Assembly system and assembly method of battery cavity structure based on machine vision

Abstract

The invention provides an assembling system and method for a battery cavity structure based on machine vision. The assembling system comprises a to-be-assembled platform, a transfer platform and a carrying assembly arranged between the transfer platform and the to-be-assembled platform. The carrying assembly is used for carrying the battery assembly placed on the transfer platform into a battery cavity structure arranged on the to-be-assembled platform; the assembly system further comprises a visual detection module arranged on the carrying assembly, and the visual detection module is used for obtaining first position information of the battery cavity structure placed on the to-be-assembled platform and obtaining second position information of the battery assembly placed on the transfer platform. Wherein the carrying assembly corrects the carrying action of carrying the battery assembly according to the first position information and / or the second position information. The technical problems to be solved are to improve the assembling efficiency and precision of the battery cavity structure, reduce errors caused by manual operation and improve the quality and consistency of final products.

Description

Technical Field

[0001] The present invention relates to the technical field of battery assembly, and in particular, to an assembly system and an assembly method for a battery cavity structure based on machine vision. Background Art

[0002] In modern manufacturing, the assembly process of batteries is crucial for the performance and safety of products. Traditional assembly methods for battery cavity structures usually rely on manual operations or fixed mechanical devices. Manual operations require a large amount of labor, have low assembly efficiency, and have certain limitations in terms of accuracy and consistency; although fixed mechanical devices can improve the efficiency of some processes, they lack flexibility in mass production.

[0003] Therefore, improving the efficiency and accuracy of battery cavity structure assembly, reducing the errors of manual operations, and enhancing the quality and consistency of the final products have become technical problems to be solved currently. Summary of the Invention

[0004] The technical problem solved by the present invention is to improve the efficiency and accuracy of battery cavity structure assembly, reduce the errors of manual operations, and enhance the quality and consistency of the final products.

[0005] To solve the above problems, the present invention provides an assembly system for a battery cavity structure based on machine vision. The assembly system includes an assembly platform to be assembled, a transfer platform, and a handling component disposed between the transfer platform and the assembly platform to be assembled; the handling component is used to transport the battery component placed on the transfer platform into the battery cavity structure disposed on the assembly platform to be assembled; the assembly system further includes a visual detection module disposed on the handling component, and the visual detection module is used to obtain the first position information of the battery cavity structure placed on the assembly platform to be assembled, and is used to obtain the second position information of the battery component placed on the transfer platform; wherein, the handling component corrects the handling action of transporting the battery component according to the first position information and / or the second position information.

[0006] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The assembly of the battery cavity structure is realized through an assembly system. The battery assembly is transported into the battery cavity structure by a handling component, without excessive manual intervention. Compared with traditional manual assembly, the assembly efficiency is further improved. At the same time, a visual detection module is set on the handling component, which is more flexible than a fixed mechanical device, improving the assembly accuracy of the battery cavity structure, ensuring product quality and consistency. Considering the actual situation of the battery cavity structure assembly, in the batch assembly production of the battery cavity structure, after the battery cavity structure on the waiting-for-assembly platform is assembled, it is replaced with the next group of unassembled battery cavity structures. During this process, there may be a deviation in the position of the battery cavity structure relative to the waiting-for-assembly platform. Similarly, during the process of transporting the battery assembly to the transfer platform, there may also be a deviation in position. Therefore, the visual detection module obtains the first position information of the battery cavity structure placed on the waiting-for-assembly platform and the second position information of the battery assembly placed on the transfer platform during the assembly process, and adjusts the handling action of the handling component in a timely manner to achieve the purpose of precise assembly, improving the quality and consistency of the finished battery cavity structure.

[0007] In an example of the present invention, the visual detection module includes an image matching module. The image matching module is used to obtain the first relative coordinate information of the battery cavity structure relative to the waiting-for-assembly platform; and obtain the second relative coordinate information of the battery assembly relative to the transfer platform. Among them, the first relative coordinate information is the deviation information between the actual position information and the preset position information of the battery cavity structure on the waiting-for-assembly platform; the second relative coordinate information is the deviation information between the actual position information and the preset position information of the battery assembly on the transfer platform.

[0008] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: Specifically, considering the actual placement orientation and distance among the waiting-for-assembly platform, transfer platform, and handling component during the assembly process of the battery cavity structure, theoretical position information is preset in the battery cavity structure assembly system, that is, the designated placement areas of the battery cavity structure on the waiting-for-assembly platform and the battery assembly on the transfer platform. The preset theoretical position information is an ideal state without deviation. By fitting the first position information of the battery cavity structure placed on the waiting-for-assembly platform and the second position information of the battery assembly placed on the transfer platform obtained with the preset theoretical position information in the battery cavity structure assembly system, the first relative coordinate information and the second relative coordinate information are obtained, providing a correction instruction for the handling component to perform the handling action later.

[0009] In an example of the present invention, the deviation information includes the deflection of the horizontal angle and / or the abnormality in the vertical direction.

[0010] Compared with the prior art, the technical effects achieved by adopting this technical solution: Specifically, in combination with the actual situation of the assembly of the battery cavity structure, in some embodiments, when the battery cavity structure is placed on the platform to be assembled, due to operation errors, or due to inertial sliding during the placement process of the battery cavity structure, the battery cavity structure deviates horizontally from the specified placement area; in other embodiments, since the battery cavity structure has foreign objects or particles at the bottom, when it is placed in the specified area, an angle is generated between the battery cavity structure and the plane of the platform to be assembled, resulting in tilting and causing abnormalities in the vertical direction. Similarly, when the battery assembly is placed on the transfer platform, such deviations will also occur.

[0011] In an example of the present invention, the handling assembly includes a fixed seat, a robotic arm, and a clamping assembly; the robotic arm is movably connected to the fixed seat and is used to perform a first movement action in the vertical direction and a second movement action in the horizontal direction; the clamping assembly is rotatably connected to the end of the robotic arm away from the fixed seat and is used to perform a grasping action on the battery assembly.

[0012] Compared with the prior art, the technical effects achieved by adopting this technical solution: Through the handling assembly, the automatic assembly of the battery cavity structure is realized. Specifically, according to the obtained deviation information, the handling actions of the handling assembly are adjusted in a timely manner, so that the handling assembly accurately grasps the battery assembly. The fixed seat is movably connected to the robotic arm and is used to perform a first movement action in the vertical direction and a second movement action in the horizontal direction, and the clamping assembly is used to perform a grasping action on the battery assembly.

[0013] The present invention also provides an assembly method for a battery cavity structure based on machine vision. The assembly method includes: adjusting the relative position of the handling assembly relative to the assembly platform to obtain first position information; comparing the first position information with first preset position information to determine whether the battery cavity structure is in a normal placement state; if so, controlling the handling assembly to move towards the transfer platform to the position to be grasped, and obtaining second position information; comparing the second position information with second preset position information to determine whether to correct the handling action; if it is determined to correct the handling action, controlling the handling assembly to perform a grasping action on the battery assembly according to the corrected correction program; after the handling assembly completes the grasping action on the battery assembly, controlling the vision detection module to perform image acquisition on the position where the battery assembly is grasped to obtain third position information of the position where the battery assembly is grasped; correcting the handling trajectory during the process of installing the battery assembly to the battery cavity structure by the handling assembly according to the third position information and the first position information.

[0014] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: By comparing the first position information with the first preset position information, it is determined whether the battery cavity structure is in a normal placement state. Specifically, during the actual placement process of the battery cavity structure, several abnormal placement states may occur. In some embodiments, there are foreign objects at the bottom of the battery cavity structure, and the battery cavity structure tilts during placement; in other embodiments, the battery cavity structure is not accurately placed in the designated area of the platform to be assembled, resulting in an abnormal placement state of the battery cavity structure. At this time, the placement state of the battery cavity structure needs to be adjusted until it is in the designated placement area and then the next action can be carried out; similarly, there are also several abnormal placement states for the battery assembly. At this time, according to the comparison result of the second position information and the preset position information, through the correction program, the handling action of the handling component is adjusted to ensure that the handling component completes the grasping of the battery assembly. Combining the actual grasping situation of the handling component during the assembly process of the battery cavity structure, in some embodiments, the battery assembly is in an abnormal placement state, and the handling component performs a grasping action on the battery assembly through the corrected correction program, so that the battery assembly is in a stable state after being grasped and is not likely to fall during the transfer process; specifically, the grasping point is an interval value, and the grasping action is performed within the established interval range, and the battery assembly is in a stable state where it is not likely to fall. After the corrected grasping point, it cannot be guaranteed to be at the original ideal grasping point. Compared with grasping according to the original ideal grasping point, the battery assembly will be tilted to varying degrees, resulting in the battery assembly not being able to be accurately placed into the battery cavity structure. Therefore, it is necessary to collect images of the grasped battery assembly and correct the handling trajectory during the process of installing the battery assembly by the handling component into the battery cavity structure.

[0015] In an example of the present invention, determining whether the battery cavity structure is in a normal placement state includes: if not, adjusting the position of the battery cavity structure on the platform to be assembled; wherein, the normal placement state is the state where the handling component completes the handling of the battery assembly into the battery cavity structure.

[0016] In an example of the present invention, by comparing the second position information with the second preset position information, determining whether to correct the handling action includes: if it is determined not to correct the handling action, controlling the handling component to perform a grasping action on the battery assembly according to the preset program.

[0017] In an example of the present invention, correcting the handling trajectory during the installation of the battery assembly into the battery cavity structure according to the third position information and the first position information includes: controlling the vision detection module to extract the edge features of the part of the battery assembly associated with the third position information to obtain the actual image contour of the battery assembly; comparing the actual image contour with the preset image contour to obtain the grasping deviation information; judging whether the combined mechanism composed of the battery assembly and the clamping assembly is in a preset safe grasping state according to the grasping deviation information; if so, controlling the handling component to correct the handling trajectory according to the grasping deviation information and the first position information.

[0018] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: By extracting the edge features of the part of the battery assembly associated with the third position information, the actual image contour of the battery assembly is obtained. Among them, the third position information is the grasping position of the clamping component on the battery assembly, and the actual image contour is the contour information of the grasping position. Since the grasping position in a stable grasping state is an interval value, the set of contour information of the grasping positions within this interval range is set as the preset image contour information. Comparing the actual image contour with the preset image contour to obtain the grasping deviation information. Specifically, the deviation information is the overlap degree between the actual image contour and the preset image contour. If the actual image contour is completely within the range of the preset image contour, that is, the combined mechanism composed of the battery assembly and the clamping component is in a preset safe grasping state, that is, a stable state.

[0019] In an example of the present invention, judging whether the combined mechanism composed of the battery assembly and the clamping component is in a preset safe grasping state according to the grasping deviation information includes: if not, controlling the handling component to change from the grasping action to the releasing action to release the battery assembly; correcting the grasping path of the handling component for grasping the battery assembly according to the grasping deviation information and the second position information to obtain the corrected third position information.

[0020] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: If the combined mechanism of the battery assembly and the clamping component is not in a preset safe grasping state, the battery assembly will fall during handling. Therefore, it is necessary to execute the releasing action and correct the grasping path of the handling component for grasping the battery assembly according to the grasping deviation information and the second position information to obtain the corrected third position information.

[0021] In an example of the present invention, controlling the handling component to correct the handling trajectory according to the grasping deviation information and the first position information includes: associating the grasping deviation information with the action information of the clamping component, adjusting the action of the clamping component according to the grasping deviation information and judging whether the angle of the combined mechanism is adapted to the first position information; if so, controlling the handling component to execute the assembly action according to the preset program.

[0022] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: At this time, the grasping deviation information determines that the combined mechanism formed by the battery assembly and the clamping assembly is in a preset safe grasping state, and the battery assembly is not likely to fall. However, since the grasping position is not the originally ideal grasping position, compared with grasping according to the originally ideal grasping position, the battery assembly will be tilted to varying degrees, resulting in the battery assembly not being accurately placed into the battery cavity structure. By correlating the grasping deviation information with the action information of the clamping assembly to adjust the action of the clamping assembly. Specifically, the action information includes the rotation angle of the clamping assembly. When the battery assembly performs the assembly action according to the preset program of the handling assembly by adjusting the rotation angle of the clamping assembly, it can accurately enter the battery cavity structure.

[0023] (1) The assembly of the battery cavity structure is realized through an assembly system. The handling assembly transports the battery assembly into the battery cavity structure without excessive manual intervention. Compared with traditional manual assembly, the assembly efficiency is further improved. At the same time, a visual detection module is set on the handling assembly, which is more flexible than a fixed mechanical device, improves the assembly accuracy of the battery cavity structure, and ensures product quality and consistency. Considering the actual situation of the battery cavity structure assembly, for batch assembly production of the battery cavity structure, when the battery cavity structure on the assembly platform is assembled and replaced with the next unassembled battery cavity structure, there may be a deviation in the position of the battery cavity structure relative to the assembly platform. Similarly, during the process of transporting the battery assembly to the transfer platform, there may also be a deviation in position. Therefore, the first position information of the battery cavity structure placed on the assembly platform and the second position information of the battery assembly placed on the transfer platform are obtained through the visual detection module during the assembly process to timely adjust the handling action of the handling assembly, achieving the purpose of accurate assembly and improving the quality and consistency of the finished battery cavity structure; (2) Assembly method of the battery cavity structure. By comparing the first position information with the first preset position information, it is determined whether the battery cavity structure is in a normal placement state. Specifically, during the actual placement process of the battery cavity structure, several abnormal placement states may occur. In some embodiments, there are foreign objects at the bottom of the battery cavity structure, and the battery cavity structure tilts during placement; in some other embodiments, the battery cavity structure is not accurately placed in the designated area of the platform to be assembled, resulting in an abnormal placement state of the battery cavity structure. At this time, the placement state of the battery cavity structure needs to be adjusted until it is in the designated placement area and then the next action is carried out; similarly, there are also several abnormal placement states for the battery assembly. At this time, according to the comparison result of the second position information and the preset position information, through the correction program, the handling action of the handling component is adjusted to ensure that the handling component completes the grasping of the battery assembly. Combining the actual grasping situation of the handling component during the assembly process of the battery cavity structure, in some embodiments, the battery assembly is in an abnormal placement state, and the handling component executes the grasping action on the battery assembly through the corrected correction program, so that the battery assembly is in a stable state after being grasped and is not likely to fall during the transfer process; specifically, the grasping position is an interval value, and the grasping action is executed within the established interval range, and the battery assembly is in a stable state where it is not likely to fall. After the corrected grasping position, it cannot be guaranteed to be at the original ideal grasping position. Compared with grasping according to the original ideal grasping position, the battery assembly will be tilted to varying degrees, resulting in the battery assembly not being accurately placed into the battery cavity structure. Therefore, it is necessary to perform image acquisition on the grasped battery assembly and correct the handling trajectory during the process of installing the battery assembly by the handling component into the battery cavity structure. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings; Figure 1 Structural schematic diagram of an assembly system provided by an embodiment of the present invention; Figure 2 Flowchart of an assembly method provided by an embodiment of the present invention.

[0025] Explanation of the reference numerals in the drawings: 100, platform to be assembled; 200, transfer platform; 300, handling component; 310, visual detection module; 320, fixed seat; 330, robotic arm. Detailed Embodiments

[0026] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following describes in detail the specific embodiments of the present invention with reference to the accompanying drawings.

[0027] See Figure 1 , the present invention provides an assembly system for a battery cavity structure based on machine vision. The assembly system includes an assembly platform 100 to be assembled, a transfer platform 200, and a handling component 300 disposed between the transfer platform 200 and the assembly platform 100 to be assembled; the handling component 300 is used to transport the battery components placed on the transfer platform 200 into the battery cavity structure disposed on the assembly platform 100 to be assembled; the assembly system further includes a vision detection module 310 disposed on the handling component 300, and the vision detection module 310 is used to obtain the first position information of the battery cavity structure placed on the assembly platform 100 to be assembled, and is used to obtain the second position information of the battery components placed on the transfer platform 200; wherein, the handling component 300 corrects the handling action of transporting the battery components according to the first position information and / or the second position information.

[0028] Furthermore: The assembly system includes an assembly platform 100 to be assembled, a transfer platform 200, and a handling component 300 disposed between the transfer platform 200 and the assembly platform 100 to be assembled; the handling component 300 is used to transport the battery components placed on the transfer platform 200 into the battery cavity structure disposed on the assembly platform 100 to be assembled; the assembly of the battery cavity structure is realized through the assembly system, and the handling component 300 transports the battery components into the battery cavity structure, without excessive manual intervention. Compared with traditional manual assembly, the assembly efficiency is further improved; at the same time, a vision detection module 310 is disposed on the handling component 300, which is more flexible than a fixed mechanical device, improves the assembly accuracy of the battery cavity structure, and ensures product quality and consistency. Considering the actual situation of the assembly of the battery cavity structure, for batch assembly production of the battery cavity structure, after the battery cavity structure on the assembly platform 100 to be assembled is completed, it is replaced with the next group of unassembled battery cavity structures. During this process, there may be a deviation in the position of the battery cavity structure relative to the assembly platform 100 to be assembled. Similarly, during the process of transporting the battery components to the transfer platform 200, there may also be a deviation in position. Therefore, the vision detection module 310 obtains the first position information of the battery cavity structure placed on the assembly platform 100 to be assembled during the assembly process, and is used to obtain the second position information of the battery components placed on the transfer platform 200, so as to timely adjust the handling action of the handling component 300 to achieve the purpose of precise assembly and improve the quality and consistency of the finished product of the battery cavity structure.

[0029] In a specific embodiment of the present invention, the vision detection module 310 includes an image matching module. The image matching module is used to obtain the first relative coordinate information of the battery cavity structure relative to the platform 100 to be assembled, and obtain the second relative coordinate information of the battery assembly relative to the transfer platform 200. The first relative coordinate information is the deviation information between the actual position information and the preset position information of the battery cavity structure on the platform 100 to be assembled. The second relative coordinate information is the deviation information between the actual position information and the preset position information of the battery assembly on the transfer platform 200.

[0030] Furthermore, the first relative coordinate information is the deviation information between the actual position information and the preset position information of the battery cavity structure on the platform 100 to be assembled. The second relative coordinate information is the deviation information between the actual position information and the preset position information of the battery assembly on the transfer platform 200. Considering the actual placement orientation and distance among the platform 100 to be assembled, the transfer platform 200, and the handling component 300 during the assembly process of the battery cavity structure, the theoretical position information is preset in the battery cavity structure assembly system, that is, the designated placement area of the battery cavity structure on the platform 100 to be assembled and the battery assembly on the transfer platform 200. The preset theoretical position information is an ideal state without deviation. By fitting the first position information of the battery cavity structure placed on the platform 100 to be assembled and the second position information of the battery assembly placed on the transfer platform 200 with the preset theoretical position information in the battery cavity structure assembly system, the first relative coordinate information and the second relative coordinate information are obtained, providing a correction instruction for the subsequent handling operation of the handling component 300.

[0031] In a specific embodiment of the present invention, the deviation information includes the deflection of the horizontal angle and / or the abnormality in the vertical direction.

[0032] Furthermore, the deviation information includes the deflection of the horizontal angle and / or the abnormality in the vertical direction. Considering the actual situation of the battery cavity structure assembly, in some embodiments, when the battery cavity structure is placed on the platform 100 to be assembled, due to operation errors or inertial sliding during the placement process, the battery cavity structure deviates horizontally from the designated placement area. In other embodiments, when the battery cavity structure is placed in the designated area, due to foreign objects or particles at the bottom, an angle is formed between the battery cavity structure and the plane of the platform 100 to be assembled, resulting in tilting and causing an abnormality in the vertical direction. Similarly, such deviations will also occur when the battery assembly is placed on the transfer platform 200.

[0033] In a specific embodiment of the present invention, the handling assembly 300 includes a fixed base 320, a robotic arm 330, and a clamping assembly; the robotic arm 330 is movably connected to the fixed base 320 and is used to perform a first movement action in the vertical direction and a second movement action in the horizontal direction; the clamping assembly is rotatably connected to one end of the robotic arm 330 away from the fixed base 320 and is used to perform a grasping action on the battery assembly.

[0034] Furthermore: The handling assembly 300 includes a fixed base 320, a robotic arm 330, and a clamping assembly; the robotic arm 330 is movably connected to the fixed base 320; through the handling assembly 300, automatic assembly of the battery cavity structure is realized. Specifically, according to the obtained deviation information, the handling action of the handling assembly 300 is adjusted in a timely manner so that the handling assembly 300 accurately grasps the battery assembly. Among them, the fixed base 320 is movably connected to the robotic arm 330 and is used to perform a first movement action in the vertical direction and a second movement action in the horizontal direction, and the clamping assembly is used to perform a grasping action on the battery assembly.

[0035] See Figure 2 , the present invention also provides an assembly method for a battery cavity structure based on machine vision. The assembly method includes: Step S1, by adjusting the relative position of the handling assembly 300 relative to the assembly platform, to obtain first position information; Step S2, by comparing the first position information with the first preset position information, to judge whether the battery cavity structure is in a normal placement state; Step S3, if so, control the handling assembly 300 to move towards the transfer platform 200 to the position to be grasped, and obtain second position information; Step S4, by comparing the second position information with the second preset position information, to judge whether to correct the handling action; Step S5, if it is determined to correct the handling action, control the handling assembly 300 to perform a grasping action on the battery assembly according to the corrected correction program; Step S6, when the handling assembly 300 completes the grasping action on the battery assembly, control the vision detection module 310 to perform image acquisition on the position where the battery assembly is grasped, and obtain third position information of the position where the battery assembly is grasped; Step S7, according to the third position information and the first position information, correct the handling trajectory during the process of the handling assembly 300 installing the battery assembly into the battery cavity structure.

[0036] Further: By adjusting the relative position of the handling component 300 with respect to the assembly platform, the first position information is obtained; by comparing the first position information with the first preset position information, it is determined whether the battery cavity structure is in a normal placement state. Specifically, during the actual placement of the battery cavity structure, several abnormal placement states may occur. In some embodiments, there are foreign objects at the bottom of the battery cavity structure, and the battery cavity mechanism tilts during placement; in some other embodiments, the battery cavity structure is not accurately placed in the designated area of the platform 100 to be assembled, resulting in an abnormal placement state of the battery cavity structure. At this time, the placement state of the battery cavity structure needs to be adjusted until it is in the designated placement area before proceeding to the next step; similarly, there are also several abnormal placement states for the battery assembly. At this time, according to the comparison result of the second position information and the preset position information, through a correction program, the handling action of the handling component 300 is adjusted to ensure that the handling component 300 completes the grasping of the battery assembly. Combining the actual grasping situation of the handling component 300 during the assembly process of the battery cavity structure, in some embodiments, the battery assembly is in an abnormal placement state, and the handling component 300 performs a grasping action on the battery assembly through the corrected correction program, so that the battery assembly is in a stable state after being grasped and is not likely to fall during the transfer process; specifically, the grasping point is an interval value, and the grasping action is performed within the established interval range, and the battery assembly is in a stable state where it is not likely to fall. After the corrected grasping point, it cannot be guaranteed to be at the original ideal grasping point. Compared with grasping according to the original ideal grasping point, the battery assembly will be tilted to varying degrees, resulting in the battery assembly not being able to be accurately placed into the battery cavity structure. Therefore, it is necessary to perform image acquisition on the grasped battery assembly and correct the handling trajectory of the handling component 300 when installing the battery assembly into the battery cavity structure.

[0037] In a specific embodiment of the present invention, determining whether the battery cavity structure is in a normal placement state includes: if not, then adjusting the position of the battery cavity structure on the platform 100 to be assembled; wherein, the normal placement state is the state where the handling component 300 completes the handling of the battery assembly into the battery cavity structure.

[0038] In a specific embodiment of the present invention, by comparing the second position information with the second preset position information, determining whether to correct the handling action includes: if it is determined not to correct the handling action, then controlling the handling component 300 to perform a grasping action on the battery assembly according to the preset program.

[0039] In a specific embodiment of the present invention, correcting the handling trajectory during the installation of the battery module into the battery cavity structure according to the third position information and the first position information includes: controlling the vision detection module 310 to extract edge features of the part of the battery module associated with the third position information to obtain the actual image contour of the battery module; comparing the actual image contour with the preset image contour to obtain the grasping deviation information; judging whether the combined mechanism composed of the battery module and the clamping module is in a preset safe grasping state according to the grasping deviation information; if so, controlling the handling module 300 to correct the handling trajectory according to the grasping deviation information and the first position information.

[0040] Furthermore: correcting the handling trajectory during the installation of the battery module into the battery cavity structure according to the third position information and the first position information; extracting edge features of the part of the battery module associated with the third position information to obtain the actual image contour of the battery module, wherein the third position information is the grasping position of the clamping module on the battery module, and the actual image contour is the contour information of the grasping position. Since the grasping position in the stable grasping state is an interval value, the set of contour information of the grasping positions within this interval range is set as the preset image contour information. Comparing the actual image contour with the preset image contour to obtain the grasping deviation information. Specifically, the deviation information is the overlap degree between the actual image contour and the preset image contour. If the actual image contour is completely within the range of the preset image contour, that is, the combined mechanism composed of the battery module and the clamping module is in the preset safe grasping state, that is, the stable state.

[0041] In a specific embodiment of the present invention, judging whether the combined mechanism composed of the battery module and the clamping module is in a preset safe grasping state according to the grasping deviation information includes: if not, controlling the handling module 300 to change from the grasping action to the releasing action to release the battery module; correcting the grasping path of the handling module 300 for grasping the battery module according to the grasping deviation information and the second position information to obtain the corrected third position information.

[0042] Furthermore: judging whether the combined mechanism composed of the battery module and the clamping module is in a preset safe grasping state according to the grasping deviation information; if the combined mechanism of the battery module and the clamping module is not in the preset safe grasping state, the battery module will fall during handling. Therefore, it is necessary to execute the releasing action and correct the grasping path of the handling module 300 for grasping the battery module according to the grasping deviation information and the second position information to obtain the corrected third position information.

[0043] In a specific embodiment of the present invention, controlling the handling component 300 to correct the handling trajectory according to the grasping deviation information and the first position information includes: associating the grasping deviation information with the action information of the clamping component, adjusting the action of the clamping component according to the grasping deviation information, and determining whether the angle of the combined mechanism is adapted to the first position information; if so, controlling the handling component 300 to perform the assembly action according to the preset program.

[0044] Furthermore, controlling the handling component 300 to correct the handling trajectory according to the grasping deviation information and the first position information includes: associating the grasping deviation information with the action information of the clamping component, adjusting the action of the clamping component according to the grasping deviation information, and determining whether the angle of the combined mechanism is adapted to the first position information; at this time, the grasping deviation information determines that the combined mechanism formed by the battery component and the clamping component is in a preset safe grasping state, and the battery component is not likely to fall. However, since the grasping point is not the original ideal grasping point, compared with grasping according to the original ideal grasping point, the battery component will be tilted to varying degrees, resulting in the battery component not being able to be accurately placed into the battery cavity structure. By associating the grasping deviation information with the action information of the clamping component to adjust the action of the clamping component, specifically, the action information includes the rotation angle of the clamping component. When the battery component performs the assembly action according to the preset program of the handling component 300 by adjusting the rotation angle of the clamping component, it can accurately enter the battery cavity structure.

[0045] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

1. A battery cavity structure assembly system based on machine vision, characterized in that: The assembly system comprises a platform to be assembled (100), a transfer platform (200), and a transport component (300) arranged between the transfer platform (200) and the platform to be assembled (100); The transport component (300) is used to transport the battery component placed on the transfer platform (200) to a battery cavity structure provided on the to-be-assembled platform (100); The assembly system further comprises a visual inspection module (310) arranged on the transport component (300), the visual inspection module (310) being used to obtain first position information of the battery cavity structure placed on the to-be-assembled platform (100), and to obtain second position information of the battery assembly placed on the transfer platform (200); Wherein, the transport component (300) corrects the transport action of transporting the battery component according to the first position information and / or the second position information.

2. The assembly system according to claim 1, characterized in that: The visual inspection module (310) comprises an image matching module, the image matching module being used to obtain first relative coordinate information of the battery cavity structure relative to the assembly platform (100); and to obtain second relative coordinate information of the battery assembly relative to the transfer platform (200); Wherein, the first relative coordinate information is deviation information between actual position information of the battery cavity structure on the to-be-assembled platform (100) and preset position information; The second relative coordinate information is deviation information between the actual position information of the battery assembly on the transfer platform (200) and the preset position information.

3. The assembly system according to claim 2, characterized in that: The deviation information includes horizontal angle deflection and / or vertical anomaly.

4. The assembly system according to claim 1, characterized in that: The transport assembly (300) comprises a fixing seat (320), a mechanical arm (330) and a clamping assembly; The mechanical arm (330) is movably connected to the fixing seat (320) and is used to perform a first movement action in a vertical direction and a second movement action in a horizontal direction; The clamping assembly is rotatably connected to an end of the mechanical arm (330) away from the fixing seat (320) and is used to perform a grasping action on the battery assembly.

5. A method for assembling a battery cavity structure based on machine vision, characterized in that: The assembly method is applied to the assembly system according to any one of claims 1 to 4; the assembly method comprises: By adjusting the relative position of the transport component (300) relative to the assembly platform, the first position information is obtained; By comparing the first position information with the first preset position information, determining whether the battery cavity structure is in a normal placement state; If so, controlling the transport component (300) to move toward the transfer platform (200) to the position to be grasped, and acquiring the second position information; By comparing the second position information with the second preset position information, determining whether to correct the transport action; If it is determined that the transport action is to be corrected, controlling the transport component (300) to perform a grabbing action on the battery component according to a corrected correction program; When the transport component (300) completes the grabbing action on the battery component, controlling the visual inspection module (310) to collect images of the position where the battery component is grabbed, and obtaining third position information of the position where the battery component is grabbed; The transport trajectory of the transport component (300) during the process of installing the battery component into the battery cavity structure is corrected according to the third position information and the first position information.

6. The assembly method according to claim 5, characterized in that: The determining whether the battery cavity structure is in a normal placement state includes: If not, adjusting the position of the battery cavity structure on the to-be-assembled platform (100); The normal placement state is a state in which the transport component (300) completes transporting the battery component into the battery cavity structure.

7. The assembly method according to claim 5, characterized in that: The step of comparing the second position information with the second preset position information to determine whether to correct the transport action includes: If it is determined that the transport action is not to be corrected, the transport component (300) is controlled to perform a grabbing action on the battery component according to a preset program.

8. The assembly method according to claim 5, characterized in that: The method of correcting the transport track of the transport component (300) during the process of installing the battery component into the battery cavity structure according to the third position information and the first position information comprises: Controlling the visual inspection module (310) to extract edge features of a portion of the battery component associated with the third position information, so as to obtain an actual image contour of the battery component; Comparing the actual image contour with the preset image contour to obtain grasping deviation information; Determining whether the combined mechanism consisting of the battery assembly and the clamping assembly is in a preset safe grasping state according to the grasping deviation information; If so, the transport component (300) is controlled to correct the transport trajectory according to the grasping deviation information and the first position information.

9. The assembly method according to claim 8, characterized in that: The determining, based on the grasping deviation information, whether the combined mechanism consisting of the battery assembly and the clamping assembly is in a preset safe grasping state comprises: If not, controlling the transport component (300) to change from a grabbing action to a releasing action to release the battery component; The grasping path of the transport component (300) grasping the battery component is corrected according to the grasping deviation information and the second position information to obtain corrected third position information.

10. The assembly method according to claim 8, characterized in that: The controlling the transport component (300) to correct the transport trajectory according to the grabbing deviation information and the first position information comprises: Associating the grasping deviation information with the action information of the clamping assembly, adjusting the action of the clamping assembly according to the grasping deviation information and determining whether the angle of the combined mechanism is adapted to the first position information; If so, the transport assembly (300) is controlled to perform assembly actions according to a preset program.

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