Battery boxing control method, battery clustering device and storage medium

Abstract

The invention provides a battery boxing control method, a battery cluster loading device and a storage medium, and the method comprises the steps: controlling a bearing platform of the battery cluster loading device to move to a loading position if it is detected that the battery cluster loading device is located at a loading station, and controlling the bearing platform to move to an initial position after a to-be-loaded battery is placed in the bearing platform; the battery cluster loading device is controlled to move to a to-be-loaded station corresponding to the battery cluster container, and the bearing platform is controlled to move to a position corresponding to a to-be-loaded frame; controlling an unloading mechanism of the battery mounting device to move so as to drive the to-be-mounted battery to move to the to-be-mounted frame; after the bearing platform is controlled to move to the initial position, the battery mounting device is controlled to return to the loading station, and the position corresponding to the station to be mounted and the position corresponding to the frame to be mounted are determined again so as to carry out next mounting until the mounting end condition is met. Therefore, the batteries are automatically positioned and automatically pushed into the mounting frame in the boxing process, so that the positioning precision, the safety and the working efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of battery transport technology, and in particular to a battery packaging control method, a battery clustering device and a storage medium. Background Art

[0002] Batteries are an indispensable power source in daily life and industrial production, and the demand is very large. The transportation efficiency of batteries is an important factor affecting the benefits of battery manufacturers. However, when packing batteries, the battery carrying platform is usually raised to a specified height by a forklift, and then manually pushed into the battery cluster container to achieve the transportation of batteries. However, this method is not only inaccurate in positioning, but also has personnel safety issues; in addition, due to the overall weight of the battery carrying platform, it is time-consuming and labor-intensive, reducing work efficiency. Summary of the invention

[0003] In order to overcome the above-mentioned defects, the present invention is proposed to provide a battery packaging control method, a battery clustering device and a storage medium that solve or at least partially solve the technical problems of inaccurate positioning, low safety and low efficiency during battery operation.

[0004] In a first aspect, the present invention provides a method for controlling battery packaging, comprising:

[0005] If it is detected that the battery loading device is located at the loading station, the carrying platform of the battery loading device is controlled to move to the loading position so that the loading device can place the batteries to be loaded onto the carrying platform;

[0006] If it is detected that the loading is completed, the carrying platform is controlled to move to the initial position, and the battery clustering device is controlled to move to the stacking station corresponding to the battery cluster container;

[0007] Control the carrying platform to move to a position corresponding to the stacking frame to be placed;

[0008] Controlling the movement of the unloading mechanism of the battery clustering device to drive the batteries to be clustered to move onto the clustering frame;

[0009] After controlling the carrying platform to move to the initial position, controlling the battery clustering device to return to the loading station, and re-determining the positions corresponding to the clustering station and the clustering frame to be mounted, so as to perform the next clustering, until the clustering end condition is met.

[0010] Furthermore, in the above-mentioned control method for battery packing, before controlling the carrying platform of the battery upper cluster device to move to the loading position, it also includes:

[0011] Acquiring location information of a cluster device on the battery;

[0012] If the overlap between the position information and the position information of the loading station is less than a preset overlap, the battery upper cluster device is controlled to move so that the overlap between the position information and the position information of the loading station is greater than or equal to the preset overlap.

[0013] Furthermore, in the above-mentioned control method for battery packaging, before controlling the carrying platform to move to the position corresponding to the stacking frame to be placed, it also includes:

[0014] If the overlap between the position information and the position information of the to-be-clustered station is less than a preset overlap, the battery clustering device is controlled to move so that the overlap between the position information and the position information of the to-be-clustered station is greater than or equal to the preset overlap.

[0015] Furthermore, in the above-mentioned battery packing control method, obtaining the position information of the battery on-cluster device includes:

[0016] Obtaining coordinate points of a plurality of positioning devices in the battery cluster device;

[0017] A frame formed by sequentially connecting the coordinate points of the plurality of positioning devices is used as position information of the on-battery cluster device.

[0018] Furthermore, the above-mentioned battery packing control method further includes:

[0019] Obtaining a station identification read by an information reading device of the battery cluster device;

[0020] According to the workstation identification, determining the workstation to which the battery clustering device has arrived;

[0021] The workstations reached by the battery clustering device include at least one of the loading workstation, the to-be-clustered workstation and the already-clustered workstation.

[0022] Furthermore, the above-mentioned battery packing control method further includes:

[0023] If it is detected that the movement distance of the unloading mechanism reaches the preset distance, and the pressure of the pressure sensor on the unloading mechanism is less than the preset pressure, it is determined that the unloading is completed;

[0024] If it is detected that the pressure of the pressure sensor on the unloading mechanism is greater than or equal to the preset pressure during the movement of the unloading mechanism, an alarm signal is output, and / or the unloading mechanism is controlled to stop moving.

[0025] Furthermore, the above-mentioned battery packing control method further includes:

[0026] Sending the clustering data during the clustering process to the monitoring terminal; and / or

[0027] Respond to the control instruction of the monitoring end and control the action of the control object corresponding to the control instruction.

[0028] Furthermore, the above-mentioned battery packing control method further includes:

[0029] Acquiring detection information of an obstacle detection device in the battery cluster device;

[0030] If the detection information indicates that there is an obstacle, the battery cluster device is controlled to avoid the obstacle.

[0031] In a second aspect, the present invention provides a battery clustering device, characterized in that it includes a clustering tool body, a tool control device and a memory;

[0032] The tool control device and the memory are arranged on the upper stacking tool body;

[0033] The memory is suitable for storing a plurality of program codes, and the program codes are suitable for being loaded and run by the tooling control device to execute any one of the above-mentioned battery packaging control methods.

[0034] In a third aspect, the present invention provides a computer-readable storage medium, characterized in that a plurality of program codes are stored therein, wherein the program codes are suitable for being loaded and run by a controller to execute any of the above-mentioned battery packaging control methods.

[0035] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

[0036] In the process of implementing the technical solution of the present invention, if it is detected that the battery clustering device is located at the loading station, the carrying platform of the battery clustering device is controlled to move to the loading station, so that after the loading device puts the battery to be clustered into the carrying platform, the carrying platform is controlled to move to the initial position, and the battery clustering device is controlled to move to the stacking station corresponding to the battery cluster container, and then, after the carrying platform is controlled to move to the position corresponding to the stacking rack to be mounted, the unloading mechanism of the battery clustering device is controlled to move to drive the battery to be clustered to move to the stacking rack to be mounted, and the carrying platform is controlled to move to the initial position, and the battery clustering device is controlled to return to the loading station, and the positions corresponding to the stacking station and the stacking rack to be mounted are re-determined to perform the next stacking, until the stacking end condition is met. In this way, the battery packing process is automatically positioned and the stacking rack is automatically pushed in, thereby improving positioning accuracy, safety, and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the drawings represent similar components, wherein:

[0038] Figure 1 is a structural schematic diagram of a battery cluster device according to an embodiment of the present invention;

[0039] Figure 2 is a flow chart of a method for controlling battery packaging according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the battery packing scene;

[0041] Figure 4 It is a flow chart of another method for controlling battery packaging according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0043] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, in the present invention, unless otherwise clearly specified and defined, the terms "connected", "connected", and the like should be understood in a broad sense. For example, it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0044] Batteries are an indispensable power source in daily life and industrial production, and the demand is very large. The transportation efficiency of batteries is an important factor affecting the benefits of battery manufacturers. However, when packing batteries, the battery carrying platform is usually raised to a specified height by a forklift, and then manually pushed into the battery cluster container to achieve the transportation of batteries.

[0045] However, when manually operating a forklift to pack batteries, inaccurate positioning is prone to occur, which may cause personnel to be hit by the PACK, fall, and other personnel safety issues; and because the overall weight of the battery carrying platform is large, manually pushing the battery carrying platform is time-consuming and labor-intensive, and the work efficiency is low.

[0046] Therefore, in order to solve the above technical problems, the present invention provides the following technical solutions:

[0047] Figure 1 FIG. 1 is a schematic diagram of a battery cluster device according to an embodiment of the present invention. Figure 1 As shown, the battery clustering device includes a clustering tool body (not shown in the figure), a tool control device 1 and a memory (not shown in the figure). The tool control device 1 and the memory are arranged on the clustering tool body, and the memory can be integrated in the tool control device 1.

[0048] In a specific implementation process, the main body of the stacking tooling may include a carrying platform 4, a discharge mechanism (not shown in the figure), a lifting mechanism 2 and a moving mechanism 3. Those skilled in the art can understand that in order to realize the automatic discharge of the battery, the required mechanisms, such as a limit mechanism, an angle adjustment mechanism, a determination system (Radio Frequency Identification (RFID) card reader, a single-chip microcomputer, a camera, an infrared sensor, a pressure sensor), etc., can be set on the main body of the stacking tooling according to actual needs. This embodiment will not give examples one by one, and the required structure can be directly used according to the function to be completed.

[0049] Specifically, the lifting mechanism 2 is installed on the tooling control device 1; multiple lifting mechanisms 2 are arranged in parallel; the moving mechanism 3 is slidably installed on the tooling control device 1, and the moving mechanism 3 is located between the multiple lifting mechanisms 2 and connected to the lifting mechanisms 2; the angle adjustment mechanism is installed on the moving mechanism 3; the carrying platform 4 is located on the moving mechanism 3; one side of the carrying platform 4 is slidably connected to the angle adjustment mechanism, and the other side is used to carry products; one end of the carrying platform 4 is connected to the moving mechanism 3; the lifting mechanism 2 is used to drive the moving mechanism 3 and the carrying platform 4 to move up and down; the moving mechanism 3 is used to drive the carrying platform 4 to move left and right; the angle adjustment mechanism is used to adjust the angle of the carrying platform 4 on the moving mechanism 3. Through the coordinated work of the lifting mechanism 2, the moving mechanism 3 and the angle adjustment mechanism, the device can accurately control the position of the carrying platform 4 and realize the precise positioning of the product in the three directions of X, Y and Z. It can also flexibly adjust the height and position of the carrying platform 4 to meet the needs of handling products of different sizes and shapes. Therefore, the device not only improves production efficiency, but also enhances the safety and accuracy of operation, and is suitable for a variety of different industrial application scenarios.

[0050] In a specific implementation process, the load-bearing platform 4 may include fixed ribs, movable ribs, rollers, ball bearings, auxiliary linear guides, electric ball screws and other components for carrying and moving the items to be packaged. The lifting mechanism 2 includes servo electric cylinders, electric screws, limiters, pressure sensors and other components for controlling the lifting and lowering movement of the load-bearing platform 4 to meet the packaging requirements of different heights. At the same time, the stability and accuracy of the lifting process can be ensured through precise pressure sensors and limiters. The unloading mechanism includes servo motors, ball screws, dual linear guides, propulsion mechanisms and other components for pushing the items to be packaged to a predetermined position for packaging operations, which can ensure the stability and accuracy of the propulsion process through precise servo motors and ball screws. In the entire battery cluster device, advanced electrical and mechanical control systems are used to achieve precise control of each mechanism, thereby improving efficiency and safety.

[0051] It should be noted that only some components of the battery cluster device are described here. The specific models, installation methods, etc. of each component can refer to the existing related technologies and will not be described in detail in this embodiment.

[0052] In addition, it can be understood by those skilled in the art that the tooling control device 1 in the battery clustering device can include a display screen and some control buttons. The specific structure of the tooling control device 1 can refer to the standard parts of the supplier. The control buttons include buttons for controlling the forward, backward, left and right movement of the tooling, a sliding rod for turning left and right, an up and down button for the loading platform, a loading button, an automatic setting button for the loading platform, an emergency stop button, an initial position point button, a memory point 1 button, a memory point 2 button, a memory point 3 button, an automatic / manual switching button, an automatic button, and a remote control button. The display screen displays the vehicle body position video and the front camera video of the loading platform. At the same time, the display screen is also a touch screen, which can set the initialization of the clustering frame tooling, including correcting the deviation between the camera image system and the actual position and setting internal parameters. Among them, the memory point 1 button, the memory point 2 button, and the memory point 3 button are used to subsequently record the initial position M1 corresponding to the carrier platform 4, the loading position M2 corresponding to the carrier platform 4, and the position M3 corresponding to the carrier platform 4 to be loaded.

[0053] Based on the above battery clustering device, the present invention provides a battery packaging control method, and the program code is stored in the memory, and the tooling control device 1 can load and run the program code to execute the battery packaging control method.

[0054] Specifically, Figure 2 FIG. 1 is a flow chart of a method for controlling battery packing according to an embodiment of the present invention. Figure 2 As shown, the battery packing control method of this embodiment may include the following steps:

[0055] Step 201: If it is detected that the battery clustering device is located at the loading station, control the carrying platform of the battery clustering device to move to the loading position so that the loading device can place the batteries to be clustered on the carrying platform;

[0056] In a specific implementation process, the battery clustering device needs to be loaded at a designated location, wherein the designated location can be referred to as a loading station. The fixed location can be physically a cabinet of fixed height, and the battery clustering device can be loaded at this fixed point. When the battery clustering device moves to the loading station, it can be detected, so that the carrying platform of the battery clustering device can be controlled to move to the loading position, so that the loading device can place the batteries to be clustered on the carrying platform. The loading position is a position close to and lower than the position of the loading platform in the loading device, so that the loading device can smoothly place the batteries to be clustered on the carrying platform.

[0057] In a specific implementation process, the method for detecting that the battery upper cluster device moves to the loading station may include but is not limited to the following scheme:

[0058] An information reading device, such as an RFID card reader, can be set on the battery cluster device, and RFID tags with corresponding workstation identifications can be set on various workstations. In this way, during the movement of the battery cluster device, the workstation identification read by the information reading device can be obtained, and then the workstation reached by the battery cluster device can be determined based on the obtained workstation identification. When the workstation reached by the battery cluster device is a loading workstation, it can be detected that the battery cluster device is located at the loading workstation.

[0059] In a specific implementation process, in order to ensure accurate and reliable positioning during subsequent unloading and complete unloading, after detecting that the battery cluster device is located at the loading station, the position of the battery cluster device can be calibrated to ensure that the position error is small.

[0060] Specifically, the position information of the battery cluster device can be obtained, and the position information of the battery cluster device can be compared with the position information of the set loading station to obtain the overlap between the two. If the overlap between the position information of the battery cluster device and the position information of the loading station is less than the preset overlap, it means that the position error between the battery cluster device and the loading station is large. The battery cluster device can be controlled to move so that the overlap between the position information and the position information of the loading station is greater than or equal to the preset overlap.

[0061] In a specific implementation process, the process of obtaining the location information of the battery cluster device may be as follows:

[0062] Obtain the coordinate points of multiple positioning devices in the battery cluster device; connect the coordinate points of the multiple positioning devices in sequence to form a frame as the location information of the battery cluster device. Specifically, four cameras can be set in front, behind, left and right of the battery cluster device, and the coordinate points of the four cameras can be used to form a rectangular frame as the location information of the battery cluster device. It should be noted that only a rectangular frame is used as an example for explanation here, and other shapes of frames, such as square, diamond, etc., can also be used in actual applications.

[0063] In a specific implementation process, the position information of the loading station can be set as follows:

[0064] When the battery cluster device is located at the loading station and can accurately complete the loading, the reference coordinate point of each positioning device in the battery cluster device is obtained, and a reference frame formed by connecting multiple reference coordinate points in sequence is combined with the reference coordinate point deviation caused by each positioning device due to angle deviation, perception deviation, etc., and the reference coordinate point of each positioning device is changed while keeping the battery cluster device stationary, so as to obtain multiple adjustment coordinate points of each positioning device, and further obtain multiple deformation frames, and combine the reference frame and the deformation frame to obtain an integral frame as the position information of the loading station. In this way, when the position calibration is performed later, even if the positioning device of the battery cluster device has angle deviation and perception deviation, the overlap between the position information of the battery cluster device obtained and the position information of the loading station is greater than or equal to the preset overlap, thereby avoiding judging the position error between the battery cluster device and the loading station as large, and moving the battery cluster device. Specifically, the intersection and union ratio between the frame corresponding to the position information of the battery cluster device and the frame corresponding to the position information of the loading station can be calculated as the overlap between the two.

[0065] Step 202: If it is detected that the loading is completed, the carrying platform is controlled to move to the initial position, and the battery clustering device is controlled to move to the stacking station corresponding to the battery cluster container;

[0066] In a specific implementation process, the loading platform can monitor in real time when placing the batteries to be loaded onto the load platform. If the loading is detected to be completed, the load platform is controlled to move to the initial position. When monitoring the batteries to be loaded onto the load platform, a camera, a limit mechanism, etc. can be used for monitoring, which will not be described in detail here. The initial position here is a position set when the loading platform is not in use, and its coordinates can be recorded as (0, 0, 0).

[0067] After the carrying platform moves to the initial position, the battery clustering device can be controlled to move to the stacking station corresponding to the battery cluster container. The battery cluster container includes N rows and M columns of stacking racks, and the fixed location in front of each column of stacking racks can be used as the stacking station of the column of stacking racks.

[0068] In a specific implementation process, in order to ensure accurate and reliable positioning during subsequent unloading and complete unloading, after the battery clustering device moves to the clustering station corresponding to the battery cluster container, the position of the battery clustering device can also be calibrated to ensure that the position error is small.

[0069] Specifically, the position information of the battery clustering device can also be obtained. If the overlap between the position information and the position information of the station to be clustered is less than a preset overlap, the battery clustering device is controlled to move so that the overlap between the position information and the position information of the station to be clustered is greater than or equal to the preset overlap.

[0070] It should be noted that the process of calibrating the battery clustering device with the to-be-clustered station can refer to the process of calibrating the battery clustering device with the loading station, which will not be repeated here. The process of detecting that the battery clustering device moves to the to-be-clustered station corresponding to the battery cluster container can refer to the process of detecting that the battery clustering device moves to the loading station, which will not be repeated here. In addition, during the entire movement process, the battery clustering device may also detect that it has moved to the already-clustered station, and the process is also based on the station identification, which will not be repeated here.

[0071] Step 203, controlling the carrying platform to move to a position corresponding to the stacking frame to be placed;

[0072] When the battery clustering device moves to the clustering station corresponding to the battery cluster container, the carrying platform can be controlled to move to the position corresponding to the clustering rack in the N rows of clustering racks. This position must be higher than the preset distance of the clustering rack, such as 0.1 cm, so that the batteries to be clustered can be placed in the clustering rack later.

[0073] Step 204, controlling the unloading mechanism of the battery clustering device to move, so as to drive the batteries to be clustered to move onto the clustering frame to be clustered;

[0074] When the carrying platform moves to the position corresponding to the rack to be loaded, the unloading mechanism of the battery clustering device can be controlled to move to drive the batteries to be loaded onto the rack to be loaded, thus completing the automatic packing of the batteries to be loaded.

[0075] It should be noted that the depth of each clustering rack is usually a fixed value. Therefore, the unloading mechanism of the battery cluster device can be controlled to move a preset distance to complete the unloading. However, in order to ensure the detection accuracy, a pressure sensor can be set on the unloading mechanism according to the preset distance. If it is detected that the movement distance of the unloading mechanism reaches the preset distance and the pressure of the pressure sensor on the unloading mechanism is less than the preset pressure, it is determined that the unloading is completed. Otherwise, if it is detected that the pressure of the pressure sensor on the unloading mechanism is greater than or equal to the preset pressure during the movement of the unloading mechanism, it means that the battery to be clustered may move a large distance due to an abnormality. At this time, an alarm signal can be output to facilitate relevant personnel to conduct inspections, and / or the unloading mechanism can be controlled to stop moving to prevent damage to the battery to be clustered.

[0076] Step 205, after controlling the carrying platform to move to the initial position, controlling the battery clustering device to return to the loading station, and re-determining the positions corresponding to the clustering station and the clustering frame to be mounted to perform the next clustering, until the clustering end condition is met.

[0077] In a specific implementation process, after unloading is completed, the carrying platform can be controlled to move to the initial position, and the battery clustering device can be controlled to return to the loading station, and the positions corresponding to the to-be-clustered station and the to-be-clustered frame can be re-determined to perform the next clustering, until the clustering end condition is met. The clustering end condition can include: receiving at least one of a clustering stop instruction, all batteries are packed, and the battery cluster container is full.

[0078] Specifically, the positions corresponding to the stacking station and the stacking frame can be re-determined according to the following method:

[0079] Assuming that the station to be clustered is the i-th column clustering station, if batteries are placed in each row of clustering racks in the i-th column clustering station, the station to be clustered can be updated to the i+1-th column clustering station. If batteries are not placed in the j-th row of clustering racks in the i-th column clustering station, the station to be clustered can be maintained as the i-th column clustering station. Where, 1≤i≤M, 1≤j≤N.

[0080] Assuming that the position corresponding to the rack to be mounted is the position corresponding to the rack in the nth row, if the station to be mounted is maintained as the station in the ith column, the position corresponding to the rack to be mounted is updated to the position corresponding to the rack in the n+1th row. If the station to be mounted is updated to the i+1th row, the position corresponding to the rack to be mounted is updated to the position corresponding to the first rack. Where 1≤n≤N.

[0081] It should be noted that the above-mentioned re-determination of the corresponding positions of the to-be-clustered stations and the to-be-clustered racks is only an exemplary description, and other methods can also be used. For example, the corresponding positions of the to-be-clustered stations and the to-be-clustered racks can be updated according to the distance between two adjacent clustering stations and the depth of each clustering rack.

[0082] The control method of battery packing of this embodiment, if it is detected that the battery clustering device is located at the loading station, controls the carrying platform of the battery clustering device to move to the loading station, so that after the loading device puts the battery to be stacked on the carrying platform, controls the carrying platform to move to the initial position, and controls the battery clustering device to move to the stacking station corresponding to the battery cluster container, then controls the carrying platform to move to the position corresponding to the stacking rack to be stacked, controls the unloading mechanism of the battery clustering device to move, so as to drive the battery to be stacked to move to the stacking rack to be stacked, controls the carrying platform to move to the initial position, and controls the battery clustering device to return to the loading station, and re-determines the positions corresponding to the stacking station and the stacking rack to be stacked, so as to carry out the next stacking, until the stacking end condition is met. In this way, the battery packing process is automatically positioned and the stacking rack is automatically pushed in, thereby improving the positioning accuracy, safety, and work efficiency.

[0083] In a specific implementation process, the battery clustering device is provided with a communication module connected to a monitoring terminal such as a computer, such as a WiFi module, so that the clustering data during the clustering process can be sent to the monitoring terminal; and / or, in response to the control instruction of the monitoring terminal, the control object action corresponding to the control instruction is controlled. In this way, the battery clustering device can be remotely controlled at the monitoring terminal, all the buttons of the battery clustering device can be pressed, the emergency stop can be performed remotely, the image of the camera can be monitored, and safe operation can be achieved. The clustering data of the battery clustering device is stored inside the battery clustering device and in the monitoring terminal.

[0084] In a specific implementation process, infrared sensors and other obstacle detection devices can also be set around the battery cluster device, so that the detection information of the obstacle detection device in the battery cluster device can be obtained, and when it is determined that the detection information indicates the existence of an obstacle, the battery cluster device is controlled to avoid obstacles to avoid hitting workers or other objects. The specific obstacle avoidance operation can refer to the existing related technology and will not be repeated here. In addition, when the battery cluster device starts automatic operation, workers are not allowed to approach the working area. Workers can monitor and operate remotely by computer, and can analyze the detection information of the obstacle detection device. When the analysis result shows that someone is approaching, a warning signal is issued.

[0085] Figure 3 This is a schematic diagram of the battery packaging scene, such as Figure 3As shown, in front of the fixed location corresponding to each workstation (loading station or clustering station), there can be a painted rectangle (this embodiment is not limited to a rectangular frame, and other shapes are also possible) as the location information of each workstation, where the loading station can be recorded as P0, and the clustering stations are recorded as P1, P1, ... Pm in sequence. An RFID tag can be set in front of each workstation, and the battery clustering device moves along the motion trajectory shown in the figure to complete the process of loading from the loading device and unloading the battery to the battery cluster container. The specific process of this battery packaging scene can be found in Figure 4 .

[0086] Figure 4 FIG. 1 is a flow chart of another method for controlling battery packing according to an embodiment of the present invention. Figure 4 As shown, the battery packing control method of this embodiment may include the following steps:

[0087] Step 401, detect whether the battery cluster device is located at the P0 station, and the position calibration has been performed, and whether the carrying platform is located at the initial position M1; if so, execute step 402, if not, execute step 410;

[0088] Step 402, the carrying platform automatically moves to the loading position M1 for loading;

[0089] Step 403: After loading is completed, the carrying platform returns to the initial position M1, and the battery upper cluster device moves to the right;

[0090] Step 404: Check whether the i-th row of clustering stations has completed clustering; if so, execute step 411; if not, execute step 405;

[0091] Step 405, identifying the station identification of the clustered station in the i-th column;

[0092] Step 406: The battery clustering device is located at the i-th column clustering station and the position is calibrated; the carrying platform moves to the position corresponding to the j-th row clustering frame;

[0093] Step 407: The camera on the carrying platform recognizes that the position corresponding to the upper clustering frame is 0.1 cm higher than the upper clustering frame.

[0094] Step 408, the unloading mechanism drives the battery to be stacked to move to the stacking frame to be stacked, and the pressure sensor has no excessive pressure;

[0095] Step 409, unloading is completed, the carrying platform returns to the initial position M0, the battery loading device moves to the left, identifies the logo of the loading station P0, calibrates the position, and returns to step 401;

[0096] 410. Manual calibration, and return to step 401;

[0097] 411. Identify the station identification of the i+1th column of clustering stations, and complete the clustering of the clustering frame corresponding to the next column of clustering stations until the clustering end condition is met.

[0098] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effect of the present application, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present application.

[0099] It is understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiment of the present application can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0100] Furthermore, the present application also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present application, the computer-readable storage medium can be configured to store a program for executing the battery packing control method of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the above-mentioned battery packing control method. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application. The computer-readable storage medium can be a memory device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-temporary computer-readable storage medium.

[0101] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for controlling battery packaging, characterized in that: include: If it is detected that the battery loading device is located at the loading station, the carrying platform of the battery loading device is controlled to move to the loading position so that the loading device can place the batteries to be loaded onto the carrying platform; If it is detected that the loading is completed, the carrying platform is controlled to move to the initial position, and the battery clustering device is controlled to move to the stacking station corresponding to the battery cluster container; Control the carrying platform to move to a position corresponding to the stacking frame to be placed; Controlling the movement of the unloading mechanism of the battery clustering device to drive the batteries to be clustered to move onto the clustering frame; After controlling the carrying platform to move to the initial position, controlling the battery clustering device to return to the loading station, and re-determining the positions corresponding to the clustering station and the clustering frame to be mounted, so as to perform the next clustering, until the clustering end condition is met.

2. The battery packing control method according to claim 1, characterized in that: Before controlling the carrying platform of the battery upper cluster device to move to the loading position, the method further includes: Acquiring location information of a cluster device on the battery; If the overlap between the position information and the position information of the loading station is less than a preset overlap, the battery upper cluster device is controlled to move so that the overlap between the position information and the position information of the loading station is greater than or equal to the preset overlap.

3. The battery packing control method according to claim 2, characterized in that: Before controlling the carrying platform to move to a position corresponding to the stacking frame to be placed, the method further includes: If the overlap between the position information and the position information of the to-be-clustered station is less than a preset overlap, the battery clustering device is controlled to move so that the overlap between the position information and the position information of the to-be-clustered station is greater than or equal to the preset overlap.

4. The battery packing control method according to claim 2, characterized in that: Acquiring the location information of the cluster device on the battery, including: Obtaining coordinate points of a plurality of positioning devices in the battery cluster device; A frame formed by sequentially connecting the coordinate points of the plurality of positioning devices is used as position information of the on-battery cluster device.

5. The battery packing control method according to claim 1, characterized in that: Also includes: Obtaining a station identification read by an information reading device of the battery cluster device; According to the workstation identification, determining the workstation to which the battery clustering device has arrived; The workstations reached by the battery clustering device include at least one of the loading workstation, the to-be-clustered workstation and the already-clustered workstation.

6. The battery packing control method according to claim 1, characterized in that: Also includes: If it is detected that the movement distance of the unloading mechanism reaches the preset distance, and the pressure of the pressure sensor on the unloading mechanism is less than the preset pressure, it is determined that the unloading is completed; If it is detected that the pressure of the pressure sensor on the unloading mechanism is greater than or equal to the preset pressure during the movement of the unloading mechanism, an alarm signal is output, and / or the unloading mechanism is controlled to stop moving.

7. The battery packing control method according to claim 1, characterized in that: Also includes: Send the clustering data during the clustering process to the monitoring end; and / or Respond to the control instruction of the monitoring end and control the action of the control object corresponding to the control instruction.

8. The battery packing control method according to claim 1, characterized in that: Also includes: Acquiring detection information of an obstacle detection device in the battery cluster device; If the detection information indicates that there is an obstacle, the battery cluster device is controlled to avoid the obstacle.

9. A battery clustering device, characterized in that: It includes a main body of a stacking tool, a tool control device and a memory; The tool control device and the memory are arranged on the upper stacking tool body; The memory is suitable for storing a plurality of program codes, and the program codes are suitable for being loaded and run by the tooling control device to execute the battery packaging control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: A plurality of program codes are stored, and the program codes are suitable for being loaded and run by a controller to execute the battery packaging control method according to any one of claims 1 to 8.

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