Battery bus detection method and system

Abstract

The invention provides a battery bus detection method and system. The method comprises the steps that a first bus is determined from a bus preparation conveying line through a visual system; acquiring a first image of the battery pack through a visual system, identifying a first installation area of the first bus in the battery pack through the first image, and acquiring first installation information of the first bus; marking m nut parts corresponding to the m nuts from a nut vibration disc through a visual system according to the first mounting information; according to the target environment parameters, first installation parameters of m nuts in the first installation information are adjusted, and second installation parameters of the m nuts are obtained; updating the first installation information by using the second installation parameters of the m nuts to obtain second installation information; and the first bus is installed on the m nut components according to the second installation information and the first installation area through the mechanical arm, the tightening system, the force control system and the visual system. The bus assembly efficiency of the battery pack can be improved.

Description

Technical Field

[0001] The present application relates to the field of motor vehicle technology or new energy technology, and specifically to a battery busbar detection method and system. Background Art

[0002] The battery pack of new energy vehicles is a key component of new energy vehicles. At present, there are as many as 20 or even more busbars in a battery pack. As the battery pack becomes larger and more powerful, the number of busbars will further increase. Busbar assembly is often completed manually, resulting in low busbar assembly efficiency. Therefore, how to improve the busbar assembly efficiency of battery packs needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a battery busbar detection method and system, which can improve the busbar assembly efficiency of a battery pack.

[0004] In a first aspect, an embodiment of the present application provides a battery busbar detection method, which is applied to a robot, wherein the robot includes a visual system, a tightening system, a force control system, an environmental sensor, and a robotic arm, and the method includes: Determine a first busbar from a busbar preparation conveying line by using the visual system, wherein the first busbar is a busbar on which a battery pack currently needs to be installed; the busbar preparation conveying line includes a plurality of busbars, and the first busbar is one of the plurality of busbars; Acquire a first image of the battery pack through the visual system, identify a first installation area of ​​the first busbar in the battery pack through the first image, and acquire first installation information of the first busbar, wherein the first installation information includes: an installation process and first installation parameters of m nuts, wherein the installation process includes an installation method and an installation sequence of the m nuts; and the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts; Marking m nut components corresponding to the m nuts from the nut vibrating material tray by the visual system according to the first installation information, wherein the nut vibrating material tray includes n nut components, and the n nut components include the m nut components; Acquiring target environmental parameters through the environmental sensor; adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts; Using the second installation parameters of the m nuts to update the first installation information, to obtain second installation information; The m nut components are installed on the first busbar according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system.

[0005] In a second aspect, an embodiment of the present application provides a battery bus detection system, which is applied to a robot, wherein the robot includes a visual system, a tightening system, a force control system, an environmental sensor, and a robotic arm, and the battery bus detection system includes: a determination unit, an acquisition unit, a marking unit, an adjustment unit, an update unit, and a control unit, wherein: The determining unit is used to determine a first busbar from the busbar preparation conveying line through the visual system, wherein the first busbar is a busbar on which the battery pack currently needs to be installed; the busbar preparation conveying line includes a plurality of busbars, and the first busbar is one of the plurality of busbars; The acquisition unit is used to acquire a first image of the battery pack through the visual system, identify a first installation area of ​​the first busbar in the battery pack through the first image, and acquire first installation information of the first busbar, wherein the first installation information includes: an installation process and first installation parameters of m nuts, wherein the installation process includes an installation method and an installation sequence of the m nuts; and the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts; The marking unit is used to mark m nut components corresponding to the m nuts from the nut vibrating material tray through the visual system according to the first installation information, the nut vibrating material tray including n nut components, and the n nut components including the m nut components; The acquisition unit is further used to acquire target environmental parameters through the environmental sensor; The adjusting unit is configured to adjust the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts; The updating unit is used to update the first installation information using the second installation parameters of the m nuts to obtain second installation information; The control unit is used to install the first busbar with the m nut components according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system.

[0006] In a third aspect, an embodiment of the present application provides a robot comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps in the first aspect of the embodiment of the present application.

[0007] 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 for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0008] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0009] The implementation of the embodiments of the present application has the following beneficial effects: It can be seen that the battery busbar detection method and system described in the embodiment of the present application are applied to a robot, the robot including a visual system, a tightening system, a force control system, an environmental sensor and a robotic arm, and the first busbar is determined from the busbar preparation conveyor line through the visual system, and the first busbar is the busbar that the battery pack currently needs to be installed; the busbar preparation conveyor line includes multiple busbars, and the first busbar is one of the multiple busbars; the first image of the battery pack is obtained through the visual system, and the first installation area of ​​the first busbar in the battery pack is identified through the first image, and the first installation information of the first busbar is obtained, and the first installation information includes: An installation process and first installation parameters of m nuts, wherein the installation process includes the installation method and installation sequence of the m nuts; the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts; m nut components corresponding to the m nuts are marked from the nut vibration disk according to the first installation information by the visual system, wherein the nut vibration disk includes n nut components, and the n nut components include the m nut components; target environmental parameters are acquired by the environmental sensor; the first installation parameters of the m nuts in the first installation information are adjusted according to the target environmental parameters, and the m nuts are obtained. to the second installation parameters of the m nuts; update the first installation information using the second installation parameters of the m nuts to obtain second installation information; install the m nut components according to the second installation information and the first installation area to complete the installation of the first busbar through the robotic arm, the tightening system, the force control system, and the visual system. Firstly, since the structure and position of the battery pack are known, and the position of the robot is also known, the first busbar can be determined from the busbar preparation conveyor line through the visual system. Secondly, a first image of the battery pack is obtained through the visual system, and a first installation area of ​​the first busbar in the battery pack is identified through the first image. Since the battery pack is fixed and known, it can be known If you know where the busbar that needs to be installed is installed, you can quickly determine the corresponding installation information. Thirdly, environmental parameters reflect the environmental impact to a certain extent. The installation information is dynamically adjusted based on the actual environment so that the adjusted installation information depth conforms to the actual environment. The visual system can monitor the entire installation process. The robotic arm, tightening system, and force control system perform corresponding installation operations according to the corresponding tightening parameters, force control parameters, and installation positions under the precise positioning of the visual system. Thus, the busbar assembly efficiency of the battery pack can be improved. In this way, the nuts can be selected correctly and installed in strict accordance with the standard order, thereby avoiding details such as using the wrong bolt model, missing bolts, and bolt cracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 It is a flow chart of a battery busbar detection method provided in an embodiment of the present application; Figure 2 is a schematic diagram of the structure of a robot provided in an embodiment of the present application; Figure 3 This is a block diagram of the functional units of a battery bus detection system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0012] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0013] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0014] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0015] The robots involved in the embodiments of the present application may include but are not limited to: automobile processing robots, industrial robots, automobile processing machine tools, humanoid robots or other robots with busbar assembly functions.

[0016] See also Figure 1 , Figure 1 It is a flow chart of a battery busbar detection method provided in an embodiment of the present application, which is applied to a robot, a visual system, a tightening system, a force control system, an environmental sensor and a robotic arm. The battery busbar detection method includes: 101. Determine a first busbar from a busbar preparation conveyor line through the visual system, where the first busbar is a busbar on which the battery pack currently needs to be installed; the busbar preparation conveyor line includes multiple busbars, and the first busbar is one of the multiple busbars.

[0017] In the embodiment of the present application, the busbar preparation transmission line includes multiple busbars, and the first busbar is one of the multiple busbars.

[0018] The visual system may include at least one of the following: an infrared imager, a laser sensor, an ultrasonic sensor, a radar sensor, a camera, etc., which are not limited here.

[0019] Among them, the tightening system is used to control the tightening parameters of the nut, and the tightening parameters may include at least one of the following: number of tightening turns, tightening degree, torque size, angle size, tightening action, etc., which are not limited here.

[0020] Among them, the force control system is used to control the force parameters of tightening the nut. The force parameters may include at least one of the following: force size, duration of force, etc., which are not limited here.

[0021] In a specific implementation, the busbar preparation conveyor line can be an assembly line, or a turntable.

[0022] In a specific implementation, since the structure and position of the battery pack are known, and the position of the robot is also known, the first busbar can be determined from the busbar preparation conveyor line through the visual system.

[0023] 102. Acquire a first image of the battery pack through the visual system, identify a first installation area of ​​the first busbar in the battery pack through the first image, and acquire first installation information of the first busbar, wherein the first installation information includes: an installation process and first installation parameters of m nuts, wherein the installation process includes an installation method and an installation sequence of the m nuts; and the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts.

[0024] In a specific implementation, a first image of the battery pack can be acquired through a visual system, and a first installation area of ​​the first busbar in the battery pack can be identified through the first image. Since the battery pack is fixed and known, it can be known where the busbar currently required to be installed is installed.

[0025] In specific implementation, different processes have different corresponding installation procedures. Different busbars may also have different corresponding installation procedures.

[0026] Next, first installation information of the first busbar may be obtained, wherein the first installation information includes: an installation process and first installation parameters of the m nuts, and the installation process includes an installation method of each of the m nuts and an installation order of the m nuts.

[0027] Among them, the first installation parameter of each of the m nuts may include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts.

[0028] The first installation position may include at least one of the following: coordinate position, installation depth, whether to match bolts, etc., which are not limited here.

[0029] The first tightening parameter may include at least one of the following: number of tightening turns, tightening degree, torque, angle, tightening action, etc., which are not limited here.

[0030] The first force control parameter may include at least one of the following: force magnitude, force duration, etc., which are not limited here.

[0031] 103. Mark m nut components corresponding to the m nuts from the nut vibrator tray according to the first installation information through the visual system, the nut vibrator tray includes n nut components, and the n nut components include the m nut components.

[0032] In the embodiment of the present application, since the first installation information is known, it is known which nuts are needed, and the positions of the nuts are also known. Then, the m nut parts corresponding to the m nuts can be marked from the nut vibration tray according to the first installation information through the visual system. Each nut corresponds to a nut part, and the nut vibration tray includes n nut parts, and the n nut parts include m nut parts.

[0033] 104. Acquire target environmental parameters through the environmental sensor.

[0034] In the embodiment of the present application, the environmental sensor can be used to detect environmental parameters, and the target environmental parameters may include at least one of the following: ambient brightness, ambient temperature, ambient humidity, magnetic field interference intensity, atmospheric pressure, PM2.5, etc., which are not limited here.

[0035] 105. Adjust first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain second installation parameters of the m nuts.

[0036] In the embodiment of the present application, the environmental parameters reflect the environmental impact to a certain extent. For example, due to the characteristics of the object, thermal expansion and contraction will occur. Therefore, the first installation parameters of the m nuts in the first installation information can be adjusted according to the target environmental parameters to obtain the second installation parameters of the m nuts. In this way, the nut installation can be made more in line with the actual environment, which helps to improve the busbar installation process.

[0037] 106. Use the second installation parameters of the m nuts to update the first installation information to obtain second installation information.

[0038] In the embodiment of the present application, the first installation information can be updated using the second installation parameters of the m nuts to obtain the second installation information, that is, the updated installation information is used to replace the corresponding information in the first installation information to obtain the second installation information.

[0039] 107. Use the robotic arm, the tightening system, the force control system, and the visual system to install the m nut components on the first busbar according to the second installation information and the first installation area.

[0040] In the embodiment of the present application, the first busbar can be installed with m nut components according to the second installation information and the first installation area through a robotic arm, a tightening system, a force control system, and a visual system. The visual system can monitor the entire installation process, and the robotic arm, the tightening system, and the force control system can perform corresponding installation operations according to the corresponding tightening parameters, force control parameters, and installation positions under the precise positioning of the visual system, thereby improving the busbar assembly efficiency of the battery pack.

[0041] In the specific implementation, in view of the tightening sequence problem, it is necessary to ensure uniform stress distribution when tightening the busbar, so there will be tightening sequence requirements. By controlling the order of tightening the bolts, the stress distribution is ensured to be as uniform as possible. At the same time, this can also alleviate the occurrence of torque attenuation to a certain extent. Of course, details such as using the wrong bolt model, missing bolts, and bolt cracking may also affect the performance of the entire battery pack; the order of tightening the bolts, the torque of each bolt, and the angle of rotation are all very particular. By using the embodiments of the present application, the nuts can be selected correctly and installed in strict accordance with the standard order, thereby avoiding details such as using the wrong bolt model, missing bolts, and bolt cracking.

[0042] By adopting the embodiments of the present application, unmanned assembly and visual inspection solutions can be adopted for power battery busbar assembly to improve production efficiency, reduce costs, ensure product quality, and improve equipment utilization.

[0043] Optionally, the above step 105, adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts, may include the following steps: Identify, by the visual system, a first screw hole corresponding to a first standard nut in the battery pack, where the first standard nut is any one of the m nuts; Acquire first attribute information of the first screw hole; Obtaining a first nut component corresponding to the first standard nut among the m nut components; Acquire second attribute information corresponding to the first nut component; determining a first relative deviation between the second attribute information and the first attribute information; determining a first adjustment parameter corresponding to the first relative deviation; Determining a first feedback adjustment parameter corresponding to the target environmental parameter; The second installation parameter of the first standard nut is obtained according to the first adjustment parameter, the first feedback adjustment parameter and the first installation parameter of the first standard nut.

[0044] Among them, the first attribute information of the first screw hole may include at least one of the following: screw hole image, screw hole size, screw hole specification, screw hole structure, screw hole depth, screw hole direction, screw hole material, screw hole surface smoothness, screw hole surface process, etc., which are not limited here.

[0045] The first screw hole may be a built-in screw hole on the battery pack, or may be a screw hole for a bolt.

[0046] The second attribute information corresponding to the first nut component may include at least one of the following: the size of the nut component, the rule of the nut component, the model of the nut component, the manufacturer of the nut component, the structure of the nut component, the length of the nut component, the direction of the nut component, the material of the nut component, the surface smoothness of the nut component, the surface process of the nut component, etc., which are not limited here. The rule of the nut component can be understood as the installation rule of the nut component, which may specifically include: the installation tool of the nut component, the installation direction of the nut component, the installation steps of the nut component, the installation force of the nut component, the installation precautions of the nut component, etc.

[0047] In the specific implementation, taking the first standard nut as an example, the first standard nut is any one of the m nuts. The first screw hole corresponding to the first standard nut in the battery pack can be identified by the visual system, and the first attribute information of the first screw hole can be obtained. The first attribute information reflects the characteristics of the first screw hole to a certain extent. The first nut component corresponding to the first standard nut among the m nut components can also be obtained, and the second attribute information corresponding to the first nut component can be obtained. The second attribute information reflects the characteristics of the first nut component to a certain extent, because the first nut component and the first screw hole need to be relatively matched to a certain extent.

[0048] Furthermore, a first relative deviation between the second attribute information and the first attribute information can be determined, the first relative deviation = (second attribute information - first attribute information) / (second attribute information + first attribute information), and the first relative deviation reflects the degree of matching between the first nut component and the first screw hole to a certain extent. The first relative deviation not only reflects the degree of deviation, but also reflects the direction of deviation, which helps to dynamically adjust the installation parameters based on the degree of matching between the first nut component and the first screw hole, so that the final installation effect is deeply adapted to the actual situation.

[0049] Next, a mapping relationship between a preset relative deviation and an adjustment parameter can be pre-stored, and then, a first adjustment parameter corresponding to the first relative deviation can be determined based on the mapping relationship. A mapping relationship between a preset environmental parameter and a feedback adjustment parameter can also be pre-stored, and a first feedback adjustment parameter corresponding to the target environmental parameter can be determined based on the mapping relationship. Finally, the second installation parameter of the first standard nut can be obtained according to the first adjustment parameter, the first feedback adjustment parameter and the first installation parameter of the first standard nut, that is, the second installation parameter of the first standard nut = (1 + first adjustment parameter) * (1 + first feedback adjustment parameter) * first installation parameter of the first standard nut. Since the first attribute information reflects the characteristics of the first screw hole to a certain extent, the second attribute information reflects the characteristics of the first nut component to a certain extent, and the first relative deviation reflects the degree of matching between the first nut component and the first screw hole to a certain extent, then, on the one hand, the first installation parameter can be dynamically adjusted based on the degree of matching between the first nut component and the first screw hole. On the other hand, in view of environmental influences, the first installation parameter is further deeply feedback-adjusted, so that the final installation parameter conforms to the characteristics of the first nut component and the first screw hole, and conforms to the actual physical environment.

[0050] By adopting the solution in the embodiment of the present application, the corresponding installation parameters can be dynamically determined based on the actual situation, so that the final installation parameters not only meet the process requirements, but also deeply meet the physical and structural characteristics of the actual accessories, so that the busbar installation accuracy is higher, thereby improving the overall performance of the battery pack.

[0051] Optionally, the above step 102, obtaining the first installation information of the first busbar, may include the following steps: The first busbar is fixedly placed in the first installation area by using the robotic arm and the visual system, and screw hole positions are identified to obtain m screw hole positions; Determine the screw hole position sequence of the m screw hole positions according to the installation process by using the visual system and the robotic arm; The first installation information of the first busbar is acquired according to the screw hole position sequence.

[0052] In an embodiment of the present application, the first busbar can be fixed in the first installation area by a robotic arm and a visual system, and the screw hole positions can be identified to obtain m screw hole positions. The screw hole position sequence of the m screw hole positions can be determined according to the installation process by the visual system and the robotic arm. Then, the first installation information of the first busbar can be obtained according to the screw hole position sequence. In this way, the first busbar can be fixed by the robotic arm and the visual system first, and then the screw hole positions can be located based on the fixed structure, and the screw hole position sequence can be determined to obtain the corresponding installation information. Thus, the nuts can be correctly selected and installed in strict accordance with the standard sequence, thereby avoiding details such as using the wrong bolt model, missing bolts, and bolt cracking.

[0053] Optionally, installing the first busbar with the m nut components according to the second installation information and the first installation area by using the mechanical arm, the tightening system, the force control system, and the visual system includes: The m nut components are obtained from the nut vibration tray in sequence according to the screw hole positions through the robotic arm, the tightening system, the force control system, and the visual system, and the m nut components are installed on the first bus according to the second installation information and the first installation area.

[0054] In an embodiment of the present application, m nut components are obtained from the nut vibration plate in sequence according to the order of the screw hole positions through a robotic arm, a tightening system, a force control system, and a visual system, and the m nut components are installed on the first busbar according to the second installation information and the first installation area. Thus, the nuts can be selected correctly and installed strictly in the standard order, thereby avoiding detailed problems such as using the wrong bolt model, missing bolts, and bolt cracking.

[0055] Optionally, the following steps may also be included: Obtaining a first absolute value of the first relative deviation; When the first absolute value is greater than a first preset threshold, a nut component corresponding to the first standard nut is re-selected from the nut vibrating material tray as a new first nut component.

[0056] When the first absolute value is less than or equal to the first preset threshold, the step of determining a first adjustment parameter corresponding to the first relative deviation is performed.

[0057] The first preset threshold may be preset or set by system default.

[0058] In a specific implementation, the first absolute value of the first relative deviation can be obtained. When the first absolute value is greater than the first preset threshold, it indicates that the first nut component and the first screw hole do not match each other. Then, the nut component corresponding to the first standard nut can be re-selected from the nut vibration material plate as a new first nut component until the first relative deviation between the second attribute information of the new first nut component and the first attribute information is less than or equal to the first preset threshold, and then other subsequent steps are executed.

[0059] Of course, when the first absolute value is less than or equal to the first preset threshold value, it indicates that the first nut component and the first screw hole are matched, and the step of determining the first adjustment parameter corresponding to the first relative deviation is performed. In this way, it is possible to timely identify whether the first nut component and the first screw hole are matched, so that the nut can be selected correctly and installed strictly in accordance with the standard order, thereby avoiding details such as using the wrong bolt model, missing bolts, and bolt cracking.

[0060] Optionally, the above step of determining a first adjustment parameter corresponding to the first relative deviation may further include the following steps: When the second absolute value is less than or equal to the second preset threshold, determining the first adjustment parameter corresponding to the first relative deviation according to the preset mapping relationship between the relative deviation and the adjustment parameter; the second preset threshold is less than the first preset threshold; When the first absolute value is greater than the second preset threshold and less than the first preset threshold, obtaining a reference adjustment parameter corresponding to the first relative deviation according to the mapping relationship; Acquire a second image of the first screw hole, and extract the first high-frequency feature set through the second image; Acquire a first reference image of a standard screw hole corresponding to the first screw hole, and extract the second high-frequency feature set through the first reference image; determining a first similarity between the first high-frequency feature set and the second high-frequency feature set; acquiring a third image of the first nut component, and extracting the third high-frequency feature set through the third image; Acquire a second reference image corresponding to the first nut, and extract the fourth high-frequency feature set through the second reference image; determining a second similarity between the third high frequency feature set and the fourth high frequency feature set; Determining a target interaction influence parameter according to the first similarity and the second similarity; The first adjustment parameter is determined according to the target interaction influence parameter and the reference adjustment parameter.

[0061] Among them, the first high-frequency feature set, the second high-frequency feature set, the third high-frequency feature set, and the fourth high-frequency feature set can all include multiple high-frequency features, and the high-frequency features can include at least one of the following: feature points, feature vectors, feature values, feature contours, etc., which are not limited here. High-frequency features reflect deep detail texture features to a certain extent. In a specific implementation, the image can be first decomposed at multiple scales to extract the high-frequency component image, and then feature extraction can be performed on the high-frequency component image to obtain the corresponding high-frequency feature set. The multi-scale decomposition can include at least one of the following: wavelet transform, pyramid transform, contourlet transform, etc., which are not limited here.

[0062] The second preset threshold is smaller than the first preset threshold, and both the first preset threshold and the second preset threshold are greater than 0.

[0063] In a specific implementation, when the second absolute value is less than or equal to the second preset threshold, it indicates that the first nut component and the first screw hole are deeply matched, and the first adjustment parameter corresponding to the first relative deviation can be determined according to the mapping relationship between the preset relative deviation and the adjustment parameter. When the first absolute value is greater than the second preset threshold and less than the first preset threshold, it indicates that the first nut component and the first screw hole are moderately matched, and the reference adjustment parameter corresponding to the first relative deviation can be obtained according to the mapping relationship between the preset relative deviation and the adjustment parameter.

[0064] Next, a second image of the first screw hole can be obtained, and a first high-frequency feature set can be extracted through the second image. Then, a first reference image of a standard screw hole corresponding to the first screw hole can be obtained, and the second high-frequency feature set can be extracted through the first reference image. A first similarity between the first high-frequency feature set and the second high-frequency feature set can be determined. The first similarity reflects, to a certain extent, the degree of difference in depth details between the actual screw hole and the standard screw hole.

[0065] Correspondingly, a third image of the first nut component can be obtained, and a third high-frequency feature set can be extracted through the third image, and a second reference image corresponding to the first nut can be obtained, and the fourth high-frequency feature set can be extracted through the second reference image, and then the second similarity between the third high-frequency feature set and the fourth high-frequency feature set can be determined. The second similarity reflects, to a certain extent, the degree of difference in depth details between the actual nut and the standard nut.

[0066] Next, the target interaction parameter can be determined according to the first similarity and the second similarity, that is, the target interaction parameter = (1 + first similarity) / (1 + second similarity), and then the first adjustment parameter can be determined according to the target interaction parameter and the reference adjustment parameter, that is, the first adjustment parameter = target interaction parameter * reference adjustment parameter. Since the relationship between the screw hole and the nut is mutual matching and mutual restraint, the target interaction parameter deeply reflects the degree of mutual restraint between the screw hole and the nut, so that the final adjustment parameter not only deeply conforms to the characteristics of the first nut component and the first screw hole, but also deeply combines the depth detail difference between the nut and the standard nut. The deep optimization of the adjustment parameter is helpful to improve the accuracy of the busbar installation process and ensure the performance of the battery pack. Therefore, the nut can be selected correctly and installed strictly in the standard order, thereby avoiding the use of wrong bolt model, missing bolts, bolt cracking and other detailed problems.

[0067] It can be seen that the battery busbar detection method described in the embodiment of the present application is applied to a robot, the robot including a visual system, a tightening system, a force control system, an environmental sensor and a robotic arm, the first busbar is determined from the busbar preparation conveyor line through the visual system, the first busbar is the busbar that the battery pack currently needs to be installed; the busbar preparation conveyor line includes multiple busbars, the first busbar is one of the multiple busbars; a first image of the battery pack is acquired through the visual system, a first installation area of ​​the first busbar in the battery pack is identified through the first image, and first installation information of the first busbar is acquired, the first installation information includes: the installation worker The method comprises the steps of: obtaining a first installation parameter of m nuts, wherein the first installation parameter of the m nuts comprises a first installation position, a first tightening parameter, and a first force control parameter of each nut in the m nuts; marking m nut parts corresponding to the m nuts from the nut vibration material disk according to the first installation information through the visual system, wherein the nut vibration material disk comprises n nut parts, and the n nut parts comprise the m nut parts; acquiring target environmental parameters through the environmental sensor; adjusting the first installation parameters of the m nuts in the first installation information according to the target environmental parameters, and obtaining the target environmental parameters; The second installation parameters of the m nuts are obtained by updating the first installation information using the second installation parameters of the m nuts to obtain the second installation information; the m nut components are installed on the first busbar according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system. Firstly, since the structure and position of the battery pack are known, and the position of the robot is also known, the first busbar can be determined from the busbar preparation conveyor line through the visual system. Secondly, a first image of the battery pack is obtained through the visual system, and a first installation area of ​​the first busbar in the battery pack is identified through the first image. Since the battery pack is fixed and known, it can be known The corresponding installation information can be quickly determined by where the busbar that needs to be installed is installed. Thirdly, environmental parameters reflect the environmental impact to a certain extent. The installation information is dynamically adjusted based on the actual environment so that the adjusted installation information depth conforms to the actual environment. The visual system can monitor the installation process throughout the entire process. The robotic arm, tightening system, and force control system perform corresponding installation operations according to the corresponding tightening parameters, force control parameters, and installation positions under the precise positioning of the visual system. Thus, the busbar assembly efficiency of the battery pack can be improved. In this way, the nuts can be selected correctly and installed in strict accordance with the standard order, thereby avoiding details such as using the wrong bolt model, missing bolts, and bolt cracking.

[0068] In accordance with the above embodiment, please refer to Figure 2 , Figure 2: is a schematic diagram of the structure of a robot provided in an embodiment of the present application, the robot includes a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the robot includes a vision system, a tightening system, a force control system, an environmental sensor and a robotic arm, and in the embodiment of the present application, the program includes instructions for executing the following steps: Determine a first busbar from a busbar preparation conveying line by using the visual system, wherein the first busbar is a busbar on which a battery pack currently needs to be installed; the busbar preparation conveying line includes a plurality of busbars, and the first busbar is one of the plurality of busbars; Acquire a first image of the battery pack through the visual system, identify a first installation area of ​​the first busbar in the battery pack through the first image, and acquire first installation information of the first busbar, wherein the first installation information includes: an installation process and first installation parameters of m nuts, wherein the installation process includes an installation method and an installation sequence of the m nuts; and the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts; Marking m nut components corresponding to the m nuts from the nut vibrating material tray according to the first installation information by the visual system, wherein the nut vibrating material tray includes n nut components, and the n nut components include the m nut components; Acquiring target environmental parameters through the environmental sensor; adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts; Using the second installation parameters of the m nuts to update the first installation information, to obtain second installation information; The m nut components are installed on the first busbar according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system.

[0069] Optionally, in the aspect of adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts, the program includes instructions for executing the following steps: Identify, by the visual system, a first screw hole corresponding to a first standard nut in the battery pack, where the first standard nut is any one of the m nuts; Acquire first attribute information of the first screw hole; Obtaining a first nut component corresponding to the first standard nut among the m nut components; Acquire second attribute information corresponding to the first nut component; determining a first relative deviation between the second attribute information and the first attribute information; determining a first adjustment parameter corresponding to the first relative deviation; Determining a first feedback adjustment parameter corresponding to the target environmental parameter; The second installation parameter of the first standard nut is obtained according to the first adjustment parameter, the first feedback adjustment parameter and the first installation parameter of the first standard nut.

[0070] Optionally, in the aspect of obtaining the first installation information of the first busbar, the program includes instructions for executing the following steps: The first busbar is fixedly placed in the first installation area by using the robotic arm and the visual system, and screw hole positions are identified to obtain m screw hole positions; Determine the screw hole position sequence of the m screw hole positions according to the installation process by using the visual system and the robotic arm; The first installation information of the first busbar is acquired according to the screw hole position sequence.

[0071] Optionally, in the aspect of installing the first busbar with the m nut components according to the second installation information and the first installation area by the robotic arm, the tightening system, the force control system, and the visual system, the program includes instructions for performing the following steps: The m nut components are obtained from the nut vibration tray in sequence according to the screw hole positions through the robotic arm, the tightening system, the force control system, and the visual system, and the m nut components are installed on the first bus according to the second installation information and the first installation area.

[0072] Optionally, the program further includes instructions for executing the following steps: Obtaining a first absolute value of the first relative deviation; When the first absolute value is greater than a first preset threshold, a nut component corresponding to the first standard nut is re-selected from the nut vibrating material tray as a new first nut component.

[0073] When the first absolute value is less than or equal to the first preset threshold, the step of determining a first adjustment parameter corresponding to the first relative deviation is performed.

[0074] It can be seen that the robot described in the embodiment of the present application includes a vision system, a tightening system, a force control system, an environmental sensor and a robotic arm. The first busbar is determined from the busbar preparation conveyor line through the vision system, and the first busbar is the busbar that the battery pack currently needs to be installed; the busbar preparation conveyor line includes multiple busbars, and the first busbar is one of the multiple busbars; a first image of the battery pack is acquired through the vision system, a first installation area of ​​the first busbar in the battery pack is identified through the first image, and first installation information of the first busbar is acquired, and the first installation information includes: installation process, first of m nuts The installation process includes the installation method and installation sequence of the m nuts; the first installation parameters of the m nuts include the first installation position, the first tightening parameter, and the first force control parameter of each of the m nuts; the m nut parts corresponding to the m nuts are marked from the nut vibration plate according to the first installation information by the visual system, the nut vibration plate includes n nut parts, and the n nut parts include the m nut parts; the target environmental parameters are obtained by the environmental sensor; the first installation parameters of the m nuts in the first installation information are adjusted according to the target environmental parameters to obtain the m nuts. and obtaining a second installation parameter for the m nuts; updating the first installation information using the second installation parameters of the m nuts to obtain second installation information; installing the m nut components according to the second installation information and the first installation area on the first busbar through the robotic arm, the tightening system, the force control system, and the visual system. Firstly, since the structure and position of the battery pack are known, and the position of the robot is also known, the first busbar can be determined from the busbar preparation conveyor line through the visual system. Secondly, a first image of the battery pack is obtained through the visual system, and a first installation area of ​​the first busbar in the battery pack is identified through the first image. Since the battery pack is fixed and known, the current required area can be known. The corresponding installation information can be quickly determined by where the busbar to be installed is installed. Thirdly, environmental parameters reflect the environmental impact to a certain extent. The installation information is dynamically adjusted based on the actual environment so that the adjusted installation information depth conforms to the actual environment. The visual system can monitor the entire installation process. The robotic arm, tightening system, and force control system perform corresponding installation operations according to the corresponding tightening parameters, force control parameters, and installation positions under the precise positioning of the visual system. Thus, the busbar assembly efficiency of the battery pack can be improved. In this way, the nuts can be selected correctly and installed in strict accordance with the standard order, thereby avoiding details such as using the wrong bolt model, missing bolts, and bolt cracking.

[0075] Figure 3: is a functional unit composition block diagram of a battery bus detection system 300 involved in an embodiment of the present application. The battery bus detection system 300 is applied to a robot, and the robot includes a visual system, a tightening system, a force control system, an environmental sensor and a robotic arm. The battery bus detection system 300 includes: a determination unit 301, an acquisition unit 302, a marking unit 303, an adjustment unit 304, an update unit 305 and a control unit 306, wherein: The determining unit 301 is used to determine a first busbar from a busbar preparation conveying line through the visual system, wherein the first busbar is a busbar on which a battery pack currently needs to be installed; the busbar preparation conveying line includes a plurality of busbars, and the first busbar is one of the plurality of busbars; The acquisition unit 302 is used to acquire a first image of the battery pack through the visual system, identify a first installation area of ​​the first busbar in the battery pack through the first image, and acquire first installation information of the first busbar, wherein the first installation information includes: an installation process and first installation parameters of m nuts, wherein the installation process includes an installation method and an installation sequence of the m nuts; and the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts. The marking unit 303 is used to mark m nut components corresponding to the m nuts from the nut vibrating material tray according to the first installation information through the visual system, the nut vibrating material tray includes n nut components, and the n nut components include the m nut components; The acquisition unit 302 is further configured to acquire target environmental parameters through the environmental sensor; The adjusting unit 304 is configured to adjust the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts; The updating unit 305 is used to update the first installation information using the second installation parameters of the m nuts to obtain second installation information; The control unit 306 is used to install the first busbar with the m nut components according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system.

[0076] Optionally, in the aspect of adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts, the adjusting unit 304 is specifically configured to: Identify, by the visual system, a first screw hole corresponding to a first standard nut in the battery pack, where the first standard nut is any one of the m nuts; Acquire first attribute information of the first screw hole; Obtaining a first nut component corresponding to the first standard nut among the m nut components; Acquire second attribute information corresponding to the first nut component; determining a first relative deviation between the second attribute information and the first attribute information; determining a first adjustment parameter corresponding to the first relative deviation; Determining a first feedback adjustment parameter corresponding to the target environmental parameter; The second installation parameter of the first standard nut is obtained according to the first adjustment parameter, the first feedback adjustment parameter and the first installation parameter of the first standard nut.

[0077] Optionally, in the aspect of acquiring the first installation information of the first busbar, the acquiring unit 302 is specifically configured to: The first busbar is fixedly placed in the first installation area by using the robotic arm and the visual system, and screw hole positions are identified to obtain m screw hole positions; Determine the screw hole position sequence of the m screw hole positions according to the installation process by using the visual system and the robotic arm; The first installation information of the first busbar is acquired according to the screw hole position sequence.

[0078] Optionally, in the aspect of installing the first busbar with the m nut components according to the second installation information and the first installation area through the mechanical arm, the tightening system, the force control system, and the visual system, the control unit 306 is specifically used to: The m nut components are obtained from the nut vibration tray in sequence according to the screw hole positions through the robotic arm, the tightening system, the force control system, and the visual system, and the m nut components are installed on the first bus according to the second installation information and the first installation area.

[0079] Optionally, the battery busbar detection system 300 is further specifically used for: Obtaining a first absolute value of the first relative deviation; When the first absolute value is greater than a first preset threshold, a nut component corresponding to the first standard nut is re-selected from the nut vibrating material tray as a new first nut component.

[0080] When the first absolute value is less than or equal to the first preset threshold, the step of determining a first adjustment parameter corresponding to the first relative deviation is performed.

[0081] It can be seen that the battery busbar detection system described in the embodiment of the present application is applied to a robot, and the robot includes a visual system, a tightening system, a force control system, an environmental sensor and a robotic arm. The first busbar is determined from the busbar preparation conveyor line through the visual system, and the first busbar is the busbar that the battery pack currently needs to be installed; the busbar preparation conveyor line includes multiple busbars, and the first busbar is one of the multiple busbars; a first image of the battery pack is acquired through the visual system, a first installation area of ​​the first busbar in the battery pack is identified through the first image, and first installation information of the first busbar is acquired, and the first installation information includes: the installation worker The method comprises the steps of: obtaining a first installation parameter of m nuts, wherein the first installation parameter of the m nuts comprises a first installation position, a first tightening parameter, and a first force control parameter of each nut in the m nuts; marking m nut parts corresponding to the m nuts from the nut vibration material disk according to the first installation information through the visual system, wherein the nut vibration material disk comprises n nut parts, and the n nut parts comprise the m nut parts; acquiring target environmental parameters through the environmental sensor; adjusting the first installation parameters of the m nuts in the first installation information according to the target environmental parameters, and obtaining the target environmental parameters; The second installation parameters of the m nuts are obtained by updating the first installation information using the second installation parameters of the m nuts to obtain the second installation information; the m nut components are installed on the first busbar according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system. Firstly, since the structure and position of the battery pack are known, and the position of the robot is also known, the first busbar can be determined from the busbar preparation conveyor line through the visual system. Secondly, a first image of the battery pack is obtained through the visual system, and a first installation area of ​​the first busbar in the battery pack is identified through the first image. Since the battery pack is fixed and known, it can be known The corresponding installation information can be quickly determined by where the busbar that needs to be installed is installed. Thirdly, environmental parameters reflect the environmental impact to a certain extent. The installation information is dynamically adjusted based on the actual environment so that the adjusted installation information depth conforms to the actual environment. The visual system can monitor the installation process throughout the entire process. The robotic arm, tightening system, and force control system perform corresponding installation operations according to the corresponding tightening parameters, force control parameters, and installation positions under the precise positioning of the visual system. Thus, the busbar assembly efficiency of the battery pack can be improved. In this way, the nuts can be selected correctly and installed in strict accordance with the standard order, thereby avoiding details such as using the wrong bolt model, missing bolts, and bolt cracking.

[0082] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes a robot.

[0083] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a robot.

[0084] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0085] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0086] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0087] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0088] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0089] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0090] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0091] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A battery busbar detection method, characterized in that: Applied to a robot, the robot includes a visual system, a tightening system, a force control system, an environmental sensor and a robotic arm, and the method includes: Determine a first busbar from a busbar preparation conveying line by using the visual system, wherein the first busbar is a busbar on which a battery pack currently needs to be installed; the busbar preparation conveying line includes a plurality of busbars, and the first busbar is one of the plurality of busbars; Acquire a first image of the battery pack through the visual system, identify a first installation area of ​​the first busbar in the battery pack through the first image, and acquire first installation information of the first busbar, wherein the first installation information includes: an installation process and first installation parameters of m nuts, wherein the installation process includes an installation method and an installation sequence of the m nuts; and the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts; Marking m nut components corresponding to the m nuts from a nut vibrating material tray according to the first installation information by the visual system, wherein the nut vibrating material tray includes n nut components, and the n nut components include the m nut components; Acquiring target environmental parameters through the environmental sensor; adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain second installation parameters of the m nuts; Using the second installation parameters of the m nuts to update the first installation information, to obtain second installation information; The m nut components are installed on the first busbar according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system.

2. The method according to claim 1, characterized in that The step of adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts includes: Identify, by the visual system, a first screw hole corresponding to a first standard nut in the battery pack, where the first standard nut is any one of the m nuts; Acquire first attribute information of the first screw hole; Obtaining a first nut component corresponding to the first standard nut among the m nut components; Acquire second attribute information corresponding to the first nut component; determining a first relative deviation between the second attribute information and the first attribute information; determining a first adjustment parameter corresponding to the first relative deviation; Determining a first feedback adjustment parameter corresponding to the target environmental parameter; The second installation parameter of the first standard nut is obtained according to the first adjustment parameter, the first feedback adjustment parameter and the first installation parameter of the first standard nut.

3. The method according to claim 1 or 2, characterized in that: The obtaining first installation information of the first busbar includes: The first busbar is fixedly placed in the first installation area by using the robotic arm and the visual system, and screw hole positions are identified to obtain m screw hole positions; Determine the screw hole position sequence of the m screw hole positions according to the installation process by using the visual system and the robotic arm; The first installation information of the first busbar is acquired according to the screw hole position sequence.

4. The method according to claim 3, characterized in that The method of installing the first busbar with the m nut components according to the second installation information and the first installation area by using the mechanical arm, the tightening system, the force control system, and the visual system includes: The m nut components are obtained from the nut vibration tray in sequence according to the screw hole positions through the robotic arm, the tightening system, the force control system, and the visual system, and the m nut components are installed on the first bus according to the second installation information and the first installation area.

5. The method according to claim 2, characterized in that: The method further comprises: Obtaining a first absolute value of the first relative deviation; When the first absolute value is greater than a first preset threshold, reselecting a nut component corresponding to the first standard nut from the nut vibrating material tray as a new first nut component; When the first absolute value is less than or equal to the first preset threshold, the step of determining a first adjustment parameter corresponding to the first relative deviation is performed.

6. A battery busbar detection system, characterized in that: Applied to a robot, the robot includes a visual system, a tightening system, a force control system, an environmental sensor and a robotic arm, the battery bus detection system includes: a determination unit, an acquisition unit, a marking unit, an adjustment unit, an update unit and a control unit, wherein: The determining unit is used to determine a first busbar from the busbar preparation conveying line through the visual system, wherein the first busbar is a busbar on which the battery pack currently needs to be installed; the busbar preparation conveying line includes a plurality of busbars, and the first busbar is one of the plurality of busbars; The acquisition unit is used to acquire a first image of the battery pack through the visual system, identify a first installation area of ​​the first busbar in the battery pack through the first image, and acquire first installation information of the first busbar, wherein the first installation information includes: an installation process and first installation parameters of m nuts, wherein the installation process includes an installation method and an installation sequence of the m nuts; and the first installation parameters of the m nuts include a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts; The marking unit is used to mark m nut components corresponding to the m nuts from the nut vibrating material tray through the visual system according to the first installation information, the nut vibrating material tray includes n nut components, and the n nut components include the m nut components; The acquisition unit is further used to acquire target environmental parameters through the environmental sensor; The adjusting unit is configured to adjust the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts; The updating unit is used to update the first installation information using the second installation parameters of the m nuts to obtain second installation information; The control unit is used to install the first busbar with the m nut components according to the second installation information and the first installation area through the robotic arm, the tightening system, the force control system, and the visual system.

7. The battery busbar detection system according to claim 6, characterized in that: In the aspect of adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameters to obtain the second installation parameters of the m nuts, the adjustment unit is specifically used to: Identify, by the visual system, a first screw hole corresponding to a first standard nut in the battery pack, where the first standard nut is any one of the m nuts; Acquire first attribute information of the first screw hole; Obtaining a first nut component corresponding to the first standard nut among the m nut components; Acquire second attribute information corresponding to the first nut component; determining a first relative deviation between the second attribute information and the first attribute information; determining a first adjustment parameter corresponding to the first relative deviation; Determining a first feedback adjustment parameter corresponding to the target environmental parameter; The second installation parameter of the first standard nut is obtained according to the first adjustment parameter, the first feedback adjustment parameter and the first installation parameter of the first standard nut.

8. The battery busbar detection system according to claim 6 or 7, characterized in that: In the aspect of acquiring the first installation information of the first busbar, the acquiring unit is specifically used for: The first busbar is fixedly placed in the first installation area by using the robotic arm and the visual system, and screw hole positions are identified to obtain m screw hole positions; Determine the screw hole position sequence of the m screw hole positions according to the installation process by using the visual system and the robotic arm; The first installation information of the first busbar is acquired according to the screw hole position sequence.

9. The battery busbar detection system according to claim 8, characterized in that: In the aspect of installing the first busbar with the m nut components according to the second installation information and the first installation area through the mechanical arm, the tightening system, the force control system, and the visual system, the control unit is specifically used for: The m nut components are obtained from the nut vibration tray in sequence according to the screw hole positions through the robotic arm, the tightening system, the force control system, and the visual system, and the m nut components are installed on the first bus according to the second installation information and the first installation area.

10. The battery busbar detection system according to claim 7, characterized in that: The battery bus detection system is also specifically used for: Obtaining a first absolute value of the first relative deviation; When the first absolute value is greater than a first preset threshold, reselecting a nut component corresponding to the first standard nut from the nut vibrating material tray as a new first nut component; When the first absolute value is less than or equal to the first preset threshold, the step of determining a first adjustment parameter corresponding to the first relative deviation is performed.

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