WO2020020372A1 - Visual analysis system and method applied to battery swap of vehicle - Google Patents

Visual analysis system and method applied to battery swap of vehicle Download PDF

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Publication number
WO2020020372A1
WO2020020372A1 PCT/CN2019/098008 CN2019098008W WO2020020372A1 WO 2020020372 A1 WO2020020372 A1 WO 2020020372A1 CN 2019098008 W CN2019098008 W CN 2019098008W WO 2020020372 A1 WO2020020372 A1 WO 2020020372A1
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WO
WIPO (PCT)
Prior art keywords
battery
image
outer box
power exchange
visual analysis
Prior art date
Application number
PCT/CN2019/098008
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French (fr)
Chinese (zh)
Inventor
***
陆文成
Original Assignee
奥动新能源汽车科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810845849.7A external-priority patent/CN110774934B/en
Priority claimed from CN201810847239.0A external-priority patent/CN110758164B/en
Priority claimed from CN201810845823.2A external-priority patent/CN110774933B/en
Priority claimed from CN201810843795.0A external-priority patent/CN110843597B/en
Application filed by 奥动新能源汽车科技有限公司 filed Critical 奥动新能源汽车科技有限公司
Publication of WO2020020372A1 publication Critical patent/WO2020020372A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles

Definitions

  • the invention belongs to the field of power exchange control, and particularly relates to a visual analysis system and method applied to vehicle power exchange.
  • the emission of automobile exhaust is still an important factor in environmental pollution.
  • people have developed natural vehicles, hydrogen fuel vehicles, solar vehicles and electric vehicles to replace fuel-based vehicles.
  • electric vehicles are the most promising.
  • the current electric vehicles mainly include two types of direct charging and quick changing.
  • the electric replacement device When the battery pack of a quick-change type electric vehicle is replaced, the electric replacement device needs to walk under the vehicle to remove the original battery pack from the battery outer box, and then install the new battery pack outside the battery.
  • the power-changing operation is usually controlled by the power-changing device itself. Without external monitoring, the battery pack cannot be removed or a new battery pack cannot be installed due to the inability to accurately locate the battery outer box. Often, the battery is not installed properly and the battery does not fully enter the battery case. It may even cause the battery to fall and damage the battery.
  • the old battery pack or installing a new battery pack It is impossible to monitor the state of the locking mechanism. Therefore, in the prior art, not only is it easy to cause a failure in power replacement, it is also easy to damage the associated structure of the battery case or the battery pack, and there is a great hidden danger.
  • the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art that the power exchange equipment controls the power exchange action and lacks external monitoring, and provides a visual analysis system, method and power exchange control method for vehicle power exchange. .
  • the present invention provides a visual analysis system applied to vehicle power exchange.
  • the visual analysis system includes at least one image acquisition module, image analysis module, and power exchange control module.
  • the image acquisition module is used to collect the actual images of the vehicle and the battery pack assembly during the vehicle power exchange process and send the actual images to the image analysis module;
  • the image analysis module is configured to monitor the power exchange process according to the actual image, and send the power exchange process to the power exchange control module;
  • the power exchange control module is configured to generate a control instruction for controlling an object involved in the power exchange process.
  • the power exchange process includes at least a vehicle parking and positioning phase
  • the actual image collected by the image acquisition module during the vehicle parking positioning phase includes an image of the vehicle and an image of an identified preset parking area;
  • the image analysis module is specifically configured to extract the parking position information of the vehicle from the actual image, and use the position information to determine whether the vehicle is parked in the preset parking area, and if not, send the
  • the power exchange control module sends a first notification
  • the power exchange control module is specifically configured to generate a vehicle regulation instruction after receiving the first notification, and the vehicle regulation instruction is used to instruct the vehicle to be parked in the preset parking area again.
  • the power exchange process includes at least: a battery outer box positioning stage of the vehicle;
  • the actual image acquired by the image acquisition module during the positioning of the battery outer box includes an image of the battery outer box of the vehicle
  • the image analysis module is specifically configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module;
  • the power exchange control module is specifically configured to generate a first control instruction according to the space state information of the battery outer box and send the first control instruction to a power exchange device used to exchange electricity for the vehicle.
  • a control instruction is used to instruct the power exchange device to adjust its own space state information to fit the space state information of the battery outer box.
  • the battery outer box positioning stage is suitable for: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or the battery pack assembly to be installed by the power exchange device Before mounting to the battery case.
  • the power replacement process includes at least: a battery unloading phase of unlocking and removing a battery pack assembly lacking power from a battery outer box of the vehicle;
  • the actual image acquired by the image acquisition module during the battery unloading stage includes an image of a locking mechanism in the battery outer box, which is used to lock the battery pack assembly outside the battery Inside the box
  • the image analysis module is specifically configured to analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and to the power exchange control module when the locking mechanism unlocks the battery pack assembly Sending a second notification;
  • the power exchange control module is specifically configured to send a battery removal instruction to the power replacement device after receiving the second notification, and the battery removal instruction is used to instruct the power replacement device to replace the battery pack assembly. Remove from the battery case.
  • the power exchange device is preset with a first battery movement trajectory required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
  • the power exchange process includes at least: a battery pack stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device that exchanges power for the vehicle;
  • the image acquisition module collects the actual image in real-time and sends the actual image to the image analysis module in real-time during the battery installation phase.
  • the actual image includes an image of the battery outer box and the battery. Image of package assembly;
  • the image analysis module is specifically configured to analyze whether the battery pack assembly has reached a specified position in the battery outer box according to the actual image, and if so, send a third notification to the power exchange control module;
  • the power exchange control module is specifically configured to send a second control instruction to the power exchange device after receiving the third notification, and the second control instruction is used to notify the power exchange device that the battery is installed stage.
  • the power replacement process includes at least: a lock detection phase of the battery outer box;
  • the actual image acquired by the image acquisition module during the lock detection phase includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly outside the battery. Inside the box
  • the image analysis module is specifically configured to analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
  • the lock detection phase occurs after the battery replacement assembly is installed in the battery outer box by the power exchange device.
  • the spatial state information includes position information
  • the image analysis module includes a position analysis unit
  • the position analysis unit is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module;
  • the first control instruction includes a position movement instruction
  • the power exchange control module is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange equipment to move The position is from the target position to the target position, and the target position is related to the position of the battery case.
  • the spatial state information includes posture information
  • the image analysis module includes a posture analysis unit
  • the posture analysis unit is configured to obtain posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module;
  • the first control instruction includes a posture adjustment instruction
  • the power exchange control module is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange equipment to adjust The posture is such that the posture of the power exchange mechanism on the power exchange device is the same as that of the battery case.
  • the image analysis module includes an unlock analysis unit
  • the unlock analysis unit is configured to analyze whether the lock mechanism unlocks the battery pack assembly in the following manner according to the actual image:
  • the locking mechanism unlocks the battery pack assembly
  • the locking mechanism unlocks the battery pack assembly
  • the battery-powered circuit of the vehicle is turned on when the battery pack assembly reaches the designated position, and the power exchange device presets the battery pack assembly required when performing the target task.
  • analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
  • the first direction is a direction perpendicular to the platform on which the vehicle is parked:
  • the battery pack assembly does not reach the designated position.
  • the image analysis module includes a locking analysis unit
  • the locking analysis unit is configured to analyze whether the locking mechanism locks the battery pack assembly in the following manner according to the actual image:
  • the locking mechanism locks the battery pack assembly
  • the locking mechanism locks the battery pack assembly
  • the locking mechanism does not lock the battery pack assembly.
  • the image acquisition module is disposed on a power exchange device used to exchange electricity for the vehicle, or is disposed on a platform where the vehicle is parked.
  • the present invention also provides a visual analysis method applied to vehicle power exchange.
  • the visual analysis method includes:
  • the power exchange process includes at least a vehicle parking and positioning phase
  • the actual images collected include images of the vehicle and images of the identified preset parking areas;
  • the power exchange process includes at least: a battery outer box positioning stage of the vehicle;
  • the captured actual image includes an image of the battery outer box of the vehicle
  • the power exchange device is instructed to adjust its own space state information to fit the space state information of the battery outer box.
  • the battery outer box positioning stage is suitable for: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or the battery pack assembly to be installed by the power exchange device Before mounting to the battery case.
  • the power replacement process includes at least: a battery unloading phase of unlocking and removing a battery pack assembly lacking power from a battery outer box of the vehicle;
  • the acquired actual image includes an image of a locking mechanism in the battery outer box, and the locking mechanism is used to lock the battery pack assembly in the battery outer box;
  • the power exchange device is preset with a first battery movement trajectory required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
  • the power exchange process includes at least: a battery pack stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device that exchanges power for the vehicle;
  • the actual image is collected in real time, and the actual image includes an image of the battery outer box and an image of the battery pack assembly;
  • the power replacement process includes at least: a lock detection phase of the battery outer box;
  • the acquired actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly in the battery outer box;
  • the lock detection phase occurs after the battery replacement assembly is installed in the battery outer box by the power exchange device.
  • the spatial state information includes position information
  • the power exchange device is commanded to move its position to a target position, and the target position is related to the position of the battery outer box.
  • the spatial state information includes attitude information
  • the power exchange device is instructed to adjust its posture so that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
  • the locking mechanism unlocks the battery pack assembly
  • the locking mechanism unlocks the battery pack assembly
  • the battery-powered circuit of the vehicle is turned on when the battery pack assembly reaches the designated position, and the power exchange device presets the battery pack assembly required when performing the target task.
  • analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
  • the first direction is a direction perpendicular to the platform on which the vehicle is parked:
  • the battery pack assembly does not reach the designated position.
  • the locking mechanism locks the battery pack assembly
  • the locking mechanism locks the battery pack assembly
  • the locking mechanism does not lock the battery pack assembly.
  • the present invention also provides a power analysis control method based on visual analysis.
  • the power conversion control method includes:
  • the invention also provides a vision analysis system applied to vehicle power exchange, the vision analysis system includes at least one image acquisition module, image analysis module, and power exchange control module;
  • the image acquisition module is used to collect real-time images in real-time during a target task performed by a power exchange device and send the actual images to the image analysis module in real-time.
  • the target task is to install a battery outside the battery of the vehicle. Box, the actual image includes an image of the battery outer box and an image of the battery;
  • the image analysis module is configured to analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, send a notification signal to the power exchange control module;
  • the power exchange control module is configured to generate a control instruction after receiving the notification signal and send the control instruction to a power replacement device, and the control instruction is used to inform the power replacement device that the target task has been achieved.
  • the image acquisition module is disposed on the power exchange device or on a platform where the vehicle is parked.
  • the battery-powered circuit of the vehicle is turned on when the battery reaches the designated position.
  • the battery-changing device presets a battery movement trajectory for mounting the battery to the designated position required when performing the target task.
  • analyzing whether the battery reaches a specified position in the battery outer box according to the actual image includes:
  • comparing whether the actual image is the same as a standard image when the battery is at the specified position specifically including:
  • comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same including:
  • the actual size contrast relationship and the standard size contrast relationship are obtained from an actual image and a standard image collected from the direction;
  • comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same including:
  • the actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery is determined by the depth-of-field information provided in the actual image.
  • the actual image is an actual image acquired by the direction.
  • the angle when the image acquisition module collects the actual image is the same as the acquisition angle of the standard image.
  • the image acquisition module and the image analysis module are connected through wired or wireless communication;
  • the image analysis module and the power exchange control module are connected through wired or wireless communication;
  • the power exchange control module and the power exchange device are connected through wired or wireless communication.
  • the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is configured to be turned on when the brightness of the ambient light is less than a threshold value.
  • the image acquisition module is a camera or a camera that automatically zooms according to the battery case and the battery.
  • the present invention also provides a visual analysis method applied to vehicle power exchange.
  • the visual analysis method includes:
  • an actual image is collected in real time, the target task is to install a battery in a battery outer box of the vehicle, and the actual image includes an image of the battery outer box and an image of the battery ;
  • the battery-powered circuit of the vehicle is turned on when the battery reaches the designated position.
  • the battery-changing device presets a battery movement trajectory for mounting the battery to the designated position required when performing the target task.
  • analyzing whether the battery reaches a specified position in the battery outer box according to the actual image includes:
  • comparing whether the actual image is the same as a standard image when the battery is at the specified position specifically including:
  • comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same including:
  • the actual size contrast relationship and the standard size contrast relationship are obtained from an actual image and a standard image collected from the direction;
  • comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same including:
  • the actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery is determined by the depth-of-field information provided in the actual image.
  • the actual image is an actual image acquired by the direction.
  • the angle at which the actual image is collected is the same as the angle at which the standard image is collected.
  • the visual analysis method further includes: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.
  • the step of collecting actual images is implemented by a camera or a camera that automatically zooms according to the battery case and the battery.
  • the invention also provides another visual analysis system applied to vehicle power exchange, the visual analysis system includes at least one image acquisition module and image analysis module;
  • the image acquisition module is configured to collect an actual image and send the actual image to the image analysis module.
  • the actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used for Locking the battery in the battery outer box;
  • the image analysis module is configured to analyze a state of the locking mechanism according to the actual image.
  • the state includes: whether the locking mechanism locks the battery, and the image analysis module includes a first analysis unit;
  • the first analysis unit is configured to analyze whether the locking mechanism locks the battery according to the actual image.
  • the first analysis unit is specifically configured to:
  • the locking mechanism locks the battery
  • the battery is not locked by the locking mechanism.
  • the visual analysis system further includes a power exchange control module, which is used to control a power exchange device to install the battery in the battery outer box;
  • the first analysis unit is further configured to notify the power exchange control module after the locking mechanism locks the battery;
  • the power exchange control module is further configured to send a power exchange completion instruction to the power exchange device after receiving the notification, and the power exchange completion instruction is used to instruct the power exchange device to end the battery installation action.
  • the state includes: whether the locking mechanism unlocks the battery, and the image analysis module includes a second analysis unit;
  • the second analysis unit is configured to analyze whether the locking mechanism unlocks the battery according to the actual image.
  • the second analysis unit is specifically configured to:
  • the locking mechanism unlocks the battery
  • the locking mechanism does not unlock the battery
  • the locking mechanism unlocks the battery
  • the visual analysis system further includes a power exchange control module
  • the second analysis unit is further configured to notify the power exchange control module after the lock mechanism unlocks the battery
  • the power exchange control module is configured to send a battery removal instruction to the power exchange device after receiving the notification, and the battery removal instruction is used to instruct the power exchange device to remove the battery from the battery outer box. Take off.
  • the image analysis module and the power exchange control module are connected through wired or wireless communication;
  • the power exchange control module and the power exchange device are connected through wired or wireless communication.
  • the image acquisition module and the image analysis module are connected through wired or wireless communication.
  • the image acquisition module is disposed on a power exchange device or on a platform where the vehicle is parked.
  • the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is configured to be turned on when the brightness of the ambient light is less than a threshold value.
  • the image acquisition module is a camera or a camera that automatically zooms according to the locking mechanism.
  • the present invention also provides a visual analysis method applied to vehicle power exchange.
  • the visual analysis method includes:
  • the actual image including an image of a locking mechanism in a battery outer box of the vehicle, the locking mechanism being used to lock a battery in the battery outer box;
  • the state of the locking mechanism is analyzed based on the actual image.
  • the state includes: whether the locking mechanism locks the battery, and analyzing the state of the locking mechanism according to the actual image includes analyzing whether the locking mechanism is locked according to the actual image. Mentioned battery.
  • analyzing whether the locking mechanism locks the battery according to the actual image includes:
  • the locking mechanism locks the battery
  • the battery is not locked by the locking mechanism.
  • the visual analysis method further includes:
  • the power exchange device is instructed to end the battery installation action.
  • the state includes: whether the locking mechanism unlocks the battery, and analyzing the state of the locking mechanism according to the actual image includes analyzing whether the locking mechanism unlocks the battery according to the actual image. .
  • analyzing whether the locking mechanism unlocks the battery according to the actual image includes:
  • the locking mechanism unlocks the battery
  • the locking mechanism does not unlock the battery
  • the locking mechanism unlocks the battery
  • the visual analysis method further includes:
  • the power exchange device is instructed to remove the battery from the battery case.
  • the visual analysis method further includes:
  • the infrared light source When the brightness of the ambient light is less than the threshold, the infrared light source is turned on.
  • the actual image acquisition is implemented by using at least one camera or camera that automatically zooms according to the locking mechanism.
  • the camera or camera is provided on a power exchange device or on a platform on which the vehicle is parked.
  • the present invention also provides another visual analysis system applied to vehicle power exchange.
  • the visual analysis system includes at least one image acquisition module, image analysis module, and power exchange control module.
  • the image acquisition module is configured to acquire an actual image and send the actual image to the image analysis module, where the actual image includes an image of a battery outer box of the vehicle;
  • the image analysis module is configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module;
  • the power exchange control module is configured to generate a control instruction according to the space state information of the battery outer box and send the control instruction to a power replacement device for replacing a battery pack for the vehicle, where the control instruction is used to instruct
  • the power exchange device adjusts its own space state information to fit the space state information of the battery outer box.
  • the image acquisition module is disposed on the power exchange device or on a platform where the vehicle is parked.
  • the spatial state information includes position information
  • the image analysis module includes a position analysis sub-module
  • the position analysis submodule is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module;
  • the control instruction includes a position movement instruction
  • the power exchange control module is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange device to move its own position To the target position, the target position is related to the position of the battery case.
  • the target position is that the battery pack is aligned with the battery outer case s position.
  • the target position is the power exchange unlocking mechanism on the power change device and the battery outer box.
  • the position where the trigger unlock mechanism is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle.
  • generating the position movement instruction according to the position information of the battery outer box includes:
  • a position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
  • the spatial state information includes posture information
  • the image analysis module includes a posture analysis sub-module
  • the posture analysis sub-module is configured to obtain the posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module;
  • the control instruction includes a posture adjustment instruction
  • the power exchange control module is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange device to adjust its posture So that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
  • the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
  • Obtaining an included angle between the battery outer box and the platform where the vehicle is parked according to the actual image includes:
  • the angle between the battery case and the platform is determined by the degree of deformation of the image contour relative to the standard image contour.
  • the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
  • Obtaining the relative position relationship between the battery outer box and the platform on which the vehicle is parked according to the actual image includes:
  • the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
  • the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex angles of the battery outer box.
  • the attitude information of the battery outer box includes: a setting direction of the battery outer box;
  • Obtaining a setting direction of the battery outer box according to the actual image includes:
  • the angle between the installation direction of the battery case and the reference direction is determined by the degree of rotation of the image contour relative to the standard image contour.
  • the angle when the image acquisition module collects the actual image is the same as the acquisition angle of the standard image contour.
  • the image acquisition module is further configured to acquire the actual image again after the power exchange device executes the control instruction.
  • the power swap control module is further configured to send a parking instruction to the power swap device when the space status information of the power swap device has adapted to the space status information of the battery outer box, and the parking instruction It is used to instruct the power exchange device to maintain the current space state information until an instruction is received again.
  • the instructions received again include: an instruction to remove a battery pack from the battery case, or an instruction to install a battery pack on the power exchange device to the battery case.
  • the image acquisition module and the image analysis module are connected through wired or wireless communication;
  • the image analysis module and the power exchange control module are connected through wired or wireless communication;
  • the power exchange control module and the power exchange device are connected through wired or wireless communication.
  • the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is configured to be turned on when the brightness of the ambient light is less than a threshold value.
  • the image acquisition module is a camera or a camera that automatically zooms according to the battery case.
  • the present invention also provides a visual analysis method applied to vehicle power exchange.
  • the visual analysis method includes:
  • the actual image including an image of a battery outer box of the vehicle
  • the power exchange device is instructed to adjust its own space state information to adapt to the space state information of the battery outer box.
  • the space state information includes position information
  • the step of obtaining the space state information of the battery outer box according to the actual image includes:
  • the step of ordering the power exchange device to adjust its own space state information to fit the space state information of the battery outer box includes:
  • the power exchange device is instructed to move its own position to a target position, and the target position is related to the position of the battery outer box.
  • the target position is that the battery pack is aligned with the battery outer case s position.
  • the target position is the power exchange unlocking mechanism on the power change device and the battery outer box.
  • the position where the trigger unlock mechanism is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle.
  • the step of ordering the power exchange device to move its own position so that the power exchange mechanism on the power exchange device is aligned with the position of the battery case includes:
  • a position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
  • the spatial state information includes attitude information
  • the step of obtaining the spatial state information of the battery outer box according to the actual image includes:
  • the step of ordering the power exchange device to adjust its own space state information to fit the space state information of the battery outer box includes: ordering the power exchange device to adjust its own posture so that the power exchange mechanism on the power exchange device and The battery case has the same attitude.
  • the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
  • Obtaining an included angle between the battery outer box and the platform where the vehicle is parked according to the actual image includes:
  • the angle between the battery case and the platform is determined by the degree of deformation of the image contour relative to the standard image contour.
  • the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
  • Obtaining the relative position relationship between the battery outer box and the platform on which the vehicle is parked according to the actual image includes:
  • the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
  • the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex angles of the battery outer box.
  • the attitude information of the battery outer box includes: a setting direction of the battery outer box;
  • Obtaining a setting direction of the battery outer box according to the actual image includes:
  • the angle between the installation direction of the battery case and the reference direction is determined by the degree of rotation of the image contour relative to the standard image contour.
  • the angle at which the actual image is collected is the same as the angle at which the standard image contour is collected.
  • the visual analysis method further includes:
  • the visual analysis method further comprises: when the space state information of the power exchange device has adapted to the space state information of the battery outer box, commanding the power exchange device to maintain the current space state information until it is received again To instructions.
  • the instructions received again include: an instruction to remove a battery pack from the battery case, or an instruction to install a battery pack on the power exchange device to the battery case.
  • the visual analysis method further includes: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.
  • the step of collecting actual images is implemented by a camera or a camera that automatically zooms according to the battery outer box.
  • the positive progress effect of the present invention is that the present invention can not only monitor the entire power exchange process through image processing technology, but also control the objects involved in the power exchange process (such as vehicles, power exchange equipment), and does not need to be outside the vehicle or the vehicle's battery
  • the present invention can not only monitor the entire power exchange process through image processing technology, but also control the objects involved in the power exchange process (such as vehicles, power exchange equipment), and does not need to be outside the vehicle or the vehicle's battery
  • the image acquisition module and image analysis module outside the vehicle can be used to effectively monitor the state of the vehicle's locking mechanism, especially whether the locking mechanism is locking the battery. And whether the locking mechanism unlocks the battery, the battery outer box can be accurately identified through the actual images collected, and then the space status information of the battery outer box can be determined.
  • the power exchange equipment can be adjusted to accurately remove the battery outer box.
  • the battery pack or a new battery pack is installed in the battery outer box. Therefore, not only can the situation of incomplete installation be avoided, but also the success rate and safety of the power exchange
  • FIG. 1 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 1, Embodiment 6, and Embodiment 18 of the present invention
  • Embodiment 2 is a schematic diagram of installing an image acquisition module according to Embodiment 1, Embodiment 6, Embodiment 10, and Embodiment 18 of the present invention
  • FIG. 3 is a schematic diagram of a preset parking area according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 2 of the present invention.
  • FIG. 5 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 3 of the present invention.
  • FIG. 6 is a flowchart of a power analysis control method based on visual analysis in Embodiment 5 of the present invention.
  • FIG. 7 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 6 of the present invention.
  • FIG. 8 is a flowchart of step 52 of a visual analysis method applied to vehicle power exchange according to Embodiment 7 of the present invention.
  • FIG. 10 is a second specific flowchart for comparing whether the actual image is the same as the standard image when the battery is located at the specified position in Embodiment 7 of the present invention.
  • FIG. 11 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 10 of the present invention.
  • FIG. 12 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 11 of the present invention.
  • FIG. 13 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 12 of the present invention.
  • FIG. 14 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 13 of the present invention.
  • FIG. 16 is a flowchart of a visual analysis method applied to a vehicle power exchange according to Embodiment 15 of the present invention.
  • FIG. 17 is a flowchart of implementing step 521 'in Embodiment 15 of the present invention.
  • FIG. 19 is a flowchart of a visual analysis method applied to a vehicle power exchange according to Embodiment 16 of the present invention.
  • FIG. 20 is a flowchart of implementing step 522 'in Embodiment 16 of the present invention.
  • FIG. 21 is another flowchart of implementing step 522 'in Embodiment 16 of the present invention.
  • FIG. 23 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 19 of the present invention.
  • FIG. 24 is a schematic diagram of a target position according to Embodiment 19 of the present invention.
  • FIG. 25 is a schematic diagram of installing an image acquisition module 11 "according to Embodiment 20 of the present invention.
  • 26 is a schematic diagram of a standard image outline when the battery case is set in the reference direction X;
  • FIG. 27 is an image outline of the battery outer box in an actual image
  • FIG. 28 is a schematic diagram after FIG. 26 and FIG. 27 are overlapped; FIG.
  • FIG. 29 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 21 of the present invention.
  • FIG. 30 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 22 of the present invention.
  • FIG. 31 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 23 of the present invention.
  • FIG. 32 is a flowchart of step 531 "in Embodiment 23 of the present invention.
  • FIG. 34 is a flowchart of step 522 "in Embodiment 24 of the present invention.
  • FIG. 35 is another flowchart of Step 522 ′′ of Embodiment 24 of the present invention.
  • FIG. 37 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 25 of the present invention.
  • FIG. 1 shows a visual analysis system 10 applied to vehicle power exchange in this embodiment.
  • the visual analysis system 10 includes at least one image acquisition module 11, an image analysis module 12, and a power exchange control module 13.
  • the image acquisition module 11 and the image analysis module 12 may be connected through wired or wireless communication; the image analysis module 12 and the power exchange control module 13 may be connected through wired or wireless communication; the power exchange control The module 13 is connected to the object involved in the power exchange process through wired or wireless communication.
  • the wired communication connection includes, but is not limited to, connection through a cable, and the wireless communication connection includes, but is not limited to, connection through 2G, 3G, 4G, Bluetooth and other communication methods.
  • the image acquisition module 11 is configured to collect actual images of the vehicle and the battery pack assembly during the vehicle power exchange process and send the actual images to the image analysis module 12.
  • the present invention specifically limits the structure of the battery pack assembly, which generally includes a battery pack case and a connection mechanism provided around the battery pack case.
  • the image analysis module 12 is configured to monitor the power exchange process according to the actual image, and send the power exchange process to the power exchange control module 13.
  • the power exchange control module 13 is configured to generate a control instruction for controlling an object involved in the power exchange process.
  • the visual analysis system of this embodiment can monitor the entire power exchange process through image processing technology, and controls objects (such as vehicles, power exchange equipment) involved in the power exchange process to ensure a success rate of power exchange.
  • the image acquisition module 11 may be disposed on a power exchange device 40 for the vehicle.
  • the power exchange device 40 may generally include a function of inserting a new or fully charged battery pack assembly into a battery outer box, or a function of removing an original battery pack assembly of the vehicle from the battery outer box, or It has both of the above functions.
  • the image acquisition module 11 may also be disposed on a platform where the vehicle is parked.
  • the platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms.
  • the present invention is not limited to this.
  • the image acquisition module 11 may also be disposed at other positions capable of acquiring images of the vehicle and the battery pack assembly.
  • the number of the image acquisition modules 11 may be determined according to actual conditions such as a power replacement process, cost requirements, and control accuracy requirements. When the number of the image acquisition modules 11 exceeds one, all of the image acquisition modules 11 may be installed in the same area, such as all on the power exchange device 40 or all on the above platform; these The image acquisition module 11 can also be distributed in different areas, such as part of the image acquisition module 40 and other parts of the platform. The image acquisition angle of each of the image acquisition modules 11 may be different, so as to realize a full range of image acquisition.
  • FIG. 2 shows a schematic installation diagram of an image acquisition module 11.
  • the vehicle 20 is parked on the platform 30, which is higher than the ground plane and has a hollowed-out area A in the middle, and the power exchange device 40 is located below the hollowed-out area A.
  • the figure shows four image acquisition modules 11, of which two image acquisition modules 11 are disposed on the platform 30 and close to the hollowed-out area A, and two other image acquisition modules 11 are disposed on the top of the power exchange device 40.
  • the image acquisition module 11 is preferably a camera or a camera that automatically zooms according to the subject.
  • the battery outer box is usually arranged on the bottom of the vehicle, and the power exchange environment is usually dark, which will affect the sharpness of the actual image.
  • the image acquisition module 11 is preferably equipped with an infrared illumination light source. The image acquisition module 11 automatically detects the brightness of the ambient light before collecting the actual image, and the infrared illumination light source is used to turn on when the brightness of the ambient light is less than a threshold.
  • the threshold may be determined according to a performance requirement of a camera or a camera.
  • This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 1.
  • the power exchange process includes at least one of: a vehicle parking positioning stage, a vehicle outer battery positioning stage, and a power exchange device for changing the vehicle from the battery outer box of the vehicle. Unlock the battery pack and remove the battery pack assembly during the battery unloading phase, and install the battery pack assembly to be installed in the battery outer box of the vehicle. The lock detection phase of the battery case is described.
  • a preset parking area 31 is identified in the platform 30.
  • the actual image collected by the image acquisition module 11 includes an image of the vehicle and an image of the identified preset parking area 31.
  • the image analysis module 12 is specifically configured to extract the parking position information of the vehicle from the actual image, and use the position information to determine whether the vehicle is parked in the preset parking area.
  • the power exchange control module 13 sends the first notification.
  • the power exchange control module 13 is specifically configured to generate a vehicle control instruction after receiving the first notification, and the vehicle control instruction is used to instruct the vehicle to be parked in the preset parking area again.
  • the image acquisition module 11 that collects actual images is preferably an image acquisition module 11 that is set around a preset parking area, that is, an image acquisition module 11 that is set around the preset parking area is used to collect images containing the vehicle and the The actual image of the image of the identified preset parking area.
  • the actual images collected by the image acquisition module 11 include images of the battery outer box of the vehicle.
  • the image analysis module 12 is specifically configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module 13.
  • the power exchange control module 13 is specifically configured to generate a first control instruction according to the space state information of the battery outer box and send the first control instruction to a power exchange device used to exchange electricity for the vehicle.
  • the first regulation instruction is used to instruct the power exchange device to adjust its own space state information to fit the space state information of the battery outer box.
  • the image acquisition module 11 for acquiring actual images is preferably the image acquisition module 11 provided on the power exchange device or the image acquisition module 11 around the hollowed-out area in FIG.
  • the module 11 or the image acquisition module 11 around the hollowed-out area in FIG. 2 acquires an actual image including an image of the battery outer box.
  • the battery outer box positioning stage is applicable before the battery unloading stage or before the battery loading stage.
  • the spatial state information may include position information
  • the image analysis module 12 includes a position analysis unit 121;
  • the position analysis unit 121 is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module 13;
  • the first control instruction includes a position movement instruction
  • the power exchange control module 13 is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange device Moving the self position to a target position, the target position is related to the position of the battery outer box.
  • the target position is that the power exchange unlocking mechanism on the power exchange device 40 is aligned with the trigger unlocking mechanism on the battery outer box.
  • the trigger unlock mechanism is matched with the power exchange unlock mechanism for triggering the battery pack assembly to unlock from the vehicle. That is, the power exchange device is located below the platform.
  • the power exchange unlocking mechanism is aligned with the trigger unlocking mechanism, and the power exchange device lifts the power exchange unlocking mechanism. That is, the power exchange unlocking mechanism can be inserted into the trigger unlocking mechanism to unlock the battery pack assembly.
  • the invention does not limit the specific structures of the power exchange unlocking mechanism and the trigger unlocking mechanism.
  • the target position is a position where the battery pack assembly is aligned with the battery outer box. That is, the power exchange device 40 is located below the platform.
  • the power exchange device is parked at the target position, the battery pack assembly on the power exchange device is aligned with the battery outer box, and the power exchange device lifts the battery pack. The assembly can put the battery pack assembly in the battery case.
  • the spatial state information may further include posture information, and the image analysis module 12 includes a posture analysis unit 122;
  • the posture analysis unit 122 is configured to obtain the posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module 13;
  • the first control instruction includes a posture adjustment instruction
  • the power exchange control module 13 is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange device Adjust its posture so that the power exchange mechanism on the power exchange device has the same posture as the battery case.
  • the attitude information of the battery outer box may include an angle between the battery outer box and a platform on which the vehicle is parked.
  • a specific implementation includes:
  • the angle when the image acquisition module 11 acquires the actual image is preferably the same as the acquisition angle of the standard image contour.
  • a standard image outline of the battery outer box collected from directly below the battery outer box should be a rectangle . If the outline of the image of the battery case is rectangular in the actual image collected from directly below the battery case, it means that the image outline of the battery case is parallel to the standard image outline, that is, the outside of the battery The box is also parallel to the platform.
  • the outline of the image of the battery case is not rectangular in the actual image collected from directly below the battery case, if there is a vertex that is not a right angle, then the image outline of the battery case and the The standard image contour is not parallel, that is, the battery outer box is not parallel to the platform.
  • the angle between the battery outer box and the platform can be further determined by the angle of the vertex angle in the image contour.
  • the standard image contours corresponding to different vehicle models and different battery outer boxes may be different, it is usually necessary to pre-store standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. Before or during the power exchange process, the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for further comparison.
  • another specific implementation includes: determining at least two of the battery outer box by using depth of field information carried in the actual image The relative height difference of the characteristic parts;
  • the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
  • the battery outer box As a rectangular parallelepiped as an example, when the battery outer box is arranged in parallel with the platform, the actual battery image of the battery outer box collected from directly below the battery outer box, the battery outer box
  • the relative height difference of each characteristic part of should be 0, that is, the included angle with the platform is 0 in the same plane. If there is a relative height difference between the characteristic parts of the battery outer box, that is, the battery outer box is not parallel to the platform, the angle between the battery outer box and the platform can be further determined through the relative height difference.
  • the at least two characteristic parts are at least two vertex angles of the battery outer case.
  • the posture information of the battery outer box may further include: a setting direction of the battery outer box.
  • Obtaining a setting direction of the battery outer box according to the actual image a specific implementation includes:
  • the angle when the image acquisition module 11 acquires the actual image is the same as the acquisition angle of the standard image contour.
  • the standard image contours corresponding to different vehicle models and different battery outer boxes may be different, it is usually necessary to pre-store standard image contours corresponding to multiple vehicle models and multiple battery outer boxes.
  • the vehicle model and battery outer box of the battery-changed vehicle are determined, and the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for subsequent comparison.
  • the actual image collected by the image acquisition module 11 includes an image of a locking mechanism in the battery outer box, which is used to lock the battery pack assembly outside the battery Inside the box.
  • the image analysis module 12 is specifically configured to analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and control the power exchange when the locking mechanism unlocks the battery pack assembly. Module 13 sends a second notification.
  • the power exchange control module 13 is specifically configured to send a battery removal instruction to the power exchange device after receiving the second notification, and the battery removal instruction is used to instruct the power exchange device to replace the battery pack. Removal from the battery case.
  • the power exchange device presets a movement track of the first battery required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
  • the image acquisition module 11 that collects actual images is preferably the image acquisition module 11 provided on the power exchange device or the image acquisition module 11 around the hollowed-out area in FIG. 2, that is, the image acquisition module 11
  • the module 11 or the image acquisition module 11 around the hollowed-out area in FIG. 2 acquires an actual image including an image of a locking mechanism in the battery outer box.
  • the image analysis module 12 includes an unlock analysis unit 123;
  • the image acquisition module 11 is directed to the actual image collected by a locking mechanism (the structure of the locking mechanism applied in this embodiment, such as the Chinese patent application CN106427514A), and the image acquisition module 11 acquires upwards from below the battery outer box.
  • the image shows the battery case and the battery pack assembly inside the battery case. There is a gap between the battery case and the battery pack assembly. The visible part of the locking mechanism is shown through the gap.
  • the view part includes the lock tongue, the lock block, and a part of the lock link protruding from the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, and the lock tongue blocks the lock shaft on the lock block Inside, the front end portion of the lock link will protrude from the front end surface of the lock block by a certain length).
  • the unlock analysis unit 123 is configured to analyze whether the locking mechanism unlocks the battery pack assembly in the following manner according to the actual image:
  • the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
  • the unlock analysis unit 123 determines whether the lock link mechanism unlocks the battery by analyzing the length of the lock link protruding from the lock block, and the judgment is simple and highly accurate.
  • the unlock analysis unit 123 may also be used to compare whether the actual image is the same as a standard image, where the standard image is an image when the locking mechanism unlocks the battery pack assembly;
  • the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
  • the unlocking analysis unit 123 can focus on comparison when comparing.
  • the position of the tongue in the actual image and the standard image (the unlock position can be shown in the standard image), to determine whether the tongue is in the unlock position in the actual image, and if so, the locking mechanism unlocks the battery pack If not, the locking mechanism does not unlock the battery pack assembly.
  • the above-mentioned second implementation of the unlock analysis unit 123 may also be applicable to analyze whether other types of locking mechanisms lock the battery pack assembly.
  • This type of locking mechanism may use bolts, nuts, and other structures to lock the battery pack Assembly.
  • the unlocking analysis unit 123 thus implemented can still determine whether the locking mechanism is based on changes in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked. Locking the battery pack assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
  • the unlock analysis unit 123 usually needs to pre-store multiple models, multiple battery models, and multiple locks.
  • the standard image corresponding to the organization Before or during the power exchange, determine the model, battery model, and locking mechanism of the vehicle to be replaced. Select the standard image corresponding to the vehicle from the pre-stored standard images for further comparison. .
  • the unlock analysis unit 123 may adopt any one of the above two implementations according to the actual situation. For example, if the lock mechanism does not include a structure such as a lock link, then it is recommended to use the second implementation to analyze the lock Whether the mechanism locks the battery pack assembly. If the lock mechanism includes a structure such as a lock link, both implementations can be used.
  • the image acquisition module 11 captures the actual image in real time and sends the actual image to the image analysis module 12 in real time, and the actual image includes an image of the battery outer box and the battery Image of package assembly.
  • the image analysis module 12 is specifically configured to analyze whether the battery pack assembly has reached a specified position in the battery outer box according to the actual image, and if so, send a third notification to the power exchange control module 13.
  • the power exchange control module 13 is specifically configured to send a second control instruction to the power exchange device after receiving the third notification, and the second control instruction is used to inform the power exchange device that the device has been installed. Battery phase.
  • the battery pack assembly when the battery pack assembly reaches the designated position, the battery-powered circuit of the vehicle is turned on, and the power exchange device is preset to install the battery pack assembly to the The battery movement track at the specified position.
  • analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
  • the first direction is a direction perpendicular to the platform on which the vehicle is parked:
  • the battery pack assembly reaches the designated position; if not, the battery pack assembly does not reach the designated position.
  • the platform in FIG. 2 is horizontal or close to horizontal, the first direction is vertical or close to vertical, and there is a relative height difference between the battery outer box and the battery pack assembly.
  • the battery pack assembly is in the vertical position. Reach the designated position in the straight direction. If it is not the same, the battery pack assembly does not reach the designated position in the vertical direction.
  • the other direction perpendicular to the first direction is the direction in the horizontal plane, which may be the front-back direction or the left-right direction.
  • compare the battery in the actual image Is the relative horizontal distance difference between the outer case and the battery pack assembly the same as the relative horizontal distance difference between the battery outer case and the battery pack assembly in the standard image, and if they are the same, the battery pack assembly is in the front-rear direction or left-right direction Up to the specified position, if not the same, the battery pack assembly does not reach the specified position in the front-rear direction or left-right direction.
  • the battery can be used from either of the two directions according to the specific position of the designated position and the battery movement trajectory.
  • the above-mentioned direction comparison is also used. For example, if the designated position is at the forefront of a certain height in the battery outer box, the corresponding battery movement trajectory is that the battery replacement assembly first lifts the battery pack assembly to that height, and then moves the battery pack assembly forward until it reaches At the forefront, then, it is recommended to use the comparison in the above two directions at the same time, that is, compare the relative position relationship between the battery pack assembly and the battery outer box in the first direction in the actual image and the standard image.
  • the battery pack assembly reaches the specified position regardless of the height.
  • the corresponding battery movement trajectory is that the battery pack assembly is lifted by the replacement device until it reaches the top, then it is recommended to compare the actual image with the standard Whether the relative positional relationship between the battery pack assembly and the battery case in the first direction in the image is the same, and if the comparison is the same, it is determined that the battery pack assembly reaches the designated position in height.
  • the actual image collected by the image acquisition module 11 includes an image of a locking mechanism in the battery outer box of the vehicle, the locking mechanism being used to lock the battery pack assembly outside the battery Inside the box.
  • the image analysis module 12 is specifically configured to analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
  • the lock detection phase occurs after the battery loading phase.
  • the image analysis module 12 includes a lock analysis unit 124;
  • the image acquisition module 11 is directed to the actual image collected by a locking mechanism (the structure of the locking mechanism applied in this embodiment, such as the Chinese patent application CN106427514A), and the image acquisition module 11 acquires upwards from below the battery outer box.
  • the image shows the battery case and the battery pack assembly inside the battery case. There is a gap between the battery case and the battery pack assembly. The visible part of the locking mechanism is shown through the gap.
  • the view part includes the lock tongue, the lock block, and a part of the lock link protruding from the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, and the lock tongue blocks the lock shaft on the lock block Inside, the front end portion of the lock link will protrude from the front end surface of the lock block by a certain length).
  • the locking analysis unit 124 is configured to analyze whether the locking mechanism locks the battery pack assembly in the following manner according to the actual image:
  • the locking mechanism does not lock the battery pack assembly; if not, the locking mechanism locks the battery pack assembly.
  • the locking analysis unit 124 implemented in this way can still determine whether the locking mechanism locks the battery by the length of the locking shaft protruding from the locking surface, for example, comparing whether the length of the locking shaft protruding from the locking surface is smaller than the locking mechanism.
  • the lock shaft extends the standard length of the lock surface. If it is, the locking mechanism does not lock the battery pack assembly. If not, the locking mechanism locks the battery pack assembly.
  • the locking analysis unit 124 is configured to:
  • the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.
  • the locking tongue should be in the locked position, in which the locking tongue can block the locking shaft in the locking block, so the locking analysis unit 124 is The position of the locking tongue in the actual image and the standard image (the locking position can be shown in the standard image) can be focused on to determine whether the locking tongue is in the locked position in the actual image, and if so, the locking mechanism is locked.
  • the battery pack assembly if not, the locking mechanism does not lock the battery pack assembly.
  • the above-mentioned second implementation of the locking analysis unit 124 can also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly.
  • This type of locking mechanism can use bolts, nuts, and other structures to lock the battery. Package assembly.
  • the locking analysis unit implemented in this way can still judge the locking by the change in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked. Whether the mechanism locks the battery pack assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
  • the locking analysis unit 124 usually needs to pre-store more Standard models / standard images of different types of vehicles, multiple battery models, and various lock links corresponding to the locking mechanism stick out of the lock block. Before or during the power change, determine the vehicle model, battery type, and lock The stop mechanism selects a standard length / standard image corresponding to the replacement vehicle from the pre-stored standard length / standard image, and then performs subsequent comparisons.
  • the locking analysis unit 124 may adopt any one of the above two implementations according to the actual situation. For example, if the locking mechanism does not include a locking link, it is recommended to use the second type of analysis to analyze the locking mechanism. Whether to lock the battery pack assembly. If a locking link is included in the locking mechanism, both implementations can be used.
  • FIG. 5 shows a visual analysis method applied to vehicle power exchange in this embodiment.
  • the visual analysis method includes: Step 51: During a vehicle power exchange process, collecting actual images of the vehicle and the battery pack assembly.
  • Step 52 Monitor the power exchange process according to the actual image.
  • Step 53 Regulate an object involved in the power exchange process.
  • step 51 is implemented by using at least one camera or camera according to the automatic zoom.
  • the camera or camera may be provided on a power exchange device for powering a vehicle.
  • the camera or camera may also be disposed on a platform where the vehicle is parked.
  • the platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms.
  • the present invention is not limited to this.
  • the camera or camera may also be disposed at other positions capable of capturing images of the vehicle and the battery pack assembly.
  • the number of the cameras or cameras may be determined according to actual conditions such as a power replacement process, cost requirements, and locking accuracy requirements. When the number of the cameras or cameras is more than one, all the cameras or cameras may be set in the same area, such as all on the power exchange device or all on the above platform; the cameras or cameras It can also be distributed in different areas, such as part of the power exchange equipment and other parts of the platform.
  • the visual analysis method further includes: the brightness of the ambient light When it is less than the threshold, the infrared light source is turned on.
  • the infrared light source is configured on a camera or a camera. The method automatically detects the brightness of the ambient light before collecting the actual image. If the brightness of the ambient light is less than a threshold, the infrared illumination light source on the camera or the camera is turned on.
  • the threshold may be determined according to a performance requirement of a camera or a camera.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 1.
  • This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis method of Embodiment 3.
  • the power exchange process includes at least one of: a vehicle parking positioning stage, a vehicle outer battery positioning stage, and a power exchange device for changing the vehicle from the battery outer box of the vehicle. Unlock the battery pack and remove the battery pack assembly during the battery unloading phase, and install the battery pack assembly to be installed in the battery outer box of the vehicle. The lock detection phase of the battery case is described.
  • the actual image collected in step 51 includes an image of the vehicle and an image of an identified preset parking area.
  • Steps 52 and 53 include: extracting the parking position information of the vehicle from the actual image, determining whether the vehicle is parked in the preset parking area through the position information, and if not, ordering the vehicle to restart Parked in the preset parking area.
  • the actual image collected in step 51 includes an image of the battery outer box of the vehicle.
  • Steps 52 and 53 include: acquiring space state information of the battery outer box according to the actual image;
  • the power exchange device is instructed to adjust its own space state information to fit the space state information of the battery outer box.
  • the positioning phase of the battery outer box is applicable to: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or the power exchange device installs the battery pack assembly to be installed in the battery pack. Before the battery case.
  • the spatial state information includes position information
  • the power exchange device is commanded to move its position to a target position, and the target position is related to the position of the battery outer box.
  • the spatial state information includes attitude information
  • the power exchange device is instructed to adjust its posture so that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
  • the actual image collected in step 51 includes an image of a locking mechanism in the battery outer box, which is used to lock the battery pack assembly in the battery outer box;
  • Steps 52 and 53 include analyzing whether the locking mechanism unlocks the battery pack assembly according to the actual image, and instructing the power exchange device to switch the battery pack assembly when the locking mechanism unlocks the battery pack assembly. The battery pack assembly is removed from the battery case.
  • the power exchange device presets a movement track of the first battery required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
  • Step 51 is directed to an actual image captured by a locking mechanism (such as the structure of the locking mechanism applied in this embodiment, such as Chinese patent application CN106427514A), which can be collected upward from below the battery outer box.
  • the image shows the battery outer box, The battery pack assembly installed in the battery case, there is a gap between the battery case and the battery pack assembly.
  • the visible part of the locking mechanism is shown through the gap, where the visible part includes the lock tongue, the lock block and the extension Part of the lock link of the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, the lock tongue will block the lock shaft in the lock block, and the front end portion of the lock link will extend Out of the front end surface of the lock block).
  • the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
  • the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
  • the locking tongue should be in the unlocked position. In this unlocking position, the locking tongue will not block the locking shaft in the locking block. Therefore, the above second process can focus on comparing The actual image and the position of the locking tongue in the standard image (the unlocking position can be shown in the standard image), and determining whether the locking tongue is in the unlocking position in the actual image; if so, the locking mechanism unlocks the battery pack assembly If not, the locking mechanism does not unlock the battery pack assembly.
  • the above second process can also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly.
  • This type of locking mechanism can use bolts, nuts, and other structures to lock the battery pack assembly.
  • the above-mentioned second process can still determine whether the locking mechanism locks the battery through the change in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked.
  • the bag assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
  • step 51 collects the actual image in real time, and the actual image includes an image of the battery outer box and an image of the battery pack assembly.
  • Steps 52 and 53 include analyzing whether the battery pack assembly has reached a designated position in the battery outer case according to the actual image, and if so, notifying the power exchange device that the battery loading stage has been reached.
  • the battery power supply circuit of the vehicle is turned on, and the power exchange device is preset to install the battery pack assembly to the vehicle when performing the target task. Battery movement track at the specified position.
  • analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
  • the first direction is a direction perpendicular to the platform on which the vehicle is parked:
  • the battery pack assembly reaches the designated position; if not, the battery pack assembly does not reach the designated position.
  • the actual image collected in step 51 includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly in the battery outer box.
  • Steps 52 and 53 include analyzing whether the locking mechanism locks the battery pack assembly according to the actual image.
  • the lock detection phase occurs after the battery loading phase.
  • Step 51 is directed to an actual image captured by a locking mechanism (such as the structure of the locking mechanism applied in this embodiment, such as Chinese patent application CN106427514A), which can be collected upward from below the battery outer box.
  • the image shows the battery outer box, The battery pack assembly installed in the battery case, there is a gap between the battery case and the battery pack assembly.
  • the visible part of the locking mechanism is shown through the gap, where the visible part includes the lock tongue, the lock block and the extension Part of the lock link of the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, the lock tongue will block the lock shaft in the lock block, and the front end portion of the lock link will extend Out of the front end surface of the lock block).
  • the locking mechanism does not lock the battery pack assembly; if not, the locking mechanism locks the battery pack assembly.
  • the above process can still determine whether the locking mechanism locks the battery by the length of the locking shaft protruding from the locking surface, for example, comparing whether the length of the locking shaft protruding from the locking surface is shorter than when the locking mechanism locks the battery pack assembly.
  • the locking shaft extends out of the standard length of the locking surface. If it is, the locking mechanism does not lock the battery pack assembly. If not, the locking mechanism locks the battery pack assembly.
  • the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.
  • the locking tongue should be in the locking position, in which the locking tongue can block the locking shaft in the locking block, so the above process can be compared during the comparison.
  • the position of the locking tongue in the actual image and the standard image (the locking position can be shown in the standard image), to determine whether the locking tongue is in the locked position in the actual image, and if so, the locking mechanism locks the battery pack. If not, the locking mechanism does not lock the battery pack assembly.
  • the above second process can also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly.
  • This type of locking mechanism can use bolts, nuts and other structures to lock the battery pack assembly.
  • the above-mentioned second process can still determine whether the locking mechanism locks the battery through the change in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked.
  • the bag assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
  • FIG. 4 shows a power analysis control method based on visual analysis in this embodiment.
  • the power exchange control method includes:
  • Step 61 The vehicle enters the platform and enters the vehicle parking positioning stage.
  • the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
  • Step 62 Enter the battery outer box positioning stage of the vehicle.
  • the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
  • Step 63 Enter the battery unloading phase of unlocking the power exchange equipment for powering the vehicle from the battery outer box and removing the lacking battery pack assembly.
  • the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
  • Step 64 Enter the battery outer box positioning stage of the vehicle again.
  • the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
  • Step 65 Enter the battery charging stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device for powering the vehicle.
  • the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
  • Step 66 Enter the lock detection stage of the battery case.
  • the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
  • a visual analysis system applied to vehicle power exchange in this embodiment is basically the same as Embodiment 1, except that the power exchange control module 13 is similar to the battery exchange
  • the electric device 40 is connected through wired or wireless communication.
  • the image acquisition module 11 is configured to collect a real-time image in real time during the target task performed by the power exchange device and send the actual image to the image analysis module 12 in real time.
  • the target task is to install a battery to The battery outer box of the vehicle, the actual image includes an image of the battery outer box and an image of the battery.
  • the image analysis module 12 is configured to analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, send a notification signal to the power exchange control module 13.
  • the power exchange control module 13 is configured to generate a control instruction after receiving the notification signal and send the control instruction to a power replacement device, where the control instruction is used to inform the power replacement device that the target task has been achieved .
  • the visual analysis system 10 of this embodiment can monitor the battery installation process of the power replacement equipment, ensure that the battery arrives at the designated location, avoid situations where the installation is not in place, and ensure the success rate of power replacement.
  • the specific position of the designated position is not limited, and it needs to be determined according to the structure of the battery outer box.
  • the designated position may be located at the forefront of a certain height in the battery outer box or the battery outer box At the top.
  • the battery-powered circuit of the vehicle is turned on, and the battery can power the vehicle, indicating that the battery is in place.
  • the power exchange device may preset a battery movement trajectory required to mount the battery to the specified position when performing the target task. Before the power exchange device receives the notification signal, it moves the battery according to the battery movement track.
  • the setting of the battery movement trajectory needs to be determined according to the specific position of the designated position. For example, if the designated position is located at the forefront of a certain height in the battery outer box, then the corresponding battery movement trajectory is usually the The battery replacement device first lifts the battery to this height, and then moves the battery forward until it reaches the forefront; if the designated position is at the top of the battery case, the corresponding battery movement trajectory is usually that the battery replacement device will The battery is raised until it reaches the top.
  • the visual analysis system 10 of this embodiment collects and analyzes actual images in real time, and informs the replacement equipment that the target task has been reached in time when the battery reaches the designated position, so that the replacement equipment stops moving the battery to avoid the battery colliding with the inner surface of the end. , Causing damage to the battery case and battery.
  • the image acquisition module 11 may be disposed on the power exchange device 40.
  • the power exchange device 40 can also have a function of removing an existing battery lacking a battery from the battery outer box.
  • the image acquisition module 11 may also be disposed on a platform where the vehicle is parked.
  • the platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms.
  • the present invention is not limited to this.
  • the image acquisition module 11 may also be disposed at another position where an image of the battery outer box can be acquired.
  • the number of image acquisition modules 11 can be determined according to the actual structure of the battery outer box, cost requirements, and control accuracy requirements.
  • This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 6 and can accurately determine whether the battery has reached a designated position of the battery outer box.
  • the image analysis module 12 analyzes whether the battery reaches a specified position in the battery outer box according to the actual image, and specifically includes:
  • the battery reaches the designated position; if not, the battery does not reach the designated position.
  • the image analysis module 12 usually needs to pre-store standard images corresponding to multiple vehicle models and multiple battery outer boxes. During the power exchange process, the vehicle model and battery outer box of the vehicle to be replaced are determined, and the standard image corresponding to the vehicle is selected from the pre-stored standard images for further comparison.
  • the following provides two specific processes in which the image analysis module 12 compares whether the actual image is the same as a standard image when the battery is at the specified position:
  • the first type extract the image of the battery and the image of the battery outer box from the actual image, and filter out other images that may be collected together in the image, such as the structure of the vehicle bottom around the battery outer box;
  • the battery reaches the designated position; if not, the battery does not reach the designated position.
  • the platform in FIG. 2 is horizontal or close to horizontal, the first direction is vertical or close to vertical, and there is a relative height difference between the battery case and the battery.
  • the relative height difference between the battery case and the battery in the image is the same as the relative height difference between the battery case and the battery in the standard image. If they are the same, the battery reaches the specified position in the vertical direction. If they are not the same, then The battery does not reach the specified position in the vertical direction.
  • the second type extract the image of the battery and the image of the battery outer box from the actual image, and filter out other images that may be collected together in the image, such as the bottom structure of the battery outer box;
  • the battery reaches the designated position; if not, the battery does not reach the designated position.
  • the platform in FIG. 2 is horizontal or close to horizontal
  • the first direction is vertical or close to the vertical direction
  • other directions perpendicular to the first direction are directions in the horizontal plane.
  • the front-to-rear direction or left-to-right direction there is a relative horizontal distance difference between the battery outer box and the battery.
  • the relative horizontal distance difference between the battery outer box and the battery in the actual image is compared with the battery outer box and the battery in the standard image. Whether the relative horizontal distance difference between them is the same. If they are the same, the battery reaches the specified position in the front-rear direction or left-right direction. If not, the battery does not reach the specified position in the front-rear direction or left-right direction.
  • the two types of comparisons can be used from any one of the two types of comparisons above according to the specific position of the specified position and the battery movement trajectory.
  • the two types of comparisons are used simultaneously. For example, if the designated position is at the forefront of a certain height in the battery outer box, the corresponding battery movement trajectory is that the battery replacement device first lifts the battery to that height, and then moves the battery forward until it reaches the forefront.
  • the corresponding battery movement trajectory is that the battery is lifted by the replacement device until it reaches the top
  • the direction may be the first direction, or other directions perpendicular to the first direction:
  • the first type extracting the outer surface of the battery outer box in the direction from the actual image collected in the direction;
  • the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  • the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  • the above two types of comparison can be used according to the position where the image acquisition module 11 collects the images, and they are also used at the same time, that is, the actual size comparison relationship with the standard size comparison relationship, the actual position comparison relationship with the standard position comparison Only when the relationships are the same, can it be determined that the relative position relationships are the same.
  • the relative position of the battery and the battery outer box can be determined by comparing the first battery surface and the outermost box surface of the battery outer box through the relative relationship of the images, and the process is more accurate.
  • the second type determining the actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery by using the depth-of-field information provided in the actual image.
  • the battery surface is a battery surface on the same side as the box surface, and the actual image is preferably an actual image acquired from the direction;
  • the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  • the above process uses the depth of field information of the image to compare the first battery surface and the outermost box surface of the battery outer box to determine the relative position of the battery and the battery outer box, and the process is simpler.
  • FIG. 7 shows a visual analysis method applied to vehicle power exchange in this embodiment.
  • the visual analysis method includes:
  • Step 51 ' In the process of performing the target task by the power exchange device, the actual image is collected in real time.
  • the target task is to mount a battery to a battery outer box of a vehicle, and the actual image includes an image of the battery outer box and an image of the battery.
  • Step 52 ' Analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, perform step 53'.
  • Step 53 ' Notify the power exchange device that the target task has been achieved.
  • the visual analysis method of this embodiment can monitor the battery installation process of the power replacement equipment, ensure that the battery reaches the designated location, avoid situations where the installation is not in place, and ensure the success rate of power replacement.
  • the specific position of the designated position is not limited, and it needs to be determined according to the structure of the battery outer box.
  • the designated position may be located at the forefront of a certain height in the battery outer box or the battery outer box At the top.
  • the battery-powered circuit of the vehicle is turned on, and the battery can power the vehicle, indicating that the battery is in place.
  • the power exchange device may preset a battery movement trajectory required to mount the battery to the specified position when performing the target task. Before the power exchange device receives the notification signal, it moves the battery according to the battery movement track.
  • the setting of the battery movement trajectory needs to be determined according to the specific position of the designated position. For example, if the designated position is located at the forefront of a certain height in the battery outer box, then the corresponding battery movement trajectory is usually the The battery replacement device first lifts the battery to this height, and then moves the battery forward until it reaches the forefront; if the designated position is at the top of the battery case, the corresponding battery movement trajectory is usually that the battery replacement device will The battery is raised until it reaches the top.
  • the visual analysis method of this embodiment collects and analyzes the actual image in real time, and informs the replacement equipment that the target task has been reached in time when the battery reaches the designated location, so that the replacement equipment stops moving the battery, and prevents the battery from colliding with the inner surface of the end. Causes damage to the battery case and battery.
  • the implementation method of the camera or camera in step 51 ' is basically the same as the implementation method of the camera or camera in Embodiment 3, and the difference is only
  • the step 51 ' is implemented according to at least one camera or camera that automatically zooms in the battery case.
  • the camera or camera in Embodiment 3 may also be set at another position where the images of the vehicle and the battery pack assembly can be collected, and the camera or camera in this embodiment may also be set at the position capable of capturing Go to another location of the image of the battery case.
  • the number of cameras or cameras, the way of setting the positions, and the measures taken to overcome the defects of ambient light are also the same as those in the third embodiment.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 6.
  • This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis method of Embodiment 8 and can accurately determine whether the battery has reached a designated position of the battery outer box.
  • step 52 analyzes whether the battery reaches a specified position in the battery outer box according to the actual image, as shown in FIG. 8, and specifically includes:
  • Step 521 Compare whether the actual image is the same as the standard image when the battery is located at the specified position, wherein the standard image is acquired in advance, and the angle when the actual image is acquired is preferably compared with the standard image The acquisition angle is the same:
  • the battery reaches the designated position; if not, the battery does not reach the designated position.
  • the method usually requires pre-storing standard images corresponding to multiple vehicle models and multiple battery outer boxes.
  • the vehicle type and battery outer box of the battery-changed vehicle are determined, and the standard image corresponding to the vehicle is selected from the pre-stored standard images for further comparison.
  • Step 5211 Extract the battery image and the battery outer box image from the actual image, and filter out other images that may be collected together in the image, such as the battery Undercarriage structure around the box;
  • Step 5212 Compare whether the relative position relationship between the battery and the battery outer box in the actual image and the standard image is the same in a first direction, where the first direction is perpendicular to the platform on which the vehicle is parked direction:
  • the battery reaches the designated position; if not, the battery does not reach the designated position.
  • Step 5211 ' extract the image of the battery and the image of the battery outer box from the actual image, and filter out other images that may be collected together, such as the battery Undercarriage structure around the outer box;
  • Step 5212 ' Compare whether the relative positional relationship between the battery and the battery case in other directions perpendicular to the first direction in the actual image and the standard image is the same, and the first direction is equal to Vertical direction of the platform on which the vehicle is parked:
  • the battery reaches the designated position; if not, the battery does not reach the designated position.
  • the two types of comparisons can be used from any one of the two types of comparisons above according to the specific position of the specified position and the battery movement trajectory.
  • the two types of comparisons are used simultaneously. For example, if the designated position is at the forefront of a certain height in the battery outer box, the corresponding battery movement trajectory is that the battery replacement device first lifts the battery to that height, and then moves the battery forward until it reaches the forefront.
  • the corresponding battery movement trajectory is that the battery is lifted by the replacement device until it reaches the top
  • the direction may be the first
  • the direction may also be other directions perpendicular to the first direction:
  • the first type extracting the outer surface of the battery outer box in the direction from the actual image collected in the direction;
  • the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  • the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  • the above two types of comparison can be used according to the position where the image acquisition module 11 collects the images, and they are also used at the same time, that is, the actual size comparison relationship with the standard size comparison relationship, the actual position comparison relationship with the standard position comparison Only when the relationships are the same, can it be determined that the relative position relationships are the same.
  • the relative position of the battery and the battery outer box can be determined by comparing the first battery surface and the outermost box surface of the battery outer box through the relative relationship of the images, and the process is more accurate.
  • the second type determining the actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery by using the depth-of-field information provided in the actual image.
  • the battery surface is a battery surface on the same side as the box surface, and the actual image is preferably an actual image acquired from the direction;
  • the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  • the above process uses the depth of field information of the image to compare the first battery surface and the outermost box surface of the battery outer box to determine the relative position of the battery and the battery outer box, and the process is simpler.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 7.
  • Fig. 11 shows a visual analysis system 10 'applied to vehicle power exchange in this embodiment.
  • the visual analysis system 10 ' includes at least one image acquisition module 11' and an image analysis module 12 '.
  • the connection mode of each of the image acquisition module 11 'and the image analysis module 12' is the same as the connection mode used by the image acquisition module 11 and the image analysis module 12 in Embodiment 1.
  • the image acquisition module 11 ′ is used to collect an actual image and send the actual image to the image analysis module 12 ′.
  • the actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the lock The locking mechanism is used to lock the battery in the battery outer box.
  • the image analysis module 12 ' is configured to analyze a state of the locking mechanism based on the actual image.
  • the state of the vehicle's locking mechanism can be effectively monitored, thereby ensuring the success rate and safety of power exchange.
  • the manner of setting the image acquisition module 11 ′ is basically the same as the manner of setting the image acquisition module 11 in Embodiment 1, except that in other embodiments, the image in Embodiment 1 is changed.
  • the acquisition module 11 may also be disposed at another position where images of the vehicle and the battery pack assembly can be acquired.
  • the image acquisition module 11 'in this embodiment may also be disposed at another position where the image of the locking mechanism can be acquired .
  • the number of image acquisition modules 11 ′, the location setting method, the preferred method to improve the image acquisition clarity, and the measures taken to overcome the defects of ambient light are the same as the image acquisition module 11 in Embodiment 1. .
  • the number of image acquisition modules 11 ' may be determined according to the actual structure of the locking mechanism, cost requirements, and locking accuracy requirements.
  • This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 10, and can specifically analyze whether the state of the locking mechanism is whether the battery is locked or not.
  • the so-called locking of the battery usually means that the battery can be reliably and firmly locked in the battery outer box through the locking mechanism, and the battery will not fall off from the battery outer box.
  • the so-called unlocking of the battery generally means that although the locking mechanism is in a locked state, the battery is not reliably and firmly locked in the battery outer box, and the battery exists from the battery. The possibility and risk of falling out of the outer box.
  • Fig. 12 shows a visual analysis system 10 'of the present embodiment.
  • the state of the locking mechanism that can be analyzed by the image analysis module 12 'in cludes whether the locking mechanism locks the battery.
  • the actual image acquired by the image acquisition module 11 ′ for a locking mechanism is basically the same as the actual image acquired for a locking mechanism in the lock detection test phase in Embodiment 2.
  • the embodiment 2 Replace the battery pack assembly with a battery.
  • the first analysis unit 121 ′ is basically the same as the lock analysis unit 124 in the lock detection stage in Embodiment 2, except that the battery pack assembly battery in Embodiment 2 is replaced with a battery.
  • the standard length of the lock lever protruding out of the lock block when the lock mechanism locks the battery can be obtained by measuring in advance;
  • the first analysis unit 121 determines whether the lock link mechanism locks the battery by analyzing the length of the lock link extending beyond the lock block, and the judgment is simple and has high accuracy.
  • the standard image in Embodiment 2 is replaced with the first standard image in this embodiment, and the first standard image is locked by the locking mechanism.
  • the first analysis unit 121 ′ is mainly used in the process of installing a battery into a battery outer box of a power exchange device, and the specific process of installing the battery may be that the power exchange device lifts the battery upward from below the vehicle until it reaches the battery outer box. Top, then the battery replacement device moves the battery forward in the horizontal direction until it reaches the forefront of the battery case, and finally connects and locks the battery to the battery case through a locking mechanism.
  • the visual analysis system 10 ' can monitor the state of the battery locked by the locking mechanism and feed it back to the power exchange equipment to control the power exchange equipment. To this end, the visual analysis system 10 'may further include a power exchange control module 13'.
  • the power exchange control module 13 ' may be disposed on a remote monitoring device.
  • connection mode of the image analysis module 12 ′ (especially the first analysis unit 121 ′) and the power exchange control module 13 ′ is the same as that of the image analysis module 12 and the power exchange control module 13 in Embodiment 2. the same.
  • the power exchange control module 13 ' is used to control the power exchange equipment to install the battery in the battery outer box.
  • the first analysis unit 121 ' is further configured to notify the power exchange control module 13' after the battery is locked by the locking mechanism.
  • the power exchange control module 13 ' is further configured to send a power exchange completion instruction to the power exchange device after receiving the notification, and the power exchange completion instruction is used to instruct the power exchange device to end the battery installation action. After receiving the power exchange device, the power exchange completion instruction is executed, and then the vehicle is driven away from the position where the vehicle is located.
  • This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 10, and can specifically analyze whether the state of the locking mechanism is whether to unlock the battery.
  • the so-called unlocking of the battery generally means that the battery can be removed from the battery case. In the case that the unlocking is not satisfied, it can be regarded as that the battery is not unlocked.
  • Fig. 13 shows a visual analysis system 10 'of the present embodiment.
  • the state of the locking mechanism that can be analyzed by the image analysis module 12 'in cludes whether the locking mechanism unlocks the battery.
  • the actual image acquired by the image acquisition module 11 ′ for a locking mechanism is basically the same as the actual image acquired for a locking mechanism in the battery unloading stage in Embodiment 2, except that the difference Replace the battery pack assembly with a battery.
  • the function of the second analysis unit 122 ' is basically the same as that of the unlock analysis unit 123 when the battery is unloaded in Embodiment 2.
  • the only difference is that the battery pack assembly in Embodiment 2 is replaced with a battery.
  • the second analysis unit 122 ' determines whether the lock link mechanism unlocks the battery by analyzing the length of the lock link extending beyond the lock block, and the determination is simple and has high accuracy.
  • the standard image in Embodiment 2 is replaced with the second standard image in this embodiment, and the second standard image is unlocked by the locking mechanism.
  • the second analysis unit 122 ' is mainly used in the process of removing power-losing batteries from the battery outer box by the power exchange equipment.
  • the visual analysis system 10' can monitor the state of the battery by the lock mechanism and feedback Power exchange equipment to control the power exchange equipment.
  • the visual analysis system 10 ' may further include a power exchange control module 13'.
  • the connection mode of the image analysis module 12 ′ (especially the second analysis unit 122 ′) and the power exchange control module 13 ′ is the same as that of the image analysis module 12 and the power exchange control module 13 in Embodiment 2. the same.
  • the second analysis unit 122 ' is further configured to notify the power exchange control module 13' after the lock mechanism unlocks the battery.
  • the power exchange control module 13 ' is further configured to send a battery removal instruction to the power exchange device after receiving the notification, and the battery removal instruction is used to instruct the power exchange device to remove the battery from the battery Remove the battery case. After receiving the power exchange device, the battery unloading instruction is executed, and then the vehicle is driven away from the locked position of the vehicle.
  • the visual analysis system 10 'of Embodiment 10, Embodiment 11 and Embodiment 12 is integrated to form a visual analysis system applied to vehicle power exchange in this embodiment. As shown in FIG. 14, it includes: an image acquisition module 11' , Image analysis module 12 ', power exchange control module 13'.
  • the image acquisition module 11 ′, the first analysis unit 121 ′, the second analysis unit 122 ′, and the power exchange control module 13 ′ refer to the corresponding descriptions of Embodiment 10, Embodiment 11 and Embodiment 12 for details. , Will not repeat them here.
  • FIG. 15 shows a visual analysis method applied to vehicle power exchange in this embodiment.
  • the visual analysis method includes:
  • Step 51 ' Acquire an actual image, where the actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery in the battery outer box.
  • Step 52 ' Analyze the state of the locking mechanism based on the actual image.
  • the state of the vehicle's locking mechanism can be effectively monitored, thereby ensuring the success rate and safety of power exchange.
  • the implementation method of the camera or camera in step 51 ' is basically the same as that in embodiment 3, except that the difference is that the use of step 51'
  • the camera or camera may be set on a power exchange device.
  • the electrical replacement device is used to provide electrical replacement service for the vehicle, and may generally include the function of inserting a new or fully charged battery into the battery outer case, or removing the original lack of battery on the vehicle from the battery outer case. Functions, or both.
  • the camera or camera in Embodiment 3 may also be installed at another position where the images of the vehicle and the battery pack assembly can be collected, and the camera or camera in this embodiment may also be installed at Other positions of the image of the locking mechanism are acquired.
  • the number and location of the cameras or cameras and the measures taken to overcome the defect of ambient light are the same as the measures taken by the cameras or cameras in Embodiment 3.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 10.
  • This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis method of Embodiment 14 and can specifically analyze whether the state of the locking mechanism is whether the battery is locked or not.
  • the so-called locking of the battery usually means that the battery can be reliably and firmly locked in the battery outer box through the locking mechanism, and the battery will not fall off from the battery outer box.
  • the so-called unlocking of the battery generally means that although the locking mechanism is in a locked state, the battery is not reliably and firmly locked in the battery outer box, and the battery exists from the battery. The possibility and risk of falling out of the outer box.
  • FIG. 16 shows a visual analysis method of this embodiment.
  • the state of the locking mechanism that can be analyzed in this embodiment includes whether the locking mechanism locks the battery.
  • Step 521 ' Analyze whether the locking mechanism locks the battery according to the actual image.
  • step 51 'for a locking mechanism is basically the same as the actual image collected in step 51 for a locking mechanism during the lock detection phase in Embodiment 4.
  • the Replace the battery pack assembly with a battery Fig. 17 shows a specific flowchart for implementing step 521 '.
  • the specific implementation of step 521 ' is basically the same as that of analyzing whether the locking mechanism locks the battery pack assembly during the lock detection phase in Embodiment 4.
  • the only difference is that the battery pack in the lock detection test phase in Embodiment 4
  • the assembly is replaced with a battery.
  • the standard length of the lock lever protruding out of the lock block when the locking mechanism locks the battery can be obtained by measuring in advance;
  • the above process determines whether the locking link mechanism locks the battery by analyzing the length of the locking link protruding from the locking block, and the judgment is simple and highly accurate.
  • FIG. 18 also shows another process for implementing step 521 ', which is basically the same as another implementation of analyzing whether the locking mechanism locks the battery pack assembly in Embodiment 4, except that only the difference is that The standard image in Embodiment 4 is replaced with a first standard image, which is acquired in advance when the locking mechanism locks the battery, and when comparing the images, the two images are mainly locked. Whether the external shape of the mechanism and its associated structure are the same, other images that may be collected together in the image, such as the structure of the bottom of the car around the battery case, can be ignored;
  • Step 521 ' is mainly applied to the process of installing the battery into the battery outer box of the power exchange device.
  • the specific process of installing the battery may be that the power exchange device lifts up the battery from below the vehicle until it reaches the top of the battery outer box, and then exchanges the power The device then moves the battery forward along the horizontal direction until it reaches the forefront of the battery outer box, and finally connects the battery to the battery outer box through a locking mechanism and locks it securely.
  • the method can monitor the state of the battery locked by the locking mechanism and feed it back to the power exchange equipment to control the power exchange equipment.
  • the visual analysis method may further include performing before step 51 ': step 50': controlling a power exchange device to install the battery in the battery outer box;
  • the visual analysis method may further include: Step 53 ': After the battery is locked by the locking mechanism, the power exchange device is instructed to end the battery installation action.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 10.
  • This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 10, and can specifically analyze whether the state of the locking mechanism is whether to unlock the battery.
  • the so-called unlocking of the battery generally means that the battery can be removed from the battery case. In the case that the unlocking is not satisfied, it can be regarded as that the battery is not unlocked.
  • FIG. 19 shows a visual analysis method of this embodiment.
  • the state of the locking mechanism that can be analyzed in this embodiment includes whether the locking mechanism unlocks the battery.
  • Step 522 ' Analyze whether the locking mechanism unlocks the battery according to the actual image.
  • step 51 'for a locking mechanism is basically the same as the actual image acquired by step 51 at a battery removal stage of step 4 except that the battery pack in embodiment 4 is the same. Replace the assembly with a battery.
  • Fig. 20 shows a specific flowchart for implementing step 522 '.
  • the specific implementation of step 522 ' is basically the same as that of analyzing whether the locking mechanism unlocks the battery pack assembly during the battery removal phase in Embodiment 4. The only difference is that the battery removal phase in Embodiment 4 The battery pack assembly is replaced with a battery.
  • the above process judges whether the lock link mechanism unlocks the battery by analyzing the length of the lock link protruding from the lock block, and the judgment is simple and highly accurate.
  • FIG. 21 shows another process for implementing step 522 ', which is basically the same as another implementation of analyzing whether the locking mechanism unlocks the battery pack assembly in Embodiment 4, except that the implementation is different.
  • the standard image in Example 4 is replaced with the second standard image in this embodiment, and the second standard image is an image when the battery is unlocked by the locking mechanism, and the second standard image is in the locked state. It is pre-collected when the mechanism unlocks the battery.
  • comparing the images it is mainly to compare whether the external shape of the locking mechanism and its associated structure in the two images are the same. Other images in the image that may be collected together, such as the battery Undercarriage structure around the outer box.
  • Step 522 ' is mainly applied to the process of removing the power-losing battery from the battery outer box of the power exchange device.
  • the method can monitor the state of the battery by the lock mechanism and feedback to the power exchange device to realize the power exchange device. control.
  • the visual analysis system 10 may further include:
  • Step 54 ' After the battery is unlocked by the locking mechanism, the power exchange device is instructed to remove the battery from the battery case.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 12.
  • Embodiment 14 Embodiment 15 and Embodiment 16 are integrated to form a visual analysis system for vehicle power exchange in this embodiment, as shown in FIG. 22, which includes:
  • Step 51 ' Acquire an actual image
  • Step 522 ' analyze whether the locking mechanism unlocks the battery according to the actual image
  • Step 54 ' After the battery is unlocked by the locking mechanism, the power exchange device is instructed to remove the battery from the battery case;
  • Step 50 ' control the power exchange equipment to install the battery in the battery outer box
  • Step 51 ' Acquire an actual image
  • Step 521 ' analyze whether the locking mechanism locks the battery according to the actual image
  • Step 53 ' After the battery is locked by the locking mechanism, the power exchange device is instructed to end the battery installation operation.
  • the visual analysis system applied to the vehicle power exchange in this embodiment is basically the same as the system in Embodiment 1, except that the image acquisition module 11 is configured to collect an actual image and send the actual image to all The image analysis module 12, the actual image includes an image of a battery outer box of the vehicle.
  • the image analysis module 12 is configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module 13.
  • the power exchange control module 13 is configured to generate a control instruction according to the space state information of the battery outer box and send the control instruction to the power replacement device 40.
  • the control instruction is used to instruct the power replacement device 40 Adjust its own space state information to fit the space state information of the battery case.
  • image acquisition is implemented by the image acquisition module 11, and image analysis is implemented by the image analysis module 12 to accurately obtain the spatial state information of the battery outer box, and the power exchange equipment 40 is adjusted accordingly.
  • the visual analysis system 10 can be applied to the positioning of the battery outer case during the removal of the battery pack from the battery outer case, and also to the battery outer case during the installation of a new battery pack into the battery outer case. Positioning to ensure the success rate of battery pack replacement.
  • the image acquisition module 11 may be further configured to acquire the actual image again after the power exchange device 40 executes the control instruction. Then, the image analysis module 12 and the power exchange control module 13 analyze and adjust the power exchange device 40 again according to the actual image acquired again.
  • the image acquisition module 11 may be disposed on the power exchange device 40.
  • the power exchange device 40 may generally include a function of inserting a new or fully charged battery into a battery outer box, or a function of removing an existing battery lacking a battery from the battery outer box, or both.
  • the image acquisition module 11 may also be disposed on a platform where the vehicle is parked.
  • the platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms.
  • the present invention is not limited to this.
  • the image acquisition module 11 may also be disposed at another position where an image of the battery outer box can be acquired.
  • the number of the image acquisition modules 11 may be determined according to the actual structure of the battery outer box, cost requirements, and control accuracy requirements.
  • This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 18. It can analyze the position information of the battery outer box, and according to the battery outer box, The location information moves the location of the electrical replacement device.
  • Fig. 23 shows a visual analysis system 10 "of this embodiment.
  • the spatial state information includes position information, and the position information may be three-dimensional coordinate information.
  • the image analysis module 12" includes a position analyzer Module 121 ".
  • the position analysis sub-module is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module 13".
  • the control instruction generated by the power exchange control module 13 “includes a position movement instruction.
  • the power exchange control module 13" is further configured to generate the position movement instruction according to the position information of the battery outer box.
  • the target position is related to the position of the battery outer box.
  • the target positions may also be different.
  • the target position is the battery pack and the battery pack.
  • the battery case is aligned.
  • the power exchange device 40 is located below the platform.
  • the battery changer can lift the battery pack into the battery case.
  • the target position is the power exchange unlocking mechanism and the The position where the trigger unlock mechanism on the battery outer box is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle. That is, the power exchange device 40 "is located below the platform.
  • the power exchange unlocking mechanism is aligned with the trigger unlocking mechanism, and the power exchange device 40 "is lifted
  • the power exchange unlocking mechanism can insert the power exchange unlocking mechanism into the trigger unlocking mechanism to unlock the battery pack.
  • the present invention does not limit the specific structures of the power exchange unlocking mechanism and the trigger unlocking mechanism.
  • generating the position movement instruction according to the position information of the battery outer box includes:
  • a position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device 40 "to move in a direction of reducing the difference.
  • the difference is mainly a difference in the horizontal direction.
  • the battery outer box can be projected onto the plane on which the power exchange device 40 "is located, and the distance difference between the battery outer box and the target position is calculated. , And the distance difference is made up by the position movement instruction.
  • the visual analysis system 10 "of this embodiment can accurately determine the position information of the battery outer box, and realize the position adjustment of the high-precision power exchange device 40".
  • This embodiment provides a visual analysis system for vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 19, and can analyze the posture information of the battery outer box, and according to the battery outer box, The posture information adjusts the posture of the power exchange mechanism of the power exchange device.
  • Fig. 25 shows a visual analysis system 10 "of this embodiment.
  • the spatial state information includes attitude information.
  • the image analysis module 12" includes an attitude analysis sub-module 122 ", and the power exchange control module 13 "generated control instructions include attitude adjustment instructions.
  • the attitude analysis sub-module 122 "and the attitude adjustment instruction in this embodiment are the same as the attitude analysis unit 122 and the attitude adjustment instruction in Embodiment 2.
  • the processing and attitude analysis sub-module 122 attitude
  • the power exchange control module 13 ′′ and the image acquisition module 11 ′′ have the same functions as the power exchange control module 13 and the image acquisition module 11 in Embodiment 2.
  • FIG. 26 shows a standard image outline P0 when the battery case is set in the reference direction X.
  • FIG. 27 shows an image outline P1 of the battery case in the actual image.
  • Fig. 28 is obtained by overlapping Fig. 26 and Fig. 27 (the dotted line represents the standard image outline P0, and the solid line represents the image outline P1 in the actual image).
  • the image outline P1 is different from the standard image outline P0.
  • the angle ⁇ between the installation direction of the box and the reference direction X.
  • the power exchange control module 13 "usually needs to pre-store standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. Before or during the power exchange, determine the vehicle model and battery outer box of the vehicle to be replaced, and select the standard image contour corresponding to the vehicle from the pre-stored standard image contours for further comparison.
  • the visual analysis system 20 of Embodiment 18, Embodiment 19, and Embodiment 3 is integrated to form a visual analysis system for vehicle power exchange in this embodiment, as shown in FIG. 29, which includes: an image acquisition module 11 ", Image analysis module 12 ", power exchange control module 13".
  • the image analysis module 12 includes the position analysis sub-module of embodiment 18 and the posture analysis sub-module 122" of embodiment 19.
  • the image acquisition module 11 ", all The position analysis sub-module 121 ′′, the attitude analysis sub-module 122 ′′, and the power exchange control module 13 ′′ refer to the corresponding descriptions of Embodiment 18, Embodiment 19, and Embodiment 20, and details are not described herein again.
  • the power exchange control module 13 "of this embodiment is further configured to report to the power exchange device 40" when the space status information of the power exchange device 40 "has been adapted to the space status information of the battery outer box.
  • a parking instruction is sent, and the parking instruction is used to instruct the power exchange device 40 "to maintain the current space state information until the instruction is received again.
  • the instruction received again includes: placing the battery pack on the power exchange device 40 " Instructions for mounting the battery pack to the battery case.
  • the instructions received again include: an instruction to remove the battery pack from the battery outer box .
  • FIG. 30 is a visual analysis method applied to vehicle power exchange according to this embodiment.
  • the visual analysis method includes:
  • Step 51 Acquire an actual image, where the actual image includes an image of a battery outer box of the vehicle.
  • Step 52 Acquire the space state information of the battery outer box according to the actual image.
  • Step 53 According to the space state information of the battery outer box, instruct the power exchange device to adjust its own space state information to fit the space state information of the battery outer box.
  • the visual analysis method of this embodiment accurately acquires the space state information of the battery outer box through image acquisition and image analysis, and adjusts the power exchange equipment accordingly.
  • the visual analysis method can be applied to the positioning of the battery outer box during the removal of the battery pack from the battery outer box, and also to the positioning of the battery outer box during the process of installing a new battery pack into the battery outer box. Positioning to ensure the success rate of battery pack replacement.
  • the visual analysis method may further include:
  • step 52 is performed to obtain the space state information of the battery outer box, and step 53" is used to regulate the power exchange device.
  • step 51 is implemented by using at least one camera or camera that automatically zooms according to the battery case.
  • the camera or camera may be set to Electrical equipment.
  • the electrical replacement equipment is used to provide electrical replacement services for the vehicle, and may generally include the function of inserting a new or fully charged battery into the battery outer box, or including the removal of the original lack of battery on the vehicle from the battery. The function of removing the outer box, or both of the above functions.
  • the camera or camera can also be installed on the platform where the vehicle is parked.
  • the platform can be a dedicated platform for parking the vehicle during the power exchange process or It is another common platform.
  • the present invention is not limited to this.
  • the camera or camera may be disposed at another position where the image of the locking mechanism can be collected.
  • the number of cameras or cameras, the location of the cameras, and the measures taken to overcome the lack of light are the same as the corresponding settings of the cameras or cameras in Embodiment 3.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 18.
  • This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 22, and can analyze the position information of the battery outer box, and according to the battery outer box, The location information moves the location of the electrical replacement device.
  • FIG. 31 shows a visual analysis method of this embodiment.
  • the spatial state information includes position information
  • the position information may be three-dimensional coordinate information.
  • Step 52 specifically includes: step 521": acquiring position information of the battery outer box according to the actual image.
  • Step 53 specifically includes step 531": instructing the power exchange device to move its position to a target position, and the target position is related to the position of the battery outer box.
  • the target positions may also be different.
  • the target position is the pair of the battery pack and the battery outer case. Quasi-location.
  • the target position is the power exchange unlocking mechanism and the The position where the trigger unlock mechanism on the battery outer box is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle.
  • step 531 includes:
  • Step 5311 acquiring the position information of the battery outer box and the position information of the target position
  • Step 5312 Compare the difference between the position information of the battery case and the position information of the target position
  • Step 5313 A position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
  • the difference is mainly a difference in the horizontal direction.
  • the battery outer box can be projected onto the plane where the power exchange device is located, and the distance difference between the battery outer box and the target position is calculated.
  • the position movement instruction compensates the distance difference.
  • the visual analysis method of this embodiment can accurately determine the position information of the battery outer box, and achieve high-precision position adjustment of the power exchange equipment.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 19.
  • This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 22, and can analyze the posture information of the battery outer box, and according to the battery outer box, The posture information adjusts the posture of the power exchange mechanism of the power exchange device.
  • FIG. 33 shows a visual analysis method of this embodiment.
  • the spatial state information includes attitude information.
  • Step 52 “specifically includes: step 522": obtaining posture information of the battery outer box according to the actual image.
  • Step 53 specifically includes step 532": instructing the power exchange device to adjust its posture so that the power exchange mechanism on the power exchange device has the same posture as the battery case.
  • the attitude information of the battery outer box may include an angle between the battery outer box and a platform on which the vehicle is parked.
  • Step 522 obtains an included angle between the battery outer box and the platform on which the vehicle is parked according to the actual image.
  • a specific process includes: Step 5221" -1: from the actual image Extracting an image contour of the battery outer box;
  • Step 5222 "-1: Determine whether the image contour is the same as the standard image contour when the battery outer box is set in parallel with the platform, wherein the standard image contour is collected in advance, and the two images are mainly compared when comparing the two. Whether the battery case is the same in each image, you can ignore other images that may be collected together in the image, such as the structure of the bottom of the vehicle around the battery case:
  • the angle when acquiring the actual image is preferably the same as the acquisition angle of the standard image contour.
  • a standard image outline of the battery outer box collected from directly below the battery outer box should be a rectangle . If the outline of the image of the battery case is rectangular in the actual image collected from directly below the battery case, it means that the image outline of the battery case is parallel to the standard image outline, that is, the outside of the battery The box is also parallel to the platform.
  • the outline of the image of the battery case is not rectangular in the actual image collected from directly below the battery case, if there is a vertex that is not a right angle, then the image outline of the battery case and the The standard image contour is not parallel, that is, the battery outer box is not parallel to the platform.
  • the angle between the battery outer box and the platform can be further determined by the angle of the vertex angle in the image contour.
  • the method usually requires pre-storing standard image contours corresponding to multiple vehicle models and multiple battery outer boxes.
  • the vehicle model and battery outer box of the vehicle to be replaced are determined, and the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for further comparison.
  • Step 522 obtains the angle between the battery outer box and the platform on which the vehicle is parked according to the actual image.
  • Another specific process includes: Step 5221" -2: Passing the actual image Built-in depth of field information determines a relative height difference between at least two characteristic parts of the battery outer box;
  • the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
  • the battery outer box As a rectangular parallelepiped as an example, when the battery outer box is arranged in parallel with the platform, the actual battery image of the battery outer box collected from directly below the battery outer box, the battery outer box
  • the relative height difference of each characteristic part of should be 0, that is, the included angle with the platform is 0 in the same plane. If there is a relative height difference between the characteristic parts of the battery outer box, that is, the battery outer box is not parallel to the platform, the angle between the battery outer box and the platform can be further determined through the relative height difference.
  • the at least two characteristic parts are at least two vertex angles of the battery outer case.
  • step 522 may adopt any one of the above two implementations according to the actual situation.
  • the posture information of the battery outer box may further include: a setting direction of the battery outer box.
  • Step 522 obtains the setting direction of the battery outer box according to the actual image, as shown in FIG. 36, including:
  • the angle at which the actual image is collected is the same as the angle at which the standard image contour is collected.
  • the method generally requires pre-storing standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. Or during the power exchange process, determine the vehicle type and battery outer box of the vehicle to be replaced, and select the standard image contour corresponding to the vehicle from the pre-stored standard image contours for further comparison.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 20.
  • Embodiment 22 The visual analysis methods of Embodiment 22, Embodiment 23, and Embodiment 24 are integrated to form a visual analysis method applied to vehicle power exchange in this embodiment, as shown in FIG. 37, which includes:
  • Step 51 Acquire an actual image, where the actual image includes an image of a battery outer box of the vehicle.
  • Step 521 Obtain position information of the battery outer box according to the actual image.
  • Step 522 Acquire attitude information of the battery outer box according to the actual image.
  • Step 531 instruct the power exchange device to move its position to a target position, and the target position is related to the position of the battery outer box.
  • Step 532 instruct the power exchange device to adjust its posture so that the power exchange mechanism on the power exchange device is the same as the posture of the battery case.
  • the visual analysis method of this embodiment further includes: Step 54 ": when the space state information of the power exchange device itself has been adapted to the space state information of the battery outer box, command the power exchange device to maintain the current space state Until the command is received again.
  • the instructions received again include: installing the battery pack on the power exchange device to the battery replacement device. Instructions for battery case.
  • the instructions received again include: an instruction to remove the battery pack from the battery outer box.
  • the visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 21.

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Abstract

A visual analysis system and method applied to battery swap of a vehicle, and a battery swap control method. The visual analysis system (10) comprises at least one image acquisition module (11), an image analysis module (12), and a battery swap control module (13). The image acquisition module (11) is used for acquiring actual images of a vehicle and a battery pack assembly during a battery swap process of the vehicle and sending the actual images to the image analysis module (12). The image analysis module (12) is used for monitoring the battery swap process according to the actual images and sending the battery swap process to the battery swap control module (13). The battery swap control module (13) is used for generating a regulation instruction for regulating objects involved in the battery swap process. The entire battery swap process is monitored by means of an image processing technology, and the objects involved in the battery swap process (such as a vehicle and battery swap equipment) are controlled to ensure the success rate of battery swap.

Description

应用于车辆换电的视觉分析***及方法Visual analysis system and method applied to vehicle power exchange
本申请要求申请日为2018/7/27的中国专利申请2018108458232、申请日为2018/7/27的中国专利申请2018108437950、申请日为2018/7/27的中国专利申请2018108458497及申请日为2018/7/27的中国专利申请2018108472390的优先权。本申请引用上述中国专利申请的全文。This application requires a Chinese patent application 2018108458232 with a filing date of 2018/7/27, a Chinese patent application 2018108437950 with a filing date of 2018/7/27, a Chinese patent application 2018108458497 with a filing date of 2018/7/27, and an application date of 2018/2018. 7/27 Chinese patent application 2018108472390 priority. This application cites the full text of the aforementioned Chinese patent application.
技术领域Technical field
本发明属于换电控制领域，尤其涉及一种应用于车辆换电的视觉分析***及方法。The invention belongs to the field of power exchange control, and particularly relates to a visual analysis system and method applied to vehicle power exchange.
背景技术Background technique
目前，汽车尾气的排放仍然是环境污染问题的重要因素，为了治理汽车尾气，人们研制出了天然汽车、氢燃料汽车、太阳能汽车和电动汽车以替代燃油型汽车。而其中最具有应用前景的是电动汽车。目前的电动汽车主要包括直充式和快换式两种。At present, the emission of automobile exhaust is still an important factor in environmental pollution. In order to treat automobile exhaust, people have developed natural vehicles, hydrogen fuel vehicles, solar vehicles and electric vehicles to replace fuel-based vehicles. Among them, electric vehicles are the most promising. The current electric vehicles mainly include two types of direct charging and quick changing.
快换式的电动汽车在其电池包进行更换时，需要换电设备行走至车辆的下方，以将车辆上原有的电池包从电池外箱中取下，然后将新的电池包安装到电池外箱中，现有技术中，通常由换电设备自身控制换电动作，缺少外部的监控，由于无法准确定位到电池外箱的位置而不能取下电池包或安装新的电池包，其安装新的电池时也常常会出现安装不到位而使得电池未完全进入电池外箱的情况，甚至还会导致电池掉落，损坏电池，另外，在取下旧电池包或安装新的电池包时常常会出现无法监控锁止机构的状态的情况，因此，在现有技术下，不但容易造成换电失败，甚至易损坏电池外箱或电池包的关联结构，更是存在很大的安全隐患。When the battery pack of a quick-change type electric vehicle is replaced, the electric replacement device needs to walk under the vehicle to remove the original battery pack from the battery outer box, and then install the new battery pack outside the battery. In the box, in the prior art, the power-changing operation is usually controlled by the power-changing device itself. Without external monitoring, the battery pack cannot be removed or a new battery pack cannot be installed due to the inability to accurately locate the battery outer box. Often, the battery is not installed properly and the battery does not fully enter the battery case. It may even cause the battery to fall and damage the battery. In addition, when removing the old battery pack or installing a new battery pack, It is impossible to monitor the state of the locking mechanism. Therefore, in the prior art, not only is it easy to cause a failure in power replacement, it is also easy to damage the associated structure of the battery case or the battery pack, and there is a great hidden danger.
发明内容Summary of the Invention
本发明要解决的技术问题是为了克服现有技术中由换电设备自身控制换电动作，缺少外部的监控的缺陷，提供一种应用于车辆换电的视觉分析***、方法及换电控制方法。The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art that the power exchange equipment controls the power exchange action and lacks external monitoring, and provides a visual analysis system, method and power exchange control method for vehicle power exchange. .
本发明是通过以下技术方案解决上述技术问题的：The present invention solves the above technical problems through the following technical solutions:
本发明提供了一种应用于车辆换电的视觉分析***，所述视觉分析***包括至少一图像采集模块、图像分析模块和换电控制模块；The present invention provides a visual analysis system applied to vehicle power exchange. The visual analysis system includes at least one image acquisition module, image analysis module, and power exchange control module.
所述图像采集模块用于在车辆换电过程中，采集车辆和电池包总成的实际图像并将所述实际图像发送至所述图像分析模块；The image acquisition module is used to collect the actual images of the vehicle and the battery pack assembly during the vehicle power exchange process and send the actual images to the image analysis module;
所述图像分析模块用于根据所述实际图像监控所述换电过程，并将所述换电过程发送至所述换电控制模块；The image analysis module is configured to monitor the power exchange process according to the actual image, and send the power exchange process to the power exchange control module;
所述换电控制模块用于生成用于调控所述换电过程所涉及对象的调控指令。The power exchange control module is configured to generate a control instruction for controlling an object involved in the power exchange process.
较佳地，所述换电过程至少包括：车辆停车定位阶段；Preferably, the power exchange process includes at least a vehicle parking and positioning phase;
所述图像采集模块在所述车辆停车定位阶段中采集的实际图像中包含所述车辆的图像及已标识的预设停车区域的图像；The actual image collected by the image acquisition module during the vehicle parking positioning phase includes an image of the vehicle and an image of an identified preset parking area;
所述图像分析模块具体用于从所述实际图像提取所述车辆停泊的位置信息，通过所述位置信息确定所述车辆停泊于是否在所述预设停车区域内，若否，则向所述换电控制模块发送第一通知；The image analysis module is specifically configured to extract the parking position information of the vehicle from the actual image, and use the position information to determine whether the vehicle is parked in the preset parking area, and if not, send the The power exchange control module sends a first notification;
所述换电控制模块具体用于在接收到所述第一通知后，生成车辆调控指令，所述车辆调控指令用于命令所述车辆重新停泊至所述预设停车区域内。The power exchange control module is specifically configured to generate a vehicle regulation instruction after receiving the first notification, and the vehicle regulation instruction is used to instruct the vehicle to be parked in the preset parking area again.
较佳地，所述换电过程至少包括：所述车辆的电池外箱定位阶段；Preferably, the power exchange process includes at least: a battery outer box positioning stage of the vehicle;
所述图像采集模块在所述电池外箱定位阶段中采集的实际图像中包含车辆的电池外箱的图像；The actual image acquired by the image acquisition module during the positioning of the battery outer box includes an image of the battery outer box of the vehicle;
所述图像分析模块具体用于根据所述实际图像获取所述电池外箱的空间状态信息，并将所述电池外箱的空间状态信息发送至所述换电控制模块；The image analysis module is specifically configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module;
所述换电控制模块具体用于根据所述电池外箱的空间状态信息生成第一调控指令并将所述第一调控指令发送至用于为所述车辆换电的换电设备，所述第一调控指令用于命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。The power exchange control module is specifically configured to generate a first control instruction according to the space state information of the battery outer box and send the first control instruction to a power exchange device used to exchange electricity for the vehicle. A control instruction is used to instruct the power exchange device to adjust its own space state information to fit the space state information of the battery outer box.
较佳地，所述电池外箱定位阶段适用于：所述换电设备从所述电池外箱内取下缺电的电池包总成之前，或所述换电设备将待装的电池包总成安装至所述电池外箱之前。Preferably, the battery outer box positioning stage is suitable for: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or the battery pack assembly to be installed by the power exchange device Before mounting to the battery case.
较佳地，所述换电过程至少包括：为所述车辆换电的换电设备从所述车辆的电池外箱内解锁并取下缺电的电池包总成的卸电池阶段；Preferably, the power replacement process includes at least: a battery unloading phase of unlocking and removing a battery pack assembly lacking power from a battery outer box of the vehicle;
所述图像采集模块在所述卸电池阶段采集的实际图像中包含所述电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；The actual image acquired by the image acquisition module during the battery unloading stage includes an image of a locking mechanism in the battery outer box, which is used to lock the battery pack assembly outside the battery Inside the box
所述图像分析模块具体用于根据所述实际图像分析所述锁止机构是否解锁所述电池包总成，并在所述锁止机构解锁所述电池包总成时向所述换电控制模块发送第二通知；The image analysis module is specifically configured to analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and to the power exchange control module when the locking mechanism unlocks the battery pack assembly Sending a second notification;
所述换电控制模块具体用于在接收到所述第二通知后，向所述换电设备发送卸电池指令，所述卸电池指令用于命令所述换电设备将所述电池包总成从所述电池外箱取下。The power exchange control module is specifically configured to send a battery removal instruction to the power replacement device after receiving the second notification, and the battery removal instruction is used to instruct the power replacement device to replace the battery pack assembly. Remove from the battery case.
较佳地，所述换电设备预设有执行所述卸电池指令时所需的将所述电池包总成从所述电池外箱取下的第一电池移动轨迹。Preferably, the power exchange device is preset with a first battery movement trajectory required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
较佳地，所述换电过程至少包括：为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段；Preferably, the power exchange process includes at least: a battery pack stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device that exchanges power for the vehicle;
所述图像采集模块在所述装电池阶段，实时采集所述实际图像并将所述实际图像实时发送至所述图像分析模块，所述实际图像中包含所述电池外箱的图像和所述电池包总成的图像；The image acquisition module collects the actual image in real-time and sends the actual image to the image analysis module in real-time during the battery installation phase. The actual image includes an image of the battery outer box and the battery. Image of package assembly;
所述图像分析模块具体用于根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，若是，则向所述换电控制模块发送第三通知；The image analysis module is specifically configured to analyze whether the battery pack assembly has reached a specified position in the battery outer box according to the actual image, and if so, send a third notification to the power exchange control module;
所述换电控制模块具体用于在接收到所述第三通知后向所述换电设备发送第二调控指令，所述第二调控指令用于告知所述换电设备已达成所述装电池阶段。The power exchange control module is specifically configured to send a second control instruction to the power exchange device after receiving the third notification, and the second control instruction is used to notify the power exchange device that the battery is installed stage.
较佳地，所述换电过程至少包括：所述电池外箱的锁检测阶段；Preferably, the power replacement process includes at least: a lock detection phase of the battery outer box;
所述图像采集模块在所述锁检测阶段采集的实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；The actual image acquired by the image acquisition module during the lock detection phase includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly outside the battery. Inside the box
所述图像分析模块具体用于根据所述实际图像分析所述锁止机构是否锁紧所述电池包总成。The image analysis module is specifically configured to analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
较佳地，所述锁检测阶段发生于所述换电设备将待装的电池包总成安装至所述电池外箱之后。Preferably, the lock detection phase occurs after the battery replacement assembly is installed in the battery outer box by the power exchange device.
较佳地，所述空间状态信息包括位置信息，所述图像分析模块包括位置分析单元；Preferably, the spatial state information includes position information, and the image analysis module includes a position analysis unit;
所述位置分析单元用于根据所述实际图像获取所述电池外箱的位置信息，并将所述电池外箱的位置信息发送至所述换电控制模块；The position analysis unit is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module;
所述第一调控指令包括位置移动指令，所述换电控制模块还用于根据所述电池外箱的位置信息生成所述位置移动指令，所述位置移动指令用于命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The first control instruction includes a position movement instruction, and the power exchange control module is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange equipment to move The position is from the target position to the target position, and the target position is related to the position of the battery case.
较佳地，所述空间状态信息包括姿态信息，所述图像分析模块包括姿态分析单元；Preferably, the spatial state information includes posture information, and the image analysis module includes a posture analysis unit;
所述姿态分析单元用于根据所述实际图像获取所述电池外箱的姿态信息，并将所述电池外箱的姿态信息发送所述换电控制模块；The posture analysis unit is configured to obtain posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module;
所述第一调控指令包括姿态调整指令，所述换电控制模块还用于根据所述电池外箱的姿态信息生成所述姿态调整指令，所述姿态调整指令用于命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。The first control instruction includes a posture adjustment instruction, and the power exchange control module is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange equipment to adjust The posture is such that the posture of the power exchange mechanism on the power exchange device is the same as that of the battery case.
较佳地，所述图像分析模块包括解锁分析单元；Preferably, the image analysis module includes an unlock analysis unit;
所述解锁分析单元用于根据所述实际图像通过以下方式分析所述锁止机构是否解锁所述电池包总成：The unlock analysis unit is configured to analyze whether the lock mechanism unlocks the battery pack assembly in the following manner according to the actual image:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否为0：Compare whether the length is 0:
若是，则所述锁止机构解锁所述电池包总成；If so, the locking mechanism unlocks the battery pack assembly;
若否，则所述锁止机构未解锁所述电池包总成；If not, the locking mechanism has not unlocked the battery pack assembly;
或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构解锁所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the lock mechanism unlocks the battery pack assembly;
若是，则所述锁止机构解锁所述电池包总成；If so, the locking mechanism unlocks the battery pack assembly;
若否，则所述锁止机构未解锁所述电池包总成。If not, the locking mechanism has not unlocked the battery pack assembly.
较佳地，所述电池包总成到达所述指定位置时所述车辆的电池供电电路导通，所述换电设备预设有执行所述目标任务时所需的将所述电池包总成安装至所述指定位置的电池移动轨迹。Preferably, the battery-powered circuit of the vehicle is turned on when the battery pack assembly reaches the designated position, and the power exchange device presets the battery pack assembly required when performing the target task. The movement track of the battery mounted to the specified position.
较佳地，根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，包括：Preferably, analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
从所述实际图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from the actual image;
从与所述电池包总成位于所述指定位置时的标准图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from a standard image when the battery pack assembly is located at the designated position;
比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Compare whether the relative positional relationship between the battery pack assembly and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, so The first direction is a direction perpendicular to the platform on which the vehicle is parked:
若是，则所述电池包总成到达所述指定位置；If yes, the battery pack assembly reaches the designated position;
若否，则所述电池包总成未到达所述指定位置。If not, the battery pack assembly does not reach the designated position.
较佳地，所述图像分析模块包括锁紧分析单元；Preferably, the image analysis module includes a locking analysis unit;
所述锁紧分析单元用于根据所述实际图像通过以下方式分析所述锁止机构是否锁紧所述电池包总成：The locking analysis unit is configured to analyze whether the locking mechanism locks the battery pack assembly in the following manner according to the actual image:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否小于所述锁止机构锁紧所述电池包总成时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery pack assembly;
若是，则所述锁止机构未锁紧所述电池包总成；If yes, the locking mechanism does not lock the battery pack assembly;
若否，则所述锁止机构锁紧所述电池包总成；If not, the locking mechanism locks the battery pack assembly;
或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构锁紧所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the locking mechanism locks the battery pack assembly;
若是，则所述锁止机构锁紧所述电池包总成；If so, the locking mechanism locks the battery pack assembly;
若否，则所述锁止机构未锁紧所述电池包总成。If not, the locking mechanism does not lock the battery pack assembly.
较佳地，所述图像采集模块设置于用于为所述车辆换电的换电设备上，或，设置于所述车辆停泊的平台上。Preferably, the image acquisition module is disposed on a power exchange device used to exchange electricity for the vehicle, or is disposed on a platform where the vehicle is parked.
本发明还提供一种应用于车辆换电的视觉分析方法，所述视觉分析方法包括：The present invention also provides a visual analysis method applied to vehicle power exchange. The visual analysis method includes:
在车辆换电过程中，采集车辆和电池包总成的实际图像；During vehicle power exchange, collect actual images of the vehicle and battery pack assembly;
根据所述实际图像监控所述换电过程；Monitoring the power exchange process according to the actual image;
调控所述换电过程所涉及的对象。Regulate the objects involved in the power exchange process.
较佳地，所述换电过程至少包括：车辆停车定位阶段；Preferably, the power exchange process includes at least a vehicle parking and positioning phase;
在所述车辆停车定位阶段中，采集的实际图像中包含所述车辆的图像及已标识的预设停车区域的 图像；In the vehicle parking positioning phase, the actual images collected include images of the vehicle and images of the identified preset parking areas;
从所述实际图像提取所述车辆停泊的位置信息，通过所述位置信息确定所述车辆停泊于是否在所述预设停车区域内，若否，则命令所述车辆重新停泊至所述预设停车区域内。Extracting the parking position information of the vehicle from the actual image, determining whether the vehicle is parked in the preset parking area through the position information, and if not, ordering the vehicle to be parked again to the preset Within the parking area.
较佳地，所述换电过程至少包括：所述车辆的电池外箱定位阶段；Preferably, the power exchange process includes at least: a battery outer box positioning stage of the vehicle;
在所述电池外箱定位阶段中，采集的实际图像中包含车辆的电池外箱的图像；During the positioning of the battery outer box, the captured actual image includes an image of the battery outer box of the vehicle;
根据所述实际图像获取所述电池外箱的空间状态信息；Acquiring space state information of the battery outer box according to the actual image;
根据所述电池外箱的空间状态信息，命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。According to the space state information of the battery outer box, the power exchange device is instructed to adjust its own space state information to fit the space state information of the battery outer box.
较佳地，所述电池外箱定位阶段适用于：所述换电设备从所述电池外箱内取下缺电的电池包总成之前，或所述换电设备将待装的电池包总成安装至所述电池外箱之前。Preferably, the battery outer box positioning stage is suitable for: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or the battery pack assembly to be installed by the power exchange device Before mounting to the battery case.
较佳地，所述换电过程至少包括：为所述车辆换电的换电设备从所述车辆的电池外箱内解锁并取下缺电的电池包总成的卸电池阶段；Preferably, the power replacement process includes at least: a battery unloading phase of unlocking and removing a battery pack assembly lacking power from a battery outer box of the vehicle;
在所述卸电池阶段，采集的实际图像中包含所述电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；In the battery unloading phase, the acquired actual image includes an image of a locking mechanism in the battery outer box, and the locking mechanism is used to lock the battery pack assembly in the battery outer box;
根据所述实际图像分析所述锁止机构是否解锁所述电池包总成，并在所述锁止机构解锁所述电池包总成时命令所述换电设备将所述电池包总成从所述电池外箱取下。Analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and instruct the power exchange device to remove the battery pack assembly from the battery pack assembly when the locking mechanism unlocks the battery pack assembly. Remove the battery case.
较佳地，所述换电设备预设有执行所述卸电池指令时所需的将所述电池包总成从所述电池外箱取下的第一电池移动轨迹。Preferably, the power exchange device is preset with a first battery movement trajectory required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
较佳地，所述换电过程至少包括：为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段；Preferably, the power exchange process includes at least: a battery pack stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device that exchanges power for the vehicle;
在所述装电池阶段，实时采集所述实际图像，所述实际图像中包含所述电池外箱的图像和所述电池包总成的图像；During the battery loading phase, the actual image is collected in real time, and the actual image includes an image of the battery outer box and an image of the battery pack assembly;
根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，若是，则告知所述换电设备已达成所述装电池阶段。Analyze whether the battery pack assembly has reached a designated position in the battery outer box according to the actual image, and if so, notify the power exchange device that the battery loading stage has been reached.
较佳地，所述换电过程至少包括：所述电池外箱的锁检测阶段；Preferably, the power replacement process includes at least: a lock detection phase of the battery outer box;
在所述锁检测阶段，采集的实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；In the lock detection phase, the acquired actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly in the battery outer box;
根据所述实际图像分析所述锁止机构是否锁紧所述电池包总成。Analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
较佳地，所述锁检测阶段发生于所述换电设备将待装的电池包总成安装至所述电池外箱之后。Preferably, the lock detection phase occurs after the battery replacement assembly is installed in the battery outer box by the power exchange device.
较佳地，所述空间状态信息包括位置信息；Preferably, the spatial state information includes position information;
根据所述实际图像获取所述电池外箱的位置信息；Acquiring position information of the battery outer box according to the actual image;
根据所述电池外箱的位置信息，命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。According to the position information of the battery outer box, the power exchange device is commanded to move its position to a target position, and the target position is related to the position of the battery outer box.
较佳地，所述空间状态信息包括姿态信息；Preferably, the spatial state information includes attitude information;
根据所述实际图像获取所述电池外箱的姿态信息；Acquiring posture information of the battery outer box according to the actual image;
根据所述电池外箱的姿态信息命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。According to the posture information of the battery outer box, the power exchange device is instructed to adjust its posture so that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
较佳地，根据所述实际图像通过以下步骤分析所述锁止机构是否解锁所述电池包总成：Preferably, according to the actual image, whether the locking mechanism unlocks the battery pack assembly is analyzed through the following steps:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否为0：Compare whether the length is 0:
若是，则所述锁止机构解锁所述电池包总成；If so, the locking mechanism unlocks the battery pack assembly;
若否，则所述锁止机构未解锁所述电池包总成；If not, the locking mechanism has not unlocked the battery pack assembly;
或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构解锁所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the lock mechanism unlocks the battery pack assembly;
若是，则所述锁止机构解锁所述电池包总成；If so, the locking mechanism unlocks the battery pack assembly;
若否，则所述锁止机构未解锁所述电池包总成。If not, the locking mechanism has not unlocked the battery pack assembly.
较佳地，所述电池包总成到达所述指定位置时所述车辆的电池供电电路导通，所述换电设备预设有执行所述目标任务时所需的将所述电池包总成安装至所述指定位置的电池移动轨迹。Preferably, the battery-powered circuit of the vehicle is turned on when the battery pack assembly reaches the designated position, and the power exchange device presets the battery pack assembly required when performing the target task. The movement track of the battery mounted to the specified position.
较佳地，根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，包括：Preferably, analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
从所述实际图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from the actual image;
从与所述电池包总成位于所述指定位置时的标准图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from a standard image when the battery pack assembly is located at the designated position;
比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Compare whether the relative positional relationship between the battery pack assembly and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, so The first direction is a direction perpendicular to the platform on which the vehicle is parked:
若是，则所述电池包总成到达所述指定位置；If yes, the battery pack assembly reaches the designated position;
若否，则所述电池包总成未到达所述指定位置。If not, the battery pack assembly does not reach the designated position.
较佳地，根据所述实际图像通过以下步骤分析所述锁止机构是否锁紧所述电池包总成：Preferably, according to the actual image, whether the locking mechanism locks the battery pack assembly is analyzed through the following steps:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否小于所述锁止机构锁紧所述电池包总成时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery pack assembly;
若是，则所述锁止机构未锁紧所述电池包总成；If yes, the locking mechanism does not lock the battery pack assembly;
若否，则所述锁止机构锁紧所述电池包总成；If not, the locking mechanism locks the battery pack assembly;
或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构锁紧所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the locking mechanism locks the battery pack assembly;
若是，则所述锁止机构锁紧所述电池包总成；If so, the locking mechanism locks the battery pack assembly;
若否，则所述锁止机构未锁紧所述电池包总成。If not, the locking mechanism does not lock the battery pack assembly.
本发明还提供一种基于视觉分析的换电控制方法，所述换电控制方法包括：The present invention also provides a power analysis control method based on visual analysis. The power conversion control method includes:
进入车辆停车定位阶段；Enter the vehicle parking positioning phase;
进入所述车辆的电池外箱定位阶段；Enter the battery outer box positioning stage of the vehicle;
进入为所述车辆换电的换电设备从所述电池外箱内解锁并取下缺电的电池包总成的卸电池阶段；Enter the battery unloading phase of unlocking the power exchange equipment for powering the vehicle from the battery outer box and removing the lacking battery pack assembly;
再次进入所述车辆的电池外箱定位阶段；Enter the battery outer box positioning stage of the vehicle again;
进入为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段；Enter the battery loading stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device for powering the vehicle;
进入所述电池外箱的锁检测阶段。Enter the lock detection stage of the battery case.
在符合本领域常识的基础上，上述各优选条件，可任意组合，即得本发明各较佳实例。On the basis of conforming to common knowledge in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain each preferred embodiment of the present invention.
本发明还提供了一种应用于车辆换电的视觉分析***，所述视觉分析***包括至少一图像采集模块、图像分析模块和换电控制模块；The invention also provides a vision analysis system applied to vehicle power exchange, the vision analysis system includes at least one image acquisition module, image analysis module, and power exchange control module;
所述图像采集模块用于在换电设备执行目标任务的过程中，实时采集实际图像并将所述实际图像实时发送至所述图像分析模块，所述目标任务为将电池安装至车辆的电池外箱，所述实际图像中包含所述电池外箱的图像和所述电池的图像；The image acquisition module is used to collect real-time images in real-time during a target task performed by a power exchange device and send the actual images to the image analysis module in real-time. The target task is to install a battery outside the battery of the vehicle. Box, the actual image includes an image of the battery outer box and an image of the battery;
所述图像分析模块用于根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，若是，则向所述换电控制模块发送通知信号；The image analysis module is configured to analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, send a notification signal to the power exchange control module;
所述换电控制模块用于在接收到所述通知信号后生成调控指令并将所述调控指令发送至换电设备，所述调控指令用于告知所述换电设备已达成所述目标任务。The power exchange control module is configured to generate a control instruction after receiving the notification signal and send the control instruction to a power replacement device, and the control instruction is used to inform the power replacement device that the target task has been achieved.
较佳地，所述图像采集模块设置于所述换电设备上，或，设置于所述车辆停泊的平台上。Preferably, the image acquisition module is disposed on the power exchange device or on a platform where the vehicle is parked.
较佳地，所述电池到达所述指定位置时所述车辆的电池供电电路导通。Preferably, the battery-powered circuit of the vehicle is turned on when the battery reaches the designated position.
较佳地，所述换电设备预设有执行所述目标任务时所需的将所述电池安装至所述指定位置的电池移动轨迹。Preferably, the battery-changing device presets a battery movement trajectory for mounting the battery to the designated position required when performing the target task.
较佳地，根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，包括：Preferably, analyzing whether the battery reaches a specified position in the battery outer box according to the actual image includes:
比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同：Compare whether the actual image is the same as the standard image when the battery is in the specified position:
若是，则所述电池到达所述指定位置；If yes, the battery reaches the designated position;
若否，则所述电池未到达所述指定位置。If not, the battery does not reach the designated position.
较佳地，比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同，具体包括：Preferably, comparing whether the actual image is the same as a standard image when the battery is at the specified position, specifically including:
从所述实际图像中提取所述电池的图像和所述电池外箱的图像；Extracting an image of the battery and an image of the battery case from the actual image;
比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Comparing whether the relative positional relationship between the battery and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, and the first The direction is perpendicular to the platform on which the vehicle is parked:
若是，则所述电池到达所述指定位置；If yes, the battery reaches the designated position;
若否，则所述电池未到达所述指定位置。If not, the battery does not reach the designated position.
较佳地，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：Preferably, comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, including:
从所述实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；Extracting from the actual image the box surface of the battery outer box that is at the outermost side in the direction;
从所述实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from the actual image, the first battery surface being a battery surface on the same side as the box surface;
比对所述实际图像中所述第一电池面与所述箱面的图像大小和/或图像位置，得到实际大小对比关系和/或实际位置对比关系；Comparing the image size and / or image position of the first battery surface and the box surface in the actual image to obtain an actual size comparison relationship and / or an actual position comparison relationship;
获取所述标准图像中所述第一电池面与所述箱面的图像大小和/或图像位置的标准大小对比关系和/或标准位置对比关系；Acquiring a standard size comparison relationship and / or a standard position comparison relationship between the image size and / or image position of the first battery surface and the box surface in the standard image;
比较所述实际大小对比关系与所述标准大小对比关系和/或所述实际位置对比关系与所述标准位置对比关系是否均相同；Comparing whether the actual size contrast relationship and the standard size contrast relationship and / or the actual position contrast relationship and the standard position contrast relationship are all the same;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same;
若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If not, the relative positional relationship between the battery and the battery case in the direction in the actual image and the standard image is different.
较佳地，从由所述方向采集的实际图像和标准图像中得到所述实际大小对比关系和所述标准大小对比关系；Preferably, the actual size contrast relationship and the standard size contrast relationship are obtained from an actual image and a standard image collected from the direction;
和/或，从由与所述方向垂直的方向采集的实际图像和标准图像中得到所述实际位置对比关系和所述标准位置对比关系。And / or, obtaining the actual position contrast relationship and the standard position contrast relationship from an actual image and a standard image collected from a direction perpendicular to the direction.
较佳地，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：Preferably, comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, including:
通过所述实际图像自带的景深信息，确定所述电池外箱在所述方向上处于最外侧的箱面与所述电池的第一电池面的实际相对距离，所述第一电池面为与所述箱面同侧的电池面；The actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery is determined by the depth-of-field information provided in the actual image. The battery surface on the same side of the box surface;
获取所述标准图像中所述箱面与所述第一电池面之间的标准相对距离；Acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
比较所述实际相对距离与所述标准相对距离是否相同；Comparing whether the actual relative distance is the same as the standard relative distance;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same;
若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系 不相同。If not, the relative positional relationship between the battery and the battery case in the direction in the actual image and the standard image is different.
较佳地，所述实际图像为由所述方向采集的实际图像。Preferably, the actual image is an actual image acquired by the direction.
较佳地，所述图像采集模块采集所述实际图像时的角度与所述标准图像的采集角度相同。Preferably, the angle when the image acquisition module collects the actual image is the same as the acquisition angle of the standard image.
较佳地，所述图像采集模块与所述图像分析模块通过有线或无线通信连接；Preferably, the image acquisition module and the image analysis module are connected through wired or wireless communication;
和/或，所述图像分析模块与所述换电控制模块通过有线或无线通信连接；And / or, the image analysis module and the power exchange control module are connected through wired or wireless communication;
和/或，所述换电控制模块与所述换电设备通过有线或无线通信连接。And / or, the power exchange control module and the power exchange device are connected through wired or wireless communication.
较佳地，所述图像采集模块配有红外照明光源，所述红外照明光源用于在环境光的亮度小于阈值时开启。Preferably, the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is configured to be turned on when the brightness of the ambient light is less than a threshold value.
较佳地，所述图像采集模块为根据所述电池外箱和所述电池自动变焦的摄像头或相机。Preferably, the image acquisition module is a camera or a camera that automatically zooms according to the battery case and the battery.
本发明还提供一种应用于车辆换电的视觉分析方法，所述视觉分析方法包括：The present invention also provides a visual analysis method applied to vehicle power exchange. The visual analysis method includes:
在换电设备执行目标任务的过程中，实时采集实际图像，所述目标任务为将电池安装至车辆的电池外箱，所述实际图像中包含所述电池外箱的图像和所述电池的图像；In the process of performing a target task by a power exchange device, an actual image is collected in real time, the target task is to install a battery in a battery outer box of the vehicle, and the actual image includes an image of the battery outer box and an image of the battery ;
根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，若是，则告知所述换电设备已达成所述目标任务。Analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, notify the power exchange device that the target task has been achieved.
较佳地，所述电池到达所述指定位置时所述车辆的电池供电电路导通。Preferably, the battery-powered circuit of the vehicle is turned on when the battery reaches the designated position.
较佳地，所述换电设备预设有执行所述目标任务时所需的将所述电池安装至所述指定位置的电池移动轨迹。Preferably, the battery-changing device presets a battery movement trajectory for mounting the battery to the designated position required when performing the target task.
较佳地，根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，包括：Preferably, analyzing whether the battery reaches a specified position in the battery outer box according to the actual image includes:
比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同：Compare whether the actual image is the same as the standard image when the battery is in the specified position:
若是，则所述电池到达所述指定位置；If yes, the battery reaches the designated position;
若否，则所述电池未到达所述指定位置。If not, the battery does not reach the designated position.
较佳地，比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同，具体包括：Preferably, comparing whether the actual image is the same as a standard image when the battery is at the specified position, specifically including:
从所述实际图像中提取所述电池的图像和所述电池外箱的图像；Extracting an image of the battery and an image of the battery case from the actual image;
比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Comparing whether the relative positional relationship between the battery and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, and the first The direction is perpendicular to the platform on which the vehicle is parked:
若是，则所述电池到达所述指定位置；If yes, the battery reaches the designated position;
若否，则所述电池未到达所述指定位置。If not, the battery does not reach the designated position.
较佳地，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：Preferably, comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, including:
从所述实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；Extracting from the actual image the box surface of the battery outer box that is at the outermost side in the direction;
从所述实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from the actual image, the first battery surface being a battery surface on the same side as the box surface;
比对所述实际图像中所述第一电池面与所述箱面的图像大小和/或图像位置，得到实际大小对比关系和/或实际位置对比关系；Comparing the image size and / or image position of the first battery surface and the box surface in the actual image to obtain an actual size comparison relationship and / or an actual position comparison relationship;
获取所述标准图像中所述第一电池面与所述箱面的图像大小和/或图像位置的标准大小对比关系和/或标准位置对比关系；Acquiring a standard size comparison relationship and / or a standard position comparison relationship between the image size and / or image position of the first battery surface and the box surface in the standard image;
比较所述实际大小对比关系与所述标准大小对比关系和/或所述实际位置对比关系与所述标准位置对比关系是否均相同；Comparing whether the actual size contrast relationship and the standard size contrast relationship and / or the actual position contrast relationship and the standard position contrast relationship are all the same;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same;
若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If not, the relative positional relationship between the battery and the battery case in the direction in the actual image and the standard image is different.
较佳地，从由所述方向采集的实际图像和标准图像中得到所述实际大小对比关系和所述标准大小对比关系；Preferably, the actual size contrast relationship and the standard size contrast relationship are obtained from an actual image and a standard image collected from the direction;
和/或，从由与所述方向垂直的方向采集的实际图像和标准图像中得到所述实际位置对比关系和所述标准位置对比关系。And / or, obtaining the actual position contrast relationship and the standard position contrast relationship from an actual image and a standard image collected from a direction perpendicular to the direction.
较佳地，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：Preferably, comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, including:
通过所述实际图像自带的景深信息，确定所述电池外箱在所述方向上处于最外侧的箱面与所述电池的第一电池面的实际相对距离，所述第一电池面为与所述箱面同侧的电池面；The actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery is determined by the depth-of-field information provided in the actual image. The battery surface on the same side of the box surface;
获取所述标准图像中所述箱面与所述第一电池面之间的标准相对距离；Acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
比较所述实际相对距离与所述标准相对距离是否相同；Comparing whether the actual relative distance is the same as the standard relative distance;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same;
若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If not, the relative positional relationship between the battery and the battery case in the direction in the actual image and the standard image is different.
较佳地，所述实际图像为由所述方向采集的实际图像。Preferably, the actual image is an actual image acquired by the direction.
较佳地，采集所述实际图像时的角度与所述标准图像的采集角度相同。Preferably, the angle at which the actual image is collected is the same as the angle at which the standard image is collected.
较佳地，所述视觉分析方法还包括：在环境光的亮度小于阈值时开启红外照明光源。Preferably, the visual analysis method further includes: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.
较佳地，采集实际图像的步骤利用根据所述电池外箱和所述电池自动变焦的摄像头或相机实现。Preferably, the step of collecting actual images is implemented by a camera or a camera that automatically zooms according to the battery case and the battery.
在符合本领域常识的基础上，上述各优选条件，可任意组合，即得本发明各较佳实例。On the basis of conforming to common knowledge in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain each preferred embodiment of the present invention.
本发明还提供了另一种应用于车辆换电的视觉分析***，所述视觉分析***包括至少一图像采集模块和图像分析模块；The invention also provides another visual analysis system applied to vehicle power exchange, the visual analysis system includes at least one image acquisition module and image analysis module;
所述图像采集模块用于采集实际图像并将所述实际图像发送至所述图像分析模块，所述实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将电池锁定于所述电池外箱内；The image acquisition module is configured to collect an actual image and send the actual image to the image analysis module. The actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used for Locking the battery in the battery outer box;
所述图像分析模块用于根据所述实际图像分析所述锁止机构的状态。The image analysis module is configured to analyze a state of the locking mechanism according to the actual image.
较佳地，所述状态包括：所述锁止机构是否锁紧所述电池，所述图像分析模块包括第一分析单元；Preferably, the state includes: whether the locking mechanism locks the battery, and the image analysis module includes a first analysis unit;
所述第一分析单元用于根据所述实际图像分析所述锁止机构是否锁紧所述电池。The first analysis unit is configured to analyze whether the locking mechanism locks the battery according to the actual image.
较佳地，所述第一分析单元具体用于：Preferably, the first analysis unit is specifically configured to:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否小于所述锁止机构锁紧所述电池时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery;
若是，则所述锁止机构未锁紧所述电池；If yes, the locking mechanism does not lock the battery;
若否，则所述锁止机构锁紧所述电池；If not, the locking mechanism locks the battery;
或，比较所述实际图像与第一标准图像是否相同，所述第一标准图像为所述锁止机构锁紧所述电池时的图像；Or, comparing whether the actual image is the same as a first standard image, where the first standard image is an image when the locking mechanism locks the battery;
若是，则所述锁止机构锁紧所述电池；If yes, the locking mechanism locks the battery;
若否，则所述锁止机构未锁紧所述电池。If not, the battery is not locked by the locking mechanism.
较佳地，所述视觉分析***还包括换电控制模块，所述换电控制模块用于控制换电设备将所述电池安装于所述电池外箱内；Preferably, the visual analysis system further includes a power exchange control module, which is used to control a power exchange device to install the battery in the battery outer box;
所述第一分析单元还用于在所述锁止机构锁紧所述电池后通知所述换电控制模块；The first analysis unit is further configured to notify the power exchange control module after the locking mechanism locks the battery;
所述换电控制模块还用于在接收到所述通知后，向所述换电设备发送换电完毕指令，所述换电完毕指令用于命令所述换电设备结束电池安装动作。The power exchange control module is further configured to send a power exchange completion instruction to the power exchange device after receiving the notification, and the power exchange completion instruction is used to instruct the power exchange device to end the battery installation action.
较佳地，所述状态包括：所述锁止机构是否解锁所述电池，所述图像分析模块包括第二分析单元；Preferably, the state includes: whether the locking mechanism unlocks the battery, and the image analysis module includes a second analysis unit;
所述第二分析单元用于根据所述实际图像分析所述锁止机构是否解锁所述电池。The second analysis unit is configured to analyze whether the locking mechanism unlocks the battery according to the actual image.
较佳地，所述第二分析单元具体用于：Preferably, the second analysis unit is specifically configured to:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否为0：Compare whether the length is 0:
若是，则所述锁止机构解锁所述电池；If so, the locking mechanism unlocks the battery;
若否，则所述锁止机构未解锁所述电池；If not, the locking mechanism does not unlock the battery;
或，比较所述实际图像与第二标准图像是否相同，所述第二标准图像为所述锁止机构解锁所述电池时的图像；Or, comparing whether the actual image is the same as a second standard image, where the second standard image is an image when the lock mechanism unlocks the battery;
若是，则所述锁止机构解锁所述电池；If so, the locking mechanism unlocks the battery;
若否，则所述锁止机构未解锁所述电池。If not, the battery is not unlocked by the locking mechanism.
较佳地，所述视觉分析***还包括换电控制模块；Preferably, the visual analysis system further includes a power exchange control module;
所述第二分析单元还用于在所述锁止机构解锁所述电池后通知所述换电控制模块；The second analysis unit is further configured to notify the power exchange control module after the lock mechanism unlocks the battery;
所述换电控制模块用于在接收到所述通知后，向所述换电设备发送卸电池指令，所述卸电池指令用于命令所述换电设备将所述电池从所述电池外箱取下。The power exchange control module is configured to send a battery removal instruction to the power exchange device after receiving the notification, and the battery removal instruction is used to instruct the power exchange device to remove the battery from the battery outer box. Take off.
较佳地，所述图像分析模块与所述换电控制模块通过有线或无线通信连接；Preferably, the image analysis module and the power exchange control module are connected through wired or wireless communication;
和/或，所述换电控制模块与所述换电设备通过有线或无线通信连接。And / or, the power exchange control module and the power exchange device are connected through wired or wireless communication.
较佳地，所述图像采集模块与所述图像分析模块通过有线或无线通信连接。Preferably, the image acquisition module and the image analysis module are connected through wired or wireless communication.
较佳地，所述图像采集模块设置于换电设备上，或，设置于所述车辆停泊的平台上。Preferably, the image acquisition module is disposed on a power exchange device or on a platform where the vehicle is parked.
较佳地，所述图像采集模块配有红外照明光源，所述红外照明光源用于在环境光的亮度小于阈值时开启。Preferably, the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is configured to be turned on when the brightness of the ambient light is less than a threshold value.
较佳地，所述图像采集模块为根据所述锁止机构自动变焦的摄像头或相机。Preferably, the image acquisition module is a camera or a camera that automatically zooms according to the locking mechanism.
本发明还提供一种应用于车辆换电的视觉分析方法，所述视觉分析方法包括：The present invention also provides a visual analysis method applied to vehicle power exchange. The visual analysis method includes:
采集实际图像，所述实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将电池锁定于所述电池外箱内；Acquiring an actual image, the actual image including an image of a locking mechanism in a battery outer box of the vehicle, the locking mechanism being used to lock a battery in the battery outer box;
根据所述实际图像分析所述锁止机构的状态。The state of the locking mechanism is analyzed based on the actual image.
较佳地，所述状态包括：所述锁止机构是否锁紧所述电池，根据所述实际图像分析所述锁止机构的状态包括根据所述实际图像分析所述锁止机构是否锁紧所述电池。Preferably, the state includes: whether the locking mechanism locks the battery, and analyzing the state of the locking mechanism according to the actual image includes analyzing whether the locking mechanism is locked according to the actual image. Mentioned battery.
较佳地，根据所述实际图像分析所述锁止机构是否锁紧所述电池，包括：Preferably, analyzing whether the locking mechanism locks the battery according to the actual image includes:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否小于所述锁止机构锁紧所述电池时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery;
若是，则所述锁止机构未锁紧所述电池；If yes, the locking mechanism does not lock the battery;
若否，则所述锁止机构锁紧所述电池；If not, the locking mechanism locks the battery;
或，比较所述实际图像与第一标准图像是否相同，所述第一标准图像为所述锁止机构锁紧所述电池时的图像；Or, comparing whether the actual image is the same as a first standard image, where the first standard image is an image when the locking mechanism locks the battery;
若是，则所述锁止机构锁紧所述电池；If yes, the locking mechanism locks the battery;
若否，则所述锁止机构未锁紧所述电池。If not, the battery is not locked by the locking mechanism.
较佳地，所述视觉分析方法还包括：Preferably, the visual analysis method further includes:
控制换电设备将所述电池安装于所述电池外箱内；Controlling a power exchange device to install the battery in the battery outer box;
在所述锁止机构锁紧所述电池后，命令所述换电设备结束电池安装动作。After the locking mechanism locks the battery, the power exchange device is instructed to end the battery installation action.
较佳地，所述状态包括：所述锁止机构是否解锁所述电池，根据所述实际图像分析所述锁止机构的状态包括根据所述实际图像分析所述锁止机构是否解锁所述电池。Preferably, the state includes: whether the locking mechanism unlocks the battery, and analyzing the state of the locking mechanism according to the actual image includes analyzing whether the locking mechanism unlocks the battery according to the actual image. .
较佳地，根据所述实际图像分析所述锁止机构是否解锁所述电池，包括：Preferably, analyzing whether the locking mechanism unlocks the battery according to the actual image includes:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
比较所述长度是否为0：Compare whether the length is 0:
若是，则所述锁止机构解锁所述电池；If so, the locking mechanism unlocks the battery;
若否，则所述锁止机构未解锁所述电池；If not, the locking mechanism does not unlock the battery;
或，比较所述实际图像与第二标准图像是否相同，所述第二标准图像为所述锁止机构解锁所述电池时的图像；Or, comparing whether the actual image is the same as a second standard image, where the second standard image is an image when the lock mechanism unlocks the battery;
若是，则所述锁止机构解锁所述电池；If so, the locking mechanism unlocks the battery;
若否，则所述锁止机构未解锁所述电池。If not, the battery is not unlocked by the locking mechanism.
较佳地，所述视觉分析方法还包括：Preferably, the visual analysis method further includes:
在所述锁止机构解锁所述电池后，命令所述换电设备将所述电池从所述电池外箱取下。After the battery is unlocked by the locking mechanism, the power exchange device is instructed to remove the battery from the battery case.
较佳地，所述视觉分析方法还包括：Preferably, the visual analysis method further includes:
在环境光的亮度小于阈值时开启红外照明光源。When the brightness of the ambient light is less than the threshold, the infrared light source is turned on.
较佳地，采集实际图像利用根据所述锁止机构自动变焦的至少一摄像头或相机实现。Preferably, the actual image acquisition is implemented by using at least one camera or camera that automatically zooms according to the locking mechanism.
较佳地，所述摄像头或相机设置于换电设备上，或，设置于所述车辆停泊的平台上。Preferably, the camera or camera is provided on a power exchange device or on a platform on which the vehicle is parked.
在符合本领域常识的基础上，上述各优选条件，可任意组合，即得本发明各较佳实例。On the basis of conforming to common knowledge in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain each preferred embodiment of the present invention.
本发明还提供另一种应用于车辆换电的视觉分析***，所述视觉分析***包括至少一图像采集模块、图像分析模块和换电控制模块；The present invention also provides another visual analysis system applied to vehicle power exchange. The visual analysis system includes at least one image acquisition module, image analysis module, and power exchange control module.
所述图像采集模块用于采集实际图像并将所述实际图像发送至所述图像分析模块，所述实际图像中包含车辆的电池外箱的图像；The image acquisition module is configured to acquire an actual image and send the actual image to the image analysis module, where the actual image includes an image of a battery outer box of the vehicle;
所述图像分析模块用于根据所述实际图像获取所述电池外箱的空间状态信息，并将所述电池外箱的空间状态信息发送至所述换电控制模块；The image analysis module is configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module;
所述换电控制模块用于根据所述电池外箱的空间状态信息生成调控指令并将所述调控指令发送至用于为所述车辆更换电池包的换电设备，所述调控指令用于命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。The power exchange control module is configured to generate a control instruction according to the space state information of the battery outer box and send the control instruction to a power replacement device for replacing a battery pack for the vehicle, where the control instruction is used to instruct The power exchange device adjusts its own space state information to fit the space state information of the battery outer box.
较佳地，所述图像采集模块设置于所述换电设备上，或，设置于所述车辆停泊的平台上。Preferably, the image acquisition module is disposed on the power exchange device or on a platform where the vehicle is parked.
较佳地，所述空间状态信息包括位置信息，所述图像分析模块包括位置分析子模块；Preferably, the spatial state information includes position information, and the image analysis module includes a position analysis sub-module;
所述位置分析子模块用于根据所述实际图像获取所述电池外箱的位置信息，并将所述电池外箱的位置信息发送至所述换电控制模块；The position analysis submodule is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module;
所述调控指令包括位置移动指令，所述换电控制模块还用于根据所述电池外箱的位置信息生成所述位置移动指令，所述位置移动指令用于命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The control instruction includes a position movement instruction, and the power exchange control module is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange device to move its own position To the target position, the target position is related to the position of the battery case.
较佳地，当所述换电设备的目标任务是将所述换电设备上的电池包放入所述电池外箱时，所述目标位置为所述电池包与所述电池外箱对准的位置。Preferably, when the target task of the power exchange device is to put a battery pack on the power exchange device into the battery outer case, the target position is that the battery pack is aligned with the battery outer case s position.
较佳地，当所述换电设备的目标任务是将所述车辆上的电池包取下时，所述目标位置为所述换电设备上的换电解锁机构与所述电池外箱上的触发解锁机构对准的位置，所述触发解锁机构与所述换电解锁机构相匹配，用于触发所述电池包从所述车辆上解锁。Preferably, when the target task of the power exchange device is to remove the battery pack on the vehicle, the target position is the power exchange unlocking mechanism on the power change device and the battery outer box. The position where the trigger unlock mechanism is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle.
较佳地，根据所述电池外箱的位置信息生成所述位置移动指令，包括：Preferably, generating the position movement instruction according to the position information of the battery outer box includes:
获取所述电池外箱的位置信息和所述目标位置的位置信息；Acquiring position information of the battery outer box and position information of the target position;
比较所述电池外箱的位置信息与所述目标位置的位置信息的差值；Comparing the difference between the position information of the battery outer box and the position information of the target position;
生成位置移动指令，所述位置移动指令用于命令所述换电设备向减小所述差值的方向移动。A position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
较佳地，所述空间状态信息包括姿态信息，所述图像分析模块包括姿态分析子模块；Preferably, the spatial state information includes posture information, and the image analysis module includes a posture analysis sub-module;
所述姿态分析子模块用于根据所述实际图像获取所述电池外箱的姿态信息，并将所述电池外箱的姿态信息发送所述换电控制模块；The posture analysis sub-module is configured to obtain the posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module;
所述调控指令包括姿态调整指令，所述换电控制模块还用于根据所述电池外箱的姿态信息生成所述姿态调整指令，所述姿态调整指令用于命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。The control instruction includes a posture adjustment instruction, and the power exchange control module is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange device to adjust its posture So that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
较佳地，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；Preferably, the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的夹角，包括：Obtaining an included angle between the battery outer box and the platform where the vehicle is parked according to the actual image includes:
从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
判断所述图像轮廓与所述电池外箱与所述平台平行设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as the standard image contour when the battery outer box is set in parallel with the platform:
若是，则判定所述电池外箱与所述平台的夹角为0；If yes, determine that the included angle between the battery outer box and the platform is 0;
若否，则通过所述图像轮廓相对于所述标准图像轮廓的变形程度确定所述电池外箱与所述平台的夹角。If not, the angle between the battery case and the platform is determined by the degree of deformation of the image contour relative to the standard image contour.
较佳地，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；Preferably, the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的相对位置关系，包括：Obtaining the relative position relationship between the battery outer box and the platform on which the vehicle is parked according to the actual image includes:
通过所述实际图像自带的景深信息确定所述电池外箱的至少两个特征部位的相对高度差；Determining the relative height difference between at least two characteristic parts of the battery outer box by using the depth of field information carried in the actual image;
判断所述至少两个特征部位的相对高度差是否为0：Determine whether the relative height difference between the at least two characteristic parts is 0:
若是，则判定所述电池外箱与所述平台的夹角为0；If yes, determine that the included angle between the battery outer box and the platform is 0;
若否，则通过所述至少两个特征部位的相对高度差确定所述电池外箱与所述平台的夹角。If not, the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
较佳地，所述电池外箱为长方体，所述至少两个特征部位为所述电池外箱的至少两个顶角。Preferably, the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex angles of the battery outer box.
较佳地，所述电池外箱的姿态信息包括：所述电池外箱的设置方向；Preferably, the attitude information of the battery outer box includes: a setting direction of the battery outer box;
根据所述实际图像获取所述电池外箱的设置方向，包括：Obtaining a setting direction of the battery outer box according to the actual image includes:
从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
判断所述图像轮廓与所述电池外箱以基准方向设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as a standard image contour when the battery outer box is set in a reference direction:
若是，则判定所述电池外箱的设置方向为所述基准方向；If yes, determine that the installation direction of the battery outer box is the reference direction;
若否，则通过所述图像轮廓相对于所述标准图像轮廓的旋转程度确定所述电池外箱的设置方向与所述基准方向的夹角。If not, the angle between the installation direction of the battery case and the reference direction is determined by the degree of rotation of the image contour relative to the standard image contour.
较佳地，所述图像采集模块采集所述实际图像时的角度与所述标准图像轮廓的采集角度相同。Preferably, the angle when the image acquisition module collects the actual image is the same as the acquisition angle of the standard image contour.
较佳地，所述图像采集模块还用于在所述换电设备执行完所述调控指令后再次采集所述实际图像。Preferably, the image acquisition module is further configured to acquire the actual image again after the power exchange device executes the control instruction.
较佳地，所述换电控制模块还用于在所述换电设备自身的空间状态信息已适应所述电池外箱的空间状态信息时向所述换电设备发送停泊指令，所述停泊指令用于命令所述换电设备保持当前的空间状态信息直至再次接收到指令。Preferably, the power swap control module is further configured to send a parking instruction to the power swap device when the space status information of the power swap device has adapted to the space status information of the battery outer box, and the parking instruction It is used to instruct the power exchange device to maintain the current space state information until an instruction is received again.
较佳地，再次接收到的指令包括：从所述电池外箱中取下电池包的指令，或，将所述换电设备上的电池包安装到所述电池外箱的指令。Preferably, the instructions received again include: an instruction to remove a battery pack from the battery case, or an instruction to install a battery pack on the power exchange device to the battery case.
较佳地，所述图像采集模块与所述图像分析模块通过有线或无线通信连接；Preferably, the image acquisition module and the image analysis module are connected through wired or wireless communication;
和/或，所述图像分析模块与所述换电控制模块通过有线或无线通信连接；And / or, the image analysis module and the power exchange control module are connected through wired or wireless communication;
和/或，所述换电控制模块与所述换电设备通过有线或无线通信连接。And / or, the power exchange control module and the power exchange device are connected through wired or wireless communication.
较佳地，所述图像采集模块配有红外照明光源，所述红外照明光源用于在环境光的亮度小于阈值时开启。Preferably, the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is configured to be turned on when the brightness of the ambient light is less than a threshold value.
较佳地，所述图像采集模块为根据所述电池外箱自动变焦的摄像头或相机。Preferably, the image acquisition module is a camera or a camera that automatically zooms according to the battery case.
本发明还提供一种应用于车辆换电的视觉分析方法，所述视觉分析方法包括：The present invention also provides a visual analysis method applied to vehicle power exchange. The visual analysis method includes:
采集实际图像，所述实际图像中包含车辆的电池外箱的图像；Acquiring an actual image, the actual image including an image of a battery outer box of the vehicle;
根据所述实际图像获取所述电池外箱的空间状态信息；Acquiring space state information of the battery outer box according to the actual image;
根据所述电池外箱的空间状态信息命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。According to the space state information of the battery outer box, the power exchange device is instructed to adjust its own space state information to adapt to the space state information of the battery outer box.
较佳地，所述空间状态信息包括位置信息，根据所述实际图像获取所述电池外箱的空间状态信息的步骤包括：；Preferably, the space state information includes position information, and the step of obtaining the space state information of the battery outer box according to the actual image includes:
根据所述实际图像获取所述电池外箱的位置信息；Acquiring position information of the battery outer box according to the actual image;
命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息的步骤包括：The step of ordering the power exchange device to adjust its own space state information to fit the space state information of the battery outer box includes:
命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The power exchange device is instructed to move its own position to a target position, and the target position is related to the position of the battery outer box.
较佳地，当所述换电设备的目标任务是将所述换电设备上的电池包放入所述电池外箱时，所述目标位置为所述电池包与所述电池外箱对准的位置。Preferably, when the target task of the power exchange device is to put a battery pack on the power exchange device into the battery outer case, the target position is that the battery pack is aligned with the battery outer case s position.
较佳地，当所述换电设备的目标任务是将所述车辆上的电池包取下时，所述目标位置为所述换电 设备上的换电解锁机构与所述电池外箱上的触发解锁机构对准的位置，所述触发解锁机构与所述换电解锁机构相匹配，用于触发所述电池包从所述车辆上解锁。Preferably, when the target task of the power exchange device is to remove the battery pack on the vehicle, the target position is the power exchange unlocking mechanism on the power change device and the battery outer box. The position where the trigger unlock mechanism is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle.
较佳地，其特征在于，命令所述换电设备移动自身位置以使得所述换电设备上换电机构与所述电池外箱位置对准的步骤，包括：Preferably, the step of ordering the power exchange device to move its own position so that the power exchange mechanism on the power exchange device is aligned with the position of the battery case, includes:
获取所述电池外箱的位置信息和所述目标位置的位置信息；Acquiring position information of the battery outer box and position information of the target position;
比较所述电池外箱的位置信息与所述目标位置的位置信息的差值；Comparing the difference between the position information of the battery outer box and the position information of the target position;
生成位置移动指令，所述位置移动指令用于命令所述换电设备向减小所述差值的方向移动。A position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
较佳地，所述空间状态信息包括姿态信息，根据所述实际图像获取所述电池外箱的空间状态信息的步骤包括：Preferably, the spatial state information includes attitude information, and the step of obtaining the spatial state information of the battery outer box according to the actual image includes:
根据所述实际图像获取所述电池外箱的姿态信息；Acquiring posture information of the battery outer box according to the actual image;
命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息的步骤包括：命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。The step of ordering the power exchange device to adjust its own space state information to fit the space state information of the battery outer box includes: ordering the power exchange device to adjust its own posture so that the power exchange mechanism on the power exchange device and The battery case has the same attitude.
较佳地，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；Preferably, the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的夹角，包括：Obtaining an included angle between the battery outer box and the platform where the vehicle is parked according to the actual image includes:
从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
判断所述图像轮廓与所述电池外箱与所述平台平行设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as the standard image contour when the battery outer box is set in parallel with the platform:
若是，则判定所述电池外箱与所述平台的夹角为0；If yes, determine that the included angle between the battery outer box and the platform is 0;
若否，则通过所述图像轮廓相对于所述标准图像轮廓的变形程度确定所述电池外箱与所述平台的夹角。If not, the angle between the battery case and the platform is determined by the degree of deformation of the image contour relative to the standard image contour.
较佳地，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；Preferably, the attitude information of the battery outer box includes: an angle between the battery outer box and the platform on which the vehicle is parked;
根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的相对位置关系，包括：Obtaining the relative position relationship between the battery outer box and the platform on which the vehicle is parked according to the actual image includes:
通过所述实际图像自带的景深信息确定所述电池外箱的至少两个特征部位的相对高度差；Determining the relative height difference between at least two characteristic parts of the battery outer box by using the depth of field information carried in the actual image;
判断所述至少两个特征部位的相对高度差是否为0：Determine whether the relative height difference between the at least two characteristic parts is 0:
若是，则判定所述电池外箱与所述平台的夹角为0；If yes, determine that the included angle between the battery outer box and the platform is 0;
若否，则通过所述至少两个特征部位的相对高度差确定所述电池外箱与所述平台的夹角。If not, the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
较佳地，所述电池外箱为长方体，所述至少两个特征部位为所述电池外箱的至少两个顶角。Preferably, the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex angles of the battery outer box.
较佳地，所述电池外箱的姿态信息包括：所述电池外箱的设置方向；Preferably, the attitude information of the battery outer box includes: a setting direction of the battery outer box;
根据所述实际图像获取所述电池外箱的设置方向，包括：Obtaining a setting direction of the battery outer box according to the actual image includes:
从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
判断所述图像轮廓与所述电池外箱以基准方向设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as a standard image contour when the battery outer box is set in a reference direction:
若是，则判定所述电池外箱的设置方向为所述基准方向；If yes, determine that the installation direction of the battery outer box is the reference direction;
若否，则通过所述图像轮廓相对于所述标准图像轮廓的旋转程度确定所述电池外箱的设置方向与所述基准方向的夹角。If not, the angle between the installation direction of the battery case and the reference direction is determined by the degree of rotation of the image contour relative to the standard image contour.
较佳地，采集所述实际图像时的角度与所述标准图像轮廓的采集角度相同。Preferably, the angle at which the actual image is collected is the same as the angle at which the standard image contour is collected.
较佳地，所述视觉分析方法还包括：Preferably, the visual analysis method further includes:
在所述换电设备调整完自身的空间状态信息后再次采集所述实际图像。Acquiring the actual image again after the power exchange device adjusts its own spatial state information.
较佳地，所述视觉分析方法还包括：在所述换电设备自身的空间状态信息已适应所述电池外箱的空间状态信息时命令所述换电设备保持当前的空间状态信息直至再次接收到指令。Preferably, the visual analysis method further comprises: when the space state information of the power exchange device has adapted to the space state information of the battery outer box, commanding the power exchange device to maintain the current space state information until it is received again To instructions.
较佳地，再次接收到的指令包括：从所述电池外箱中取下电池包的指令，或，将所述换电设备上的电池包安装到所述电池外箱的指令。Preferably, the instructions received again include: an instruction to remove a battery pack from the battery case, or an instruction to install a battery pack on the power exchange device to the battery case.
较佳地，所述视觉分析方法还包括：在环境光的亮度小于阈值时开启红外照明光源。Preferably, the visual analysis method further includes: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.
较佳地，采集实际图像的步骤利用根据所述电池外箱自动变焦的摄像头或相机实现。Preferably, the step of collecting actual images is implemented by a camera or a camera that automatically zooms according to the battery outer box.
在符合本领域常识的基础上，上述各优选条件，可任意组合，即得本发明各较佳实例。On the basis of conforming to common knowledge in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain each preferred embodiment of the present invention.
本发明的积极进步效果在于：本发明不但能够通过图像处理技术监控整个换电过程，对换电过程所涉及的对象(如车辆、换电设备)进行控制，而且不必在车辆或车辆的电池外箱内增加任何的传感器或其他检测部件，仅通过车辆外部的图像采集模块及图像分析模块，就可利用图像分析技术有效地监控车辆的锁止机构的状态，尤其是锁止机构是否锁紧电池以及锁止机构是否解锁电池，还能通过采集的实际图像准确识别出电池外箱，进而确定所述电池外箱的空间状态信息，依此调整换电设备，可以准确地从电池外箱取下电池包或安装新的电池包到电池外箱，因此，不但能避免出现安装不到位的情况，而且能保证换电的成功率及安全性。The positive progress effect of the present invention is that the present invention can not only monitor the entire power exchange process through image processing technology, but also control the objects involved in the power exchange process (such as vehicles, power exchange equipment), and does not need to be outside the vehicle or the vehicle's battery By adding any sensors or other detection components in the box, only the image acquisition module and image analysis module outside the vehicle can be used to effectively monitor the state of the vehicle's locking mechanism, especially whether the locking mechanism is locking the battery. And whether the locking mechanism unlocks the battery, the battery outer box can be accurately identified through the actual images collected, and then the space status information of the battery outer box can be determined. According to this, the power exchange equipment can be adjusted to accurately remove the battery outer box. The battery pack or a new battery pack is installed in the battery outer box. Therefore, not only can the situation of incomplete installation be avoided, but also the success rate and safety of the power exchange can be guaranteed.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明实施例1、实施例6及实施例18的一种应用于车辆换电的视觉分析***的示意框图；FIG. 1 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 1, Embodiment 6, and Embodiment 18 of the present invention;
图2为本发明实施例1、实施例6、实施例10及实施例18的一种图像采集模块的安装示意图；2 is a schematic diagram of installing an image acquisition module according to Embodiment 1, Embodiment 6, Embodiment 10, and Embodiment 18 of the present invention;
图3为本发明实施例2的一种预设停车区域示意图；3 is a schematic diagram of a preset parking area according to Embodiment 2 of the present invention;
图4为本发明实施例2的一种应用于车辆换电的视觉分析***的示意框图；4 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 2 of the present invention;
图5为本发明实施例3的一种应用于车辆换电的视觉分析方法的流程图；5 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 3 of the present invention;
图6为本发明实施例5的一种基于视觉分析的换电控制方法的流程图；6 is a flowchart of a power analysis control method based on visual analysis in Embodiment 5 of the present invention;
图7为本发明实施例6的一种应用于车辆换电的视觉分析方法的流程图；7 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 6 of the present invention;
图8为本发明实施例7的一种应用于车辆换电的视觉分析方法的步骤52的流程图；FIG. 8 is a flowchart of step 52 of a visual analysis method applied to vehicle power exchange according to Embodiment 7 of the present invention;
图9为本发明实施例7实现比较所述实际图像与所述电池位于所述指定位置时的标准图像是否 相同的第一种具体流程图；9 is a first specific flowchart for comparing whether the actual image is the same as a standard image when the battery is located at the specified position according to Embodiment 7 of the present invention;
图10为本发明实施例7实现比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同的第二种具体流程图。FIG. 10 is a second specific flowchart for comparing whether the actual image is the same as the standard image when the battery is located at the specified position in Embodiment 7 of the present invention.
图11为本发明实施例10的一种应用于车辆换电的视觉分析***的示意框图；FIG. 11 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 10 of the present invention; FIG.
图12为本发明实施例11的一种应用于车辆换电的视觉分析***的示意框图；FIG. 12 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 11 of the present invention; FIG.
图13为本发明实施例12的一种应用于车辆换电的视觉分析***的示意框图；13 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 12 of the present invention;
图14为本发明实施例13的一种应用于车辆换电的视觉分析***的示意框图；FIG. 14 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 13 of the present invention; FIG.
图15为本发明实施例14的一种应用于车辆换电的视觉分析方法的流程图；15 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 14 of the present invention;
图16为本发明实施例15的一种应用于车辆换电的视觉分析方法的流程图；16 is a flowchart of a visual analysis method applied to a vehicle power exchange according to Embodiment 15 of the present invention;
图17为本发明实施例15的实现步骤521’的一种流程图；FIG. 17 is a flowchart of implementing step 521 'in Embodiment 15 of the present invention;
图18为本发明实施例15的实现步骤521’的另一种流程图；18 is another flowchart of implementing step 521 'in Embodiment 15 of the present invention;
图19为本发明实施例16的一种应用于车辆换电的视觉分析方法的流程图；19 is a flowchart of a visual analysis method applied to a vehicle power exchange according to Embodiment 16 of the present invention;
图20为本发明实施例16的实现步骤522’的一种流程图；FIG. 20 is a flowchart of implementing step 522 'in Embodiment 16 of the present invention;
图21为本发明实施例16的实现步骤522’的另一种流程图；FIG. 21 is another flowchart of implementing step 522 'in Embodiment 16 of the present invention;
图22为本发明实施例17的一种应用于车辆换电的视觉分析方法的流程图；22 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 17 of the present invention;
图23为本发明实施例19的一种应用于车辆换电的视觉分析***的示意框图；FIG. 23 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 19 of the present invention; FIG.
图24为本发明实施例19的目标位置示意图；FIG. 24 is a schematic diagram of a target position according to Embodiment 19 of the present invention; FIG.
图25为本发明实施例20的一种图像采集模块11”的安装示意图；FIG. 25 is a schematic diagram of installing an image acquisition module 11 "according to Embodiment 20 of the present invention;
图26为电池外箱以基准方向X设置时的标准图像轮廓示意图；26 is a schematic diagram of a standard image outline when the battery case is set in the reference direction X;
图27为实际图像中所述电池外箱的图像轮廓；FIG. 27 is an image outline of the battery outer box in an actual image;
图28为图26和图27重合后的示意图；FIG. 28 is a schematic diagram after FIG. 26 and FIG. 27 are overlapped; FIG.
图29为本发明实施例21的一种应用于车辆换电的视觉分析***的示意框图；FIG. 29 is a schematic block diagram of a visual analysis system applied to vehicle power exchange according to Embodiment 21 of the present invention; FIG.
图30为本发明实施例22的一种应用于车辆换电的视觉分析方法的流程图；FIG. 30 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 22 of the present invention; FIG.
图31为本发明实施例23的一种应用于车辆换电的视觉分析方法的流程图；FIG. 31 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 23 of the present invention; FIG.
图32为本发明实施例23的步骤531”的流程图；FIG. 32 is a flowchart of step 531 "in Embodiment 23 of the present invention;
图33为本发明实施例24的一种应用于车辆换电的视觉分析方法的流程图；33 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 24 of the present invention;
图34为本发明实施例24的步骤522”的一种流程图；FIG. 34 is a flowchart of step 522 "in Embodiment 24 of the present invention;
图35为本发明实施例24的步骤522”的另一种流程图；FIG. 35 is another flowchart of Step 522 ″ of Embodiment 24 of the present invention;
图36为本发明实施例24的步骤522”的再一种流程图；36 is still another flowchart of step 522 "in Embodiment 24 of the present invention;
图37为本发明实施例25的一种应用于车辆换电的视觉分析方法的流程图。FIG. 37 is a flowchart of a visual analysis method applied to vehicle power exchange according to Embodiment 25 of the present invention.
具体实施方式detailed description
实施例1Example 1
图1示出了本实施例的应用于车辆换电的视觉分析***10。所述视觉分析***10包括至少一图像采集模块11、图像分析模块12和换电控制模块13。其中，所述图像采集模块11与所述图像分析模块12可以通过有线或无线通信连接；所述图像分析模块12与所述换电控制模块13可以通过有线或无线通信连接；所述换电控制模块13与换电过程所涉及的对象通过有线或无线通信连接。其中，有线通信连接包括但不限于通过线缆连接，无线通信连接包括但不限于通过2G、3G、4G、蓝牙等通信方式连接。FIG. 1 shows a visual analysis system 10 applied to vehicle power exchange in this embodiment. The visual analysis system 10 includes at least one image acquisition module 11, an image analysis module 12, and a power exchange control module 13. The image acquisition module 11 and the image analysis module 12 may be connected through wired or wireless communication; the image analysis module 12 and the power exchange control module 13 may be connected through wired or wireless communication; the power exchange control The module 13 is connected to the object involved in the power exchange process through wired or wireless communication. The wired communication connection includes, but is not limited to, connection through a cable, and the wireless communication connection includes, but is not limited to, connection through 2G, 3G, 4G, Bluetooth and other communication methods.
所述图像采集模块11用于在车辆换电过程中，采集车辆和电池包总成的实际图像并将所述实际图像发送至所述图像分析模块12。其中，本发明对所述电池包总成的结构做具体限定，其通常包括电池包箱体及设置在所述电池包箱体周围的连接机构。The image acquisition module 11 is configured to collect actual images of the vehicle and the battery pack assembly during the vehicle power exchange process and send the actual images to the image analysis module 12. Wherein, the present invention specifically limits the structure of the battery pack assembly, which generally includes a battery pack case and a connection mechanism provided around the battery pack case.
所述图像分析模块12用于根据所述实际图像监控所述换电过程，并将所述换电过程发送至所述换电控制模块13。The image analysis module 12 is configured to monitor the power exchange process according to the actual image, and send the power exchange process to the power exchange control module 13.
所述换电控制模块13用于生成用于调控所述换电过程所涉及对象的调控指令。The power exchange control module 13 is configured to generate a control instruction for controlling an object involved in the power exchange process.
本实施例的视觉分析***能够通过图像处理技术监控整个换电过程，对换电过程所涉及的对象(如车辆、换电设备)进行控制，保证换电的成功率。The visual analysis system of this embodiment can monitor the entire power exchange process through image processing technology, and controls objects (such as vehicles, power exchange equipment) involved in the power exchange process to ensure a success rate of power exchange.
本实施例中，所述图像采集模块11可以设置于用于为所述车辆的换电设备40上。所述换电设备40通常可能包括将新的或满电电池包总成装入电池外箱的功能，或者包括将车辆上原有的缺电电池包总成从电池外箱取下的功能，或者同时兼具上述两种功能。所述图像采集模块11还可以设置于所述车辆停泊的平台上。所述平台可以为在换电过程中供车辆停泊的专用平台或是其他普通平台。当然本发明并不局限于此，在其他实施例中，所述图像采集模块11还可以设置于能够采集到车辆和电池包总成的图像的其他位置。In this embodiment, the image acquisition module 11 may be disposed on a power exchange device 40 for the vehicle. The power exchange device 40 may generally include a function of inserting a new or fully charged battery pack assembly into a battery outer box, or a function of removing an original battery pack assembly of the vehicle from the battery outer box, or It has both of the above functions. The image acquisition module 11 may also be disposed on a platform where the vehicle is parked. The platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms. Of course, the present invention is not limited to this. In other embodiments, the image acquisition module 11 may also be disposed at other positions capable of acquiring images of the vehicle and the battery pack assembly.
所述图像采集模块11的数量可以依换电过程、成本要求、调控精度要求等实际情况而定。在所述图像采集模块11的数量超过一个时，该些图像采集模块11可以全部设置于同一区域，如全部均设置于所述换电设备40上或全部均设置于上述的平台上；该些图像采集模块11还可以分散设置于不同区域，如部分设置于所述换电设备40上且其他部分设置于上述的平台上。每个所述图像采集模块11的图像采集角度可以有所不同，实现全方位的图像采集。图2给出了一种图像采集模块11的安装示意图。车辆20停泊于平台30上，平台30高于地平面且中间具有镂空区域A，换电设备40位于镂空区域A的下方。图中示出了4个图像采集模块11，其中两个图像采集模块11设置于平台30上且靠近镂空区域A，另外两个图像采集模块11设置于换电设备40的顶部。The number of the image acquisition modules 11 may be determined according to actual conditions such as a power replacement process, cost requirements, and control accuracy requirements. When the number of the image acquisition modules 11 exceeds one, all of the image acquisition modules 11 may be installed in the same area, such as all on the power exchange device 40 or all on the above platform; these The image acquisition module 11 can also be distributed in different areas, such as part of the image acquisition module 40 and other parts of the platform. The image acquisition angle of each of the image acquisition modules 11 may be different, so as to realize a full range of image acquisition. FIG. 2 shows a schematic installation diagram of an image acquisition module 11. The vehicle 20 is parked on the platform 30, which is higher than the ground plane and has a hollowed-out area A in the middle, and the power exchange device 40 is located below the hollowed-out area A. The figure shows four image acquisition modules 11, of which two image acquisition modules 11 are disposed on the platform 30 and close to the hollowed-out area A, and two other image acquisition modules 11 are disposed on the top of the power exchange device 40.
为了提高图像采集的清晰度，所述图像采集模块11优选为根据拍摄对象自动变焦的摄像头或相 机。In order to improve the definition of image acquisition, the image acquisition module 11 is preferably a camera or a camera that automatically zooms according to the subject.
又考虑到所述电池外箱通常设置于车辆的底部，换电环境通常比较黑暗，对实际图像的清晰度会造成影响，本实施例中，所述图像采集模块11优选地配有红外照明光源，所述图像采集模块11在采集所述实际图像前会自动检测环境光的亮度，所述红外照明光源用于在环境光的亮度小于阈值时开启。其中，所述阈值可根据摄像头或相机的性能要求而定。It is also considered that the battery outer box is usually arranged on the bottom of the vehicle, and the power exchange environment is usually dark, which will affect the sharpness of the actual image. In this embodiment, the image acquisition module 11 is preferably equipped with an infrared illumination light source. The image acquisition module 11 automatically detects the brightness of the ambient light before collecting the actual image, and the infrared illumination light source is used to turn on when the brightness of the ambient light is less than a threshold. The threshold may be determined according to a performance requirement of a camera or a camera.
实施例2Example 2
本实施例提供了一种应用于车辆换电的视觉分析***，其是对实施例1的视觉分析***的进一步改进。本实施例中，所述换电过程包括中的至少一种：车辆停车定位阶段、所述车辆的电池外箱定位阶段、为所述车辆换电的换电设备从所述车辆的电池外箱内解锁并取下缺电的电池包总成的卸电池阶段、为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段和所述电池外箱的锁检测阶段。This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 1. In this embodiment, the power exchange process includes at least one of: a vehicle parking positioning stage, a vehicle outer battery positioning stage, and a power exchange device for changing the vehicle from the battery outer box of the vehicle. Unlock the battery pack and remove the battery pack assembly during the battery unloading phase, and install the battery pack assembly to be installed in the battery outer box of the vehicle. The lock detection phase of the battery case is described.
在所述车辆停车定位阶段：如图3所示，在平台30内标识有预设停车区域31。In the vehicle parking positioning stage: as shown in FIG. 3, a preset parking area 31 is identified in the platform 30.
所述图像采集模块11采集的实际图像中包含所述车辆的图像及已标识的预设停车区域31的图像。The actual image collected by the image acquisition module 11 includes an image of the vehicle and an image of the identified preset parking area 31.
所述图像分析模块12具体用于从所述实际图像提取所述车辆停泊的位置信息，通过所述位置信息确定所述车辆停泊于是否在所述预设停车区域内，若否，则向所述换电控制模块13发送第一通知。The image analysis module 12 is specifically configured to extract the parking position information of the vehicle from the actual image, and use the position information to determine whether the vehicle is parked in the preset parking area. The power exchange control module 13 sends the first notification.
所述换电控制模块13具体用于在接收到所述第一通知后，生成车辆调控指令，所述车辆调控指令用于命令所述车辆重新停泊至所述预设停车区域内。The power exchange control module 13 is specifically configured to generate a vehicle control instruction after receiving the first notification, and the vehicle control instruction is used to instruct the vehicle to be parked in the preset parking area again.
在此阶段，采集实际图像的图像采集模块11，优选设置在预设停车区域周围的图像采集模块11，即利用设置在预设停车区域周围的图像采集模块11采集包含所述车辆的图像及已标识的预设停车区域的图像的实际图像。At this stage, the image acquisition module 11 that collects actual images is preferably an image acquisition module 11 that is set around a preset parking area, that is, an image acquisition module 11 that is set around the preset parking area is used to collect images containing the vehicle and the The actual image of the image of the identified preset parking area.
在所述车辆的电池外箱定位阶段；During the positioning of the battery outer box of the vehicle;
所述图像采集模块11采集的实际图像中包含车辆的电池外箱的图像。The actual images collected by the image acquisition module 11 include images of the battery outer box of the vehicle.
所述图像分析模块12具体用于根据所述实际图像获取所述电池外箱的空间状态信息，并将所述电池外箱的空间状态信息发送至所述换电控制模块13。The image analysis module 12 is specifically configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module 13.
所述换电控制模块13具体用于根据所述电池外箱的空间状态信息生成第一调控指令并将所述第一调控指令发送至用于为所述车辆换电的换电设备，所述第一调控指令用于命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。The power exchange control module 13 is specifically configured to generate a first control instruction according to the space state information of the battery outer box and send the first control instruction to a power exchange device used to exchange electricity for the vehicle. The first regulation instruction is used to instruct the power exchange device to adjust its own space state information to fit the space state information of the battery outer box.
在此阶段，采集实际图像的图像采集模块11，优选设置在换电设备上的图像采集模块11或图2中的镂空区域周围的图像采集模块11，即利用设置在换电设备上的图像采集模块11或图2中的镂空区域周围的图像采集模块11采集包含所述电池外箱的图像的实际图像。At this stage, the image acquisition module 11 for acquiring actual images is preferably the image acquisition module 11 provided on the power exchange device or the image acquisition module 11 around the hollowed-out area in FIG. The module 11 or the image acquisition module 11 around the hollowed-out area in FIG. 2 acquires an actual image including an image of the battery outer box.
所述电池外箱定位阶段适用于所述卸电池阶段之前，或所述装电池阶段之前。The battery outer box positioning stage is applicable before the battery unloading stage or before the battery loading stage.
具体地，如图4所示，所述空间状态信息可以包括位置信息，所述图像分析模块12包括位置分析单元121；Specifically, as shown in FIG. 4, the spatial state information may include position information, and the image analysis module 12 includes a position analysis unit 121;
所述位置分析单元121用于根据所述实际图像获取所述电池外箱的位置信息，并将所述电池外箱的位置信息发送至所述换电控制模块13；The position analysis unit 121 is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module 13;
所述第一调控指令包括位置移动指令，所述换电控制模块13还用于根据所述电池外箱的位置信息生成所述位置移动指令，所述位置移动指令用于命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The first control instruction includes a position movement instruction, and the power exchange control module 13 is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange device Moving the self position to a target position, the target position is related to the position of the battery outer box.
具体地，当电池外箱定位阶段发生于所述卸电池阶段之前时，所述目标位置为所述换电设备40上的换电解锁机构与所述电池外箱上的触发解锁机构对准的位置，所述触发解锁机构与所述换电解锁机构相匹配，用于触发所述电池包总成从所述车辆上解锁。即，换电设备位于所述平台的下方，当所述换电设备停泊于目标位置时，所述换电解锁机构与所述触发解锁机构对准，换电设备举升所述换电解锁机构即可将所述换电解锁机构***所述触发解锁机构，从而解锁电池包总成。本发明对于所述换电解锁机构和所述触发解锁机构的具体结构不做限定。Specifically, when the battery outer box positioning stage occurs before the battery unloading stage, the target position is that the power exchange unlocking mechanism on the power exchange device 40 is aligned with the trigger unlocking mechanism on the battery outer box. Position, the trigger unlock mechanism is matched with the power exchange unlock mechanism for triggering the battery pack assembly to unlock from the vehicle. That is, the power exchange device is located below the platform. When the power exchange device is parked at the target position, the power exchange unlocking mechanism is aligned with the trigger unlocking mechanism, and the power exchange device lifts the power exchange unlocking mechanism. That is, the power exchange unlocking mechanism can be inserted into the trigger unlocking mechanism to unlock the battery pack assembly. The invention does not limit the specific structures of the power exchange unlocking mechanism and the trigger unlocking mechanism.
当电池外箱定位阶段发生于所述装电池阶段之前时，所述目标位置为所述电池包总成与所述电池外箱对准的位置。即，换电设备40位于所述平台的下方，当所述换电设备停泊于目标位置时，所述换电设备上的电池包总成与电池外箱对准，换电设备举升电池包总成即可将电池包总成放入电池外箱内。When the battery outer box positioning stage occurs before the battery loading stage, the target position is a position where the battery pack assembly is aligned with the battery outer box. That is, the power exchange device 40 is located below the platform. When the power exchange device is parked at the target position, the battery pack assembly on the power exchange device is aligned with the battery outer box, and the power exchange device lifts the battery pack. The assembly can put the battery pack assembly in the battery case.
所述空间状态信息还可以包括姿态信息，所述图像分析模块12包括姿态分析单元122；The spatial state information may further include posture information, and the image analysis module 12 includes a posture analysis unit 122;
所述姿态分析单元122用于根据所述实际图像获取所述电池外箱的姿态信息，并将所述电池外箱的姿态信息发送所述换电控制模块13；The posture analysis unit 122 is configured to obtain the posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module 13;
所述第一调控指令包括姿态调整指令，所述换电控制模块13还用于根据所述电池外箱的姿态信息生成所述姿态调整指令，所述姿态调整指令用于命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。The first control instruction includes a posture adjustment instruction, and the power exchange control module 13 is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange device Adjust its posture so that the power exchange mechanism on the power exchange device has the same posture as the battery case.
具体地，所述电池外箱的姿态信息可以包括：所述电池外箱与所述车辆停泊的平台的夹角。Specifically, the attitude information of the battery outer box may include an angle between the battery outer box and a platform on which the vehicle is parked.
根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的夹角，一种具体实现包括：According to the actual image, an angle between the battery outer box and the platform on which the vehicle is parked is obtained. A specific implementation includes:
从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
判断所述图像轮廓与所述电池外箱与所述平台平行设置时的标准图像轮廓是否相同，其中所述标准图像轮廓是预先采集的，判断比较图像时主要是比较两个图像中电池外箱是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等：Determine whether the image contour is the same as the standard image contour when the battery outer box is set in parallel with the platform, wherein the standard image contour is collected in advance, and when comparing the images, the battery outer box in the two images is mainly compared Whether it is the same, you can ignore other images that may be collected together, such as the structure of the bottom of the car around the battery case:
若是，则判定所述电池外箱与所述平台的夹角为0；若否，则通过所述图像轮廓相对于所述标准 图像轮廓的变形程度确定所述电池外箱与所述平台的夹角。If yes, determine the included angle between the battery outer box and the platform as 0; if not, determine the degree of the battery outer box and the platform based on the degree of deformation of the image contour relative to the standard image contour angle.
其中，所述图像采集模块11采集所述实际图像时的角度优选地与所述标准图像轮廓的采集角度相同。以所述电池外箱为长方体为例，那么，所述电池外箱与所述平台平行设置时，从所述电池外箱的正下方采集的所述电池外箱的标准图像轮廓应当为一个矩形。若同样从所述电池外箱的正下方采集的实际图像中所述电池外箱的图像轮廓是矩形，则说明所述电池外箱的图像轮廓与所述标准图像轮廓平行，即所述电池外箱也与所述平台平行。反之，若同样从所述电池外箱的正下方采集的实际图像中所述电池外箱的图像轮廓不是矩形，如存在不是直角的顶角，则说明所述电池外箱的图像轮廓与所述标准图像轮廓不平行，即所述电池外箱与所述平台不平行，通过所述图像轮廓中顶角的角度可以进一步确定所述电池外箱与所述平台的夹角。Wherein, the angle when the image acquisition module 11 acquires the actual image is preferably the same as the acquisition angle of the standard image contour. Taking the battery outer box as a rectangular parallelepiped as an example, then when the battery outer box is arranged in parallel with the platform, a standard image outline of the battery outer box collected from directly below the battery outer box should be a rectangle . If the outline of the image of the battery case is rectangular in the actual image collected from directly below the battery case, it means that the image outline of the battery case is parallel to the standard image outline, that is, the outside of the battery The box is also parallel to the platform. Conversely, if the outline of the image of the battery case is not rectangular in the actual image collected from directly below the battery case, if there is a vertex that is not a right angle, then the image outline of the battery case and the The standard image contour is not parallel, that is, the battery outer box is not parallel to the platform. The angle between the battery outer box and the platform can be further determined by the angle of the vertex angle in the image contour.
需要说明的是，考虑到不同的车型、不同的电池外箱对应的标准图像轮廓可能不同，通常需要预存多种车型、多种电池外箱对应的标准图像轮廓，在换电前或换电过程中，确定换电车辆的车型、电池外箱，从预存的标准图像轮廓中选择车辆对应的标准图像轮廓，进而进行后续的比较。It should be noted that, considering that the standard image contours corresponding to different vehicle models and different battery outer boxes may be different, it is usually necessary to pre-store standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. Before or during the power exchange process In determining the vehicle model and battery outer box of the swapped vehicle, the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for further comparison.
根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的相对位置关系，另一种具体实现包括：通过所述实际图像自带的景深信息确定所述电池外箱的至少两个特征部位的相对高度差；Obtaining the relative position relationship between the battery outer box and the platform on which the vehicle is parked according to the actual image, another specific implementation includes: determining at least two of the battery outer box by using depth of field information carried in the actual image The relative height difference of the characteristic parts;
判断所述至少两个特征部位的相对高度差是否为0：Determine whether the relative height difference between the at least two characteristic parts is 0:
若是，则判定所述电池外箱与所述平台的夹角为0；If yes, determine that the included angle between the battery outer box and the platform is 0;
若否，则通过所述至少两个特征部位的相对高度差确定所述电池外箱与所述平台的夹角。If not, the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
还是以所述电池外箱为长方体为例，所述电池外箱与所述平台平行设置时从所述电池外箱的正下方采集的所述电池外箱的实际图像中，所述电池外箱的各特征部位的相对高度差应当为0，即在同一平面中，与所述平台的夹角为0。若所述电池外箱的各特征部位存在相对高度差，即所述电池外箱与所述平台不平行，通过所述相对高度差可以进一步确定所述电池外箱与所述平台的夹角。其中，所述至少两个特征部位为所述电池外箱的至少两个顶角。Taking the battery outer box as a rectangular parallelepiped as an example, when the battery outer box is arranged in parallel with the platform, the actual battery image of the battery outer box collected from directly below the battery outer box, the battery outer box The relative height difference of each characteristic part of should be 0, that is, the included angle with the platform is 0 in the same plane. If there is a relative height difference between the characteristic parts of the battery outer box, that is, the battery outer box is not parallel to the platform, the angle between the battery outer box and the platform can be further determined through the relative height difference. Wherein, the at least two characteristic parts are at least two vertex angles of the battery outer case.
另外，可以根据实际情况采用上述的两种实现中的任意一种。In addition, any one of the above two implementations can be adopted according to the actual situation.
本实施例中，所述电池外箱的姿态信息还可以包括：所述电池外箱的设置方向。In this embodiment, the posture information of the battery outer box may further include: a setting direction of the battery outer box.
根据所述实际图像获取所述电池外箱的设置方向，一种具体实现包括：Obtaining a setting direction of the battery outer box according to the actual image, a specific implementation includes:
从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
判断所述图像轮廓与所述电池外箱以基准方向设置时的标准图像轮廓是否相同，其中所述标准图像轮廓是预先采集的，判断比较图像时主要是比较两个图像中电池外箱是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等：Determine whether the image contour is the same as the standard image contour when the battery outer box is set in a reference direction, wherein the standard image contour is collected in advance, and when comparing images, it is mainly compared whether the battery outer box in the two images is the same , You can ignore other images that may be collected together, such as the structure of the bottom of the car around the battery case:
若是，则判定所述电池外箱的设置方向为所述基准方向；若否，则通过所述图像轮廓相对于所述标准图像轮廓的旋转程度确定所述电池外箱的设置方向与所述基准方向的夹角。If yes, determine the setting direction of the battery outer box as the reference direction; if not, determine the setting direction of the battery outer box and the reference by the degree of rotation of the image contour relative to the standard image contour The angle of the direction.
其中，所述图像采集模块11采集所述实际图像时的角度与所述标准图像轮廓的采集角度相同。Wherein, the angle when the image acquisition module 11 acquires the actual image is the same as the acquisition angle of the standard image contour.
同样需要说明的是，考虑到不同的车型、不同的电池外箱对应的标准图像轮廓可能不同，通常需要预存多种车型、多种电池外箱对应的标准图像轮廓，在换电前或换电过程中，确定换电车辆的车型、电池外箱，从预存的标准图像轮廓中选择车辆对应的标准图像轮廓，进而进行后续的比较。It should also be noted that, considering that the standard image contours corresponding to different vehicle models and different battery outer boxes may be different, it is usually necessary to pre-store standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. In the process, the vehicle model and battery outer box of the battery-changed vehicle are determined, and the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for subsequent comparison.
在卸电池阶段；所述图像采集模块11采集的实际图像中包含所述电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内。During the battery unloading phase; the actual image collected by the image acquisition module 11 includes an image of a locking mechanism in the battery outer box, which is used to lock the battery pack assembly outside the battery Inside the box.
所述图像分析模块12具体用于根据所述实际图像分析所述锁止机构是否解锁所述电池包总成，并在所述锁止机构解锁所述电池包总成时向所述换电控制模块13发送第二通知。The image analysis module 12 is specifically configured to analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and control the power exchange when the locking mechanism unlocks the battery pack assembly. Module 13 sends a second notification.
所述换电控制模块13具体用于在接收到所述第二通知后，向所述换电设备发送卸电池指令，所述卸电池指令用于命令所述换电设备将所述电池包总成从所述电池外箱取下。The power exchange control module 13 is specifically configured to send a battery removal instruction to the power exchange device after receiving the second notification, and the battery removal instruction is used to instruct the power exchange device to replace the battery pack. Removal from the battery case.
其中，所述换电设备预设有执行所述卸电池指令时所需的将所述电池包总成从所述电池外箱取下的第一电池移动轨迹。Wherein, the power exchange device presets a movement track of the first battery required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
在此阶段，采集实际图像的图像采集模块11，优选设置在换电设备上的图像采集模块11或图2中的镂空区域周围的图像采集模块11，即利用设置在换电设备上的图像采集模块11或图2中的镂空区域周围的图像采集模块11采集包含所述电池外箱中的锁止机构的图像的实际图像。At this stage, the image acquisition module 11 that collects actual images is preferably the image acquisition module 11 provided on the power exchange device or the image acquisition module 11 around the hollowed-out area in FIG. 2, that is, the image acquisition module 11 The module 11 or the image acquisition module 11 around the hollowed-out area in FIG. 2 acquires an actual image including an image of a locking mechanism in the battery outer box.
具体地，如图4所示，所述图像分析模块12包括解锁分析单元123；Specifically, as shown in FIG. 4, the image analysis module 12 includes an unlock analysis unit 123;
所述图像采集模块11针对一种锁止机构(本实施例应用的锁止机构结构如中国专利申请CN106427514A)采集的实际图像，为所述图像采集模块11从所述电池外箱的下方向上采集，图像中示出有电池外箱、电池外箱内装入的电池包总成，电池外箱和电池包总成之间存在间隙，透过间隙示出了锁止机构的可视部分，其中可视部分包括锁舌、锁块和伸出锁块的部分锁连杆(在锁止机构锁紧所述电池时锁连杆会向前移动，进而驱动锁舌，锁舌将锁轴挡在锁块内，锁连杆的前端部分会伸出锁块的前端面一定长度)。The image acquisition module 11 is directed to the actual image collected by a locking mechanism (the structure of the locking mechanism applied in this embodiment, such as the Chinese patent application CN106427514A), and the image acquisition module 11 acquires upwards from below the battery outer box. The image shows the battery case and the battery pack assembly inside the battery case. There is a gap between the battery case and the battery pack assembly. The visible part of the locking mechanism is shown through the gap. The view part includes the lock tongue, the lock block, and a part of the lock link protruding from the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, and the lock tongue blocks the lock shaft on the lock block Inside, the front end portion of the lock link will protrude from the front end surface of the lock block by a certain length).
针对上述的实际图像，所述解锁分析单元123用于根据所述实际图像通过以下方式分析所述锁止机构是否解锁所述电池包总成：For the actual image described above, the unlock analysis unit 123 is configured to analyze whether the locking mechanism unlocks the battery pack assembly in the following manner according to the actual image:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度，其中可以使用锁连杆、锁块轮廓提取、长度测量等图像处理技术实现，也可以拍摄边界线为参照，测量锁连杆的前端部与拍摄边界线之间距离，通过此距离反向计算出锁连杆伸出锁块的长度；Obtaining the length of the locking link protruding from the locking block in the locking mechanism from the actual image, which can be achieved using image processing techniques such as locking link, locking block contour extraction, length measurement, etc., and the boundary line can also be taken as a reference , Measure the distance between the front end of the lock link and the shooting boundary line, and calculate the length of the lock link protruding out of the lock block through this distance;
比较所述长度是否为0：Compare whether the length is 0:
若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成。If so, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
所述解锁分析单元123通过分析锁连杆伸出锁块的长度判断锁连杆机构是否解锁电池，判断简单且精度较高。The unlock analysis unit 123 determines whether the lock link mechanism unlocks the battery by analyzing the length of the lock link protruding from the lock block, and the judgment is simple and highly accurate.
同样是针对上述的实际图像，所述解锁分析单元123还可以用于比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构解锁所述电池包总成时的图像；Similarly to the above actual image, the unlock analysis unit 123 may also be used to compare whether the actual image is the same as a standard image, where the standard image is an image when the locking mechanism unlocks the battery pack assembly;
若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成。If so, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
由于锁止机构在解锁电池包总成时，锁舌应当处于解锁位置，在该解锁位置锁舌不会将锁轴挡在锁块内，所以，所述解锁分析单元123在比较时可以着重比较所述实际图像和所述标准图像中锁舌的位置(该解锁位置可以在标准图像中示出)，判断实际图像中锁舌是否在解锁位置，若是，则锁止机构解锁所述电池包总成，若否，则锁止机构未解锁所述电池包总成。Since the locking mechanism should unlock the battery pack assembly, the locking tongue should be in the unlocked position, and the locking tongue will not block the locking shaft in the locking block in this unlocking position. Therefore, the unlocking analysis unit 123 can focus on comparison when comparing. The position of the tongue in the actual image and the standard image (the unlock position can be shown in the standard image), to determine whether the tongue is in the unlock position in the actual image, and if so, the locking mechanism unlocks the battery pack If not, the locking mechanism does not unlock the battery pack assembly.
当然所述解锁分析单元123的上述第二种实现还可以适用于分析其他类型的锁止机构是否锁紧电池包总成，该类型的锁止机构可以采用螺栓、螺母等其他结构锁紧电池包总成。这种实现的解锁分析单元123依然可以通过所述锁止机构及其相关联的结构在锁紧电池包总成时和未锁紧电池包总成时外部形态上的变化来判断锁止机构是否锁紧电池包总成，并不受限于特定结构的锁止机构，适用的范围更广。Of course, the above-mentioned second implementation of the unlock analysis unit 123 may also be applicable to analyze whether other types of locking mechanisms lock the battery pack assembly. This type of locking mechanism may use bolts, nuts, and other structures to lock the battery pack Assembly. The unlocking analysis unit 123 thus implemented can still determine whether the locking mechanism is based on changes in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked. Locking the battery pack assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
需要说明的是，考虑到不同的车型、不同的电池型号、不同的锁止机构对应的标准图像可能不同，所述解锁分析单元123通常需要预存多种车型、多种电池型号、多种锁止机构对应的标准图像，在换电前或换电过程中，确定换电车辆的车型、电池型号、锁止机构，从预存的标准图像中选择换电车辆对应的标准图像，进而进行后续的比较。It should be noted that, considering that different standard models for different models, different battery models, and different locking mechanisms may be different, the unlock analysis unit 123 usually needs to pre-store multiple models, multiple battery models, and multiple locks. The standard image corresponding to the organization. Before or during the power exchange, determine the model, battery model, and locking mechanism of the vehicle to be replaced. Select the standard image corresponding to the vehicle from the pre-stored standard images for further comparison. .
另外，所述解锁分析单元123可以根据实际情况采用上述的两种实现中的任意一种，例如，若锁止机构中并不包括锁连杆等结构，那么建议使用第二种实现分析锁止机构是否锁紧电池包总成。若锁止机构中包括锁连杆等结构，则两种实现均可使用。In addition, the unlock analysis unit 123 may adopt any one of the above two implementations according to the actual situation. For example, if the lock mechanism does not include a structure such as a lock link, then it is recommended to use the second implementation to analyze the lock Whether the mechanism locks the battery pack assembly. If the lock mechanism includes a structure such as a lock link, both implementations can be used.
在装电池阶段：所述图像采集模块11实时采集所述实际图像并将所述实际图像实时发送至所述图像分析模块12，所述实际图像中包含所述电池外箱的图像和所述电池包总成的图像。At the battery loading stage: the image acquisition module 11 captures the actual image in real time and sends the actual image to the image analysis module 12 in real time, and the actual image includes an image of the battery outer box and the battery Image of package assembly.
所述图像分析模块12具体用于根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，若是，则向所述换电控制模块13发送第三通知。The image analysis module 12 is specifically configured to analyze whether the battery pack assembly has reached a specified position in the battery outer box according to the actual image, and if so, send a third notification to the power exchange control module 13.
所述换电控制模块13具体用于在接收到所述第三通知后向所述换电设备发送第二调控指令，所述第二调控指令用于告知所述换电设备已达成所述装电池阶段。The power exchange control module 13 is specifically configured to send a second control instruction to the power exchange device after receiving the third notification, and the second control instruction is used to inform the power exchange device that the device has been installed. Battery phase.
其中，所述电池包总成到达所述指定位置时所述车辆的电池供电电路导通，所述换电设备预设有执行所述目标任务时所需的将所述电池包总成安装至所述指定位置的电池移动轨迹。Wherein, when the battery pack assembly reaches the designated position, the battery-powered circuit of the vehicle is turned on, and the power exchange device is preset to install the battery pack assembly to the The battery movement track at the specified position.
具体地，根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，包括：Specifically, analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
从所述实际图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from the actual image;
从与所述电池包总成位于所述指定位置时的标准图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from a standard image when the battery pack assembly is located at the designated position;
比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Compare whether the relative positional relationship between the battery pack assembly and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, so The first direction is a direction perpendicular to the platform on which the vehicle is parked:
若是，则所述电池包总成到达所述指定位置；若否，则所述电池包总成未到达所述指定位置。If yes, the battery pack assembly reaches the designated position; if not, the battery pack assembly does not reach the designated position.
例如，图2中所述平台为水平或接近于水平，所述第一方向即为竖直方向或接近于竖直方向，电池外箱与电池包总成之间存在相对高度差，在比较时，比较实际图像中电池外箱与电池包总成之间的相对高度差与标准图像中电池外箱与电池包总成之间的相对高度差是否相同，若相同，则电池包总成在竖直方向上到达指定位置，若不相同，则电池包总成在竖直方向上未到达指定位置。For example, the platform in FIG. 2 is horizontal or close to horizontal, the first direction is vertical or close to vertical, and there is a relative height difference between the battery outer box and the battery pack assembly. To compare whether the relative height difference between the battery case and the battery pack assembly in the actual image is the same as the relative height difference between the battery case and the battery pack assembly in the standard image. If they are the same, the battery pack assembly is in the vertical position. Reach the designated position in the straight direction. If it is not the same, the battery pack assembly does not reach the designated position in the vertical direction.
与所述第一方向垂直的其他方向即为水平面内的方向，可能为前后方向或左右方向，电池外箱与电池包总成之间存在相对水平距离差，在比较时，比较实际图像中电池外箱与电池包总成之间的相对水平距离差与标准图像中电池外箱与电池包总成之间的相对水平距离差是否相同，若相同，则电池包总成在前后方向或左右方向上到达指定位置，若不相同，则电池包总成在前后方向或左右方向上未到达指定位置。The other direction perpendicular to the first direction is the direction in the horizontal plane, which may be the front-back direction or the left-right direction. There is a relative horizontal distance difference between the battery outer box and the battery pack assembly. When comparing, compare the battery in the actual image. Is the relative horizontal distance difference between the outer case and the battery pack assembly the same as the relative horizontal distance difference between the battery outer case and the battery pack assembly in the standard image, and if they are the same, the battery pack assembly is in the front-rear direction or left-right direction Up to the specified position, if not the same, the battery pack assembly does not reach the specified position in the front-rear direction or left-right direction.
在具体实施时，可以根据指定位置的具***置、电池移动轨迹从上述两个方向中的任意一个使用，为了提高比较精度同时采用上述方向比较。例如，若指定位置位于电池外箱内某个高度的最前端，相应的电池移动轨迹为所述换电设备首先将电池包总成举升到该高度，然后向前移动电池包总成直至到达最前端，那么，建议同时使用以上两个方向上的比较，即比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向上的相对位置关系是否均相同，并比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在与所述第一方向垂直的其他方向上的相对位置关系是否均相同，若两个方向比较均相同，则确定所述电池包总成无论在高度还水平均到达所述指定位置。再例如，若指定位置位于电池外箱的最顶端，相应的电池移动轨迹为所述换电设备将电池包总成举升，直至到达最顶端，那么，建议比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向上的相对位置关系是否相同，若比较相同，则确定所述电池包总成在高度上到达所述指定位置。In specific implementation, the battery can be used from either of the two directions according to the specific position of the designated position and the battery movement trajectory. In order to improve the comparison accuracy, the above-mentioned direction comparison is also used. For example, if the designated position is at the forefront of a certain height in the battery outer box, the corresponding battery movement trajectory is that the battery replacement assembly first lifts the battery pack assembly to that height, and then moves the battery pack assembly forward until it reaches At the forefront, then, it is recommended to use the comparison in the above two directions at the same time, that is, compare the relative position relationship between the battery pack assembly and the battery outer box in the first direction in the actual image and the standard image. Are the same, and compare whether the relative positional relationship between the battery pack assembly and the battery case in other directions perpendicular to the first direction in the actual image and the standard image are the same, if two The direction comparisons are all the same, it is determined that the battery pack assembly reaches the specified position regardless of the height. As another example, if the designated position is at the top of the battery case, the corresponding battery movement trajectory is that the battery pack assembly is lifted by the replacement device until it reaches the top, then it is recommended to compare the actual image with the standard Whether the relative positional relationship between the battery pack assembly and the battery case in the first direction in the image is the same, and if the comparison is the same, it is determined that the battery pack assembly reaches the designated position in height.
在锁检测阶段；所述图像采集模块11采集的实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内。During the lock detection phase; the actual image collected by the image acquisition module 11 includes an image of a locking mechanism in the battery outer box of the vehicle, the locking mechanism being used to lock the battery pack assembly outside the battery Inside the box.
所述图像分析模块12具体用于根据所述实际图像分析所述锁止机构是否锁紧所述电池包总成。The image analysis module 12 is specifically configured to analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
其中，所述锁检测阶段发生于所述装电池阶段之后。The lock detection phase occurs after the battery loading phase.
具体地，如图4所示，所述图像分析模块12包括锁紧分析单元124；Specifically, as shown in FIG. 4, the image analysis module 12 includes a lock analysis unit 124;
所述图像采集模块11针对一种锁止机构(本实施例应用的锁止机构结构如中国专利申请CN106427514A)采集的实际图像，为所述图像采集模块11从所述电池外箱的下方向上采集，图像中 示出有电池外箱、电池外箱内装入的电池包总成，电池外箱和电池包总成之间存在间隙，透过间隙示出了锁止机构的可视部分，其中可视部分包括锁舌、锁块和伸出锁块的部分锁连杆(在锁止机构锁紧所述电池时锁连杆会向前移动，进而驱动锁舌，锁舌将锁轴挡在锁块内，锁连杆的前端部分会伸出锁块的前端面一定长度)。The image acquisition module 11 is directed to the actual image collected by a locking mechanism (the structure of the locking mechanism applied in this embodiment, such as the Chinese patent application CN106427514A), and the image acquisition module 11 acquires upwards from below the battery outer box. The image shows the battery case and the battery pack assembly inside the battery case. There is a gap between the battery case and the battery pack assembly. The visible part of the locking mechanism is shown through the gap. The view part includes the lock tongue, the lock block, and a part of the lock link protruding from the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, and the lock tongue blocks the lock shaft on the lock block Inside, the front end portion of the lock link will protrude from the front end surface of the lock block by a certain length).
针对上述的实际图像，所述锁紧分析单元124用于根据所述实际图像通过以下方式分析所述锁止机构是否锁紧所述电池包总成：For the above actual image, the locking analysis unit 124 is configured to analyze whether the locking mechanism locks the battery pack assembly in the following manner according to the actual image:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度，其中可以使用锁连杆、锁块轮廓提取、长度测量等图像处理技术实现，也可以拍摄边界线为参照，测量锁连杆的前端部与拍摄边界线之间距离，通过此距离反向计算出锁连杆伸出锁块的长度；Obtaining the length of the locking link protruding from the locking block in the locking mechanism from the actual image, which can be achieved using image processing techniques such as locking link, locking block contour extraction, length measurement, etc., and the boundary line can also be taken as a reference , Measure the distance between the front end of the lock link and the shooting boundary line, and calculate the length of the lock link protruding out of the lock block through this distance;
比较所述长度是否小于所述锁止机构锁紧所述电池包总成时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery pack assembly;
若是，则所述锁止机构未锁紧所述电池包总成；若否，则所述锁止机构锁紧所述电池包总成。If so, the locking mechanism does not lock the battery pack assembly; if not, the locking mechanism locks the battery pack assembly.
基于类似的原理，这种实现的锁紧分析单元124依然可以通过锁轴伸出锁面的长度判断锁止机构是否锁紧电池，如，比较锁轴伸出锁面的长度是否小于锁止机构锁紧电池包总成时锁轴伸出锁面的标准长度，若是，则锁止机构未锁紧所述电池包总成，若否，则锁止机构锁紧所述电池包总成。Based on similar principles, the locking analysis unit 124 implemented in this way can still determine whether the locking mechanism locks the battery by the length of the locking shaft protruding from the locking surface, for example, comparing whether the length of the locking shaft protruding from the locking surface is smaller than the locking mechanism. When the battery pack assembly is locked, the lock shaft extends the standard length of the lock surface. If it is, the locking mechanism does not lock the battery pack assembly. If not, the locking mechanism locks the battery pack assembly.
同样是针对上述的实际图像，本实施例还提供了所述锁紧分析单元124的另一种实现。所述锁紧分析单元124用于：Similarly to the above actual image, this embodiment also provides another implementation of the locking analysis unit 124. The locking analysis unit 124 is configured to:
比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构锁紧所述电池包总成时的图像；Comparing whether the actual image is the same as a standard image, and the standard image is an image when the locking mechanism locks the battery pack assembly;
若是，则所述锁止机构锁紧所述电池包总成；若否，则所述锁止机构未锁紧所述电池包总成。If so, the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.
由于锁止机构在锁紧电池包总成时，锁舌应当处于锁止位置，在该锁止位置锁舌可将锁轴挡在锁块内，所以，所述锁紧分析单元124在比较时可以着重比较所述实际图像和所述标准图像中锁舌的位置(该锁止位置可以标准图像中示出)，判断实际图像中锁舌是否在锁止位置，若是，则锁止机构锁紧所述电池包总成，若否，则锁止机构未锁紧所述电池包总成。Since the locking mechanism should lock the battery pack assembly, the locking tongue should be in the locked position, in which the locking tongue can block the locking shaft in the locking block, so the locking analysis unit 124 is The position of the locking tongue in the actual image and the standard image (the locking position can be shown in the standard image) can be focused on to determine whether the locking tongue is in the locked position in the actual image, and if so, the locking mechanism is locked. The battery pack assembly, if not, the locking mechanism does not lock the battery pack assembly.
当然所述锁紧分析单元124的上述第二种实现还可以适用于分析其他类型的锁止机构是否锁紧电池包总成，该类型的锁止机构可以采用螺栓、螺母等其他结构锁紧电池包总成。这种实现的所述锁紧分析单元依然可以通过所述锁止机构及其相关联的结构在锁紧电池包总成时和未锁紧电池包总成时外部形态上的变化来判断锁止机构是否锁紧电池包总成，不受限于于特定结构的锁止机构，适用的范围更广。Of course, the above-mentioned second implementation of the locking analysis unit 124 can also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly. This type of locking mechanism can use bolts, nuts, and other structures to lock the battery. Package assembly. The locking analysis unit implemented in this way can still judge the locking by the change in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked. Whether the mechanism locks the battery pack assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
需要说明的是，考虑到不同的车型、不同的电池型号、不同的锁止机构对应的锁连杆伸出锁块的标准长度/标准图像可能不同，所述锁紧分析单元124通常需要预存多种车型、多种电池型号、多种锁止机构对应的锁连杆伸出锁块的标准长度/标准图像，在换电前或换电过程中，确定换电车辆的车型、 电池型号、锁止机构，从预存的标准长度/标准图像中选择换电车辆对应的标准长度/标准图像，进而进行后续的比较。It should be noted that in consideration of different vehicle models, different battery models, and different locking mechanisms corresponding to the standard length / standard image of the locking rod protruding out of the locking block, the locking analysis unit 124 usually needs to pre-store more Standard models / standard images of different types of vehicles, multiple battery models, and various lock links corresponding to the locking mechanism stick out of the lock block. Before or during the power change, determine the vehicle model, battery type, and lock The stop mechanism selects a standard length / standard image corresponding to the replacement vehicle from the pre-stored standard length / standard image, and then performs subsequent comparisons.
另外，所述锁紧分析单元124可以根据实际情况采用上述的两种实现中的任意一种，例如，若锁止机构中并不包括锁连杆，那么建议使用第二种实现分析锁止机构是否锁紧电池包总成。若锁止机构中包括锁连杆，则两种实现均可使用。In addition, the locking analysis unit 124 may adopt any one of the above two implementations according to the actual situation. For example, if the locking mechanism does not include a locking link, it is recommended to use the second type of analysis to analyze the locking mechanism. Whether to lock the battery pack assembly. If a locking link is included in the locking mechanism, both implementations can be used.
实施例3Example 3
图5示出了本实施例的一种应用于车辆换电的视觉分析方法。所述视觉分析方法包括：步骤51：在车辆换电过程中，采集车辆和电池包总成的实际图像。FIG. 5 shows a visual analysis method applied to vehicle power exchange in this embodiment. The visual analysis method includes: Step 51: During a vehicle power exchange process, collecting actual images of the vehicle and the battery pack assembly.
步骤52：根据所述实际图像监控所述换电过程。Step 52: Monitor the power exchange process according to the actual image.
步骤53：调控所述换电过程所涉及的对象。Step 53: Regulate an object involved in the power exchange process.
本实施例中，为了提高图像采集的清晰度、电池外箱的状态分析精度，步骤51利用根据自动变焦的至少一摄像头或相机实现。所述摄像头或相机可以设置于用于为车辆换电的换电设备上。所述摄像头或相机还可以设置于所述车辆停泊的平台上。所述平台可以为在换电过程中供车辆停泊的专用平台或是其他普通平台。当然本发明并不局限于此，在其他实施例中，所述摄像头或相机还可以设置于能够采集到车辆和电池包总成的图像的其他位置。In this embodiment, in order to improve the definition of image acquisition and the accuracy of the state analysis of the battery case, step 51 is implemented by using at least one camera or camera according to the automatic zoom. The camera or camera may be provided on a power exchange device for powering a vehicle. The camera or camera may also be disposed on a platform where the vehicle is parked. The platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms. Of course, the present invention is not limited to this. In other embodiments, the camera or camera may also be disposed at other positions capable of capturing images of the vehicle and the battery pack assembly.
所述摄像头或相机的数量可以依换电过程、成本要求、锁止精度要求等实际情况而定。在所述摄像头或相机的数量超过一个时，该些摄像头或相机可以全部设置于同一区域，如全部均设置于所述换电设备上或全部均设置于上述的平台上；该些摄像头或相机还可以分散设置于不同区域，如部分设置于所述换电设备上且其他部分设置于上述的平台上。The number of the cameras or cameras may be determined according to actual conditions such as a power replacement process, cost requirements, and locking accuracy requirements. When the number of the cameras or cameras is more than one, all the cameras or cameras may be set in the same area, such as all on the power exchange device or all on the above platform; the cameras or cameras It can also be distributed in different areas, such as part of the power exchange equipment and other parts of the platform.
又考虑到所述电池外箱通常设置于车辆的底部，换电环境通常比较黑暗，对实际图像的清晰度会造成影响，本实施例中，所述视觉分析方法还包括：在环境光的亮度小于阈值时开启红外照明光源。例如在摄像头或相机配置红外照明光源，所述方法在采集所述实际图像前会自动检测环境光的亮度，若环境光的亮度小于阈值时则开启摄像头或相机上的红外照明光源。其中，所述阈值可根据摄像头或相机的性能要求而定。Considering that the battery outer box is usually installed on the bottom of the vehicle, the power exchange environment is usually dark, which will affect the sharpness of the actual image. In this embodiment, the visual analysis method further includes: the brightness of the ambient light When it is less than the threshold, the infrared light source is turned on. For example, an infrared illumination light source is configured on a camera or a camera. The method automatically detects the brightness of the ambient light before collecting the actual image. If the brightness of the ambient light is less than a threshold, the infrared illumination light source on the camera or the camera is turned on. The threshold may be determined according to a performance requirement of a camera or a camera.
本实施例的视觉分析方法可以采用实施例1的视觉分析***实现。The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 1.
实施例4Example 4
本实施例提供了一种应用于车辆换电的视觉分析方法，其是对实施例3的视觉分析方法的进一步改进。This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis method of Embodiment 3.
本实施例中，所述换电过程包括中的至少一种：车辆停车定位阶段、所述车辆的电池外箱定位阶段、为所述车辆换电的换电设备从所述车辆的电池外箱内解锁并取下缺电的电池包总成的卸电池阶段、为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段和所述电 池外箱的锁检测阶段。In this embodiment, the power exchange process includes at least one of: a vehicle parking positioning stage, a vehicle outer battery positioning stage, and a power exchange device for changing the vehicle from the battery outer box of the vehicle. Unlock the battery pack and remove the battery pack assembly during the battery unloading phase, and install the battery pack assembly to be installed in the battery outer box of the vehicle. The lock detection phase of the battery case is described.
在所述车辆停车定位阶段：步骤51采集的实际图像中包含所述车辆的图像及已标识的预设停车区域的图像。In the vehicle parking positioning stage: the actual image collected in step 51 includes an image of the vehicle and an image of an identified preset parking area.
步骤52、53包括：从所述实际图像提取所述车辆停泊的位置信息，通过所述位置信息确定所述车辆停泊于是否在所述预设停车区域内，若否，则命令所述车辆重新停泊至所述预设停车区域内。 Steps 52 and 53 include: extracting the parking position information of the vehicle from the actual image, determining whether the vehicle is parked in the preset parking area through the position information, and if not, ordering the vehicle to restart Parked in the preset parking area.
在电池外箱定位阶段：步骤51采集的实际图像中包含车辆的电池外箱的图像。In the battery outer box positioning stage: the actual image collected in step 51 includes an image of the battery outer box of the vehicle.
步骤52、53包括：根据所述实际图像获取所述电池外箱的空间状态信息； Steps 52 and 53 include: acquiring space state information of the battery outer box according to the actual image;
根据所述电池外箱的空间状态信息，命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。According to the space state information of the battery outer box, the power exchange device is instructed to adjust its own space state information to fit the space state information of the battery outer box.
所述电池外箱定位阶段适用于：所述换电设备从所述电池外箱内取下缺电的电池包总成之前，或所述换电设备将待装的电池包总成安装至所述电池外箱之前。The positioning phase of the battery outer box is applicable to: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or the power exchange device installs the battery pack assembly to be installed in the battery pack. Before the battery case.
具体地，所述空间状态信息包括位置信息；Specifically, the spatial state information includes position information;
根据所述实际图像获取所述电池外箱的位置信息；Acquiring position information of the battery outer box according to the actual image;
根据所述电池外箱的位置信息，命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。According to the position information of the battery outer box, the power exchange device is commanded to move its position to a target position, and the target position is related to the position of the battery outer box.
所述空间状态信息包括姿态信息；The spatial state information includes attitude information;
根据所述实际图像获取所述电池外箱的姿态信息；Acquiring posture information of the battery outer box according to the actual image;
根据所述电池外箱的姿态信息命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。According to the posture information of the battery outer box, the power exchange device is instructed to adjust its posture so that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
在卸电池阶段；步骤51采集的实际图像中包含所述电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；During the battery unloading phase; the actual image collected in step 51 includes an image of a locking mechanism in the battery outer box, which is used to lock the battery pack assembly in the battery outer box;
步骤52、53包括：根据所述实际图像分析所述锁止机构是否解锁所述电池包总成，并在所述锁止机构解锁所述电池包总成时命令所述换电设备将所述电池包总成从所述电池外箱取下。 Steps 52 and 53 include analyzing whether the locking mechanism unlocks the battery pack assembly according to the actual image, and instructing the power exchange device to switch the battery pack assembly when the locking mechanism unlocks the battery pack assembly. The battery pack assembly is removed from the battery case.
其中，所述换电设备预设有执行所述卸电池指令时所需的将所述电池包总成从所述电池外箱取下的第一电池移动轨迹。Wherein, the power exchange device presets a movement track of the first battery required to remove the battery pack assembly from the battery case when the battery unloading instruction is executed.
步骤51针对一种锁止机构(本实施例应用的锁止机构结构如中国专利申请CN106427514A)采集的实际图像，可从所述电池外箱的下方向上采集，图像中示出有电池外箱、电池外箱内装入的电池包总成，电池外箱和电池包总成之间存在间隙，透过间隙示出了锁止机构的可视部分，其中可视部分包括锁舌、锁块和伸出锁块的部分锁连杆(在锁止机构锁紧所述电池时锁连杆会向前移动，进而驱动锁舌，锁舌将锁轴挡在锁块内，锁连杆的前端部分会伸出锁块的前端面一定长度)。 Step 51 is directed to an actual image captured by a locking mechanism (such as the structure of the locking mechanism applied in this embodiment, such as Chinese patent application CN106427514A), which can be collected upward from below the battery outer box. The image shows the battery outer box, The battery pack assembly installed in the battery case, there is a gap between the battery case and the battery pack assembly. The visible part of the locking mechanism is shown through the gap, where the visible part includes the lock tongue, the lock block and the extension Part of the lock link of the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, the lock tongue will block the lock shaft in the lock block, and the front end portion of the lock link will extend Out of the front end surface of the lock block).
针对上述的实际图像，具体地，根据所述实际图像通过以下步骤分析所述锁止机构是否解锁所述 电池包总成：For the above actual image, specifically, according to the actual image, analyze whether the locking mechanism unlocks the battery pack assembly through the following steps:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度，其中可以使用锁连杆、锁块轮廓提取、长度测量等图像处理技术实现，也可以拍摄边界线为参照，测量锁连杆的前端部与拍摄边界线之间距离，通过此距离反向计算出锁连杆伸出锁块的长度；Obtaining the length of the locking link protruding from the locking block in the locking mechanism from the actual image, which can be achieved using image processing techniques such as locking link, locking block contour extraction, length measurement, etc., and the boundary line can also be taken as a reference , Measure the distance between the front end of the lock link and the shooting boundary line, and calculate the length of the lock link protruding out of the lock block through this distance;
比较所述长度是否为0：Compare whether the length is 0:
若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成。If so, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
或，同样是针对上述的实际图像，根据所述实际图像通过以下步骤分析所述锁止机构是否解锁所述电池包总成：Or, it is also for the actual image described above, and according to the actual image, analyze whether the locking mechanism unlocks the battery pack assembly through the following steps:
比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构解锁所述电池包总成时的图像；Comparing whether the actual image is the same as a standard image, and the standard image is an image when the lock mechanism unlocks the battery pack assembly;
若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成。If so, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
由于锁止机构在解锁电池包总成时，锁舌应当处于解锁位置，在该解锁位置锁舌不会将锁轴挡在锁块内，所以，上述第二种流程在比较时可以着重比较所述实际图像和所述标准图像中锁舌的位置(该解锁位置可以在标准图像中示出)，判断实际图像中锁舌是否在解锁位置，若是，则锁止机构解锁所述电池包总成，若否，则锁止机构未解锁所述电池包总成。Because the locking mechanism should unlock the battery pack assembly, the locking tongue should be in the unlocked position. In this unlocking position, the locking tongue will not block the locking shaft in the locking block. Therefore, the above second process can focus on comparing The actual image and the position of the locking tongue in the standard image (the unlocking position can be shown in the standard image), and determining whether the locking tongue is in the unlocking position in the actual image; if so, the locking mechanism unlocks the battery pack assembly If not, the locking mechanism does not unlock the battery pack assembly.
当然上述第二种流程还可以适用于分析其他类型的锁止机构是否锁紧电池包总成，该类型的锁止机构可以采用螺栓、螺母等其他结构锁紧电池包总成。上述第二种流程依然可以通过所述锁止机构及其相关联的结构在锁紧电池包总成时和未锁紧电池包总成时外部形态上的变化来判断锁止机构是否锁紧电池包总成，并不受限于特定结构的锁止机构，适用的范围更广。Of course, the above second process can also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly. This type of locking mechanism can use bolts, nuts, and other structures to lock the battery pack assembly. The above-mentioned second process can still determine whether the locking mechanism locks the battery through the change in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked. The bag assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
在装电池阶段：步骤51实时采集所述实际图像，所述实际图像中包含所述电池外箱的图像和所述电池包总成的图像。In the battery loading phase: step 51 collects the actual image in real time, and the actual image includes an image of the battery outer box and an image of the battery pack assembly.
步骤52、53包括：根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，若是，则告知所述换电设备已达成所述装电池阶段。 Steps 52 and 53 include analyzing whether the battery pack assembly has reached a designated position in the battery outer case according to the actual image, and if so, notifying the power exchange device that the battery loading stage has been reached.
所述电池包总成到达所述指定位置时所述车辆的电池供电电路导通，所述换电设备预设有执行所述目标任务时所需的将所述电池包总成安装至所述指定位置的电池移动轨迹。When the battery pack assembly reaches the designated position, the battery power supply circuit of the vehicle is turned on, and the power exchange device is preset to install the battery pack assembly to the vehicle when performing the target task. Battery movement track at the specified position.
具体地，根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，包括：Specifically, analyzing whether the battery pack assembly reaches a specified position in the battery outer box according to the actual image includes:
从所述实际图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from the actual image;
从与所述电池包总成位于所述指定位置时的标准图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from a standard image when the battery pack assembly is located at the designated position;
比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的 方向：Compare whether the relative positional relationship between the battery pack assembly and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, so The first direction is a direction perpendicular to the platform on which the vehicle is parked:
若是，则所述电池包总成到达所述指定位置；若否，则所述电池包总成未到达所述指定位置。If yes, the battery pack assembly reaches the designated position; if not, the battery pack assembly does not reach the designated position.
在锁检测阶段：步骤51采集的实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内。In the lock detection phase: the actual image collected in step 51 includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly in the battery outer box.
步骤52、53包括：根据所述实际图像分析所述锁止机构是否锁紧所述电池包总成。 Steps 52 and 53 include analyzing whether the locking mechanism locks the battery pack assembly according to the actual image.
其中，所述锁检测阶段发生于所述装电池阶段之后。The lock detection phase occurs after the battery loading phase.
步骤51针对一种锁止机构(本实施例应用的锁止机构结构如中国专利申请CN106427514A)采集的实际图像，可从所述电池外箱的下方向上采集，图像中示出有电池外箱、电池外箱内装入的电池包总成，电池外箱和电池包总成之间存在间隙，透过间隙示出了锁止机构的可视部分，其中可视部分包括锁舌、锁块和伸出锁块的部分锁连杆(在锁止机构锁紧所述电池时锁连杆会向前移动，进而驱动锁舌，锁舌将锁轴挡在锁块内，锁连杆的前端部分会伸出锁块的前端面一定长度)。 Step 51 is directed to an actual image captured by a locking mechanism (such as the structure of the locking mechanism applied in this embodiment, such as Chinese patent application CN106427514A), which can be collected upward from below the battery outer box. The image shows the battery outer box, The battery pack assembly installed in the battery case, there is a gap between the battery case and the battery pack assembly. The visible part of the locking mechanism is shown through the gap, where the visible part includes the lock tongue, the lock block and the extension Part of the lock link of the lock block (the lock link will move forward when the lock mechanism locks the battery, thereby driving the lock tongue, the lock tongue will block the lock shaft in the lock block, and the front end portion of the lock link will extend Out of the front end surface of the lock block).
针对上述的实际图像，具体地，根据所述实际图像通过以下步骤分析所述锁止机构是否锁紧所述电池包总成：For the above actual image, specifically, according to the actual image, analyze whether the locking mechanism locks the battery pack assembly through the following steps:
从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度，其中可以使用锁连杆、锁块轮廓提取、长度测量等图像处理技术实现，也可以拍摄边界线为参照，测量锁连杆的前端部与拍摄边界线之间距离，通过此距离反向计算出锁连杆伸出锁块的长度；Obtaining the length of the locking link protruding from the locking block in the locking mechanism from the actual image, which can be achieved using image processing techniques such as locking link, locking block contour extraction, length measurement, etc., and the boundary line can also be taken as a reference , Measure the distance between the front end of the lock link and the shooting boundary line, and calculate the length of the lock link protruding out of the lock block through this distance;
比较所述长度是否小于所述锁止机构锁紧所述电池包总成时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery pack assembly;
若是，则所述锁止机构未锁紧所述电池包总成；若否，则所述锁止机构锁紧所述电池包总成。If so, the locking mechanism does not lock the battery pack assembly; if not, the locking mechanism locks the battery pack assembly.
基于类似的原理，上述流程依然可以通过锁轴伸出锁面的长度判断锁止机构是否锁紧电池，如，比较锁轴伸出锁面的长度是否小于锁止机构锁紧电池包总成时锁轴伸出锁面的标准长度，若是，则锁止机构未锁紧所述电池包总成，若否，则锁止机构锁紧所述电池包总成。Based on similar principles, the above process can still determine whether the locking mechanism locks the battery by the length of the locking shaft protruding from the locking surface, for example, comparing whether the length of the locking shaft protruding from the locking surface is shorter than when the locking mechanism locks the battery pack assembly. The locking shaft extends out of the standard length of the locking surface. If it is, the locking mechanism does not lock the battery pack assembly. If not, the locking mechanism locks the battery pack assembly.
或，同样是针对上述的实际图像，根据所述实际图像通过以下步骤分析所述锁止机构是否锁紧所述电池包总成：Or, it is also for the actual image described above, and according to the actual image, analyze whether the locking mechanism locks the battery pack assembly through the following steps:
比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构锁紧所述电池包总成时的图像；Comparing whether the actual image is the same as a standard image, and the standard image is an image when the locking mechanism locks the battery pack assembly;
若是，则所述锁止机构锁紧所述电池包总成；若否，则所述锁止机构未锁紧所述电池包总成。If so, the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.
由于锁止机构在锁紧电池包总成时，锁舌应当处于锁止位置，在该锁止位置锁舌可将锁轴挡在锁块内，所以，上述流程在比较时可以着重比较所述实际图像和所述标准图像中锁舌的位置(该锁止位置可以标准图像中示出)，判断实际图像中锁舌是否在锁止位置，若是，则锁止机构锁紧所述电池包总成，若否，则锁止机构未锁紧所述电池包总成。Since the locking mechanism should lock the battery pack assembly, the locking tongue should be in the locking position, in which the locking tongue can block the locking shaft in the locking block, so the above process can be compared during the comparison. The position of the locking tongue in the actual image and the standard image (the locking position can be shown in the standard image), to determine whether the locking tongue is in the locked position in the actual image, and if so, the locking mechanism locks the battery pack. If not, the locking mechanism does not lock the battery pack assembly.
当然上述第二种流程还可以适用于分析其他类型的锁止机构是否锁紧电池包总成，该类型的锁止 机构可以采用螺栓、螺母等其他结构锁紧电池包总成。上述第二种流程依然可以通过所述锁止机构及其相关联的结构在锁紧电池包总成时和未锁紧电池包总成时外部形态上的变化来判断锁止机构是否锁紧电池包总成，不受限于于特定结构的锁止机构，适用的范围更广。Of course, the above second process can also be applied to analyze whether other types of locking mechanisms lock the battery pack assembly. This type of locking mechanism can use bolts, nuts and other structures to lock the battery pack assembly. The above-mentioned second process can still determine whether the locking mechanism locks the battery through the change in the external shape of the locking mechanism and its associated structure when the battery pack assembly is locked and when the battery pack assembly is not locked. The bag assembly is not limited to a specific structure of the locking mechanism, and the scope of application is wider.
实施例5Example 5
图4示出了本实施例的一种基于视觉分析的换电控制方法。所述换电控制方法包括：FIG. 4 shows a power analysis control method based on visual analysis in this embodiment. The power exchange control method includes:
步骤61：车辆驶入平台，进入车辆停车定位阶段。在该阶段，所述视觉分析***实现相应的功能，或，所述视觉分析方法执行相应的步骤。Step 61: The vehicle enters the platform and enters the vehicle parking positioning stage. At this stage, the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
步骤62：进入所述车辆的电池外箱定位阶段。在该阶段，所述视觉分析***实现相应的功能，或，所述视觉分析方法执行相应的步骤。Step 62: Enter the battery outer box positioning stage of the vehicle. At this stage, the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
步骤63：进入为所述车辆换电的换电设备从所述电池外箱内解锁并取下缺电的电池包总成的卸电池阶段。在该阶段，所述视觉分析***实现相应的功能，或，所述视觉分析方法执行相应的步骤。Step 63: Enter the battery unloading phase of unlocking the power exchange equipment for powering the vehicle from the battery outer box and removing the lacking battery pack assembly. At this stage, the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
步骤64：再次进入所述车辆的电池外箱定位阶段。在该阶段，所述视觉分析***实现相应的功能，或，所述视觉分析方法执行相应的步骤。Step 64: Enter the battery outer box positioning stage of the vehicle again. At this stage, the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
步骤65：进入为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段。在该阶段，所述视觉分析***实现相应的功能，或，所述视觉分析方法执行相应的步骤。Step 65: Enter the battery charging stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device for powering the vehicle. At this stage, the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
步骤66：进入所述电池外箱的锁检测阶段。在该阶段，所述视觉分析***实现相应的功能，或，所述视觉分析方法执行相应的步骤。Step 66: Enter the lock detection stage of the battery case. At this stage, the visual analysis system implements corresponding functions, or the visual analysis method performs corresponding steps.
通过上述各阶段，完成对车辆的一次完整的换电。Through the above stages, a complete power exchange of the vehicle is completed.
实施例6Example 6
如图1所示，本实施例的一种应用于车辆换电的视觉分析***与实施例1基本相同，不同之处仅在于，所述换电控制模块13与用于为车辆更换电池的换电设备40通过有线或无线通信连接。所述图像采集模块11用于在所述换电设备执行目标任务的过程中，实时采集实际图像并将所述实际图像实时发送至所述图像分析模块12，所述目标任务为将电池安装至车辆的电池外箱，所述实际图像中包含所述电池外箱的图像和所述电池的图像。As shown in FIG. 1, a visual analysis system applied to vehicle power exchange in this embodiment is basically the same as Embodiment 1, except that the power exchange control module 13 is similar to the battery exchange The electric device 40 is connected through wired or wireless communication. The image acquisition module 11 is configured to collect a real-time image in real time during the target task performed by the power exchange device and send the actual image to the image analysis module 12 in real time. The target task is to install a battery to The battery outer box of the vehicle, the actual image includes an image of the battery outer box and an image of the battery.
所述图像分析模块12用于根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，若是，则向所述换电控制模块13发送通知信号。The image analysis module 12 is configured to analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, send a notification signal to the power exchange control module 13.
所述换电控制模块13用于在接收到所述通知信号后生成调控指令并将所述调控指令发送至换电设备，所述调控指令用于告知所述换电设备已达成所述目标任务。The power exchange control module 13 is configured to generate a control instruction after receiving the notification signal and send the control instruction to a power replacement device, where the control instruction is used to inform the power replacement device that the target task has been achieved .
本实施例的视觉分析***10能够监控换电设备安装电池的过程，保证在电池到达指定位置，避免出现安装不到位的情况，保证换电的成功率。The visual analysis system 10 of this embodiment can monitor the battery installation process of the power replacement equipment, ensure that the battery arrives at the designated location, avoid situations where the installation is not in place, and ensure the success rate of power replacement.
本实施例中，对于所述指定位置的具***置不做限定，其需要根据电池外箱的结构而定，例如， 指定位置可能位于电池外箱内某个高度的最前端，或位于电池外箱的最顶端。当所述电池到达所述指定位置时所述车辆的电池供电电路导通，所述电池可以为所述车辆供电，说明所述电池安装到位。In this embodiment, the specific position of the designated position is not limited, and it needs to be determined according to the structure of the battery outer box. For example, the designated position may be located at the forefront of a certain height in the battery outer box or the battery outer box At the top. When the battery reaches the designated position, the battery-powered circuit of the vehicle is turned on, and the battery can power the vehicle, indicating that the battery is in place.
所述换电设备可以预设有执行所述目标任务时所需的将所述电池安装至所述指定位置的电池移动轨迹。所述换电设备在收到所述通知信号之前，按照所述电池移动轨迹移动电池。所述电池移动轨迹的设定需要根据所述指定位置的具***置而定，例如，若所述指定位置位于电池外箱内某个高度的最前端，那么，相应的电池移动轨迹通常为所述换电设备首先将电池举升到该高度，然后向前移动电池直至到达最前端；若所述指定位置位于电池外箱的最顶端，那么，相应的电池移动轨迹通常为所述换电设备将电池举升，直至到达最顶端。The power exchange device may preset a battery movement trajectory required to mount the battery to the specified position when performing the target task. Before the power exchange device receives the notification signal, it moves the battery according to the battery movement track. The setting of the battery movement trajectory needs to be determined according to the specific position of the designated position. For example, if the designated position is located at the forefront of a certain height in the battery outer box, then the corresponding battery movement trajectory is usually the The battery replacement device first lifts the battery to this height, and then moves the battery forward until it reaches the forefront; if the designated position is at the top of the battery case, the corresponding battery movement trajectory is usually that the battery replacement device will The battery is raised until it reaches the top.
由于指定位置通常位于电池外箱的端部(最前端或最顶端)，所以，在设定电池移动轨迹时，为了保证电池确实能够到达指定位置，常常设定的电池移动轨迹要比电池移动至指定位置的实际移动轨迹稍长一些，但过长的电池移动轨迹会导致电池会出现移动过量的情况，进而使得电池与端部的内表面发生碰撞，对电池外箱和电池都可能造成损坏。本实施例的视觉分析***10通过实时采集、分析实际图像，在电池到达指定位置时及时告知换电设备目标任务已达到，让换电设备停止移动电池，避免电池与端部的内表面发生碰撞，造成电池外箱和电池的损坏。Because the designated position is usually located at the end (front end or top) of the battery case, in order to ensure that the battery can indeed reach the designated position when setting the battery movement trajectory, the battery movement trajectory often set is more than the battery moves to The actual trajectory of the specified position is slightly longer, but too long a trajectory of the battery will cause the battery to move excessively, which will cause the battery to collide with the inner surface of the end, which may cause damage to the battery outer box and the battery. The visual analysis system 10 of this embodiment collects and analyzes actual images in real time, and informs the replacement equipment that the target task has been reached in time when the battery reaches the designated position, so that the replacement equipment stops moving the battery to avoid the battery colliding with the inner surface of the end. , Causing damage to the battery case and battery.
本实施例中，所述图像采集模块11可以设置于所述换电设备40上。所述换电设备40除了能够将电池装入电池外箱外，还可以兼具将车辆上原有的缺电电池从电池外箱取下的功能。所述图像采集模块11还可以设置于所述车辆停泊的平台上。所述平台可以为在换电过程中供车辆停泊的专用平台或是其他普通平台。当然本发明并不局限于此，在其他实施例中，所述图像采集模块11还可以设置于能够采集到所述电池外箱的图像的其他位置。另外，图像采集模块11的数量可以依所述电池外箱的具体结构、成本要求、调控精度要求等实际情况而定。In this embodiment, the image acquisition module 11 may be disposed on the power exchange device 40. In addition to being able to insert a battery into a battery outer box, the power exchange device 40 can also have a function of removing an existing battery lacking a battery from the battery outer box. The image acquisition module 11 may also be disposed on a platform where the vehicle is parked. The platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms. Of course, the present invention is not limited to this. In other embodiments, the image acquisition module 11 may also be disposed at another position where an image of the battery outer box can be acquired. In addition, the number of image acquisition modules 11 can be determined according to the actual structure of the battery outer box, cost requirements, and control accuracy requirements.
实施例7Example 7
本实施例提供了一种应用于车辆换电的视觉分析***，其是对实施例6的视觉分析***的进一步改进，能够准确地判断所述电池是否到达所述电池外箱的指定位置。This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 6 and can accurately determine whether the battery has reached a designated position of the battery outer box.
本实施例中，所述图像分析模块12根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，具体包括：In this embodiment, the image analysis module 12 analyzes whether the battery reaches a specified position in the battery outer box according to the actual image, and specifically includes:
比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同，其中，所述标准图像是预先采集的，所述图像采集模块11采集所述实际图像时的角度优选地与所述标准图像的采集角度相同：Comparing whether the actual image is the same as a standard image when the battery is at the specified position, wherein the standard image is acquired in advance, and the angle at which the image acquisition module 11 acquires the actual image is preferably different from The acquisition angle of the standard image is the same:
若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
需要说明的是，考虑到不同的车型、不同的电池外箱对应的标准图像可能不同，所述图像分析模块12通常需要预存多种车型、多种电池外箱对应的标准图像，在换电前或换电过程中，确定换电车 辆的车型、电池外箱，从预存的标准图像中选择车辆对应的标准图像，进而进行后续的比较。It should be noted that considering that the standard images corresponding to different vehicle models and different battery outer boxes may be different, the image analysis module 12 usually needs to pre-store standard images corresponding to multiple vehicle models and multiple battery outer boxes. During the power exchange process, the vehicle model and battery outer box of the vehicle to be replaced are determined, and the standard image corresponding to the vehicle is selected from the pre-stored standard images for further comparison.
下面提供了两种所述图像分析模块12比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同的具体过程：The following provides two specific processes in which the image analysis module 12 compares whether the actual image is the same as a standard image when the battery is at the specified position:
第一种：从所述实际图像中提取所述电池的图像和所述电池外箱的图像，滤除图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等；The first type: extract the image of the battery and the image of the battery outer box from the actual image, and filter out other images that may be collected together in the image, such as the structure of the vehicle bottom around the battery outer box;
比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向上的相对位置关系是否相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Compare whether the relative positional relationship between the battery and the battery case in the first direction is the same in the actual image and the standard image, and the first direction is a direction perpendicular to the platform where the vehicle is parked:
若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
例如，图2中所述平台为水平或接近于水平，所述第一方向即为竖直方向或接近于竖直方向，电池外箱与电池之间存在相对高度差，在比较时，比较实际图像中电池外箱与电池之间的相对高度差与标准图像中电池外箱与电池之间的相对高度差是否相同，若相同，则电池在竖直方向上到达指定位置，若不相同，则电池在竖直方向上未到达指定位置。For example, the platform in FIG. 2 is horizontal or close to horizontal, the first direction is vertical or close to vertical, and there is a relative height difference between the battery case and the battery. The relative height difference between the battery case and the battery in the image is the same as the relative height difference between the battery case and the battery in the standard image. If they are the same, the battery reaches the specified position in the vertical direction. If they are not the same, then The battery does not reach the specified position in the vertical direction.
第二种：从所述实际图像中提取所述电池的图像和所述电池外箱的图像，滤除图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等；The second type: extract the image of the battery and the image of the battery outer box from the actual image, and filter out other images that may be collected together in the image, such as the bottom structure of the battery outer box;
比较所述实际图像和所述标准图像中所述电池与所述电池外箱在与所述第一方向垂直的其他方向上的相对位置关系是否相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Comparing whether the relative positional relationship between the battery and the battery outer box in other directions perpendicular to the first direction in the actual image and the standard image is the same as the parking of the vehicle The vertical orientation of the platform:
若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
例如，图2中所述平台为水平或接近于水平，所述第一方向即为竖直方向或接近于竖直方向，与所述第一方向垂直的其他方向即为水平面内的方向，可能为前后方向或左右方向，电池外箱与电池之间存在相对水平距离差，在比较时，比较实际图像中电池外箱与电池之间的相对水平距离差与标准图像中电池外箱与电池之间的相对水平距离差是否相同，若相同，则电池在前后方向或左右方向上到达指定位置，若不相同，则电池在前后方向或左右方向上未到达指定位置。For example, the platform in FIG. 2 is horizontal or close to horizontal, the first direction is vertical or close to the vertical direction, and other directions perpendicular to the first direction are directions in the horizontal plane. For the front-to-rear direction or left-to-right direction, there is a relative horizontal distance difference between the battery outer box and the battery. In the comparison, the relative horizontal distance difference between the battery outer box and the battery in the actual image is compared with the battery outer box and the battery in the standard image. Whether the relative horizontal distance difference between them is the same. If they are the same, the battery reaches the specified position in the front-rear direction or left-right direction. If not, the battery does not reach the specified position in the front-rear direction or left-right direction.
在具体实施时，可以根据指定位置的具***置、电池移动轨迹从上述两种比较中的任意一种使用，为了提高比较精度同时采用上述两种比较。例如，若指定位置位于电池外箱内某个高度的最前端，相应的电池移动轨迹为所述换电设备首先将电池举升到该高度，然后向前移动电池直至到达最前端，那么，建议同时使用以上两种比较，利用第一种比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向上的相对位置关系是否均相同，并利用第二种比较所述实际图像和所述标准图像中所述电池与所述电池外箱在与所述第一方向垂直的其他方向上的相对位置关系是否均相同，若两种比较均相同，则确定所述电池无论在高度还水平均到达所述指定位置。再例如，若指定位置位于电池外箱的最顶端，相应的电池移动轨迹为所述换电设备将电池举升，直至到达最顶端，那么，建议利用第一种比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向上的相对位置关系是 否相同，若比较相同，则确定所述电池在高度上到达所述指定位置。In specific implementation, it can be used from any one of the two types of comparisons above according to the specific position of the specified position and the battery movement trajectory. In order to improve the comparison accuracy, the two types of comparisons are used simultaneously. For example, if the designated position is at the forefront of a certain height in the battery outer box, the corresponding battery movement trajectory is that the battery replacement device first lifts the battery to that height, and then moves the battery forward until it reaches the forefront. Use the above two comparisons at the same time, use the first to compare whether the relative positional relationship between the battery and the battery case in the first direction in the actual image and the standard image are the same, and use the second comparison Whether the relative positional relationship between the battery and the battery case in other directions perpendicular to the first direction in the actual image and the standard image are the same, and if the two comparisons are the same, determine the The battery reaches the specified position regardless of the height. As another example, if the designated position is at the top of the battery case, the corresponding battery movement trajectory is that the battery is lifted by the replacement device until it reaches the top, then it is recommended to use the first method to compare the actual image with the Whether the relative positional relationship between the battery and the battery outer case in the first direction in the standard image is the same, and if the comparison is the same, it is determined that the battery reaches the specified position in height.
下面具体提供两种本实施例的图像分析模块12可用的比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同的具体过程，所述方向可以为所述第一方向，也可以为与所述第一方向垂直的其他方向：The following specifically provides two specific processes that can be used by the image analysis module 12 of this embodiment to compare whether the relative position relationship between the battery and the battery outer box in one of the directions is the same in the actual image and the standard image. , The direction may be the first direction, or other directions perpendicular to the first direction:
第一种：从由所述方向采集的实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；The first type: extracting the outer surface of the battery outer box in the direction from the actual image collected in the direction;
从由所述方向采集的实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from an actual image acquired from the direction, the first battery surface being a battery surface on the same side as the box surface;
比对由所述方向采集的实际图像中所述第一电池面与所述箱面的图像大小，得到实际大小对比关系；Comparing the image sizes of the first battery surface and the box surface in the actual image collected from the direction to obtain the actual size comparison relationship;
获取由所述方向采集的标准图像中所述第一电池面与所述箱面的图像大小的标准大小对比关系；Acquiring a standard size comparison relationship between the image sizes of the first battery surface and the box surface in a standard image collected by the direction;
比较所述实际大小对比关系与所述标准大小对比关系是否相同；Comparing whether the actual size comparison relationship is the same as the standard size comparison relationship;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
或者，从由与所述方向垂直的方向采集的实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；Or extracting a box surface of the battery outer box which is at an outermost side in the direction from an actual image acquired from a direction perpendicular to the direction;
从由与所述方向垂直的方向采集的实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from an actual image acquired in a direction perpendicular to the direction, the first battery surface being a battery surface on the same side as the box surface;
比对由与所述方向垂直的方向采集的实际图像中所述第一电池面与所述箱面的图像位置，得到实际位置对比关系；Comparing the image positions of the first battery surface and the box surface in an actual image collected in a direction perpendicular to the direction to obtain a real position contrast relationship;
获取由与所述方向垂直的方向采集的标准图像中所述第一电池面与所述箱面的图像位置的标准位置对比关系；Acquiring a standard position contrast relationship between image positions of the first battery surface and the box surface in a standard image collected in a direction perpendicular to the direction;
比较所述实际位置对比关系与所述标准位置对比关系是否均相同；Comparing whether the actual position contrast relationship is the same as the standard position contrast relationship;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
上述两种比较可以根据图像采集模块11采集图像的位置择一使用，也快同时使用，即所述实际大小对比关系与所述标准大小对比关系、所述实际位置对比关系与所述标准位置对比关系均相同，才可确定相对位置关系相同。上述过程中，通过图像的相对关系比较第一电池面和电池外箱的最外侧的箱面即可确定电池与电池外箱的相对位置，过程较为准确。The above two types of comparison can be used according to the position where the image acquisition module 11 collects the images, and they are also used at the same time, that is, the actual size comparison relationship with the standard size comparison relationship, the actual position comparison relationship with the standard position comparison Only when the relationships are the same, can it be determined that the relative position relationships are the same. In the above process, the relative position of the battery and the battery outer box can be determined by comparing the first battery surface and the outermost box surface of the battery outer box through the relative relationship of the images, and the process is more accurate.
第二种：通过所述实际图像自带的景深信息，确定所述电池外箱在所述方向上处于最外侧的箱面 与所述电池的第一电池面的实际相对距离，所述第一电池面为与所述箱面同侧的电池面，所述实际图像优选为由所述方向采集的实际图像；The second type: determining the actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery by using the depth-of-field information provided in the actual image. The battery surface is a battery surface on the same side as the box surface, and the actual image is preferably an actual image acquired from the direction;
获取所述标准图像中所述箱面与所述第一电池面之间的标准相对距离；Acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
比较所述实际相对距离与所述标准相对距离是否相同；Comparing whether the actual relative distance is the same as the standard relative distance;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
上述过程利用图像的景深信息比较第一电池面和电池外箱的最外侧的箱面即可确定电池与电池外箱的相对位置，过程更为简单。The above process uses the depth of field information of the image to compare the first battery surface and the outermost box surface of the battery outer box to determine the relative position of the battery and the battery outer box, and the process is simpler.
实施例8Example 8
图7示出了本实施例的一种应用于车辆换电的视觉分析方法。所述视觉分析方法包括：FIG. 7 shows a visual analysis method applied to vehicle power exchange in this embodiment. The visual analysis method includes:
步骤51’：在换电设备执行目标任务的过程中，实时采集实际图像。所述目标任务为将电池安装至车辆的电池外箱，所述实际图像中包含所述电池外箱的图像和所述电池的图像。Step 51 ': In the process of performing the target task by the power exchange device, the actual image is collected in real time. The target task is to mount a battery to a battery outer box of a vehicle, and the actual image includes an image of the battery outer box and an image of the battery.
步骤52’：根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，若是，则执行步骤53’。Step 52 ': Analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, perform step 53'.
步骤53’：告知所述换电设备已达成所述目标任务。Step 53 ': Notify the power exchange device that the target task has been achieved.
本实施例的视觉分析方法能够监控换电设备安装电池的过程，保证在电池到达指定位置，避免出现安装不到位的情况，保证换电的成功率。The visual analysis method of this embodiment can monitor the battery installation process of the power replacement equipment, ensure that the battery reaches the designated location, avoid situations where the installation is not in place, and ensure the success rate of power replacement.
本实施例中，对于所述指定位置的具***置不做限定，其需要根据电池外箱的结构而定，例如，指定位置可能位于电池外箱内某个高度的最前端，或位于电池外箱的最顶端。当所述电池到达所述指定位置时所述车辆的电池供电电路导通，所述电池可以为所述车辆供电，说明所述电池安装到位。In this embodiment, the specific position of the designated position is not limited, and it needs to be determined according to the structure of the battery outer box. For example, the designated position may be located at the forefront of a certain height in the battery outer box or the battery outer box At the top. When the battery reaches the designated position, the battery-powered circuit of the vehicle is turned on, and the battery can power the vehicle, indicating that the battery is in place.
所述换电设备可以预设有执行所述目标任务时所需的将所述电池安装至所述指定位置的电池移动轨迹。所述换电设备在收到所述通知信号之前，按照所述电池移动轨迹移动电池。所述电池移动轨迹的设定需要根据所述指定位置的具***置而定，例如，若所述指定位置位于电池外箱内某个高度的最前端，那么，相应的电池移动轨迹通常为所述换电设备首先将电池举升到该高度，然后向前移动电池直至到达最前端；若所述指定位置位于电池外箱的最顶端，那么，相应的电池移动轨迹通常为所述换电设备将电池举升，直至到达最顶端。The power exchange device may preset a battery movement trajectory required to mount the battery to the specified position when performing the target task. Before the power exchange device receives the notification signal, it moves the battery according to the battery movement track. The setting of the battery movement trajectory needs to be determined according to the specific position of the designated position. For example, if the designated position is located at the forefront of a certain height in the battery outer box, then the corresponding battery movement trajectory is usually the The battery replacement device first lifts the battery to this height, and then moves the battery forward until it reaches the forefront; if the designated position is at the top of the battery case, the corresponding battery movement trajectory is usually that the battery replacement device will The battery is raised until it reaches the top.
由于指定位置通常位于电池外箱的端部(最前端或最顶端)，所以，在设定电池移动轨迹时，为了保证电池确实能够到达指定位置，常常设定的电池移动轨迹要比电池移动至指定位置的实际移动轨迹稍长一些，但过长的电池移动轨迹会导致电池会出现移动过量的情况，进而使得电池与端部的内表面发生碰撞，对电池外箱和电池都可能造成损坏。本实施例的视觉分析方法通过实时采集、分析实际 图像，在电池到达指定位置时及时告知换电设备目标任务已达到，让换电设备停止移动电池，避免电池与端部的内表面发生碰撞，造成电池外箱和电池的损坏。Because the designated position is usually located at the end (front end or top) of the battery case, in order to ensure that the battery can indeed reach the designated position when setting the battery movement trajectory, the battery movement trajectory often set is more The actual trajectory of the specified position is slightly longer, but too long a trajectory of the battery will cause the battery to move excessively, which will cause the battery to collide with the inner surface of the end, which may cause damage to the battery outer box and the battery. The visual analysis method of this embodiment collects and analyzes the actual image in real time, and informs the replacement equipment that the target task has been reached in time when the battery reaches the designated location, so that the replacement equipment stops moving the battery, and prevents the battery from colliding with the inner surface of the end. Causes damage to the battery case and battery.
本实施例中，为了提高图像采集的清晰度、电池外箱的状态分析精度，步骤51’中摄像头或相机的实现方式与实施例3中的摄像头或相机的实现方式基本相同，不同之处仅在于，步骤51’根据所述电池外箱自动变焦的至少一摄像头或相机实现。另外，在其它实施例中，将实施例3中摄像头或相机还可以设置于能够采集到车辆和电池包总成的图像的其他位置替换为本实施例中的摄像头或相机还可以设置于能够采集到所述电池外箱的图像的其他位置。本实施例中，摄像头或相机的数量、位置的设置方式及为了克服环境光线的缺陷所采取的措施也与实施例3相同。本实施例的视觉分析方法可以采用实施例6的视觉分析***实现。In this embodiment, in order to improve the definition of image acquisition and the accuracy of the state analysis of the battery case, the implementation method of the camera or camera in step 51 'is basically the same as the implementation method of the camera or camera in Embodiment 3, and the difference is only The step 51 'is implemented according to at least one camera or camera that automatically zooms in the battery case. In addition, in other embodiments, the camera or camera in Embodiment 3 may also be set at another position where the images of the vehicle and the battery pack assembly can be collected, and the camera or camera in this embodiment may also be set at the position capable of capturing Go to another location of the image of the battery case. In this embodiment, the number of cameras or cameras, the way of setting the positions, and the measures taken to overcome the defects of ambient light are also the same as those in the third embodiment. The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 6.
实施例9Example 9
本实施例提供了一种应用于车辆换电的视觉分析方法，其是对实施例8的视觉分析方法的进一步改进，能够准确地判断所述电池是否到达所述电池外箱的指定位置。This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis method of Embodiment 8 and can accurately determine whether the battery has reached a designated position of the battery outer box.
本实施例中，步骤52’中根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，如图8所示，具体包括：In this embodiment, step 52 'analyzes whether the battery reaches a specified position in the battery outer box according to the actual image, as shown in FIG. 8, and specifically includes:
步骤521：比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同，其中，所述标准图像是预先采集的，采集所述实际图像时的角度优选地与所述标准图像的采集角度相同：Step 521: Compare whether the actual image is the same as the standard image when the battery is located at the specified position, wherein the standard image is acquired in advance, and the angle when the actual image is acquired is preferably compared with the standard image The acquisition angle is the same:
若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
需要说明的是，考虑到不同的车型、不同的电池外箱对应的标准图像可能不同，所述方法通常需要预存多种车型、多种电池外箱对应的标准图像，在换电前或换电过程中，确定换电车辆的车型、电池外箱，从预存的标准图像中选择车辆对应的标准图像，进而进行后续的比较。It should be noted that considering that the standard images corresponding to different vehicle models and different battery outer boxes may be different, the method usually requires pre-storing standard images corresponding to multiple vehicle models and multiple battery outer boxes. In the process, the vehicle type and battery outer box of the battery-changed vehicle are determined, and the standard image corresponding to the vehicle is selected from the pre-stored standard images for further comparison.
下面提供了两种比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同的具体流程：The following provides two specific processes for comparing whether the actual image is the same as the standard image when the battery is at the specified position:
第一种，如图9所示：步骤5211：从所述实际图像中提取所述电池的图像和所述电池外箱的图像，滤除图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等；The first, as shown in FIG. 9: Step 5211: Extract the battery image and the battery outer box image from the actual image, and filter out other images that may be collected together in the image, such as the battery Undercarriage structure around the box;
步骤5212：比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向上的相对位置关系是否相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Step 5212: Compare whether the relative position relationship between the battery and the battery outer box in the actual image and the standard image is the same in a first direction, where the first direction is perpendicular to the platform on which the vehicle is parked direction:
若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
第二种，如图10所示：步骤5211’：从所述实际图像中提取所述电池的图像和所述电池外箱的图像，滤除图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等；Second, as shown in FIG. 10: Step 5211 ': extract the image of the battery and the image of the battery outer box from the actual image, and filter out other images that may be collected together, such as the battery Undercarriage structure around the outer box;
步骤5212’：比较所述实际图像和所述标准图像中所述电池与所述电池外箱在与所述第一方向垂直的其他方向上的相对位置关系是否相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Step 5212 ': Compare whether the relative positional relationship between the battery and the battery case in other directions perpendicular to the first direction in the actual image and the standard image is the same, and the first direction is equal to Vertical direction of the platform on which the vehicle is parked:
若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
在具体实施时，可以根据指定位置的具***置、电池移动轨迹从上述两种比较中的任意一种使用，为了提高比较精度同时采用上述两种比较。例如，若指定位置位于电池外箱内某个高度的最前端，相应的电池移动轨迹为所述换电设备首先将电池举升到该高度，然后向前移动电池直至到达最前端，那么，建议同时使用以上两种比较，利用第一种比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向上的相对位置关系是否均相同，并利用第二种比较所述实际图像和所述标准图像中所述电池与所述电池外箱在与所述第一方向垂直的其他方向上的相对位置关系是否均相同，若两种比较均相同，则确定所述电池无论在高度还水平均到达所述指定位置。再例如，若指定位置位于电池外箱的最顶端，相应的电池移动轨迹为所述换电设备将电池举升，直至到达最顶端，那么，建议利用第一种比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向上的相对位置关系是否均相同，若比较相同，则确定所述电池在高度上到达所述指定位置。In specific implementation, it can be used from any one of the two types of comparisons above according to the specific position of the specified position and the battery movement trajectory. In order to improve the comparison accuracy, the two types of comparisons are used simultaneously. For example, if the designated position is at the forefront of a certain height in the battery outer box, the corresponding battery movement trajectory is that the battery replacement device first lifts the battery to that height, and then moves the battery forward until it reaches the forefront. Use the above two comparisons at the same time, use the first to compare whether the relative positional relationship between the battery and the battery case in the first direction in the actual image and the standard image are the same, and use the second comparison Whether the relative positional relationship between the battery and the battery case in other directions perpendicular to the first direction in the actual image and the standard image are the same, and if the two comparisons are the same, determine the The battery reaches the specified position regardless of the height. As another example, if the designated position is at the top of the battery case, the corresponding battery movement trajectory is that the battery is lifted by the replacement device until it reaches the top, then it is recommended to use the first method to compare the actual image with the Whether the relative positional relationship between the battery and the battery outer case in the first direction are the same in the standard image, and if the comparison is the same, it is determined that the battery reaches the specified position in height.
下面具体提供两种比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同的具体流程，所述方向可以为所述第一方向，也可以为与所述第一方向垂直的其他方向：The following specifically provides two specific processes for comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same. The direction may be the first The direction may also be other directions perpendicular to the first direction:
第一种：从由所述方向采集的实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；The first type: extracting the outer surface of the battery outer box in the direction from the actual image collected in the direction;
从由所述方向采集的实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from an actual image acquired from the direction, the first battery surface being a battery surface on the same side as the box surface;
比对由所述方向采集的实际图像中所述第一电池面与所述箱面的图像大小，得到实际大小对比关系；Comparing the image sizes of the first battery surface and the box surface in the actual image collected from the direction to obtain the actual size comparison relationship;
获取由所述方向采集的标准图像中所述第一电池面与所述箱面的图像大小的标准大小对比关系；Acquiring a standard size comparison relationship between the image sizes of the first battery surface and the box surface in a standard image collected by the direction;
比较所述实际大小对比关系与所述标准大小对比关系是否相同；Comparing whether the actual size comparison relationship is the same as the standard size comparison relationship;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
或者，从由与所述方向垂直的方向采集的实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；Or extracting a box surface of the battery outer box which is at an outermost side in the direction from an actual image acquired from a direction perpendicular to the direction;
从由与所述方向垂直的方向采集的实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from an actual image acquired in a direction perpendicular to the direction, the first battery surface being a battery surface on the same side as the box surface;
比对由与所述方向垂直的方向采集的实际图像中所述第一电池面与所述箱面的图像位置，得到实际位置对比关系；Comparing the image positions of the first battery surface and the box surface in an actual image collected in a direction perpendicular to the direction to obtain a real position contrast relationship;
获取由与所述方向垂直的方向采集的标准图像中所述第一电池面与所述箱面的图像位置的标准 位置对比关系；Acquiring a standard position contrast relationship between image positions of the first battery surface and the box surface in a standard image collected in a direction perpendicular to the direction;
比较所述实际位置对比关系与所述标准位置对比关系是否均相同；Comparing whether the actual position contrast relationship is the same as the standard position contrast relationship;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
上述两种比较可以根据图像采集模块11采集图像的位置择一使用，也快同时使用，即所述实际大小对比关系与所述标准大小对比关系、所述实际位置对比关系与所述标准位置对比关系均相同，才可确定相对位置关系相同。上述过程中，通过图像的相对关系比较第一电池面和电池外箱的最外侧的箱面即可确定电池与电池外箱的相对位置，过程较为准确。The above two types of comparison can be used according to the position where the image acquisition module 11 collects the images, and they are also used at the same time, that is, the actual size comparison relationship with the standard size comparison relationship, the actual position comparison relationship with the standard position comparison Only when the relationships are the same, can it be determined that the relative position relationships are the same. In the above process, the relative position of the battery and the battery outer box can be determined by comparing the first battery surface and the outermost box surface of the battery outer box through the relative relationship of the images, and the process is more accurate.
第二种：通过所述实际图像自带的景深信息，确定所述电池外箱在所述方向上处于最外侧的箱面与所述电池的第一电池面的实际相对距离，所述第一电池面为与所述箱面同侧的电池面，所述实际图像优选为由所述方向采集的实际图像；The second type: determining the actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery by using the depth-of-field information provided in the actual image. The battery surface is a battery surface on the same side as the box surface, and the actual image is preferably an actual image acquired from the direction;
获取所述标准图像中所述箱面与所述第一电池面之间的标准相对距离；Acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
比较所述实际相对距离与所述标准相对距离是否相同；Comparing whether the actual relative distance is the same as the standard relative distance;
若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
上述过程利用图像的景深信息比较第一电池面和电池外箱的最外侧的箱面即可确定电池与电池外箱的相对位置，过程更为简单。The above process uses the depth of field information of the image to compare the first battery surface and the outermost box surface of the battery outer box to determine the relative position of the battery and the battery outer box, and the process is simpler.
本实施例的视觉分析方法可以采用实施例7的视觉分析***实现。The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 7.
实施例10Example 10
图11示出了本实施例的一种应用于车辆换电的视觉分析***10’。所述视觉分析***10’包括至少一图像采集模块11’和图像分析模块12’。每个所述图像采集模块11’与所述图像分析模块12’的连接方式与实施例1中图像采集模块11与所述图像分析模块12所采用的连接方式相同。Fig. 11 shows a visual analysis system 10 'applied to vehicle power exchange in this embodiment. The visual analysis system 10 'includes at least one image acquisition module 11' and an image analysis module 12 '. The connection mode of each of the image acquisition module 11 'and the image analysis module 12' is the same as the connection mode used by the image acquisition module 11 and the image analysis module 12 in Embodiment 1.
所述图像采集模块11’用于采集实际图像并将所述实际图像发送至所述图像分析模块12’，所述实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将电池锁定于所述电池外箱内。The image acquisition module 11 ′ is used to collect an actual image and send the actual image to the image analysis module 12 ′. The actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the lock The locking mechanism is used to lock the battery in the battery outer box.
所述图像分析模块12’用于根据所述实际图像分析所述锁止机构的状态。The image analysis module 12 'is configured to analyze a state of the locking mechanism based on the actual image.
通过所述图像采集模块11’及图像分析模块12’，可以有效地监控车辆的锁止机构的状态，由此保证换电的成功率及安全性。Through the image acquisition module 11 'and the image analysis module 12', the state of the vehicle's locking mechanism can be effectively monitored, thereby ensuring the success rate and safety of power exchange.
本实施例中，所述图像采集模块11’的设置方式与实施例1中的图像采集模块11的设置方式基本相同，不同之处仅在于，在其他实施例中，将实施例1中的图像采集模块11还可以设置于能够采集 到车辆和电池包总成的图像的其他位置替换为本实施例中的图像采集模块11’还可以设置于能够采集到所述锁止机构的图像的其他位置。In this embodiment, the manner of setting the image acquisition module 11 ′ is basically the same as the manner of setting the image acquisition module 11 in Embodiment 1, except that in other embodiments, the image in Embodiment 1 is changed. The acquisition module 11 may also be disposed at another position where images of the vehicle and the battery pack assembly can be acquired. The image acquisition module 11 'in this embodiment may also be disposed at another position where the image of the locking mechanism can be acquired .
本实施例中，图像采集模块11’的数量、位置的设置方式、为了提高图像采集清晰度的优选方式及为了克服环境光线的缺陷所采取的措施均与实施例1中的图像采集模块11相同。另外，图像采集模块11’的数量可以依所述锁止机构的具体结构、成本要求、锁止精度要求等实际情况而定。实施例11In this embodiment, the number of image acquisition modules 11 ′, the location setting method, the preferred method to improve the image acquisition clarity, and the measures taken to overcome the defects of ambient light are the same as the image acquisition module 11 in Embodiment 1. . In addition, the number of image acquisition modules 11 'may be determined according to the actual structure of the locking mechanism, cost requirements, and locking accuracy requirements. Example 11
本实施例提供了一种应用于车辆换电的视觉分析***，其是对实施例10的视觉分析***的进一步改进，能够具体分析出所述锁止机构的状态为是否锁紧所述电池。所谓的锁紧所述电池，通常是指通过所述锁止机构，所述电池能够可靠、牢固地锁定于所述电池外箱内，所述电池不会从所述电池外箱内脱落。所谓的未锁紧所述电池，通常是指所述锁止机构虽然处于锁定状态，但是并未将所述电池可靠、牢固地锁定于所述电池外箱内，所述电池存在从所述电池外箱内脱落的可能和风险。This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 10, and can specifically analyze whether the state of the locking mechanism is whether the battery is locked or not. The so-called locking of the battery usually means that the battery can be reliably and firmly locked in the battery outer box through the locking mechanism, and the battery will not fall off from the battery outer box. The so-called unlocking of the battery generally means that although the locking mechanism is in a locked state, the battery is not reliably and firmly locked in the battery outer box, and the battery exists from the battery. The possibility and risk of falling out of the outer box.
图12示出了本实施例的视觉分析***10’。本实施例中，所述图像分析模块12’可分析的锁止机构的状态包括所述锁止机构是否锁紧所述电池。所述图像分析模块12’包括第一分析单元121’。所述图像采集模块11’针对一种锁止机构采集的实际图像与实施例2中在锁检测试阶段针对一种锁止机构采集的实际图像基本相同，不同之处仅在于，将实施例2的电池包总成替换成电池。本实施例中，第一分析单元121’与实施例2中在锁检测阶段的锁紧分析单元124基本相同，不同之处仅在于，将实施例2中的电池包总成电池替换成电池，另外，本实施例中，所述锁止机构锁紧所述电池时锁连杆伸出锁块的标准长度可以通过预先测量而得；Fig. 12 shows a visual analysis system 10 'of the present embodiment. In this embodiment, the state of the locking mechanism that can be analyzed by the image analysis module 12 'includes whether the locking mechanism locks the battery. The image analysis module 12 'includes a first analysis unit 121'. The actual image acquired by the image acquisition module 11 ′ for a locking mechanism is basically the same as the actual image acquired for a locking mechanism in the lock detection test phase in Embodiment 2. The only difference is that the embodiment 2 Replace the battery pack assembly with a battery. In this embodiment, the first analysis unit 121 ′ is basically the same as the lock analysis unit 124 in the lock detection stage in Embodiment 2, except that the battery pack assembly battery in Embodiment 2 is replaced with a battery. In addition, in this embodiment, the standard length of the lock lever protruding out of the lock block when the lock mechanism locks the battery can be obtained by measuring in advance;
本实施例中，第一分析单元121’通过分析锁连杆伸出锁块的长度判断锁连杆机构是否锁紧电池，判断简单且精度较高。In this embodiment, the first analysis unit 121 'determines whether the lock link mechanism locks the battery by analyzing the length of the lock link extending beyond the lock block, and the judgment is simple and has high accuracy.
另外，在第一分析单元121’另一中实现方式中，将实施例2中的标准图像替换为本实施例中的第一标准图像，所述第一标准图像为所述锁止机构锁紧所述电池时的图像，其中所述第一标准图像是在所述锁止机构锁紧所述电池时预先采集的，比较图像时主要是比较两个图像中锁止机构及其相关联的结构的外部形态是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等；In addition, in another implementation manner of the first analysis unit 121 ′, the standard image in Embodiment 2 is replaced with the first standard image in this embodiment, and the first standard image is locked by the locking mechanism. The image of the battery, wherein the first standard image is acquired in advance when the locking mechanism locks the battery, and when comparing images, the locking mechanism and its associated structure in the two images are mainly compared Whether the external form of the same is the same, you can ignore other images in the image that may be collected together, such as the structure of the bottom of the car around the battery case;
所述第一分析单元121’主要应用于换电设备安装电池至电池外箱的过程中，安装电池的具体过程可以为换电设备从车辆的下方向上举升所述电池直至到达电池外箱的顶部，然后换电设备再沿水平方向向前移动所述电池直至到达电池外箱内的最前端，最后通过锁止机构将电池与电池外箱连接并锁紧固定。所述视觉分析***10’可以通过对锁止机构是否锁紧电池的状态监测，反馈到换电设备，实现对换电设备的控制。为此，所述视觉分析***10’还可以进一步包括换电控制模块13’。所述换电控制模块13’可以设置于远程监控设备上。所述图像分析模块12’(尤其是所述第一分析单元121’)与所述 换电控制模块13’的连接方式与实施例2中的图像分析模块12与换电控制模块13的连接方式相同。所述换电控制模块13’用于控制所述换电设备将所述电池安装于所述电池外箱内。The first analysis unit 121 ′ is mainly used in the process of installing a battery into a battery outer box of a power exchange device, and the specific process of installing the battery may be that the power exchange device lifts the battery upward from below the vehicle until it reaches the battery outer box. Top, then the battery replacement device moves the battery forward in the horizontal direction until it reaches the forefront of the battery case, and finally connects and locks the battery to the battery case through a locking mechanism. The visual analysis system 10 'can monitor the state of the battery locked by the locking mechanism and feed it back to the power exchange equipment to control the power exchange equipment. To this end, the visual analysis system 10 'may further include a power exchange control module 13'. The power exchange control module 13 'may be disposed on a remote monitoring device. The connection mode of the image analysis module 12 ′ (especially the first analysis unit 121 ′) and the power exchange control module 13 ′ is the same as that of the image analysis module 12 and the power exchange control module 13 in Embodiment 2. the same. The power exchange control module 13 'is used to control the power exchange equipment to install the battery in the battery outer box.
所述第一分析单元121’还用于在所述锁止机构锁紧所述电池后通知所述换电控制模块13’。The first analysis unit 121 'is further configured to notify the power exchange control module 13' after the battery is locked by the locking mechanism.
所述换电控制模块13’还用于在接收到所述通知后，向所述换电设备发送换电完毕指令，所述换电完毕指令用于命令所述换电设备结束电池安装动作。所述换电设备接收后，执行所述换电完毕指令，然后驶离所述车辆所在的位置。The power exchange control module 13 'is further configured to send a power exchange completion instruction to the power exchange device after receiving the notification, and the power exchange completion instruction is used to instruct the power exchange device to end the battery installation action. After receiving the power exchange device, the power exchange completion instruction is executed, and then the vehicle is driven away from the position where the vehicle is located.
实施例12Example 12
本实施例提供了一种应用于车辆换电的视觉分析***，其是对实施例10的视觉分析***的进一步改进，能够具体分析出所述锁止机构的状态为是否解锁所述电池。所谓的解锁所述电池，通常是指所述电池可以从所述电池外箱内取下。在不满足解锁的情况下，均可看作是未解锁所述电池。This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 10, and can specifically analyze whether the state of the locking mechanism is whether to unlock the battery. The so-called unlocking of the battery generally means that the battery can be removed from the battery case. In the case that the unlocking is not satisfied, it can be regarded as that the battery is not unlocked.
图13示出了本实施例的视觉分析***10’。本实施例中，所述图像分析模块12’可分析的锁止机构的状态包括所述锁止机构是否解锁所述电池。所述图像分析模块12’包括第二分析单元122’。Fig. 13 shows a visual analysis system 10 'of the present embodiment. In this embodiment, the state of the locking mechanism that can be analyzed by the image analysis module 12 'includes whether the locking mechanism unlocks the battery. The image analysis module 12 'includes a second analysis unit 122'.
所述图像采集模块11’针对一种锁止机构采集的实际图像与实施例2中在卸电池阶段针对一种锁止机构采集的实际图像基本相同，不同之处仅在于，将实施例2的电池包总成替换成电池。本实施例中，第二分析单元122’与实施例2中卸电池阶段时的解锁分析单元123的作用基本相同，不同之处仅在于，将实施例2中的电池包总成替换成电池。本实施例中，所述第二分析单元122’通过分析锁连杆伸出锁块的长度判断锁连杆机构是否解锁电池，判断简单且精度较高。The actual image acquired by the image acquisition module 11 ′ for a locking mechanism is basically the same as the actual image acquired for a locking mechanism in the battery unloading stage in Embodiment 2, except that the difference Replace the battery pack assembly with a battery. In this embodiment, the function of the second analysis unit 122 'is basically the same as that of the unlock analysis unit 123 when the battery is unloaded in Embodiment 2. The only difference is that the battery pack assembly in Embodiment 2 is replaced with a battery. In this embodiment, the second analysis unit 122 'determines whether the lock link mechanism unlocks the battery by analyzing the length of the lock link extending beyond the lock block, and the determination is simple and has high accuracy.
另外，在第二分析单元122’的另一种实现方式中，将实施例2中的标准图像替换为本实施例中的第二标准图像，所述第二标准图像为所述锁止机构解锁所述电池时的图像，其中所述第二标准图像是在所述锁止机构解锁所述电池时预先采集的，比较图像时主要是比较两个图像中锁止机构及其相关联的结构的外部形态是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等；In addition, in another implementation manner of the second analysis unit 122 ', the standard image in Embodiment 2 is replaced with the second standard image in this embodiment, and the second standard image is unlocked by the locking mechanism. The image of the battery, wherein the second standard image is acquired in advance when the locking mechanism unlocks the battery, and when comparing images, the locking mechanism and its associated structure in the two images are mainly compared Whether the external appearance is the same, you can ignore other images in the image that may be collected together, such as the structure of the bottom of the car around the battery case;
所述第二分析单元122’主要应用于换电设备从电池外箱卸下缺电的电池的过程中，所述视觉分析***10’可以通过对锁止机构是否解锁电池的状态监测，反馈到换电设备，实现对换电设备的控制。为此，所述视觉分析***10’还可以进一步包括换电控制模块13’。所述图像分析模块12’(尤其是所述第二分析单元122’)与所述换电控制模块13’的连接方式与实施例2中的图像分析模块12与换电控制模块13的连接方式相同。The second analysis unit 122 'is mainly used in the process of removing power-losing batteries from the battery outer box by the power exchange equipment. The visual analysis system 10' can monitor the state of the battery by the lock mechanism and feedback Power exchange equipment to control the power exchange equipment. To this end, the visual analysis system 10 'may further include a power exchange control module 13'. The connection mode of the image analysis module 12 ′ (especially the second analysis unit 122 ′) and the power exchange control module 13 ′ is the same as that of the image analysis module 12 and the power exchange control module 13 in Embodiment 2. the same.
所述第二分析单元122’还用于在所述锁止机构解锁所述电池后通知所述换电控制模块13’。The second analysis unit 122 'is further configured to notify the power exchange control module 13' after the lock mechanism unlocks the battery.
所述换电控制模块13’还用于在接收到所述通知后，向所述换电设备发送卸电池指令，所述卸电池指令用于命令所述换电设备将所述电池从所述电池外箱取下。所述换电设备接收后，执行所述卸电池指令，然后驶离所述车辆锁止的位置。The power exchange control module 13 'is further configured to send a battery removal instruction to the power exchange device after receiving the notification, and the battery removal instruction is used to instruct the power exchange device to remove the battery from the battery Remove the battery case. After receiving the power exchange device, the battery unloading instruction is executed, and then the vehicle is driven away from the locked position of the vehicle.
实施例13Example 13
综合实施例10、实施例11和实施例12的视觉分析***10’，形成本实施例的一种应用于车辆换电的视觉分析***，如图14所示，其包括：图像采集模块11’、图像分析模块12’、换电控制模块13’。所述图像分析模块12’包括实施例11的第一分析单元121’和实施例12的第二分析单元122’。所述图像采集模块11’、所述第一分析单元121’、所述第二分析单元122’和所述换电控制模块13’具体参见实施例10、实施例11和实施例12的相应说明，在此不再赘述。The visual analysis system 10 'of Embodiment 10, Embodiment 11 and Embodiment 12 is integrated to form a visual analysis system applied to vehicle power exchange in this embodiment. As shown in FIG. 14, it includes: an image acquisition module 11' , Image analysis module 12 ', power exchange control module 13'. The image analysis module 12 'includes a first analysis unit 121' of Embodiment 11 and a second analysis unit 122 'of Embodiment 12. The image acquisition module 11 ′, the first analysis unit 121 ′, the second analysis unit 122 ′, and the power exchange control module 13 ′ refer to the corresponding descriptions of Embodiment 10, Embodiment 11 and Embodiment 12 for details. , Will not repeat them here.
实施例14Example 14
图15示出了本实施例的一种应用于车辆换电的视觉分析方法。所述视觉分析方法包括：FIG. 15 shows a visual analysis method applied to vehicle power exchange in this embodiment. The visual analysis method includes:
步骤51’：采集实际图像，所述实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将电池锁定于所述电池外箱内。Step 51 ': Acquire an actual image, where the actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery in the battery outer box.
步骤52’：根据所述实际图像分析所述锁止机构的状态。Step 52 ': Analyze the state of the locking mechanism based on the actual image.
通过上述步骤，可以有效地监控车辆的锁止机构的状态，由此保证换电的成功率及安全性。Through the above steps, the state of the vehicle's locking mechanism can be effectively monitored, thereby ensuring the success rate and safety of power exchange.
本实施例中，为了提高图像采集的清晰度、锁止机构的状态分析精度，步骤51’中的摄像头或相机的实现方式与实施例3基本相同，不同之处仅在于，步骤51’中利用根据所述锁止机构自动变焦的至少一摄像头或相机实现。所述摄像头或相机可以设置于换电设备上。所述换电设备用于为所述车辆提供换电服务，通常可能包括将新的或满电电池装入电池外箱的功能，或者包括将车辆上原有的缺电电池从电池外箱取下的功能，或者同时兼具上述两种功能。In this embodiment, in order to improve the definition of image acquisition and the accuracy of the state analysis of the locking mechanism, the implementation method of the camera or camera in step 51 'is basically the same as that in embodiment 3, except that the difference is that the use of step 51' At least one camera or camera that automatically zooms according to the lock mechanism. The camera or camera may be set on a power exchange device. The electrical replacement device is used to provide electrical replacement service for the vehicle, and may generally include the function of inserting a new or fully charged battery into the battery outer case, or removing the original lack of battery on the vehicle from the battery outer case. Functions, or both.
另外，在其它实施例中，将实施例3中的摄像头或相机还可以设置于能够采集到车辆和电池包总成的图像的其他位置替换为本实施例中的摄像头或相机还可以设置于能够采集到所述锁止机构的图像的其他位置。所述摄像头或相机的数量、位置的设置方式及为了克服环境光线的缺陷所采取的措施均与实施例3中的摄像头或相机采取的措施相同。本实施例的视觉分析方法可以采用实施例10的视觉分析***实现。In addition, in other embodiments, the camera or camera in Embodiment 3 may also be installed at another position where the images of the vehicle and the battery pack assembly can be collected, and the camera or camera in this embodiment may also be installed at Other positions of the image of the locking mechanism are acquired. The number and location of the cameras or cameras and the measures taken to overcome the defect of ambient light are the same as the measures taken by the cameras or cameras in Embodiment 3. The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 10.
实施例15Example 15
本实施例提供了一种应用于车辆换电的视觉分析方法，其是对实施例14的视觉分析方法的进一步改进，能够具体分析出所述锁止机构的状态为是否锁紧所述电池。所谓的锁紧所述电池，通常是指通过所述锁止机构，所述电池能够可靠、牢固地锁定于所述电池外箱内，所述电池不会从所述电池外箱内脱落。所谓的未锁紧所述电池，通常是指所述锁止机构虽然处于锁定状态，但是并未将所述电池可靠、牢固地锁定于所述电池外箱内，所述电池存在从所述电池外箱内脱落的可能和风险。This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis method of Embodiment 14 and can specifically analyze whether the state of the locking mechanism is whether the battery is locked or not. The so-called locking of the battery usually means that the battery can be reliably and firmly locked in the battery outer box through the locking mechanism, and the battery will not fall off from the battery outer box. The so-called unlocking of the battery generally means that although the locking mechanism is in a locked state, the battery is not reliably and firmly locked in the battery outer box, and the battery exists from the battery. The possibility and risk of falling out of the outer box.
图16示出了本实施例的视觉分析方法。本实施例可分析的锁止机构的状态包括所述锁止机构是否锁紧所述电池。步骤52’包括：FIG. 16 shows a visual analysis method of this embodiment. The state of the locking mechanism that can be analyzed in this embodiment includes whether the locking mechanism locks the battery. Step 52 'includes:
步骤521’：根据所述实际图像分析所述锁止机构是否锁紧所述电池。Step 521 ': Analyze whether the locking mechanism locks the battery according to the actual image.
步骤51’针对一种锁止机构采集的实际图像与实施例4中步骤51在锁检测阶段时针对一种锁止机构采集的实际图像基本相同，不同之处仅在于，将实施例4中的电池包总成替换成电池。图17示出了实现步骤521’的具体流程图。步骤521’具体实现的方式与实施例4中的锁检测阶段时分析锁止机构是否锁紧电池包总成的步骤基本相同，不同之处仅在于将实施例4中锁检测试阶段的电池包总成替换成电池，另外，在本实施例中，所述锁止机构锁紧所述电池时锁连杆伸出锁块的标准长度可以通过预先测量而得；The actual image collected in step 51 'for a locking mechanism is basically the same as the actual image collected in step 51 for a locking mechanism during the lock detection phase in Embodiment 4. The only difference is that the Replace the battery pack assembly with a battery. Fig. 17 shows a specific flowchart for implementing step 521 '. The specific implementation of step 521 'is basically the same as that of analyzing whether the locking mechanism locks the battery pack assembly during the lock detection phase in Embodiment 4. The only difference is that the battery pack in the lock detection test phase in Embodiment 4 The assembly is replaced with a battery. In addition, in this embodiment, the standard length of the lock lever protruding out of the lock block when the locking mechanism locks the battery can be obtained by measuring in advance;
本实施例中，上述流程通过分析锁连杆伸出锁块的长度判断锁连杆机构是否锁紧电池，判断简单且精度较高。In this embodiment, the above process determines whether the locking link mechanism locks the battery by analyzing the length of the locking link protruding from the locking block, and the judgment is simple and highly accurate.
图18还示出了实现步骤521’的另一流程，其与实施例4中分析所述锁止机构是否锁紧所述电池包总成的另一种实现方式基本相同，不同之处仅在于将实施例4中的标准图像替换为第一标准图像，所述第一标准图像是在所述锁止机构锁紧所述电池时预先采集的，比较图像时主要是比较两个图像中锁止机构及其相关联的结构的外部形态是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等；FIG. 18 also shows another process for implementing step 521 ', which is basically the same as another implementation of analyzing whether the locking mechanism locks the battery pack assembly in Embodiment 4, except that only the difference is that The standard image in Embodiment 4 is replaced with a first standard image, which is acquired in advance when the locking mechanism locks the battery, and when comparing the images, the two images are mainly locked. Whether the external shape of the mechanism and its associated structure are the same, other images that may be collected together in the image, such as the structure of the bottom of the car around the battery case, can be ignored;
步骤521’主要应用于换电设备安装电池至电池外箱的过程中，安装电池的具体过程可以为换电设备从车辆的下方向上举升所述电池直至到达电池外箱的顶部，然后换电设备再沿水平方向向前移动所述电池直至到达电池外箱内的最前端，最后通过锁止机构将电池与电池外箱连接并锁紧固定。所述方法可以通过对锁止机构是否锁紧电池的状态监测，反馈到换电设备，实现对换电设备的控制。为此，所述视觉分析方法还可以进一步包括在步骤51’之前执行：步骤50’：控制换电设备将所述电池安装于所述电池外箱内；Step 521 'is mainly applied to the process of installing the battery into the battery outer box of the power exchange device. The specific process of installing the battery may be that the power exchange device lifts up the battery from below the vehicle until it reaches the top of the battery outer box, and then exchanges the power The device then moves the battery forward along the horizontal direction until it reaches the forefront of the battery outer box, and finally connects the battery to the battery outer box through a locking mechanism and locks it securely. The method can monitor the state of the battery locked by the locking mechanism and feed it back to the power exchange equipment to control the power exchange equipment. To this end, the visual analysis method may further include performing before step 51 ': step 50': controlling a power exchange device to install the battery in the battery outer box;
所述视觉分析方法还可以进一步包括：步骤53’：在所述锁止机构锁紧所述电池后，命令所述换电设备结束电池安装动作。The visual analysis method may further include: Step 53 ': After the battery is locked by the locking mechanism, the power exchange device is instructed to end the battery installation action.
本实施例的视觉分析方法可以采用实施例10的视觉分析***实现。The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 10.
实施例16Example 16
本实施例提供了一种应用于车辆换电的视觉分析方法，其是对实施例10的视觉分析***的进一步改进，能够具体分析出所述锁止机构的状态为是否解锁所述电池。所谓的解锁所述电池，通常是指所述电池可以从所述电池外箱内取下。在不满足解锁的情况下，均可看作是未解锁所述电池。This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 10, and can specifically analyze whether the state of the locking mechanism is whether to unlock the battery. The so-called unlocking of the battery generally means that the battery can be removed from the battery case. In the case that the unlocking is not satisfied, it can be regarded as that the battery is not unlocked.
图19示出了本实施例的视觉分析方法。本实施例可分析的锁止机构的状态包括所述锁止机构是否解锁所述电池。步骤52’包括：FIG. 19 shows a visual analysis method of this embodiment. The state of the locking mechanism that can be analyzed in this embodiment includes whether the locking mechanism unlocks the battery. Step 52 'includes:
步骤522’：根据所述实际图像分析所述锁止机构是否解锁所述电池。Step 522 ': Analyze whether the locking mechanism unlocks the battery according to the actual image.
步骤51’针对一种锁止机构采集的实际图像与实施例4在卸电池阶段步骤51针对一种锁止机构采集的实际图像基本相同，不同之处仅在于，将实施例4中的电池包总成替换成电池。图20示出了 实现步骤522’的具体流程图。步骤522’具体实现的方式与实施例4中的卸电池阶段时分析所述锁止机构是否解锁所述电池包总成的步骤基本相同，不同之处仅在于将实施例4中卸电池阶段的电池包总成替换成电池，上述流程通过分析锁连杆伸出锁块的长度判断锁连杆机构是否解锁电池，判断简单且精度较高。The actual image collected by step 51 'for a locking mechanism is basically the same as the actual image acquired by step 51 at a battery removal stage of step 4 except that the battery pack in embodiment 4 is the same. Replace the assembly with a battery. Fig. 20 shows a specific flowchart for implementing step 522 '. The specific implementation of step 522 'is basically the same as that of analyzing whether the locking mechanism unlocks the battery pack assembly during the battery removal phase in Embodiment 4. The only difference is that the battery removal phase in Embodiment 4 The battery pack assembly is replaced with a battery. The above process judges whether the lock link mechanism unlocks the battery by analyzing the length of the lock link protruding from the lock block, and the judgment is simple and highly accurate.
图21示出了实现步骤522’的另一流程，其与实施例4中分析所述锁止机构是否解锁所述电池包总成的另一种实现方式基本相同，不同之处仅在于将实施例4中标准图像替换为本实施例中的第二标准图像，所述第二标准图像为所述锁止机构解锁所述电池时的图像，其中所述第二标准图像是在所述锁止机构解锁所述电池时预先采集的，比较图像时主要是比较两个图像中锁止机构及其相关联的结构的外部形态是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等。FIG. 21 shows another process for implementing step 522 ', which is basically the same as another implementation of analyzing whether the locking mechanism unlocks the battery pack assembly in Embodiment 4, except that the implementation is different. The standard image in Example 4 is replaced with the second standard image in this embodiment, and the second standard image is an image when the battery is unlocked by the locking mechanism, and the second standard image is in the locked state. It is pre-collected when the mechanism unlocks the battery. When comparing the images, it is mainly to compare whether the external shape of the locking mechanism and its associated structure in the two images are the same. Other images in the image that may be collected together, such as the battery Undercarriage structure around the outer box.
步骤522’主要应用于换电设备从电池外箱卸下缺电的电池的过程中，所述方法可以通过对锁止机构是否解锁电池的状态监测，反馈到换电设备，实现对换电设备的控制。为此，所述视觉分析***10还可以进一步包括：Step 522 'is mainly applied to the process of removing the power-losing battery from the battery outer box of the power exchange device. The method can monitor the state of the battery by the lock mechanism and feedback to the power exchange device to realize the power exchange device. control. To this end, the visual analysis system 10 may further include:
步骤54’：在所述锁止机构解锁所述电池后，命令所述换电设备将所述电池从所述电池外箱取下。Step 54 ': After the battery is unlocked by the locking mechanism, the power exchange device is instructed to remove the battery from the battery case.
本实施例的视觉分析方法可以采用实施例12的视觉分析***实现。The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 12.
实施例17Example 17
综合实施例14、实施例15和实施例16的视觉分析方法，形成本实施例的一种应用于车辆换电的视觉分析***，如图22所示，其包括：The visual analysis methods of Embodiment 14, Embodiment 15 and Embodiment 16 are integrated to form a visual analysis system for vehicle power exchange in this embodiment, as shown in FIG. 22, which includes:
步骤51’：采集实际图像；Step 51 ': Acquire an actual image;
步骤522’：根据所述实际图像分析所述锁止机构是否解锁所述电池；Step 522 ': analyze whether the locking mechanism unlocks the battery according to the actual image;
步骤54’：在所述锁止机构解锁所述电池后，命令所述换电设备将所述电池从所述电池外箱取下；Step 54 ': After the battery is unlocked by the locking mechanism, the power exchange device is instructed to remove the battery from the battery case;
步骤50’：控制换电设备将所述电池安装于所述电池外箱内；Step 50 ': control the power exchange equipment to install the battery in the battery outer box;
步骤51’：采集实际图像；Step 51 ': Acquire an actual image;
步骤521’：根据所述实际图像分析所述锁止机构是否锁紧所述电池；Step 521 ': analyze whether the locking mechanism locks the battery according to the actual image;
步骤53’：在所述锁止机构锁紧所述电池后，命令所述换电设备结束电池安装动作。Step 53 ': After the battery is locked by the locking mechanism, the power exchange device is instructed to end the battery installation operation.
上述各步骤具体参见实施例14、实施例15和实施例16的相应说明，在此不再赘述。For the foregoing steps, refer to the corresponding descriptions of Embodiment 14, Embodiment 15, and Embodiment 16, and details are not described herein again.
实施例18Example 18
本实施例中的应用于车辆换电的视觉分析***与实施例1中的***基本相同，不同之处仅在于，所述图像采集模块11用于采集实际图像并将所述实际图像发送至所述图像分析模块12，所述实际图像中包含车辆的电池外箱的图像。The visual analysis system applied to the vehicle power exchange in this embodiment is basically the same as the system in Embodiment 1, except that the image acquisition module 11 is configured to collect an actual image and send the actual image to all The image analysis module 12, the actual image includes an image of a battery outer box of the vehicle.
所述图像分析模块12用于根据所述实际图像获取所述电池外箱的空间状态信息，并将所述电池外箱的空间状态信息发送至所述换电控制模块13。The image analysis module 12 is configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module 13.
所述换电控制模块13用于根据所述电池外箱的空间状态信息生成调控指令并将所述调控指令发送至所述换电设备40，所述调控指令用于命令所述换电设备40调整自身的空间状态信息以适应所述电池外箱的空间状态信息。The power exchange control module 13 is configured to generate a control instruction according to the space state information of the battery outer box and send the control instruction to the power replacement device 40. The control instruction is used to instruct the power replacement device 40 Adjust its own space state information to fit the space state information of the battery case.
本实施例的视觉分析***10，通过所述图像采集模块11实现图像采集，通过所述图像分析模块12实现图像分析，准确获取所述电池外箱的空间状态信息，依此调整换电设备40。所述视觉分析***10可以应用于从电池外箱取下电池包过程中对所述电池外箱的定位，也可应用于将安装新的电池包到电池外箱过程中对所述电池外箱的定位，保证电池包更换的成功率。In the visual analysis system 10 of this embodiment, image acquisition is implemented by the image acquisition module 11, and image analysis is implemented by the image analysis module 12 to accurately obtain the spatial state information of the battery outer box, and the power exchange equipment 40 is adjusted accordingly. . The visual analysis system 10 can be applied to the positioning of the battery outer case during the removal of the battery pack from the battery outer case, and also to the battery outer case during the installation of a new battery pack into the battery outer case. Positioning to ensure the success rate of battery pack replacement.
为了进一步保证对换电设备40调整到位，所述图像采集模块11还可以用于在所述换电设备40执行完所述调控指令后再次采集所述实际图像。然后，通过所述图像分析模块12、所述换电控制模块13根据再次采集的实际图像再次分析、调控所述换电设备40。In order to further ensure that the power exchange device 40 is adjusted in place, the image acquisition module 11 may be further configured to acquire the actual image again after the power exchange device 40 executes the control instruction. Then, the image analysis module 12 and the power exchange control module 13 analyze and adjust the power exchange device 40 again according to the actual image acquired again.
本实施例中，所述图像采集模块11可以设置于所述换电设备40上。所述换电设备40通常可能包括将新的或满电电池装入电池外箱的功能，或者包括将车辆上原有的缺电电池从电池外箱取下的功能，或者同时兼具上述两种功能。所述图像采集模块11还可以设置于所述车辆停泊的平台上。所述平台可以为在换电过程中供车辆停泊的专用平台或是其他普通平台。当然本发明并不局限于此，在其他实施例中，所述图像采集模块11还可以设置于能够采集到所述电池外箱的图像的其他位置。另外，所述图像采集模块11的数量可以依所述电池外箱的具体结构、成本要求、调控精度要求等实际情况而定。实施例19In this embodiment, the image acquisition module 11 may be disposed on the power exchange device 40. The power exchange device 40 may generally include a function of inserting a new or fully charged battery into a battery outer box, or a function of removing an existing battery lacking a battery from the battery outer box, or both. Features. The image acquisition module 11 may also be disposed on a platform where the vehicle is parked. The platform may be a dedicated platform for parking the vehicle during the power exchange process or other common platforms. Of course, the present invention is not limited to this. In other embodiments, the image acquisition module 11 may also be disposed at another position where an image of the battery outer box can be acquired. In addition, the number of the image acquisition modules 11 may be determined according to the actual structure of the battery outer box, cost requirements, and control accuracy requirements. Example 19
本实施例提供了一种应用于车辆换电的视觉分析***，其是对实施例18的视觉分析***的进一步改进，能够分析出所述电池外箱的位置信息，并根据所述电池外箱的位置信息移动换电设备的位置。This embodiment provides a visual analysis system applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 18. It can analyze the position information of the battery outer box, and according to the battery outer box, The location information moves the location of the electrical replacement device.
图23示出了本实施例的视觉分析***10”。本实施例中，所述空间状态信息包括位置信息，所述位置信息可以为三维坐标信息。所述图像分析模块12”包括位置分析子模块121”。所述位置分析子模块用于根据所述实际图像获取所述电池外箱的位置信息，并将所述电池外箱的位置信息发送至所述换电控制模块13”。Fig. 23 shows a visual analysis system 10 "of this embodiment. In this embodiment, the spatial state information includes position information, and the position information may be three-dimensional coordinate information. The image analysis module 12" includes a position analyzer Module 121 ". The position analysis sub-module is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module 13".
所述换电控制模块13”生成的调控指令包括位置移动指令。所述换电控制模块13”还用于根据所述电池外箱的位置信息生成所述位置移动指令，所述位置移动指令用于命令所述换电设备40”移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The control instruction generated by the power exchange control module 13 "includes a position movement instruction. The power exchange control module 13" is further configured to generate the position movement instruction according to the position information of the battery outer box. In order to instruct the power exchange device 40 "to move its own position to a target position, the target position is related to the position of the battery outer box.
当所述换电设备40”执行不同的目标任务时，所述目标位置也会有所不同。When the power exchange device 40 "performs different target tasks, the target positions may also be different.
本实施例中，当所述换电设备40”的目标任务是将所述换电设备40”上的电池包放入所述电池外箱时，所述目标位置为所述电池包与所述电池外箱对准的位置。以图24为例，换电设备40”位于所述平台的下方，当所述换电设备40”停泊于目标位置D时，所述换电设备40”上的电池包B与电池外箱C对准，换电设备40”举升电池包即可将电池包放入电池外箱内。In this embodiment, when the target task of the power exchange device 40 "is to put the battery pack on the power exchange device 40" into the battery outer box, the target position is the battery pack and the battery pack. The battery case is aligned. Taking FIG. 24 as an example, the power exchange device 40 "is located below the platform. When the power exchange device 40" is parked at the target position D, the battery pack B and the battery outer box C on the power exchange device 40 " Align, the battery changer can lift the battery pack into the battery case.
在其他实施例中，当所述换电设备40”的目标任务是将所述车辆上的电池包取下时，所述目标位置为所述换电设备40”上的换电解锁机构与所述电池外箱上的触发解锁机构对准的位置，所述触发解锁机构与所述换电解锁机构相匹配，用于触发所述电池包从所述车辆上解锁。即，换电设备40”位于所述平台的下方，当所述换电设备40”停泊于目标位置时，所述换电解锁机构与所述触发解锁机构对准，换电设备40”举升所述换电解锁机构即可将所述换电解锁机构***所述触发解锁机构，从而解锁电池包。本发明对于所述换电解锁机构和所述触发解锁机构的具体结构不做限定。In other embodiments, when the target task of the power exchange device 40 "is to remove the battery pack on the vehicle, the target position is the power exchange unlocking mechanism and the The position where the trigger unlock mechanism on the battery outer box is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle. That is, the power exchange device 40 "is located below the platform. When the power exchange device 40" is parked at the target position, the power exchange unlocking mechanism is aligned with the trigger unlocking mechanism, and the power exchange device 40 "is lifted The power exchange unlocking mechanism can insert the power exchange unlocking mechanism into the trigger unlocking mechanism to unlock the battery pack. The present invention does not limit the specific structures of the power exchange unlocking mechanism and the trigger unlocking mechanism.
具体地，根据所述电池外箱的位置信息生成所述位置移动指令，包括：Specifically, generating the position movement instruction according to the position information of the battery outer box includes:
获取所述电池外箱的位置信息和所述目标位置的位置信息；Acquiring position information of the battery outer box and position information of the target position;
比较所述电池外箱的位置信息与所述目标位置的位置信息的差值；Comparing the difference between the position information of the battery outer box and the position information of the target position;
生成位置移动指令，所述位置移动指令用于命令所述换电设备40”向减小所述差值的方向移动。A position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device 40 "to move in a direction of reducing the difference.
其中，所述差值主要是在水平方向上的差值，可将所述电池外箱投影至所述换电设备40”所在的平面，计算所述电池外箱与所述目标位置的距离差，通过所述位置移动指令弥补所述距离差。The difference is mainly a difference in the horizontal direction. The battery outer box can be projected onto the plane on which the power exchange device 40 "is located, and the distance difference between the battery outer box and the target position is calculated. , And the distance difference is made up by the position movement instruction.
本实施例的视觉分析***10”能够准确确定所述电池外箱的位置信息，实现高精度的换电设备40”的位置调整。The visual analysis system 10 "of this embodiment can accurately determine the position information of the battery outer box, and realize the position adjustment of the high-precision power exchange device 40".
实施例20Example 20
本实施例提供了一种应用于车辆换电的视觉分析***，其是对实施例19的视觉分析***的进一步改进，能够分析出所述电池外箱的姿态信息，并根据所述电池外箱的姿态信息调整换电设备的换电机构的姿态。This embodiment provides a visual analysis system for vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 19, and can analyze the posture information of the battery outer box, and according to the battery outer box, The posture information adjusts the posture of the power exchange mechanism of the power exchange device.
图25示出了本实施例的视觉分析***10”。本实施例中，所述空间状态信息包括姿态信息。所述图像分析模块12”包括姿态分析子模块122”，所述换电控制模块13”生成的调控指令包括姿态调整指令。本实施例中的姿态分析子模块122”、姿态调整指令分别与实施例2中姿态分析单元122、姿态调整指令相同。并且，在本实施例中，在处理与姿态分析子模块122”、姿态调整指令有关的信息时，换电控制模块13”、图像采集模块11”与实施例2中的换电控制模块13、图像采集模块11所起的作用分别相同。Fig. 25 shows a visual analysis system 10 "of this embodiment. In this embodiment, the spatial state information includes attitude information. The image analysis module 12" includes an attitude analysis sub-module 122 ", and the power exchange control module 13 "generated control instructions include attitude adjustment instructions. The attitude analysis sub-module 122 "and the attitude adjustment instruction in this embodiment are the same as the attitude analysis unit 122 and the attitude adjustment instruction in Embodiment 2. And, in this embodiment, the processing and attitude analysis sub-module 122", attitude When adjusting the information related to the instruction, the power exchange control module 13 ″ and the image acquisition module 11 ″ have the same functions as the power exchange control module 13 and the image acquisition module 11 in Embodiment 2.
以所述电池外箱为长方体为例，图26示出了所述电池外箱以基准方向X设置时的标准图像轮廓P0。图27示出了所述实际图像中所述电池外箱的图像轮廓P1。将图26和图27重合后得到图28(虚线表示标准图像轮廓P0，实线表示实际图像中的图像轮廓P1)，所述图像轮廓P1与所述标准图像轮廓P0不同，确定所述电池外箱的设置方向与所述基准方向X的夹角α。Taking the battery case as a rectangular parallelepiped as an example, FIG. 26 shows a standard image outline P0 when the battery case is set in the reference direction X. FIG. 27 shows an image outline P1 of the battery case in the actual image. Fig. 28 is obtained by overlapping Fig. 26 and Fig. 27 (the dotted line represents the standard image outline P0, and the solid line represents the image outline P1 in the actual image). The image outline P1 is different from the standard image outline P0. The angle α between the installation direction of the box and the reference direction X.
同样需要说明的是，考虑到不同的车型、不同的电池外箱对应的标准图像轮廓可能不同，所述换电控制模块13”通常需要预存多种车型、多种电池外箱对应的标准图像轮廓，在换电前或换电过程中，确定换电车辆的车型、电池外箱，从预存的标准图像轮廓中选择车辆对应的标准图像轮廓，进而进行 后续的比较。It should also be noted that considering that the standard image contours corresponding to different vehicle models and different battery outer boxes may be different, the power exchange control module 13 "usually needs to pre-store standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. Before or during the power exchange, determine the vehicle model and battery outer box of the vehicle to be replaced, and select the standard image contour corresponding to the vehicle from the pre-stored standard image contours for further comparison.
实施例21Example 21
综合实施例18、实施例19和实施例3的视觉分析***20，形成本实施例的一种应用于车辆换电的视觉分析***，如图29所示，其包括：图像采集模块11”、图像分析模块12”、换电控制模块13”。所述图像分析模块12”包括实施例18的位置分析子模块和实施例19的姿态分析子模块122”。所述图像采集模块11”、所述位置分析子模块121”、所述姿态分析子模块122”和所述换电控制模块13”具体参见实施例18、实施例19和实施例20的相应说明，在此不再赘述。The visual analysis system 20 of Embodiment 18, Embodiment 19, and Embodiment 3 is integrated to form a visual analysis system for vehicle power exchange in this embodiment, as shown in FIG. 29, which includes: an image acquisition module 11 ", Image analysis module 12 ", power exchange control module 13". The image analysis module 12 "includes the position analysis sub-module of embodiment 18 and the posture analysis sub-module 122" of embodiment 19. The image acquisition module 11 ", all The position analysis sub-module 121 ″, the attitude analysis sub-module 122 ″, and the power exchange control module 13 ″ refer to the corresponding descriptions of Embodiment 18, Embodiment 19, and Embodiment 20, and details are not described herein again.
另外，本实施例的所述换电控制模块13”还用于在所述换电设备40”自身的空间状态信息已适应所述电池外箱的空间状态信息时向所述换电设备40”发送停泊指令，所述停泊指令用于命令所述换电设备40”保持当前的空间状态信息直至再次接收到指令。In addition, the power exchange control module 13 "of this embodiment is further configured to report to the power exchange device 40" when the space status information of the power exchange device 40 "has been adapted to the space status information of the battery outer box. A parking instruction is sent, and the parking instruction is used to instruct the power exchange device 40 "to maintain the current space state information until the instruction is received again.
当所述换电设备40”的目标任务是将所述换电设备40”上的电池包放入所述电池外箱时，再次接收到的指令包括：将所述换电设备40”上的电池包安装到所述电池外箱的指令。When the target task of the power exchange device 40 "is to put the battery pack on the power exchange device 40" into the battery outer box, the instruction received again includes: placing the battery pack on the power exchange device 40 " Instructions for mounting the battery pack to the battery case.
在其他实施例中，当所述换电设备40”的目标任务是将所述车辆上的电池包取下时，再次接收到的指令包括：从所述电池外箱中取下电池包的指令。In other embodiments, when the target task of the power exchange device 40 "is to remove the battery pack from the vehicle, the instructions received again include: an instruction to remove the battery pack from the battery outer box .
实施例22Example 22
图30为本实施例的一种应用于车辆换电的视觉分析方法。所述视觉分析方法包括：FIG. 30 is a visual analysis method applied to vehicle power exchange according to this embodiment. The visual analysis method includes:
步骤51”：采集实际图像，所述实际图像中包含车辆的电池外箱的图像。 Step 51 ": Acquire an actual image, where the actual image includes an image of a battery outer box of the vehicle.
步骤52”：根据所述实际图像获取所述电池外箱的空间状态信息。 Step 52 ": Acquire the space state information of the battery outer box according to the actual image.
步骤53”：根据所述电池外箱的空间状态信息命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。 Step 53 ": According to the space state information of the battery outer box, instruct the power exchange device to adjust its own space state information to fit the space state information of the battery outer box.
本实施例的视觉分析方法通过图像采集、图像分析，准确获取所述电池外箱的空间状态信息，依此调整换电设备。所述视觉分析方法可以应用于从电池外箱取下电池包过程中对所述电池外箱的定位，也可应用于将安装新的电池包到电池外箱过程中对所述电池外箱的定位，保证电池包更换的成功率。The visual analysis method of this embodiment accurately acquires the space state information of the battery outer box through image acquisition and image analysis, and adjusts the power exchange equipment accordingly. The visual analysis method can be applied to the positioning of the battery outer box during the removal of the battery pack from the battery outer box, and also to the positioning of the battery outer box during the process of installing a new battery pack into the battery outer box. Positioning to ensure the success rate of battery pack replacement.
为了进一步保证对换电设备调整到位，所述视觉分析方法还可以包括：In order to further ensure that the power exchange equipment is adjusted in place, the visual analysis method may further include:
在所述换电设备调整完自身的空间状态信息后再次采集所述实际图像。然后，根据再次采集的实际图像再次执行步骤52”获取所述电池外箱的空间状态信息、步骤53”调控所述换电设备。Acquiring the actual image again after the power exchange device adjusts its own spatial state information. Then, according to the actual image acquired again, step 52 "is performed to obtain the space state information of the battery outer box, and step 53" is used to regulate the power exchange device.
本实施例中，为了提高图像采集的清晰度、电池外箱的状态分析精度，步骤51”利用根据所述电池外箱自动变焦的至少一摄像头或相机实现。所述摄像头或相机可以设置于换电设备上。所述换电设备用于为所述车辆提供换电服务，通常可能包括将新的或满电电池装入电池外箱的功能，或者包括将车辆上原有的缺电电池从电池外箱取下的功能，或者同时兼具上述两种功能。所述摄像头或相机还可以设置于所述车辆停泊的平台上。所述平台可以为在换电过程中供车辆停泊的专用平台或是其他普通 平台。当然本发明并不局限于此，在其他实施例中，所述摄像头或相机还可以设置于能够采集到所述锁止机构的图像的其他位置。In this embodiment, in order to improve the sharpness of image acquisition and the accuracy of the state analysis of the battery case, step 51 "is implemented by using at least one camera or camera that automatically zooms according to the battery case. The camera or camera may be set to Electrical equipment. The electrical replacement equipment is used to provide electrical replacement services for the vehicle, and may generally include the function of inserting a new or fully charged battery into the battery outer box, or including the removal of the original lack of battery on the vehicle from the battery. The function of removing the outer box, or both of the above functions. The camera or camera can also be installed on the platform where the vehicle is parked. The platform can be a dedicated platform for parking the vehicle during the power exchange process or It is another common platform. Of course, the present invention is not limited to this. In other embodiments, the camera or camera may be disposed at another position where the image of the locking mechanism can be collected.
本实施例中，摄像头或相机的数量、设置的位置，及为了克服光照不足所采取的措施与实施例3中摄像头或相机的相应设置相同。本实施例的视觉分析方法可以采用实施例18的视觉分析***实现。In this embodiment, the number of cameras or cameras, the location of the cameras, and the measures taken to overcome the lack of light are the same as the corresponding settings of the cameras or cameras in Embodiment 3. The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 18.
实施例23Example 23
本实施例提供了一种应用于车辆换电的视觉分析方法，其是对实施例22的视觉分析***的进一步改进，能够分析出所述电池外箱的位置信息，并根据所述电池外箱的位置信息移动换电设备的位置。This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 22, and can analyze the position information of the battery outer box, and according to the battery outer box, The location information moves the location of the electrical replacement device.
图31示出了本实施例的视觉分析方法。本实施例中，所述空间状态信息包括位置信息，所述位置信息可以为三维坐标信息。FIG. 31 shows a visual analysis method of this embodiment. In this embodiment, the spatial state information includes position information, and the position information may be three-dimensional coordinate information.
步骤52”具体包括：步骤521”：根据所述实际图像获取所述电池外箱的位置信息。 Step 52 "specifically includes: step 521": acquiring position information of the battery outer box according to the actual image.
步骤53”具体包括：步骤531”：命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。 Step 53 "specifically includes step 531": instructing the power exchange device to move its position to a target position, and the target position is related to the position of the battery outer box.
当所述换电设备执行不同的目标任务时，所述目标位置也会有所不同。When the power exchange device performs different target tasks, the target positions may also be different.
本实施例中，当所述换电设备的目标任务是将所述换电设备上的电池包放入所述电池外箱时，所述目标位置为所述电池包与所述电池外箱对准的位置。在其他实施例中，当所述换电设备40”的目标任务是将所述车辆上的电池包取下时，所述目标位置为所述换电设备40”上的换电解锁机构与所述电池外箱上的触发解锁机构对准的位置，所述触发解锁机构与所述换电解锁机构相匹配，用于触发所述电池包从所述车辆上解锁。In this embodiment, when the target task of the power exchange device is to place a battery pack on the power exchange device into the battery outer case, the target position is the pair of the battery pack and the battery outer case. Quasi-location. In other embodiments, when the target task of the power exchange device 40 "is to remove the battery pack on the vehicle, the target position is the power exchange unlocking mechanism and the The position where the trigger unlock mechanism on the battery outer box is aligned, the trigger unlock mechanism is matched with the power exchange unlock mechanism, and is used to trigger the battery pack to unlock from the vehicle.
如图32所示，步骤531”的具体流程包括：As shown in FIG. 32, the specific process of step 531 "includes:
步骤5311”：获取所述电池外箱的位置信息和所述目标位置的位置信息；Step 5311 ": acquiring the position information of the battery outer box and the position information of the target position;
步骤5312”：比较所述电池外箱的位置信息与所述目标位置的位置信息的差值；Step 5312 ": Compare the difference between the position information of the battery case and the position information of the target position;
步骤5313”：生成位置移动指令，所述位置移动指令用于命令所述换电设备向减小所述差值的方向移动。 Step 5313 ": A position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
其中，所述差值主要是在水平方向上的差值，可将所述电池外箱投影至所述换电设备所在的平面，计算所述电池外箱与所述目标位置的距离差，通过所述位置移动指令弥补所述距离差。The difference is mainly a difference in the horizontal direction. The battery outer box can be projected onto the plane where the power exchange device is located, and the distance difference between the battery outer box and the target position is calculated. The position movement instruction compensates the distance difference.
本实施例的视觉分析方法能够准确确定所述电池外箱的位置信息，实现高精度的换电设备的位置调整。本实施例的视觉分析方法可以采用实施例19的视觉分析***实现。The visual analysis method of this embodiment can accurately determine the position information of the battery outer box, and achieve high-precision position adjustment of the power exchange equipment. The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 19.
实施例24Example 24
本实施例提供了一种应用于车辆换电的视觉分析方法，其是对实施例22的视觉分析***的进一步改进，能够分析出所述电池外箱的姿态信息，并根据所述电池外箱的姿态信息调整换电设备的换电机构的姿态。This embodiment provides a visual analysis method applied to vehicle power exchange, which is a further improvement of the visual analysis system of Embodiment 22, and can analyze the posture information of the battery outer box, and according to the battery outer box, The posture information adjusts the posture of the power exchange mechanism of the power exchange device.
图33示出了本实施例的视觉分析方法。本实施例中，所述空间状态信息包括姿态信息。步骤52”具体包括：步骤522”：根据所述实际图像获取所述电池外箱的姿态信息。FIG. 33 shows a visual analysis method of this embodiment. In this embodiment, the spatial state information includes attitude information. Step 52 "specifically includes: step 522": obtaining posture information of the battery outer box according to the actual image.
步骤53”具体包括：步骤532”：命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。 Step 53 "specifically includes step 532": instructing the power exchange device to adjust its posture so that the power exchange mechanism on the power exchange device has the same posture as the battery case.
具体地，所述电池外箱的姿态信息可以包括：所述电池外箱与所述车辆停泊的平台的夹角。步骤522”根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的夹角，一种具体流程，如图34所示，包括：步骤5221”-1：从所述实际图像中提取所述电池外箱的图像轮廓；Specifically, the attitude information of the battery outer box may include an angle between the battery outer box and a platform on which the vehicle is parked. Step 522 ”obtains an included angle between the battery outer box and the platform on which the vehicle is parked according to the actual image. As shown in FIG. 34, a specific process includes: Step 5221" -1: from the actual image Extracting an image contour of the battery outer box;
步骤5222”-1：判断所述图像轮廓与所述电池外箱与所述平台平行设置时的标准图像轮廓是否相同，其中所述标准图像轮廓是预先采集的，判断比较图像时主要是比较两个图像中电池外箱是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等： Step 5222 "-1: Determine whether the image contour is the same as the standard image contour when the battery outer box is set in parallel with the platform, wherein the standard image contour is collected in advance, and the two images are mainly compared when comparing the two. Whether the battery case is the same in each image, you can ignore other images that may be collected together in the image, such as the structure of the bottom of the vehicle around the battery case:
若是，则判定所述电池外箱与所述平台的夹角为0；若否，则通过所述图像轮廓相对于所述标准图像轮廓的变形程度确定所述电池外箱与所述平台的夹角。If yes, determine the included angle between the battery outer box and the platform as 0; if not, determine the degree of the battery outer box and the platform based on the degree of deformation of the image contour relative to the standard image contour angle.
其中，采集所述实际图像时的角度优选地与所述标准图像轮廓的采集角度相同。Wherein, the angle when acquiring the actual image is preferably the same as the acquisition angle of the standard image contour.
以所述电池外箱为长方体为例，那么，所述电池外箱与所述平台平行设置时，从所述电池外箱的正下方采集的所述电池外箱的标准图像轮廓应当为一个矩形。若同样从所述电池外箱的正下方采集的实际图像中所述电池外箱的图像轮廓是矩形，则说明所述电池外箱的图像轮廓与所述标准图像轮廓平行，即所述电池外箱也与所述平台平行。反之，若同样从所述电池外箱的正下方采集的实际图像中所述电池外箱的图像轮廓不是矩形，如存在不是直角的顶角，则说明所述电池外箱的图像轮廓与所述标准图像轮廓不平行，即所述电池外箱与所述平台不平行，通过所述图像轮廓中顶角的角度可以进一步确定所述电池外箱与所述平台的夹角。Taking the battery outer box as a rectangular parallelepiped as an example, then when the battery outer box is arranged in parallel with the platform, a standard image outline of the battery outer box collected from directly below the battery outer box should be a rectangle . If the outline of the image of the battery case is rectangular in the actual image collected from directly below the battery case, it means that the image outline of the battery case is parallel to the standard image outline, that is, the outside of the battery The box is also parallel to the platform. Conversely, if the outline of the image of the battery case is not rectangular in the actual image collected from directly below the battery case, if there is a vertex that is not a right angle, then the image outline of the battery case and the The standard image contour is not parallel, that is, the battery outer box is not parallel to the platform. The angle between the battery outer box and the platform can be further determined by the angle of the vertex angle in the image contour.
需要说明的是，考虑到不同的车型、不同的电池外箱对应的标准图像轮廓可能不同，所述方法通常需要预存多种车型、多种电池外箱对应的标准图像轮廓，在换电前或换电过程中，确定换电车辆的车型、电池外箱，从预存的标准图像轮廓中选择车辆对应的标准图像轮廓，进而进行后续的比较。It should be noted that considering that the standard image contours corresponding to different vehicle models and different battery outer boxes may be different, the method usually requires pre-storing standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. During the power exchange process, the vehicle model and battery outer box of the vehicle to be replaced are determined, and the standard image contour corresponding to the vehicle is selected from the pre-stored standard image contours for further comparison.
步骤522”根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的夹角，另一种具体流程，如图35所示，包括：步骤5221”-2：通过所述实际图像自带的景深信息确定所述电池外箱的至少两个特征部位的相对高度差；Step 522 ”obtains the angle between the battery outer box and the platform on which the vehicle is parked according to the actual image. Another specific process, as shown in FIG. 35, includes: Step 5221" -2: Passing the actual image Built-in depth of field information determines a relative height difference between at least two characteristic parts of the battery outer box;
步骤5222”-2：判断所述至少两个特征部位的相对高度差是否为0： Step 5222 "-2: Determine whether the relative height difference between the at least two characteristic parts is 0:
若是，则判定所述电池外箱与所述平台的夹角为0；If yes, determine that the included angle between the battery outer box and the platform is 0;
若否，则通过所述至少两个特征部位的相对高度差确定所述电池外箱与所述平台的夹角。If not, the angle between the battery outer box and the platform is determined by the relative height difference of the at least two characteristic parts.
还是以所述电池外箱为长方体为例，所述电池外箱与所述平台平行设置时从所述电池外箱的正下方采集的所述电池外箱的实际图像中，所述电池外箱的各特征部位的相对高度差应当为0，即在同一 平面中，与所述平台的夹角为0。若所述电池外箱的各特征部位存在相对高度差，即所述电池外箱与所述平台不平行，通过所述相对高度差可以进一步确定所述电池外箱与所述平台的夹角。其中，所述至少两个特征部位为所述电池外箱的至少两个顶角。Taking the battery outer box as a rectangular parallelepiped as an example, when the battery outer box is arranged in parallel with the platform, the actual battery image of the battery outer box collected from directly below the battery outer box, the battery outer box The relative height difference of each characteristic part of should be 0, that is, the included angle with the platform is 0 in the same plane. If there is a relative height difference between the characteristic parts of the battery outer box, that is, the battery outer box is not parallel to the platform, the angle between the battery outer box and the platform can be further determined through the relative height difference. Wherein, the at least two characteristic parts are at least two vertex angles of the battery outer case.
另外，步骤522”可以根据实际情况采用上述的两种实现中的任意一种。In addition, step 522 "may adopt any one of the above two implementations according to the actual situation.
本实施例中，所述电池外箱的姿态信息还可以包括：所述电池外箱的设置方向。步骤522”根据所述实际图像获取所述电池外箱的设置方向，如图36所示，包括：In this embodiment, the posture information of the battery outer box may further include: a setting direction of the battery outer box. Step 522 ”obtains the setting direction of the battery outer box according to the actual image, as shown in FIG. 36, including:
步骤5221”-3：从所述实际图像中提取所述电池外箱的图像轮廓； Step 5221 "-3: extract the image outline of the battery outer box from the actual image;
步骤5222”-3：判断所述图像轮廓与所述电池外箱以基准方向设置时的标准图像轮廓是否相同，其中所述标准图像轮廓是预先采集的，判断比较图像时主要是比较两个图像中电池外箱是否相同，可以忽略图像中可能被一同采集到的其他图像，如电池外箱周围的车底构造等： Step 5222 "-3: Determine whether the image contour is the same as the standard image contour when the battery outer box is set in the reference direction, wherein the standard image contour is collected in advance, and when comparing the images, it is mainly to compare two images Whether the outer case of the middle battery is the same, you can ignore other images that may be collected together in the image, such as the structure of the bottom of the car around the outer case of the battery:
若是，则判定所述电池外箱的设置方向为所述基准方向；若否，则通过所述图像轮廓相对于所述标准图像轮廓的旋转程度确定所述电池外箱的设置方向与所述基准方向的夹角。If yes, determine the setting direction of the battery outer box as the reference direction; if not, determine the setting direction of the battery outer box and the reference by the degree of rotation of the image contour relative to the standard image contour The angle of the direction.
其中，采集所述实际图像时的角度与所述标准图像轮廓的采集角度相同。The angle at which the actual image is collected is the same as the angle at which the standard image contour is collected.
同样需要说明的是，考虑到不同的车型、不同的电池外箱对应的标准图像轮廓可能不同，所述方法通常需要预存多种车型、多种电池外箱对应的标准图像轮廓，在换电前或换电过程中，确定换电车辆的车型、电池外箱，从预存的标准图像轮廓中选择车辆对应的标准图像轮廓，进而进行后续的比较。It should also be noted that considering that the standard image contours corresponding to different vehicle models and different battery outer boxes may be different, the method generally requires pre-storing standard image contours corresponding to multiple vehicle models and multiple battery outer boxes. Or during the power exchange process, determine the vehicle type and battery outer box of the vehicle to be replaced, and select the standard image contour corresponding to the vehicle from the pre-stored standard image contours for further comparison.
本实施例的视觉分析方法可以采用实施例20的视觉分析***实现。The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 20.
实施例25Example 25
综合实施例22、实施例23和实施例24的视觉分析方法，形成本实施例的一种应用于车辆换电的视觉分析方法，如图37所示，其包括：The visual analysis methods of Embodiment 22, Embodiment 23, and Embodiment 24 are integrated to form a visual analysis method applied to vehicle power exchange in this embodiment, as shown in FIG. 37, which includes:
步骤51”：采集实际图像，所述实际图像中包含车辆的电池外箱的图像。 Step 51 ": Acquire an actual image, where the actual image includes an image of a battery outer box of the vehicle.
步骤521”：根据所述实际图像获取所述电池外箱的位置信息。Step 521 ": Obtain position information of the battery outer box according to the actual image.
步骤522”：根据所述实际图像获取所述电池外箱的姿态信息。Step 522 ": Acquire attitude information of the battery outer box according to the actual image.
步骤531”：命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。Step 531 ": instruct the power exchange device to move its position to a target position, and the target position is related to the position of the battery outer box.
步骤532”：命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。Step 532 ": instruct the power exchange device to adjust its posture so that the power exchange mechanism on the power exchange device is the same as the posture of the battery case.
其中，上述的各步骤具体参见实施例22、实施例23和实施例24的相应说明，在此不再赘述。The foregoing steps are specifically referred to the corresponding descriptions of Embodiment 22, Embodiment 23, and Embodiment 24, and details are not described herein again.
另外，本实施例的视觉分析方法还包括：步骤54”：在所述换电设备自身的空间状态信息已适应所述电池外箱的空间状态信息时命令所述换电设备保持当前的空间状态信息直至再次接收到指令。In addition, the visual analysis method of this embodiment further includes: Step 54 ": when the space state information of the power exchange device itself has been adapted to the space state information of the battery outer box, command the power exchange device to maintain the current space state Until the command is received again.
当所述换电设备的目标任务是将所述换电设备上的电池包放入所述电池外箱时，再次接收到的指 令包括：将所述换电设备上的电池包安装到所述电池外箱的指令。When the target task of the power exchange device is to put the battery pack on the power exchange device into the battery outer box, the instructions received again include: installing the battery pack on the power exchange device to the battery replacement device. Instructions for battery case.
在其他实施例中，当所述换电设备的目标任务是将所述车辆上的电池包取下时，再次接收到的指令包括：从所述电池外箱中取下电池包的指令。In other embodiments, when the target task of the power exchange device is to remove the battery pack from the vehicle, the instructions received again include: an instruction to remove the battery pack from the battery outer box.
本实施例的视觉分析方法可以采用实施例21的视觉分析***实现。The visual analysis method of this embodiment can be implemented by using the visual analysis system of Embodiment 21.
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这些仅是举例说明，本发明的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本发明的保护范围。Although the specific embodiments of the present invention are described above, those skilled in the art should understand that these are merely examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall into the protection scope of the present invention.

Claims (114)

  1. 一种应用于车辆换电的视觉分析***，其特征在于，所述视觉分析***包括至少一图像采集模块、图像分析模块和换电控制模块；A visual analysis system applied to vehicle power exchange, characterized in that the visual analysis system includes at least one image acquisition module, image analysis module, and power exchange control module;
    所述图像采集模块用于在车辆换电过程中，采集车辆和电池包总成的实际图像并将所述实际图像发送至所述图像分析模块；The image acquisition module is used to collect the actual images of the vehicle and the battery pack assembly during the vehicle power exchange process and send the actual images to the image analysis module;
    所述图像分析模块用于根据所述实际图像监控所述换电过程，并将所述换电过程发送至所述换电控制模块；The image analysis module is configured to monitor the power exchange process according to the actual image, and send the power exchange process to the power exchange control module;
    所述换电控制模块用于生成用于调控所述换电过程所涉及对象的调控指令。The power exchange control module is configured to generate a control instruction for controlling an object involved in the power exchange process.
  2. 如权利要求1所述的视觉分析***，其特征在于，所述换电过程至少包括：车辆停车定位阶段；The visual analysis system according to claim 1, wherein the power exchange process includes at least: a vehicle parking positioning stage;
    所述图像采集模块在所述车辆停车定位阶段中采集的实际图像中包含所述车辆的图像及已标识的预设停车区域的图像；The actual image collected by the image acquisition module during the vehicle parking positioning phase includes an image of the vehicle and an image of an identified preset parking area;
    所述图像分析模块具体用于从所述实际图像提取所述车辆停泊的位置信息，通过所述位置信息确定所述车辆停泊于是否在所述预设停车区域内，若否，则向所述换电控制模块发送第一通知；The image analysis module is specifically configured to extract the parking position information of the vehicle from the actual image, and use the position information to determine whether the vehicle is parked in the preset parking area, and if not, send the The power exchange control module sends a first notification;
    所述换电控制模块具体用于在接收到所述第一通知后，生成车辆调控指令，所述车辆调控指令用于命令所述车辆重新停泊至所述预设停车区域内。The power exchange control module is specifically configured to generate a vehicle regulation instruction after receiving the first notification, and the vehicle regulation instruction is used to instruct the vehicle to be parked in the preset parking area again.
  3. 如权利要求1所述的视觉分析***，其特征在于，所述换电过程至少包括：所述车辆的电池外箱定位阶段；The visual analysis system according to claim 1, wherein the power exchange process comprises at least: a battery outer box positioning stage of the vehicle;
    所述图像采集模块在所述电池外箱定位阶段中采集的实际图像中包含车辆的电池外箱的图像；The actual image acquired by the image acquisition module during the positioning of the battery outer box includes an image of the battery outer box of the vehicle;
    所述图像分析模块具体用于根据所述实际图像获取所述电池外箱的空间状态信息，并将所述电池外箱的空间状态信息发送至所述换电控制模块；The image analysis module is specifically configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module;
    所述换电控制模块具体用于根据所述电池外箱的空间状态信息生成第一调控指令并将所述第一调控指令发送至用于为所述车辆换电的换电设备，所述第一调控指令用于命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。The power exchange control module is specifically configured to generate a first control instruction according to the space state information of the battery outer box and send the first control instruction to a power exchange device used to exchange electricity for the vehicle. A control instruction is used to instruct the power exchange device to adjust its own space state information to fit the space state information of the battery outer box.
  4. 如权利要求3所述的视觉分析***，其特征在于，所述电池外箱定位阶段适用于：所述换电设备从所述电池外箱内取下缺电的电池包总成之前，或所述换电设备将待装的电池包总成安装至所述电池外箱之前。The visual analysis system according to claim 3, wherein the battery outer box positioning stage is suitable for: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or The power exchange device installs the battery pack assembly to be installed before the battery outer box.
  5. 如权利要求1所述的视觉分析***，其特征在于，所述换电过程至少包括：为所述车辆换电的换电设备从所述车辆的电池外箱内解锁并取下缺电的电池包总成的卸电池阶段；The visual analysis system according to claim 1, wherein the power exchange process comprises at least: unlocking and removing a battery lacking power from a battery outer box of the vehicle Battery pack unloading phase;
    所述图像采集模块在所述卸电池阶段采集的实际图像中包含所述电池外箱中的锁止机构的图像， 所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；The actual image acquired by the image acquisition module during the battery unloading phase includes an image of a locking mechanism in the battery outer box, and the locking mechanism is used to lock the battery pack assembly outside the battery Inside the box
    所述图像分析模块具体用于根据所述实际图像分析所述锁止机构是否解锁所述电池包总成，并在所述锁止机构解锁所述电池包总成时向所述换电控制模块发送第二通知；The image analysis module is specifically configured to analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and to the power exchange control module when the locking mechanism unlocks the battery pack assembly Sending a second notification;
    所述换电控制模块具体用于在接收到所述第二通知后，向所述换电设备发送卸电池指令，所述卸电池指令用于命令所述换电设备将所述电池包总成从所述电池外箱取下。The power exchange control module is specifically configured to send a battery removal instruction to the power replacement device after receiving the second notification, and the battery removal instruction is used to instruct the power replacement device to replace the battery pack assembly. Remove from the battery case.
  6. 如权利要求5所述的视觉分析***，其特征在于，所述换电设备预设有执行所述卸电池指令时所需的将所述电池包总成从所述电池外箱取下的第一电池移动轨迹。The visual analysis system according to claim 5, wherein the power exchange device is preset with a first step for removing the battery pack assembly from the battery outer box, which is required when executing the battery unloading instruction. A battery moves.
  7. 如权利要求1所述的视觉分析***，其特征在于，所述换电过程至少包括：为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段；The visual analysis system according to claim 1, wherein the power exchange process comprises at least: installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device that exchanges power for the vehicle Battery loading phase
    所述图像采集模块在所述装电池阶段，实时采集所述实际图像并将所述实际图像实时发送至所述图像分析模块，所述实际图像中包含所述电池外箱的图像和所述电池包总成的图像；The image acquisition module collects the actual image in real-time and sends the actual image to the image analysis module in real-time during the battery installation phase. The actual image includes an image of the battery outer box and the battery. Image of package assembly;
    所述图像分析模块具体用于根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，若是，则向所述换电控制模块发送第三通知；The image analysis module is specifically configured to analyze whether the battery pack assembly has reached a specified position in the battery outer box according to the actual image, and if so, send a third notification to the power exchange control module;
    所述换电控制模块具体用于在接收到所述第三通知后向所述换电设备发送第二调控指令，所述第二调控指令用于告知所述换电设备已达成所述装电池阶段。The power exchange control module is specifically configured to send a second control instruction to the power exchange device after receiving the third notification, and the second control instruction is used to notify the power exchange device that the battery is installed stage.
  8. 如权利要求1所述的视觉分析***，其特征在于，所述换电过程至少包括：所述电池外箱的锁检测阶段；The visual analysis system according to claim 1, wherein the power replacement process comprises at least: a lock detection stage of the battery outer box;
    所述图像采集模块在所述锁检测阶段采集的实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；The actual image acquired by the image acquisition module during the lock detection phase includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly outside the battery. Inside the box
    所述图像分析模块具体用于根据所述实际图像分析所述锁止机构是否锁紧所述电池包总成。The image analysis module is specifically configured to analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
  9. 如权利要求8所述的视觉分析***，其特征在于，所述锁检测阶段发生于所述换电设备将待装的电池包总成安装至所述电池外箱之后。The visual analysis system according to claim 8, wherein the lock detection stage occurs after the battery replacement assembly is installed in the battery outer box by the power exchange device.
  10. 如权利要求3所述的视觉分析***，其特征在于，所述空间状态信息包括位置信息，所述图像分析模块包括位置分析单元；The visual analysis system according to claim 3, wherein the spatial state information includes position information, and the image analysis module includes a position analysis unit;
    所述位置分析单元用于根据所述实际图像获取所述电池外箱的位置信息，并将所述电池外箱的位置信息发送至所述换电控制模块；The position analysis unit is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module;
    所述第一调控指令包括位置移动指令，所述换电控制模块还用于根据所述电池外箱的位置信息生成所述位置移动指令，所述位置移动指令用于命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The first control instruction includes a position movement instruction, and the power exchange control module is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange equipment to move The position is from the target position to the target position, and the target position is related to the position of the battery case.
  11. 如权利要求3所述的视觉分析***，其特征在于，所述空间状态信息包括姿态信息，所述图像分析模块包括姿态分析单元；The visual analysis system according to claim 3, wherein the spatial state information includes posture information, and the image analysis module includes a posture analysis unit;
    所述姿态分析单元用于根据所述实际图像获取所述电池外箱的姿态信息，并将所述电池外箱的姿态信息发送所述换电控制模块；The posture analysis unit is configured to obtain posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module;
    所述第一调控指令包括姿态调整指令，所述换电控制模块还用于根据所述电池外箱的姿态信息生成所述姿态调整指令，所述姿态调整指令用于命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。The first control instruction includes a posture adjustment instruction, and the power exchange control module is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange equipment to adjust The posture is such that the posture of the power exchange mechanism on the power exchange device is the same as that of the battery case.
  12. 如权利要求5所述的视觉分析***，其特征在于，所述图像分析模块包括解锁分析单元；The visual analysis system according to claim 5, wherein the image analysis module comprises an unlock analysis unit;
    所述解锁分析单元用于根据所述实际图像通过以下方式分析所述锁止机构是否解锁所述电池包总成：The unlock analysis unit is configured to analyze whether the lock mechanism unlocks the battery pack assembly in the following manner according to the actual image:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否为0：Compare whether the length is 0:
    若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成；If yes, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly;
    或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构解锁所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the lock mechanism unlocks the battery pack assembly;
    若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成。If so, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
  13. 如权利要求7所述的视觉分析***，其特征在于，所述电池包总成到达所述指定位置时所述车辆的电池供电电路导通，所述换电设备预设有执行所述目标任务时所需的将所述电池包总成安装至所述指定位置的电池移动轨迹。The visual analysis system according to claim 7, wherein the battery-powered circuit of the vehicle is turned on when the battery pack assembly reaches the designated position, and the power exchange device is preset to perform the target task It is necessary to install the battery pack assembly to the battery movement track of the designated position.
  14. 如权利要求7所述的视觉分析***，其特征在于，根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，包括：The visual analysis system according to claim 7, wherein analyzing whether the battery pack assembly reaches a specified position in the battery outer box based on the actual image, comprises:
    从所述实际图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from the actual image;
    从与所述电池包总成位于所述指定位置时的标准图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from a standard image when the battery pack assembly is located at the designated position;
    比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Compare whether the relative positional relationship between the battery pack assembly and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, so The first direction is a direction perpendicular to the platform on which the vehicle is parked:
    若是，则所述电池包总成到达所述指定位置；若否，则所述电池包总成未到达所述指定位置。If yes, the battery pack assembly reaches the designated position; if not, the battery pack assembly does not reach the designated position.
  15. 如权利要求8所述的视觉分析***，其特征在于，所述图像分析模块包括锁紧分析单元；The visual analysis system according to claim 8, wherein the image analysis module comprises a locking analysis unit;
    所述锁紧分析单元用于根据所述实际图像通过以下方式分析所述锁止机构是否锁紧所述电池包总成：The locking analysis unit is configured to analyze whether the locking mechanism locks the battery pack assembly in the following manner according to the actual image:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否小于所述锁止机构锁紧所述电池包总成时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery pack assembly;
    若是，则所述锁止机构未锁紧所述电池包总成；若否，则所述锁止机构锁紧所述电池包总成；If yes, the locking mechanism does not lock the battery pack assembly; if not, the locking mechanism locks the battery pack assembly;
    或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构锁紧所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the locking mechanism locks the battery pack assembly;
    若是，则所述锁止机构锁紧所述电池包总成；若否，则所述锁止机构未锁紧所述电池包总成。If so, the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.
  16. 如权利要求1所述的视觉分析***，其特征在于，所述图像采集模块设置于用于为所述车辆换电的换电设备上，或，设置于所述车辆停泊的平台上。The visual analysis system according to claim 1, wherein the image acquisition module is provided on a power exchange device for changing the vehicle or on a platform where the vehicle is parked.
  17. 一种应用于车辆换电的视觉分析方法，其特征在于，所述视觉分析方法包括：A visual analysis method applied to vehicle power exchange, characterized in that the visual analysis method includes:
    在车辆换电过程中，采集车辆和电池包总成的实际图像；During vehicle power exchange, collect actual images of the vehicle and battery pack assembly;
    根据所述实际图像监控所述换电过程；Monitoring the power exchange process according to the actual image;
    调控所述换电过程所涉及的对象。Regulate the objects involved in the power exchange process.
  18. 如权利要求17所述的视觉分析方法，其特征在于，所述换电过程至少包括：车辆停车定位阶段；The visual analysis method according to claim 17, wherein the power exchange process comprises at least: a vehicle parking positioning stage;
    在所述车辆停车定位阶段中，采集的实际图像中包含所述车辆的图像及已标识的预设停车区域的图像；In the vehicle parking positioning phase, the actual images collected include the image of the vehicle and the image of the identified preset parking area;
    从所述实际图像提取所述车辆停泊的位置信息，通过所述位置信息确定所述车辆停泊于是否在所述预设停车区域内，若否，则命令所述车辆重新停泊至所述预设停车区域内。Extracting the parking position information of the vehicle from the actual image, determining whether the vehicle is parked in the preset parking area through the position information, and if not, ordering the vehicle to be parked again to the preset Within the parking area.
  19. 如权利要求17所述的视觉分析方法，其特征在于，所述换电过程至少包括：所述车辆的电池外箱定位阶段；The visual analysis method according to claim 17, wherein the power exchange process comprises at least: a battery outer box positioning stage of the vehicle;
    在所述电池外箱定位阶段中，采集的实际图像中包含车辆的电池外箱的图像；During the positioning of the battery outer box, the captured actual image includes an image of the battery outer box of the vehicle;
    根据所述实际图像获取所述电池外箱的空间状态信息；Acquiring space state information of the battery outer box according to the actual image;
    根据所述电池外箱的空间状态信息，命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。According to the space state information of the battery outer box, the power exchange device is instructed to adjust its own space state information to fit the space state information of the battery outer box.
  20. 如权利要求19所述的视觉分析方法，其特征在于，所述电池外箱定位阶段适用于：所述换电设备从所述电池外箱内取下缺电的电池包总成之前，或所述换电设备将待装的电池包总成安装至所述电池外箱之前。The visual analysis method according to claim 19, wherein the positioning stage of the battery outer box is suitable for: before the power exchange device removes a battery pack assembly lacking power from the battery outer box, or The power exchange device installs the battery pack assembly to be installed before the battery outer box.
  21. 如权利要求17所述的视觉分析方法，其特征在于，所述换电过程至少包括：为所述车辆换电的换电设备从所述车辆的电池外箱内解锁并取下缺电的电池包总成的卸电池阶段；The visual analysis method according to claim 17, wherein the power exchange process at least comprises: unlocking a power exchange device for powering the vehicle from a battery outer box of the vehicle and removing the power shortage battery Battery pack unloading phase;
    在所述卸电池阶段，采集的实际图像中包含所述电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；In the battery unloading phase, the acquired actual image includes an image of a locking mechanism in the battery outer box, and the locking mechanism is used to lock the battery pack assembly in the battery outer box;
    根据所述实际图像分析所述锁止机构是否解锁所述电池包总成，并在所述锁止机构解锁所述电池包总成时命令所述换电设备将所述电池包总成从所述电池外箱取下。Analyze whether the locking mechanism unlocks the battery pack assembly according to the actual image, and instruct the power exchange device to remove the battery pack assembly from the battery pack assembly when the locking mechanism unlocks the battery pack assembly. Remove the battery case.
  22. 如权利要求21所述的视觉分析方法，其特征在于，所述换电设备预设有执行所述卸电池指令时所需的将所述电池包总成从所述电池外箱取下的第一电池移动轨迹。The visual analysis method according to claim 21, wherein the power exchange device is preset with a first step for removing the battery pack assembly from the battery outer box required when the battery unloading instruction is executed. A battery moves.
  23. 如权利要求17所述的视觉分析方法，其特征在于，所述换电过程至少包括：为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段；The visual analysis method according to claim 17, wherein the power exchange process comprises at least: installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device that exchanges power for the vehicle Battery loading phase
    在所述装电池阶段，实时采集所述实际图像，所述实际图像中包含所述电池外箱的图像和所述电池包总成的图像；During the battery loading phase, the actual image is collected in real time, and the actual image includes an image of the battery outer box and an image of the battery pack assembly;
    根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，若是，则告知所述换电设备已达成所述装电池阶段。Analyze whether the battery pack assembly has reached a designated position in the battery outer box according to the actual image, and if so, notify the power exchange device that the battery loading stage has been reached.
  24. 如权利要求17所述的视觉分析方法，其特征在于，所述换电过程至少包括：所述电池外箱的锁检测阶段；The visual analysis method according to claim 17, wherein the power exchange process comprises at least: a lock detection stage of the battery outer box;
    在所述锁检测阶段，采集的实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将所述电池包总成锁定于所述电池外箱内；In the lock detection phase, the acquired actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used to lock the battery pack assembly in the battery outer box;
    根据所述实际图像分析所述锁止机构是否锁紧所述电池包总成。Analyze whether the locking mechanism locks the battery pack assembly according to the actual image.
  25. 如权利要求24所述的视觉分析方法，其特征在于，所述锁检测阶段发生于所述换电设备将待装的电池包总成安装至所述电池外箱之后。The visual analysis method according to claim 24, wherein the lock detection stage occurs after the battery replacement assembly is installed in the battery outer box by the power exchange device.
  26. 如权利要求19所述的视觉分析方法，其特征在于，所述空间状态信息包括位置信息；The visual analysis method according to claim 19, wherein the spatial state information includes position information;
    根据所述实际图像获取所述电池外箱的位置信息；Acquiring position information of the battery outer box according to the actual image;
    根据所述电池外箱的位置信息，命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。According to the position information of the battery outer box, the power exchange device is commanded to move its position to a target position, and the target position is related to the position of the battery outer box.
  27. 如权利要求19所述的视觉分析方法，其特征在于，所述空间状态信息包括姿态信息；The visual analysis method according to claim 19, wherein the spatial state information includes posture information;
    根据所述实际图像获取所述电池外箱的姿态信息；Acquiring posture information of the battery outer box according to the actual image;
    根据所述电池外箱的姿态信息命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。According to the posture information of the battery outer box, the power exchange device is instructed to adjust its posture so that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
  28. 如权利要求21所述的视觉分析方法，其特征在于，根据所述实际图像通过以下步骤分析所述锁止机构是否解锁所述电池包总成：The visual analysis method according to claim 21, wherein according to the actual image, whether the locking mechanism unlocks the battery pack assembly is analyzed by the following steps:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否为0：Compare whether the length is 0:
    若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成；If yes, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly;
    或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构解锁所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the lock mechanism unlocks the battery pack assembly;
    若是，则所述锁止机构解锁所述电池包总成；若否，则所述锁止机构未解锁所述电池包总成。If so, the locking mechanism unlocks the battery pack assembly; if not, the locking mechanism does not unlock the battery pack assembly.
  29. 如权利要求23所述的视觉分析方法，其特征在于，所述电池包总成到达所述指定位置时所述车辆的电池供电电路导通，所述换电设备预设有执行所述目标任务时所需的将所述电池包总成安装至所述指定位置的电池移动轨迹。The visual analysis method according to claim 23, wherein the battery-powered circuit of the vehicle is turned on when the battery pack assembly reaches the designated position, and the power exchange device is preset to perform the target task It is necessary to install the battery pack assembly to the battery movement track of the designated position.
  30. 如权利要求23所述的视觉分析方法，其特征在于，根据所述实际图像分析所述电池包总成是否到达所述电池外箱内的指定位置，包括：The visual analysis method according to claim 23, wherein analyzing whether the battery pack assembly has reached a specified position in the battery outer box based on the actual image comprises:
    从所述实际图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from the actual image;
    从与所述电池包总成位于所述指定位置时的标准图像中提取所述电池包总成的图像和所述电池外箱的图像；Extracting an image of the battery pack assembly and an image of the battery outer box from a standard image when the battery pack assembly is located at the designated position;
    比较所述实际图像和所述标准图像中所述电池包总成与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Compare whether the relative positional relationship between the battery pack assembly and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, so The first direction is a direction perpendicular to the platform on which the vehicle is parked:
    若是，则所述电池包总成到达所述指定位置；若否，则所述电池包总成未到达所述指定位置。If yes, the battery pack assembly reaches the designated position; if not, the battery pack assembly does not reach the designated position.
  31. 如权利要求24所述的视觉分析方法，其特征在于，根据所述实际图像通过以下步骤分析所述锁止机构是否锁紧所述电池包总成：The visual analysis method according to claim 24, wherein, according to the actual image, whether the locking mechanism locks the battery pack assembly is analyzed by the following steps:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否小于所述锁止机构锁紧所述电池包总成时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery pack assembly;
    若是，则所述锁止机构未锁紧所述电池包总成；若否，则所述锁止机构锁紧所述电池包总成；If yes, the locking mechanism does not lock the battery pack assembly; if not, the locking mechanism locks the battery pack assembly;
    或，比较所述实际图像与标准图像是否相同，所述标准图像为所述锁止机构锁紧所述电池包总成时的图像；Or, comparing whether the actual image is the same as a standard image, where the standard image is an image when the locking mechanism locks the battery pack assembly;
    若是，则所述锁止机构锁紧所述电池包总成；若否，则所述锁止机构未锁紧所述电池包总成。If so, the locking mechanism locks the battery pack assembly; if not, the locking mechanism does not lock the battery pack assembly.
  32. 一种基于视觉分析的换电控制方法，其特征在于，所述换电控制方法包括：A power analysis control method based on visual analysis, characterized in that the power replacement control method includes:
    进入车辆停车定位阶段；Enter the vehicle parking positioning phase;
    进入所述车辆的电池外箱定位阶段；Enter the battery outer box positioning stage of the vehicle;
    进入为所述车辆换电的换电设备从所述电池外箱内解锁并取下缺电的电池包总成的卸电池阶段；Enter the battery unloading phase of unlocking the power exchange equipment for powering the vehicle from the battery outer box and removing the lacking battery pack assembly;
    再次进入所述车辆的电池外箱定位阶段；Enter the battery outer box positioning stage of the vehicle again;
    进入为所述车辆换电的换电设备将待装的电池包总成安装至所述车辆的电池外箱的装电池阶段；Enter the battery loading stage of installing a battery pack assembly to be installed in a battery outer box of the vehicle by a power exchange device for powering the vehicle;
    进入所述电池外箱的锁检测阶段。Enter the lock detection stage of the battery case.
  33. 一种应用于车辆换电的视觉分析***，其特征在于，所述视觉分析***包括至少一图像采集模块、图像分析模块和换电控制模块；A visual analysis system applied to vehicle power exchange, characterized in that the visual analysis system includes at least one image acquisition module, image analysis module, and power exchange control module;
    所述图像采集模块用于在换电设备执行目标任务的过程中，实时采集实际图像并将所述实际图像实时发送至所述图像分析模块，所述目标任务为将电池安装至车辆的电池外箱，所述实际图像中包含 所述电池外箱的图像和所述电池的图像；The image acquisition module is used to collect real-time images in real-time during a target task performed by a power exchange device and send the actual images to the image analysis module in real-time. The target task is to install the battery outside the battery Box, the actual image includes an image of the battery outer box and an image of the battery;
    所述图像分析模块用于根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，若是，则向所述换电控制模块发送通知信号；The image analysis module is configured to analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, send a notification signal to the power exchange control module;
    所述换电控制模块用于在接收到所述通知信号后生成调控指令并将所述调控指令发送至换电设备，所述调控指令用于告知所述换电设备已达成所述目标任务。The power exchange control module is configured to generate a control instruction after receiving the notification signal and send the control instruction to a power replacement device, and the control instruction is used to inform the power replacement device that the target task has been achieved.
  34. 如权利要求33所述的视觉分析***，其特征在于，所述图像采集模块设置于所述换电设备上，或，设置于所述车辆停泊的平台上。The visual analysis system according to claim 33, wherein the image acquisition module is disposed on the power exchange device, or is disposed on a platform where the vehicle is parked.
  35. 如权利要求33所述的视觉分析***，其特征在于，所述电池到达所述指定位置时所述车辆的电池供电电路导通。The visual analysis system of claim 33, wherein the battery-powered circuit of the vehicle is turned on when the battery reaches the designated position.
  36. 如权利要求33所述的视觉分析***，其特征在于，所述换电设备预设有执行所述目标任务时所需的将所述电池安装至所述指定位置的电池移动轨迹。The visual analysis system according to claim 33, wherein the power exchange device presets a battery movement trajectory required to mount the battery to the specified position when performing the target task.
  37. 如权利要求33所述的视觉分析***，其特征在于，根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，包括：The visual analysis system according to claim 33, wherein analyzing whether the battery has reached a specified position in the battery outer box according to the actual image comprises:
    比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同：Compare whether the actual image is the same as the standard image when the battery is in the specified position:
    若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
  38. 如权利要求37所述的视觉分析***，其特征在于，比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同，具体包括：The visual analysis system according to claim 37, wherein comparing whether the actual image is the same as a standard image when the battery is located at the specified position, specifically comprising:
    从所述实际图像中提取所述电池的图像和所述电池外箱的图像；Extracting an image of the battery and an image of the battery case from the actual image;
    比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Comparing whether the relative positional relationship between the battery and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, and the first The direction is perpendicular to the platform on which the vehicle is parked:
    若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
  39. 如权利要求38所述的视觉分析***，其特征在于，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：The visual analysis system according to claim 38, wherein comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, comprising:
    从所述实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；Extracting from the actual image the box surface of the battery outer box that is at the outermost side in the direction;
    从所述实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from the actual image, the first battery surface being a battery surface on the same side as the box surface;
    比对所述实际图像中所述第一电池面与所述箱面的图像大小和/或图像位置，得到实际大小对比关系和/或实际位置对比关系；Comparing the image size and / or image position of the first battery surface and the box surface in the actual image to obtain an actual size comparison relationship and / or an actual position comparison relationship;
    获取所述标准图像中所述第一电池面与所述箱面的图像大小和/或图像位置的标准大小对比关系和/或标准位置对比关系；Acquiring a standard size comparison relationship and / or a standard position comparison relationship between the image size and / or image position of the first battery surface and the box surface in the standard image;
    比较所述实际大小对比关系与所述标准大小对比关系和/或所述实际位置对比关系与所述标准位置对比关系是否均相同；Comparing whether the actual size contrast relationship and the standard size contrast relationship and / or the actual position contrast relationship and the standard position contrast relationship are all the same;
    若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  40. 如权利要求39所述的视觉分析***，其特征在于，从由所述方向采集的实际图像和标准图像中得到所述实际大小对比关系和所述标准大小对比关系；The visual analysis system according to claim 39, wherein the actual size contrast relationship and the standard size contrast relationship are obtained from an actual image and a standard image collected from the direction;
    和/或，从由与所述方向垂直的方向采集的实际图像和标准图像中得到所述实际位置对比关系和所述标准位置对比关系。And / or, obtaining the actual position contrast relationship and the standard position contrast relationship from an actual image and a standard image collected from a direction perpendicular to the direction.
  41. 如权利要求38所述的视觉分析***，其特征在于，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：The visual analysis system according to claim 38, wherein comparing whether the relative position relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, comprising:
    通过所述实际图像自带的景深信息，确定所述电池外箱在所述方向上处于最外侧的箱面与所述电池的第一电池面的实际相对距离，所述第一电池面为与所述箱面同侧的电池面；The actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery is determined by the depth-of-field information provided in the actual image. The battery surface on the same side of the box surface;
    获取所述标准图像中所述箱面与所述第一电池面之间的标准相对距离；Acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
    比较所述实际相对距离与所述标准相对距离是否相同；Comparing whether the actual relative distance is the same as the standard relative distance;
    若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  42. 如权利要求41所述的视觉分析***，其特征在于，所述实际图像为由所述方向采集的实际图像。The visual analysis system according to claim 41, wherein the actual image is an actual image acquired by the direction.
  43. 如权利要求37所述的视觉分析***，其特征在于，所述图像采集模块采集所述实际图像时的角度与所述标准图像的采集角度相同。The visual analysis system according to claim 37, wherein an angle when the image acquisition module collects the actual image is the same as an acquisition angle of the standard image.
  44. 如权利要求33所述的视觉分析***，其特征在于，所述图像采集模块与所述图像分析模块通过有线或无线通信连接；The visual analysis system according to claim 33, wherein the image acquisition module and the image analysis module are connected through wired or wireless communication;
    和/或，所述图像分析模块与所述换电控制模块通过有线或无线通信连接；And / or, the image analysis module and the power exchange control module are connected through wired or wireless communication;
    和/或，所述换电控制模块与所述换电设备通过有线或无线通信连接。And / or, the power exchange control module and the power exchange device are connected through wired or wireless communication.
  45. 如权利要求33所述的视觉分析***，其特征在于，所述图像采集模块配有红外照明光源，所述红外照明光源用于在环境光的亮度小于阈值时开启。The visual analysis system according to claim 33, wherein the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is used to turn on when the brightness of the ambient light is less than a threshold value.
  46. 如权利要求33所述的视觉分析***，其特征在于，所述图像采集模块为根据所述电池外箱和所述电池自动变焦的摄像头或相机。The visual analysis system according to claim 33, wherein the image acquisition module is a camera or a camera that automatically zooms according to the battery case and the battery.
  47. 一种应用于车辆换电的视觉分析方法，其特征在于，所述视觉分析方法包括：A visual analysis method applied to vehicle power exchange, characterized in that the visual analysis method includes:
    在换电设备执行目标任务的过程中，实时采集实际图像，所述目标任务为将电池安装至车辆的电池外箱，所述实际图像中包含所述电池外箱的图像和所述电池的图像；In the process of performing a target task by a power exchange device, an actual image is collected in real time, the target task is to install a battery in a battery outer box of the vehicle, and the actual image includes an image of the battery outer box and an image of the battery ;
    根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，若是，则告知所述换电设备已达成所述目标任务。Analyze whether the battery has reached a specified position in the battery outer box according to the actual image, and if so, notify the power exchange device that the target task has been achieved.
  48. 如权利要求47所述的视觉分析方法，其特征在于，所述电池到达所述指定位置时所述车辆的电池供电电路导通。The visual analysis method according to claim 47, wherein the battery-powered circuit of the vehicle is turned on when the battery reaches the designated position.
  49. 如权利要求47所述的视觉分析方法，其特征在于，所述换电设备预设有执行所述目标任务时所需的将所述电池安装至所述指定位置的电池移动轨迹。The visual analysis method according to claim 47, wherein the power exchange device presets a battery movement trajectory required to mount the battery to the designated position when performing the target task.
  50. 如权利要求47所述的视觉分析方法，其特征在于，根据所述实际图像分析所述电池是否到达所述电池外箱内的指定位置，包括：The visual analysis method according to claim 47, wherein analyzing whether the battery has reached a specified position in the battery outer box according to the actual image, comprises:
    比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同：Compare whether the actual image is the same as the standard image when the battery is in the specified position:
    若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
  51. 如权利要求50所述的视觉分析方法，其特征在于，比较所述实际图像与所述电池位于所述指定位置时的标准图像是否相同，具体包括：The visual analysis method according to claim 50, wherein comparing whether the actual image is the same as a standard image when the battery is at the specified position, specifically comprising:
    从所述实际图像中提取所述电池的图像和所述电池外箱的图像；Extracting an image of the battery and an image of the battery case from the actual image;
    比较所述实际图像和所述标准图像中所述电池与所述电池外箱在第一方向和/或与所述第一方向垂直的其他方向上的相对位置关系是否均相同，所述第一方向为与停泊所述车辆的平台垂直的方向：Comparing whether the relative positional relationship between the battery and the battery case in the first direction and / or other directions perpendicular to the first direction in the actual image and the standard image are the same, and the first The direction is perpendicular to the platform on which the vehicle is parked:
    若是，则所述电池到达所述指定位置；若否，则所述电池未到达所述指定位置。If yes, the battery reaches the designated position; if not, the battery does not reach the designated position.
  52. 如权利要求51所述的视觉分析方法，其特征在于，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：The visual analysis method according to claim 51, wherein comparing whether the relative positional relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, comprising:
    从所述实际图像中提取所述电池外箱在所述方向上处于最外侧的箱面；Extracting from the actual image the box surface of the battery outer box that is at the outermost side in the direction;
    从所述实际图像中提取所述电池的第一电池面，所述第一电池面为与所述箱面同侧的电池面；Extracting a first battery surface of the battery from the actual image, the first battery surface being a battery surface on the same side as the box surface;
    比对所述实际图像中所述第一电池面与所述箱面的图像大小和/或图像位置，得到实际大小对比关系和/或实际位置对比关系；Comparing the image size and / or image position of the first battery surface and the box surface in the actual image to obtain an actual size comparison relationship and / or an actual position comparison relationship;
    获取所述标准图像中所述第一电池面与所述箱面的图像大小和/或图像位置的标准大小对比关系和/或标准位置对比关系；Acquiring a standard size comparison relationship and / or a standard position comparison relationship between the image size and / or image position of the first battery surface and the box surface in the standard image;
    比较所述实际大小对比关系与所述标准大小对比关系和/或所述实际位置对比关系与所述标准位置对比关系是否均相同；Comparing whether the actual size contrast relationship and the standard size contrast relationship and / or the actual position contrast relationship and the standard position contrast relationship are all the same;
    若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  53. 如权利要求52所述的视觉分析方法，其特征在于，从由所述方向采集的实际图像和标准图像中得到所述实际大小对比关系和所述标准大小对比关系；The visual analysis method according to claim 52, wherein the actual size contrast relationship and the standard size contrast relationship are obtained from an actual image and a standard image collected from the direction;
    和/或，从由与所述方向垂直的方向采集的实际图像和标准图像中得到所述实际位置对比关系和所述标准位置对比关系。And / or, obtaining the actual position contrast relationship and the standard position contrast relationship from an actual image and a standard image collected from a direction perpendicular to the direction.
  54. 如权利要求51所述的视觉分析方法，其特征在于，比较所述实际图像和所述标准图像中所述电池与所述电池外箱在一个所述方向上的相对位置关系是否相同，包括：The visual analysis method according to claim 51, wherein comparing whether the relative positional relationship between the battery and the battery outer box in one of the directions in the actual image and the standard image is the same, comprising:
    通过所述实际图像自带的景深信息，确定所述电池外箱在所述方向上处于最外侧的箱面与所述电池的第一电池面的实际相对距离，所述第一电池面为与所述箱面同侧的电池面；The actual relative distance between the outermost box surface of the battery outer box in the direction and the first battery surface of the battery is determined by the depth-of-field information provided in the actual image. The battery surface on the same side of the box surface;
    获取所述标准图像中所述箱面与所述第一电池面之间的标准相对距离；Acquiring a standard relative distance between the box surface and the first battery surface in the standard image;
    比较所述实际相对距离与所述标准相对距离是否相同；Comparing whether the actual relative distance is the same as the standard relative distance;
    若是，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系相同；若否，则所述实际图像和所述标准图像中所述电池与所述电池外箱在所述方向上的相对位置关系不相同。If yes, the relative position relationship between the battery and the battery outer box in the direction in the actual image and the standard image is the same; if not, then the battery in the actual image and the standard image It is not the same as the relative position relationship of the battery case in the direction.
  55. 如权利要求54所述的视觉分析方法，其特征在于，所述实际图像为由所述方向采集的实际图像。The visual analysis method according to claim 54, wherein the actual image is an actual image acquired by the direction.
  56. 如权利要求50所述的视觉分析方法，其特征在于，采集所述实际图像时的角度与所述标准图像的采集角度相同。The visual analysis method according to claim 50, wherein an angle when acquiring the actual image is the same as an acquisition angle of the standard image.
  57. 如权利要求47所述的视觉分析方法，其特征在于，所述视觉分析方法还包括：在环境光的亮度小于阈值时开启红外照明光源。The visual analysis method according to claim 47, wherein the visual analysis method further comprises: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.
  58. 如权利要求47所述的视觉分析方法，其特征在于，采集实际图像的步骤利用根据所述电池外箱和所述电池自动变焦的摄像头或相机实现。The visual analysis method according to claim 47, wherein the step of acquiring an actual image is implemented using a camera or a camera that automatically zooms according to the battery case and the battery.
  59. 一种应用于车辆换电的视觉分析***，其特征在于，所述视觉分析***包括至少一图像采集模块和图像分析模块；A visual analysis system applied to vehicle power exchange, characterized in that the visual analysis system includes at least an image acquisition module and an image analysis module;
    所述图像采集模块用于采集实际图像并将所述实际图像发送至所述图像分析模块，所述实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将电池锁定于所述电池外箱内；The image acquisition module is configured to collect an actual image and send the actual image to the image analysis module. The actual image includes an image of a locking mechanism in a battery outer box of the vehicle, and the locking mechanism is used for Locking the battery in the battery outer box;
    所述图像分析模块用于根据所述实际图像分析所述锁止机构的状态。The image analysis module is configured to analyze a state of the locking mechanism according to the actual image.
  60. 如权利要求59所述的视觉分析***，其特征在于，所述状态包括：所述锁止机构是否锁紧所述电池，所述图像分析模块包括第一分析单元；The visual analysis system according to claim 59, wherein the state comprises: whether the locking mechanism locks the battery, and the image analysis module includes a first analysis unit;
    所述第一分析单元用于根据所述实际图像分析所述锁止机构是否锁紧所述电池。The first analysis unit is configured to analyze whether the locking mechanism locks the battery according to the actual image.
  61. 如权利要求60所述的视觉分析***，其特征在于，所述第一分析单元具体用于：The visual analysis system according to claim 60, wherein the first analysis unit is specifically configured to:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否小于所述锁止机构锁紧所述电池时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery;
    若是，则所述锁止机构未锁紧所述电池；若否，则所述锁止机构锁紧所述电池；If yes, the locking mechanism does not lock the battery; if not, the locking mechanism locks the battery;
    或，比较所述实际图像与第一标准图像是否相同，所述第一标准图像为所述锁止机构锁紧所述电池时的图像；Or, comparing whether the actual image is the same as a first standard image, where the first standard image is an image when the locking mechanism locks the battery;
    若是，则所述锁止机构锁紧所述电池；若否，则所述锁止机构未锁紧所述电池。If so, the locking mechanism locks the battery; if not, the locking mechanism does not lock the battery.
  62. 如权利要求60所述的视觉分析***，其特征在于，所述视觉分析***还包括换电控制模块，所述换电控制模块用于控制换电设备将所述电池安装于所述电池外箱内；The visual analysis system according to claim 60, wherein the visual analysis system further comprises a power exchange control module for controlling a power exchange device to install the battery in the battery outer box Inside;
    所述第一分析单元还用于在所述锁止机构锁紧所述电池后通知所述换电控制模块；The first analysis unit is further configured to notify the power exchange control module after the locking mechanism locks the battery;
    所述换电控制模块还用于在接收到所述通知后，向所述换电设备发送换电完毕指令，所述换电完毕指令用于命令所述换电设备结束电池安装动作。The power exchange control module is further configured to send a power exchange completion instruction to the power exchange device after receiving the notification, and the power exchange completion instruction is used to instruct the power exchange device to end the battery installation action.
  63. 如权利要求59所述的视觉分析***，其特征在于，所述状态包括：所述锁止机构是否解锁所述电池，所述图像分析模块包括第二分析单元；The visual analysis system according to claim 59, wherein the state comprises: whether the locking mechanism unlocks the battery, and the image analysis module includes a second analysis unit;
    所述第二分析单元用于根据所述实际图像分析所述锁止机构是否解锁所述电池。The second analysis unit is configured to analyze whether the locking mechanism unlocks the battery according to the actual image.
  64. 如权利要求63所述的视觉分析***，其特征在于，所述第二分析单元具体用于：The visual analysis system according to claim 63, wherein the second analysis unit is specifically configured to:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否为0：Compare whether the length is 0:
    若是，则所述锁止机构解锁所述电池；若否，则所述锁止机构未解锁所述电池；If yes, the locking mechanism unlocks the battery; if not, the locking mechanism does not unlock the battery;
    或，比较所述实际图像与第二标准图像是否相同，所述第二标准图像为所述锁止机构解锁所述电池时的图像；Or, comparing whether the actual image is the same as a second standard image, where the second standard image is an image when the lock mechanism unlocks the battery;
    若是，则所述锁止机构解锁所述电池；若否，则所述锁止机构未解锁所述电池。If yes, the locking mechanism unlocks the battery; if not, the locking mechanism does not unlock the battery.
  65. 如权利要求63所述的视觉分析***，其特征在于，所述视觉分析***还包括换电控制模块；The visual analysis system according to claim 63, wherein the visual analysis system further comprises a power exchange control module;
    所述第二分析单元还用于在所述锁止机构解锁所述电池后通知所述换电控制模块；The second analysis unit is further configured to notify the power exchange control module after the lock mechanism unlocks the battery;
    所述换电控制模块用于在接收到所述通知后，向所述换电设备发送卸电池指令，所述卸电池指令用于命令所述换电设备将所述电池从所述电池外箱取下。The power exchange control module is configured to send a battery removal instruction to the power exchange device after receiving the notification, and the battery removal instruction is used to instruct the power exchange device to remove the battery from the battery outer box. Take off.
  66. 如权利要求62或65所述的视觉分析***，其特征在于，所述图像分析模块与所述换电控制模块通过有线或无线通信连接；The visual analysis system according to claim 62 or 65, wherein the image analysis module and the power exchange control module are connected through wired or wireless communication;
    和/或，所述换电控制模块与所述换电设备通过有线或无线通信连接。And / or, the power exchange control module and the power exchange device are connected through wired or wireless communication.
  67. 如权利要求59所述的视觉分析***，其特征在于，所述图像采集模块与所述图像分析模块通过有线或无线通信连接。The visual analysis system according to claim 59, wherein the image acquisition module and the image analysis module are connected through wired or wireless communication.
  68. 如权利要求59所述的视觉分析***，其特征在于，所述图像采集模块设置于换电设备上，或，设置于所述车辆停泊的平台上。The visual analysis system according to claim 59, wherein the image acquisition module is disposed on a power exchange device, or is disposed on a platform where the vehicle is parked.
  69. 如权利要求59所述的视觉分析***，其特征在于，所述图像采集模块配有红外照明光源，所述红外照明光源用于在环境光的亮度小于阈值时开启。The visual analysis system according to claim 59, wherein the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is used to turn on when the brightness of the ambient light is less than a threshold value.
  70. 如权利要求59所述的视觉分析***，其特征在于，所述图像采集模块为根据所述锁止机构自动变焦的摄像头或相机。The visual analysis system according to claim 59, wherein the image acquisition module is a camera or a camera that automatically zooms according to the locking mechanism.
  71. 一种应用于车辆换电的视觉分析方法，其特征在于，所述视觉分析方法包括：A visual analysis method applied to vehicle power exchange, characterized in that the visual analysis method includes:
    采集实际图像，所述实际图像中包含车辆的电池外箱中的锁止机构的图像，所述锁止机构用于将电池锁定于所述电池外箱内；Acquiring an actual image, the actual image including an image of a locking mechanism in a battery outer box of the vehicle, the locking mechanism being used to lock a battery in the battery outer box;
    根据所述实际图像分析所述锁止机构的状态。The state of the locking mechanism is analyzed based on the actual image.
  72. 如权利要求71所述的视觉分析方法，其特征在于，所述状态包括：所述锁止机构是否锁紧所述电池，根据所述实际图像分析所述锁止机构的状态包括根据所述实际图像分析所述锁止机构是否锁紧所述电池。The visual analysis method according to claim 71, wherein the state comprises: whether the locking mechanism locks the battery, and analyzing the state of the locking mechanism based on the actual image includes determining the state The image analyzes whether the locking mechanism locks the battery.
  73. 如权利要求72所述的视觉分析方法，其特征在于，根据所述实际图像分析所述锁止机构是否锁紧所述电池，包括：The visual analysis method according to claim 72, wherein analyzing whether the locking mechanism locks the battery according to the actual image comprises:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否小于所述锁止机构锁紧所述电池时锁连杆伸出锁块的标准长度；Comparing whether the length is less than the standard length of the lock link protruding out of the lock block when the lock mechanism locks the battery;
    若是，则所述锁止机构未锁紧所述电池；若否，则所述锁止机构锁紧所述电池；If yes, the locking mechanism does not lock the battery; if not, the locking mechanism locks the battery;
    或，比较所述实际图像与第一标准图像是否相同，所述第一标准图像为所述锁止机构锁紧所述电池时的图像；Or, comparing whether the actual image is the same as a first standard image, where the first standard image is an image when the locking mechanism locks the battery;
    若是，则所述锁止机构锁紧所述电池；若否，则所述锁止机构未锁紧所述电池。If so, the locking mechanism locks the battery; if not, the locking mechanism does not lock the battery.
  74. 如权利要求72所述的视觉分析方法，其特征在于，所述视觉分析方法还包括：The visual analysis method according to claim 72, wherein the visual analysis method further comprises:
    控制换电设备将所述电池安装于所述电池外箱内；Controlling a power exchange device to install the battery in the battery outer box;
    在所述锁止机构锁紧所述电池后，命令所述换电设备结束电池安装动作。After the locking mechanism locks the battery, the power exchange device is instructed to end the battery installation action.
  75. 如权利要求71所述的视觉分析方法，其特征在于，所述状态包括：所述锁止机构是否解锁所述电池，根据所述实际图像分析所述锁止机构的状态包括根据所述实际图像分析所述锁止机构是否解锁所述电池。The visual analysis method according to claim 71, wherein the state comprises: whether the locking mechanism unlocks the battery, and analyzing the state of the locking mechanism according to the actual image includes according to the actual image Analyze whether the locking mechanism unlocks the battery.
  76. 如权利要求75所述的视觉分析方法，其特征在于，根据所述实际图像分析所述锁止机构是否解锁所述电池，包括：The visual analysis method according to claim 75, wherein analyzing whether the locking mechanism unlocks the battery according to the actual image comprises:
    从所述实际图像中获取所述锁止机构中锁连杆伸出锁块的长度；Obtaining from the actual image the length of the locking link protruding from the locking block in the locking mechanism;
    比较所述长度是否为0：Compare whether the length is 0:
    若是，则所述锁止机构解锁所述电池；若否，则所述锁止机构未解锁所述电池；If yes, the locking mechanism unlocks the battery; if not, the locking mechanism does not unlock the battery;
    或，比较所述实际图像与第二标准图像是否相同，所述第二标准图像为所述锁止机构解锁所述电池时的图像；Or, comparing whether the actual image is the same as a second standard image, where the second standard image is an image when the lock mechanism unlocks the battery;
    若是，则所述锁止机构解锁所述电池；若否，则所述锁止机构未解锁所述电池。If yes, the locking mechanism unlocks the battery; if not, the locking mechanism does not unlock the battery.
  77. 如权利要求75所述的视觉分析方法，其特征在于，所述视觉分析方法还包括：The visual analysis method according to claim 75, wherein the visual analysis method further comprises:
    在所述锁止机构解锁所述电池后，命令所述换电设备将所述电池从所述电池外箱取下。After the battery is unlocked by the locking mechanism, the power exchange device is instructed to remove the battery from the battery case.
  78. 如权利要求71所述的视觉分析方法，其特征在于，所述视觉分析方法还包括：The visual analysis method according to claim 71, wherein the visual analysis method further comprises:
    在环境光的亮度小于阈值时开启红外照明光源。When the brightness of the ambient light is less than the threshold, the infrared light source is turned on.
  79. 如权利要求71所述的视觉分析方法，其特征在于，采集实际图像利用根据所述锁止机构自动变焦的至少一摄像头或相机实现。The visual analysis method according to claim 71, wherein acquiring the actual image is realized by using at least one camera or camera that automatically zooms according to the locking mechanism.
  80. 如权利要求79所述的视觉分析***，其特征在于，所述摄像头或相机设置于换电设备上，或，设置于所述车辆停泊的平台上。The visual analysis system according to claim 79, wherein the camera or camera is disposed on a power exchange device, or is disposed on a platform on which the vehicle is parked.
  81. 一种应用于车辆换电的视觉分析***，其特征在于，所述视觉分析***包括至少一图像采集模块、图像分析模块和换电控制模块；A visual analysis system applied to vehicle power exchange, characterized in that the visual analysis system includes at least one image acquisition module, image analysis module, and power exchange control module;
    所述图像采集模块用于采集实际图像并将所述实际图像发送至所述图像分析模块，所述实际图像中包含车辆的电池外箱的图像；The image acquisition module is configured to acquire an actual image and send the actual image to the image analysis module, where the actual image includes an image of a battery outer box of the vehicle;
    所述图像分析模块用于根据所述实际图像获取所述电池外箱的空间状态信息，并将所述电池外箱的空间状态信息发送至所述换电控制模块；The image analysis module is configured to obtain the space state information of the battery outer box according to the actual image, and send the space state information of the battery outer box to the power exchange control module;
    所述换电控制模块用于根据所述电池外箱的空间状态信息生成调控指令并将所述调控指令发送至用于为所述车辆更换电池包的换电设备，所述调控指令用于命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。The power exchange control module is configured to generate a control instruction according to the space state information of the battery outer box and send the control instruction to a power replacement device for replacing a battery pack for the vehicle, where the control instruction is used to instruct The power exchange device adjusts its own space state information to fit the space state information of the battery outer box.
  82. 如权利要求81所述的视觉分析***，其特征在于，所述图像采集模块设置于所述换电设备上，或，设置于所述车辆停泊的平台上。The visual analysis system according to claim 81, wherein the image acquisition module is disposed on the power exchange device, or is disposed on a platform where the vehicle is parked.
  83. 如权利要求81所述的视觉分析***，其特征在于，所述空间状态信息包括位置信息，所述图像分析模块包括位置分析子模块；The visual analysis system according to claim 81, wherein the spatial state information includes position information, and the image analysis module includes a position analysis sub-module;
    所述位置分析子模块用于根据所述实际图像获取所述电池外箱的位置信息，并将所述电池外箱的位置信息发送至所述换电控制模块；The position analysis submodule is configured to obtain position information of the battery outer box according to the actual image, and send the position information of the battery outer box to the power exchange control module;
    所述调控指令包括位置移动指令，所述换电控制模块还用于根据所述电池外箱的位置信息生成所述位置移动指令，所述位置移动指令用于命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The control instruction includes a position movement instruction, and the power exchange control module is further configured to generate the position movement instruction according to the position information of the battery outer box, and the position movement instruction is used to instruct the power exchange device to move its own position To the target position, the target position is related to the position of the battery case.
  84. 如权利要求83所述的视觉分析***，其特征在于，当所述换电设备的目标任务是将所述换电设备上的电池包放入所述电池外箱时，所述目标位置为所述电池包与所述电池外箱对准的位置。The visual analysis system according to claim 83, wherein when the target task of the power exchange device is to put a battery pack on the power exchange device into the battery outer box, the target position is The position where the battery pack is aligned with the battery case.
  85. 如权利要求83所述的视觉分析***，其特征在于，当所述换电设备的目标任务是将所述车辆上的电池包取下时，所述目标位置为所述换电设备上的换电解锁机构与所述电池外箱上的触发解锁机构对准的位置，所述触发解锁机构与所述换电解锁机构相匹配，用于触发所述电池包从所述车辆上 解锁。The visual analysis system according to claim 83, wherein when the target task of the power exchange device is to remove the battery pack on the vehicle, the target position is the battery replacement on the power change device A position where an electric unlocking mechanism is aligned with a trigger unlocking mechanism on the battery outer box, and the trigger unlocking mechanism is matched with the power exchange unlocking mechanism for triggering the battery pack to unlock from the vehicle.
  86. 如权利要求83-85中任意一项所述的视觉分析***，其特征在于，根据所述电池外箱的位置信息生成所述位置移动指令，包括：The visual analysis system according to any one of claims 83 to 85, wherein generating the position movement instruction according to the position information of the battery outer box comprises:
    获取所述电池外箱的位置信息和所述目标位置的位置信息；Acquiring position information of the battery outer box and position information of the target position;
    比较所述电池外箱的位置信息与所述目标位置的位置信息的差值；Comparing the difference between the position information of the battery outer box and the position information of the target position;
    生成位置移动指令，所述位置移动指令用于命令所述换电设备向减小所述差值的方向移动。A position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
  87. 如权利要求81所述的视觉分析***，其特征在于，所述空间状态信息包括姿态信息，所述图像分析模块包括姿态分析子模块；The visual analysis system according to claim 81, wherein the spatial state information includes posture information, and the image analysis module includes a posture analysis sub-module;
    所述姿态分析子模块用于根据所述实际图像获取所述电池外箱的姿态信息，并将所述电池外箱的姿态信息发送所述换电控制模块；The posture analysis sub-module is configured to obtain the posture information of the battery outer box according to the actual image, and send the posture information of the battery outer box to the power exchange control module;
    所述调控指令包括姿态调整指令，所述换电控制模块还用于根据所述电池外箱的姿态信息生成所述姿态调整指令，所述姿态调整指令用于命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。The control instruction includes a posture adjustment instruction, and the power exchange control module is further configured to generate the posture adjustment instruction according to the posture information of the battery outer box, and the posture adjustment instruction is used to instruct the power exchange device to adjust its posture So that the power exchange mechanism on the power exchange device has the same attitude as the battery outer box.
  88. 如权利要求87所述的视觉分析***，其特征在于，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；The visual analysis system according to claim 87, wherein the attitude information of the battery outer box comprises: an angle between the battery outer box and the platform on which the vehicle is parked;
    根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的夹角，包括：Obtaining an included angle between the battery outer box and the platform where the vehicle is parked according to the actual image includes:
    从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
    判断所述图像轮廓与所述电池外箱与所述平台平行设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as the standard image contour when the battery outer box is set in parallel with the platform:
    若是，则判定所述电池外箱与所述平台的夹角为0；若否，则通过所述图像轮廓相对于所述标准图像轮廓的变形程度确定所述电池外箱与所述平台的夹角。If yes, determine the included angle between the battery outer box and the platform as 0; if not, determine the degree of the battery outer box and the platform based on the degree of deformation of the image contour relative to the standard image contour angle.
  89. 如权利要求87所述的视觉分析***，其特征在于，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；The visual analysis system according to claim 87, wherein the attitude information of the battery outer box comprises: an angle between the battery outer box and the platform on which the vehicle is parked;
    根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的相对位置关系，包括：Obtaining the relative position relationship between the battery outer box and the platform on which the vehicle is parked according to the actual image includes:
    通过所述实际图像自带的景深信息确定所述电池外箱的至少两个特征部位的相对高度差；Determining the relative height difference between at least two characteristic parts of the battery outer box by using the depth of field information carried in the actual image;
    判断所述至少两个特征部位的相对高度差是否为0：Determine whether the relative height difference between the at least two characteristic parts is 0:
    若是，则判定所述电池外箱与所述平台的夹角为0；若否，则通过所述至少两个特征部位的相对高度差确定所述电池外箱与所述平台的夹角。If yes, determine the included angle between the battery outer box and the platform as 0; if not, determine the included angle between the battery outer box and the platform through the relative height difference between the at least two characteristic parts.
  90. 如权利要求89所述的视觉分析***，其特征在于，所述电池外箱为长方体，所述至少两个特征部位为所述电池外箱的至少两个顶角。The visual analysis system according to claim 89, wherein the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex angles of the battery outer box.
  91. 如权利要求87所述的视觉分析***，其特征在于，所述电池外箱的姿态信息包括：所述电池外箱的设置方向；The visual analysis system according to claim 87, wherein the attitude information of the battery outer box comprises: a setting direction of the battery outer box;
    根据所述实际图像获取所述电池外箱的设置方向，包括：Obtaining a setting direction of the battery outer box according to the actual image includes:
    从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
    判断所述图像轮廓与所述电池外箱以基准方向设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as a standard image contour when the battery outer box is set in a reference direction:
    若是，则判定所述电池外箱的设置方向为所述基准方向；若否，则通过所述图像轮廓相对于所述标准图像轮廓的旋转程度确定所述电池外箱的设置方向与所述基准方向的夹角。If yes, determine the setting direction of the battery outer box as the reference direction; if not, determine the setting direction of the battery outer box and the reference by the degree of rotation of the image contour relative to the standard image contour The angle of the direction.
  92. 如权利要求88或91所述的视觉分析***，其特征在于，所述图像采集模块采集所述实际图像时的角度与所述标准图像轮廓的采集角度相同。The visual analysis system according to claim 88 or 91, wherein an angle when the image acquisition module collects the actual image is the same as a collection angle of the standard image contour.
  93. 如权利要求81所述的视觉分析***，其特征在于，所述图像采集模块还用于在所述换电设备执行完所述调控指令后再次采集所述实际图像。The visual analysis system according to claim 81, wherein the image acquisition module is further configured to acquire the actual image again after the power exchange device executes the control instruction.
  94. 如权利要求81所述的视觉分析***，其特征在于，所述换电控制模块还用于在所述换电设备自身的空间状态信息已适应所述电池外箱的空间状态信息时向所述换电设备发送停泊指令，所述停泊指令用于命令所述换电设备保持当前的空间状态信息直至再次接收到指令。The visual analysis system according to claim 81, wherein the power exchange control module is further configured to notify the power exchange device when the space status information of the power exchange device has adapted to the space status information of the battery outer box. The power exchange device sends a parking instruction, and the parking instruction is used to instruct the power exchange device to maintain the current space state information until the instruction is received again.
  95. 如权利要求84所述的视觉分析***，其特征在于，再次接收到的指令包括：从所述电池外箱中取下电池包的指令，或，将所述换电设备上的电池包安装到所述电池外箱的指令。The visual analysis system according to claim 84, wherein the instructions received again include: an instruction to remove a battery pack from the battery outer box, or to install a battery pack on the power exchange device to Instructions for the battery case.
  96. 如权利要求81所述的视觉分析***，其特征在于，所述图像采集模块与所述图像分析模块通过有线或无线通信连接；The visual analysis system according to claim 81, wherein the image acquisition module and the image analysis module are connected through wired or wireless communication;
    和/或，所述图像分析模块与所述换电控制模块通过有线或无线通信连接；And / or, the image analysis module and the power exchange control module are connected through wired or wireless communication;
    和/或，所述换电控制模块与所述换电设备通过有线或无线通信连接。And / or, the power exchange control module and the power exchange device are connected through wired or wireless communication.
  97. 如权利要求81所述的视觉分析***，其特征在于，所述图像采集模块配有红外照明光源，所述红外照明光源用于在环境光的亮度小于阈值时开启。The visual analysis system according to claim 81, wherein the image acquisition module is provided with an infrared illumination light source, and the infrared illumination light source is used to turn on when the brightness of the ambient light is less than a threshold value.
  98. 如权利要求81所述的视觉分析***，其特征在于，所述图像采集模块为根据所述电池外箱自动变焦的摄像头或相机。The visual analysis system according to claim 81, wherein the image acquisition module is a camera or a camera that automatically zooms according to the battery case.
  99. 一种应用于车辆换电的视觉分析方法，其特征在于，所述视觉分析方法包括：A visual analysis method applied to vehicle power exchange, characterized in that the visual analysis method includes:
    采集实际图像，所述实际图像中包含车辆的电池外箱的图像；Acquiring an actual image, the actual image including an image of a battery outer box of the vehicle;
    根据所述实际图像获取所述电池外箱的空间状态信息；Acquiring space state information of the battery outer box according to the actual image;
    根据所述电池外箱的空间状态信息命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息。According to the space state information of the battery outer box, the power exchange device is instructed to adjust its own space state information to adapt to the space state information of the battery outer box.
  100. 如权利要求99所述的视觉分析方法，其特征在于，所述空间状态信息包括位置信息，根据所述实际图像获取所述电池外箱的空间状态信息的步骤包括：；The visual analysis method according to claim 99, wherein the spatial state information includes position information, and the step of obtaining the spatial state information of the battery outer box according to the actual image comprises:
    根据所述实际图像获取所述电池外箱的位置信息；Acquiring position information of the battery outer box according to the actual image;
    命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息的步骤包括：The step of ordering the power exchange device to adjust its own space state information to fit the space state information of the battery outer box includes:
    命令所述换电设备移动自身位置至目标位置，所述目标位置与所述电池外箱的位置相关。The power exchange device is instructed to move its own position to a target position, and the target position is related to the position of the battery outer box.
  101. 如权利要求100所述的视觉分析方法，其特征在于，当所述换电设备的目标任务是将所述换电设备上的电池包放入所述电池外箱时，所述目标位置为所述电池包与所述电池外箱对准的位置。The visual analysis method according to claim 100, wherein when the target task of the power exchange device is to place a battery pack on the power exchange device into the battery outer box, the target position is The position where the battery pack is aligned with the battery case.
  102. 如权利要求100所述的视觉分析方法，其特征在于，当所述换电设备的目标任务是将所述车辆上的电池包取下时，所述目标位置为所述换电设备上的换电解锁机构与所述电池外箱上的触发解锁机构对准的位置，所述触发解锁机构与所述换电解锁机构相匹配，用于触发所述电池包从所述车辆上解锁。The visual analysis method according to claim 100, wherein when the target task of the power exchange device is to remove the battery pack on the vehicle, the target position is the battery replacement on the power change device. A position where an electric unlocking mechanism is aligned with a trigger unlocking mechanism on the battery outer box, and the trigger unlocking mechanism is matched with the power exchange unlocking mechanism for triggering the battery pack to unlock from the vehicle.
  103. 如权利要求100-102中任意一项所述的视觉分析方法，其特征在于，命令所述换电设备移动自身位置以使得所述换电设备上换电机构与所述电池外箱位置对准的步骤，包括：The visual analysis method according to any one of claims 100 to 102, wherein the power exchange device is instructed to move its position so that the power exchange mechanism on the power exchange device is aligned with the position of the battery outer box Steps, including:
    获取所述电池外箱的位置信息和所述目标位置的位置信息；Acquiring position information of the battery outer box and position information of the target position;
    比较所述电池外箱的位置信息与所述目标位置的位置信息的差值；Comparing the difference between the position information of the battery outer box and the position information of the target position;
    生成位置移动指令，所述位置移动指令用于命令所述换电设备向减小所述差值的方向移动。A position movement instruction is generated, and the position movement instruction is used to instruct the power exchange device to move in a direction of reducing the difference.
  104. 如权利要求99所述的视觉分析方法，其特征在于，所述空间状态信息包括姿态信息，根据所述实际图像获取所述电池外箱的空间状态信息的步骤包括：The visual analysis method according to claim 99, wherein the spatial state information includes posture information, and the step of obtaining the spatial state information of the battery outer box according to the actual image comprises:
    根据所述实际图像获取所述电池外箱的姿态信息；Acquiring posture information of the battery outer box according to the actual image;
    命令所述换电设备调整自身的空间状态信息以适应所述电池外箱的空间状态信息的步骤包括：命令所述换电设备调整自身姿态以使得所述换电设备上的换电机构与所述电池外箱姿态相同。The step of ordering the power exchange device to adjust its own space state information to fit the space state information of the battery outer box includes: ordering the power exchange device to adjust its own posture so that the power exchange mechanism on the power exchange device and The battery case has the same attitude.
  105. 如权利要求104所述的视觉分析方法，其特征在于，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；The visual analysis method according to claim 104, wherein the attitude information of the battery outer box comprises: an angle between the battery outer box and the platform on which the vehicle is parked;
    根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的夹角，包括：Obtaining an included angle between the battery outer box and the platform where the vehicle is parked according to the actual image includes:
    从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
    判断所述图像轮廓与所述电池外箱与所述平台平行设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as the standard image contour when the battery outer box is set in parallel with the platform:
    若是，则判定所述电池外箱与所述平台的夹角为0；若否，则通过所述图像轮廓相对于所述标准图像轮廓的变形程度确定所述电池外箱与所述平台的夹角。If yes, determine the included angle between the battery outer box and the platform as 0; if not, determine the degree of the battery outer box and the platform based on the degree of deformation of the image contour relative to the standard image contour angle.
  106. 如权利要求104所述的视觉分析方法，其特征在于，所述电池外箱的姿态信息包括：所述电池外箱与所述车辆停泊的平台的夹角；The visual analysis method according to claim 104, wherein the attitude information of the battery outer box comprises: an angle between the battery outer box and the platform on which the vehicle is parked;
    根据所述实际图像获取所述电池外箱与所述车辆停泊的平台的相对位置关系，包括：Obtaining the relative position relationship between the battery outer box and the platform on which the vehicle is parked according to the actual image includes:
    通过所述实际图像自带的景深信息确定所述电池外箱的至少两个特征部位的相对高度差；Determining the relative height difference between at least two characteristic parts of the battery outer box by using the depth of field information carried in the actual image;
    判断所述至少两个特征部位的相对高度差是否为0：Determine whether the relative height difference between the at least two characteristic parts is 0:
    若是，则判定所述电池外箱与所述平台的夹角为0；若否，则通过所述至少两个特征部位的相对高度差确定所述电池外箱与所述平台的夹角。If yes, determine the included angle between the battery outer box and the platform as 0; if not, determine the included angle between the battery outer box and the platform through the relative height difference between the at least two characteristic parts.
  107. 如权利要求106所述的视觉分析方法，其特征在于，所述电池外箱为长方体，所述至少两个特征部位为所述电池外箱的至少两个顶角。The visual analysis method according to claim 106, wherein the battery outer box is a rectangular parallelepiped, and the at least two characteristic parts are at least two vertex angles of the battery outer box.
  108. 如权利要求104所述的视觉分析方法，其特征在于，所述电池外箱的姿态信息包括：所述电池外箱的设置方向；The visual analysis method according to claim 104, wherein the attitude information of the battery outer box comprises: a setting direction of the battery outer box;
    根据所述实际图像获取所述电池外箱的设置方向，包括：Obtaining a setting direction of the battery outer box according to the actual image includes:
    从所述实际图像中提取所述电池外箱的图像轮廓；Extracting an image contour of the battery outer box from the actual image;
    判断所述图像轮廓与所述电池外箱以基准方向设置时的标准图像轮廓是否相同：Determine whether the image contour is the same as a standard image contour when the battery outer box is set in a reference direction:
    若是，则判定所述电池外箱的设置方向为所述基准方向；若否，则通过所述图像轮廓相对于所述标准图像轮廓的旋转程度确定所述电池外箱的设置方向与所述基准方向的夹角。If yes, determine the setting direction of the battery outer box as the reference direction; if not, determine the setting direction of the battery outer box and the reference by the degree of rotation of the image contour relative to the standard image contour The angle of the direction.
  109. 如权利要求105或108所述的视觉分析方法，其特征在于，采集所述实际图像时的角度与所述标准图像轮廓的采集角度相同。The visual analysis method according to claim 105 or 108, wherein an angle when collecting the actual image is the same as a collection angle of the standard image contour.
  110. 如权利要求99所述的视觉分析方法，其特征在于，所述视觉分析方法还包括：The visual analysis method according to claim 99, wherein the visual analysis method further comprises:
    在所述换电设备调整完自身的空间状态信息后再次采集所述实际图像。Acquiring the actual image again after the power exchange device adjusts its own spatial state information.
  111. 如权利要求99所述的视觉分析方法，其特征在于，所述视觉分析方法还包括：在所述换电设备自身的空间状态信息已适应所述电池外箱的空间状态信息时命令所述换电设备保持当前的空间状态信息直至再次接收到指令。The visual analysis method according to claim 99, wherein the visual analysis method further comprises: commanding the replacement when the space state information of the power exchange device itself has been adapted to the space state information of the battery outer box. The electric device keeps the current space state information until it receives the instruction again.
  112. 如权利要求111所述的视觉分析方法，其特征在于，再次接收到的指令包括：从所述电池外箱中取下电池包的指令，或，将所述换电设备上的电池包安装到所述电池外箱的指令。The visual analysis method according to claim 111, wherein the instructions received again include: an instruction to remove a battery pack from the battery outer box, or to install a battery pack on the power exchange device to Instructions for the battery case.
  113. 如权利要求99所述的视觉分析方法，其特征在于，所述视觉分析方法还包括：在环境光的亮度小于阈值时开启红外照明光源。The visual analysis method according to claim 99, wherein the visual analysis method further comprises: turning on the infrared illumination light source when the brightness of the ambient light is less than a threshold value.
  114. 如权利要求99所述的视觉分析方法，其特征在于，采集实际图像的步骤利用根据所述电池外箱自动变焦的摄像头或相机实现。The visual analysis method according to claim 99, wherein the step of collecting actual images is implemented by a camera or a camera that automatically zooms according to the battery case.
PCT/CN2019/098008 2018-07-27 2019-07-26 Visual analysis system and method applied to battery swap of vehicle WO2020020372A1 (en)

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