Dynamic planning system and method for disassembly path of retired power battery

Abstract

The invention provides a dynamic planning system and method for a decommissioning power battery disassembling path, and belongs to the technical field of decommissioning power battery disassembling, and the system comprises an environment sensing module and a dynamic path planning module; the environment sensing module is used for sensing whether the position of a battery pack and the working environment information are changed or not in the disassembly process of the retired power battery; and the dynamic path planning module is used for optimizing a current disassembling path to obtain an optimized disassembling path when the position of the battery pack and / or the working environment information are / is changed. According to the invention, the dynamic adjustment of the disassembling path is realized, and the efficiency and safety in the power battery disassembling process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dismantling retired power batteries, and in particular to a dynamic planning system and method for dismantling paths of retired power batteries. Background Art

[0002] Due to the complex structure and diverse types of retired power batteries, traditional disassembly operations require extremely high accuracy in path planning.

[0003] At present, the path planning in the disassembly operation is a static path planning method, specifically: the retired power battery is disassembled based on a pre-defined disassembly path. It has the following technical problems: it is difficult to cope with dynamic environmental changes that occur during the operation, such as when the battery pack position is offset or the operating environment changes (such as: external interference, equipment vibration), when disassembly is based on a pre-defined disassembly path, there will be situations such as ineffective disassembly or even collision. That is: the static path planning method is prone to technical problems such as low efficiency, insufficient accuracy and even high operational risks in the disassembly task.

[0004] Therefore, there is an urgent need to provide a dynamic planning system and method for the disassembly path of retired power batteries, which can sense environmental changes in real time and dynamically adjust the path planning method to meet the requirements of efficiency, safety and flexibility in the disassembly process of retired power batteries. Summary of the invention

[0005] In view of this, it is necessary to provide a dynamic planning system and method for the disassembly path of retired power batteries to solve the technical problem that static disassembly path planning in the prior art leads to low efficiency and safety of the disassembly process.

[0006] On the one hand, in order to solve the above technical problems, the present invention provides a dynamic planning system for dismantling paths of retired power batteries, comprising: an environment perception module and a dynamic path planning module; The environment sensing module is used to sense whether the battery pack position and working environment information have changed during the disassembly of the retired power battery; The dynamic path planning module is used to optimize the current disassembly path to obtain an optimized disassembly path when the battery pack position and / or the operating environment information changes.

[0007] In a possible implementation, the environment perception module includes a data acquisition submodule, a data fusion submodule and a change perception submodule; The data acquisition submodule is used to collect laser point cloud data of the environment where the disassembly robot is located based on the laser radar, and to collect image data of the environment where the disassembly robot is located based on the visual camera; The data fusion submodule is used to fuse the laser point cloud data and the image data to obtain fused data; The change perception submodule is used to determine the real-time position of the battery pack and the real-time position of the obstacle based on the fusion data, and to determine whether the battery pack position and the working environment information have changed based on the real-time position of the battery pack, the real-time position of the obstacle, the position of the battery pack at the last moment, and the position of the obstacle at the last moment.

[0008] In a possible implementation, the data fusion submodule includes a coordinate transformation matrix construction unit and a data fusion unit; The coordinate transformation matrix construction unit is used to obtain the laser radar coordinate system of the laser point cloud data and the camera coordinate system of the image data, and determine the rotation amount and translation amount of the laser radar coordinate system relative to the camera coordinate system and the camera parameters of the visual camera, and determine the coordinate transformation matrix of the laser radar coordinate system and the camera coordinate system based on the rotation amount, the translation amount and the camera parameters; The data fusion unit is used to transform the laser point cloud data into the camera coordinate system based on the coordinate transformation matrix, obtain laser conversion point cloud data, and fuse the laser conversion point cloud data with the image data.

[0009] In a possible implementation, the data fusion submodule further includes a data alignment unit; The data alignment unit is used to perform time alignment on the laser point cloud data and the image data based on the inertial navigation parameters of the disassembly robot.

[0010] In a possible implementation, the data alignment unit includes a time acquisition subunit and a time alignment subunit; The time acquisition subunit is used to acquire the scanning time of the laser point cloud data and the shooting time of the image data; The time alignment subunit is used to obtain the first inertial navigation parameter at the scanning time and the second inertial navigation parameter at the shooting time, and convert the laser point cloud data at the scanning time into the laser point cloud data at the shooting time based on the first inertial navigation parameter and the second inertial navigation parameter.

[0011] In a possible implementation, the first inertial navigation parameter includes a first rotation amount and a first translation amount of the disassembling robot, and the second inertial navigation parameter includes a second rotation amount and a second translation amount of the disassembling robot; then the moment alignment subunit includes a spatial displacement determination subunit and an alignment subunit; The spatial displacement determination subunit is used to determine a rotation matrix based on the first rotation amount and the second rotation amount, and to determine a translation matrix based on the first translation amount and the second translation amount; The alignment subunit is used to obtain the point cloud coordinate values ​​of the laser point cloud data at the time of shooting by multiplying the product of each point cloud coordinate value of the laser point cloud data at the time of scanning by the optional matrix and adding the translation matrix.

[0012] In a possible implementation, the environment perception module further includes a data preprocessing submodule; The data preprocessing submodule is used to perform denoising and histogram equalization processing on the image data, and perform point cloud filtering processing on the laser point cloud data.

[0013] In a possible implementation, the system further includes an execution control module; The execution control module is used to generate motion instructions for the disassembly robot based on the optimized disassembly path, and adjust the position and operation posture of the disassembly robot.

[0014] In a possible implementation, the environment perception module further includes a safety feedback submodule; The safety feedback submodule is used to obtain the contact force of the disassembly robot when performing the disassembly action based on the force sensor, and when the contact force is greater than a threshold, generate a disassembly stop instruction to instruct the disassembly robot to stop disassembly; The dynamic path planning module is further configured to adjust the optimized disassembly path based on the stop disassembly instruction.

[0015] On the other hand, the present invention further provides a method for dynamically planning a disassembly path of a retired power battery, which is applicable to the dynamic planning device for disassembly path of a retired power battery described in any one of the possible implementations above, and the method comprises: Sense whether the battery pack position and working environment information have changed during the disassembly of retired power batteries; When the battery pack position and / or the operating environment information changes, the current disassembly path is optimized to obtain an optimized disassembly path.

[0016] The beneficial effect of the present invention is that the dynamic planning system for the disassembly path of retired power batteries provided by the present invention senses whether the battery pack position and the working environment information change during the disassembly of retired batteries by setting an environmental perception module. When the battery pack position and / or the working environment information changes, the dynamic path planning module optimizes the current disassembly path to obtain an optimized disassembly path, realizes dynamic adjustment of the disassembly path, and improves the efficiency and safety of the power battery disassembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of the structure of an embodiment of a dynamic planning system for disassembly paths of retired power batteries provided by the present invention; Figure 2 A schematic diagram of the structure of an embodiment of a data fusion submodule provided by the present invention; Figure 3 A schematic diagram of the structure of an embodiment of a data alignment unit provided by the present invention; Figure 4 A schematic flow chart of an embodiment of a method for dynamically planning a disassembly path for retired power batteries provided by the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] It should be understood that the schematic drawings are not drawn to scale. The flowchart used in the present invention shows the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowchart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present invention, can add one or more other operations to the flowchart, and can also remove one or more operations from the flowchart. Some of the block diagrams shown in the accompanying drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0021] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places 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.

[0022] The present invention provides a dynamic planning system and method for the disassembly path of retired power batteries, which are described below.

[0023] Figure 1 The schematic diagram of the structure of the embodiment of the dynamic planning system for the disassembly path of retired power batteries provided by the present invention is as follows: Figure 1 As shown, the dynamic planning system 10 for disassembling paths of retired power batteries includes: an environment perception module 100 and a dynamic path planning module 200; The environment sensing module 100 is used to sense whether the battery pack position and working environment information have changed during the disassembly process of the retired power battery; The dynamic path planning module 200 is used to optimize the current disassembly path to obtain an optimized disassembly path when the battery pack position and / or the working environment information changes.

[0024] It should be noted that the current disassembly path is the disassembly path obtained by optimization at the last moment. That is, the disassembly path is a process of continuous adjustment as the battery pack position and operating environment information change until all disassembly tasks are completed.

[0025] Among them, the optimization algorithm for optimizing the current disassembly path in the dynamic path planning module 200 can be any one of the path planning algorithms such as A algorithm, D algorithm or reinforcement learning algorithm, which will not be described one by one here.

[0026] It should be understood that the initial disassembly path can be determined based on the initial environmental perception data and the battery disassembly process requirements.

[0027] It should also be noted that: in the embodiment of the present invention, the optimization disassembly path is determined with the shortest time and the best disassembly efficiency as the goals.

[0028] Among them, changes in the working environment information include but are not limited to: the addition of obstacles, the disappearance of obstacles, the movement of the disassembly robot, etc. Changes in the battery pack position include but are not limited to: the overall position of the battery pack is offset, the position of bolts, wires and other components on the battery pack is offset, etc.

[0029] Compared with the prior art, the dynamic planning system 10 for the disassembly path of retired power batteries provided in the embodiment of the present invention senses whether the battery pack position and the working environment information change during the disassembly of retired batteries by setting an environmental perception module 100. When the battery pack position and / or the working environment information changes, the dynamic path planning module 200 optimizes the current disassembly path to obtain an optimized disassembly path, thereby realizing dynamic adjustment of the disassembly path and improving the efficiency and safety during the power battery disassembly process.

[0030] From the above description, it can be seen that the accurate judgment of whether the battery pack position and the operating environment information have changed is crucial to the safe and efficient disassembly of retired power batteries. In order to ensure the accurate judgment of the battery pack position and the operating environment information, in some embodiments of the present invention, such as Figure 1 As shown, the environment perception module 100 includes a data acquisition submodule 110, a data fusion submodule 120 and a change perception submodule 130; The data acquisition submodule 110 is used to collect laser point cloud data of the environment where the disassembly robot is located based on the laser radar, and to collect image data of the environment where the disassembly robot is located based on the visual camera; The data fusion submodule 120 is used to fuse the laser point cloud data and the image data to obtain fused data; The change perception submodule 130 is used to determine the real-time position of the battery pack and the real-time position of the obstacle based on the fused data, and to determine whether the battery pack position and the working environment information have changed based on the real-time position of the battery pack, the real-time position of the obstacle, the position of the battery pack at the last moment, and the position of the obstacle at the last moment.

[0031] The embodiment of the present invention judges whether the battery pack position and working environment information have changed based on the two modalities of laser point cloud data and image data. Compared with a single modality, it can ensure the accuracy and reliability of the judgment, and thus improve the reliability of the optimized judgment of the disassembly path.

[0032] It should be understood that both the laser radar and the visual camera are mounted on the disassembly robot.

[0033] In some embodiments of the present invention, Figure 2 As shown, the data fusion submodule 120 includes a coordinate transformation matrix construction unit 121 and a data fusion unit 122; The coordinate transformation matrix construction unit 121 is used to obtain the laser radar coordinate system of the laser point cloud data and the camera coordinate system of the image data, and determine the rotation amount and translation amount of the laser radar coordinate system relative to the camera coordinate system and the camera parameters of the visual camera, and determine the coordinate transformation matrix of the laser radar coordinate system and the camera coordinate system based on the rotation amount, translation amount and camera parameters; The data fusion unit 122 is used to transform the laser point cloud data into the camera coordinate system based on the coordinate transformation matrix, obtain the laser transformed point cloud data, and fuse the laser transformed point cloud data with the image data.

[0034] The camera parameters include, but are not limited to, external parameter matrices, internal parameter matrices, and distortion coefficients.

[0035] Since the fusion of conventional image data and laser point cloud data is based on the principle of the closest timestamp distance, the laser point cloud data closest to the image data acquisition time is found and the two are fused. However, the timestamp itself is discrete, and there is a certain error between the image acquisition time and the laser point cloud data acquisition time. In order to avoid the inaccurate fusion caused by this error, in some embodiments of the present invention, Figure 2 As shown, the data fusion submodule 120 further includes a data alignment unit 123; The data alignment unit 123 is used to perform time alignment on the laser point cloud data and the image data based on the inertial navigation parameters of the disassembly robot.

[0036] The embodiment of the present invention uses inertial navigation parameters with high time accuracy as a reference for time alignment, thereby improving the accuracy of the fusion of laser point cloud data and image data, and further improving the environmental perception capability of the disassembly robot.

[0037] The inertial navigation parameters can be obtained based on an inertial navigation device mounted on the disassembly robot.

[0038] It should be noted that the inertial navigation parameters collected at different times reflect the spatial displacement generated by the inertial navigation device at different times. Since the relative position relationship between the inertial navigation device and the lidar is fixed, the spatial displacement generated by the inertial navigation device at different times is the spatial displacement generated by the lidar at the corresponding time. The spatial displacement generated by the lidar at different times can be determined through the laser point cloud data, and the laser point cloud data collected at different times are converted.

[0039] Specifically: at time t1, the inertial navigation parameters are (R1, T1), R1 represents the rotation of the inertial navigation parameters at time t1 relative to the initial time, and T1 represents the translation of the inertial navigation parameters at time t1 relative to the initial time. At time t2, the inertial navigation parameters are (R2, T2), R2 represents the rotation of the inertial navigation parameters at time t2 relative to the initial time, and T2 represents the translation of the inertial navigation parameters at time t2 relative to the initial time. Then, the spatial displacement of the inertial navigation parameters at time t2 relative to time t1 can be expressed as (R2-R1, T2-T1). Then the spatial displacement of the laser point cloud data at time t2 relative to time t1 can also be expressed as (R2-R1, T2-T1). Furthermore, the spatial displacement of the laser radar coordinate system with the laser radar as the origin at time t2 relative to time t1 can also be expressed as (R2-R1, T2-T1). If the coordinate value of a laser point in the laser radar coordinate system at time t1 is known, it can be converted to the laser radar coordinate system at time t2 according to (R2-R1, T2-T1) to obtain the coordinate value of the laser point in the laser radar coordinate system at time t2. Then, each laser point can be converted from time t1 to the laser radar coordinate system at time t2.

[0040] Based on the above principle, in some embodiments of the present invention, Figure 3 As shown, the data alignment unit 123 includes a time acquisition subunit 1231 and a time alignment subunit 1232; The time acquisition subunit 1231 is used to acquire the scanning time of the laser point cloud data and the shooting time of the image data; The time alignment subunit 1232 is used to obtain the first inertial navigation parameter at the scanning time and the second inertial navigation parameter at the shooting time, and convert the laser point cloud data at the scanning time into the laser point cloud data at the shooting time based on the first inertial navigation parameter and the second inertial navigation parameter.

[0041] Specifically, the first inertial navigation parameter includes a first rotation amount and a first translation amount of the disassembly robot, and the second inertial navigation parameter includes a second rotation amount and a second translation amount of the disassembly robot; then Figure 3 As shown, the moment alignment subunit 1232 includes a spatial displacement determination subunit 1233 and an alignment subunit 1234; The spatial displacement determination subunit 1233 is used to determine a rotation matrix based on the first rotation amount and the second rotation amount, and to determine a translation matrix based on the first translation amount and the second translation amount; The alignment subunit 1234 is used to obtain the coordinate values ​​of each point cloud of the laser point cloud data at the time of shooting by multiplying the product of the optional matrix and the translation matrix.

[0042] Since the laser point cloud data obtained by the laser radar may contain unnecessary information such as noise and outliers, and the image data obtained by the visual camera may contain unnecessary information such as noise and illumination changes, in some embodiments of the present invention, such as Figure 1 As shown, the environment perception module 100 also includes a data preprocessing submodule 140; The data preprocessing submodule 140 is used to perform denoising and histogram equalization processing on the image data, and perform point cloud filtering processing on the laser point cloud data.

[0043] The point cloud filtering process includes but is not limited to voxel filtering and statistical filtering.

[0044] The embodiment of the present invention performs denoising and histogram equalization processing on the image data and point cloud filtering processing on the laser point cloud data, thereby eliminating the noise in the image data, the interference of illumination changes, and the noise and outlier interference in the laser point cloud data, thereby ensuring the accuracy of subsequent fusion, thereby improving the accurate judgment of the timing of disassembly path optimization, and improving the safety and efficiency of disassembly of retired batteries.

[0045] Furthermore, since the disassembly operation is performed by a disassembly robot, in some embodiments of the present invention, Figure 1 As shown, the dynamic planning system for the disassembly path of retired power batteries also includes an execution control module 300; The execution control module 300 is used to generate motion instructions for the disassembly robot based on the optimized disassembly path, and adjust the position and operation posture of the disassembly robot.

[0046] During the disassembly process, when the disassembly robot exerts too much force on the retired power battery, the retired power battery may be damaged. To avoid this, in some embodiments of the present invention, Figure 1 As shown, the environment perception module 100 further includes a safety feedback submodule 150; The safety feedback submodule 150 is used to obtain the contact force of the disassembly robot when performing the disassembly action based on the force sensor, and when the contact force is greater than a threshold, generate a disassembly stop instruction to instruct the disassembly robot to stop disassembly; The dynamic path planning module 200 is further configured to adjust the optimized disassembly path based on the stop disassembly instruction.

[0047] The embodiment of the present invention collects the contact force of the disassembly robot on the retired battery during the disassembly process based on a force sensor, and when the contact force is greater than a threshold, generates a stop disassembly instruction to instruct the disassembly robot to stop disassembly, thereby avoiding damage to the retired power battery, and further improving the safety of the disassembly process of the retired power battery.

[0048] The threshold value may be set or adjusted according to the actual application scenario and is not specifically limited here.

[0049] To summarize, the dynamic planning system for the disassembly path of retired power batteries provided in an embodiment of the present invention takes the environmental perception module as input, generates or adjusts the disassembly path through the dynamic path planning module, and then completes the disassembly task through the execution control module, forming a closed-loop feedback to ensure that the path planning matches the actual operation, and when it is detected whether the battery pack position and the working environment information have changed, the disassembly path optimization is triggered to ensure that the disassembly robot can adapt to the dynamic environment.

[0050] In other words, the embodiments of the present invention enable the disassembly robot to flexibly respond to environmental changes, reduce downtime adjustment time, and improve disassembly efficiency through real-time dynamic planning. In addition, through the feedback of force sensors, the risk of disassembly operations is reduced, and misoperation and damage to retired power batteries are avoided. Furthermore, through the multi-sensor fusion and dynamic adjustment of the disassembly path of lidar and visual cameras, it can adapt to a variety of complex scenarios, and improve the stability and reliability of the dynamic planning system of the disassembly path of retired power batteries. At the same time, the embodiments of the present invention are suitable for a variety of power battery types and complex disassembly scenarios, have significant potential for technology promotion and industrialization, solve the limitations of traditional static planning methods, and provide an efficient and flexible solution for the field of power battery disassembly, which has broad application prospects.

[0051] Correspondingly, an embodiment of the present invention further provides a method for dynamically planning a disassembly path of a retired power battery, which is applicable to a dynamic planning system for disassembly paths of retired power batteries in any of the above embodiments, such as Figure 4 As shown, the dynamic planning method for the dismantling path of retired power batteries includes: S401, sensing whether the battery pack position and working environment information have changed during the disassembly of the retired power battery; S402: When the battery pack position and / or the operating environment information changes, the current disassembly path is optimized to obtain an optimized disassembly path.

[0052] It should be noted that the dynamic planning method for the disassembly path of retired power batteries provided in the above embodiment can implement the technical solution described in the above embodiment of the dynamic planning device for the disassembly path of retired power batteries. The principles or specific implementation details of the above steps can be found in the corresponding contents in the above embodiment of the dynamic planning device for the disassembly path of retired power batteries, which will not be described one by one here.

[0053] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0054] The above is a detailed introduction to the dynamic planning system and method for the disassembly path of retired power batteries provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, 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 invention.

Claims

1. A dynamic planning system for dismantling paths of retired power batteries, characterized in that: include: Environmental perception module and dynamic path planning module; The environment sensing module is used to sense whether the battery pack position and working environment information have changed during the disassembly of the retired power battery; The dynamic path planning module is used to optimize the current disassembly path to obtain an optimized disassembly path when the battery pack position and / or the operating environment information changes.

2. The dynamic planning system for dismantling paths of retired power batteries according to claim 1, characterized in that: The environment perception module includes a data acquisition submodule, a data fusion submodule and a change perception submodule; The data acquisition submodule is used to collect laser point cloud data of the environment where the disassembly robot is located based on the laser radar, and to collect image data of the environment where the disassembly robot is located based on the visual camera; The data fusion submodule is used to fuse the laser point cloud data and the image data to obtain fused data; The change perception submodule is used to determine the real-time position of the battery pack and the real-time position of the obstacle based on the fusion data, and to determine whether the battery pack position and the working environment information have changed based on the real-time position of the battery pack, the real-time position of the obstacle, the position of the battery pack at the last moment, and the position of the obstacle at the last moment.

3. The dynamic planning system for dismantling paths of retired power batteries according to claim 2, characterized in that: The data fusion submodule includes a coordinate conversion matrix construction unit and a data fusion unit; The coordinate transformation matrix construction unit is used to obtain the laser radar coordinate system of the laser point cloud data and the camera coordinate system of the image data, and determine the rotation amount and translation amount of the laser radar coordinate system relative to the camera coordinate system and the camera parameters of the visual camera, and determine the coordinate transformation matrix of the laser radar coordinate system and the camera coordinate system based on the rotation amount, the translation amount and the camera parameters; The data fusion unit is used to transform the laser point cloud data into the camera coordinate system based on the coordinate transformation matrix, obtain laser conversion point cloud data, and fuse the laser conversion point cloud data with the image data.

4. The dynamic planning system for dismantling paths of retired power batteries according to claim 3, characterized in that: The data fusion submodule also includes a data alignment unit; The data alignment unit is used to perform time alignment on the laser point cloud data and the image data based on the inertial navigation parameters of the disassembly robot.

5. The dynamic planning system for dismantling paths of retired power batteries according to claim 4, characterized in that: The data alignment unit includes a time acquisition subunit and a time alignment subunit; The time acquisition subunit is used to acquire the scanning time of the laser point cloud data and the shooting time of the image data; The time alignment subunit is used to obtain the first inertial navigation parameter at the scanning time and the second inertial navigation parameter at the shooting time, and convert the laser point cloud data at the scanning time into the laser point cloud data at the shooting time based on the first inertial navigation parameter and the second inertial navigation parameter.

6. The dynamic planning system for dismantling paths of retired power batteries according to claim 5, characterized in that: The first inertial navigation parameter includes a first rotation amount and a first translation amount of the disassembling robot, and the second inertial navigation parameter includes a second rotation amount and a second translation amount of the disassembling robot; then the moment alignment subunit includes a spatial displacement determination subunit and an alignment subunit; The spatial displacement determination subunit is used to determine a rotation matrix based on the first rotation amount and the second rotation amount, and to determine a translation matrix based on the first translation amount and the second translation amount; The alignment subunit is used to obtain the point cloud coordinate values ​​of the laser point cloud data at the time of shooting by multiplying the product of each point cloud coordinate value of the laser point cloud data at the time of scanning by the optional matrix and adding the translation matrix.

7. The dynamic planning system for dismantling paths of retired power batteries according to claim 2, characterized in that: The environment perception module also includes a data preprocessing submodule; The data preprocessing submodule is used to perform denoising and histogram equalization processing on the image data, and perform point cloud filtering processing on the laser point cloud data.

8. The dynamic planning system for dismantling paths of retired power batteries according to claim 1, characterized in that: The system also includes an execution control module; The execution control module is used to generate motion instructions for the disassembly robot based on the optimized disassembly path, and adjust the position and operation posture of the disassembly robot.

9. The dynamic planning system for dismantling paths of retired power batteries according to claim 8, characterized in that: The environmental perception module also includes a safety feedback submodule; The safety feedback submodule is used to obtain the contact force of the disassembly robot when performing the disassembly action based on the force sensor, and when the contact force is greater than a threshold, generate a disassembly stop instruction to instruct the disassembly robot to stop disassembly; The dynamic path planning module is further configured to adjust the optimized disassembly path based on the stop disassembly instruction.

10. A dynamic planning method for dismantling paths of retired power batteries, characterized in that: A dynamic planning system for dismantling a retired power battery according to any one of claims 1 to 9, the method comprising: Sense whether the battery pack position and working environment information have changed during the disassembly of retired power batteries; When the battery pack position and / or the operating environment information changes, the current disassembly path is optimized to obtain an optimized disassembly path.

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