Battery size detection system and method

Abstract

The invention discloses a battery size detection system and method. The battery size detection system comprises a controller, a driving mechanism, a first camera and a second camera, wherein the driving mechanism is used for driving the clamping jaw to move the current battery to a photographing position; the first camera is used for acquiring a first three-dimensional image of the bottom surface of the current battery; the second camera is used for collecting a second three-dimensional image of the top surface of the current battery; the controller is used for synthesizing the first three-dimensional image and the second three-dimensional image to obtain a three-dimensional image of the current battery; determining a measurement reference plane of the current battery based on the three-dimensional image of the current battery; detecting size information of the current battery based on the measurement reference plane of the current battery and the three-dimensional image of the current battery; and the driving mechanism is used for driving the clamping jaw to move the current battery from the photographing position to the discharging position.

Description

Technical Field

[0001] This application relates to the technical field of battery detection, and particularly to a battery size detection system and method. Background Art

[0002] New energy batteries are increasingly widely used in life and industries, such as in the energy storage field, new energy vehicle field, etc.

[0003] Currently, in the field of new energy batteries, since the size of the battery has a great influence on the assembly contact state of the battery cell module, the size control requirements are relatively strict. In related technologies, contact measurement equipment is generally used to complete the size detection of the battery. Therefore, there is a problem that the contact measurement equipment will cause poor appearance of the battery when measuring the battery. Summary of the Invention

[0004] In view of this, at least one battery size detection system and method are provided in the embodiments of this application.

[0005] The technical solution of the embodiments of this application is implemented as follows:

[0006] On the one hand, the embodiments of this application provide a battery size detection system, and the battery size detection system includes a controller, a driving mechanism, a first camera, and a second camera; wherein:

[0007] The driving mechanism is used to drive the gripper to move the current battery to the photographing position;

[0008] The first camera is used to collect a first three-dimensional image of the bottom surface of the current battery at the photographing position; and the second camera is used to collect a second three-dimensional image of the top surface of the current battery at the photographing position;

[0009] The controller is used to synthesize the first three-dimensional image and the second three-dimensional image to obtain a three-dimensional image of the current battery; based on the three-dimensional image of the current battery, determine the measurement reference plane of the current battery; based on the measurement reference plane of the current battery and the three-dimensional image of the current battery, detect the size information of the current battery;

[0010] The driving mechanism is used to drive the gripper to move the current battery from the photographing position to the discharging position.

[0011] In the embodiments of the present application, the controller can control the driving mechanism to move the current battery to the photographing position, so that the first camera acquires a first three-dimensional image of the bottom surface of the current battery, and the second camera acquires a second three-dimensional image of the top surface of the current battery; then the controller can synthesize the first three-dimensional image and the second three-dimensional image to obtain a three-dimensional image of the current battery. In this way, through the first camera and the second camera, a three-dimensional image that accurately conforms to the actual situation of the current battery can be obtained, realizing high-precision modeling of the current battery. Then, based on the three-dimensional image of the current battery, a measurement reference plane is determined, and through this measurement reference plane and the three-dimensional image, the size information of the current battery can be detected without contact. Moreover, the reference plane for detecting the size information of the current battery is determined by the three-dimensional image that conforms to the actual situation of the current battery, so that the accuracy of battery size detection can be improved, and at the same time, the size of the battery can be measured without contacting the battery, solving the problem of poor appearance of the battery caused by measuring the size of the battery with a contact-type measuring device in the related art.

[0012] In some embodiments, the battery size detection system further includes a rotating table; the rotating table includes a rotating table body and at least two fixed positions fixedly arranged outside the rotating table body; a clamping jaw is connected to the driving mechanism; wherein, the rotating table is used to rotate the current battery on the fixed position to the detection position; the driving mechanism is used to drive the clamping jaw to move to the detection position so that the clamping jaw grabs the current battery; the driving mechanism is used to drive the clamping jaw grabbing the current battery to move to the photographing position.

[0013] In the embodiments of the present application, the rotating table can rotate the battery fixed on its own fixed position to the detection position, and through the clamping jaw on the driving mechanism, the battery at the detection position can be moved to the photographing position. In this way, through the cooperation of the clamping jaw and the rotating table, multiple batteries can be sequentially moved to the photographing position, thereby improving the efficiency of the camera to acquire the three-dimensional image of the battery.

[0014] In some embodiments, the driving mechanism includes a vertical moving module and a horizontal moving module; the vertical moving module is movably connected to the horizontal moving module; the clamping jaw is connected to the vertical moving module; wherein, the vertical moving module is used to drive the clamping jaw to move to the detection position so that the clamping jaw fixes the current battery; the vertical moving module is used to drive the clamping jaw grabbing the current battery to move from the detection position to the test height; the horizontal moving module is used to drive the clamping jaw on the vertical moving module to move horizontally from the test height so that the current battery is in the photographing position.

[0015] In the embodiments of the present application, the vertical movement module can first drive the gripper to vertically move the current battery, and then the horizontal movement module can drive the gripper to horizontally move the current battery so that the current battery is in the photographing position. In this way, the current battery can quickly reach the photographing position from the detection position, thereby improving the efficiency of the camera in collecting images of the current battery in the photographing position.

[0016] In some embodiments, the horizontal movement module is further configured to drive the gripper holding the current battery on the vertical movement module to move from the photographing position to the blanking height; the vertical movement module is further configured to drive the gripper holding the current battery to move from the blanking height to the blanking position; and the gripper is configured to place the current battery into the blanking position.

[0017] In the embodiments of the present application, the battery in the photographing position can be moved to the blanking position by the horizontal movement module and the vertical movement module. In this way, the battery after the image is collected can be moved to the blanking position, so that the next battery can be moved to the photographing position, thereby improving the efficiency of the camera in collecting three-dimensional images of multiple batteries.

[0018] In some embodiments, the distance between the current battery and the first camera is the same as the distance between the current battery and the second camera.

[0019] In the embodiments of the present application, the distance between the current battery and the first camera being the same as the distance between the current battery and the second camera can make the size of the current battery in the images collected by each camera the same, thereby reducing the difficulty of synthesizing the first three-dimensional image and the second three-dimensional image.

[0020] On the other hand, the embodiments of the present application provide a battery size detection method, which is applied to the controller of a battery size detection system. The battery size detection system further includes a driving mechanism, a first camera, and a second camera. The method includes:

[0021] The driving mechanism drives the gripper to move the current battery to the photographing position;

[0022] The controller obtains a first three-dimensional image collected by the first camera of the bottom surface of the current battery and a second three-dimensional image collected by the second camera of the top surface of the current battery; synthesizes the first three-dimensional image and the second three-dimensional image to obtain a three-dimensional image of the current battery; determines a measurement reference plane of the current battery based on the three-dimensional image of the current battery; and detects size information of the current battery based on the measurement reference plane of the current battery and the three-dimensional image of the current battery.

[0023] The driving mechanism drives the gripper to move the current battery from the photographing position to the blanking position.

[0024] In the embodiments of the present application, the first three-dimensional image and the second three-dimensional image respectively collected by the first camera and the second camera can be synthesized into a three-dimensional image of the current battery. In this way, through the first camera and the second camera, a three-dimensional image that accurately conforms to the actual situation of the current battery can be obtained, realizing high-precision modeling of the current battery. Then, based on the three-dimensional image of the current battery, a measurement reference plane is determined, and through this measurement reference plane and the three-dimensional image, the size information of the current battery can be detected without contact, and the reference plane for detecting the size information of the current battery is determined by the three-dimensional image that conforms to the actual situation of the current battery. In this way, the accuracy of battery size detection can also be improved, and at the same time, the size of the battery can be measured without contacting the battery, solving the problem of poor battery appearance caused by measuring the size of the battery with a contact measurement device in the related art.

[0025] In some embodiments, determining the measurement reference plane of the current battery based on the three-dimensional image of the current battery includes: determining the coordinate information corresponding to each of a plurality of reference points on the bottom surface of the current battery based on the three-dimensional image of the current battery; and determining the measurement reference plane of the current battery based on the coordinate information corresponding to each of the plurality of reference points.

[0026] In the embodiments of the present application, the measurement reference plane for detecting the size information of the current battery is determined based on the coordinate information corresponding to each of a plurality of reference points on the bottom surface of the current battery. In this way, by re-determining the measurement reference plane, the problem of inaccurate measurement size caused by using the actual bottom surface of the current battery as the reference plane can be solved.

[0027] In some embodiments, detecting the size information of the current battery based on the measurement reference plane of the current battery and the three-dimensional image of the current battery includes: determining the coordinate information corresponding to each of a plurality of measurement points on each of at least one surface to be measured of the current battery based on the three-dimensional image of the current battery; and determining the size information of the current battery based on the coordinate information corresponding to each of the plurality of measurement points on each of the surfaces to be measured and the measurement reference plane of the current battery.

[0028] In the embodiments of the present application, the size information of the current battery can be determined based on the coordinate information corresponding to each of a plurality of measurement points on each of the surfaces to be measured of the current battery and the measurement reference plane of the current battery. In this way, the corresponding size information can be determined based on different surfaces to be measured, and the different size information is based on the same measurement reference plane, thereby reducing the error of the detected size and improving the accuracy of the detected size.

[0029] In some embodiments, determining the size information of the current battery based on the coordinate information respectively corresponding to multiple measurement points on each of the surfaces to be measured and the measurement reference plane of the current battery includes: for each of the surfaces to be measured, determining the distance information between each measurement point on the surface to be measured and the measurement reference plane based on the coordinate information respectively corresponding to the multiple measurement points on the surface to be measured and the measurement reference plane; determining the size information of the current battery based on the multiple distance information; wherein the size information includes the flatness of the surface to be measured; the surface to be measured includes at least one of the following: the pole surface, the shoulder surface, and the bottom surface.

[0030] In the embodiments of the present application, through the distance information between multiple measurement points on the surface to be measured and the measurement reference plane respectively, the size information of the current battery can be accurately determined. In this way, non-contact detection of the size information of the current battery can be realized, and the problem of poor appearance of the battery caused by the measurement device contacting the battery when measuring the battery size in the related art is solved.

[0031] In some embodiments, obtaining the coordinate information respectively corresponding to multiple measurement points on each of at least one surface to be measured of the current battery based on the three-dimensional image of the current battery includes: determining the coordinate information of the geometric center of each surface to be measured based on the three-dimensional image of the current battery; for each surface to be measured, determining a point-taking pattern corresponding to the contour of the surface to be measured on the surface to be measured based on the coordinate information of the geometric center of the surface to be measured; determining the coordinate information respectively corresponding to multiple measurement points evenly distributed on the point-taking pattern on each surface to be measured based on the three-dimensional image of the current battery.

[0032] In the embodiments of the present application, the coordinate information of the geometric center of the surface to be measured can be used to determine a point-taking pattern corresponding to the contour of the surface to be measured on the surface to be measured, and then based on the three-dimensional image of the current battery, the coordinate information respectively corresponding to multiple measurement points evenly distributed on the point-taking pattern on each surface to be measured is determined. In this way, by the coordinate information respectively corresponding to multiple evenly distributed measurement points on the point-taking pattern corresponding to the contour of the surface to be measured, the size information of the current battery is detected, and the error of detecting the size information can be reduced, thereby improving the accuracy of detecting the battery size.

[0033] In some embodiments, the battery size detection system further includes a rotating table and a driving mechanism; the rotating table includes at least two fixed positions; the method further includes: in response to a completion signal indicating that the first three-dimensional image and the second three-dimensional image of the current battery have been acquired, the driving mechanism drives the gripper to move the current battery to the discharging position; the rotating table rotates the target fixed position with the next battery among the at least two fixed positions to the detection position; the driving mechanism drives the gripper to move the next battery from the detection position between the first camera and the second camera, so that the first camera acquires a third three-dimensional image of the bottom surface of the next battery, and the second camera acquires a fourth three-dimensional image of the top surface of the next battery.

[0034] In the embodiments of the present application, after the first three-dimensional image and the second three-dimensional image of the current battery are acquired, the next battery can be moved between the first camera and the second camera through the rotating table and the driving mechanism, so that the first camera and the second camera acquire images of the next battery. In this way, by setting the driving mechanism and the rotating table, images of multiple batteries can be acquired quickly, improving the efficiency of size detection of multiple batteries.

[0035] It should be understood that the above general description and subsequent detailed description are only exemplary and explanatory, and do not limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings herein are incorporated into the specification and constitute a part of this specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to explain the technical solutions of the present application.

[0037] Figure 1a FIG. 1 is a schematic diagram of the composition structure of a battery size detection system provided by an embodiment of the present application;

[0038] Figure 1b FIG. 2 is a schematic diagram of the movement of the current battery provided by an embodiment of the present application;

[0039] Figure 2 FIG. 3 is a position distribution diagram of the current battery, the first camera, and the second camera provided by an embodiment of the present application;

[0040] Figure 3 FIG. 4 is a schematic flowchart of the implementation of a battery size detection method provided by an embodiment of the present application;

[0041] Figure 4a FIG. 5 is a schematic diagram of the structure of a calibration block provided by an embodiment of the present application;

[0042] Figure 4b FIG. 6 is a schematic diagram of the structure of the calibration block provided by an embodiment of the present application; Figure 2 ;

[0043] Figure 4c Schematic structure of the calibration block provided by the embodiment of the present application Figure 3 ;

[0044] Figure 5 Schematic implementation process of a battery size detection method provided by the embodiment of the present application Figure 2 ;

[0045] Figure 6 Schematic implementation process of a battery size detection method provided by the embodiment of the present application Figure 3 ;

[0046] Figure 7a Schematic diagram I of the structure of the current battery provided by the embodiment of the present application;

[0047] Figure 7b Schematic structure of the current battery provided by the embodiment of the present application Figure 2 ;

[0048] Figure 8 Schematic diagram IV of the implementation process of a battery size detection method provided by the embodiment of the present application

[0049] Figure 9 Schematic implementation process of a battery size detection method provided by the embodiment of the present application Figure 5 ;

[0050] Figure 10 Schematic composition structure of a battery size detection system provided by the embodiment of the present application Figure 2 . Detailed implementation manners

[0051] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations to the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0052] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0053] The terms "first / second / third" involved are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0055] Currently, new energy batteries are increasingly widely used in life and industry. New energy batteries are not only applied to energy storage power systems such as hydraulic, thermal, wind, and solar power stations, but also widely used in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in many fields such as aerospace. With the continuous expansion of the application fields of power batteries, the market demand is also continuously increasing.

[0056] In the embodiments of the present disclosure, the battery may be a battery cell. A battery cell refers to the basic unit that can realize the mutual conversion of chemical energy and electrical energy, and can be used to make a battery module or a battery pack, so as to supply power to an electrical device. The battery cell may be a secondary battery, and a secondary battery refers to a battery cell that can be activated by charging after discharging to continue to be used. The battery cell may be a lithium-ion battery, a sodium-ion battery, a sodium-lithium-ion battery, a lithium-metal battery, a sodium-metal battery, a lithium-sulfur battery, a magnesium-ion battery, a nickel-metal hydride battery, a nickel-cadmium battery, a lead-acid battery, etc., and the embodiments of the present disclosure do not limit this.

[0057] In the embodiments of the present disclosure, the battery may also be a single physical module including one or more battery cells to provide higher voltage and capacity. When there are multiple battery cells, the multiple battery cells are connected in series, parallel, or in a hybrid connection through a busbar component.

[0058] In the current battery field, the control of battery size is becoming more and more strict. For cylindrical battery projects, since the height, flatness, pole columns, and top-bottom parallelism of the battery cells have a great impact on the assembly contact state of the battery cell module, the requirements for battery size control are relatively strict. How to accurately complete the process monitoring has become an urgent need in the industry. In related technologies, generally, a contact measurement device is used to complete off-line sampling inspection of the battery cells, or a 2D backlight detection technology is used to complete the measurement of the entity top and bottom. However, when the contact measurement device detects the battery, it will cause problems with the appearance of the battery, and the detection accuracy of the 2D backlight detection technology is relatively low.

[0059] To solve the above technical problems, an embodiment of the present application provides a battery size detection system, as Figure 1a shown, the battery size detection system 100 includes a controller (not shown in the figure), a first camera 101, a second camera 102, and a driving mechanism 103; wherein,

[0060] The driving mechanism 103 is used to drive the gripper to move the current battery 104 to the photographing position; the first camera 101 is used to collect the first three-dimensional image of the bottom surface of the current battery 104 at the photographing position; the second camera 102 is used to collect the second three-dimensional image of the top surface of the current battery 104 at the photographing position; the controller is used to determine the three-dimensional image of the current battery 104 based on the first three-dimensional image and the second three-dimensional image; determine the measurement reference plane of the current battery 104 based on the three-dimensional image of the current battery 104; detect the size information of the current battery 104 based on the measurement reference plane of the current battery and the three-dimensional image of the current battery 104; the driving mechanism 103 is used to drive the gripper to move the current battery 104 from the photographing position to the blanking position 108.

[0061] In the embodiment of the present application, the photographing position is the position between the first camera 101 and the second camera 102. As Figure 1a shown, the battery size detection system 100 further includes a fixing frame 105. The first camera 101 and the second camera 102 are connected and fixed through the fixing frame 105, so that the first camera 101 and the second camera 102 are arranged at intervals, and the lens optical axes of the first camera 101 and the second camera 102 are on the same straight line.

[0062] In some embodiments, the distance between the current battery 104 at the photographing position and the first camera 101 is the same as the distance between the current battery 104 at the photographing position and the second camera 102. As Figure 2 shown, when the driving mechanism 103 drives the gripper to move the current battery 104 to the photographing position (i.e., the interval between the first camera 101 and the second camera 102), there is a first distance 801 between the current battery 104 and the first camera 101, and there is a second distance 202 between the current battery 104 and the second camera 102 that is the same as the first distance 801.

[0063] In some embodiments, the first distance and the second distance are the median values of the lens depths of field of the first camera and the second camera. Exemplarily, the first distance and the second distance can be 50±5 mm.

[0064] In some embodiments, the driving mechanism includes a power module, a control module, and a moving module; wherein, the control module is used to receive the control instruction sent by the controller in the battery size detection system; the control instruction carries the moving direction and the moving distance; the control module is used to respond to the control instruction and control the power module to output power based on the moving direction and the moving distance, so that the moving module drives the gripper to move the current battery to the photographing position or the blanking position.

[0065] In some embodiments, the controller in the battery size detection system can be a Programmable Logic Controller (PLC).

[0066] In some embodiments, the moving module includes a vertical moving module and a horizontal moving module. The control module can control the vertical moving module through the power module to perform reciprocating motion in the vertical direction, and control the horizontal moving module through the power module to perform reciprocating motion in the horizontal direction.

[0067] In some embodiments, the power module includes a vertical power module and a horizontal power module. The control module controls the vertical moving module to move in the vertical direction through the vertical power module, and controls the horizontal moving module to move in the horizontal direction through the horizontal power module.

[0068] In some embodiments, the control module includes a horizontal control module and a vertical control module. When the current battery needs to move horizontally, the controller in the battery size detection system can send a control instruction to the horizontal control module, and the control instruction carries the moving direction and the moving distance; the horizontal control module responds to the control instruction and controls the horizontal power module to output power based on the moving direction and the moving distance, so that the horizontal control module drives the gripper holding the current battery to move horizontally. When the current battery needs to move vertically, the controller in the battery size detection system can send a control instruction to the vertical control module, and the control instruction carries the moving direction and the moving distance; the vertical control module responds to the control instruction and controls the vertical power module to output power based on the moving direction and the moving distance, so that the vertical control module drives the gripper holding the current battery to move vertically.

[0069] In some embodiments, the power module can be any device capable of outputting power, such as a motor, a cylinder, and an oil cylinder. The control module can be any module that can receive an input signal and calculate according to a preset algorithm, control strategy, and feedback signal to generate a control signal, such as a motor controller and a cylinder controller. In some embodiments, the motor can be at least one of a stepper motor, a servo motor, an asynchronous motor, and a synchronous motor.

[0070] In the embodiments of the present application, the controller can synthesize the first three-dimensional image and the second three-dimensional image into the three-dimensional image of the current battery through the coordinate system conversion relationship. Wherein, the coordinate system conversion relationship is the conversion relationship between the camera coordinate systems of the first camera and the second camera and the image coordinate system of the three-dimensional image of the current battery.

[0071] In an embodiment of the present application, the controller may determine any plane of the current battery 104 in the three-dimensional image of the current battery, and then based on the three-dimensional image of the current battery, obtain the coordinate information corresponding to multiple reference points on any plane of the current battery; then the controller performs a fitting plane process on the coordinate information corresponding to the multiple reference points to obtain the measurement reference plane of the current battery. Wherein, the plane of the current battery may be the top surface of the current battery or the bottom surface of the current battery.

[0072] It can be understood that the actual bottom surface or top surface of the current battery may be a curved surface. If the bottom surface or top surface of the current battery is directly used as the measurement reference plane, it will cause inaccurate dimension measurement. Therefore, it is necessary to perform a fitting plane process on the coordinate information corresponding to the multiple reference points, and use the obtained fitting plane as the measurement reference plane.

[0073] In an embodiment of the present application, the controller may first determine the surface to be measured of the current battery, and then based on the three-dimensional image of the current battery, determine the coordinate information corresponding to multiple measurement points on the surface to be measured. Finally, the dimension information corresponding to the surface to be measured can be determined through the coordinate information corresponding to the multiple measurement points and the measurement reference plane of the current battery.

[0074] In some embodiments, as Figure 1a shown, the battery dimension detection system further includes a rotating table 107; the rotating table 107 includes a rotating table body 1072 and at least two fixed positions 1071 fixedly arranged outside the rotating table body 1072 ( Figure 1a 4 fixed positions are shown in ); a clamping jaw 106 is connected to the driving mechanism 103; wherein,

[0075] The rotating table 107 is used to rotate the current battery 104 on the fixed position 1071 to the detection position; the driving mechanism 103 is used to drive the clamping jaw 106 to move to the detection position so that the clamping jaw 106 can grasp the current battery 104; the driving mechanism 103 is used to drive the clamping jaw 106 grasping the current battery 104 to move to the photographing position.

[0076] In an embodiment of the present application, the battery to be detected for dimensions can be placed into at least one of the at least two fixed positions through a loading robot to achieve loading. In some embodiments, if there are batteries in the at least two fixed positions, the battery in the fixed position closest to the detection position can be used as the current battery, and the fixed position where the current battery is located is rotated to the detection position, so that the current battery is in the detection position. Because the detection position is directly below the clamping jaw 106, when the current battery is in the detection position, the driving mechanism 103 can drive the clamping jaw 106 to move vertically downward, so that the clamping jaw 106 can grasp the current battery at the detection position.

[0077] AsFigure 1a As shown, the rotary table body 1072 is disc-shaped, and four fixed positions 1071 are fixedly arranged in the circumferential direction of the rotary table body 1072.

[0078] In some embodiments, as Figure 1a shown, the driving mechanism 103 includes a vertical movement module 1031 and a horizontal movement module 1032; the vertical movement module 1031 is movably connected to the horizontal movement module 1032; the gripper 106 is connected to the vertical movement module 1031, wherein:

[0079] The vertical movement module 1031 is used to drive the gripper 106 to move to the detection position so that the gripper 106 grabs the current battery 104; the vertical movement module 1031 is also used to drive the gripper 106 holding the current battery 104 to move from the detection position to the test height; the horizontal movement module 1032 is used to drive the gripper 106 on the vertical movement module 1031 to move horizontally from the test height so that the current battery 104 is in the photographing position.

[0080] In the embodiments of the present application, as Figure 1a shown, a vertical slide rail 10311 and a first fixing member 10312 are provided on the vertical movement module 1031. The first fixing member 10312 is slidably connected to the vertical slide rail 10311, and the gripper 106 is fixedly connected to the first fixing member 10312. The first fixing member 10312 can drive the gripper 106 to perform vertical reciprocating movement along the length direction of the vertical slide rail 10311. A horizontal slide rail 10321 and a second fixing member 10322 are provided on the horizontal movement module 1032. The second fixing member 10322 is fixedly connected to the vertical movement module 1031, and the second fixing member 10322 can perform horizontal reciprocating movement along the length direction of the horizontal slide rail 10321. That is to say, the second fixing member 10322 can drive the vertical movement module 1031 and the gripper 106 to perform horizontal reciprocating movement along the length direction of the horizontal slide rail 10321. Therefore, the first fixing member 10312 drives the gripper 106 to move vertically downward along the vertical slide rail 10311 so that the gripper 106 is in the detection position; when the gripper 106 grabs the current battery 104, the first fixing member 10312 drives the gripper 106 to move vertically upward along the vertical slide rail 10311 so that the gripper 106 is at the test height; the second fixing member 10322 drives the first fixing member 10312 and the gripper 106 holding the current battery to move horizontally from the test height along the horizontal slide rail 10321 so that the current battery 104 is in the photographing position.

[0081] In some embodiments, the horizontal movement module 1032 drives the gripper 106 that grabs the current battery on the vertical movement module 1031 to move from the photographing position to the discharging height; the vertical movement module 1031 drives the gripper 106 that grabs the current battery to move from the discharging height to the discharging position, and the gripper 106 can place the current battery into the discharging position 108.

[0082] In the embodiments of the present application, the second fixing member 10322 can drive the first fixing member 10312 and the gripper 106 that grabs the current battery to move horizontally along the horizontal slide rail 10321 from the photographing position, so that the gripper 106 that grabs the current battery is at the discharging height; the first fixing member 10312 drives the gripper 106 that grabs the current battery to move vertically downward along the vertical slide rail 10311 from the discharging height, so that the gripper 106 that grabs the current battery is at the discharging position 108, and the gripper 106 places the current battery into the discharging position 108.

[0083] The operation processes of the various components of the battery size detection system are described below through Step 1 to Step 5:

[0084] Step 1, the controller controls the rotating table to rotate, so that the fixing position where the current battery exists among at least two fixing positions rotates to the detection position.

[0085] In the embodiments of the present application, the controller can control at least two fixing positions to rotate according to a preset rotation sequence, so that the fixing position where the current battery exists among at least two fixing positions is at the detection position. As Figure 1a shown, the fixing position 1071 is at the detection position.

[0086] Step 2, the controller controls the vertical movement module to drive the gripper to move to the detection position and controls the gripper to fix the current battery.

[0087] In the embodiments of the present application, the controller can control the first fixing member of the vertical movement module to drive the gripper to move along the length direction of the vertical slide rail, so that the gripper moves to the detection position.

[0088] Step 3, the controller controls the vertical movement module to drive the gripper that grabs the current battery to move from the detection position to the test height.

[0089] In the embodiments of the present application, the controller can control the first fixing member of the vertical movement module to drive the gripper that grabs the current battery to move along the length direction of the vertical slide rail, so that the gripper that grabs the current battery moves from the detection position to the test height. Among them, as Figure 1bAs shown, the direction in which the jaw gripping the current battery moves from the detection position to the test height is direction A; this test height is the height at the center point of the distance between the first camera and the second camera, Figure 1a and the height of the position where the jaw 106 in

[0090] Step 4, the controller controls the horizontal movement module to drive the jaw on the vertical movement module to move horizontally from the test height, so that the first camera and the second camera perform image acquisition on the current battery.

[0091] In the embodiment of the present application, the controller can control the second fixing member of the horizontal movement module to drive the jaw on the vertical movement module to move along the length direction of the horizontal slide rail, so that the jaw gripping the current battery is between the first camera and the second camera, so that the first camera and the second camera perform image acquisition on the current battery. Among them, the moving direction of the jaw can be referred to Figure 1b , such as Figure 1b shown, the jaw 106 gripping the current battery 104 moves along direction B, so that the current battery 104 is between the first camera 101 and the second camera 102.

[0092] Step 5, the controller is used to control the horizontal movement module and the vertical movement module to drive the jaw to move, so that the current battery in the jaw is in the blanking position.

[0093] In the embodiment of the present application, the second fixing member of the horizontal movement module drives the jaw on the vertical movement module to move along the length direction of the horizontal slide rail, so that the jaw gripping the current battery is at the blanking height, and then the first fixing member of the vertical movement module drives the jaw on the vertical movement module to move along the length direction of the vertical slide rail, so that the current battery in the jaw is in the blanking position. Among them, the moving direction of the jaw can be referred to Figure 1b , the jaw 106 gripping the current battery 104 moves along direction B, so that the current battery 104 is above the blanking position 108.

[0094] Such as Figure 1a shown, the second fixing member 10322 can move along the length direction of the horizontal slide rail 10321, so as to drive the jaw 106 gripping the current battery 104 to move to directly above the blanking position 108 (i.e., the blanking height), and then the first fixing member 10312 can move along the length direction of the vertical slide rail 10311, so as to drive the jaw 106 gripping the current battery 104 to move from the blanking height to within the blanking position 108, thereby completing the blanking of the current battery.

[0095] In some embodiments, the embodiments of the present application further provide a battery size detection method. The battery size detection method is applied to the controller of a battery size detection system, and the battery size detection system further includes a driving mechanism, a first camera, and a second camera. As Figure 3 shown, the method includes steps S101 to S106, where:

[0096] Step S101, the driving mechanism drives the gripper to move the current battery to the photographing position.

[0097] In the embodiments of the present application, the driving mechanism includes a power module, a control module, and a moving module; wherein, the control module is configured to receive a control instruction sent by the controller in the battery size detection system; the control instruction carries a moving direction and a moving distance; the control module is configured to respond to the control instruction and control the power module to output power based on the moving direction and the moving distance, so that the moving module drives the gripper to move the current battery to the photographing position.

[0098] Step S102, the controller acquires a first three-dimensional image collected by the first camera of the bottom surface of the current battery, and a second three-dimensional image collected by the second camera of the top surface of the current battery.

[0099] Here, the first three-dimensional image is the bottom surface three-dimensional image of the current battery, the second three-dimensional image is the top surface three-dimensional image of the current battery, and there is partial overlap between the first three-dimensional image and the second three-dimensional image. Among them, the current battery can be a cylindrical battery. In other embodiments, the current battery can also be a battery of other shapes.

[0100] In the embodiments of the present application, when the current battery is located between the first camera and the second camera, the first camera collects a first three-dimensional image of the bottom surface of the current battery, and the second camera collects a second three-dimensional image of the top surface of the current battery. Then, the first camera and the second camera respectively send the first three-dimensional image and the second three-dimensional image to the controller, so that the controller obtains the first three-dimensional image and the second three-dimensional image.

[0101] In some embodiments, the optical axes of the lenses of the first camera and the second camera are on the same straight line. In other embodiments, the optical axes of the lenses of the first camera and the second camera may not be on the same straight line.

[0102] In some embodiments, the distances between the current battery and the first camera and the second camera are the same.

[0103] In some embodiments, the current battery is located within the depth of field range of the first camera and the second camera. In some embodiments, the current battery is located at the median of the depth of field range of the first camera and the second camera. In this way, the imaging effect of the first three-dimensional image and the second three-dimensional image can be improved, thereby improving the measurement accuracy of the current battery.

[0104] In some embodiments, both the first camera and the second camera are 3D (3Dimensional) line laser scanners.

[0105] Step S103, the controller synthesizes the first three-dimensional image and the second three-dimensional image to obtain the three-dimensional image of the current battery.

[0106] In the embodiments of the present application, the first three-dimensional image and the second three-dimensional image can be synthesized into the three-dimensional image of the current battery through the coordinate system conversion relationship. Among them, the coordinate system conversion relationship is the conversion relationship between the camera coordinate systems of the first camera and the second camera and the image coordinate system of the three-dimensional image of the current battery.

[0107] In some embodiments, the coordinate system conversion relationship can be determined based on the actual dimension information of the calibration block, the top three-dimensional image of the calibration block, and the bottom three-dimensional image of the calibration block. Among them, the top three-dimensional image of the calibration block is collected by the second camera for the top of the calibration block, and the bottom three-dimensional image of the calibration block is collected by the first camera for the bottom of the calibration block. In some embodiments, the calibration block can be a pyramid-shaped calibration block.

[0108] Step S104, the controller determines the measurement reference plane of the current battery based on the three-dimensional image of the current battery.

[0109] In the embodiments of the present application, any plane of the current battery can be determined in the three-dimensional image of the current battery, and then based on the three-dimensional image of the current battery, the coordinate information corresponding to multiple reference points on any plane of the current battery is obtained; then the coordinate information corresponding to the multiple reference points is subjected to a fitting plane process to obtain the measurement reference plane of the current battery. Among them, the plane of the current battery can be the top surface of the current battery or the bottom surface of the current battery.

[0110] It can be understood that the actual bottom surface or top surface of the current battery may be a curved surface. If the bottom surface or top surface of the current battery is directly used as the measurement reference plane, it will lead to inaccurate dimension measurement. Therefore, it is necessary to perform a fitting plane process on the coordinate information corresponding to the multiple reference points, and use the obtained fitting plane as the measurement reference plane.

[0111] In some embodiments, if the number of reference points on any plane of the current battery is 3, the plane equation can be determined based on the coordinate information corresponding to the three reference points, and the plane corresponding to the plane equation is determined as the measurement reference plane of the current battery.

[0112] Step S105, the controller detects the dimension information of the current battery based on the measurement reference plane of the current battery and the three-dimensional image of the current battery.

[0113] In the embodiments of the present application, the surface to be measured of the current battery can be determined first, and then based on the three-dimensional image of the current battery, the coordinate information corresponding to multiple measurement points on the surface to be measured can be determined. Finally, the dimensional information corresponding to the surface to be measured can be determined by the coordinate information corresponding to the multiple measurement points and the measurement reference plane of the current battery.

[0114] Step S106, the driving mechanism drives the clamping jaw to move the current battery from the photographing position to the blanking position.

[0115] In the embodiments of the present application, the control module in the driving mechanism is used to respond to the control instruction sent by the controller, and based on the moving direction and moving distance carried in the control instruction, control the power module in the driving mechanism to output power, so that the moving module in the driving mechanism drives the clamping jaw to move the current battery to the blanking position.

[0116] In the embodiments of the present application, the first three-dimensional image and the second three-dimensional image respectively collected by the first camera and the second camera can be synthesized into the three-dimensional image of the current battery. In this way, through the first camera and the second camera, a three-dimensional image that accurately conforms to the actual situation of the current battery can be obtained, realizing high-precision modeling of the current battery. Then, based on the three-dimensional image of the current battery, the measurement reference plane is determined, and through this measurement reference plane and the three-dimensional image, the dimensional information of the current battery can be detected without contact, and the reference plane for detecting the dimensional information of the current battery is determined by the three-dimensional image that conforms to the actual situation of the current battery. In this way, the accuracy of battery size detection can also be improved, and at the same time, the size of the battery can be measured without contacting the battery, solving the problem of poor battery appearance caused by measuring the size of the battery with a contact measurement device in the related art.

[0117] In some embodiments, the above step S103 can be implemented through step S121 and step S122:

[0118] Step S121, based on the actual dimensional information of the calibration block, the top three-dimensional image of the calibration block, and the bottom three-dimensional image of the calibration block, determine the coordinate system conversion relationship.

[0119] In the embodiments of the present application, when the calibration block is between the first camera and the second camera, the controller obtains the bottom three-dimensional image of the calibration block through the first camera, and the controller obtains the top three-dimensional image of the calibration block through the second camera. Then the controller determines the coordinate system conversion relationship based on the actual dimensional information of the calibration block, the top three-dimensional image of the calibration block, and the bottom three-dimensional image of the calibration block.

[0120] In some embodiments, the above step S121 can be implemented through the following steps:

[0121] Step S1211: Place the top three-dimensional image and the bottom three-dimensional image of the calibration block within the same three-dimensional coordinate system.

[0122] Step S1212: Synthesize the three-dimensional image of the calibration block within the three-dimensional coordinate system using the top three-dimensional image and the bottom three-dimensional image of the calibration block.

[0123] Step S1213: Determine the image size information of the three-dimensional image of the calibration block based on the three-dimensional image of the calibration block.

[0124] In the embodiments of the present application, the coordinate information corresponding to multiple vertices in the three-dimensional image can be determined based on the three-dimensional image of the calibration block. Based on the coordinate information corresponding to the multiple vertices respectively, the image size information of the three-dimensional image of the calibration block is determined. Wherein, the image size information includes the length information, width information, and height information of the three-dimensional image of the calibration block.

[0125] Step S1214: Calibrate the image size information of the calibration block based on the actual size information of the calibration block to obtain the three-dimensional image of the calibrated calibration block.

[0126] Here, the image size information of the three-dimensional image of the calibrated calibration block is the same as the actual size information of the calibration block.

[0127] In some embodiments, the actual size information of the calibration block may include actual length information, actual width information, and actual height information. Therefore, the length information, width information, and height information of the three-dimensional image of the calibration block can be calibrated respectively based on the actual length information, actual width information, and actual height information to obtain the three-dimensional image of the calibrated calibration block.

[0128] In some embodiments, when the calibration block is a pyramid-shaped calibration block, as Figure 4a shown, the top 21, middle 22, and bottom 23 of the calibration block 2 are all square structures. The actual size information of the calibration block may include actual bottom length information 201, actual top length information 202, actual plate height information 203, actual bottom height information 204, actual plate width information 205, and actual top width information 206. The six image size information of the calibration block can be calibrated respectively by the six actual size information of the calibration block, so that the image size information of the three-dimensional image of the calibrated calibration block is equal to the actual size information of the calibration block one by one.

[0129] In some embodiments, the schematic structural diagram of the pyramid-shaped calibration block can be referred to Figure 4b and Figure 4c . As Figure 4b and Figure 4cAs shown, the pyramid-shaped calibration block 300 is used to determine the coordinate system conversion relationship, which is used to synthesize the first three-dimensional image and the second three-dimensional image to obtain the three-dimensional image of the current battery. The pyramid-shaped calibration block 300 includes a bottom plate 301 and two multi-prisms 302. The bottom surfaces 3033 of the two multi-prisms 302 are respectively connected to opposite sides of the bottom plate 301.

[0130] The multi-prism 302 includes a top surface 3032, a bottom surface 3033 opposite to the top surface 3032, and a plurality of inclined side surfaces 3031 disposed between the top surface 3032 and the bottom surface 3033. The top surface 3032 and the bottom surface 3033 of the multi-prism 302 are arranged parallel to each other. After the bottom surfaces 3033 of the two identical multi-prisms 302 are respectively connected to opposite sides of the bottom plate 301, the corresponding inclined side surfaces 3031 of the two multi-prisms 302 are arranged parallel to each other in pairs. As Figure 2 shown in Fig. b, the inclined side surface 3031 at least includes a first side surface 3031a and a second side surface 3031b. The two first side surfaces 3031a of the two multi-prisms 302 are arranged parallel to each other, and the two second side surfaces 3031b of the two multi-prisms 302 are arranged parallel to each other. The pyramid-shaped calibration block 300 is used to calibrate the system composed of a plurality of image acquisition devices 103. Specifically, referring to Figure 2 Fig. b and Figure 2 Fig. c, the X, Y, and Z coordinates of the image acquisition device 103 are calibrated by the length D and width F of the top surface 3032 of the multi-prism 302, the height C of the multi-prism 302, the height B of the bottom plate 301, the length E of the bottom plate 301, and the width A of the bottom plate 301. The torsion angle of the coordinate systems of the first camera and the second camera is calibrated by the distance between the mutually parallel inclined side surfaces 3031 of the multi-prism 302 of the pyramid-shaped calibration block 300. Of course, blind holes can also be provided on the bottom plate 301 for fixing the pyramid-shaped calibration block 300.

[0131] By calibrating the coordinate systems of the first camera and the second camera through the multi-prism 302 and splicing the coordinate systems of the first camera and the second camera together, the accuracy of image splicing can be improved and the detection accuracy can be improved.

[0132] Referring to Figure 4b and Figure 4c, in some embodiments, the multi-prism frustum 302 is a trapezoidal frustum 303. The bottom surface 3033 of the trapezoidal frustum 303 is connected to the bottom plate 301. The trapezoidal frustum 303 includes four inclined side surfaces 3031. One of the inclined side surfaces 3031 of a trapezoidal frustum 303 is arranged parallel to one of the inclined side surfaces 3031 of another trapezoidal frustum 303 in a one-to-one correspondence. Specifically, the trapezoidal frustum 303 can be an isosceles trapezoidal frustum. In this way, the bottom surface 3033 of the trapezoidal frustum 303 is connected to the bottom plate 301, and the four inclined side surfaces 3031 of the trapezoidal frustum 303 are arranged in pairs and parallel to each other. The torsional angles of the coordinate systems of the first camera and the second camera can be calibrated through the eight inclined side surfaces 3031, improving the detection accuracy.

[0133] By adopting the trapezoidal frustum 303, it is convenient to manufacture, and the torsional angles of the coordinate systems of the first camera and the second camera can be calibrated through the eight inclined side surfaces 3031 that are parallel to each other in pairs, improving the calibration accuracy, and thus improving the accuracy of detecting the size information of the current battery subsequently.

[0134] Step S1215: Calibrate the parallelism of any two opposite side surfaces in the three-dimensional image of the calibrated calibration block to obtain the coordinate system conversion relationship.

[0135] It can be understood that when the image size information of the three-dimensional image of the calibrated calibration block is the same as the actual size information of the calibration block, it does not mean that the three-dimensional image of the calibrated calibration block is exactly the same as the actual calibration block. When there is torsion in the top three-dimensional image and the bottom three-dimensional image of the calibration block, it is possible that the image size information of the three-dimensional image of the calibrated calibration block is the same as the actual size information of the calibration block, but the three-dimensional image of the calibrated calibration block is different from the actual calibration block. Therefore, it is necessary to eliminate the torsional angle between the top three-dimensional image and the bottom three-dimensional image of the calibration block.

[0136] In the embodiment of the present application, by determining the parallelism of any two opposite side surfaces in the three-dimensional image of the calibrated calibration block, the torsional angle between the top three-dimensional image and the bottom three-dimensional image of the calibration block is calibrated. That is, when the parallelism of any two opposite side surfaces in the three-dimensional image of the calibrated calibration block is 0, it means that the torsional angle between the top three-dimensional image and the bottom three-dimensional image of the calibration block is 0, and at this time, the three-dimensional image of the calibration block is exactly the same as the actual calibration block.

[0137] As Figure 4a shown, the calibration block 2 includes 8 side surfaces ( Figure 4a 4 side surfaces are shown in ). Among them, the first side surface 24 and the third side surface 26 are two opposite side surfaces, and the parallelism between the first side surface 24 and the third side surface 26 is 0; the third side surface 25 and the fourth side surface 27 are two opposite side surfaces, and the parallelism between the third side surface 25 and the fourth side surface 27 is 0.

[0138] In the embodiment of the present application, during the process of dimension calibration (i.e., step S1214) and torsion calibration (i.e., step S1215) of the three-dimensional image of the calibration block, the camera coordinate systems corresponding to the top three-dimensional image and the bottom three-dimensional image of the calibration block will change with the calibration. Therefore, when the three-dimensional image of the calibration block is completely consistent with the actual calibration block, the coordinate system conversion relationship between the camera coordinate systems corresponding to the top three-dimensional image and the bottom three-dimensional image of the calibration block and the three-dimensional coordinate system can be obtained.

[0139] Step S122: Based on the coordinate system conversion relationship, the first three-dimensional image, and the second three-dimensional image, obtain the three-dimensional image of the current battery.

[0140] Because the camera coordinate system of the first three-dimensional image is the same as the camera coordinate system of the bottom three-dimensional image of the calibration block, and the camera coordinate system of the second three-dimensional image is the same as the camera coordinate system of the top three-dimensional image of the calibration block, the first three-dimensional image and the second three-dimensional image can be synthesized into the three-dimensional image of the current battery based on the coordinate system conversion relationship between the camera coordinate systems corresponding to the top three-dimensional image and the bottom three-dimensional image of the calibration block and the three-dimensional coordinate system.

[0141] In some embodiments, as Figure 5 shown, the above step S104 can also be implemented through step S301 and step S302:

[0142] Step S301: Based on the three-dimensional image of the current battery, determine the coordinate information corresponding to each of a plurality of reference points on the bottom surface of the current battery.

[0143] In the embodiment of the present application, the coordinate information corresponding to each of a plurality of reference points on the bottom surface of the current battery can be determined in the three-dimensional image of the current battery. Among them, the number of reference points is greater than 3. Exemplarily, the number of reference points can be 8.

[0144] Step S302: Based on the coordinate information corresponding to each of the plurality of reference points, determine the measurement reference plane of the current battery.

[0145] In the embodiment of the present application, the coordinate information corresponding to each of the plurality of reference points can be subjected to fitting processing, and the obtained fitting plane is used as the measurement reference plane of the current battery. In some embodiments, the plane equation corresponding to the coordinate information of each of the plurality of reference points can be solved by the least squares method to obtain the fitting plane corresponding to the plurality of reference points.

[0146] In the embodiments of the present application, a measurement reference plane for detecting the dimensional information of the current battery is determined based on the coordinate information corresponding to multiple reference points on the bottom surface of the current battery. In this way, by re-determining the measurement reference plane, the problem of inaccurate measurement dimensions caused by using the actual bottom surface of the current battery as the reference plane can be solved.

[0147] In some embodiments, as Figure 6 shown, the above step S105 can be implemented through step S401 and step S402:

[0148] Step S401: Based on the three-dimensional image of the current battery, determine the coordinate information corresponding to multiple measurement points on each of at least one surface to be measured of the current battery.

[0149] In the embodiments of the present application, the surface to be measured of the current battery can be determined first, and then based on the three-dimensional image of the current battery, the coordinate information corresponding to multiple measurement points on each surface to be measured is determined. Among them, the determination of the surface to be measured is related to the dimensional information of the current battery. Exemplarily, if the dimensional information of the current battery is the flatness of the bottom surface, the surface to be measured can be the bottom surface of the battery; if the dimensional information of the current battery is the total height information, the surface to be measured can be the terminal surface of the battery; if the dimensional information of the current battery is the shoulder height information, the surface to be measured can be the shoulder surface of the battery.

[0150] In some embodiments, multiple measurement points are evenly distributed on the surface to be measured.

[0151] In some embodiments, the above step S401 is implemented through steps S4011 to S4013:

[0152] Step S4011: Based on the three-dimensional image of the current battery, determine the coordinate information of the geometric center of each surface to be measured.

[0153] In the embodiments of the present application, the current battery is a cylindrical battery, and the surface to be measured of the current battery is a circular surface. At this time, the center of the circle of the surface to be measured can be used as the geometric center of the surface to be measured, so that the coordinate information of the center of the circle of the surface to be measured can be determined through the three-dimensional image of the current battery.

[0154] In some embodiments, the current battery can be a battery in the shape of a cuboid, and the surface to be measured of the current battery is rectangular or circular. At this time, the intersection of the two diagonals of the surface to be measured can be used as the geometric center of the surface to be measured, or the center of the circle of the surface to be measured can be used as the geometric center of the surface to be measured, so that the coordinate information of the intersection of the two diagonals of the surface to be measured, or the coordinate information of the center of the circle of the surface to be measured can be determined through the three-dimensional image of the current battery.

[0155] Step S4012: For each of the to-be-tested surfaces, based on the coordinate information of the geometric center of the to-be-tested surface, determine a point-taking pattern corresponding to the contour of the to-be-tested surface on the to-be-tested surface.

[0156] In the embodiments of the present application, the current battery is a cylindrical battery, the to-be-tested surface of the current battery is a circular surface, the point-taking pattern is a point-taking circle with the center of the to-be-tested surface as the center, and the diameter of the point-taking circle is determined based on the diameter of the to-be-tested surface. In some embodiments, the corresponding relationships between the diameters of the respective to-be-tested surfaces and the point-taking diameters can be obtained, and then based on the diameters of the to-be-tested surfaces and the multiple corresponding relationships, the diameters of the circles corresponding to the diameters of each to-be-tested surface are determined. In other embodiments, the diameter of the point-taking circle is the product of the diameter of the to-be-tested surface and a preset coefficient, and the preset coefficient is a positive number less than 1. Exemplarily, the preset coefficient can be 0.5.

[0157] In some embodiments, the current battery is a battery in the shape of a cuboid, the to-be-tested surface of the current battery is a rectangle or a circle, and the point-taking pattern is also a rectangle or a circle. In the embodiments of the present application, the to-be-tested surface can be proportionally reduced to obtain the point-taking pattern. At this time, the geometric center of the point-taking pattern is the same as the geometric center of the to-be-tested surface, and the distances between the respective sides of the point-taking pattern and the respective sides of the to-be-tested surface are the same. When the to-be-tested surface of the current battery is a circle, the determination method of the point-taking pattern can refer to the above embodiments.

[0158] Step S4013: Based on the three-dimensional image of the current battery, determine the coordinate information corresponding to the multiple measurement points evenly distributed on the point-taking pattern on each to-be-tested surface.

[0159] In the embodiments of the present application, when the point-taking pattern is a point-taking circle, Step S4013 includes: Based on the three-dimensional image of the current battery, determine the coordinate information corresponding to the multiple measurement points evenly distributed on the point-taking circle on each to-be-tested surface.

[0160] In some embodiments, the multiple measurement points are evenly distributed on the point-taking pattern of the to-be-tested surface. Exemplarily, the number of measurement points on each point-taking pattern is 8.

[0161] Figure 7a This is the first structural schematic diagram of the current battery provided by the embodiments of the present application. As Figure 7a shown, the current battery 500 is a cylindrical battery, and the to-be-tested surfaces of the current battery 500 are all circular surfaces. Similarly, the point-taking patterns on the to-be-tested surfaces are also circular. As Figure 7aAs shown in the figure, the surface to be measured of the current battery 500 includes a terminal surface 501 and a shoulder surface 502. Among them, 8 measurement points 503 are evenly distributed on the sampling pattern (not shown in the figure) of the terminal surface 501; 8 measurement points 503 are evenly distributed on the sampling pattern (not shown in the figure) of the shoulder surface 502.

[0162] Figure 7b Structural schematic of the current battery provided by the embodiment of the present application Figure 2 , such as Figure 7b As shown in the figure, the current battery 500 is a battery in the shape of a cuboid. The surface to be measured of the current battery 500 includes a terminal surface 501 and a shoulder surface 502. Among them, the terminal surface 501 is circular, and the sampling pattern 504 of the terminal surface 501 is also circular. 8 measurement points (not shown in the figure) are evenly distributed on the sampling pattern 504 of the terminal surface 501; the shoulder surface 502 is rectangular, and the sampling pattern 505 of the shoulder surface 502 is also rectangular. 8 measurement points (not shown in the figure) are evenly distributed on the sampling pattern 505 of the shoulder surface 502.

[0163] In the embodiment of the present application, the coordinate information of the geometric center of the surface to be measured can be used to determine the sampling pattern corresponding to the contour of the surface to be measured on the surface to be measured, and then based on the three-dimensional image of the current battery, the coordinate information corresponding to the multiple measurement points evenly distributed on the sampling pattern on each surface to be measured can be determined. In this way, by using the coordinate information corresponding to the multiple measurement points evenly distributed on the sampling pattern corresponding to the contour of the surface to be measured to detect the size information of the current battery, the error of detecting the size information can be reduced, thereby improving the accuracy of detecting the battery size.

[0164] Step S402: Based on the coordinate information corresponding to the multiple measurement points on each surface to be measured and the measurement reference plane of the current battery, determine the size information of the current battery.

[0165] In the embodiment of the present application, the distance information between the coordinate information of each measurement point on the surface to be measured and the measurement reference plane can be calculated, and then based on the multiple distance information corresponding to the multiple measurement points, the size information of the current battery can be determined.

[0166] In the embodiment of the present application, the size information of the current battery can be determined based on the coordinate information corresponding to the multiple measurement points on each surface to be measured of the current battery and the measurement reference plane of the current battery. In this way, the corresponding size information can be determined based on different surfaces to be measured, and different size information is based on the same measurement reference plane, thereby reducing the error of detecting the size and improving the accuracy of detecting the size.

[0167] In some embodiments, the above step S402 can be implemented through step S4021 and step S4022:

[0168] Step S4021: For each of the to-be-tested surfaces, based on the coordinate information corresponding to multiple measurement points of the to-be-tested surface and the measurement reference plane, determine the distance information between each measurement point of the to-be-tested surface and the measurement reference plane.

[0169] In the embodiments of the present application, the distance information between each measurement point of each to-be-tested surface and the measurement reference plane can be determined through the coordinate information of each measurement point of each to-be-tested surface, so as to obtain multiple distance information corresponding to multiple measurement points respectively.

[0170] Step S4022: Based on the multiple distance information, determine the size information of the current battery.

[0171] 0In the embodiments of the present application, the processing method of the multiple distance information can be determined according to the size information to be determined. Exemplarily, when the size information includes the total height information, the to-be-tested surface includes the terminal surface. At this time, the multiple distance information is the distance information between the terminal surface and the measurement reference plane. The above step S4022 may include: determining the average distance information of the multiple distance information between the terminal surface and the measurement reference plane as the total height information of the current battery; when the size information includes the shoulder height information, the to-be-tested surface includes the shoulder surface. At this time, the multiple distance information is the distance information between the shoulder surface and the measurement reference plane. The above step S4022 may include: determining the average distance information of the multiple distance information between the shoulder surface and the measurement reference plane as the total height information of the current battery.

[0172] In the embodiments of the present application, through the distance information between multiple measurement points of the to-be-tested surface and the measurement reference plane respectively, the size information of the current battery can be accurately determined. In this way, the size information of the current battery can be detected without contact, solving the problem of poor appearance of the battery caused by the measurement device needing to contact the battery when measuring the battery size in the related art.

[0173] In some embodiments, when the size information includes the flatness of the to-be-tested surface, the above S4022 can be implemented through the following steps 6 and 7:

[0174] Step 6: For each of the to-be-tested surfaces, determine the maximum distance information and the minimum distance information among the multiple distance information of the to-be-tested surface.

[0175] Step 7: Determine the difference between the maximum distance information and the minimum distance information as the flatness of each of the to-be-tested surfaces.

[0176] Here, the to-be-tested surface may include at least one of the following: the terminal surface, the shoulder surface, and the bottom surface.

[0177] In the embodiments of the present application, for each of the surfaces to be measured, the maximum distance information and the minimum distance information between the points to be measured on each surface to be measured and the measurement reference plane can be determined, and then the difference between the maximum distance information and the minimum distance information corresponding to each surface to be measured is determined, and this difference is determined as the flatness of each surface to be measured.

[0178] In some embodiments, the battery size detection system further includes a turntable and a driving mechanism; the turntable includes at least two fixed positions; as Figure 8 shown, the above battery size detection method can also be implemented through steps S601 to S603:

[0179] Step S601, in response to the completion signal of the acquisition of the first three-dimensional image and the second three-dimensional image of the current battery, the driving mechanism drives the gripper to move the current battery to the discharging position.

[0180] In the embodiments of the present application, when the driving mechanism moves the current battery between the first camera and the second camera, the first camera can acquire the first three-dimensional image of the current battery, and the second camera can acquire the second three-dimensional image of the current battery. After the first camera and the second camera respectively complete the acquisition, they can send a completion signal to the controller. The controller receives this completion signal and, in response to this completion signal, controls the driving mechanism to drive the gripper to move the current battery to the discharging position.

[0181] Step S602, the turntable rotates the target fixed position with the next battery among at least two fixed positions to the detection position.

[0182] Here, the next battery is used to represent the battery for which the next image is to be acquired of the current battery. That is to say, after the first camera and the second camera acquire the images of the current battery, it is necessary to acquire the images of the next battery.

[0183] In the embodiments of the present application, there is at least one battery to be detected among at least two fixed positions of the turntable. In some embodiments, if there is only one battery to be detected among at least two fixed positions, the fixed position with this battery to be detected can be used as the target fixed position; if there are at least two batteries to be detected among at least two fixed positions, based on a preset rotation order, the fixed position closest to the detection position among the fixed positions corresponding to at least two batteries to be detected can be used as the target fixed position. Exemplarily, this rotation order can be clockwise or counterclockwise.

[0184] Step S603, the driving mechanism drives the gripper to move the next battery from the detection position to between the first camera and the second camera, so that the first camera acquires the third three-dimensional image of the bottom surface of the next battery, and the second camera acquires the fourth three-dimensional image of the top surface of the next battery.

[0185] Here, the third 3D image and the fourth 3D image are used to determine the 3D image of the next battery; the 3D image of the next battery is used to detect the size information of the next battery.

[0186] In an embodiment of the present application, the driving mechanism includes a vertical movement module and a horizontal movement module. The vertical movement module can first drive the next battery to rise to the test height, and then the horizontal movement module drives the next battery to move from the test height to between the first camera and the second camera, so that the first camera captures the third 3D image of the bottom surface of the next battery, and the second camera captures the fourth 3D image of the top surface of the next battery.

[0187] In an embodiment of the present application, after the first 3D image and the second 3D image of the current battery are captured, the next battery can be moved to between the first camera and the second camera through the turntable and the driving mechanism, so that the first camera and the second camera capture the image of the next battery. In this way, by setting the driving mechanism and the turntable, the images of multiple batteries can be captured quickly, improving the efficiency of the size detection of multiple batteries.

[0188] Figure 9 It is a schematic flowchart of the implementation of a battery size detection method provided by an embodiment of the present application. As Figure 9 shown, the method includes steps S901 to S909, where:

[0189] Step S901, obtain the top surface 3D image and the bottom surface 3D image of the pyramid-shaped calibration block.

[0190] In an embodiment of the present application, the top surface 3D image and the bottom surface 3D image of the pyramid-shaped calibration block can be captured by two 3D line laser scanners, one above and one below.

[0191] Step S902, merge the top surface 3D image and the bottom surface 3D image of the pyramid-shaped calibration block into the same image coordinate system.

[0192] In an embodiment of the present application, the top surface 3D image and the bottom surface 3D image of the pyramid-shaped calibration block can be imported into a synthesis plug-in, so that the top surface 3D image and the bottom surface 3D image of the pyramid-shaped calibration block are in the same image coordinate system.

[0193] Step S903, perform stitching calibration on the camera coordinate systems corresponding to the top surface 3D image and the bottom surface 3D image of the pyramid-shaped calibration block in the image coordinate system through the actual size of the pyramid-shaped calibration block, and obtain the coordinate transformation relationship.

[0194] Here, the coordinate transformation relationship refers to the transformation relationship between the camera coordinate systems corresponding to the top surface 3D image and the bottom surface 3D image of the pyramid-shaped calibration block and the image coordinate system.

[0195] In the embodiments of the present application, the top 3D image and the bottom 3D image of the pyramid calibration block can be restored to the actual shape of the pyramid calibration block in the image coordinate system, so that the size of the three-dimensional model in the image coordinate system is exactly the same as the actual size of the pyramid calibration block, and the two opposite side inclined planes in the three-dimensional model in the image coordinate system are parallel to each other.

[0196] Step S904: Obtain the top 3D image and the bottom 3D image of the battery to be tested.

[0197] In the embodiments of the present application, the battery to be tested can be rotated to the detection position by the test turntable; the battery core can be clamped by the Z-axis module and vertically moved along the Z direction to the test height; the battery core can be driven by the Y-axis module to pass through the upper and lower 3D line laser scanners along the Y direction, and a photographing signal can be output to the upper and lower 3D line laser scanners through the built-in encoder, so that the upper and lower 3D line laser scanners can collect the top 3D image and the bottom 3D image of the battery to be tested.

[0198] In some embodiments, after the upper and lower 3D line laser scanners complete the collection, the battery core is placed at the blanking position by the Z-axis module.

[0199] Step S905: Combine the top 3D image and the bottom 3D image of the battery to be tested into a three-dimensional image of the battery to be tested through the coordinate system conversion relationship.

[0200] Step S906: Based on the three-dimensional image of the battery to be tested, obtain multiple reference points on the bottom surface of the battery to be tested, and perform a fitting process on the multiple reference points to obtain a measurement reference plane.

[0201] Step S907: Based on the three-dimensional image of the battery to be tested, obtain multiple first measurement points evenly distributed on the first preset circle on the pole column surface of the battery to be tested, and take the average distance of the multiple distances between the multiple first measurement points and the measurement reference plane as the total height of the battery core.

[0202] Here, the center of the first preset circle is the center of the pole column surface, and the diameter of the first preset circle is 10 mm.

[0203] Step S908: Based on the three-dimensional image of the battery to be tested, obtain multiple second measurement points evenly distributed on the second preset circle on the shoulder surface of the battery to be tested, and take the average distance of the multiple distances between the multiple second measurement points and the measurement reference plane as the shoulder height of the battery core.

[0204] Here, the center of the second preset circle is the center of the shoulder surface, and the diameter of the second preset circle is 32 mm.

[0205] Step S909: Determine the flatness of the bottom surface of the battery under test based on multiple reference points, determine the flatness of the terminal surface of the battery under test based on multiple first measurement points, and determine the flatness of the shoulder surface of the battery under test based on multiple second measurement points.

[0206] In the embodiments of the present application, a 3D imaging of the top / bottom of a cylindrical battery cell is achieved through a combination of dual camera arrangements and related mechanical structures, and the synthesis of the top / bottom surfaces of the battery cell is completed through image synthesis technology to obtain a three-dimensional image of the battery cell. Based on the three-dimensional image of the battery cell, the height and flatness dimensions of the battery cell are detected. In this way, the problems of poor appearance caused by contact detection and low accuracy of non-contact height detection in the related art can be solved.

[0207] Figure 10 Schematic diagram of the composition structure of a battery size detection system provided by an embodiment of the present application Figure 2 , such as Figure 10 shown, the battery size detection system 1000 includes: a controller 1001, a first camera 1002, a second camera 1003, and a driving mechanism 1004, where:

[0208] The driving mechanism 1004 is used to drive the gripper to move the current battery to the photographing position;

[0209] The first camera 1002 is used to collect a first three-dimensional image of the bottom surface of the current battery;

[0210] The second camera 1003 is used to collect a second three-dimensional image of the top surface of the current battery;

[0211] The controller 1001 is used to synthesize the first three-dimensional image and the second three-dimensional image to obtain a three-dimensional image of the current battery; based on the three-dimensional image of the current battery, determine the measurement reference plane of the current battery; based on the measurement reference plane of the current battery and the three-dimensional image of the current battery, detect the size information of the current battery;

[0212] The driving mechanism 1004 is used to drive the gripper to move the current battery from the photographing position to the discharging position.

[0213] In some embodiments, the controller 1001 is used to determine the coordinate information corresponding to multiple reference points on the bottom surface of the current battery based on the three-dimensional image of the current battery; based on the coordinate information corresponding to the multiple reference points, determine the measurement reference plane of the current battery.

[0214] In some embodiments, the controller 1001 is configured to determine the coordinate information corresponding to each of multiple measurement points on each of at least one surface to be measured of the current battery based on the three-dimensional image of the current battery; and determine the size information of the current battery based on the coordinate information corresponding to each of the multiple measurement points on each of the surfaces to be measured and the measurement reference plane of the current battery.

[0215] In some embodiments, for each of the surfaces to be measured, the controller 1001 is configured to determine the distance information between each measurement point on the surface to be measured and the measurement reference plane based on the coordinate information corresponding to each of the multiple measurement points on the surface to be measured and the measurement reference plane; and determine the size information of the current battery based on the multiple distance information; wherein the size information includes the flatness of the surface to be measured; the surface to be measured includes at least one of the following: terminal surface, shoulder surface, and bottom surface.

[0216] In some embodiments, the size information includes at least one of the following: total height information and shoulder height information; the surface to be measured includes at least one of the following: terminal surface and shoulder surface; the controller 1001 is configured to determine the average distance information of the multiple distance information between the terminal surface and the measurement reference plane as the total height information of the current battery; and determine the average distance information of the multiple distance information between the shoulder surface and the measurement reference plane as the shoulder height information of the current battery.

[0217] In some embodiments, the controller 1001 is configured to determine the coordinate information of the geometric center of each of the surfaces to be measured based on the three-dimensional image of the current battery; for each of the surfaces to be measured, determine a point-taking pattern corresponding to the contour of the surface to be measured on the surface to be measured based on the coordinate information of the geometric center of the surface to be measured; and determine the coordinate information corresponding to each of multiple measurement points evenly distributed on the point-taking pattern on each of the surfaces to be measured based on the three-dimensional image of the current battery.

[0218] In some embodiments, the current battery is a cylindrical battery, and the surface to be measured of the current battery is a circular surface; the controller 1001 is configured to determine a point-taking diameter for each of the surfaces to be measured based on the diameter of the surface to be measured; and determine a point-taking circle on each of the surfaces to be measured based on the coordinate information of the center of the circle of the surface to be measured and the point-taking diameter.

[0219] In some embodiments, the battery size detection system further includes a rotating table and a driving mechanism; the rotating table includes at least two fixed positions; a controller 1001, configured to, in response to a completion signal indicating that the first three-dimensional image and the second three-dimensional image of the current battery have been acquired, control the driving mechanism to drive the current battery to move to the blanking position; control the rotating table to rotate so that a target fixed position of the next battery among the at least two fixed positions rotates to the detection position; control the driving mechanism to drive a gripper to move the next battery from the detection position between the first camera and the second camera, so that the first camera acquires a third three-dimensional image of the bottom surface of the next battery, and the second camera acquires a fourth three-dimensional image of the top surface of the next battery; the third three-dimensional image and the fourth three-dimensional image are used to determine a three-dimensional image of the next battery; the three-dimensional image of the next battery is used to detect size information of the next battery.

[0220] It should be understood that the phrase "in one embodiment" or "in an embodiment" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of the phrase "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above steps / processes do not mean the order of execution, and the order of execution of each step / process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages and disadvantages of the embodiments.

[0221] It should be noted that, in this document, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0222] The above is only the implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all should be covered within the protection scope of the present application.

Claims

1. A battery size detection system, characterized in that, The battery size detection system includes a controller, a driving mechanism, a first camera, and a second camera; wherein, the driving mechanism is used to drive the gripper to move the current battery to the photographing position; the first camera is used to collect a first three-dimensional image of the bottom surface of the current battery at the photographing position; and the second camera is used to collect a second three-dimensional image of the top surface of the current battery at the photographing position; the controller is used to synthesize the first three-dimensional image and the second three-dimensional image to obtain a three-dimensional image of the current battery; based on the three-dimensional image of the current battery, determine the measurement reference plane of the current battery; based on the measurement reference plane of the current battery and the three-dimensional image of the current battery, detect the size information of the current battery; the driving mechanism is used to drive the gripper to move the current battery from the photographing position to the blanking position.

2. The system according to claim 1, wherein The battery size detection system further includes a rotating table; the rotating table includes a rotating table body and at least two fixed positions fixedly arranged outside the rotating table body; a gripper is connected to the driving mechanism; wherein, the rotating table is used to rotate the current battery on the fixed position to the detection position; the driving mechanism is used to drive the gripper to move to the detection position so that the gripper can grab the current battery, and is also used to drive the gripper holding the current battery to move to the photographing position.

3. The system according to claim 2, wherein The driving mechanism includes a vertical movement module and a horizontal movement module; the vertical movement module is movably connected to the horizontal movement module; the gripper is connected to the vertical movement module; wherein, the vertical movement module is used to drive the gripper to move to the detection position so that the gripper can grab the current battery; the vertical movement module is used to drive the gripper holding the current battery to move from the detection position to the test height; the horizontal movement module is used to drive the gripper on the vertical movement module to move horizontally from the test height so that the current battery is at the photographing position.

4. The system according to claim 3, wherein the horizontal movement module is further used to drive the gripper holding the current battery on the vertical movement module to move from the photographing position to the blanking height; the vertical movement module is further used to drive the gripper holding the current battery to move from the blanking height to the blanking position; the gripper is used to place the current battery into the blanking position.

5. The system according to any one of claims 1 to 4, characterized in that, The distance between the current battery at the photographing position and the first camera is the same as the distance between the current battery at the photographing position and the second camera.

6. A battery size detection method, characterized in that, Applied to the controller in the battery size detection system, the battery size detection system further includes a driving mechanism, a first camera, and a second camera; the method includes: the driving mechanism drives the gripper to move the current battery to the photographing position; The controller acquires a first three-dimensional image of the bottom surface of the current battery at the photographing position collected by the first camera, and a second three-dimensional image of the top surface of the current battery at the photographing position collected by the second camera; synthesizes the first three-dimensional image and the second three-dimensional image to obtain a three-dimensional image of the current battery; determines a measurement reference plane of the current battery based on the three-dimensional image of the current battery; and detects size information of the current battery based on the measurement reference plane of the current battery and the three-dimensional image of the current battery. The driving mechanism drives the jaws to move the current battery from the photographing position to the blanking position.

7. The method according to claim 6, characterized in that, The determining the measurement reference plane of the current battery based on the three-dimensional image of the current battery includes: Determining coordinate information corresponding to a plurality of reference points on the bottom surface of the current battery based on the three-dimensional image of the current battery. Determining the measurement reference plane of the current battery based on the coordinate information corresponding to the plurality of reference points.

8. The method according to claim 6, wherein The detecting the size information of the current battery based on the measurement reference plane of the current battery and the three-dimensional image of the current battery includes: Determining coordinate information corresponding to a plurality of measurement points on each of at least one measurement surface of the current battery based on the three-dimensional image of the current battery. Determining the size information of the current battery based on the coordinate information corresponding to the plurality of measurement points on each measurement surface and the measurement reference plane of the current battery.

9. The method according to claim 8, wherein The determining the size information of the current battery based on the coordinate information corresponding to the plurality of measurement points on each measurement surface and the measurement reference plane of the current battery includes: For each measurement surface, determining distance information between each measurement point on the measurement surface and the measurement reference plane based on the coordinate information corresponding to the plurality of measurement points on the measurement surface and the measurement reference plane. Determining the size information of the current battery based on the plurality of distance information. Wherein, the size information includes flatness of the measurement surface; the measurement surface includes at least one of the following: pole surface, shoulder surface, and bottom surface.

10. The method according to claim 9, characterized in that, The size information includes at least one of the following: total height information and shoulder height information; the measurement surface includes at least one of the following: pole surface and shoulder surface; the determining the size information of the current battery based on the plurality of distance information includes at least one of the following: Determining the average distance information of the plurality of distance information between the pole surface and the measurement reference plane as the total height information of the current battery. Determining the average distance information of the plurality of distance information between the shoulder surface and the measurement reference plane as the shoulder height information of the current battery.

11. The method according to claim 8, characterized in that, The obtaining the coordinate information corresponding to the plurality of measurement points on each of at least one measurement surface of the current battery based on the three-dimensional image of the current battery includes: Determining the coordinate information of the geometric center of each measurement surface based on the three-dimensional image of the current battery. For each of the to-be-measured surfaces, based on the coordinate information of the geometric center of the to-be-measured surface, a point-sampling pattern corresponding to the contour of the to-be-measured surface is determined on the to-be-measured surface; Based on the three-dimensional image of the current battery, on the point-sampling pattern on each of the to-be-measured surfaces, the coordinate information corresponding to a plurality of measurement points evenly distributed on the point-sampling pattern is determined.

12. The method according to claim 11, characterized in that The current battery is a cylindrical battery, and the to-be-measured surface of the current battery is a circular surface; for each of the to-be-measured surfaces, based on the coordinate information of the geometric center of the to-be-measured surface, determining a point-sampling pattern corresponding to the contour of the to-be-measured surface on the to-be-measured surface includes: For each of the to-be-measured surfaces, a sampling diameter is determined based on the diameter of the to-be-measured surface; For each of the to-be-measured surfaces, based on the coordinate information of the center of the circle of the to-be-measured surface and the sampling diameter, a sampling circle is determined on the to-be-measured surface.

13. The method according to any one of claims 6 to 12, characterized in that, The battery size detection system further includes a rotating table and a driving mechanism; the rotating table includes at least two fixed positions; the method further includes: In response to the completion signal of the acquisition of the first three-dimensional image and the second three-dimensional image of the current battery, the driving mechanism drives the gripper to move the current battery to the discharging position; The rotating table rotates the target fixed position with the next battery among the at least two fixed positions to the detection position; The driving mechanism drives the gripper to move the next battery from the detection position between the first camera and the second camera, so that the first camera acquires a third three-dimensional image of the bottom surface of the next battery, and the second camera acquires a fourth three-dimensional image of the top surface of the next battery; the third three-dimensional image and the fourth three-dimensional image are used to synthesize a three-dimensional image of the next battery; the three-dimensional image of the next battery is used to detect the size information of the next battery.

Images