Real-time detection method, system, terminal and medium based on automatic disassembly production line

Abstract

The present application is applicable to the technical field of intelligent control, and provides a real-time detection method, system, terminal and medium based on an automatic disassembly production line, wherein the method includes first obtaining the three-dimensional point cloud model information and multiple shell real-shot image information of the battery to be disassembled, and then quickly determining multiple recessed area contour information based on the three-dimensional point cloud model information, and then matching the recessed area contour information with the shell real-shot image information based on the feature point matching algorithm, effectively generating the shell recess fusion image information, and then accurately generating the cutting path information based on the shell recess fusion image information, and finally controlling the cutting device to cut the battery to be disassembled based on the cutting path information. The present application can realize the generation of a more accurate cutting path, effectively reduce the possibility of mistakenly cutting the internal battery stack of the hydrogen fuel cell, realize the precise cutting of the battery to be disassembled, and significantly improve the cutting accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control, and in particular to a real-time detection method, system, terminal and medium based on an automatic disassembly production line. Background Art

[0002] In order to safely separate the precious metals and rare materials in hydrogen fuel cells and improve the resource recovery rate, an automatic disassembly production line is usually used to recycle the exhaust gas of hydrogen fuel cells.

[0003] At present, the automatic disassembly production line usually cuts the outer shell of the hydrogen fuel cell according to a fixed cutting path, and then disassembles the battery stack inside the shell. However, when a hydrogen fuel cell is scrapped due to a serious accident, its outer shell may be dented, resulting in a smaller gap between the outer shell and the internal battery stack. In this case, the cutting method according to the fixed cutting path may accidentally cut the battery stack inside the hydrogen fuel cell, increasing the recycling cost and having a low cutting accuracy problem, which needs further improvement. Summary of the invention

[0004] Based on this, the embodiments of the present application provide a real-time detection method, system, terminal and medium based on an automatic disassembly production line to solve the problem of low cutting accuracy in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a real-time detection method based on an automatic disassembly production line, which is applicable to a disassembly production line, wherein the disassembly production line includes a cutting device, and the method includes:

[0006] Based on a preset laser scanner, obtain the three-dimensional point cloud model information of the battery to be disassembled, and based on a preset camera, obtain multiple real-life image information of the shell of the battery to be disassembled;

[0007] Determining contour information of a plurality of concave regions according to the three-dimensional point cloud model information;

[0008] For each of the recessed area contour information: according to a preset feature point matching algorithm, the recessed area contour information is matched with the shell real shot image information to generate shell recessed fusion image information, wherein the shell recessed fusion image information is used to describe the shell real shot image information after the recessed area contour information is fused;

[0009] Generate cutting path information according to the shell concave fusion map information;

[0010] Based on the cutting path information, the cutting device is controlled to cut the battery to be disassembled.

[0011] Compared with the prior art, the beneficial effect is as follows: the real-time detection method based on the automatic disassembly production line provided in the embodiment of the present application, the terminal device can first obtain the three-dimensional point cloud model information of the battery to be disassembled and multiple shell real-shot image information, and then accurately determine the contour information of multiple recessed areas based on the three-dimensional point cloud model information, and then perform the processing for each recessed area contour information respectively: match the recessed area contour information with the shell real-shot image information, effectively generate the shell recess fusion image information, and then accurately generate the cutting path information based on the shell recess fusion image information, and finally control the cutting device to cut the battery to be disassembled based on the cutting path information, which is conducive to the automatic disassembly production line to cut the battery to be disassembled according to a more precise cutting path, greatly reducing the possibility of mistakenly cutting the internal battery stack of the hydrogen fuel cell, effectively improving the cutting accuracy, and to a certain extent solving the current problem of low cutting accuracy.

[0012] In a second aspect, an embodiment of the present application provides a real-time detection system based on an automatic disassembly production line, which is applicable to the disassembly production line, wherein the disassembly production line includes a cutting device, and the system includes:

[0013] Shell real shot information acquisition module: used to obtain the three-dimensional point cloud model information of the battery to be disassembled based on a preset laser scanner, and to obtain multiple shell real shot information of the battery to be disassembled based on a preset camera;

[0014] A sunken area contour information determination module: used to determine a plurality of sunken area contour information according to the three-dimensional point cloud model information;

[0015] The shell concave fusion map information generation module is used for matching the concave area contour information with the shell real-shot image information according to a preset feature point matching algorithm for each of the concave area contour information to generate the shell concave fusion map information, wherein the shell concave fusion map information is used to describe the shell real-shot image information after the concave area contour information is fused;

[0016] A cutting path information generating module: used to generate cutting path information according to the shell concave fusion map information;

[0017] A cutting device control module is used to control the cutting device to cut the battery to be disassembled based on the cutting path information.

[0018] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect described above are implemented.

[0020] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0022] The implementation principle of the real-time detection method based on the automatic disassembly production line in the embodiment of the present application is as follows: the terminal device can first obtain the three-dimensional point cloud model information of the battery to be disassembled and multiple shell real-shot image information, and then quickly determine the contour information of multiple recessed areas based on the three-dimensional point cloud model information, and then perform the processing on each recessed area contour information: according to the feature point matching algorithm, the recessed area contour information is matched with the shell real-shot image information to effectively generate the shell recess fusion image information, and then accurately generate the cutting path information based on the shell recess fusion image information, and finally control the cutting device to cut the battery to be disassembled based on the cutting path information, thereby determining a more accurate cutting path, which can effectively reduce the possibility of miscutting the internal stack of the hydrogen fuel cell, and realize precise cutting of the battery to be disassembled, effectively improving the cutting accuracy.

[0023] Figure 1 It is a flowchart of a real-time detection method provided by an embodiment of the present application;

[0024] Figure 2 is a schematic diagram of a hydrogen fuel cell provided by an embodiment of the present application, wherein: Figure 2 (a) is a schematic diagram of the shell. Figure 2 (b) is a schematic diagram of the battery stack;

[0025] Figure 3 is a schematic diagram of a hydrogen fuel cell provided by an embodiment of the present application, wherein: Figure 3 (a) is a schematic diagram of the shell. Figure 3 (b) is a schematic diagram of the shell merging graph information;

[0026] Figure 4 is a flow chart of step S410 in the real-time detection method provided in one embodiment of the present application;

[0027] Figure 5 is a schematic diagram of battery bottom area information provided by an embodiment of the present application;

[0028] Figure 6 is a schematic diagram of flattened area contour information provided by an embodiment of the present application;

[0029] Figure 7 is a flow chart of step S415 in the real-time detection method provided in one embodiment of the present application;

[0030] Figure 8 is a schematic diagram of target fusion graph information provided by an embodiment of the present application;

[0031] Fig. 9 is a schematic diagram of shell merge diagram information provided by an embodiment of the present application;

[0032] Fig.10 is a flow chart of step S4158 in the real-time detection method provided in one embodiment of the present application;

[0033] Fig.11 is a schematic diagram of the shortest path information provided by an embodiment of the present application;

[0034] Fig.12 is a flow chart of step S500 in the real-time detection method provided in one embodiment of the present application;

[0035] Fig.13 is a module block diagram of a real-time detection system provided by an embodiment of the present application;

[0036] Fig.14 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0037] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0038] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0039] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0040] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0041] See also Figure 1 , Figure 1 1 is a flow chart of a real-time detection method based on an automatic disassembly production line provided in an embodiment of the present application. In this embodiment, the execution subject of the real-time detection method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

[0042] See also Figure 1 The real-time detection method provided in the embodiment of the present application includes but is not limited to the following steps:

[0043] In S100, based on a preset laser scanner, three-dimensional point cloud model information of the battery to be disassembled is obtained, and based on a preset camera, multiple real-shot image information of the shell of the battery to be disassembled is obtained.

[0044] Without loss of generality, the real-time detection method is applicable to a disassembly production line, which includes a cutting device, wherein the cutting device may be a mechanical arm equipped with a high-speed rotating blade. The battery to be disassembled is used to describe a scrapped hydrogen fuel cell. For example, the battery to be disassembled may be a hydrogen fuel cell whose outer shell is severely damaged due to a serious accident and cannot be opened by removing the fixing screws by conventional methods.

[0045] For example, see Figure 2 , Figure 2 (a) in the figure indicates the housing of a hydrogen fuel cell that did not have a serious accident. Figure 2 In (a), the area enclosed by the bold implementation represents the first area; Figure 2(b) in the figure represents the battery stack inside the shell. When the battery to be disassembled is scrapped due to a serious accident and the shell is severely damaged and cannot be opened by removing the fixing screws by conventional methods, the disassembly production line can select the first area as the starting point for cutting because the battery stack base does not contain precious metals and rare materials.

[0046] Specifically, the terminal device can first perform laser scanning on the battery to be disassembled based on a preset laser scanner to obtain three-dimensional point cloud data of the battery to be disassembled, and then generate three-dimensional point cloud model information based on the three-dimensional point cloud data. Among them, the three-dimensional point cloud model information can be constructed using the three-dimensional point cloud data. Existing technology can be used, so it will not be repeated.

[0047] Specifically, the terminal device can obtain multiple real-shot image information of the outer shell of the battery to be disassembled based on a preset camera, wherein the real-shot image information of the outer shell is used to describe the image obtained by the camera shooting a certain surface of the outer shell of the battery to be disassembled; exemplarily, multiple cameras can be pre-installed in the disassembly scene of the battery to be disassembled, and each camera is used to shoot a certain surface of the outer shell of the battery to be disassembled.

[0048] In S200, contour information of a plurality of recessed areas is determined according to the three-dimensional point cloud model information.

[0049] Specifically, the terminal device can quickly determine multiple recessed area contour information based on the three-dimensional point cloud model information, thereby determining the relevant area where the gap between the outer shell and the internal stack becomes smaller, which is helpful to reduce the possibility of accidentally cutting into the internal stack of the hydrogen fuel cell, wherein the recessed area contour information is used to describe the contour line corresponding to the recessed area in the three-dimensional point cloud model information. In one possible implementation, in order to improve data processing efficiency, after the terminal device determines multiple recessed area contour information, the terminal device can perform this processing for each recessed area contour information: only retain the contour line that encloses the largest area and a complete circle.

[0050] Exemplarily, the terminal device can first obtain a reference point cloud model of the battery to be disassembled, and then compare the distance difference between each three-dimensional point cloud data in the three-dimensional point cloud model information and the reference plane information of the reference point cloud model. Since the distance between the three-dimensional point cloud data and the reference plane information of the recessed area is significantly larger, the recessed area can be determined. After the terminal device determines the recessed area, the terminal device can determine the recessed area contour information corresponding to the recessed area.

[0051] Without loss of generality, the method for the terminal device to determine the sunken area may also be: first calculate the normal vector of each three-dimensional point cloud data in the three-dimensional point cloud model information. Since the normal vector of the sunken area will be significantly different from that of the surrounding area, the sunken area can be determined by comparing the normal vectors of each three-dimensional point cloud data; the method for the terminal device to determine the sunken area may also be: first calculate the curvature value of each three-dimensional point cloud data in the three-dimensional point cloud model information. Since the sunken area will have a negative curvature that is significantly larger than the reference plane information, the sunken area can be determined by comparing the curvature values ​​of each three-dimensional point cloud data.

[0052] In S300, for each concave area contour information: according to a preset feature point matching algorithm, the concave area contour information is matched with the shell real shot image information to generate shell concave fusion image information.

[0053] Without loss of generality, the shell concave fusion image information is used to describe the shell real-shot image information after integrating the concave area contour information; the feature point matching algorithm can be a matching algorithm based on scale invariant feature transform (SIFT), a matching algorithm based on accelerated robust features (SURF), or a matching algorithm based on oriented fast and rotated BRIEF (ORB).

[0054] Specifically, after the terminal device determines the contour information of multiple recessed areas, the terminal device can perform this processing for each recessed area contour information: according to the preset feature point matching algorithm, the recessed area contour information is matched with the actual picture information of the outer shell to generate the outer shell recess fusion picture information, thereby realizing the integration of the area that may be mistakenly cut into the internal stack of the hydrogen fuel cell due to the smaller gap between the outer shell and the internal stack into the actual picture information of the outer shell.

[0055] In S400, cutting path information is generated according to the shell concave fusion map information.

[0056] Specifically, the terminal device can generate cutting path information based on the shell depression fusion map information, wherein the cutting path information is used to describe the movement path of the cutting device with the minimum probability of accidentally cutting the internal stack of the hydrogen fuel cell.

[0057] In some possible implementations, in order to accurately generate cutting path information and facilitate visual analysis, after step S300, the method further includes but is not limited to the following steps:

[0058] In S310, based on a preset merging order, adjacent shell concave fusion map information is merged in sequence to generate shell merged map information.

[0059] Specifically, the terminal device can merge adjacent shell depression fusion map information in sequence based on a preset merging order to generate shell merged map information, wherein the merging order is used to describe the order from the bottom of the battery to be disassembled to the top of the battery to be disassembled, and then from the top of the battery to be disassembled to the bottom of the battery to be disassembled.

[0060] For example, see Figure 3 , Figure 3 (a) and Figure 3 Corresponding to (b) in Figure 3 Each independent rectangular block in (b) represents the shell concave fusion map information. Figure 3 In (a), the side to which the letter "A" belongs may be the bottom side of the hydrogen fuel cell housing; the side to which the letter "B" belongs may be the front side of the hydrogen fuel cell housing; and the side to which the letter "C" belongs may be the left side of the hydrogen fuel cell housing. Figure 3 In (b), the object targeted by the shell depression fusion map information with the letter "D" marked inside may be the right side of the hydrogen fuel cell shell; the object targeted by the shell depression fusion map information with the letter "E" marked inside may be the top surface of the hydrogen fuel cell shell; the object targeted by the shell depression fusion map information with the letter "F" marked inside may be the back side of the hydrogen fuel cell shell.

[0061] Accordingly, see Figure 3 Step S400 includes but is not limited to the following steps:

[0062] In S410, cutting path information is generated according to the shell merge graph information.

[0063] In some possible implementations, in order to effectively generate cutting path information, please refer to Figure 4 Step S410 includes but is not limited to the following steps:

[0064] In S411, the bottom corner feature point information of the battery to be disassembled and the preset battery bottom size information are obtained.

[0065] Specifically, the terminal device can obtain the bottom corner feature point information of the battery to be disassembled and the preset battery bottom size information, wherein the bottom corner feature point information is used to describe any bottom corner of the battery to be disassembled; the battery bottom size information is used to describe the size corresponding to the bottom of the battery to be disassembled. In a possible implementation, please refer to Figure 2 , Figure 2The first area in the figure may be the bottom of the battery to be disassembled. It should be noted that the battery bottom size information may be a value pre-defined by the production personnel based on the specific size of the battery stack base.

[0066] In S412, the battery bottom area information of the battery to be disassembled is determined according to the bottom corner feature point information and the battery bottom size information.

[0067] Specifically, the terminal device can use the bottom corner feature point information as a reference point, and then quickly determine the battery bottom area information of the battery to be disassembled in the shell merged image information according to the battery bottom size information, wherein the battery bottom area information is used to describe the area corresponding to the bottom of the battery to be disassembled in the shell merged image information; for example, please refer to Figure 3 (b) and Figure 5 , Figure 5 The area enclosed by the center hatch line represents the battery bottom area information.

[0068] In S413, the flattened area contour information is generated according to the battery bottom area information and the recessed area contour information.

[0069] Specifically, after the terminal device determines the battery bottom area information, the terminal device can generate the flat area contour information according to the battery bottom area information and the recessed area contour information, wherein the flat area contour information is used to describe the area other than the recessed area contour information in the battery bottom area information. For example, see Figure 6 , Figure 6 The area surrounded by the dotted line represents the contour information of the concave area. Figure 6 The area enclosed by the center hatch line represents the contour information of the flattened area.

[0070] In S414, any area point in the flattened area contour information is selected as the path starting point information.

[0071] Specifically, the terminal device can select any area point in the flattened area contour information as the path starting point information, wherein the path starting point information is used to describe the starting point of the cutting path information.

[0072] Please note that Figure 3 In (b), when there is an overlap between the recessed area contour information and the shell recess fusion map information representing the bottom surface in the battery bottom area information, the terminal device can preferentially select any area point in the shell recess fusion map information representing the bottom surface as the path starting point information.

[0073] In S415, cutting path information is generated based on the path starting point information and the shell merge graph information.

[0074] Specifically, after the terminal device selects the path starting point information, the terminal device can effectively generate the cutting path information based on the path starting point information and the shell merge graph information.

[0075] In some possible implementations, in order to further realize the efficient generation of cutting path information, please refer to Figure 7 Step S415 includes but is not limited to the following steps:

[0076] In S4151, the graph information where the path starting point is located is determined based on the shell merged graph information and the path starting point information.

[0077] For example, see Figure 8 , Figure 8 The perfect circle with the letter "A" inside represents the path starting point information; the terminal device can accurately determine the graph information where the path starting point is located based on the shell merged graph information and the path starting point information, wherein the graph information where the path starting point is located is used to describe the shell recessed fusion graph information that contains the path starting point information in the shell merged graph information.

[0078] In S4152, the information of the fused atlas to be selected is determined based on the shell merged graph information and the graph information where the path starting point is located.

[0079] For example, see Figure 8 The terminal device can quickly determine the candidate fusion atlas information based on the shell merged graph information and the graph information where the path starting point is located, wherein the candidate fusion atlas information includes multiple candidate fusion graph information, and the candidate fusion graph information is used to describe any shell concave fusion graph information in the shell merged graph information except the graph information where the path starting point is located.

[0080] In S4153, the shortest distance between each candidate fusion graph information and the path starting point information is calculated to generate multiple shortest distance information.

[0081] Specifically, the terminal device can determine the boundary information of each candidate fusion graph information, and then use the preset point-line distance calculation formula to calculate the shortest distance between the boundary information corresponding to each candidate fusion graph information and the path starting point information, and generate the shortest distance information corresponding to each candidate fusion graph information, wherein the point-line distance calculation formula is used to calculate the shortest distance between a point and a line. The point-line distance calculation formula can use an existing function, so it is not repeated here.

[0082] In S4154, the candidate fusion graph information corresponding to the largest shortest distance information is selected as the target fusion graph information.

[0083] For example, see Figure 8After the terminal device generates multiple shortest distance information, the terminal device can select the candidate fusion graph information corresponding to the largest shortest distance information as the target fusion graph information.

[0084] In S4155, the shell merge graph information is copied to generate shell copy graph information.

[0085] Specifically, the terminal device may copy the shell merged image information to generate shell copy image information, wherein the performance characteristics and associated data of the shell copy image information are the same as those of the shell merged image information.

[0086] In S4156, the path starting point information corresponding to the shell copy graph information is determined as the path end point information, and the shell concave fusion graph information containing the path end point information in the shell copy graph information is determined as the graph information where the path end point is located.

[0087] Specifically, after the terminal device generates the shell copy map information, the terminal device can determine the path starting point information corresponding to the shell copy map information as the path end point information, and at the same time determine the shell concave fusion map information containing the path end point information in the shell copy map information as the map information where the path end point is located.

[0088] In S4157, based on the target fusion graph information, the shell merge graph information and the shell copy graph information are merged to generate optimized merge graph information.

[0089] For example, see Figure 8 and Fig. 9 , Fig. 9 The perfect circle marked with the letter "B" inside represents the path endpoint information; after the terminal device generates the shell copy graph information, the terminal device can merge the shell merge graph information and the shell copy graph information based on the target fusion graph information to generate optimized merge graph information, wherein the target fusion graph information of the shell merge graph information is connected to the graph information where the path endpoint of the shell copy graph information is located.

[0090] In S4158, cutting path information is generated based on the path starting point information, the path ending point information and the optimized merge graph information.

[0091] Specifically, the terminal device can effectively generate cutting path information based on the path starting point information, the path ending point information and the optimized merged graph information.

[0092] In some possible implementations, in order to further effectively generate cutting path information, please refer to Fig.10 Step S4158 includes but is not limited to the following steps:

[0093] In S41581, shortest path information is generated based on the optimized merged graph information.

[0094] For example, see Fig. 9 The terminal device can generate the shortest path information based on the optimized merged graph information, wherein the shortest path information is used to describe the shortest path starting from the path starting point information and ending at the path ending point information.

[0095] In S41582, it is determined whether the shortest path information overlaps with any concave area contour information.

[0096] Specifically, after the terminal device generates the shortest path information, the terminal device may determine whether the shortest path information coincides with any concave area contour information.

[0097] In S41583, if the shortest path information coincides with any concave area contour information, then for each target area contour information: generate safety contour information according to the target area contour information and preset safety distance information.

[0098] For example, see Fig.11 If the shortest path information coincides with any recessed area contour information, the terminal device may perform the following processing for each target area contour information: based on the preset safety distance information, the target area contour information is accurately amplified to generate safety contour information, wherein the target area contour information is used to describe the recessed area contour information that coincides with the shortest path information; the safety contour information is used to describe the enlarged target area contour information; the shortest distance between the safety contour information and the target area contour information is the safety distance information, and the safety distance information may be a value pre-defined by the production personnel based on the specific size of the hydrogen fuel cell housing.

[0099] In S41584, at least two contour intersection information are obtained based on the safety contour information and the shortest path information.

[0100] Specifically, the terminal device may obtain at least two pieces of contour intersection information according to the safety contour information and the shortest path information, wherein the contour intersection information is used to describe the intersection point between the safety contour information and the shortest path information.

[0101] In S41585, optimized path information is generated based on at least two contour intersection information.

[0102] Specifically, after the terminal device obtains at least two contour intersection information, the terminal device can generate optimized path information based on the at least two contour intersection information, wherein the two endpoints of the optimized path information are both contour intersection information; exemplarily, when the number of contour intersection information is two, the terminal device can intercept the safety contour information based on the two contour intersection information to generate optimized path information.

[0103] In S41586, the optimized path information and the shortest path information are merged, and the portion of the shortest path information that overlaps with the recessed area contour information is removed to generate the cutting path information.

[0104] Specifically, after the terminal device generates the optimized path information, the terminal device can merge the optimized path information and the shortest path information, and remove the portion of the shortest path information that overlaps with the contour information of the recessed area, so as to generate the final cutting path information.

[0105] In S41587, if the shortest path information does not overlap with the recessed area contour information, the shortest path information is determined to be the cutting path information.

[0106] Specifically, if the shortest path information does not overlap with the recessed area contour information, the terminal device can efficiently determine that the shortest path information is the cutting path information.

[0107] In S500, based on the cutting path information, the cutting device is controlled to cut the battery to be disassembled.

[0108] Specifically, the terminal device can control the cutting device to cut the battery to be disassembled based on the cutting path information, thereby improving the cutting accuracy, so that the cutting device can accurately cut the outer shell of the scrapped hydrogen fuel cell while avoiding the area where the internal stack of the hydrogen fuel cell may be mistakenly cut, so that the stack inside the outer shell can be taken out and subsequently disassembled and recycled.

[0109] In some possible implementations, in order to control the cutting device to accurately cut the battery to be disassembled, please refer to Fig.12 Step S500 includes but is not limited to the following steps:

[0110] In S510, preset cutting depth information is obtained.

[0111] Specifically, the terminal device may first obtain preset cutting depth information, wherein the cutting depth information is used to describe the depth to which the cutting device enters the surface of the battery casing to be disassembled during cutting.

[0112] In S520, cutting instruction information is generated according to the cutting path information and the cutting depth information.

[0113] Specifically, after the terminal device obtains the cutting depth information, the terminal device can generate cutting instruction information based on the cutting path information and the cutting depth information, wherein the cutting instruction information is used to instruct the cutting device to accurately cut the battery to be disassembled in combination with the cutting depth information and according to the cutting path information.

[0114] In S530, according to the cutting instruction information, the cutting device is controlled to cut the battery to be disassembled.

[0115] Specifically, after the terminal device generates cutting instruction information, the terminal device can control the cutting device to accurately cut the battery to be disassembled.

[0116] The implementation principle of the real-time detection method based on the automatic disassembly production line in the embodiment of the present application is as follows: the terminal device can first obtain the three-dimensional point cloud model information of the battery to be disassembled and multiple shell real-shot image information, and then quickly determine the contour information of multiple recessed areas based on the three-dimensional point cloud model information, and then perform the processing on each recessed area contour information: according to the feature point matching algorithm, the recessed area contour information is matched with the shell real-shot image information to effectively generate the shell recess fusion image information, and then accurately generate the cutting path information based on the shell recess fusion image information, and finally control the cutting device to cut the battery to be disassembled based on the cutting path information, thereby determining a more accurate cutting path, which can effectively reduce the possibility of miscutting the internal stack of the hydrogen fuel cell, and realize precise cutting of the battery to be disassembled, effectively improving the cutting accuracy.

[0117] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0118] The embodiment of the present application also provides a real-time detection system based on an automatic disassembly production line, which is applicable to the disassembly production line. The disassembly production line includes a cutting device. For ease of description, only the parts related to the present application are shown, such as Fig.13 As shown, the system 130 includes:

[0119] Shell real shot information acquisition module 131: used to acquire the three-dimensional point cloud model information of the battery to be disassembled based on a preset laser scanner, and acquire multiple shell real shot information of the battery to be disassembled based on a preset camera;

[0120] The sunken area contour information determination module 132 is used to determine the contour information of multiple sunken areas according to the three-dimensional point cloud model information;

[0121] The shell concave fusion map information generating module 133 is used for matching the concave area contour information with the shell real-shot image information according to a preset feature point matching algorithm for each concave area contour information, and generating the shell concave fusion map information, wherein the shell concave fusion map information is used to describe the shell real-shot image information after the concave area contour information is fused;

[0122] A cutting path information generating module 134: used to generate cutting path information according to the shell concave fusion map information;

[0123] The cutting device control module 135 is used to control the cutting device to cut the battery to be disassembled based on the cutting path information.

[0124] Optionally, the system 130 further includes:

[0125] Shell merged map information generation module: used to merge adjacent shell concave fusion map information in sequence based on a preset merge order to generate shell merged map information, wherein the merge order is used to describe the order from the bottom of the battery to be disassembled to the top of the battery to be disassembled, and then from the top of the battery to be disassembled to the bottom of the battery to be disassembled;

[0126] Accordingly, the cutting path information generating module 134 includes:

[0127] Cutting path information generation submodule: used to generate cutting path information according to the shell merge graph information;

[0128] Accordingly, the cutting path information generation submodule includes:

[0129] Bottom corner feature point information acquisition unit: used to acquire bottom corner feature point information of the battery to be disassembled and preset battery bottom size information;

[0130] A battery bottom area information determination unit: used to determine the battery bottom area information of the battery to be disassembled according to the bottom corner feature point information and the battery bottom size information;

[0131] A flat region contour information generating unit: used to generate flat region contour information according to the battery bottom region information and the recessed region contour information, wherein the flat region contour information is used to describe the region other than the recessed region contour information in the battery bottom region information;

[0132] Path starting point information selection unit: used to select any area point in the flattened area contour information as the path starting point information;

[0133] Cutting path information generating unit: used to generate cutting path information based on path starting point information and shell merge graph information.

[0134] Optionally, the cutting path information generating unit includes:

[0135] The path starting point graph information determination subunit is used to determine the path starting point graph information according to the shell merged graph information and the path starting point information, wherein the path starting point graph information is used to describe the shell concave fusion graph information containing the path starting point information in the shell merged graph information;

[0136] The subunit for determining the fusion atlas information to be selected is used to determine the fusion atlas information to be selected according to the shell fusion graph information and the graph information where the path starting point is located, wherein the fusion atlas information to be selected includes a plurality of fusion graph information to be selected, and the fusion graph information to be selected is used to describe any shell concave fusion graph information in the shell fusion graph information except the graph information where the path starting point is located;

[0137] The shortest distance information generating subunit is used to calculate the shortest distance between each candidate fusion graph information and the path starting point information, and generate multiple shortest distance information;

[0138] Target fusion graph information selection subunit: used to select the candidate fusion graph information corresponding to the largest shortest distance information as the target fusion graph information;

[0139] Shell copy graph information generating subunit: used for copying the shell merge graph information to generate shell copy graph information;

[0140] The path end information determination subunit is used to determine the path starting point information corresponding to the shell copy map information as the path end information, and determine the shell concave fusion map information containing the path end information in the shell copy map information as the map information where the path end is located;

[0141] The optimized merged graph information generating subunit is used to merge the shell merged graph information and the shell copy graph information based on the target fusion graph information to generate the optimized merged graph information, wherein the target fusion graph information of the shell merged graph information is connected with the graph information where the path end point of the shell copy graph information is located;

[0142] Cutting path information generation subunit: used to generate cutting path information according to path starting point information, path end point information and optimized merge graph information.

[0143] Optionally, the cutting path information generating subunit includes:

[0144] A shortest path information generation component: used to generate shortest path information based on the optimized merged graph information, wherein the shortest path information is used to describe the shortest path starting from the path start point information and ending at the path end point information;

[0145] Shortest path information judgment component: used to judge whether the shortest path information coincides with any concave area contour information;

[0146] A safety contour information generating component: used for generating safety contour information for each target area contour information according to the target area contour information and preset safety distance information if the shortest path information coincides with any concave area contour information, wherein the target area contour information is used to describe the concave area contour information that coincides with the shortest path information, and the shortest distance between the safety contour information and the target area contour information is the safety distance information;

[0147] Two contour intersection information acquisition components: used to obtain at least two contour intersection information according to the safety contour information and the shortest path information;

[0148] An optimized path information generating component: used to generate optimized path information according to at least two contour intersection information, wherein the endpoints of the optimized path information are contour intersection information;

[0149] Cutting path information generation component: used to merge the optimization path information and the shortest path information, and remove the part of the shortest path information that overlaps with the contour information of the concave area to generate the cutting path information;

[0150] Cutting path information determination component: used to determine the shortest path information as the cutting path information if the shortest path information does not coincide with the recessed area contour information.

[0151] Optionally, the cutting device control module 135 includes:

[0152] Cutting depth information acquisition submodule: used to obtain preset cutting depth information;

[0153] Cutting instruction information generation submodule: used to generate cutting instruction information according to cutting path information and cutting depth information;

[0154] Cutting device control submodule: used to control the cutting device to cut the battery to be disassembled according to the cutting instruction information.

[0155] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0156] The present application also provides a terminal device, such as Fig.14 As shown, the terminal device 140 of this embodiment includes: a processor 141, a memory 142, and a computer program 143 stored in the memory 142 and executable on the processor 141. When the processor 141 executes the computer program 143, the steps in the above-mentioned real-time detection method embodiment are implemented, for example Figure 1Steps S100 to S500 shown; or, when the processor 141 executes the computer program 143, the functions of each module in the above device are realized, for example Fig.13 The functions of the modules 131 to 135 are shown.

[0157] The terminal device 140 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device 140 includes but is not limited to a processor 141 and a memory 142. Those skilled in the art will appreciate that Fig.14 It is only an example of the terminal device 140 and does not constitute a limitation of the terminal device 140. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 140 may also include input and output devices, network access devices, buses, etc.

[0158] Among them, the processor 141 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0159] The memory 142 may be an internal storage unit of the terminal device 140, such as a hard disk or memory of the terminal device 140, or the memory 142 may be an external storage device of the terminal device 140, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. equipped on the terminal device 140; further, the memory 142 may also include both an internal storage unit and an external storage device of the terminal device 140, and the memory 142 may also store a computer program 143 and other programs and data required by the terminal device 140, and the memory 142 may also be used to temporarily store data that has been output or is to be output.

[0160] One embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0161] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. A real-time detection method based on an automatic disassembly production line, applicable to a disassembly production line, wherein the disassembly production line includes a cutting device, characterized in that: The method comprises: Based on a preset laser scanner, obtain the three-dimensional point cloud model information of the battery to be disassembled, and based on a preset camera, obtain multiple real-life image information of the shell of the battery to be disassembled; Determining contour information of a plurality of concave regions according to the three-dimensional point cloud model information; For each of the recessed area contour information: according to a preset feature point matching algorithm, the recessed area contour information is matched with the shell real shot image information to generate shell recessed fusion image information, wherein the shell recessed fusion image information is used to describe the shell real shot image information after the recessed area contour information is fused; Generate cutting path information according to the shell concave fusion map information; Based on the cutting path information, controlling the cutting device to cut the battery to be disassembled; Wherein, after matching the contour information of each concave area with the real-shot image information of the shell according to a preset feature point matching algorithm to generate the shell concave fusion image information, the method further includes: Based on a preset merging order, the adjacent shell concave fusion map information is merged in sequence to generate shell merged map information, wherein the merging order is used to describe the order from the bottom of the battery to be disassembled to the top of the battery to be disassembled, and then from the top of the battery to be disassembled to the bottom of the battery to be disassembled; Accordingly, the generating of cutting path information according to the shell concave fusion map information includes: Generate cutting path information according to the shell merged graph information; The step of generating cutting path information according to the shell merged graph information includes: Obtaining bottom corner feature point information of the battery to be disassembled and preset battery bottom size information; Determining battery bottom area information of the battery to be disassembled according to the bottom corner feature point information and the battery bottom size information; Generate flattened area contour information according to the battery bottom area information and the recessed area contour information, wherein the flattened area contour information is used to describe the area of ​​the battery bottom area information other than the recessed area contour information; Selecting any area point in the flattened area contour information as path starting point information; Generate cutting path information based on the path starting point information and the shell merged graph information; The step of generating cutting path information based on the path starting point information and the shell merged graph information includes: Determine the graph information where the path starting point is located according to the shell merged graph information and the path starting point information, wherein the graph information where the path starting point is located is used to describe the shell concave fusion graph information containing the path starting point information in the shell merged graph information; Determine the fusion atlas information to be selected according to the shell merged graph information and the graph information where the path starting point is located, wherein the fusion atlas information to be selected includes a plurality of fusion graph information to be selected, and the fusion graph information to be selected is used to describe any one of the shell concave fusion graph information in the shell merged graph information except the graph information where the path starting point is located; Calculating the shortest distance between each of the to-be-selected fusion graph information and the path starting point information to generate a plurality of shortest distance information; Selecting the candidate fusion graph information corresponding to the largest shortest distance information as the target fusion graph information; Copying the shell merge graph information to generate shell copy graph information; Determine the path starting point information corresponding to the shell copy graph information as the path end point information, and determine the shell concave fusion graph information containing the path end point information in the shell copy graph information as the graph information where the path end point is located; Based on the target fusion graph information, the shell fusion graph information and the shell copy graph information are merged to generate optimized merged graph information, wherein the target fusion graph information of the shell fusion graph information is connected to the graph information where the path end point of the shell copy graph information is located; Cutting path information is generated according to the path starting point information, the path ending point information and the optimized merged graph information.

2. The method according to claim 1, characterized in that The step of generating cutting path information according to the path starting point information, the path end point information and the optimized merged graph information includes: Based on the optimized merged graph information, generating shortest path information, wherein the shortest path information is used to describe the shortest path starting from the path starting point information and ending at the path ending point information; Determining whether the shortest path information coincides with any of the sunken area contour information; If the shortest path information coincides with any of the sunken area contour information, then for each target area contour information: generate safety contour information according to the target area contour information and preset safety distance information, wherein the target area contour information is used to describe the sunken area contour information that coincides with the shortest path information, and the shortest distance between the safety contour information and the target area contour information is the safety distance information; Acquire at least two contour intersection information according to the safety contour information and the shortest path information; Generate optimized path information according to at least two pieces of contour intersection information, wherein the endpoints of the optimized path information are the contour intersection information; Merging the optimized path information and the shortest path information, and removing the portion of the shortest path information that overlaps with the recessed area contour information, to generate cutting path information; If the shortest path information does not overlap with the recessed area contour information, the shortest path information is determined to be the cutting path information.

3. The method according to claim 1, characterized in that The controlling the cutting device to cut the battery to be disassembled based on the cutting path information includes: Get the preset cutting depth information; Generate cutting instruction information according to the cutting path information and the cutting depth information; According to the cutting instruction information, the cutting device is controlled to cut the battery to be disassembled.

4. A real-time detection system based on an automatic disassembly production line, suitable for a disassembly production line, wherein the disassembly production line includes a cutting device, characterized in that: The system comprises: Shell real shot information acquisition module: used to obtain the three-dimensional point cloud model information of the battery to be disassembled based on a preset laser scanner, and to obtain multiple shell real shot information of the battery to be disassembled based on a preset camera; A sunken area contour information determination module: used to determine a plurality of sunken area contour information according to the three-dimensional point cloud model information; The shell concave fusion map information generation module is used for matching the concave area contour information with the shell real-shot image information according to a preset feature point matching algorithm for each of the concave area contour information to generate the shell concave fusion map information, wherein the shell concave fusion map information is used to describe the shell real-shot image information after the concave area contour information is fused; A cutting path information generating module: used to generate cutting path information according to the shell concave fusion map information; A cutting device control module: used for controlling the cutting device to cut the battery to be disassembled based on the cutting path information; Wherein, the system further comprises: Shell merged map information generation module: used for merging adjacent shell concave fusion map information in sequence based on a preset merging order to generate shell merged map information, wherein the merging order is used to describe the order from the bottom of the battery to be disassembled to the top of the battery to be disassembled, and then from the top of the battery to be disassembled to the bottom of the battery to be disassembled; Accordingly, the cutting path information generating module includes: A cutting path information generating submodule: used for generating cutting path information according to the shell merged image information; Wherein, the cutting path information generation submodule includes: Bottom corner feature point information acquisition unit: used to acquire the bottom corner feature point information of the battery to be disassembled and preset battery bottom size information; A battery bottom area information determination unit: used to determine the battery bottom area information of the battery to be disassembled according to the bottom angle feature point information and the battery bottom size information; A flat region contour information generating unit: used to generate flat region contour information according to the battery bottom region information and the recessed region contour information, wherein the flat region contour information is used to describe the region in the battery bottom region information except the recessed region contour information; A path starting point information selection unit: used to select any area point in the flattened area contour information as the path starting point information; A cutting path information generating unit: used for generating cutting path information based on the path starting point information and the shell merged graph information; Wherein, the cutting path information generating unit includes: A path starting point graph information determination subunit: used to determine the path starting point graph information according to the shell merged graph information and the path starting point information, wherein the path starting point graph information is used to describe the shell concave fusion graph information containing the path starting point information in the shell merged graph information; A subunit for determining the fusion atlas information to be selected: used to determine the fusion atlas information to be selected according to the shell merged graph information and the graph information where the path starting point is located, wherein the fusion atlas information to be selected includes a plurality of fusion graph information to be selected, and the fusion graph information to be selected is used to describe any one of the shell concave fusion graph information in the shell merged graph information except the graph information where the path starting point is located; The shortest distance information generating subunit is used to calculate the shortest distance between each of the selected fusion graph information and the path starting point information, and generate multiple shortest distance information; A target fusion graph information selection subunit is used to select the candidate fusion graph information corresponding to the largest shortest distance information as the target fusion graph information; Shell copy graph information generating subunit: used for copying the shell merge graph information to generate shell copy graph information; A path end information determination subunit is used to determine the path starting point information corresponding to the shell copy map information as the path end information, and determine the shell concave fusion map information containing the path end information in the shell copy map information as the map information where the path end is located; The optimized merged graph information generating subunit is used to merge the shell merged graph information and the shell copy graph information based on the target fusion graph information to generate optimized merged graph information, wherein the target fusion graph information of the shell merged graph information is connected with the graph information where the path end point of the shell copy graph information is located; Cutting path information generating subunit: used for generating cutting path information according to the path starting point information, the path ending point information and the optimized merged graph information.

5. The system according to claim 4, characterized in that The cutting device control module comprises: Cutting depth information acquisition submodule: used to obtain preset cutting depth information; Cutting instruction information generation submodule: used to generate cutting instruction information according to the cutting path information and the cutting depth information; Cutting device control submodule: used to control the cutting device to cut the battery to be disassembled according to the cutting instruction information.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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