are stitched together into a complete picture.

5. The vehicle chassis detection method for a battery swap station according to claim 1, characterized in that: The step S30 comprises the following steps: S31. Performing structural processing on the synthesized complete vehicle chassis image, dividing the complete vehicle chassis image into regions according to the structure of the vehicle chassis, and dividing the vehicle chassis region into a recognition region and a non-recognition region; S32. Extracting features of the identification area of ​​the complete vehicle chassis image, the features being features capable of identifying the chassis and / or battery in the complete vehicle chassis image; S33. Analyze the chassis and / or battery in the complete vehicle chassis image according to the extracted features to determine whether the vehicle chassis and / or battery is damaged.

6. A vehicle chassis detection system for a battery swap station, characterized in that: It includes a shooting module, an image synthesis module and an analysis module. The shooting module is used to take pictures of the car chassis and battery. It includes a camera. The camera is set on the path of the car entering the battery swap station. When the car passes the camera, the camera shoots the bottom of the car to obtain multiple pictures of the car chassis and / or battery. The image synthesis module is used to synthesize the multiple pictures taken by the camera into a complete car chassis picture. The analysis module is used to analyze the synthesized complete car chassis picture to determine whether the car chassis and / or battery are damaged.

7. The vehicle chassis detection system for battery swap stations according to claim 6 is characterized in that: It also includes a speed measuring module, which is used to detect the speed of the car when the car approaches, and transmit the speed of the car to the shooting module. The shooting module adjusts the shooting frequency and exposure time according to the received speed of the car to improve the shooting clarity.

8. The vehicle chassis detection system for battery swap stations according to claim 6 is characterized by: It also includes a control module, which includes an identification module, a sensing module and a start module. The control module is used to identify and sense the car and start the camera. When the car drives in front of the shooting module, the identification module identifies the car. When it is identified as a car and the sensing module senses that the car is close to the shooting module, the start module starts the shooting module. If the identification module identifies that the approaching object is not a car or the sensing module cannot sense that the object is close to the shooting module, the start module does not start the shooting module.

9. The vehicle chassis detection system for battery swap stations according to claim 7, characterized in that: The speed measurement module detects the speed of the car and transmits the speed of the car to the image synthesis module. The image synthesis module calculates the pixel distance of the car's forward displacement in each shooting interval of the camera based on the car's speed, intercepts multiple photo fragments based on the pixel distance, removes repeated parts of the multiple photos, and splices them into a complete picture.

10. The vehicle chassis detection system for battery swap stations according to claim 6, characterized in that: The analysis module performs structural processing on the complete automobile chassis picture synthesized by the image synthesis module, divides the complete automobile chassis picture into regions according to the structure of the automobile chassis, divides the automobile chassis region into an identification region and a non-identification region, extracts features from the identification region of the complete automobile chassis picture, the features being features capable of identifying the chassis and battery in the complete automobile chassis picture, analyzes the chassis and / or battery in the complete automobile chassis picture according to the extracted features, and determines whether the chassis and / or battery of the automobile are damaged.

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