Method, device, computer equipment and storage medium for determining the height of a gripping device

Abstract

The present invention discloses a method, device, computer device, and storage medium for determining the height of a gripping device, relating to the field of positioning. The method comprises: obtaining the height of a single layer of a battery cell, the height of a single layer of each material, and the number of initial unloading layers; obtaining a first calculation relationship between the current layer number and the most recent unloading layer number based on the number of initial unloading layers of each material, and obtaining a second calculation relationship between the current layer number and the stacking quantity; obtaining the total number of stacking layers, and obtaining the most recent unloading layer number of the material based on the total number of stacking layers and the first calculation relationship; obtaining the stacking quantity of the material based on the total number of stacking layers, the most recent unloading layer number of the material, and the second calculation relationship; and determining the gripping height of the gripping device based on the total number of stacking layers, the stacking quantity of the material, the single layer height of the material, and the single layer height of the battery cell. Based on this, the present invention eliminates the need for manual setting of teaching points when the gripping device performs a gripping action.

Description

Technical Field

[0001] The present invention relates to the field of positioning, and in particular to a method and device for determining the height of a gripping device, a computer device, and a storage medium. Background Art

[0002] With the rapid development of robotics, automated gripping equipment such as robotic arms are widely used in industrial production. These grippers can quickly grasp and stack raw parts, improving production efficiency. Because grippers themselves cannot automatically determine the gripping height for stacking raw parts, technicians must use a teach pendant to input teach points into the gripper to adjust the gripping height, enabling the gripper to grasp and stack raw parts according to the taught points.

[0003] When stacking cells to form a battery pack, other materials such as foam and bulkheads need to be stacked using a gripper. The height of the cells and each material will be different, resulting in the need to input multiple teaching points into the gripper through the teach pendant. At the same time, manual teaching points are prone to errors, affecting the stacking effect of the cells. In addition, if the type of material or the height of the material changes during the stacking process, the teaching points need to be re-entered into the gripper through the teach pendant, which leads to low debugging efficiency of the gripper. Summary of the Invention

[0004] In view of this, the present invention provides a method and apparatus for determining the height of a gripping device, a computer device, and a storage medium, for improving the current low debugging efficiency of the gripping device.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining the height of a gripping device, comprising:

[0006] Get the single-layer height of the battery cell, the single-layer height of each material, and the number of initial discharge layers of each material;

[0007] According to the initial discharge layer number of each material, a first calculation relationship between the current layer number and the most recent discharge layer number of each material is obtained, and a second calculation relationship between the current layer number and the stacking quantity of each material is obtained;

[0008] Obtaining the total number of stacked layers, and obtaining the nearest discharge layer number of each material based on the total number of stacked layers and the first calculation relationship;

[0009] Obtaining the stacking quantity of each material based on the total number of stacking layers, the number of the most recent unloading layers of each material, and the second calculation relationship;

[0010] The gripping height of the gripping device is determined according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cells and the single-layer height of each material.

[0011] Optionally, in a feasible method provided in an embodiment of the present invention, the first calculation relationship is: for each of the materials, if the difference between the current layer number and the most recent discharge layer number of the material is equal to an integer multiple of the initial discharge layer number of the material, then the current layer number is assigned to the most recent discharge layer number of the previous material of the material, and the initial discharge layer number of the previous material of the material is less than the initial discharge layer number of the material.

[0012] Optionally, in a feasible method provided in an embodiment of the present invention, the second calculation relationship is: for each material, if the difference between the current number of layers and the most recently discharged number of layers of the material is equal to a positive integer multiple of the initial discharge number of the material, then the stacking quantity count of the material is increased by one.

[0013] Optionally, in a feasible manner provided in an embodiment of the present invention, obtaining the stacking quantity of each material based on the total number of stacking layers, the number of the most recent material-discharging layers of each material, and the second calculation relationship includes:

[0014] Substitute each layer number from the first stacking layer to the total stacking layer number into the second calculation relationship, and substitute the nearest discharge layer number of each material corresponding to each layer number into the second calculation relationship to obtain the stacking quantity of each material corresponding to the total stacking layer number.

[0015] Optionally, in a feasible manner provided by an embodiment of the present invention, obtaining the total number of stacked layers and obtaining the nearest discharge layer number of each material based on the total number of stacked layers and the first calculation relationship includes:

[0016] The total number of stacked layers is obtained, and each layer number corresponding to the first stacked layer to the total number of stacked layers is substituted into the first calculation relationship to obtain the nearest discharge layer number of each material corresponding to each layer.

[0017] Optionally, in a feasible manner provided by an embodiment of the present invention, the method further includes:

[0018] If the initial discharge layer number of each material is greater than the current layer number, the latest discharge layer number of each material is assigned a value of 0.

[0019] Optionally, in a feasible manner provided in an embodiment of the present invention, determining the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cell, and the single-layer height of each material includes:

[0020] Obtain a reference height of the gripping device, and determine the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cell, the single-layer height of each material, and the reference height.

[0021] In a second aspect, an embodiment of the present invention provides a device for determining the height of a gripping device, comprising:

[0022] Height acquisition module, used to obtain the height of a single layer of battery cells, the height of a single layer of each material, and the number of initial layers of each material;

[0023] a relationship obtaining module for obtaining, based on the initial discharge layer number of each material, a first calculation relationship between the current layer number and the most recent discharge layer number of each material, and a second calculation relationship between the current layer number and the stacking quantity of each material;

[0024] A layer number obtaining module is used to obtain the total number of stacked layers and obtain the nearest discharge layer number of each material based on the total number of stacked layers and the first calculation relationship;

[0025] a quantity obtaining module, configured to obtain the stacking quantity of each material based on the total number of stacking layers, the number of the most recent material discharge layers of each material, and the second calculation relationship;

[0026] The height determination module is used to determine the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cell and the single-layer height of each material.

[0027] In a third aspect, an embodiment of the present invention provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, it executes the height determination method of the grasping device disclosed in any one of the first aspects.

[0028] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is run on a processor, the method for determining the height of a gripping device as disclosed in any one of the first aspects is executed.

[0029] In the height determination method of the gripping device provided by an embodiment of the present invention, the single-layer height of the battery cell, the single-layer height of each material and the initial discharge layer number of each material are first obtained; then, based on the initial discharge layer number of each material, the relationship between the number of layers and the latest discharge layer number of the material is determined, that is, a first calculation relationship between the current number of layers and the latest discharge layer number of each material is obtained, and at the same time, the relationship between the number of layers and the stacking quantity of the material is determined, that is, a second calculation relationship between the current number of layers and the stacking quantity of each material is obtained; then, the total number of stacking layers is obtained, and based on the total number of stacking layers and the first calculation relationship, the latest discharge layer number of each material is obtained; thereafter, based on the total number of stacking layers, the latest discharge layer number of each material and the second calculation relationship, the stacking quantity of each material is obtained; finally, the gripping height of the gripping device is determined based on the total number of stacking layers, the stacking quantity of each material, the single-layer height of the battery cell and the single-layer height of each material. Based on this, the embodiment of the present invention is based on the relationship between material stacking and the number of stacking layers, so that the grasping device can automatically confirm the corresponding grasping height when performing the grasping action, thereby eliminating the need for manual calibration of the grasping device or setting teaching points, thereby reducing the number of debugging times of the grasping device and improving the working efficiency of the grasping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0031] Figure 1 A schematic flow chart of a first method for determining the height of a gripping device provided by an embodiment of the present invention is shown;

[0032] Figure 2 A schematic flow chart of a second method for determining the height of a gripping device provided by an embodiment of the present invention is shown;

[0033] Figure 3 A schematic flow chart of a third method for determining the height of a gripping device provided in an embodiment of the present invention is shown;

[0034] Figure 4 A schematic structural diagram of a height determination device for a gripping device provided in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the figures is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are intended to be within the scope of protection of the present invention.

[0037] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0038] Furthermore, the terms “first,” “second,” “third,” etc., are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0039] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present invention pertain. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as in the context of the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present invention.

[0040] Example 1

[0041] Please refer to Figure 1 , shows a schematic flow chart of a first method for determining the height of a gripping device provided by an embodiment of the present invention. The method for determining the height of a gripping device provided by an embodiment of the present invention includes:

[0042] Step S110, obtaining the single-layer height of the battery cell, the single-layer height of each material, and the number of initial discharge layers of each material.

[0043] It should be understood that in the scenario where stacked battery cells constitute a battery pack, the stacking of the stacked battery cells usually only changes in height, and the change in height is related to the various types of stacked items, that is, it is associated with the stacked battery cells and materials. Therefore, the embodiment of the present invention will first obtain the single-layer height of the battery cells, the single-layer height of each material, and the initial number of layers of each material, and then in the subsequent process determine where the grasping device should start to perform the grasping action based on the height of the various stacked items.

[0044] It should also be understood that the number of initial layers in the embodiments of the present invention refers to the number of layers of any material that is first stacked in the battery pack. For example, assuming that the material only includes foam, and when stacking battery cells to form a battery pack, only 6 layers of battery cells and 2 layers of foam are required, and that after each two layers of battery cells are stacked, one layer of foam is required. In this example, layers 1 to 2 are battery cells, and layer 3 is foam. Layer 3 is the number of layers of foam that are first stacked in the battery pack, so the number of initial layers of foam is 3.

[0045] Furthermore, it should be noted that in the process of stacking cells to form a battery pack under the prior art, the iteration order of each object in the battery pack is fixed. Therefore, the number of initial layers in the embodiments of the present invention is not only used to indicate the number of layers of material stacked in the battery pack for the first time, but also used to indicate the number of layers of material appearing in the interval of the battery pack. For example, assuming that the material only includes foam, and when stacking cells to form a battery pack, only cells and foam need to be stacked, and the number of initial layers of foam is 3, then in this example, layers 1 to 2 are cells, layer 3 is foam, layers 4 to 5 are cells, layer 6 is foam, layers 7 to 8 are cells, layer 9 is foam, and so on.

[0046] It should also be understood that the method for obtaining the single-layer height of the battery cell, the single-layer height of each material, and the number of initial discharge layers of each material in the embodiment of the present invention can be set according to actual conditions. For example, in a feasible method provided in an embodiment of the present invention, the single-layer height of the battery cell, the single-layer height of each material, and the number of initial discharge layers of each material are all obtained based on the parameters input by the staff.

[0047] Step S120, based on the initial discharge layer number of each material, obtain a first calculation relationship between the current layer number and the most recent discharge layer number of each material, and a second calculation relationship between the current layer number and the stacking quantity of each material.

[0048] Specifically, this embodiment of the present invention determines the relationship between the last / most recent layer number of each material placed and the current layer number based on the initial layer number of each material. This relationship is a first calculation relationship between the current layer number and the most recent layer number of each material placed. Simultaneously, this embodiment of the present invention also determines a second calculation relationship between the current layer number and the stacking quantity of each material.

[0049] Optionally, in a feasible method provided in an embodiment of the present invention, the first calculation relationship is: for each of the materials, if the difference between the current layer number and the most recent discharge layer number of the material is equal to an integer multiple of the initial discharge layer number of the material, then the current layer number is assigned to the most recent discharge layer number of the previous material of the material, and the initial discharge layer number of the previous material of the material is less than the initial discharge layer number of the material.

[0050] That is, if the current layer number matches the initial layer number of the material, or is an integer multiple of the initial layer number of the material, then the material should be placed on the current layer number. At the same time, the current layer number is used as the closest layer number of the previous / previous material of the material. It should be noted that the initial layer number of the previous material must be smaller than the initial layer number of the current material. For example, if the initial layer number of material A is 3 and the initial layer number of material B is 4 during the stacking process, then material A is the previous / previous material of material B.

[0051] Furthermore, the embodiment of the present invention sets the most recent material placement layer of the previous material as the current layer, which indicates that the previous material has been placed before the current layer. Therefore, in the process of stacking each material according to the placement order of each material, since the previous material of the current material has been placed before the current layer, the current material will be placed at the current layer.

[0052] For example, let the initial discharge layer number of the nth material be bn, the latest discharge layer number of the nth material be Cn and Cn defaults to 0, and the current layer number be a; if (a-Cn) / bn=1, that is, the difference (a-Cn) between the current layer number a and the latest discharge layer number Cn of the nth material is an integer multiple of the initial discharge layer number bn of the nth material, then the latest discharge layer numbers of materials 1 to n-1 are all set to a, that is, C1 to Cn-1 are all set to a.

[0053] To more clearly illustrate the first calculation relationship disclosed in the embodiments of the present invention, please refer to this example: Assume that during the battery stacking process, battery cells, foam No. 1, foam No. 2, and foam No. 3 need to be stacked in order based on the placement order. The initial stacking layer b1 of foam No. 1 is 5, the initial stacking layer b2 of foam No. 2 is 6, and the initial stacking layer b3 of foam No. 3 is 12. Because foam No. 1 to foam No. 3 have not been placed before the battery stacking process begins, the nearest discharge layers C1 to C3 corresponding to foam No. 1 to foam No. 3 are defaulted to 0. Therefore, when stacking the 5th, 6th, and 12th layers, that is, when the current layer number a is 5, 6, and 12, respectively, the following situations exist.

[0054] When a=5, if and only if (a-C1) / b1=(5-0) / 5=1, foam No. 1 will be placed on the 5th layer; it should be clear that based on the placement order, it can be seen that foam No. 1 does not have its corresponding previous material, so when a is 5, the nearest discharge layer of any material will not change.

[0055] When a=6, (a-C1) / b1=(6-6) / 5=0, (a-C2) / b2=(6-0) / 6=1. It can be seen that foam No. 2 will be placed on the 6th layer, and the most recent discharge layer of the previous material of foam No. 2 will be assigned a, that is, the most recent discharge layer C1 of foam No. 1 will be assigned 6.

[0056] When a=12, (a-C1) / b1=(12-6) / 5=6 / 5≠1, (a-C2) / b2=(12-0) / 6=1, (a-C3) / b3=(12-0) / 12=1. It can be seen that foam No. 3 will be placed on the 12th layer, and the nearest discharge layer of the previous material of foam No. 3 will be assigned a, that is, the nearest discharge layers C1 and C2 of foam No. 1 and foam No. 2 will both be assigned 12.

[0057] Furthermore, based on the aforementioned first calculation relationship, in a feasible method provided in an embodiment of the present invention, the second calculation relationship is: for each of the materials, if the difference between the current number of layers and the most recent number of layers of the material is equal to a positive integer multiple of the initial number of layers of the material, then the stacking quantity count of the material is increased by one.

[0058] That is, when the current layer is an integer multiple of the material's initial unloading layer, the most recent unloading layer of the previous material is the current layer. Furthermore, at the current layer, the difference between the current layer and the most recent unloading layer of the previous material is a positive integer multiple of the material's initial unloading layer. For the previous material, the current layer is consistent with the most recent unloading layer of any previous material, and the difference is 0. Therefore, the current layer must be the layer where the material needs to be placed, and therefore the stacking quantity of the material, and the gripper will grab the material and place it at the current layer.

[0059] For example, let the current layer be a, the most recent discharge layer of the nth material be Cn and Cn defaults to 0, the initial discharge layer of the nth material be bn, the stacking quantity of the nth material is Xn, and the current layer be a; if (a-Cn) / bn=1, then the most recent discharge layers of materials 1 to n-1 are all set to a, that is, C1 to Cn-1 are all set to a, and Cn is still 0; because only (a-Cn) / bn=a / bn>=1, so Xn=Xn+1.

[0060] To better illustrate the second calculation relationship disclosed in the embodiment of the present invention, the previous example "assuming that in the process of stacking battery packs, it is necessary to stack battery cells, foam No. 1, foam No. 2, and foam No. 3 in sequence based on the placement order... Therefore, the nearest discharge layers C1 to C3 corresponding to foam No. 1 to foam No. 3 are respectively set to 0 by default" is explained as follows:

[0061] Because foams 1 to 3 have not been placed before the battery pack stacking process begins, the stacking numbers Z1 to Z3 corresponding to foams 1 to 3 are all 0. Furthermore, when the current layer number a is 5, 6, and 12, the following situations occur.

[0062] When a is 5, the stacking quantity of foam No. 1 is Z1=Z1+1=1 if and only if (a-C1) / b1=5 / 5=1.

[0063] When a=6, (a-C1) / b1=(6-0) / 5=6 / 5, (a-C2) / b2=(6-0) / 6=1, so C1 will be assigned a value of 6, and then (a-C1) / b1=(6-6) / 5=0, (a-C2) / b2=(6-0) / 6=1, therefore, based on Z1=1, the stacking quantity of foam No. 2 Z2=Z2+1=1.

[0064] When a=12, (a-C1) / b1=(12-6) / 5=6 / 5≠1, (a-C2) / b2=(12-0) / 6=1, (a-C3) / b3=(12-0) / 12=1, so C1 and C2 will both be assigned a value of 12, and then (a-C1) / b1=(12-12) / 5=0, (a-C2) / b2=(12-12) / 6=0, (a-C3) / b3=(12-0) / 12=1, therefore, based on Z1=1 and Z2=1, the stacking quantity of foam No. 3 Z3=Z3+1=1.

[0065] Optionally, in a feasible method provided by an embodiment of the present invention, if the initial discharge layer number of each material is greater than the current layer number, the most recent discharge layer number of each material is assigned to 0.

[0066] It can be understood that when the grasping device is performing a stacking task such as stacking battery packs, it first stacks a certain number of battery cells and then stacks other materials. Therefore, before a certain number of battery cells are placed / stacking, any material is in an unplaced / unstacked state. For this reason, the embodiment of the present invention sets the initial value of the nearest discharge layer of any material to 0, thereby ensuring that the grasping device can obtain the correct grasping height.

[0067] Step S130, obtaining the total number of stacked layers, and obtaining the nearest discharge layer number of each material according to the total number of stacked layers and the first calculation relationship.

[0068] That is, the embodiment of the present invention will continuously calculate the nearest discharge layer number of each material under the current layer number based on the total number of stacking layers and the first calculation relationship, and then complete the subsequent stacking / placement according to the nearest discharge layer number.

[0069] Optionally, in a feasible method provided in an embodiment of the present invention, please refer to Figure 2 , which shows a flow chart of a second method for determining the height of a gripping device provided by an embodiment of the present invention, that is, for the above-mentioned step S130, in this feasible manner, specifically including:

[0070] Step S131, obtaining the total number of stacked layers, and substituting each layer number corresponding to the first stacked layer to the total number of stacked layers into the first calculation relationship to obtain the nearest discharge layer number of each material corresponding to each layer.

[0071] That is, the embodiment of the present invention will start from the first stacking layer, calculate the number of the most recent material release layers corresponding to each layer layer by layer, and update the number of the most recent material release layers corresponding to the previous layer based on the number of the most recent material release layers corresponding to the next layer, thereby completing the last layer, that is, the number of the most recent material release layers corresponding to the total number of stacking layers.

[0072] Step S140: Obtain the stacking quantity of each material based on the total number of stacking layers, the number of the most recent discharge layers of each material, and the second calculation relationship.

[0073] That is, after obtaining the most recent number of discharge layers for each material, the embodiment of the present invention will determine the stacking quantity of each material based on the second calculation relationship obtained in the aforementioned step S120 and in combination with the total number of stacking layers.

[0074] In addition, it should be noted that if the stacking process involves the stacking of objects other than materials, such as battery cells, then after calculating the stacking number of each material, the embodiment of the present invention will also obtain the stacking number of battery cells based on the difference between the total number of stacking layers and the sum of the stacking numbers of each material.

[0075] Optionally, in a feasible manner provided in an embodiment of the present invention, step S140 specifically includes:

[0076] Substitute each layer number from the first stacking layer to the total stacking layer number into the second calculation relationship, and substitute the nearest discharge layer number of each material corresponding to each layer number into the second calculation relationship to obtain the stacking quantity of each material corresponding to the total stacking layer number.

[0077] That is, the embodiment of the present invention will start from the first layer, calculate the corresponding stacking quantity layer by layer, and gradually update the stacking quantity of each material based on the calculation results of each layer. Then, after completing the calculation of the last layer, that is, the calculation corresponding to the total number of stacking layers, the final stacking quantity of each material is obtained.

[0078] Step S150: determining a gripping height of a gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cells, and the single-layer height of each material.

[0079] That is, once the stacking quantity and single-layer height of each material are known, the height of all the stacked materials can be calculated. After determining the number of battery cell stacking layers based on the total number of stacked layers and the stacking quantity of each material, the height of the stacked cells can be calculated based on the single-layer height and the number of stacked layers. Thus, based on the height of all the stacked materials and the height of the stacked cells, the total height, or the gripping height of the gripping device, can be calculated.

[0080] Optionally, in a feasible method provided in an embodiment of the present invention, please refer to Figure 3 , which shows a flow chart of a third method for determining the height of a gripping device provided by an embodiment of the present invention, that is, for the above-mentioned step S150, in this feasible manner, specifically including:

[0081] Step S151, obtaining a reference height of the gripping device, and determining the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cell, the single-layer height of each material and the reference height.

[0082] That is, the embodiment of the present invention completes the calculation of the grasping height based on the reference height of the grasping device on the basis of the original step S150, thereby avoiding the phenomenon that the grasping height is lower than the actual situation due to ignoring the height factor of the grasping device itself, and ensuring that the grasping device can correctly perform the grasping and placement actions.

[0083] The height determination method of the gripping device provided in an embodiment of the present invention is based on the relationship between the material stacking and the number of stacking layers, so that the gripping device can automatically confirm the corresponding gripping height when performing a gripping action. This eliminates the need for manual calibration of the gripping device or setting of teaching points, thereby reducing the number of debugging times for the gripping device and improving the working efficiency of the gripping device.

[0084] Example 2

[0085] Corresponding to the method for determining the height of the gripping device provided in Example 1 of the present invention, Example 2 of the present invention provides a device for determining the height of the gripping device. For details, please refer to Figure 4 , shows a schematic structural diagram of a device for determining the height of a gripping device provided in an embodiment of the present invention. The device 200 for determining the height of a gripping device provided in an embodiment of the present invention includes:

[0086] Height acquisition module 210, used to obtain the height of a single layer of battery cells, the height of a single layer of each material, and the number of initial discharge layers of each material;

[0087] a relationship obtaining module 220 for obtaining, based on the initial discharge layer number of each material, a first calculation relationship between the current layer number and the most recent discharge layer number of each material, and a second calculation relationship between the current layer number and the stacking quantity of each material;

[0088] The layer number obtaining module 230 is used to obtain the total number of stacked layers and obtain the nearest discharge layer number of each material based on the total number of stacked layers and the first calculation relationship;

[0089] A quantity obtaining module 240 is configured to obtain the stacking quantity of each material based on the total number of stacking layers, the number of the most recent material discharge layers of each material, and the second calculation relationship;

[0090] The height determination module 250 is used to determine the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cells and the single-layer height of each material.

[0091] Optionally, in a feasible method provided in an embodiment of the present invention, the first calculation relationship is: for each of the materials, if the difference between the current layer number and the most recent discharge layer number of the material is equal to an integer multiple of the initial discharge layer number of the material, then the current layer number is assigned to the most recent discharge layer number of the previous material of the material, and the initial discharge layer number of the previous material of the material is less than the initial discharge layer number of the material.

[0092] Optionally, in a feasible method provided in an embodiment of the present invention, the second calculation relationship is: for each material, if the difference between the current number of layers and the most recently discharged number of layers of the material is equal to a positive integer multiple of the initial discharge number of the material, then the stacking quantity count of the material is increased by one.

[0093] Optionally, in a feasible method provided in an embodiment of the present invention, the quantity obtaining module is also used to substitute each layer number corresponding to the first stacking layer to the total number of stacking layers into the second calculation relationship, and substitute the nearest discharge layer number of each material corresponding to each layer number into the second calculation relationship to obtain the stacking quantity of each material corresponding to the total number of stacking layers.

[0094] Optionally, in a feasible method provided in an embodiment of the present invention, the layer number obtaining module is also used to obtain the total number of stacked layers, and substitute each layer number corresponding to the first stacked layer to the total number of stacked layers into the first calculation relationship to obtain the nearest discharge layer number of each material corresponding to each layer.

[0095] Optionally, in a feasible manner provided by an embodiment of the present invention, the device further includes:

[0096] The assignment module is used to assign the most recent discharge layer number of each material to 0 if the initial discharge layer number of each material is greater than the current layer number.

[0097] Optionally, in a feasible method provided in an embodiment of the present invention, the height determination module is also used to obtain a reference height of the gripping device, and determine the gripping height of the gripping device based on the total number of stacking layers, the stacking quantity of each material, the single-layer height of the battery cell, the single-layer height of each material and the reference height.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or flowchart, and the combination of boxes in the structure diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0099] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0100] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0101] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. A method for determining the height of a gripping device, characterized in that: include: Get the single-layer height of the battery cell, the single-layer height of each material, and the number of initial discharge layers of each material; According to the initial discharge layer number of each material, a first calculation relationship between the current layer number and the most recent discharge layer number of each material is obtained, and a second calculation relationship between the current layer number and the stacking quantity of each material is obtained; Obtaining the total number of stacked layers, and obtaining the nearest discharge layer number of each material based on the total number of stacked layers and the first calculation relationship; Obtaining the stacking quantity of each material based on the total number of stacking layers, the number of the most recent unloading layers of each material, and the second calculation relationship; Determining a gripping height of a gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cells, and the single-layer height of each material; The first calculation relationship is: for each material, if the difference between the current layer number and the most recent layer number of the material is equal to an integer multiple of the initial layer number of the material, then the current layer number is assigned to the most recent layer number of the material before the material, and the initial layer number of the material before the material is less than the initial layer number of the material; The second calculation relationship is: for each material, if the difference between the current layer number and the most recent layer number of the material is equal to a positive integer multiple of the initial layer number of the material, the stacking quantity count of the material is increased by one.

2. The method for determining the height of a gripping device according to claim 1, wherein: The obtaining of the stacking quantity of each material based on the total number of stacking layers, the number of the nearest unloading layers of each material, and the second calculation relationship includes: Substitute each layer number from the first stacking layer to the total stacking layer number into the second calculation relationship, and substitute the nearest discharge layer number of each material corresponding to each layer number into the second calculation relationship to obtain the stacking quantity of each material corresponding to the total stacking layer number.

3. The method for determining the height of a gripping device according to claim 1, wherein: The acquiring of the total number of stacked layers and obtaining the nearest discharge layer number of each material according to the total number of stacked layers and the first calculation relationship includes: The total number of stacked layers is obtained, and each layer number corresponding to the first stacked layer to the total number of stacked layers is substituted into the first calculation relationship to obtain the nearest discharge layer number of each material corresponding to each layer.

4. The method for determining the height of a gripping device according to claim 1, wherein: The method further comprises: If the initial discharge layer number of each material is greater than the current layer number, the latest discharge layer number of each material is assigned a value of 0.

5. The method for determining the height of a gripping device according to claim 1, wherein: The determining of the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cells, and the single-layer height of each material includes: Obtain a reference height of the gripping device, and determine the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cell, the single-layer height of each material, and the reference height.

6. A device for determining the height of a gripping device, characterized in that: include: Height acquisition module, used to obtain the height of a single layer of battery cells, the height of a single layer of each material, and the number of initial layers of each material; a relationship obtaining module for obtaining, based on the initial discharge layer number of each material, a first calculation relationship between the current layer number and the most recent discharge layer number of each material, and a second calculation relationship between the current layer number and the stacking quantity of each material; A layer number obtaining module is used to obtain the total number of stacked layers and obtain the nearest discharge layer number of each material based on the total number of stacked layers and the first calculation relationship; a quantity obtaining module, configured to obtain the stacking quantity of each material based on the total number of stacking layers, the number of the most recent material discharge layers of each material, and the second calculation relationship; A height determination module is used to determine the gripping height of the gripping device according to the total number of stacked layers, the stacking quantity of each material, the single-layer height of the battery cell, and the single-layer height of each material; The first calculation relationship is: for each material, if the difference between the current layer number and the most recent layer number of the material is equal to an integer multiple of the initial layer number of the material, then the current layer number is assigned to the most recent layer number of the material before the material, and the initial layer number of the material before the material is less than the initial layer number of the material; The second calculation relationship is: for each material, if the difference between the current layer number and the most recent layer number of the material is equal to a positive integer multiple of the initial layer number of the material, the stacking quantity count of the material is increased by one.

7. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method for determining the height of the gripping device according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining the height of a gripping device according to any one of claims 1 to 5 is implemented.

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