A battery bus detection method and system

Abstract

The application provides a battery bus detection method and system, the method comprising: determining a first bus from a bus preparation conveying line through a vision system; obtaining a first image of a battery pack through the vision system, identifying a first installation area of the first bus in the battery pack through the first image, and obtaining first installation information of the first bus; marking m nut components corresponding to m nuts from a nut vibrating bowl according to the first installation information through the vision system; adjusting first installation parameters of the m nuts in the first installation information according to target environment parameters to obtain second installation parameters of the m nuts; updating the first installation information by using the second installation parameters of the m nuts to obtain second installation information; and completing installation of the first bus according to the second installation information and the first installation area by the m nut components through a mechanical arm, a tightening system, a force control system, and the vision system. The application can improve the bus assembly efficiency of the battery pack.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor vehicles or the technical field of new energy, in particular to a battery bus detection method and system. BACKGROUND

[0002] The battery pack of a new energy vehicle is a key component of the new energy vehicle. At present, there are as many as 20 or even more bus bars in a battery pack. With the battery pack becoming larger and more powerful, the number of bus bars will further increase. The bus bar assembly is often completed manually, resulting in low bus bar assembly efficiency. Therefore, how to improve the bus bar assembly efficiency of the battery pack is an urgent problem to be solved. SUMMARY

[0003] The present application provides a battery bus detection method and system, which can improve the bus bar assembly efficiency of the battery pack.

[0004] In a first aspect, the present application provides a battery bus detection method applied to a robot, wherein the robot comprises a vision system, a tightening system, a force control system, an environmental sensor and a mechanical arm, and the method comprises the following steps:

[0005] A first bus bar is determined from a bus bar preparation conveying line by the vision system, the first bus bar being a bus bar currently required to be installed in a battery pack; the bus bar preparation conveying line comprises a plurality of bus bars, and the first bus bar is one of the plurality of bus bars;

[0006] A first image of the battery pack is acquired by the vision system, a first installation area of the first bus bar in the battery pack is identified from the first image, and first installation information of the first bus bar is acquired, the first installation information comprising: an installation procedure and first installation parameters of m nuts, the installation procedure comprising an installation mode and an installation sequence of the m nuts; the first installation parameters of the m nuts comprising a first installation position, a first tightening parameter and a first force control parameter of each nut in the m nuts;

[0007] m nut components corresponding to the m nuts are marked from a nut vibrating tray according to the first installation information by the vision system, the nut vibrating tray comprising n nut components, and the n nut components comprising the m nut components;

[0008] A target environmental parameter is acquired by the environmental sensor;

[0009] The first installation parameters of the m nuts in the first installation information are adjusted according to the target environmental parameter to obtain second installation parameters of the m nuts;

[0010] update the first installation information by using the second installation parameters of the m nuts to obtain second installation information;

[0011] complete installation of 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 vision system.

[0012] In a second aspect, the embodiments of the present application provide a battery bus detection system applied to a robot, the robot comprising a vision system, a tightening system, a force control system, an environment sensor, and a mechanical arm, the battery bus detection system comprising a determination unit, an acquisition unit, a marking unit, an adjustment unit, an update unit, and a control unit, wherein

[0013] The determination unit is configured to determine a first bus from a bus preparation conveying line through the vision system, the first bus being a bus currently required to be installed by a battery pack; the bus preparation conveying line comprises a plurality of buses, and the first bus is one of the plurality of buses;

[0014] The acquisition unit is configured to acquire a first image of the battery pack through the vision system, identify a first installation area of the first bus in the battery pack through the first image, and acquire first installation information of the first bus, the first installation information comprising an installation procedure and first installation parameters of m nuts, the installation procedure comprising an installation mode and an installation sequence of the m nuts; the first installation parameters of the m nuts comprising a first installation position, a first tightening parameter, and a first force control parameter of each nut in the m nuts;

[0015] The marking unit is configured to mark m nut components corresponding to the m nuts from a nut vibrating tray according to the first installation information through the vision system, the nut vibrating tray comprising n nut components, and the n nut components comprising the m nut components;

[0016] The acquisition unit is further configured to acquire target environment parameters through the environment sensor;

[0017] The adjustment 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 second installation parameters of the m nuts;

[0018] The update unit is configured to update the first installation information by using the second installation parameters of the m nuts to obtain second installation information;

[0019] The control unit is configured to install the m nut components according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system, and the vision system.

[0020] In a third aspect, a robot is provided, which includes a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and configured to be executed by the processor. The programs include instructions for performing the steps in the first aspect.

[0021] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program for electronic data exchange. The computer program causes a computer to perform some or all of the steps described in the first aspect.

[0022] In a fifth aspect, a computer program product is provided, which includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to perform some or all of the steps described in the first aspect. The computer program product can be a software installation package.

[0023] By implementing the embodiments of the present application, the following beneficial effects can be achieved:

[0024] It can be seen that the battery bus detection method and system described in the embodiments of the application are applied to a robot including a vision system, a tightening system, a force control system, an environment sensor and a mechanical arm. A first bus is determined from a bus preparation conveying line by the vision system. The first bus is a bus currently needed to be installed for a battery pack. The bus preparation conveying line includes a plurality of buses, and the first bus is one of the plurality of buses. A first image of the battery pack is acquired by the vision system. A first installation area of the first bus in the battery pack is identified by the first image, and first installation information of the first bus is acquired. The first installation information includes an installation procedure, first installation parameters of m nuts, and the installation procedure includes an installation manner and an installation sequence of the m nuts. The first installation parameters of the m nuts include a first installation position, first tightening parameters and first force control parameters of each nut of the m nuts. m nut components corresponding to the m nuts are marked from a nut vibrating tray according to the first installation information by the vision system. The nut vibrating tray includes n nut components, and the n nut components include the m nut components. Target environment parameters are acquired by the environment sensor. First installation parameters of the m nuts in the first installation information are adjusted according to the target environment parameters to obtain second installation parameters of the m nuts. The first installation information is updated by using the second installation parameters of the m nuts to obtain second installation information. The m nut components are installed on the first bus according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system and the vision system. First, since the structure and position of the battery pack are known, the position of the robot is also known, so the first bus can be determined from the bus preparation conveying line by the vision system. Second, the first image of the battery pack is acquired by the vision system, and the first installation area of the first bus in the battery pack is identified by the first image. Since the battery pack is fixed and known, it can be known that the bus currently needed to be installed is installed in which position, so the corresponding installation information can be quickly determined. Third, the environment parameters reflect the influence of the environment to a certain extent. The installation information is dynamically adjusted based on the actual environment, so that the adjusted installation information is deep in line with the actual environment. The vision system can monitor the installation process throughout the process. The mechanical arm, the tightening system and the force control system are positioned accurately under the vision system, and the corresponding installation operation is implemented according to the corresponding tightening parameters, force control parameters and installation position. Thus, the efficiency of the battery pack bus assembly can be improved. In this way, the nuts can be correctly selected, and the nuts are installed strictly according to the standard sequence, so that the details such as wrong bolt model, missed bolt and bolt cracking are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below only illustrate some of the embodiments of the present application, and are not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor should be within the protection scope of the present application.

[0026] Figure 1 is a flow diagram of a battery bus detection method provided by an embodiment of the present application;

[0027] Figure 2 is a structural diagram of a robot provided by an embodiment of the present application;

[0028] Figure 3 is a functional unit composition block diagram of a battery bus detection system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0029] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but in one possible example also includes steps or units not listed, or in one possible example also includes other steps or units inherent to the process, method, product or device.

[0030] In this document, the term "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] In order to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor are within the protection scope of the present application.

[0032] The robot involved in the embodiments of the present application can include but is not limited to: a car processing robot, an industrial robot, a car processing machine tool, a humanoid robot, or other robots with busbar assembly functions.

[0033] Please refer to Figure 1 , Figure 1 is a flowchart of a battery bus detection method provided by the embodiments of the present application, applied to a robot, a vision system, a tightening system, a force control system, an environment sensor, and a mechanical arm. The battery bus detection method comprises the following steps:

[0034] 101. Determine a first busbar from a busbar preparation conveying line by the vision system, the first busbar being a busbar currently required to be installed on a battery pack; the busbar preparation conveying line comprises a plurality of busbars, and the first busbar is one of the plurality of busbars.

[0035] In the embodiments of the present application, the busbar preparation conveying line comprises a plurality of busbars, and the first busbar is one of the plurality of busbars.

[0036] The vision system can include at least one of the following: an infrared imager, a laser sensor, an ultrasonic sensor, a radar sensor, a camera, etc., without limitation.

[0037] The tightening system is used to control the tightening parameters of the nut, and the tightening parameters can include at least one of the following: the number of tightening turns, the degree of tightening, the size of torque, the size of rotation angle, the tightening action, etc., without limitation.

[0038] The force control system is used to control the force parameters of the nut, and the force parameters can include at least one of the following: the size of force, the duration of force, etc., without limitation.

[0039] In specific implementation, the busbar preparation conveying line can be a flow line or a turntable.

[0040] In 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 conveying line by the vision system.

[0041] 102. Obtain a first image of the battery pack by the vision system, identify a first installation area of the first busbar in the battery pack through the first image, and obtain first installation information of the first busbar, the first installation information comprising: an installation procedure, first installation parameters of m nuts, the installation procedure comprising an installation mode and an installation sequence of the m nuts; the first installation parameters of the m nuts comprising a first installation position, a first tightening parameter, and a first force control parameter of each nut in the m nuts.

[0042] In specific implementation, the first image of the battery pack can be acquired by the vision system, and the first installation region 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 which busbar needs to be installed currently.

[0043] In specific implementation, different processes correspond to different installation procedures. Different busbars can also correspond to different installation procedures.

[0044] Then, the first installation information of the first busbar can be acquired. The first installation information includes an installation procedure and first installation parameters of the m nuts. The installation procedure includes an installation manner of each nut in the m nuts and an installation sequence of the m nuts.

[0045] The first installation parameters of each nut in the m nuts can include a first installation position, a first tightening parameter, and a first force control parameter of each nut in the m nuts.

[0046] The first installation position can include at least one of a coordinate position, an installation depth, whether to be matched with a bolt, and the like, which are not limited herein.

[0047] The first tightening parameter can include at least one of a tightening number of turns, a tightening degree, a torque size, an angle size, a tightening action, and the like, which are not limited herein.

[0048] The first force control parameter can include at least one of a force size and a force duration, which are not limited herein.

[0049] 103. Marking m nut components corresponding to the m nuts from the nut vibration tray according to the first installation information through the vision system, wherein the nut vibration tray includes n nut components, and the n nut components include the m nut components.

[0050] In the embodiment of the application, since the first installation information is known, it is known which nuts are needed, and the positions of the nuts are also known. Therefore, m nut components corresponding to the m nuts can be marked from the nut vibration tray according to the first installation information through the vision system. Each nut corresponds to one nut component, the nut vibration tray includes n nut components, and the n nut components include the m nut components.

[0051] 104. Acquiring target environment parameters through the environment sensor.

[0052] In the embodiment of the application, the environment sensor can be used to detect environment parameters. The target environment parameters can include at least one of environment brightness, environment temperature, environment humidity, magnetic field interference intensity, atmospheric pressure, PM2.5, and the like, which are not limited herein.

[0053] 105、adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameter to obtain second installation parameters of the m nuts.

[0054] In the embodiments of the present application, the environment parameter reflects the influence of the environment to a certain extent. For example, due to the characteristics of the object, thermal expansion and contraction may occur, and then the first installation parameters of the m nuts in the first installation information can be adjusted according to the target environment parameter to obtain the second installation parameters of the m nuts. In this way, the nut installation can be more in line with the actual environment, which helps to improve the busbar installation process.

[0055] 106、updating the first installation information by using the second installation parameters of the m nuts to obtain second installation information.

[0056] In the embodiments of the present application, the first installation information can be updated by 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.

[0057] 107、completing the installation of the first busbar according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system, and the visual system.

[0058] In the embodiments of the present application, the first busbar can be completed by the mechanical arm, the tightening system, the force control system, and the visual system according to the second installation information and the first installation area. The visual system can monitor the installation process throughout the process. The mechanical arm, the tightening system, and the force control system are precisely positioned by the visual system, and the corresponding installation operation is performed according to the corresponding tightening parameters, force control parameters, and installation positions. Therefore, the efficiency of the busbar assembly of the battery pack can be improved.

[0059] In specific implementations, for the tightening sequence problem, the stress distribution needs to be uniform during the busbar tightening assembly, so there are requirements for the tightening sequence. By controlling the sequence of tightening the bolts, the stress distribution can be as uniform as possible, and at the same time, the occurrence of torque decay can be alleviated to a certain extent. Of course, details such as incorrect bolt model, missed bolt tightening, and bolt cracking can also affect the performance of the entire battery pack; the sequence of tightening the bolts, the torque size of each bolt tightening, and the angle size are very important. By using the embodiments of the present application, the nuts can be correctly selected and installed according to the standard sequence, so that details such as incorrect bolt model, missed bolt tightening, and bolt cracking can be avoided.

[0060] By using the embodiments of the present application, unmanned assembly and visual detection schemes can be used for power battery busbar assembly to improve production efficiency, reduce costs, ensure product quality, and improve equipment utilization.

[0061] Optionally, the step 105 of adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameter to obtain second installation parameters of the m nuts can include the following steps:

[0062] identifying, by the vision system, a first screw hole corresponding to a first standard nut in the battery pack, the first standard nut being any one of the m nuts;

[0063] obtaining first attribute information of the first screw hole;

[0064] obtaining a first nut component corresponding to the first standard nut in the m nut components;

[0065] obtaining second attribute information corresponding to the first nut component;

[0066] determining a first relative deviation between the second attribute information and the first attribute information;

[0067] determining a first adjustment parameter corresponding to the first relative deviation;

[0068] determining a first feedback adjustment parameter corresponding to the target environment parameter;

[0069] obtaining the second installation parameters of the first standard nut according to the first adjustment parameter, the first feedback adjustment parameter, and first installation parameters of the first standard nut.

[0070] The first attribute information of the first screw hole can include at least one of a screw hole image, a screw hole size, a screw hole specification, a screw hole structure, a screw hole depth, a screw hole direction, a screw hole material, a screw hole surface smoothness, a screw hole surface process, and the like, without limitation.

[0071] The first screw hole can be an inherent screw hole on the battery pack, or can also be a screw hole of a bolt.

[0072] The second attribute information corresponding to the first nut component can include at least one of a size of the nut component, a rule of the nut component, a model of the nut component, a manufacturer of the nut component, a structure of the nut component, a length of the nut component, a direction of the nut component, a material of the nut component, a surface smoothness of the nut component, a surface process of the nut component, and the like, without limitation. The rule of the nut component can be understood as an installation rule of the nut component, and can specifically include an installation tool of the nut component, an installation direction of the nut component, an installation step of the nut component, an installation force of the nut component, and installation precautions of the nut component, and the like.

[0073] In a specific implementation, taking the first standard nut as an example, the first standard nut is any nut in the m nuts, the first screw hole corresponding to the first standard nut in the battery pack can be recognized through the visual system, 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 in the m nut components can be obtained, the second attribute information corresponding to the first nut component is obtained, the second attribute information reflects the characteristics of the first nut component to a certain extent, and the first nut component and the first screw hole need to be relatively matched to a certain extent.

[0074] Further, the 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 matching degree between the first nut component and the first screw hole to a certain extent. The first relative deviation not only reflects the deviation degree, but also reflects the deviation direction, and thus helps to dynamically adjust the installation parameter based on the matching degree between the first nut component and the first screw hole, so that the final installation effect is deeply adapted to the actual situation.

[0075] Then, 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. Further, a mapping relationship between a preset environmental parameter and a feedback adjustment parameter can be pre-stored, and a first feedback adjustment parameter corresponding to the target environmental parameter can be determined based on the mapping relationship. Finally, a 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, i.e., 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 matching degree between the first nut component and the first screw hole to a certain extent, on the one hand, the first installation parameter can be dynamically adjusted based on the matching degree between the first nut component and the first screw hole, and on the other hand, the first installation parameter is further deeply feedback adjusted in view of the environmental influence, so that the final installation parameter not only conforms to the characteristics of the first nut component and the first screw hole, but also conforms to the actual physical environment.

[0076] By adopting the scheme in the embodiments of the present application, the corresponding installation parameter can be dynamically determined based on the actual situation, so that the final installation parameter not only meets the process requirements, but also deeply meets the physical and structural characteristics between the actual accessories, so that the busbar installation precision is higher, thereby improving the overall performance of the battery pack.

[0077] Optionally, the step 102 of acquiring the first installation information of the first busbar can include the following steps:

[0078] The first busbar is fixedly placed in the first installation area by the mechanical arm and the vision system, the screw hole positions are identified, and m screw hole positions are obtained;

[0079] The screw hole position sequence of the m screw hole positions is determined by the vision system and the mechanical arm according to the installation procedure;

[0080] The first installation information of the first busbar is acquired according to the screw hole position sequence.

[0081] In the embodiments of the present application, the first busbar can be fixedly placed in the first installation area by the mechanical arm and the vision system, the screw hole positions are identified, and m screw hole positions are obtained. The screw hole position sequence of the m screw hole positions is determined by the vision system and the mechanical arm according to the installation procedure. Then, the first installation information of the first busbar can be acquired according to the screw hole position sequence. In this way, the first busbar can be fixed by the mechanical arm and the vision system first, and then the screw hole positions are positioned based on the fixed structure, and the corresponding installation information is acquired by determining the screw hole position sequence. Therefore, the nuts can be correctly selected, and the nuts can be strictly installed according to the standard sequence, so as to avoid the details such as wrong bolt model, missed bolt, and bolt cracking.

[0082] Optionally, the installation of the first busbar by the m nuts according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system, and the vision system can include:

[0083] The m nuts are sequentially obtained from the nut vibrating tray by the mechanical arm, the tightening system, the force control system, and the vision system according to the screw hole position sequence, and the installation of the first busbar by the m nuts according to the second installation information and the first installation area is completed.

[0084] In the embodiments of the present application, the m nuts are sequentially obtained from the nut vibrating tray by the mechanical arm, the tightening system, the force control system, and the vision system according to the screw hole position sequence, and the installation of the first busbar by the m nuts according to the second installation information and the first installation area is completed. Therefore, the nuts can be correctly selected, and the nuts can be strictly installed according to the standard sequence, so as to avoid the details such as wrong bolt model, missed bolt, and bolt cracking.

[0085] Optionally, the method can further include the following steps:

[0086] A first absolute value of the first relative deviation is acquired;

[0087] 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.

[0088] 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.

[0089] The first preset threshold may be preset or set by system default.

[0090] 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. 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.

[0091] 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 detailed problems such as using the wrong bolt model, missing bolts, and cracking of bolts.

[0092] Optionally, the above step of determining a first adjustment parameter corresponding to the first relative deviation may further include the following steps:

[0093] 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 a preset mapping relationship between the relative deviation and the adjustment parameter; and the second preset threshold is less than the first preset threshold;

[0094] 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;

[0095] acquiring a second image of the first screw hole, and extracting the first high-frequency feature set through the second image;

[0096] 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;

[0097] determine a first similarity between the first high-frequency feature set and the second high-frequency feature set;

[0098] obtain a third image of the first nut component, and extract the third high-frequency feature set from the third image;

[0099] obtain a second reference image corresponding to the first nut, and extract the fourth high-frequency feature set from the second reference image;

[0100] determine a second similarity between the third high-frequency feature set and the fourth high-frequency feature set;

[0101] determine a target interaction influence parameter according to the first similarity and the second similarity;

[0102] determine the first adjustment parameter according to the target interaction influence parameter and the reference adjustment parameter.

[0103] 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 each include a plurality of high-frequency features, which can include at least one of the following: feature points, characteristic vectors, feature values, feature contours, and the like, without limitation. The high-frequency features reflect deep detail texture features to some extent. In specific implementations, the image can be subjected to multi-scale decomposition to extract a 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, and the like, without limitation.

[0104] The second preset threshold is less than the first preset threshold, and the first preset threshold and the second preset threshold are each greater than 0.

[0105] In specific implementations, 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 well matched in depth, and then the first relative deviation can be used to determine the first adjustment parameter according to a preset mapping relationship between the 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 then the first relative deviation can be used to obtain the reference adjustment parameter according to the preset mapping relationship between the relative deviation and the adjustment parameter.

[0106] Next, a second image of the first screw hole can also be obtained, the first high-frequency feature set is extracted from the second image, a first reference image of a standard screw hole corresponding to the first screw hole is obtained, the second high-frequency feature set is extracted from the first reference image, and a first similarity between the first high-frequency feature set and the second high-frequency feature set is determined. The first similarity reflects the degree of difference in depth details between the actual screw hole and the standard screw hole to some extent.

[0107] Correspondingly, a third image of the first nut component can also be acquired, a third high-frequency feature set is extracted from the third image, and a second reference image corresponding to the first nut is acquired, a fourth high-frequency feature set is extracted from the second reference image, and a second similarity between the third high-frequency feature set and the fourth high-frequency feature set is determined, which to some extent reflects the degree of difference in deep details between the actual nut and the standard nut.

[0108] Next, a target interaction influence parameter can be determined according to the first similarity and the second similarity, that is, the target interaction influence parameter=(1+the first similarity) / (1+the second similarity), and a first adjustment parameter can be determined according to the target interaction influence parameter and a reference adjustment parameter, that is, the first adjustment parameter=target interaction influence parameter*reference adjustment parameter. Since the relationship between the screw hole and the nut is mutual matching and mutual restraint, the target interaction influence parameter deeply reflects the mutual restraint degree 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 degree of difference in deep details between the nut and the standard nut, deeply optimizes the adjustment parameter, helps to improve the busbar installation process precision, ensures the performance of the battery pack, so that the nut can be correctly selected, and the nut is installed in strict accordance with the standard order, thereby avoiding the detailed problems such as using the wrong bolt model, missing the bolt, and bolt cracking.

[0109] It can be seen that the battery bus detection method described in the embodiment of the application is applied to a robot, the robot includes a vision system, a tightening system, a force control system, an environment sensor and a mechanical arm, a first bus is determined from a bus preparation conveying line by the vision system, the first bus is a bus currently needed to be installed for a battery pack; the bus preparation conveying line includes a plurality of buses, and the first bus is one of the plurality of buses; a first image of the battery pack is acquired by the vision system, a first installation area of the first bus in the battery pack is identified by the first image, and first installation information of the first bus is acquired, the first installation information includes: an installation procedure, first installation parameters of m nuts, the installation procedure includes an installation mode and an installation sequence of the m nuts; the first installation parameters of the m nuts include a first installation position, first tightening parameters and first force control parameters of each nut of the m nuts; m nut components corresponding to the m nuts are marked from a nut vibrating tray according to the first installation information by the vision system, n nut components are included in the nut vibrating tray, and the n nut components include the m nut components; target environment parameters are acquired by the environment sensor; the first installation parameters of the m nuts in the first installation information are adjusted according to the target environment parameters to obtain second installation parameters of the m nuts; the first installation information is updated by using the second installation parameters of the m nuts to obtain second installation information; and the m nut components are installed on the first bus according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system and the vision system. Firstly, because the structure and position of the battery pack are known, the position of the robot is also known, so the first bus can be determined from the bus preparation conveying line by the vision system; secondly, the first image of the battery pack is acquired by the vision system, the first installation area of the first bus in the battery pack is identified by the first image, because the battery pack is fixed and known, it can be known that the bus currently needed to be installed is installed in which, so the corresponding installation information can be quickly determined; thirdly, the environment parameters reflect the influence of the environment to a certain extent, the installation information is dynamically adjusted based on the actual environment, so that the adjusted installation information is deep in line with the actual environment, the vision system can monitor the installation process throughout, and the mechanical arm, the tightening system and the force control system are positioned accurately under the vision system, and the corresponding installation operation is implemented according to the corresponding tightening parameters, force control parameters and installation position, thereby the battery pack bus assembly efficiency can be improved, so that the nuts can be correctly selected, and the nuts are installed strictly according to the standard sequence, thereby the details such as wrong bolt model, missed bolt and bolt cracking are avoided.

[0110] Consistent with the above embodiment, please refer to Figure 2 , Figure 2Fig. 1 is a structural schematic diagram of a robot provided by an embodiment of the present application. The robot comprises 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 comprises a vision system, a tightening system, a force control system, an environment sensor, and a mechanical arm. In the embodiment of the present application, the program comprises instructions for performing the following steps:

[0111] determining a first busbar from a busbar preparation conveying line by the vision system, the first busbar being a busbar currently required to be installed by the battery pack; the busbar preparation conveying line comprising a plurality of busbars, and the first busbar being one of the plurality of busbars;

[0112] obtaining a first image of the battery pack by the vision system, identifying a first installation area of the first busbar in the battery pack by the first image, and obtaining first installation information of the first busbar, the first installation information comprising: an installation procedure, and first installation parameters of m nuts, the installation procedure comprising an installation manner and an installation sequence of the m nuts; and the first installation parameters of the m nuts comprising a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts;

[0113] marking m nut components corresponding to the m nuts from the nut vibrating tray according to the first installation information by the vision system, the nut vibrating tray comprising n nut components, and the n nut components comprising the m nut components;

[0114] obtaining a target environment parameter by the environment sensor;

[0115] adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameter to obtain second installation parameters of the m nuts;

[0116] updating the first installation information by using the second installation parameters of the m nuts to obtain second installation information;

[0117] installing the m nut components on the first busbar according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system, and the vision system.

[0118] Optionally, in the aspect of adjusting the first installation parameters of the m nuts in the first installation information according to the target environment parameter to obtain second installation parameters of the m nuts, the program comprises instructions for performing the following steps:

[0119] identifying, by the vision system, a first screw hole corresponding to a first standard nut in the battery pack, the first standard nut being any one of the m nuts;

[0120] obtaining first attribute information of the first screw hole;

[0121] obtaining a first nut component in the m nut components corresponding to the first standard nut;

[0122] obtaining second attribute information corresponding to the first nut component;

[0123] determining a first relative deviation between the second attribute information and the first attribute information;

[0124] determining a first adjustment parameter corresponding to the first relative deviation;

[0125] determining a first feedback adjustment parameter corresponding to the target environment parameter;

[0126] obtaining the second installation parameter of the first standard nut according to the first adjustment parameter, the first feedback adjustment parameter, and a first installation parameter of the first standard nut.

[0127] Optionally, in the obtaining of the first installation information of the first busbar, the above program includes instructions for performing the following steps:

[0128] placing the first busbar in the first installation area by the mechanical arm and the vision system, identifying screw hole positions, and obtaining m screw hole positions;

[0129] determining a screw hole position sequence of the m screw hole positions according to the installation procedure by the vision system and the mechanical arm;

[0130] obtaining the first installation information of the first busbar according to the screw hole position sequence.

[0131] Optionally, in the installation of the first busbar by the mechanical arm, the tightening system, the force control system, and the vision system according to the second installation information and the first installation area, the above program includes instructions for performing the following steps:

[0132] obtaining the m nut components from the nut vibration tray according to the screw hole position sequence by the mechanical arm, the tightening system, the force control system, and the vision system, and completing the installation of the first busbar according to the second installation information and the first installation area.

[0133] Optionally, the above program further includes instructions for performing the following steps:

[0134] obtaining a first absolute value of the first relative deviation;

[0135] 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 shaker as a new first nut component.

[0136] when the first absolute value is less than or equal to the first preset threshold, performing the step of determining the first adjustment parameter corresponding to the first relative deviation.

[0137] It can be seen that the robot described in the embodiments of the application includes a vision system, a tightening system, a force control system, an environment sensor and a mechanical arm, the first busbar is determined from the busbar preparation conveying line by the vision system, the first busbar is the busbar currently needed to be installed by the battery pack; the busbar preparation conveying line includes a plurality of busbars, and the first busbar is one of the plurality of busbars; the first image of the battery pack is obtained by the vision system, the first installation area of the first busbar in the battery pack is identified by the first image, and the first installation information of the first busbar is obtained, the first installation information includes: an installation procedure, first installation parameters of m nuts, the installation procedure includes an installation mode and an 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 nut in the m nuts; m nut components corresponding to the m nuts are marked from the nut vibrating tray according to the first installation information by the vision system, the nut vibrating tray includes n nut components, and the n nut components include the m nut components; target environment parameters are obtained by the environment sensor; the first installation parameters of the m nuts in the first installation information are adjusted according to the target environment parameters to obtain second installation parameters of the m nuts; the first installation information is updated by using the second installation parameters of the m nuts 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 by the mechanical arm, the tightening system, the force control system and the vision system, firstly, because the structure and position of the battery pack are known, the position of the robot is also known, so the first busbar can be determined from the busbar preparation conveying line by the vision system, secondly, the first image of the battery pack is obtained by the vision system, and the first installation area of the first busbar in the battery pack is identified by the first image, because the battery pack is fixed and known, so it can be known that the busbar currently needed to be installed is installed in which, then the corresponding installation information can be quickly determined, thirdly, the environment parameters reflect the influence of the environment to a certain extent, the installation information is dynamically adjusted based on the actual environment, so that the adjusted installation information is deep in line with the actual environment, the vision system can monitor the installation process throughout, and the mechanical arm, the tightening system and the force control system are positioned accurately under the vision system, and the corresponding installation operation is realized according to the corresponding tightening parameters, force control parameters and installation positions, and further, the busbar assembly efficiency of the battery pack can be improved, in this way, the nuts can be correctly selected, and the nuts are installed strictly according to the standard sequence, so that the detailed problems such as wrong bolt model, missed bolt and bolt cracking are avoided.

[0138] Figure 3is 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, the robot includes a vision system, a tightening system, a force control system, an environment sensor and a mechanical 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,

[0139] The determination unit 301 is configured to determine a first bus from a bus preparation conveying line by the vision system, the first bus is a bus currently required to be installed by the battery pack; the bus preparation conveying line includes a plurality of buses, and the first bus is one of the plurality of buses;

[0140] The acquisition unit 302 is configured to acquire a first image of the battery pack by the vision system, identify a first installation area of the first bus in the battery pack through the first image, and acquire first installation information of the first bus, the first installation information including: an installation process, first installation parameters of m nuts, the installation process including an installation mode and an installation sequence of the m nuts; the first installation parameters of the m nuts including a first installation position, first tightening parameters and first force control parameters of each nut in the m nuts;

[0141] The marking unit 303 is configured to mark m nut components corresponding to the m nuts from a nut vibrating tray according to the first installation information by the vision system, the nut vibrating tray includes n nut components, and the n nut components include the m nut components;

[0142] The acquisition unit 302 is further configured to acquire target environment parameters by the environment sensor;

[0143] The adjustment 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 second installation parameters of the m nuts;

[0144] The update unit 305 is configured to update the first installation information by using the second installation parameters of the m nuts to obtain second installation information;

[0145] The control unit 306 is configured to complete installation of the m nut components on the first bus according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system and the vision system.

[0146] Optionally, in the aspect of adjusting the first installation parameter of the m nuts in the first installation information according to the target environment parameter to obtain a second installation parameter of the m nuts, the adjusting unit 304 is specifically configured to:

[0147] identify, by the vision system, a first screw hole corresponding to a first standard nut in the battery pack, the first standard nut being any one of the m nuts;

[0148] obtain first attribute information of the first screw hole;

[0149] obtain a first nut component corresponding to the first standard nut in the m nut components;

[0150] obtain second attribute information corresponding to the first nut component;

[0151] determine a first relative deviation between the second attribute information and the first attribute information;

[0152] determine a first adjustment parameter corresponding to the first relative deviation;

[0153] determine a first feedback adjustment parameter corresponding to the target environment parameter;

[0154] obtain the second installation parameter of the first standard nut according to the first adjustment parameter, the first feedback adjustment parameter, and a first installation parameter of the first standard nut.

[0155] Optionally, in the aspect of obtaining the first installation information of the first busbar, the obtaining unit 302 is specifically configured to:

[0156] fix the first busbar in the first installation area by the mechanical arm and the vision system, and identify screw hole positions to obtain m screw hole positions;

[0157] determine a screw hole position sequence of the m screw hole positions according to the installation procedure by the vision system and the mechanical arm;

[0158] obtain the first installation information of the first busbar according to the screw hole position sequence.

[0159] Optionally, in the aspect of completing the installation of the first busbar by the m nut components according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system, and the vision system, the control unit 306 is specifically configured to:

[0160] The mechanical arm, the tightening system, the force control system, and the vision system sequentially obtain the m nut components from the nut vibrating tray according to the screw hole position sequence, and complete installation of the first busbar according to the second installation information and the first installation area.

[0161] Optionally, the battery busbar detection system 300 is further specifically used for:

[0162] obtaining a first absolute value of the first relative deviation;

[0163] When the first absolute value is greater than a first preset threshold, a nut component corresponding to the first standard nut is selected from the nut vibrating tray again as a new first nut component.

[0164] When the first absolute value is less than or equal to the first preset threshold, the step of determining the first adjustment parameter corresponding to the first relative deviation is performed.

[0165] It can be seen that the battery bus detection system described in the embodiment of the application is applied to a robot, the robot comprising a vision system, a tightening system, a force control system, an environment sensor and a mechanical arm, a first bus is determined from a bus preparation conveying line by the vision system, the first bus being a bus currently required to be installed on a battery pack; the bus preparation conveying line comprises a plurality of buses, and the first bus is one of the plurality of buses; a first image of the battery pack is acquired by the vision system, a first installation area of the first bus in the battery pack is identified by the first image, and first installation information of the first bus is acquired, the first installation information comprising: an installation procedure, first installation parameters of m nuts, the installation procedure comprising an installation mode and an installation sequence of the m nuts; the first installation parameters of the m nuts comprising a first installation position, first tightening parameters and first force control parameters of each nut of the m nuts; m nut components corresponding to the m nuts are marked from a nut vibrating tray according to the first installation information by the vision system, the nut vibrating tray comprising n nut components, and the n nut components comprising the m nut components; target environment parameters are acquired by the environment sensor; the first installation parameters of the m nuts in the first installation information are adjusted according to the target environment parameters to obtain second installation parameters of the m nuts; the first installation information is updated by using the second installation parameters of the m nuts to obtain second installation information; and the m nut components are installed on the first bus according to the second installation information and the first installation area by the mechanical arm, the tightening system, the force control system and the vision system. Firstly, because the structure and position of the battery pack are known, the position of the robot is also known, so the first bus can be determined from the bus preparation conveying line by the vision system; secondly, the first image of the battery pack is acquired by the vision system, the first installation area of the first bus in the battery pack is identified by the first image, and because the battery pack is fixed and known, it can be known that the bus currently required to be installed is installed in which position, so the corresponding installation information can be quickly determined; thirdly, the environment parameters reflect the influence of the environment to a certain extent, the installation information is dynamically adjusted based on the actual environment, so that the adjusted installation information is deep in line with the actual environment, the vision system can monitor the installation process throughout, and the mechanical arm, the tightening system and the force control system implement the corresponding installation operation according to the corresponding tightening parameters, force control parameters and installation positions under the accurate positioning of the vision system, thereby the efficiency of the battery pack bus assembly can be improved, so that the nuts can be correctly selected and the nuts can be installed in strict accordance with the standard sequence, thereby avoiding the detailed problems such as wrong bolt model, missed bolt and bolt cracking.

[0166] The embodiment of the present application further provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes a computer to execute part or all of steps of any method described in the above method embodiments, and the computer includes a robot.

[0167] The embodiment of the present application further 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 part or all of steps of any method described in the above method embodiments. The computer program product can be a software installation package, and the computer includes a robot.

[0168] It should be noted that, for the above method embodiments, in order to simply describe, each of the above method embodiments is described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited to the order of actions described, because according to the present application, some steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0169] In the above embodiments, the description of each embodiment is focused on, and the part not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0170] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented by other means. For example, the apparatus embodiments described above are only schematic, for example, the division of the above units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical or other forms.

[0171] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment.

[0172] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0173] When the integrated unit is realized 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 solutions of the present application, essentially or in part, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The aforementioned memory includes various media that can store program codes, such as a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, etc.

[0174] A person of ordinary skill in the art can understand that all or part of the steps of the various methods of the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, and the memory can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0175] The embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for a person of ordinary skill in the art, according to the idea of the present application, the specific implementation manner and application range will be changed, and the above description of the embodiments should not be understood as a limitation of the present application.

Claims

1. A battery busbar detection method, characterized in that: Applied to a robot, the robot includes a vision system, a tightening system, a force control system, an environmental sensor, and a robotic arm, and the method includes: Determining a first busbar from a busbar preparation conveying line by using the visual system, where 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 vision 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, the first installation information including: an installation process, including an installation method and an installation order of the m nuts; and first installation parameters of the m nuts including 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 using 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; Acquire target environmental parameters through the environmental sensor; the target environmental parameters include: ambient humidity, magnetic field interference intensity, atmospheric pressure, and PM2.5; adjusting 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; Updating the first installation information using the second installation parameters of the m nuts 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 by using the robotic arm, the tightening system, the force control system, and the vision system; The 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: identifying, 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 from the m nut components; Obtaining second attribute information corresponding to the first nut component; Determining a first relative deviation between the second attribute information and the first attribute information, where the first relative deviation = (second attribute information - first attribute information) / (second attribute information + first attribute information); when the first attribute information includes a screw hole size, the second attribute information includes a size of a nut component; and when the first attribute information includes a screw hole depth, the second attribute information includes a length of the nut component; determining a first adjustment parameter corresponding to the first relative deviation; determining a first feedback adjustment parameter corresponding to the target environmental parameter; Obtaining the second installation parameter of the first standard nut according to the first adjustment parameter, the first feedback adjustment parameter, and the first installation parameter of the first standard nut; 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, performing the step of determining a first adjustment parameter corresponding to the first relative deviation; The determining of a first adjustment parameter corresponding to the first relative deviation includes: When the first 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 a preset mapping relationship between the relative deviation and the adjustment parameter; and 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; acquiring a second image of the first screw hole, and extracting 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; 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 all include multiple high-frequency features of the same feature type, and the feature type includes any one of the following: a feature type corresponding to a feature point, a feature type corresponding to a feature vector, a feature type corresponding to a feature value, and a feature type corresponding to a feature profile; determining a second similarity between the third high-frequency feature set and the fourth high-frequency feature set; Determine a target interaction influence parameter according to the first similarity and the second similarity, where the target interaction influence parameter = (1 + first similarity) / (1 + second similarity); The first adjustment parameter is determined according to the target interaction parameter and the reference adjustment parameter.

2. The method according to claim 1, 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.

3. The method according to claim 2, 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 robotic arm, the tightening system, the force control system, and the vision 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 busbar according to the second installation information and the first installation area.

4. A battery busbar detection system, characterized in that: Applied to a robot, the robot includes a vision system, a tightening system, a force control system, an environmental sensor and a robotic arm, and the battery busbar 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 configured to determine a first busbar from a busbar preparation conveying line using the visual system, where 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 acquiring unit is configured 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, the first installation information including: an installation process and first installation parameters of m nuts, the installation process including an installation method and an installation order of the m nuts; the first installation parameters of the m nuts including a first installation position, a first tightening parameter, and a first force control parameter of each of the m nuts; The marking unit is configured to mark, from the nut vibrating material tray, m nut components corresponding to the m nuts according to the first installation information through the visual system, wherein the nut vibrating material tray includes n nut components, and the n nut components include the m nut components; The acquisition unit is further configured to acquire target environmental parameters through the environmental sensor; the target environmental parameters include: environmental humidity, magnetic field interference intensity, atmospheric pressure, and PM2.5; 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 second installation parameters of the m nuts; The updating unit is configured to update the first installation information using the second installation parameters of the m nuts to obtain second installation information; The control unit is configured to install the m nut components 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; Wherein, in 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 is specifically configured to: identifying, 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 from the m nut components; Obtaining second attribute information corresponding to the first nut component; Determining a first relative deviation between the second attribute information and the first attribute information, where the first relative deviation = (second attribute information - first attribute information) / (second attribute information + first attribute information); when the first attribute information includes a screw hole size, the second attribute information includes a size of a nut component; and when the first attribute information includes a screw hole depth, the second attribute information includes a length of the nut component; determining a first adjustment parameter corresponding to the first relative deviation; determining a first feedback adjustment parameter corresponding to the target environmental parameter; Obtaining the second installation parameter of the first standard nut according to the first adjustment parameter, the first feedback adjustment parameter, and the first installation parameter of the first standard nut; The battery busbar detection system 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, 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, performing the step of determining a first adjustment parameter corresponding to the first relative deviation; The determining of a first adjustment parameter corresponding to the first relative deviation includes: When the first 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 a preset mapping relationship between the relative deviation and the adjustment parameter; and 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; wherein 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 all include multiple high-frequency features of the same feature type, and the feature type includes any one of the following: a feature type corresponding to a feature point, a feature type corresponding to a feature vector, a feature type corresponding to a feature value, and a feature type corresponding to a feature profile; 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; acquiring a second reference image corresponding to the first nut, and extracting 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; Determine a target interaction influence parameter according to the first similarity and the second similarity, where the target interaction influence parameter = (1 + first similarity) / (1 + second similarity); The first adjustment parameter is determined according to the target interaction parameter and the reference adjustment parameter.

5. The battery busbar detection system according to claim 4, characterized in that: In terms of acquiring the first installation information of the first busbar, the acquiring unit 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.

6. The battery busbar detection system according to claim 5, characterized in that: In the aspect of installing the m nut components 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 vision system, the control unit is specifically configured 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 busbar according to the second installation information and the first installation area.

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