技术领域Technical field
本申请涉及机器视觉技术领域，尤其涉及一种动力电池顶盖与动力电池防爆片的组装方法及装置。The present application relates to the field of machine vision technology, and in particular to a method and device for assembling a power battery top cover and a power battery explosion-proof disk.
背景技术Background technique
对于新能源汽车使用的动力电池，随着其体积的增大、能量密度变高及使用环境的恶劣，导致密封的动力电池因受损引起爆炸的隐患也逐渐增大。为了避免动力电池爆炸，常在动力电池顶盖处贴一个防爆片。For power batteries used in new energy vehicles, as their volume increases, their energy density becomes higher, and their use environment becomes harsher, the risk of explosion caused by damage to the sealed power battery gradually increases. In order to prevent the power battery from exploding, an explosion-proof disc is often attached to the top cover of the power battery.
目前，常用的动力电池顶盖与防爆片的组装方法通常为通过机械装置对防爆片和顶盖进行限位，这样对放置顶盖的工装载具提出较高的精度要求，装置成本较高，同时由于机械装置的限位精度有限，且工装载具长期使用后会产生磨损，导致顶盖与防爆片的组装贴合精度不高。At present, the commonly used assembly method of the power battery top cover and the explosion-proof disk is usually to limit the position of the explosion-proof disk and the top cover through a mechanical device. This puts forward higher precision requirements for the tooling device that places the top cover, and the device cost is high. At the same time, due to the limited limit accuracy of the mechanical device and the wear and tear of the tool load after long-term use, the assembly and fitting accuracy of the top cover and the explosion-proof disk is not high.
发明内容Contents of the invention
有鉴于此，本申请实施例提供一种动力电池顶盖与动力电池防爆片的组装方法，以通过机器视觉实现动力电池顶盖与动力电池防爆片的组装，降低对工装载具的精度要求，也避免了机械装置的限位精度有限导致的顶盖与防爆片的组装贴合精度差问题。In view of this, embodiments of the present application provide a method of assembling a power battery top cover and a power battery explosion-proof disc to realize the assembly of a power battery top cover and a power battery explosion-proof disc through machine vision, thereby reducing the accuracy requirements for tooling. It also avoids the problem of poor assembly and fitting accuracy of the top cover and the explosion-proof disk caused by the limited limit accuracy of the mechanical device.
根据本申请实施例的第一方面，提供一种动力电池顶盖与动力电池防爆片的组装方法，所述方法包括：According to a first aspect of the embodiments of the present application, a method of assembling a power battery top cover and a power battery explosion-proof disc is provided. The method includes:
获得动力电池防爆片图像，将所述动力电池防爆片图像中动力电池防爆片的位姿信息映射到指定物理坐标系下，得到动力电池防爆片映射位姿信息；所述动力电池防爆片图像是通过已部署好的第一图像采集设备针对运动机构携带的动力电池防爆片采集的图像；Obtain the power battery explosion-proof disc image, map the pose information of the power battery explosion-proof disc in the power battery explosion-proof disc image to a specified physical coordinate system, and obtain the power battery explosion-proof disc mapping pose information; the power battery explosion-proof disc image is Images collected by the deployed first image acquisition device for the power battery explosion-proof disk carried by the moving mechanism;
获得动力电池顶盖图像，将所述动力电池顶盖图像中动力电池顶盖的位姿信息映射到所述指定物理坐标系下，得到动力电池顶盖映射位姿信息；所述动力电池顶盖图像是通过已部署好的第二图像采集设备针对工装载具携带的动力电池顶盖采集的图像；Obtain the power battery top cover image, map the pose information of the power battery top cover in the power battery top cover image to the specified physical coordinate system, and obtain the power battery top cover mapping pose information; the power battery top cover The image is an image collected by the deployed second image acquisition device against the top cover of the power battery carried by the tool;
基于所述动力电池防爆片映射位姿信息和所述动力电池顶盖映射位姿信息，确定所述动力电池防爆片与所述动力电池顶盖贴合所需的目标位姿信息；基于目标位姿信息控制所述运动机构运动以使所述运动机构携带的所述动力电池防爆片与所述动力电池顶盖贴合。Based on the mapping posture information of the power battery explosion-proof disc and the mapping posture information of the power battery top cover, determine the target posture information required for the power battery explosion-proof disc to fit the power battery top cover; based on the target position The posture information controls the movement of the movement mechanism so that the power battery explosion-proof disc carried by the movement mechanism fits the power battery top cover.
根据本申请实施例的第二方面，提供一种动力电池顶盖与动力电池防爆片的组装装置，所述装置包括：According to a second aspect of the embodiment of the present application, a device for assembling a power battery top cover and a power battery explosion-proof disc is provided. The device includes:
动力电池防爆片映射位姿信息获得模块，用于获得动力电池防爆片图像，将所述动力电池防爆片图像中动力电池防爆片的位姿信息映射到指定物理坐标系下，得到动力电池防爆片映射位姿信息；所述动力电池防爆片图像是通过已部署好的第一图像采集设备针对运动机构携带的动力电池防爆片采集的图像；The power battery explosion-proof disc mapping pose information acquisition module is used to obtain the power battery explosion-proof disc image, and map the pose information of the power battery explosion-proof disc in the power battery explosion-proof disc image to a specified physical coordinate system to obtain the power battery explosion-proof disc. Mapping pose information; the power battery explosion-proof disk image is an image collected by the deployed first image acquisition device for the power battery explosion-proof disk carried by the moving mechanism;
动力电池顶盖映射位姿信息获得模块，用于获得动力电池顶盖图像，将所述动力电池顶盖图像中动力电池顶盖的位姿信息映射到所述指定物理坐标系下，得到动力电池顶盖映射位姿信息；所述动力电池顶盖图像是通过已部署好的第二图像采集设备针对工装载具携带的动力电池顶盖采集的图像；The power battery top cover mapping pose information acquisition module is used to obtain the power battery top cover image, and map the pose information of the power battery top cover in the power battery top cover image to the specified physical coordinate system to obtain the power battery The top cover maps the pose information; the power battery top cover image is an image collected by the deployed second image acquisition device for the power battery top cover carried by the tool;
贴合模块，用于基于所述动力电池防爆片映射位姿信息和所述动力电池顶盖映射位姿信息，确定所述动力电池防爆片与所述动力电池顶盖贴合所需的目标位姿信息；基于目标位姿信息控制所述运动机构运动以使所述运动机构携带的所述动力电池防爆片与所述动力电池顶盖贴合。A fitting module, configured to determine the target position required for fitting the power battery explosion-proof disc and the power battery top cover based on the mapping posture information of the power battery explosion-proof disc and the mapping posture information of the power battery top cover. posture information; based on the target posture information, control the movement of the movement mechanism so that the power battery explosion-proof disc carried by the movement mechanism fits the power battery top cover.
根据本申请实施例的第三方面，提供一种电子设备，电子设备包括：处理器和存储器；According to a third aspect of the embodiment of the present application, an electronic device is provided. The electronic device includes: a processor and a memory;
其中，所述存储器，用于存储机器可执行指令；Wherein, the memory is used to store machine executable instructions;
所述处理器，用于读取并执行所述存储器存储的机器可执行指令，以实现如第一方面所述的方法。The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method described in the first aspect.
本申请实施例提供的技术方案可以包括以下有益效果：The technical solutions provided by the embodiments of this application may include the following beneficial effects:
本申请实施例中，通过对第一图像采集设备采集的动力电池防爆片图像和第二图像采集设备采集的动力电池顶盖图像进行处理，得到动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息，以使得运动机构依据目标位姿信息携带动力电池防爆片移动至动力电池顶盖处，与动力电池顶盖实现贴合，实现了通过机器视觉对动力电池顶盖与动力电池防爆片的组装，省去了机械装置，降低对工装载具的精度要求，节约了装置成本，也避免了机械装置的限位精度有限导致的顶盖与防爆片的组装贴合精度差问题；In the embodiment of the present application, by processing the image of the power battery explosion-proof disc collected by the first image acquisition device and the image of the power battery top cover collected by the second image acquisition device, the requirements for the fit of the power battery explosion-proof disc and the power battery top cover are obtained. The target pose information allows the motion mechanism to carry the power battery explosion-proof disk to the power battery top cover based on the target pose information, and achieve a fit with the power battery top cover, realizing machine vision to compare the power battery top cover and the power battery. The assembly of the explosion-proof disc eliminates the need for mechanical devices, reduces the accuracy requirements for the tooling, saves device costs, and avoids the problem of poor assembly and fitting accuracy of the top cover and the explosion-proof disc caused by the limited limiting accuracy of the mechanical device;
进一步地，通过机器视觉实现动力电池顶盖与动力电池防爆片的组装，也可以不需要工装载具承载动力电池顶盖，就可以兼容多种规格尺寸的动力电池顶盖与动力电池防爆片，实现多规格尺寸的动力电池的一体化生产。Furthermore, the assembly of the power battery top cover and the power battery explosion-proof disc is realized through machine vision. It is also possible to carry the power battery top cover without a tool carrier, and it can be compatible with power battery top covers and power battery explosion-proof discs of various specifications and sizes. Achieve integrated production of power batteries of multiple specifications and sizes.
附图说明Description of the drawings
图1是本申请实施例提供的基于动力电池顶盖与动力电池防爆片的组装系统组网示意图。Figure 1 is a schematic diagram of the assembly system network based on the power battery top cover and the power battery explosion-proof disc provided by the embodiment of the present application.
图2是本申请实施例提供的一种动力电池顶盖与动力电池防爆片的组装方法的流程图。Figure 2 is a flow chart of a method of assembling a power battery top cover and a power battery explosion-proof disk according to an embodiment of the present application.
图3是本申请实施例提供的一种动力电池顶盖与动力电池防爆片的组装装置的框图。Figure 3 is a block diagram of an assembly device for a power battery top cover and a power battery explosion-proof disc provided by an embodiment of the present application.
图4是本申请实施例提供的电子设备的示例图。Figure 4 is an example diagram of an electronic device provided by an embodiment of the present application.
具体实施方式Detailed ways
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the appended claims.
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present application, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining."
接下来对本说明书实施例进行详细说明。Next, the embodiments of this specification will be described in detail.
如图1所示，图1为本申请实施例提供的基于动力电池顶盖与动力电池防爆片的组装系统组网示意图。在本实施例中，该系统包括第一图像采集设备、第二图像采集设备、上位机(图1中未示出)、运动机构以及传送带。这里，第一图像采集设备、第二图像采集设备以及传送带均与上位机通信连接。As shown in Figure 1, Figure 1 is a schematic diagram of the assembly system network based on the power battery top cover and the power battery explosion-proof disc provided by the embodiment of the present application. In this embodiment, the system includes a first image acquisition device, a second image acquisition device, a host computer (not shown in Figure 1), a motion mechanism, and a conveyor belt. Here, the first image acquisition device, the second image acquisition device and the conveyor belt are all communicatively connected with the host computer.
在本实施例中，上位机可以为手机、平板、计算机等智能终端，本申请实施例并不具体限定。In this embodiment, the host computer can be a smart terminal such as a mobile phone, a tablet, a computer, etc., which is not specifically limited in the embodiment of this application.
第一图像采集设备和第二图像采集设备均可以为普通相机，也可以为工业相机，本申请实施例并不具体限定。Both the first image acquisition device and the second image acquisition device can be ordinary cameras or industrial cameras, which are not specifically limited in the embodiments of the present application.
在本实施例中，第一图像采集设备可以固定安装在生产线的某一位置处，本申请实施例对第一图像采集设备的安装位置不作具体限定，只要保证可以采集到动力电池防爆片的图像即可。In this embodiment, the first image acquisition device can be fixedly installed at a certain position on the production line. The embodiment of this application does not specifically limit the installation position of the first image acquisition device, as long as it ensures that the image of the power battery explosion-proof disc can be collected. That’s it.
在本实施例中，第二图像采集设备可以固定安装在生产线的某一位置处，也可以安装在运动机构的顶部，本申请实施例对第二图像采集设备的固定安装位置不作具体限定，只要保证可以采集到动力电池顶盖的图像即可。In this embodiment, the second image acquisition device can be fixedly installed at a certain position on the production line, or can be installed on the top of the motion mechanism. The embodiment of this application does not specifically limit the fixed installation position of the second image acquisition device, as long as Just make sure that the image of the power battery top cover can be collected.
运动机构上设置有抓取部件，这里，抓取部件可以为吸嘴、夹爪等，本申请实施例并不具体限定。The movement mechanism is provided with a grabbing component. Here, the grabbing component may be a suction nozzle, a clamping claw, etc., which are not specifically limited in the embodiments of the present application.
该抓取部件用于吸取动力电池防爆片，并带着动力电池防爆片移动至动力电池顶盖的位置，以便于动力电池防爆片和动力电池顶盖的组装。这里，运动机构可以为机器人、也可以为机械臂，本申请实施例并不具体限定。The grabbing component is used to absorb the power battery explosion-proof disc, and move the power battery explosion-proof disc to the position of the power battery top cover to facilitate the assembly of the power battery explosion-proof disc and the power battery top cover. Here, the motion mechanism may be a robot or a mechanical arm, which is not specifically limited in the embodiments of the present application.
传送带可以携带动力电池顶盖在生产线上移动，需要说明的是，图1所示传送带携带动力电池顶盖在生产线上移动仅为举例，当然，动力电池顶盖也可以在生产线的固定位置处。The conveyor belt can carry the power battery top cover to move on the production line. It should be noted that the conveyor belt carrying the power battery top cover on the production line shown in Figure 1 is only an example. Of course, the power battery top cover can also be at a fixed position on the production line.
基于图1所示的组网，下面通过图2对本申请实施例提供的方法进行描述：Based on the networking shown in Figure 1, the method provided by the embodiment of the present application is described below through Figure 2:
如图2所示，图2是本申请实施例提供的一种动力电池顶盖与动力电池防爆片的组装方法的流程图，该方法应用于上述上位机。As shown in Figure 2, Figure 2 is a flow chart of an assembly method of a power battery top cover and a power battery explosion-proof disc provided by an embodiment of the present application. This method is applied to the above-mentioned host computer.
如图2所示，该动力电池顶盖与动力电池防爆片的组装方法包括以下步骤：As shown in Figure 2, the assembly method of the power battery top cover and the power battery explosion-proof disc includes the following steps:
S210：获得动力电池防爆片图像，将动力电池防爆片图像中动力电池防爆片的位姿信息映射到指定物理坐标系下，得到动力电池防爆片映射位姿信息；动力电池防爆片图像是通过已部署好的第一图像采集设备针对运动机构携带的动力电池防爆片采集的图像。S210: Obtain the power battery explosion-proof disc image, map the position and orientation information of the power battery explosion-proof disc in the power battery explosion-proof disc image to the specified physical coordinate system, and obtain the power battery explosion-proof disc mapping position and orientation information; the power battery explosion-proof disc image is obtained by The deployed first image acquisition device collects images of the power battery explosion-proof discs carried by the moving mechanism.
示例性地，在本实施例中，当运动机构携带着防爆片运动到第一图像采集设备的视场范围时，第一图像采集设备针对动力电池防爆片采集对应的动力电池防爆片图像并将该动力电池防爆片图像发送至上位机。For example, in this embodiment, when the motion mechanism carries the explosion-proof disc and moves to the field of view of the first image acquisition device, the first image acquisition device collects the corresponding power battery explosion-proof disc image and The image of the power battery explosion-proof disk is sent to the host computer.
在本实施例中，动力电池防爆片的位姿信息可以用动力电池防爆片上的任意一点的位姿信息表征，例如，动力电池防爆片的中心点的位姿信息，本申请实施例并不具体限定。In this embodiment, the position and orientation information of the power battery explosion-proof disc can be represented by the position and orientation information of any point on the power battery explosion-proof disc, for example, the position and orientation information of the center point of the power battery explosion-proof disc. This embodiment of the present application is not specific. limited.
本申请实施例仅以动力电池防爆片的位姿信息为动力电池防爆片的中心点的位姿信息为例进行描述，这里，动力电池防爆片的位姿信息可以包括动力电池防爆片的中心点在第一图像采集设备对应的第一像素坐标系下的坐标和角度，这里的角度指的是动力电池防爆片的中心点与第一像素坐标系下的原点构成的直线与X坐标轴正方向的夹角，需要说明的是，这里的角度也可以是动力电池防爆片的中心点与第一像素坐标系下的原点构成的直线与Y坐标轴正方向的夹角，本申请实施例并不具体限定，本申请实施例仅以角度指的是动力电池防爆片的中心点与第一像素坐标系下的原点构成的直线与X坐标轴的夹角为例进行描述。The embodiments of this application are only described by taking the position and orientation information of the power battery explosion-proof disc as the center point of the power battery explosion-proof disc as an example. Here, the position and orientation information of the power battery explosion-proof disc may include the center point of the power battery explosion-proof disc. The coordinates and angles in the first pixel coordinate system corresponding to the first image acquisition device. The angle here refers to the straight line formed by the center point of the power battery explosion-proof disc and the origin in the first pixel coordinate system and the positive direction of the X coordinate axis. It should be noted that the angle here can also be the angle between the straight line formed by the center point of the power battery explosion-proof disc and the origin of the first pixel coordinate system and the positive direction of the Y coordinate axis. The embodiment of the present application does not To be specific, the embodiments of this application only describe the angle, which refers to the angle between the straight line formed by the center point of the power battery explosion-proof disk and the origin of the first pixel coordinate system, and the X coordinate axis.
在本实施例中，指定物理坐标系是指在物理空间形成的坐标系，例如可以为大地坐标系、运动机构物理坐标系、用户坐标系或者工具坐标系等，本申请实施例并不具体限定。In this embodiment, the specified physical coordinate system refers to the coordinate system formed in the physical space, for example, it can be a geodetic coordinate system, a physical coordinate system of a motion mechanism, a user coordinate system or a tool coordinate system, etc., which are not specifically limited in the embodiments of this application. .
至于具体如何将动力电池防爆片图像中动力电池防爆片的位姿信息映射到指定物理坐标系下，得到动力电池防爆片映射位姿信息，下面实施例进行了举例描述，这里暂不赘述。As for how to specifically map the position and orientation information of the power battery explosion-proof disc in the image of the power battery explosion-proof disc to a specified physical coordinate system to obtain the mapping position and orientation information of the power battery explosion-proof disc, the following embodiment describes an example and will not be described in detail here.
S220：获得动力电池顶盖图像，将动力电池顶盖图像中动力电池顶盖的位姿信息映射到指定物理坐标系下，得到动力电池顶盖映射位姿信息；动力电池顶盖图像是通过已部署好的第二图像采集设备针对工装载具携带的动力电池顶盖采集的图像。S220: Obtain the power battery top cover image, map the pose information of the power battery top cover in the power battery top cover image to the specified physical coordinate system, and obtain the power battery top cover mapping pose information; the power battery top cover image is obtained by The deployed second image acquisition device collects images of the power battery top cover carried by the tool vehicle.
示例性地，在本实施例中，当传送带携带着工装载具运动到第二图像采集设备的视场范围时，控制传输带停止，第二图像采集设备针对动力电池顶盖进行图像采集，得到动力电池顶盖图像，并将该动力电池顶盖图像发送至上位机。Illustratively, in this embodiment, when the conveyor belt carries the work loader and moves to the field of view of the second image acquisition device, the conveyor belt is controlled to stop, and the second image acquisition device collects images of the power battery top cover to obtain power. Image of the battery top cover and send the image of the power battery top cover to the host computer.
这里，可以由部署在第二图像采集设备上的声光传感器检测到动力电池顶盖时，向传送带发送控制消息，控制携带工装载具的传送带停止运动，以便于第二图像采集设备针对动力电池顶盖进行图像采集。Here, when the sound and light sensor deployed on the second image acquisition device detects the power battery top cover, a control message can be sent to the conveyor belt to control the conveyor belt carrying the tool loader to stop moving, so that the second image acquisition device can detect the power battery Top cover for image acquisition.
在本实施例中，动力电池顶盖的位姿信息可以用动力电池顶盖上的任意一点的位姿信息表征，例如，动力电池顶盖的中心点的位姿信息，本申请实施例并不具体限定。In this embodiment, the pose information of the power battery top cover can be represented by the pose information of any point on the power battery top cover, for example, the pose information of the center point of the power battery top cover. This embodiment of the present application does not Specific limitations.
本申请实施例仅以动力电池顶盖的位姿信息为动力电池顶盖的中心点的位姿信息为例进行描述，这里，动力电池顶盖的中心点的位姿信息可以包括：动力电池顶盖的中心点的坐标和角度，这里的角度指的是动力电池顶盖的中心点与第二图像采集设备对应的第二像素坐标系下的原点构成的直线与X坐标轴正方向的夹角，需要说明的是，这里的角度也可以是动力电池顶盖的中心点与第二像素坐标系下的原点构成的直线与Y坐标轴正方向的夹角，本申请实施例并不具体限定，本申请实施例仅以角度指的是动力电池顶盖的中心点与第二像素坐标系下的原点构成的直线与X坐标轴的夹角为例进行描述。The embodiments of this application are only described by taking the pose information of the power battery top cover as the pose information of the center point of the power battery top cover as an example. Here, the pose information of the center point of the power battery top cover may include: the power battery top cover The coordinates and angle of the center point of the cover. The angle here refers to the angle between the straight line formed by the center point of the power battery top cover and the origin of the second pixel coordinate system corresponding to the second image acquisition device and the positive direction of the X coordinate axis. , it should be noted that the angle here can also be the angle between the straight line formed by the center point of the power battery top cover and the origin of the second pixel coordinate system and the positive direction of the Y coordinate axis, which is not specifically limited in the embodiments of the present application. The embodiments of this application are only described using the example that the angle refers to the angle between the straight line formed by the center point of the power battery top cover and the origin of the second pixel coordinate system and the X coordinate axis.
至于具体如何将动力电池顶盖图像中动力电池顶盖的位姿信息映射到指定物理坐标系下，得到动力电池顶盖映射位姿信息，下面实施例进行了举例描述，这里暂不赘述。As for how to specifically map the pose information of the power battery top cover in the image of the power battery top cover to a specified physical coordinate system to obtain the mapping pose information of the power battery top cover, the following embodiments provide an example description, and will not be described in detail here.
S230：基于动力电池防爆片映射位姿信息和动力电池顶盖映射位姿信息，确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息；基于目标位姿信息控制运动机构运动以使运动机构携带的动力电池防爆片与动力电池顶盖贴合。S230: Based on the mapping pose information of the power battery explosion-proof disc and the mapping pose information of the power battery top cover, determine the target pose information required for the fit of the power battery explosion-proof disc and the power battery top cover; control the movement of the motion mechanism based on the target pose information In order to make the power battery explosion-proof disc carried by the movement mechanism fit with the power battery top cover.
示例性地，在本实施例中，目标位姿信息可以为动力电池防爆片移动至与动力电池顶盖贴合处的坐标以及角度，目标位姿信息还可以为动力电池防爆片移动至与动力电池顶盖贴合处的角度偏移值和坐标偏移值，即动力电池防爆片经过角度偏移和坐标偏移后达到与动力电池顶盖贴合处，本申请实施例并不具体限定，本申请实施例仅以目标位姿信息为动力电池防爆片移动至与动力电池顶盖贴合处的角度偏移值和坐标偏移值为例进行描述。For example, in this embodiment, the target pose information may be the coordinates and angle at which the power battery explosion-proof disc moves to fit the top cover of the power battery. The target pose information may also be the target position information when the power battery explosion-proof disc moves to the point where it is in contact with the power battery top cover. The angular offset value and coordinate offset value of the fitting point of the battery top cover, that is, the power battery explosion-proof disc reaches the fitting point with the power battery top cover after angular offset and coordinate offset. The embodiment of the present application is not specifically limited. The embodiment of this application only describes the target pose information as an example of the angle offset value and the coordinate offset value of the power battery explosion-proof disc moving to the point where it fits the power battery top cover.
示例性地，在本实施例中，本步骤S230中，基于动力电池防爆片映射位姿信息和动力电池顶盖映射位姿信息，确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息有很多种方式，例如，将动力电池防爆片映射位姿信息和动力电池顶盖映射位姿信息输入到刚体变换公式中，得到动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息，本申请实施例并不具体限定。Illustratively, in this embodiment, in this step S230, based on the power battery explosion-proof disc mapping posture information and the power battery top cover mapping posture information, the target required for the power battery explosion-proof disc and the power battery top cover to fit is determined. There are many ways to obtain pose information. For example, input the mapping pose information of the power battery explosion-proof disc and the mapping pose information of the power battery top cover into the rigid body transformation formula to obtain the required parameters for the fit of the power battery explosion-proof disc and the power battery top cover. The target pose information is not specifically limited in the embodiments of this application.
至于如何将动力电池防爆片映射位姿信息和动力电池顶盖映射位姿信息输入到刚体变换公式中，得到动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息，下面实施例进行了举例描述，本申请实施例并不具体限定。As for how to input the mapping pose information of the power battery explosion-proof disc and the mapping pose information of the power battery top cover into the rigid body transformation formula to obtain the target pose information required for the fit of the power battery explosion-proof disc and the power battery top cover, the following embodiment The examples are described, and the embodiments of the present application are not specifically limited.
在本实施例中，上位机在计算出确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息后，将目标位姿信息发送给运动机构，使得运动机构基于目标位姿信息将动力电池防爆片移动至动力电池顶盖处，便于动力电池防爆片与动力电池顶盖进行组装，在检测到动力电池防爆片与动力电池顶盖贴合后，向传送带发送控制信息，控制传送带携带工装载具继续运动，这里，可以通过第二图像采集设备确定动力电池防爆片与动力电池顶盖贴合，还可以是在动力电池防爆片移动至动力电池顶盖处的指定时间段(例如，1分钟)后就认为动力电池防爆片与动力电池顶盖贴合，本申请实施例并不具体限定。In this embodiment, after the host computer calculates the target pose information required to determine the fit of the power battery explosion-proof disc and the power battery top cover, it sends the target pose information to the motion mechanism, so that the motion mechanism is based on the target pose information. Move the power battery explosion-proof disc to the power battery top cover to facilitate the assembly of the power battery explosion-proof disc and the power battery top cover. After detecting that the power battery explosion-proof disc and the power battery top cover are attached, control information is sent to the conveyor belt to control the conveyor belt. The tool-carrying vehicle continues to move. Here, the second image acquisition device can be used to determine that the power battery explosion-proof disc is in contact with the power battery top cover, or it can be a specified time period during which the power battery explosion-proof disc moves to the power battery top cover (for example, , 1 minute), it is considered that the power battery explosion-proof disc and the power battery top cover are fit, and the embodiment of the present application is not specifically limited.
至此，完成图2所示流程。At this point, the process shown in Figure 2 is completed.
通过图2所示流程可以看出，本申请实施例中，通过对第一图像采集设备采集的动力电池防爆片图像和第二图像采集设备采集的动力电池顶盖图像进行处理，得到动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息，以使得运动机构依据目标位姿信息携带动力电池防爆片移动至动力电池顶盖处，与动力电池顶盖实现贴合，实现了通过机器视觉对动力电池顶盖与动力电池防爆片的组装，省去了机械装置，降低对工装载具的精度要求，节约了装置成本，也避免了机械装置的限位精度有限导致的顶盖与防爆片的组装贴合精度差问题；It can be seen from the process shown in Figure 2 that in the embodiment of the present application, the power battery explosion-proof disc image collected by the first image acquisition device and the power battery top cover image collected by the second image acquisition device are processed to obtain the power battery explosion-proof The target pose information required for the sheet to fit the power battery top cover is so that the motion mechanism carries the power battery explosion-proof disc to move to the power battery top cover based on the target pose information, and is fit to the power battery top cover, achieving the goal of passing Machine vision assembles the power battery top cover and the power battery explosion-proof disc, eliminating the need for mechanical devices, reducing the accuracy requirements for the tooling, saving device costs, and avoiding the problem of the top cover and the explosion-proof disk caused by the limited limiting accuracy of the mechanical device. The problem of poor assembly and fitting accuracy of explosion-proof discs;
进一步地，通过机器视觉实现动力电池顶盖与动力电池防爆片的组装，也可以不需要工装载具承载动力电池顶盖，就可以兼容多种规格尺寸的动力电池顶盖与动力电池防爆片，实现多规格尺寸的动力电池的一体化生产。Furthermore, the assembly of the power battery top cover and the power battery explosion-proof disc is realized through machine vision. It is also possible to carry the power battery top cover without a tool carrier, and it can be compatible with power battery top covers and power battery explosion-proof discs of various specifications and sizes. Achieve integrated production of power batteries of multiple specifications and sizes.
作为本申请实施例一个可选实施方式，上述指定物理坐标系为基于运动机构建立的运动机构物理坐标系，这里，运动机构物理坐标系可以为以运动机构的中点为圆心，平行地面的方向为X轴、垂直地面的方向为Y轴建立的坐标系。上述将动力电池防爆片图像中动力电池防爆片的位姿信息映射到指定物理坐标系下，得到动力电池防爆片映射位姿信息，包括：As an optional implementation of the embodiment of this application, the above specified physical coordinate system is a physical coordinate system of the motion mechanism established based on the motion mechanism. Here, the physical coordinate system of the motion mechanism can be a direction parallel to the ground with the midpoint of the motion mechanism as the center of the circle. The coordinate system established is the X-axis and the direction perpendicular to the ground is the Y-axis. The above maps the position and orientation information of the power battery explosion-proof disk in the image of the power battery explosion-proof disk to the specified physical coordinate system to obtain the mapping position and orientation information of the power battery explosion-proof disk, including:
基于已建立的第一图像采集设备与运动机构之间的第一映射标定矩阵，将动力电池防爆片图像中动力电池防爆片的位姿信息映射到运动机构物理坐标系下，得到动力电池防爆片映射位姿信息。Based on the established first mapping calibration matrix between the first image acquisition device and the moving mechanism, the position and orientation information of the power battery explosion-proof disc in the image of the power battery explosion-proof disc is mapped to the physical coordinate system of the moving mechanism to obtain the power battery explosion-proof disc. Mapping pose information.
示例性地，在本实施例中，上述第一映射标定矩阵是提前标定好的，至于第一映射标定矩阵的标定过程，下面实施例进行了举例描述，这里暂不赘述。Illustratively, in this embodiment, the above-mentioned first mapping calibration matrix is calibrated in advance. As for the calibration process of the first mapping calibration matrix, the following embodiment describes it with an example and will not be described again here.
在本实施例中，本步骤中，基于已建立的第一图像采集设备与运动机构之间的第一映射标定矩阵，将动力电池防爆片图像中动力电池防爆片的位姿信息映射到运动机构物理坐标系下，得到动力电池防爆片映射位姿信息具体可以为：In this embodiment, in this step, based on the established first mapping calibration matrix between the first image acquisition device and the motion mechanism, the position and orientation information of the power battery explosion-proof disc in the image of the power battery explosion-proof disc is mapped to the motion mechanism Under the physical coordinate system, the specific mapping pose information of the power battery explosion-proof disc can be obtained as:
ObjWorld＝M1*ObjImageObjWorld＝M1*ObjImage
ObjWorldR＝M1*ObjImageRObjWorldR＝M1*ObjImageR
其中，ObjWorld表示运动机构物理坐标系下的动力电池防爆片的中心点的坐标；M1表示第一映射标定矩阵；ObjImage表示像素坐标系下的动力电池防爆片的中心点的坐标；ObjWorldR表示运动机构物理坐标系下的动力电池防爆片的中心点的角度；ObjImageR表示像素坐标系下的动力电池防爆片的中心点的角度，ObjWorld和ObjWorldR一起作为动力电池防爆片映射位姿信息。Among them, ObjWorld represents the coordinates of the center point of the power battery explosion-proof disc in the physical coordinate system of the motion mechanism; M1 represents the first mapping calibration matrix; ObjImage represents the coordinates of the center point of the power battery explosion-proof disc in the pixel coordinate system; ObjWorldR represents the motion mechanism The angle of the center point of the power battery explosion-proof disc in the physical coordinate system; ObjImageR represents the angle of the center point of the power battery explosion-proof disc in the pixel coordinate system. ObjWorld and ObjWorldR together serve as the mapping pose information of the power battery explosion-proof disc.
作为本申请另一个实施例，将动力电池防爆片图像中动力电池防爆片的位姿信息映射到指定物理坐标系下，得到动力电池防爆片映射位姿信息还可以为：As another embodiment of the present application, the position and orientation information of the power battery explosion-proof disc in the image of the power battery explosion-proof disc is mapped to a specified physical coordinate system, and the mapping position and orientation information of the power battery explosion-proof disc can be obtained as:
基于已建立的第一图像采集设备与第二图像采集设备之间的参考映射标定矩阵，将动力电池防爆片图像中动力电池防爆片的位姿信息映射到第二像素坐标系下，再基于已建立的第二图像采集设备与运动机构之间的第二映射标定矩阵，将第二像素坐标下的动力电池防爆片的位姿信息映射到运动机构物理坐标系下，得到动力电池防爆片映射位姿信息。Based on the established reference mapping calibration matrix between the first image acquisition device and the second image acquisition device, map the position and orientation information of the power battery explosion-proof disc in the image of the power battery explosion-proof disc to the second pixel coordinate system, and then based on the established The second mapping calibration matrix established between the second image acquisition device and the motion mechanism maps the position and orientation information of the power battery explosion-proof disc in the second pixel coordinates to the physical coordinate system of the motion mechanism to obtain the mapping position of the power battery explosion-proof disc. posture information.
下面对第一映射标定矩阵的标定过程进行描述：The calibration process of the first mapping calibration matrix is described below:
作为本申请实施例一个可选实施方式，上述第一映射标定矩阵通过以下步骤建立：As an optional implementation method of the embodiment of this application, the above-mentioned first mapping calibration matrix is established through the following steps:
首先，获得第一标定物体图像集和运动机构物理坐标集；任一第一标定物体图像是运动机构携带标定物体平移至第一图像采集设备视场内任一位置时，由第一图像采集设备采集的图像。First, obtain the first calibration object image set and the physical coordinate set of the moving mechanism; any first calibration object image is obtained by the first image acquisition device when the motion mechanism carries the calibration object and translates to any position within the field of view of the first image acquisition device. collected images.
示例性地，在本实施中，标定物体可以为任意非透明物体，例如，各种标定板、防爆片等，本申请实施例并不具体限定。For example, in this implementation, the calibration object can be any non-transparent object, such as various calibration plates, explosion-proof discs, etc., which are not specifically limited by the embodiments of this application.
在本实施例中，运动机构携带标定物体在第一图像采集设备的视场内平移，这里，平移的次数为至少3次，例如，9次，本申请实施例并不具体限定。In this embodiment, the motion mechanism carries the calibration object and translates within the field of view of the first image acquisition device. Here, the number of translations is at least 3 times, for example, 9 times. This embodiment of the present application is not specifically limited.
在本实施例中，平移指的是在平面内移动，包括前后移动和左右移动。具体地，每次移动随机距离，也可以每次移动相同的距离，本申请实施例并不具体限定。In this embodiment, translation refers to movement in a plane, including forward and backward movement and left and right movement. Specifically, it may move a random distance each time, or it may move the same distance each time, which is not specifically limited by the embodiments of this application.
在本实施例中，运动机构携带标定物体每移动一次停止后，第一图像采集设备针对标定物体采集其对应的第一标定物体图像，得到第一标定物体图像集。In this embodiment, after each movement of the calibration object carried by the motion mechanism stops, the first image acquisition device collects the corresponding first calibration object image of the calibration object to obtain a first calibration object image set.
示例性地，在本实施例中，运动机构物理坐标集包括：运动机构携带标定物体平移至第一图像采集设备视场内任一位置时该标定物体在运动机构物理坐标系中的坐标信息，具体地，运动机构携带标定物体每移动一次停止后，记录标定物体在运动机构物理坐标系中的坐标信息，这里，可以用标定物体的中心点的坐标表征标定物体在运动机构物理坐标系中的坐标信息，本申请实施例并不具体限定。Exemplarily, in this embodiment, the physical coordinate set of the motion mechanism includes: the coordinate information of the calibration object in the physical coordinate system of the motion mechanism when the motion mechanism carries the calibration object and translates to any position within the field of view of the first image acquisition device, Specifically, after each movement of the calibration object carried by the motion mechanism stops, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism is recorded. Here, the coordinates of the center point of the calibration object can be used to represent the position of the calibration object in the physical coordinate system of the motion mechanism. The coordinate information is not specifically limited in the embodiments of this application.
其次，获得第二标定物体图像集；任一第二标定物体图像是运动机构携带标定物体旋转完成后由第一图像采集设备采集的图像。Secondly, a second calibration object image set is obtained; any second calibration object image is an image collected by the first image acquisition device after the movement mechanism completes the rotation of the calibration object.
示例性地，在本实施例中，运动机构携带标定物体在第一图像采集设备的视场内旋转，这里，旋转的次数为至少3次，例如，5次，本申请实施例并不具体限定。Illustratively, in this embodiment, the motion mechanism carries the calibration object and rotates within the field of view of the first image acquisition device. Here, the number of rotations is at least 3 times, for example, 5 times. The embodiment of the present application is not specifically limited. .
在本实施例中，在运动机构携带标定物体在第一图像采集设备的视场内旋转时，每次可以旋转随机角度，也可以每次旋转相同的角度，本申请实施例并不具体限定。In this embodiment, when the motion mechanism carries the calibration object and rotates within the field of view of the first image acquisition device, it can rotate at a random angle each time, or it can rotate at the same angle each time, which is not specifically limited by the embodiment of the present application.
在本实施例中，运动机构携带标定物体每旋转一次停止后，第一图像采集设备针对标定物体采集一次对应的第二标定物体图像，得到第二标定物体图像集。In this embodiment, after each rotation of the calibration object carried by the motion mechanism stops, the first image acquisition device collects a corresponding second calibration object image for the calibration object to obtain a second calibration object image set.
再次，依据第一标定物体图像中标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息、标定物体在运动机构物理坐标系中的坐标信息、第二标定物体图像中标定物体在第一像素坐标系下的坐标信息，确定第一映射标定矩阵。Again, based on the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device in the first calibration object image, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism, the calibration object in the second calibration object image The coordinate information in the first pixel coordinate system determines the first mapping calibration matrix.
示例性地，在本实施例中，标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息可以用标定物体的中心点在第一像素坐标系下的坐标信息表征，本申请实施例并不具体限定。For example, in this embodiment, the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device can be characterized by the coordinate information of the center point of the calibration object in the first pixel coordinate system. This application The examples are not specifically limited.
在本实施例中，本步骤中，依据第一标定物体图像中标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息、标定物体在运动机构物理坐标系中的坐标信息、第二标定物体图像中标定物体在第一像素坐标系下的坐标信息，确定第一映射标定矩阵具体可以为：In this embodiment, in this step, based on the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device in the first calibration object image, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism, The coordinate information of the calibration object in the second calibration object image in the first pixel coordinate system can be determined as follows:
步骤a：依据第一标定物体图像中标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息和标定物体在运动机构物理坐标系中的坐标信息确定初始映射标定矩阵，具体地：Step a: Determine the initial mapping calibration matrix based on the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device in the first calibration object image and the coordinate information of the calibration object in the physical coordinate system of the motion mechanism, specifically :
M*P＝WM*P＝W
其中，M表示初始映射标定矩阵；P表示第一标定物体图像上的标定物体的中心点的坐标；W表示标定物体在运动机构物理坐标系中的坐标，这里，运动机构携带标定物体运动每次停止后，P和W是对应的。Among them, M represents the initial mapping calibration matrix; P represents the coordinates of the center point of the calibration object on the first calibration object image; W represents the coordinates of the calibration object in the physical coordinate system of the motion mechanism. Here, the motion mechanism carries the calibration object every time it moves. After stopping, P and W are corresponding.
步骤b：基于第二标定物体图像中标定物体在第一像素坐标系下的坐标信息确定旋转中心坐标。Step b: Determine the coordinates of the rotation center based on the coordinate information of the calibration object in the second calibration object image in the first pixel coordinate system.
示例性地，在本实施例中，基于第二标定物体图像中标定物体在第一像素坐标系下的坐标信息确定旋转中心坐标具体可以为：利用常规的圆拟合算法计算得到，这里，圆拟合算法例如可以为：最小二乘法、旋转角度法、离散点角度法等，本申请实施例并不具体限定。Exemplarily, in this embodiment, determining the coordinates of the rotation center based on the coordinate information of the calibration object in the first pixel coordinate system in the second calibration object image can be calculated by using a conventional circle fitting algorithm. Here, the circle The fitting algorithm may be, for example, the least squares method, the rotation angle method, the discrete point angle method, etc., which are not specifically limited in the embodiments of the present application.
步骤c：基于初始映射标定矩阵和旋转中心坐标，确定第一映射标定矩阵。Step c: Determine the first mapping calibration matrix based on the initial mapping calibration matrix and the rotation center coordinates.
示例性地，在本实施例中，基于初始映射标定矩阵和旋转中心坐标，确定第一映射标定矩阵可以为：For example, in this embodiment, based on the initial mapping calibration matrix and the rotation center coordinates, the first mapping calibration matrix can be determined as:
将满足M*C＝0的M作为第一映射标定矩阵M1；C表示旋转中心坐标。M satisfying M*C=0 is used as the first mapping calibration matrix M1; C represents the coordinates of the rotation center.
作为本申请实施例一个可选实施方式，上述指定物理坐标系为基于运动机构建立的运动机构物理坐标系；上述将动力电池顶盖图像中动力电池顶盖的位姿信息映射到指定物理坐标系下，得到动力电池顶盖映射位姿信息，包括：As an optional implementation of the embodiment of this application, the above-mentioned designated physical coordinate system is a kinematic mechanism physical coordinate system established based on the kinematic mechanism; the above-mentioned mapping of the pose information of the power battery top cover in the power battery top cover image to the designated physical coordinate system Next, get the mapping pose information of the power battery top cover, including:
基于已建立的第二图像采集设备与运动机构之间的第二映射标定矩阵，将动力电池顶盖图像中动力电池顶盖的位姿信息映射到运动机构物理坐标系下，得到动力电池顶盖映射位姿信息。Based on the established second mapping calibration matrix between the second image acquisition device and the motion mechanism, map the pose information of the power battery top cover in the image of the power battery top cover to the physical coordinate system of the motion mechanism to obtain the power battery top cover Mapping pose information.
示例性地，在本实施例中，上述第二映射标定矩阵是提前标定好的，至于第二映射标定矩阵的标定过程，下面实施例进行了举例描述，这里暂不赘述。Illustratively, in this embodiment, the above-mentioned second mapping calibration matrix is calibrated in advance. As for the calibration process of the second mapping calibration matrix, the following embodiment describes it with an example and will not be described again here.
在本实施例中，本步骤中，基于已建立的第二图像采集设备与运动机构之间的第二映射标定矩阵，将动力电池顶盖图像中动力电池顶盖的位姿信息映射到运动机构物理坐标系下，得到动力电池顶盖映射位姿信息具体可以为：In this embodiment, in this step, based on the established second mapping calibration matrix between the second image acquisition device and the motion mechanism, the pose information of the power battery top cover in the image of the power battery top cover is mapped to the motion mechanism Under the physical coordinate system, the specific mapping pose information of the power battery top cover can be obtained as:
TarWorld＝M2*TarImageTarWorld＝M2*TarImage
TarWorldR＝M2*TarImageRTarWorldR＝M2*TarImageR
其中，TarWorld表示运动机构物理坐标系下的动力电池顶盖的中心点的坐标；M2表示第二映射标定矩阵；TarImage表示像素坐标系下的动力电池顶盖的中心点的坐标；TarWorldR表示运动机构物理坐标系下的动力电池顶盖的中心点的角度；TarImageR表示像素坐标系下的动力电池顶盖的中心点的角度，TarWorld和TarWorldR一起作为动力电池顶盖映射位姿信息。Among them, TarWorld represents the coordinates of the center point of the power battery top cover in the physical coordinate system of the kinematic mechanism; M2 represents the second mapping calibration matrix; TarImage represents the coordinates of the center point of the power battery top cover in the pixel coordinate system; TarWorldR represents the kinematic mechanism The angle of the center point of the power battery top cover in the physical coordinate system; TarImageR represents the angle of the center point of the power battery top cover in the pixel coordinate system. TarWorld and TarWorldR together serve as the mapping pose information of the power battery top cover.
作为本申请另一个实施例，将动力电池顶盖图像中动力电池顶盖的位姿信息映射到指定物理坐标系下，得到动力电池顶盖映射位姿信息还可以为：As another embodiment of the present application, the pose information of the power battery top cover in the power battery top cover image is mapped to a specified physical coordinate system, and the mapping pose information of the power battery top cover can also be obtained as:
基于已建立的第一图像采集设备与第二图像采集设备之间的参考映射标定矩阵，将动力电池顶盖图像中动力电池顶盖的位姿信息映射到第一像素坐标系下，再基于已建立的第二图像采集设备与运动机构之间的第一映射标定矩阵，将第一像素坐标下的动力电池顶盖的位姿信息映射到运动机构物理坐标系下，得到动力电池顶盖映射位姿信息。Based on the established reference mapping calibration matrix between the first image acquisition device and the second image acquisition device, the pose information of the power battery top cover in the power battery top cover image is mapped to the first pixel coordinate system, and then based on the established The first mapping calibration matrix established between the second image acquisition device and the motion mechanism maps the pose information of the power battery top cover in the first pixel coordinates to the physical coordinate system of the motion mechanism to obtain the mapping position of the power battery top cover. posture information.
下面对第二映射标定矩阵的标定过程进行描述：The calibration process of the second mapping calibration matrix is described below:
作为本申请实施例一个可选实施方式，上述第二映射标定矩阵通过如下步骤确定：As an optional implementation method of the embodiment of this application, the above-mentioned second mapping calibration matrix is determined through the following steps:
首先，获得第三标定物体图像，第三标定物体图像是第二图像采集设备对工装载具携带的标定物体进行采集得到的图像。First, a third calibration object image is obtained. The third calibration object image is an image obtained by collecting the calibration object carried by the tool carrier by the second image acquisition device.
示例性地，在本实施例中，标定物体平放在工装载具上处于第二图像采集设备的视场范围内，第二图像采集设备针对标定物体进行图像采集，得到第三标定物体图像并发送至上位机。Illustratively, in this embodiment, the calibration object is placed flat on the tool carrier and is within the field of view of the second image acquisition device. The second image acquisition device performs image acquisition on the calibration object to obtain a third calibration object image and Send to the host computer.
其次，获得第四标定物体图像，第四标定物体图像是运动机构携带标定物体移动至第一图像采集设备视场内任一位置时，由第一图像采集设备采集的图像。Secondly, a fourth calibration object image is obtained. The fourth calibration object image is an image collected by the first image acquisition device when the motion mechanism carries the calibration object and moves to any position within the field of view of the first image acquisition device.
示例性地，在本实施例中，运动机构携带标定物体移动至第一图像采集设备的视场范围内，第一图像采集设备针对标定物体进行图像采集，得到第四标定物体图像并上传至上位机。Illustratively, in this embodiment, the motion mechanism carries the calibration object and moves it within the field of view of the first image acquisition device. The first image acquisition device performs image acquisition on the calibration object, obtains the fourth calibration object image, and uploads it to the host. machine.
再次，基于第三标定物体图像中标定物体在第二图像采集设备对应的第二像素坐标系下的坐标信息、第四标定物体图像中标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息确定参考标定矩阵。Again, based on the coordinate information of the calibration object in the second pixel coordinate system corresponding to the second image acquisition device in the third calibration object image, and the first pixel coordinate system corresponding to the first image acquisition device of the calibration object in the fourth calibration object image. The coordinate information below determines the reference calibration matrix.
示例性地，在本实施例中，标定物体在第二图像采集设备对应的第二像素坐标系下的坐标信息可以用标定物体上的至少四个点来表征，可以包括：标定物体的角点、中心点等，本申请实施例并不具体限定。For example, in this embodiment, the coordinate information of the calibration object in the second pixel coordinate system corresponding to the second image acquisition device can be characterized by at least four points on the calibration object, which can include: corner points of the calibration object. , center point, etc. are not specifically limited in the embodiments of this application.
同理，标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息也可以用标定物体上的至少四个点来表征，可以包括：标定物体的角点、中心点等，本申请实施例并不具体限定。In the same way, the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device can also be represented by at least four points on the calibration object, which can include: corner points, center points, etc. of the calibration object. This document The application examples are not specifically limited.
需要说明的是，只要保证标定物体在第一像素坐标系下和其在第二像素坐标系下的点是一样的就可以，例如，以标定物体的角点的坐标来表征标定物体在第二图像采集设备对应的第二像素坐标系下的坐标信息和标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息。It should be noted that as long as the points of the calibration object in the first pixel coordinate system and its points in the second pixel coordinate system are the same, for example, the coordinates of the corner points of the calibration object can be used to represent the position of the calibration object in the second pixel coordinate system. The coordinate information in the second pixel coordinate system corresponding to the image acquisition device and the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device.
在本实施例中，本步骤中，基于第三标定物体图像中标定物体在第二图像采集设备对应的第二像素坐标系下的坐标信息、第四标定物体图像中标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息确定参考标定矩阵利用常规标定方法计算得到参考标定矩阵。In this embodiment, in this step, based on the coordinate information of the calibration object in the third calibration object image in the second pixel coordinate system corresponding to the second image acquisition device, the calibration object in the fourth calibration object image in the first image acquisition The coordinate information in the first pixel coordinate system corresponding to the device determines the reference calibration matrix and calculates the reference calibration matrix using a conventional calibration method.
再次，基于参考标定矩阵和已标定好的第一映射标定矩阵确定第二映射标定矩阵，第一映射标定矩阵为运动机构和第一图像采集设备的标定矩阵。Again, the second mapping calibration matrix is determined based on the reference calibration matrix and the calibrated first mapping calibration matrix, where the first mapping calibration matrix is the calibration matrix of the motion mechanism and the first image acquisition device.
示例性地，在本实施例中，本步骤中，基于参考标定矩阵和已标定好的第一映射标定矩阵确定第二映射标定矩阵具体可以为将参考标定矩阵和第一映射标定矩阵的乘积作为第二映射标定矩阵。Illustratively, in this embodiment, in this step, determining the second mapping calibration matrix based on the reference calibration matrix and the calibrated first mapping calibration matrix may specifically be the product of the reference calibration matrix and the first mapping calibration matrix as The second mapping calibration matrix.
第一映射标定矩阵的标定方法参见上面实施例的描述，这里不再赘述。For the calibration method of the first mapping calibration matrix, please refer to the description of the above embodiment and will not be described again here.
作为本申请实施一个可选实施方式，上述基于动力电池防爆片映射位姿信息和动力电池顶盖映射位姿信息，确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息，包括：As an optional implementation method for implementing this application, the above is based on the power battery explosion-proof disc mapping posture information and the power battery top cover mapping posture information to determine the target posture information required for the power battery explosion-proof disc and the power battery top cover to fit together, include:
步骤A：依据动力电池防爆片映射位姿信息中的角度和动力电池顶盖映射位姿信息中的角度确定角度偏移值。Step A: Determine the angle offset value based on the angle in the mapping posture information of the power battery explosion-proof disc and the angle in the mapping posture information of the power battery top cover.
示例性地，在本实施例中，动力电池防爆片映射位姿信息中的角度和动力电池顶盖映射位姿信息中的角度确定角度偏移值具体可以为：For example, in this embodiment, the angle offset value determined by the angle in the mapping posture information of the power battery explosion-proof disc and the angle in the mapping posture information of the power battery top cover can be specifically:
OffAngle＝TarWorldR-ObjWorldROffAngle=TarWorldR-ObjWorldR
其中，OffAngle表示角度偏移值；TarWorldR表示动力电池顶盖映射位姿信息中的角度；ObjWorldR表示动力电池防爆片映射位姿信息中的角度。Among them, OffAngle represents the angle offset value; TarWorldR represents the angle in the mapping pose information of the power battery top cover; ObjWorldR represents the angle in the mapping pose information of the power battery explosion-proof disc.
步骤B：依据角度偏移值确定动力电池防爆片的中心点与动力电池顶盖之间的旋转矩阵。Step B: Determine the rotation matrix between the center point of the power battery explosion-proof disc and the power battery top cover based on the angle offset value.
示例性地，在本实施例中，依据角度偏移值确定动力电池防爆片的中心点与动力电池顶盖之间的旋转矩阵具体可以为：For example, in this embodiment, the rotation matrix between the center point of the power battery explosion-proof disc and the power battery top cover is determined based on the angular offset value. Specifically, the rotation matrix can be:
其中，R表示旋转矩阵；OffAngle表示角度偏移值。Among them, R represents the rotation matrix; OffAngle represents the angle offset value.
步骤C：依据动力电池防爆片映射位姿信息中的坐标、动力电池顶盖映射位姿信息的坐标以及旋转矩阵确定坐标偏移值。Step C: Determine the coordinate offset value based on the coordinates in the power battery explosion-proof disc mapping posture information, the power battery top cover mapping posture information, and the rotation matrix.
示例性地，在本实施例中，依据动力电池防爆片映射位姿信息中的坐标、动力电池顶盖映射位姿信息的坐标以及旋转矩阵确定坐标偏移值具体可以为将动力电池防爆片映射位姿信息中的坐标、动力电池顶盖映射位姿信息的坐标以及旋转矩阵输入到刚体变换公式中，得到坐标偏移值，具体地：For example, in this embodiment, determining the coordinate offset value based on the coordinates in the mapping pose information of the power battery explosion-proof disc, the coordinates of the power battery top cover mapping pose information, and the rotation matrix may specifically be to map the power battery explosion-proof disc. The coordinates in the pose information, the coordinates of the power battery top cover mapping pose information, and the rotation matrix are input into the rigid body transformation formula to obtain the coordinate offset value, specifically:
OffWorld＝TarWorld-R*ObjWorldOffWorld=TarWorld-R*ObjWorld
其中，OffWorld表示坐标偏移值；TarWorld表示动力电池顶盖映射位姿信息的坐标；R表示旋转矩阵；ObjWorld表示动力电池防爆片映射位姿信息中的坐标。Among them, OffWorld represents the coordinate offset value; TarWorld represents the coordinates of the power battery top cover mapping posture information; R represents the rotation matrix; ObjWorld represents the coordinates of the power battery explosion-proof disk mapping posture information.
这里，刚体变换公式的推导过程如下：Here, the derivation process of the rigid body transformation formula is as follows:
由于动力电池防爆片和动力电池顶盖在指定物理坐标下的位姿变化只有平移和旋转，因此动力电池防爆片和动力电池顶盖之间的运动模型属于刚体变换。因此，将动力电池防爆片和动力电池顶盖的像素坐标都转化到指定物理坐标系下，就能够利用刚体变换公式求解确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息。Since the position changes of the power battery explosion-proof disk and the power battery top cover under specified physical coordinates are only translation and rotation, the motion model between the power battery explosion-proof disk and the power battery top cover belongs to a rigid body transformation. Therefore, by converting the pixel coordinates of the power battery explosion-proof disc and the power battery top cover into the specified physical coordinate system, the rigid body transformation formula can be used to determine the target pose information required to fit the power battery explosion-proof disc and the power battery top cover. .
刚体变换公式如下：The rigid body transformation formula is as follows:
其中，R是2×2旋转矩阵(满足RTR＝RRT＝I的正交矩阵)，这里，I是单位矩阵；t是2维平移向量。旋转矩阵R由动力电池防爆片和动力电池顶盖的旋转角度θ确定，平移向量t由2维列向量(Tx,Ty)T确定，故刚体变换T的通用形式为：Among them, R is a 2×2 rotation matrix (an orthogonal matrix that satisfies RT R =RRT =I), where I is the identity matrix; t is a 2-dimensional translation vector. The rotation matrix R is determined by the rotation angle θ of the power battery explosion-proof disc and the power battery top cover, and the translation vector t is determined by the 2-dimensional column vector (Tx ,Ty )T. Therefore, the general form of rigid body transformation T is:
当得到动力电池防爆片和动力电池顶盖在指定物理坐标系下的坐标和角度后，就能够根据刚体变换公式求解旋转矩阵和平移向量，也就是坐标偏移值。After obtaining the coordinates and angles of the power battery explosion-proof disk and the power battery top cover in the specified physical coordinate system, the rotation matrix and translation vector, which is the coordinate offset value, can be solved according to the rigid body transformation formula.
第二图像采集设备拍摄动力电池顶盖，获得动力电池顶盖在第二像素坐标系下的像素坐标Pt，第一图像采集设备拍摄动力电池防爆片，获得动力电池防爆片在第一图像坐标系下的像素坐标Po。The second image acquisition device captures the power battery top cover and obtains the pixel coordinate Pt of the power battery top cover in the second pixel coordinate system. The first image acquisition device captures the power battery explosion-proof disc and obtains the power battery explosion-proof disc in the first image coordinate system. The pixel coordinate Po below.
将Pt通过第二映射标定矩阵M2映射到运动机构物理坐标系下，得到Tw，将Po通过第一映射标定矩阵M1映射到运动机构物理坐标系下，得到Ow。Map Pt to the physical coordinate system of the kinematic mechanism through the second mapping calibration matrix M2 to obtain Tw, and map Po to the physical coordinate system of the kinematic mechanism through the first mapping calibration matrix M1 to obtain Ow.
Tw、Ow分别为动力电池顶盖和动力电池防爆片在运动机构物理坐标系的位置。Tw and Ow are respectively the positions of the power battery top cover and the power battery explosion-proof disk in the physical coordinate system of the motion mechanism.
根据上述刚体变换公式有：According to the above rigid body transformation formula:
根据齐次矩阵性质有：According to the homogeneous matrix properties:
Tw＝(R t)OwTw =(R t)Ow
进一步化简可得：Further simplification can be obtained:
t＝Tw-R*Owt＝Tw -R*Ow
得到Tw和Ow的偏差角度θ，进而求解得到坐标偏移值。Obtain the deviation angle θ between Tw and Ow , and then solve to obtain the coordinate offset value.
步骤D：获取运动机构未发生移动时在指定物理坐标系下的位姿信息。Step D: Obtain the pose information in the specified physical coordinate system when the kinematic mechanism does not move.
示例性地，在本实施例中，在运动机构已经吸取动力电池防爆片或者还未吸取动力电池防爆片，但是还未发生移动时，记录该运动机构在指定物理坐标系下的位姿信息。For example, in this embodiment, when the movement mechanism has absorbed the power battery explosion-proof disc or has not absorbed the power battery explosion-proof disc, but has not yet moved, the posture information of the movement mechanism in the specified physical coordinate system is recorded.
这里，运动机构在指定物理坐标系下的位姿信息可以包括：运动机构在指定物理坐标系下的坐标和角度，在本实施例中，运动机构在指定物理坐标系下的位姿信息可以用运动机构中心点在指定物理坐标系下的位姿信息表征，本申请实施例并不具体限定。Here, the posture information of the moving mechanism in the designated physical coordinate system may include: the coordinates and angles of the moving mechanism in the designated physical coordinate system. In this embodiment, the posture information of the moving mechanism in the designated physical coordinate system can be used The representation of pose information of the center point of the motion mechanism in a specified physical coordinate system is not specifically limited by the embodiments of this application.
步骤E：基于运动机构在指定物理坐标系下的位姿信息、坐标偏移值以及角度偏移值确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息。Step E: Determine the target posture information required for the fit of the power battery explosion-proof disc and the power battery top cover based on the pose information, coordinate offset value and angular offset value of the motion mechanism in the specified physical coordinate system.
示例性地，在本实施例中，基于运动机构在指定物理坐标系下的位姿信息、坐标偏移值以及角度偏移值确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息具体可以为：Illustratively, in this embodiment, the target position required for the power battery explosion-proof disk to fit the power battery top cover is determined based on the posture information, coordinate offset value and angular offset value of the motion mechanism in the specified physical coordinate system. The posture information can specifically be:
AbsWorld＝OffWorld+TeachWorldAbsWorld=OffWorld+TeachWorld
AbsAngle＝OffAngle+TeachRAbsAngle=OffAngle+TeachR
其中，AbsWorld表示目标位姿信息的坐标；OffWorld表示坐标偏移值；TeachWorld表示运动机构在指定物理坐标系下的位姿信息中的坐标；AbsAngle表示目标位姿信息的角度；OffAngle表示角度偏移值；TeachR表示运动机构在指定物理坐标系下的位姿信息中的角度。Among them, AbsWorld represents the coordinates of the target pose information; OffWorld represents the coordinate offset value; TeachWorld represents the coordinates of the motion mechanism in the pose information in the specified physical coordinate system; AbsAngle represents the angle of the target pose information; OffAngle represents the angle offset. Value; TeachR represents the angle of the kinematic mechanism in the pose information in the specified physical coordinate system.
与前述方法的实施例相对应，本说明书还提供了装置及其所应用的终端的实施例。Corresponding to the foregoing method embodiments, this specification also provides embodiments of a device and a terminal to which it is applied.
如图3所示，图3是本申请实施例示出的一种装置的框图，该装置包括：As shown in Figure 3, Figure 3 is a block diagram of a device according to an embodiment of the present application. The device includes:
动力电池防爆片映射位姿信息获得模块，用于获得动力电池防爆片图像，将动力电池防爆片图像中动力电池防爆片的位姿信息映射到指定物理坐标系下，得到动力电池防爆片映射位姿信息；动力电池防爆片图像是通过已部署好的第一图像采集设备针对运动机构携带的动力电池防爆片采集的图像；The power battery explosion-proof disc mapping pose information acquisition module is used to obtain the power battery explosion-proof disc image, map the position and orientation information of the power battery explosion-proof disc in the power battery explosion-proof disc image to the specified physical coordinate system, and obtain the power battery explosion-proof disc mapping position. posture information; the image of the power battery explosion-proof disc is an image collected by the deployed first image acquisition device for the power battery explosion-proof disc carried by the moving mechanism;
动力电池顶盖映射位姿信息获得模块，用于获得动力电池顶盖图像，将动力电池顶盖图像中动力电池顶盖的位姿信息映射到指定物理坐标系下，得到动力电池顶盖映射位姿信息；动力电池顶盖图像是通过已部署好的第二图像采集设备针对工装载具携带的动力电池顶盖采集的图像；The power battery top cover mapping pose information acquisition module is used to obtain the power battery top cover image, map the power battery top cover pose information in the power battery top cover image to the specified physical coordinate system, and obtain the power battery top cover mapping position. Attitude information; the power battery top cover image is an image collected by the deployed second image acquisition device for the power battery top cover carried by the work loader;
贴合模块，用于基于动力电池防爆片映射位姿信息和动力电池顶盖映射位姿信息，确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息；基于目标位姿信息控制运动机构运动以使运动机构携带的动力电池防爆片与动力电池顶盖贴合。The fitting module is used to determine the target pose information required for fitting the power battery explosion-proof disc and the power battery top cover based on the mapping pose information of the power battery explosion-proof disc and the power battery top cover mapping pose information; based on the target pose information Control the movement of the movement mechanism so that the power battery explosion-proof disc carried by the movement mechanism fits the top cover of the power battery.
作为本申请实施例一个可选实施方式，上述指定物理坐标系为基于运动机构建立的运动机构物理坐标系；上述动力电池防爆片映射位姿信息获得模块具体用于：As an optional implementation method of the embodiment of this application, the above-mentioned specified physical coordinate system is a physical coordinate system of the motion mechanism established based on the motion mechanism; the above-mentioned power battery explosion-proof disk mapping pose information acquisition module is specifically used for:
基于已建立的第一图像采集设备与运动机构之间的第一映射标定矩阵，将动力电池防爆片图像中动力电池防爆片的位姿信息映射到运动机构物理坐标系下，得到动力电池防爆片映射位姿信息。Based on the established first mapping calibration matrix between the first image acquisition device and the moving mechanism, the position and orientation information of the power battery explosion-proof disc in the image of the power battery explosion-proof disc is mapped to the physical coordinate system of the moving mechanism to obtain the power battery explosion-proof disc. Mapping pose information.
作为本申请实施例一个可选实施方式，上述第一映射标定矩阵通过以下步骤建立：As an optional implementation method of the embodiment of this application, the above-mentioned first mapping calibration matrix is established through the following steps:
获得第一标定物体图像集和运动机构物理坐标集；任一第一标定物体图像是运动机构携带标定物体平移至第一图像采集设备视场内任一位置时，由第一图像采集设备采集的图像；运动机构物理坐标集包括：运动机构携带标定物体平移至第一图像采集设备视场内任一位置时该标定物体在运动机构物理坐标系中的坐标信息；Obtain the first calibration object image set and the physical coordinate set of the moving mechanism; any first calibration object image is collected by the first image acquisition device when the motion mechanism carries the calibration object and translates to any position within the field of view of the first image acquisition device. Image; the physical coordinate set of the motion mechanism includes: the coordinate information of the calibration object in the physical coordinate system of the motion mechanism when the motion mechanism carries the calibration object and translates to any position within the field of view of the first image acquisition device;
获得第二标定物体图像集；任一第二标定物体图像是运动机构携带标定物体旋转完成后由第一图像采集设备采集的图像；Obtain a second calibration object image set; any second calibration object image is an image collected by the first image acquisition device after the movement mechanism completes the rotation of the calibration object;
依据第一标定物体图像中标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息、标定物体在运动机构物理坐标系中的坐标信息、第二标定物体图像中标定物体在第一像素坐标系下的坐标信息，确定第一映射标定矩阵。According to the coordinate information of the calibration object in the first pixel coordinate system corresponding to the first image acquisition device in the first calibration object image, the coordinate information of the calibration object in the physical coordinate system of the motion mechanism, and the coordinate information of the calibration object in the second calibration object image. The coordinate information in a pixel coordinate system determines the first mapping calibration matrix.
作为本申请实施例一个可选实施方式，上述指定物理坐标系为基于运动机构建立的运动机构物理坐标系；上述动力电池顶盖映射位姿信息获得模块具体用于：As an optional implementation method of the embodiment of this application, the above-mentioned specified physical coordinate system is a physical coordinate system of the motion mechanism established based on the motion mechanism; the above-mentioned power battery top cover mapping pose information acquisition module is specifically used for:
基于已建立的第二图像采集设备与运动机构之间的第二映射标定矩阵，将动力电池顶盖图像中动力电池顶盖的位姿信息映射到运动机构物理坐标系下，得到动力电池顶盖映射位姿信息。Based on the established second mapping calibration matrix between the second image acquisition device and the motion mechanism, map the pose information of the power battery top cover in the image of the power battery top cover to the physical coordinate system of the motion mechanism to obtain the power battery top cover Mapping pose information.
作为本申请实施例一个可选实施方式，上述第二映射标定矩阵通过如下步骤确定：As an optional implementation method of the embodiment of this application, the above-mentioned second mapping calibration matrix is determined through the following steps:
获得第三标定物体图像，第三标定物体图像是第二图像采集设备对工装载具携带的标定物体进行采集得到的图像；Obtain a third calibration object image, where the third calibration object image is an image obtained by collecting the calibration object carried by the tool carrier by the second image acquisition device;
获得第四标定物体图像，第四标定物体图像是运动机构携带标定物体移动至第一图像采集设备视场内任一位置时，由第一图像采集设备采集的图像；Obtain a fourth calibration object image. The fourth calibration object image is an image collected by the first image acquisition device when the motion mechanism carries the calibration object and moves to any position within the field of view of the first image acquisition device;
基于第三标定物体图像中标定物体在第二图像采集设备对应的第二像素坐标系下的坐标信息、第四标定物体图像中标定物体在第一图像采集设备对应的第一像素坐标系下的坐标信息确定参考标定矩阵；Based on the coordinate information of the calibration object in the third calibration object image in the second pixel coordinate system corresponding to the second image acquisition device, and the coordinate information of the calibration object in the fourth calibration object image in the first pixel coordinate system corresponding to the first image acquisition device. The coordinate information determines the reference calibration matrix;
基于参考标定矩阵和已标定好的第一映射标定矩阵确定第二映射标定矩阵，第一映射标定矩阵为运动机构和第一图像采集设备的标定矩阵。The second mapping calibration matrix is determined based on the reference calibration matrix and the calibrated first mapping calibration matrix, where the first mapping calibration matrix is the calibration matrix of the motion mechanism and the first image acquisition device.
作为本申请实施例一个可选实施方式，上述贴合模块具体用于：As an optional implementation method of the embodiment of this application, the above-mentioned fitting module is specifically used for:
依据动力电池防爆片映射位姿信息中的角度和动力电池顶盖映射位姿信息中的角度确定角度偏移值；The angle offset value is determined based on the angle in the mapping posture information of the power battery explosion-proof disk and the angle in the mapping posture information of the power battery top cover;
依据角度偏移值确定动力电池防爆片的中心点与动力电池顶盖之间的旋转矩阵；Determine the rotation matrix between the center point of the power battery explosion-proof disc and the power battery top cover based on the angle offset value;
依据动力电池防爆片映射位姿信息中的坐标、动力电池顶盖映射位姿信息的坐标以及旋转矩阵确定坐标偏移值；The coordinate offset value is determined based on the coordinates in the mapping pose information of the power battery explosion-proof disc, the coordinates in the power battery top cover mapping pose information, and the rotation matrix;
获取运动机构未发生移动时在指定物理坐标系下的位姿信息；Obtain the pose information in the specified physical coordinate system when the kinematic mechanism does not move;
基于运动机构在指定物理坐标系下的位姿信息、坐标偏移值以及角度偏移值确定动力电池防爆片与动力电池顶盖贴合所需的目标位姿信息。Based on the posture information, coordinate offset value and angle offset value of the motion mechanism in the specified physical coordinate system, the target posture information required for the fit of the power battery explosion-proof disc and the power battery top cover is determined.
作为本申请实施例一个可选实施方式，该动力电池顶盖与动力电池防爆片的组装装置进一步包括：As an optional implementation of the embodiment of the present application, the assembly device of the power battery top cover and the power battery explosion-proof disk further includes:
停止运动模块，用于当在第二图像采集设备的视场中出现动力电池顶盖时，控制携带工装载具的传送带停止运动；A stop motion module, used to control the conveyor belt carrying the tool loader to stop moving when the power battery top cover appears in the field of view of the second image acquisition device;
继续运动模块，用于在动力电池防爆片与动力电池顶盖贴合后，控制传送带携带工装载具继续运动。The continuous movement module is used to control the conveyor belt to continue moving after the explosion-proof disk of the power battery is attached to the top cover of the power battery.
至此，完成图3所示框图的描述。At this point, the description of the block diagram shown in Figure 3 is completed.
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。For details on the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method, and will not be described again here.
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本说明书方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。As for the device embodiment, since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details. The device embodiments described above are only illustrative. The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they may be located in One place, or it can be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution in this specification. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
对应地，本申请实施例还提供了图3所示装置的硬件结构图，具体如图4所示，该电子设备可以为上述实施方法的设备。如图4所示，该硬件结构包括：处理器和存储器。Correspondingly, the embodiment of the present application also provides a hardware structure diagram of the device shown in Figure 3, specifically as shown in Figure 4. The electronic device can be the device for implementing the above method. As shown in Figure 4, the hardware structure includes: processor and memory.
其中，所述存储器，用于存储机器可执行指令；Wherein, the memory is used to store machine executable instructions;
所述处理器，用于读取并执行所述存储器存储的机器可执行指令，以实现如上所示的所对应的动力电池顶盖与动力电池防爆片的组装的方法实施例。The processor is configured to read and execute machine executable instructions stored in the memory to implement the corresponding method embodiment of assembling the power battery top cover and the power battery explosion-proof disc as shown above.
作为一个实施例，存储器可以是任何电子、磁性、光学或其它物理存储装置，可以包含或存储信息，如可执行指令、数据，等等。例如，存储器可以是：As one example, memory may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, and the like. For example, the memory can be:
易失存储器、非易失性存储器或者类似的存储介质。具体地，存储器可以是RAMVolatile memory, non-volatile memory or similar storage media. Specifically, the memory may be RAM
(Radom Access Memory，随机存取存储器)、闪存、存储驱动器(如硬盘驱动器)、固态硬盘、任何类型的存储盘(如光盘、DVD等)，或者类似的存储介质，或者它们的组合。(Radom Access Memory, random access memory), flash memory, storage drives (such as hard drives), solid state drives, any type of storage disk (such as optical disks, DVDs, etc.), or similar storage media, or a combination thereof.
至此，完成图4所示电子设备的描述。At this point, the description of the electronic device shown in Figure 4 is completed.
上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。The foregoing describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desired results. Additionally, the processes depicted in the figures do not necessarily require the specific order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain implementations.
本领域技术人员在考虑说明书及实践这里申请的发明后，将容易想到本说明书的其它实施方案。本说明书旨在涵盖本说明书的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本说明书的一般性原理并包括本说明书未申请的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本说明书的真正范围和精神由下面的权利要求指出。Other embodiments of the present disclosure will readily occur to those skilled in the art, upon consideration of the specification and practice of the invention claimed herein. This specification is intended to cover any modifications, uses or adaptations of this specification that follow the general principles of this specification and include common knowledge or common technical means in the technical field that are not applied in this specification. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the specification being indicated by the following claims.
应当理解的是，本说明书并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本说明书的范围仅由所附的权利要求来限制。It is to be understood that this specification is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of this specification is limited only by the appended claims.
以上所述仅为本说明书的较佳实施例而已，并不用以限制本说明书，凡在本说明书的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本说明书保护的范围之内。The above are only preferred embodiments of this specification and are not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included in this specification. within the scope of protection.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310711297.1ACN116748827A (en) | 2023-06-14 | 2023-06-14 | Assembling method and device for top cover and explosion-proof piece of power battery |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310711297.1ACN116748827A (en) | 2023-06-14 | 2023-06-14 | Assembling method and device for top cover and explosion-proof piece of power battery |
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| CN116748827Atrue CN116748827A (en) | 2023-09-15 |
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| CN202310711297.1APendingCN116748827A (en) | 2023-06-14 | 2023-06-14 | Assembling method and device for top cover and explosion-proof piece of power battery |
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