A battery stacking positioning method and device, storage medium and electronic equipment

Abstract

The present disclosure provides a battery stacking positioning method and device, a storage medium and an electronic device, and relates to the technical field of automatic packaging. At a battery taking position, a robot hand is controlled to grab a plurality of batteries; at a battery placing position, whether a to-be-placed battery pit in a foam shell is in a placeable state is detected by a double camera of the robot hand; if the to-be-placed battery pit is in the placeable state, a current image array of the to-be-placed battery pit is obtained; an offset array is determined according to the current image array and a preset reference image array; the robot hand is corrected according to the offset array; and the plurality of batteries are placed into the to-be-placed battery pit by the corrected robot hand. The present disclosure ensures accurate placement of the robot hand when the batteries are stacked, and improves the efficiency of battery stacking.

Description

Technical Field

[0001] This disclosure relates to the field of automated packaging technology, and in particular to a battery palletizing and positioning method, apparatus, storage medium and electronic equipment. Background Technology

[0002] With the development of modern industry, many companies have adopted automated production processes. In the battery manufacturing industry, after the batteries are manufactured, they need to be packed into foam shells and stacked in multiple layers to protect them and facilitate transportation. However, currently, battery packing mainly relies on manual stacking, which is inefficient and affects subsequent production processes.

[0003] To automate the sorting and packaging process, a robotic arm is used to pick up batteries and place them into the battery slots within the foam casing. To improve efficiency, multiple batteries are typically picked up and placed at a time. However, this can lead to issues where the robotic arm cannot accurately place the batteries into their corresponding slots or places them incorrectly, resulting in incomplete battery placement and low overall battery stacking efficiency.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a battery stacking and positioning method, apparatus, storage medium, and electronic device, which at least to some extent overcomes the problems of inaccurate battery stacking and low efficiency caused by related technologies.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to one aspect of this disclosure, a battery palletizing and positioning method is provided, applied to a battery grading and packaging equipment, the method comprising:

[0008] At the battery picking position, the robotic arm is controlled to grab multiple batteries;

[0009] At the battery feeding position, the robotic arm uses dual cameras to detect whether the battery slots in the foam shell are ready for feeding.

[0010] If the battery pit to be filled is in a ready-to-fill state, then obtain the current image array of the battery pit to be filled.

[0011] The offset array is determined based on the current image array and the preset reference image array;

[0012] The robotic arm is corrected according to the offset array;

[0013] The calibrated robotic arm places the multiple batteries into the battery slots to be filled.

[0014] In one embodiment of this disclosure, the step of acquiring the preset reference image array includes:

[0015] The preset positions for the robotic arm's dual cameras to capture images of the test foam shell are determined in advance, wherein the preset positions are above multiple corners of the test foam shell;

[0016] The robotic arm uses dual cameras to take pictures of several battery pits at each corner position at the preset location, and determines the corresponding multiple calibration coordinates;

[0017] The robotic arm uses the dual cameras to move several times according to a preset movement method, based on the multiple calibration coordinates, to obtain multiple sets of corresponding calibration coordinates.

[0018] The multiple sets of preset calibration coordinates are transformed into the robot coordinate system to obtain the preset reference image array.

[0019] In one embodiment of this disclosure, the step of detecting whether the battery slot in the foam shell is ready for placement using a robotic arm with dual cameras at the battery placement position includes:

[0020] The image of the battery slot to be placed in the foam shell is obtained by taking pictures of the slots in the foam shell using the dual cameras of the robotic arm;

[0021] Image analysis is performed on the pit image to obtain the grayscale value of the battery pit to be placed in the foam shell;

[0022] Based on whether the grayscale value is within the preset grayscale threshold range, it is determined whether the battery pit to be fed is in a state where it can be fed.

[0023] In one embodiment of this disclosure, if the battery pit to be filled is in a fillable state, then acquiring the current image array of the battery pit to be filled includes:

[0024] The robotic arm uses dual cameras to photograph the battery pits to be placed, and determines the corresponding current calibration coordinates. Each battery pit in the battery pits to be placed corresponds one-to-one with the plurality of batteries.

[0025] The current calibration coordinates are transformed into the robot coordinate system based on the preset reference image array to generate the current image array.

[0026] In one embodiment of this disclosure, the step of gripping multiple batteries at the battery picking location using a robotic arm camera includes:

[0027] The robotic arm uses dual cameras to capture images of the battery to be grasped.

[0028] Based on the image of the battery to be grabbed, determine the fixed grab position;

[0029] The robotic arm uses its camera to grasp the multiple batteries at the fixed gripping positions.

[0030] In one embodiment of this disclosure, the method further includes:

[0031] Before the robotic arm places the plurality of batteries, the orientation of the pit of the battery to be placed is detected;

[0032] Determine whether to rotate the robotic arm by a preset angle based on the direction of the pit.

[0033] In one embodiment of this disclosure, the calibration coordinates are the center points of several battery pits at each corner position.

[0034] According to another aspect of this disclosure, a battery palletizing and positioning device is provided, comprising:

[0035] The gripping module is used to control the robotic arm to grip multiple batteries at the battery picking position;

[0036] The battery feeding detection module is used to detect whether the battery slot in the foam shell is ready to be fed at the battery feeding position using a robotic arm with dual cameras.

[0037] The array acquisition module is used to acquire the current image array of the battery pit to be placed if the battery pit to be placed is in a placeable state.

[0038] An offset determination module is used to determine an offset array based on the current image array and a preset reference image array.

[0039] A calibration module is used to calibrate the robotic arm according to the offset array;

[0040] The feeding module is used to place the plurality of batteries into the battery slots to be fed by a calibrated robotic arm.

[0041] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0042] Processor; and

[0043] Memory for storing the executable instructions of the processor;

[0044] The processor is configured to execute any of the above-described battery stacking and positioning methods by executing the executable instructions.

[0045] According to another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the battery palletizing and positioning method described in any of the preceding claims.

[0046] This disclosure provides a battery palletizing and positioning method applied to a battery grading and packaging equipment. At the battery picking position, a robotic arm is controlled to grab multiple batteries, employing a one-grab-many approach during palletizing, placing multiple batteries in a designated foam shell at once and completing the palletizing process. At the battery placement position, the robotic arm uses dual cameras to detect whether the battery slots in the foam shell are ready for placement. This prevents occupied battery slots from affecting the overall packaging process, necessitating advance detection of the battery slot status. If the battery slot is ready for placement, a current image array of the slot is acquired. This current image array reflects the battery slot position on the foam shell and serves as a reference for the robotic arm's placement. An offset array is determined based on the current image array and a preset reference image array. The robotic arm is then corrected based on this offset array and compared with a preset template to obtain the current image array's offset. This offset is then converted to the robotic arm's coordinate system for correction and adjustment. The corrected robotic arm then places the multiple batteries into the designated battery slots. This ensures that the robotic arm can accurately place the batteries into the battery slots inside the foam shell, guaranteeing precise placement of battery stacking and improving battery stacking efficiency.

[0047] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0048] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0049] Figure 1 This diagram illustrates a flow chart of a battery palletizing and positioning method according to an embodiment of the present disclosure.

[0050] Figure 2 This diagram illustrates another battery palletizing and positioning method according to an embodiment of the present disclosure.

[0051] Figure 3This is a schematic diagram of the interface during the shooting of a foam shell for battery palletizing and positioning in an embodiment of the present disclosure;

[0052] Figure 4 This diagram illustrates a flowchart of yet another battery palletizing and positioning method according to an embodiment of the present disclosure.

[0053] Figure 5 This diagram illustrates a structural schematic of a battery palletizing and positioning device according to an embodiment of the present disclosure; and

[0054] Figure 6 A structural block diagram of a computer device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0055] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0056] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0057] The solution provided in this application is illustrated through the following embodiments:

[0058] Figure 1 This is a schematic flowchart of a battery palletizing and positioning method provided in an exemplary embodiment of this application. According to one aspect of this disclosure, a battery palletizing and positioning method is provided, applied to a battery grading and packaging equipment, the method comprising:

[0059] Step S101: At the battery picking position, control the robotic arm to pick up multiple batteries;

[0060] The robotic arm is equipped with a camera, at least one of which takes pictures of the battery at the picking position when picking up batteries. This fixes the gripping position of the battery, ensuring that the battery is in the same position relative to the robotic arm after each picking. The robotic arm also uses a one-to-many gripping method to improve the battery stacking efficiency.

[0061] In a specific example, step S101 includes:

[0062] The robotic arm uses dual cameras to capture images of the battery to be grasped.

[0063] Among them, the image of the battery to be picked up is the location of the battery being picked up, which is captured by the robot before each pick-up.

[0064] Based on the image of the battery to be grabbed, determine the fixed grab position;

[0065] Optionally, the robotic gripper design can use a single upper side of the battery as a reference for gripping. For example, the middle position of the upper side can be used as a fixed gripping position. The specific fixed gripping position can be set according to the needs of the actual operation scenario for convenient gripping.

[0066] The robotic arm uses its camera to grasp the multiple batteries at the fixed gripping positions.

[0067] Specifically, a fixed gripping position ensures the battery's position remains relatively constant, and the mechanical gripper maintains a relatively fixed position relative to the battery after gripping. A multi-grip method is used, and multiple batteries are placed into the battery slots within the foam casing accordingly, improving battery stacking efficiency.

[0068] Step S102: At the battery feeding position, the robotic arm uses dual cameras to detect whether the battery slots in the foam shell are ready for feeding.

[0069] Specifically, after the battery sorting and packaging equipment stops, pauses, and restarts, the foam shells need to be photographed and inspected multiple times before batteries are placed in them to ensure that no batteries have been placed on them. If a battery has already been placed in a foam shell, it cannot be used for further loading. If no battery is placed in a foam shell, it is considered ready for loading. Pre-inspecting the stacked foam shells ensures the smooth progress of subsequent palletizing operations.

[0070] Step S103: If the battery pit to be filled is in a filling state, then obtain the current image array of the battery pit to be filled.

[0071] Optionally, in this embodiment, two cameras are installed on the robotic arm. The cameras detect the placement of batteries during the battery placement process to ensure accuracy. The robotic arm's cameras inspect the interior of the foam shell, determining the current image array corresponding to a qualified foam shell. This current image array reflects the point array information of each battery pit on the qualified foam shell, which can be used to generate the robotic arm's material placement array points. This facilitates control of the robotic arm's material placement operation and ensures the accuracy of battery placement.

[0072] Step S104: Determine the offset array based on the current image array and the preset reference image array;

[0073] Specifically, the preset reference image array is also a pre-calibrated comparison image array used as a reference state. By comparing the current image array with the preset reference image array, and then comparing the point arrays in the current image array with those in the preset reference image array, the offset array of the current image array relative to the preset reference image array can be determined. Both the current image array and the preset reference image array are unified under the robot's coordinate system, which allows the offset array of the robot's coordinates to be determined.

[0074] Step S105: Correct the robotic arm according to the offset array;

[0075] The robot arm is calibrated using an offset array. The position of the robot arm can be moved according to the offset array. The robot arm is calibrated once after each battery grab and before placing it. The offset array includes the offset data before each placement of the robot arm.

[0076] Step S106: The calibrated robotic arm places the plurality of batteries into the battery slots to be filled.

[0077] This ensures that the robotic arm can accurately place batteries into the designated slots within the qualified foam casing. This guarantees precise placement during palletizing and improves battery palletizing efficiency.

[0078] The battery palletizing and positioning method provided in this embodiment is applied to a battery grading and packaging equipment. At the battery picking position, a robotic arm is controlled to grab multiple batteries, employing a one-grab-many approach during battery palletizing, placing multiple batteries in the foam shell at once. At the battery placement position, the robotic arm uses dual cameras to detect whether the battery slots in the foam shell are ready for placement, preventing occupied slots from affecting the palletizing process. The status of the battery slots needs to be detected in advance. If the battery slot is ready for placement, a current image array of the slot is acquired. This current image array reflects the battery slot positions on the foam shell and serves as a reference for the robotic arm placement. An offset array is determined based on the current image array and a preset reference image array. The robotic arm is then corrected based on this offset array and compared with a preset template to obtain the current image array offset. This offset is then converted to the robotic arm coordinate system for correction and adjustment. The corrected robotic arm then places the multiple batteries into the battery slots. This ensures that the robotic arm can accurately place the batteries into the battery slots inside the foam shell, guaranteeing precise placement of the stack and improving battery stacking efficiency.

[0079] Reference Figure 2The flowchart of another battery palletizing and positioning method is shown. In a specific example, the step of acquiring the preset reference image array includes:

[0080] Step S201: Predetermine the preset position for the robotic arm's dual cameras to capture the test foam shell, wherein the preset position is above multiple corners of the test foam shell;

[0081] The robotic arm is equipped with dual cameras for taking pictures, and the positions of the dual cameras are fixed relative to the robotic arm. Multiple positions can be set for the dual cameras to take pictures. To ensure accurate calibration, the pictures can be set to the corners of the test foam shell for easier identification. For example, if the foam shell is rectangular, the corners are the right angles of the rectangle, and the pictures can be taken at any two, three, or four corners. (See reference) Figure 3 As shown, in one example, the photo-taking positions are selected from the three corners of the test foam shell: photo-taking position 1, photo-taking position 2, and photo-taking position 3. Taking photos of the three corners helps to quickly determine the position of the test foam shell. The robotic arm has two cameras; one camera can be used to capture photo-taking positions 1 and 2, and the other camera to capture photo-taking position 3. Alternatively, other settings that facilitate shooting are also acceptable. A single camera may have blind spots that cannot be captured during shooting; dual cameras can avoid these blind spots.

[0082] Step S202: The robotic arm uses dual cameras to take pictures of several battery pits at each corner position at the preset position to determine the corresponding multiple calibration coordinates;

[0083] Specifically, the number of calibration coordinates corresponds to the number of image capture positions. For example, a robotic arm has two cameras, camera 1 and camera 2. For instance, one camera 1 captures images at image capture positions 1 and 2, while the other camera 2 captures images at image capture position 3. Then, a calibration coordinate A can be determined at image capture position 1, a calibration coordinate B at image capture position 2, and a calibration coordinate C at image capture position 3.

[0084] Combination Figure 3 As shown, the rules for confirming the calibration coordinates can be predetermined. In a specific example, the calibration coordinates are the center points of several battery pits at each corner position. Multiple battery pits can be bound together for identification, and their center points can be determined after binding. The number of battery pits bound together is usually the same as the number of batteries picked up by the robotic arm.

[0085] like Figure 3The diagram shows how to group the three battery pits captured at camera positions 1, 2, and 3 at the corner together, selecting their center point as a calibration coordinate. This calibration coordinate can then be used as a reference point for subsequent calibration movements.

[0086] Step S203: Using the robotic arm's dual cameras as a reference, move several times according to a preset movement method to obtain multiple sets of corresponding calibration coordinates;

[0087] Specifically, during subsequent calibration, each calibration coordinate can be used as a reference for the movement. The robotic arm's dual cameras move above the foam shell, and the movement method and number of movements can be set according to actual application requirements. For example, the preset movement method can be set to an S-shaped movement, or a horizontal and vertical movement. The number of movements can be set to 9, 12, etc. In one example, if the movement is 9 times in an S-shaped pattern, the two cameras in the robotic arm's dual cameras will obtain 9 calibration coordinates by moving with calibration coordinate A as the reference, 9 calibration coordinates by moving with calibration coordinate B as the reference, and 9 calibration coordinates by moving with calibration coordinate C as the reference, thus obtaining multiple sets of calibration coordinates.

[0088] Step S204: Transform the multiple sets of preset calibration coordinates into the robot coordinate system to obtain the preset reference image array.

[0089] Specifically, multiple sets of preset calibration coordinates are unified under the robot's coordinate system. After coordinate transformation, they can be used as coordinate information for a preset reference image array. This allows for the determination of whether there is a deviation in the robot's placement position when grasping and disposing of the battery, and enables timely correction of the robot. Through the method described in this embodiment, the relative positional relationship between the robot and the foam shell at the battery placement position is calibrated through pre-training. The obtained reference image array can then be used as a reference template to ensure the accuracy and speed of the robot's battery placement.

[0090] Reference Figure 4 The flowchart of another battery palletizing and positioning method is shown. In a specific example, step S102 includes:

[0091] Step S401: Obtain an image of the battery pit to be placed in the foam shell by taking a picture of the pit position in the foam shell with the dual cameras of the robotic arm;

[0092] Specifically, when the foam shell is in the material-ready state, the battery slots should be empty. However, during equipment operation, the battery sorting and packaging equipment may stop or pause. Therefore, after restarting, the qualified foam shell must be photographed multiple times before placing the batteries. This is typically done by using one or both of the robotic arm's dual cameras to photograph the battery slots on the foam shell, obtaining images of the slots. This ensures that no batteries have been placed on the foam shell, as battery slots with batteries or other materials will affect subsequent processes.

[0093] Step S402: Perform image analysis on the pit image to obtain the grayscale value of the battery pit to be placed in the foam shell;

[0094] Specifically, image analysis methods used after obtaining the pit images, such as Bolb analysis, analyze the connected components of identical pixels in the image; these connected components are called blobs. Bolb analysis can provide machine vision applications with information such as the number, location, and shape of blobs in the image, as well as the topological structure between related blobs. By analyzing the grayscale values ​​of the battery pits in the foam shell through pit image analysis, the presence of batteries in the pits can be detected. If no batteries are placed in the currently qualified foam shell, it indicates that it is ready for battery placement.

[0095] Step S403: Determine whether the battery pit to be fed is in a feedable state based on whether the gray value is within the preset gray value threshold range.

[0096] The grayscale value of the battery slots to be filled reflects the condition within those slots. Empty battery slots have a grayscale value within a preset grayscale threshold range. If a battery is present, its surface may have a coating, resulting in a significantly different grayscale value compared to an empty slot. Alternatively, a battery with no coating and a metallic luster will also show a significant difference from the preset grayscale threshold range. The grayscale value allows determination of whether each battery slot in the foam casing is empty and ready for filling.

[0097] If the current qualified foam shell is detected to be in a dispensing state, then step S103 above can be performed for subsequent dispensing detection. If the current qualified foam shell contains a battery, the operation cannot continue, as the qualified foam shell is in a dispensing-unavailable state and needs to be replaced to ensure the continuation of subsequent operations.

[0098] In one example, step S103 includes:

[0099] The robotic arm uses dual cameras to photograph the battery pits to be placed, and determines the corresponding current calibration coordinates. Each battery pit in the battery pits to be placed corresponds one-to-one with the plurality of batteries.

[0100] Specifically, the number of batteries picked up by the robotic arm each time is equal to the number of battery slots detected by the robotic arm's dual cameras, and there is a one-to-one correspondence between batteries and battery slots.

[0101] The robotic arm's camera positions are relatively fixed. In one example, camera 1 of the robotic arm takes pictures of multiple battery slots at a corner location and determines their center point as one current calibration coordinate. Camera 2 of the robotic arm takes pictures of multiple battery slots at a corner location and determines their center point as another current calibration coordinate. The determination of the current calibration coordinates also uses the method of binding the center point of multiple battery slots. By positioning the three corners of the blister pack, the accuracy of subsequent material feeding can be ensured.

[0102] The current calibration coordinates are transformed into the robot coordinate system based on the preset reference image array to generate the current image array.

[0103] The current calibration coordinates obtained from dual-camera images are unified into the mechanical coordinate system, generating a current image array. Correspondingly, the positional information of each battery pit in the foam shell under the mechanical coordinate system, as well as the corresponding robotic arm placement position array, can be calculated. The current robotic arm position offset array can be determined through the robotic arm placement array. Each specific offset in the offset array is a (x, y, z) coordinate value under the mechanical coordinate system. The x-axis and y-axis coordinates lie on the plane of the foam shell and can be used as the basis for adjusting the horizontal position of the robotic arm relative to the battery pits in the foam shell. The z-axis coordinate changes vertically according to the number of foam shell layers; with each additional layer, the z-coordinate increases accordingly. The z-coordinate can be used to adjust the height of the robotic arm to accommodate battery stacking in different layers of foam shells. The robotic arm is adjusted before each battery placement to ensure accurate battery placement and achieve efficient battery stacking.

[0104] In one example, the method further includes:

[0105] Before the robotic arm places the plurality of batteries, the orientation of the pit of the battery to be placed is detected;

[0106] Since the types of foam shells may differ, the battery slots inside the foam shell may be in the same direction or in a vertical direction. Therefore, it is necessary to check the orientation of the battery slots before placing the batteries.

[0107] Determine whether to rotate the robotic arm by a preset angle based on the direction of the pit.

[0108] If the current battery pit orientation becomes vertical, the robot arm needs to rotate 90 degrees. After rotation, the X / Y data in the obtained array will be swapped accordingly. This ensures the accuracy and efficiency of the palletizing process.

[0109] Reference Figure 5 The schematic diagram shown is of a battery palletizing and positioning device. In another embodiment of this disclosure, a battery palletizing and positioning device 500 is provided, comprising:

[0110] The gripping module 501 is used to control the robotic arm to grip multiple batteries at the battery picking position;

[0111] The material feeding detection module 502 is used to detect whether the battery pit in the foam shell is in a ready-to-feed state at the battery feeding position by using a robotic arm with dual cameras.

[0112] The array acquisition module 503 is used to acquire the current image array of the battery pit to be placed if the battery pit to be placed is in a placeable state.

[0113] Offset determination module 504 is used to determine an offset array based on the current image array and a preset reference image array;

[0114] The correction module 505 is used to correct the robotic arm according to the offset array;

[0115] The feeding module 506 is used to place the plurality of batteries into the battery slots to be fed by a calibrated robotic arm.

[0116] The battery palletizing and positioning device 500 provided in this embodiment includes a gripping module 501, a feeding detection module 502, an array acquisition module 503, an offset determination module 504, a correction module 505, and a feeding module 506. It ensures that the robotic arm can accurately place the batteries into the battery slots within the foam shell, ensuring precise battery palletizing and improving battery stacking efficiency.

[0117] In yet another embodiment of this disclosure, an electronic device is provided, comprising:

[0118] Processor; and

[0119] Memory for storing the executable instructions of the processor;

[0120] The processor is configured to execute any of the above-described battery stacking and positioning methods by executing the executable instructions.

[0121] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: entirely hardware implementations, entirely software implementations (including firmware, microcode, etc.), or implementations combining hardware and software aspects, collectively referred to herein as “circuits,” “modules,” or “systems.”

[0122] The following reference Figure 6 To describe an electronic device 600 according to this embodiment of the present invention. Figure 6 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0123] like Figure 6 As shown, the electronic device 600 is manifested in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, and a bus 630 connecting different system components (including storage unit 620 and processing unit 610).

[0124] The storage unit stores program code that can be executed by the processing unit 610, causing the processing unit 610 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit 610 can perform actions such as... Figure 1 Battery stacking and positioning method in the process.

[0125] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include a read-only memory (ROM) 6203.

[0126] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0127] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0128] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. As shown, network adapter 660 communicates with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0129] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0130] In yet another embodiment of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the battery palletizing and positioning method described in any of the preceding claims.

[0131] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the invention may also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the invention described in the "Exemplary Methods" section of this specification.

[0132] A program product for implementing the above-described method according to embodiments of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0133] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0134] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0135] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0136] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0137] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0138] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0139] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0140] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A battery palletizing and positioning method, characterized in that, The method, applied to battery grading and packaging equipment, includes: At the battery picking position, the robotic arm is controlled to grab multiple batteries; At the battery feeding position, the robotic arm uses dual cameras to detect whether the battery slots in the foam shell are ready for feeding. If the battery pit to be filled is in a ready-to-fill state, then obtain the current image array of the battery pit to be filled. An offset array is determined based on the current image array and a preset reference image array; the robotic arm is then corrected based on the offset array. The calibrated robotic arm places the multiple batteries into the battery slots to be filled. The steps for acquiring the preset reference image array include: The preset positions for the robotic arm's dual cameras to capture images of the test foam shell are determined in advance, wherein the preset positions are above multiple corners of the test foam shell; The robotic arm uses dual cameras to take pictures of several battery pits at each corner position at the preset location, and determines the corresponding multiple calibration coordinates; The robotic arm uses the dual cameras to move several times according to a preset movement method, based on the multiple calibration coordinates, to obtain multiple sets of corresponding calibration coordinates. Transform the multiple sets of calibration coordinates into the robot coordinate system to obtain the preset reference image array; The method further includes: Before the robotic arm places the plurality of batteries, the orientation of the pit of the battery to be placed is detected; Determine whether to rotate the robotic arm by a preset angle based on the direction of the pit; The calibration coordinates are the center points of several battery pits at each of the corner positions.

2. The battery palletizing and positioning method according to claim 1, characterized in that, The step of using a robotic arm with dual cameras to detect whether the battery slots in the foam shell are ready for placement at the battery placement location includes: The image of the battery slot to be placed in the foam shell is obtained by taking pictures of the slots in the foam shell using the dual cameras of the robotic arm; Image analysis is performed on the pit image to obtain the grayscale value of the battery pit to be placed in the foam shell; Based on whether the grayscale value is within the preset grayscale threshold range, it is determined whether the battery pit to be fed is in a state where it can be fed.

3. The battery palletizing and positioning method according to claim 1, characterized in that, If the battery pit to be filled is in a fillable state, then acquiring the current image array of the battery pit to be filled includes: The robotic arm uses dual cameras to take pictures of the battery pits to be placed at the preset positions to determine the corresponding current calibration coordinates. Each battery pit in the battery pits to be placed corresponds one-to-one with the plurality of batteries. The current calibration coordinates are transformed into the robot coordinate system based on the preset reference image array to generate the current image array.

4. The battery palletizing and positioning method according to claim 1, characterized in that, At the battery picking location, multiple batteries are picked up using a robotic arm and camera, including: The robotic arm uses dual cameras to capture images of the battery to be grasped; based on these images, a fixed grasping position is determined. The robotic arm uses its camera to grasp the multiple batteries at the fixed gripping positions.

5. A battery palletizing and positioning device, characterized in that, The battery palletizing and positioning method according to any one of claims 1 to 4 includes: The gripping module is used to control the robotic arm to grip multiple batteries at the battery picking position; The battery feeding detection module is used to detect whether the battery slot in the foam shell is ready to be fed at the battery feeding position using a robotic arm with dual cameras. The array acquisition module is used to acquire the current image array of the battery pit to be placed if the battery pit to be placed is in a placeable state. An offset determination module is used to determine an offset array based on the current image array and a preset reference image array. A calibration module is used to calibrate the robotic arm according to the offset array; The feeding module is used to place the plurality of batteries into the battery slots to be fed by a calibrated robotic arm.

6. An electronic device, characterized in that, include: processor; The processor also includes a memory for storing executable instructions of the processor, wherein the processor is configured to execute the battery palletizing and positioning method of any one of claims 1 to 4 by executing the executable instructions.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the battery stacking and positioning method according to any one of claims 1 to 4.

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