Battery buckle locking detection method, device and equipment and medium

Abstract

The invention discloses a locking detection method and device for a battery buckle, equipment and a medium. The method comprises the following steps: determining that a battery buckle of a target vehicle moves into a detection area of a preset camera group; acquiring a point location image set of a target point location between a battery buckle and a battery frame of the target vehicle through a preset camera group; determining a relative distance between the battery buckle and the battery frame based on the point location image set; and determining a locking result of the battery buckle based on the relative distance. The camera is used for detecting the distance between the battery buckle and the battery frame during locking, the situation that only manual judgment can be performed after lines or color blocks are abraded can be avoided, meanwhile, the accuracy of locking depth detection is increased, and the stability and efficiency of the battery replacing process are improved.

Description

[0001] This application claims priority based on the invention patent application filed with the China National Patent Office on December 29, 2023, with the application number 202311869813.X and the invention title "A Detection Method, Device, Equipment and Medium for the Locking Depth of a Battery Fastener", and this application incorporates the entire text of the above-mentioned Chinese patent application by reference. Technical Field

[0002] This application relates to the field of image processing, and specifically to a method, device, equipment and medium for detecting the locking of a battery fastener. Background Art

[0003] In recent years, with the development of new energy, the proportion of new energy vehicles in traffic flow has been increasing. As a way to quickly replenish energy for new energy vehicles, the speed and experience comfort during battery swapping are becoming increasingly important.

[0004] Currently, the locking of the battery fastener in a battery swapping station is mainly determined by checking whether the lines on the battery fastener reach the specified position, supplemented by manual judgment. However, with the wear of the battery fastener and the increase in usage time, there may be problems where some lines or color blocks are worn and cannot be judged. In such cases, it is often necessary to manually feel the lock to determine whether it is locked, which greatly slows down the progress and sometimes leads to incorrect inspection results due to manual judgment errors. Summary of the Invention

[0005] To solve the above problems, this application proposes a method, device, equipment and medium for detecting the locking of a battery fastener, and the method includes:

[0006] Determine that the battery fastener of the target vehicle moves into the detection area of the preset camera group; obtain a set of point images of the target points between the battery fastener of the target vehicle and the battery frame through the preset camera group; determine the relative distance between the battery fastener and the battery frame based on the set of point images; determine the locking result of the battery fastener based on the relative distance.

[0007] In one example, the determination that the battery fastener of the target vehicle moves into the detection area of the preset camera specifically includes: moving the target vehicle and / or the preset camera to make the battery fastener of the target vehicle move into the detection area of the preset camera.

[0008] In one example, moving the target vehicle so that the battery buckle of the target vehicle moves into the detection area of the preset camera group specifically includes: obtaining a scene picture corresponding to the target vehicle; analyzing the scene picture to obtain the relative position relationship between the target vehicle and the detection area; the relative position relationship being the position relationship between the marked point coordinates of the target vehicle and the border coordinates of the detection area; if the marked point coordinates of the target vehicle are within the coordinate area corresponding to the border coordinates of the detection area, then the target vehicle moves into the detection area; if the marked point coordinates of the target vehicle are not within the coordinate area corresponding to the border coordinates of the detection area, then an alarm is sent to the target vehicle through an alarm device.

[0009] In one example, moving the preset camera group so that the battery buckle of the target vehicle moves into the detection area of the preset camera group specifically includes: obtaining the vertical coordinate of the target point of the battery buckle of the target vehicle; moving the preset camera group so that the vertical coordinate of the preset camera group is the same as the vertical coordinate of the point.

[0010] In one example, the preset camera group includes at least two preset cameras, and the camera parameters of the preset cameras are the same.

[0011] In one example, the point image set includes a first target point image captured by a first preset camera and a second target point image captured by a second preset camera; determining the relative distance between the battery buckle and the battery frame based on the point image set specifically includes: obtaining the parallax value of the same pixel of the first target point image and the second target point image on a preset imaging plane; determining the camera distance between the first preset camera and the second preset camera based on the horizontal coordinate difference between the first camera horizontal coordinate and the second camera horizontal coordinate; determining the relative distance between the battery buckle and the battery frame based on the parallax value, the camera distance, and the camera focal length of the preset camera.

[0012] In one example, determining the locking result of the battery buckle based on the relative distance specifically includes: obtaining a vehicle picture of the target vehicle and obtaining the vehicle model information of the target vehicle by recognizing the vehicle picture; determining the relative distance standard corresponding to the locking state of the target vehicle based on the vehicle model information; determining the locking result of the battery buckle by comparing the relative distance with the relative distance standard.

[0013] The present application also provides a locking detection device for a battery buckle, and the device includes: a detection area module, which determines that the battery buckle of the target vehicle moves into the detection area of a preset camera group; an image capturing module, which acquires a set of point position images of a target point between the battery buckle and the battery frame of the target vehicle through the preset camera group; a relative distance module, which determines the relative distance between the battery buckle and the battery frame based on the set of point position images; and a locking result module, which determines the locking result of the battery buckle based on the relative distance.

[0014] The present application also provides a locking detection device for a battery buckle, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the locking detection method for the battery buckle described in any one of the above examples.

[0015] The present application also provides a non-volatile computer storage medium storing computer-executable instructions, and the computer-executable instructions are configured to be able to execute the locking detection method for the battery buckle described in any one of the above examples.

[0016] The method proposed by the present application can bring the following beneficial effects: By using a camera to detect the distance between the battery buckle and the battery frame when locking, it can avoid the situation where only manual judgment is possible after the lines or color blocks are worn. At the same time, the accuracy of the locking depth detection is increased, and the stability and efficiency of the battery swapping process are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0018] Figure 1 is a schematic flowchart of a locking detection method for a battery buckle in an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the relative position between a buckle and a battery frame in an embodiment of the present application;

[0020] Figure 3 is a schematic module diagram of a locking detection device for a battery buckle in an embodiment of the present application;

[0021] Figure 4 is a schematic structural diagram of a locking detection device for a battery buckle in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments of this application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0023] The following will detail the technical solutions provided by each embodiment of this application in conjunction with the drawings.

[0024] Figure 1 It is a schematic flowchart of a method for detecting the locking of a battery buckle provided for one or more embodiments of this specification. This method can be applied to the locking inspection step in vehicle battery swapping services. This process can be executed by computing devices in the corresponding field, and some input parameters or intermediate results in the process allow manual intervention and adjustment to help improve accuracy.

[0025] The implementation of the analysis method involved in the embodiments of this application can be a terminal device or a server, and this application does not make special restrictions on this. For the convenience of understanding and description, the following embodiments will be described in detail using the server as an example.

[0026] It should be noted that this server can be a single device or a system composed of multiple devices, that is, a distributed server, and this application does not make specific limitations on this.

[0027] As Figure 1 shown, the embodiments of this application provide a method for detecting the locking of a battery buckle, including:

[0028] S101: Determine that the battery buckle of the target vehicle has moved into the detection area of the preset camera group.

[0029] Since this method requires the cooperation of a preset camera and an alarm device, when checking whether the target vehicle is locked, it is first necessary to determine that the battery buckle of the target vehicle has moved into the detection area of the preset camera group. The detection area here is a pre-planned area, which can be set on the parking space or in the battery swapping area. A preset camera is set in advance in the detection area to detect the locking situation of the battery buckle.

[0030] S102: Obtain a set of point position images of the target points between the battery buckle and the battery frame of the target vehicle through the preset camera group.

[0031] After the battery buckle is moved into the detection area, a set of point images of the target point is obtained by a preset camera. The target point here refers to the point used to observe the locking distance between the battery buckle and the battery frame, and the set of point images refers to the collection of point images.

[0032] S103: Based on the set of point images, determine the relative distance between the battery buckle and the battery frame.

[0033] After obtaining the set of point images, the relative distance between the battery buckle and the battery frame is determined through the set of point images. The relative positions of the battery buckle and the battery frame are as Figure 2 shown.

[0034] S104: Based on the relative distance, determine the locking result of the battery buckle.

[0035] After having the relative distance between the buckle and the battery frame, the locking depth of the current battery buckle can be determined, and thus the locking result of the battery buckle can be determined according to the locking depth.

[0036] In one embodiment, when it is determined that the battery buckle of the target vehicle moves into the detection area of the preset camera, the battery buckle of the target vehicle can be moved into the detection area of the preset camera by moving the target vehicle, or the preset camera in the detection area can be moved to make the battery buckle of the target vehicle move into the detection area of the preset camera.

[0037] Furthermore, when moving the target vehicle, the scene picture corresponding to the target vehicle needs to be obtained; by analyzing the scene picture, the relative position relationship between the target vehicle and the detection area can be obtained; the relative position relationship here is the position relationship between the marked point coordinates of the target vehicle and the border coordinates of the detection area. If the marked point coordinates of the target vehicle are within the coordinate area corresponding to the border coordinates of the detection area, it is confirmed that the target vehicle has moved into the detection area; if the marked point coordinates of the target vehicle are not within the coordinate area corresponding to the border coordinates of the detection area, an alarm is sent to the target vehicle through the alarm device so that the vehicle owner can move the target vehicle into the detection area.

[0038] If the battery buckle of the target vehicle is located within the detection area by moving the camera, it is necessary to ensure that the ordinate of the preset camera group is the same as the ordinate of the point. At this time, it is necessary to obtain the ordinate of the target point of the battery buckle of the target vehicle, and then move the preset camera group so that the ordinate of the preset camera group is the same as the ordinate of the point. The preset camera group here includes at least two preset cameras with the same camera parameters. When the number of cameras is two, the point image set at this time includes the first target point image taken by the first preset camera and the second target point image taken by the second preset camera; when determining the relative distance between the battery buckle and the battery frame, obtain the parallax value of the same pixel on the preset imaging plane of the first target point image and the second target point image; based on the horizontal coordinate difference between the first camera horizontal coordinate and the second camera horizontal coordinate, determine the camera distance between the first preset camera and the second preset camera; based on the parallax value, the camera distance, and the camera focal length of the preset camera, determine the relative distance between the battery buckle and the battery frame.

[0039] In one embodiment, when determining the locking result of the battery buckle by the relative distance, since the types of battery buckles of different vehicles are different, the relative distance between the battery buckle and the battery frame in the locked state is also different. Therefore, when judging the locking result, it is necessary to obtain the vehicle picture of the target vehicle, and obtain the vehicle type information of the target vehicle by recognizing the vehicle picture, and then based on the vehicle type information, determine the relative distance standard corresponding to the locked state of the target vehicle; by comparing the relative distance with the relative distance standard, the locking result of the battery buckle can be determined.

[0040] In one embodiment, when determining whether the target vehicle is within the preset area, it is necessary to obtain the scene picture corresponding to the target vehicle through the sixth preset camera; through analyzing the scene picture, obtain the relative position relationship between the target vehicle and the preset area; the relative position relationship is the position relationship between the tire coordinates of the target vehicle and the border coordinates of the preset area; if the tire coordinates of the target vehicle are within the coordinates corresponding to the border of the preset area, the target vehicle moves into the preset area; if the target vehicle is not within the preset area, an alarm is sent to the target vehicle through the alarm device.

[0041] As Figure 3 shown, the embodiment of the present application also provides a locking detection device for a battery buckle, including:

[0042] The detection area module 301 determines that the battery buckle of the target vehicle moves into the detection area of the preset camera group.

[0043] The image shooting module 302 obtains the point image set of the target point between the battery buckle and the battery frame of the target vehicle through the preset camera group.

[0044] The relative distance module 303 determines the relative distance between the battery buckle and the battery frame based on the set of point position images.

[0045] The locking result module 304 determines the locking result of the battery buckle based on the relative distance.

[0046] As Figure 4 shown, an embodiment of the present application also provides a locking detection device for a battery buckle, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the locking detection method of the battery buckle in any of the above embodiments. For example, in one embodiment, the above processor can execute:

[0047] Determine that the battery buckle of the target vehicle moves into the detection area of the preset camera group; obtain a set of point position images of the target points between the battery buckle and the battery frame of the target vehicle through the preset camera group; determine the relative distance between the battery buckle and the battery frame based on the set of point position images; determine the locking result of the battery buckle based on the relative distance.

[0048] An embodiment of the present application also provides a non-volatile computer storage medium storing computer-executable instructions configured to implement the locking detection method of the battery buckle in any of the above embodiments. For example, in one embodiment, the above computer-executable instructions can implement:

[0049] Determine that the battery buckle of the target vehicle moves into the detection area of the preset camera group; obtain a set of point position images of the target points between the battery buckle and the battery frame of the target vehicle through the preset camera group; determine the relative distance between the battery buckle and the battery frame based on the set of point position images; determine the locking result of the battery buckle based on the relative distance.

[0050] Each embodiment in the present application is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0051] The devices, media, and methods provided by the embodiments of this application correspond one by one. Therefore, the devices and media also have beneficial technical effects similar to those of their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be elaborated here.

[0052] Those skilled in the art should understand that the embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0053] This application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of this application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0054] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0055] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0056] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0057] The memory may include non-permanent memory in the form of computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of computer-readable media.

[0058] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0059] It should also be noted that the term "comprises", "comprising", or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0060] The above description is only for the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A locking detection method for a battery buckle, characterized in that Comprising: Determine that the battery buckle of the target vehicle moves into the detection area of the preset camera group; Obtain a set of point position images of the target point between the battery buckle and the battery frame of the target vehicle through the preset camera group; Based on the set of point position images, determine the relative distance between the battery buckle and the battery frame; Based on the relative distance, determine the locking result of the battery buckle.

2. The method according to claim 1, wherein The determination that the battery buckle of the target vehicle moves into the detection area of the preset camera specifically includes: By moving the target vehicle and / or the preset camera, so that the battery buckle of the target vehicle moves into the detection area of the preset camera.

3. The method according to claim 2, wherein The moving the target vehicle so that the battery buckle of the target vehicle moves into the detection area of the preset camera group specifically includes: Obtain the scene picture corresponding to the target vehicle; Through analyzing the scene picture, obtain the relative position relationship between the target vehicle and the detection area; The relative position relationship is the position relationship between the marked point position coordinates of the target vehicle and the border coordinates of the detection area; If the marked point position coordinates of the target vehicle are within the coordinate area corresponding to the border coordinates of the detection area, then the target vehicle moves into the detection area; If the marked point position coordinates of the target vehicle are not within the coordinate area corresponding to the border coordinates of the detection area, then give an alarm to the target vehicle through the alarm device.

4. The method according to claim 2, characterized in that The moving the preset camera group so that the battery buckle of the target vehicle moves into the detection area of the preset camera group specifically includes: Obtain the point position ordinate of the target point of the battery buckle of the target vehicle; Move the preset camera group so that the ordinate of the preset camera group is the same as the point position ordinate.

5. The method according to claim 1, wherein The preset camera group includes at least two preset cameras, and the camera parameters of the preset cameras are the same.

6. The method according to claim 5, characterized in that The set of point position images includes a first target point position image taken by a first preset camera and a second target point position image taken by a second preset camera; The determining the relative distance between the battery buckle and the battery frame based on the set of point position images specifically includes: Obtain the parallax value of the same pixel of the first target point position image and the second target point position image on the preset imaging plane; Based on the abscissa difference between the first camera abscissa and the second camera abscissa, determine the camera distance between the first preset camera and the second preset camera; Based on the parallax value, the camera distance, and the camera focal length of the preset camera, determine the relative distance between the battery buckle and the battery frame.

7. The method according to claim 1, wherein The determining the locking result of the battery buckle based on the relative distance specifically includes: Obtain the vehicle picture of the target vehicle, and obtain the vehicle model information of the target vehicle by recognizing the vehicle picture; Based on the vehicle model information, determine the relative distance standard corresponding to the locking state of the target vehicle; By comparing the relative distance with the relative distance standard, determine the locking result of the battery buckle.

8. A locking detection device for a battery buckle, characterized in that, The device includes: Detection area module, determining that the battery buckle of the target vehicle moves into the detection area of the preset camera group; Image capture module, obtaining a set of point images of the target points between the battery buckle and the battery frame of the target vehicle through the preset camera group; Relative distance module, determining the relative distance between the battery buckle and the battery frame based on the set of point images; Locking result module, determining the locking result of the battery buckle based on the relative distance.

9. A locking detection device for a battery buckle, characterized in that, Comprising: At least one processor; And a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the locking detection method of the battery buckle as described in any one of claims 1-7.

10. A non-volatile computer storage medium stores computer-executable instructions, characterized in that, The computer-executable instructions are set to be capable of implementing the locking detection method of the battery buckle as described in any one of claims 1-7.

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