Bolt tightening system and method
By capturing images on the battery casing and comparing them with bolt feature templates, the robot is controlled to tighten the bolts after identifying and confirming their types. This solves the problem of incorrect bolt types in battery production and improves production quality and operational accuracy.
Patent Information
- Application Number
- CN202410642243.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-22
- Publication Date
- 2025-11-25
AI Technical Summary
During battery production, different types of bolts are used in different parts of the battery casing, which can easily lead to misuse or confusion, affecting production quality.
The image acquisition component acquires images of the battery box, and the host computer compares them with the bolt feature template to identify the bolt type. If the bolt type is confirmed to be a preset type, the computer controls the robot to perform the tightening operation; otherwise, the tightening stops.
This reduces the likelihood of using the wrong type of bolt during battery production, improving battery production quality and the accuracy of bolt tightening operations.
Smart Images
Figure CN121004594A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of visual inspection, in particular to a bolt tightening system and method. BACKGROUND
[0002] During the production process of a battery, a bolt tightening procedure of a battery box is needed, that is, a bolt pre-tightened on the battery box is tightened.
[0003] Since the types of bolts used in different parts of the battery box are different, and the bolts are easily confused when placed on the battery box, the production quality of the battery may be affected. SUMMARY
[0004] The present application provides a bolt tightening system and method, which can reduce the probability of using the wrong type of bolt during the production process of the battery and improve the production quality of the battery.
[0005] In a first aspect, the present application provides a bolt tightening system, comprising: an image acquisition assembly, configured to acquire a first image of a battery box when the battery box reaches a bolt tightening station, and send the first image to an upper computer, wherein the battery box comprises a target bolt to be tightened; the upper computer is configured to compare the first image with a preset bolt feature template, determine a target bolt type corresponding to the target bolt, and send target type information corresponding to the target bolt type to a lower computer; the lower computer is configured to control a target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box when it is determined that the target bolt type is a preset first type according to the target type information.
[0006] In this way, by using the image acquisition assembly to acquire the first image of the battery box when the battery box reaches the bolt tightening station, and sending it to the upper computer, the upper computer compares the first image with the preset bolt feature template, determines the target bolt type corresponding to the target bolt to be tightened on the battery box, and sends the target type information corresponding to the target bolt type to the lower computer. The lower computer controls the target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box when it is determined that the target bolt type is a preset first type. In this way, since the bolt type identification function is added in the bolt tightening procedure of the battery box, the tightening operation of the bolt is only performed when the bolt type is a preset first type, thereby reducing the probability of using the wrong type of bolt during the production process of the battery and improving the production quality of the battery.
[0007] In some embodiments, the lower-level machine is further configured to, in a case where it is determined according to the target type information that the target bolt type is a type other than the first type, control the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box.
[0008] In this way, by stopping the tightening operation on the target bolt in a case where it is determined that the target bolt type is not the preset first type, the operation can be stopped in time when the bolt type is incorrect, thereby reducing the probability of using incorrect bolt types in the battery production process and improving the battery production quality.
[0009] In some embodiments, the upper-level machine is further configured to obtain bolt type configuration information corresponding to the target robot, and send the bolt type configuration information to the lower-level machine, the bolt type configuration information including first type information corresponding to the first type; and the lower-level machine is further configured to compare the target type information with the first type information to obtain a comparison result, determine that the target bolt type is the first type in a case where the comparison result is that the target type information is the same as the first type information, and determine that the target bolt type is a type other than the first type in a case where the comparison result is that the target type information is different from the first type information.
[0010] In this way, by configuring the lower-level machine with the first type information corresponding to the preset first type using the upper-level machine, the lower-level machine can determine whether the target bolt is of the preset first type, thereby controlling the subsequent tightening operation.
[0011] In some embodiments, the upper-level machine is further configured to obtain at least one image corresponding to at least one type of bolt, extract feature information corresponding to the at least one type of bolt from the at least one image, and construct the bolt feature template according to the feature information.
[0012] In this way, by extracting feature information corresponding to each of the at least one type of bolt from at least one image corresponding to the at least one type of bolt using the upper-level machine, and then constructing a bolt feature template using the feature information, the template can be used to compare with a first image collected to determine the type of a target bolt contained therein, thereby improving the accuracy of bolt type identification.
[0013] In some embodiments, the upper-level machine is further configured to extract contour feature points corresponding to the at least one type of bolt from the at least one image, and obtain coordinates of the contour feature points as the feature information.
[0014] In this way, by extracting the contour feature points corresponding to each type of bolt from the image, and obtaining the coordinates of the contour feature points as the feature information of the bolt of this type, the bolt features corresponding to each type of bolt can be accurately extracted.
[0015] In some embodiments, the host computer is further configured to, in a case where the target bolt type is a type other than the first type, output bolt identification information corresponding to the target bolt and error prompt information.
[0016] In this way, by reporting an error in a case where the bolt type of the target bolt is not the preset first type, the maintenance personnel can be facilitated to query and maintain later.
[0017] In some embodiments, the host computer is further configured to, in a case where the target bolt type is a type other than the first type, output the first image.
[0018] In this way, by outputting and displaying the first image with an error in a case where the bolt type of the target bolt is not the preset first type, the maintenance personnel can be facilitated to query and maintain later.
[0019] In some embodiments, the host computer is further configured to determine a position offset of the target bolt in the first image and posture information of the next step of the target robot, and send the position offset and the posture information to the lower computer; and the lower computer is further configured to, in a case where the target bolt type is determined to be the preset first type according to the target type information, control the target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box according to the position offset and the posture information.
[0020] In this way, by using the host computer to calculate the position offset of the target bolt and the posture information of the next step of the target robot, and using the lower computer to control the target robot to perform the tightening operation on the target bolt more accurately according to the position offset and the posture information in a case where the target bolt type is determined to be the preset first type, the accuracy of the bolt tightening operation can be improved.
[0021] In some embodiments, the lower computer is further configured to, in a case where the position offset is less than a preset threshold and the target bolt type is determined to be the preset first type according to the target type information, control the target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box according to the position offset and the posture information.
[0022] In this way, the target robot is controlled to perform the tightening operation on the target bolt only when the position offset of the target bolt is less than the preset threshold and the type of the target bolt is the preset first type, so that the bolt tightening operation can be performed when the target bolt has a small position offset, and the probability of failure of the bolt tightening operation is reduced.
[0023] In some embodiments, the lower-level machine is further configured to control the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box when the position offset is greater than or equal to the preset threshold.
[0024] In this way, the target robot is controlled to stop the tightening operation on the target bolt in a timely manner when the position offset of the target bolt is greater than or equal to the preset threshold, i.e., the position of the target bolt is beyond the operable range of the target robot, so that the probability of failure of the bolt tightening operation is reduced.
[0025] In some embodiments, the upper-level machine is further configured to perform position correction on the first image according to a reference template to obtain a position correction result, and determine the position offset of the target bolt in the first image according to the position correction result.
[0026] In this way, the position offset of the target bolt in the first image is determined according to the position correction result by performing position correction on the first image according to the reference template, so that the accuracy of determining the position offset of the target bolt is improved.
[0027] In a second aspect, the present application provides a bolt tightening method, which comprises: acquiring, by an image acquisition component, a first image of a battery box when the battery box reaches a bolt tightening station, and sending the first image to an upper-level machine, the battery box comprising a target bolt to be tightened; comparing, by the upper-level machine, the first image with a preset bolt feature template to determine a target bolt type corresponding to the target bolt; sending, by the upper-level machine, target type information corresponding to the target bolt type to a lower-level machine; and controlling, by the lower-level machine, a target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box when it is determined according to the target type information that the target bolt type is a preset first type.
[0028] Thus, by using the image acquisition component to acquire the first image of the battery box body when the battery box body reaches the bolt tightening station and sending it to the upper computer, the upper computer compares the first image with the preset bolt feature template to determine the target bolt type corresponding to the target bolt to be tightened on the battery box body, and sends the target type information corresponding to the target bolt type to the lower computer. In the case where the target bolt type is determined to be the preset first type, the lower computer controls the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box body. In this way, since the bolt type identification function is added in the battery box bolt tightening process, the tightening operation is only performed when the bolt type is the preset first type, thereby reducing the probability of using the wrong type of bolt in the battery production process and improving the battery production quality.
[0029] In some embodiments, the method further comprises: in the case where the target bolt type is determined to be other than the first type according to the target type information, the lower computer controls the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box body.
[0030] In this way, by stopping the tightening operation on the target bolt in the case where the target bolt type is not the preset first type, the operation can be stopped in time when the bolt type is wrong, thereby reducing the probability of using the wrong type of bolt in the battery production process and improving the battery production quality.
[0031] In some embodiments, the method further comprises: the upper computer acquires bolt type configuration information corresponding to the target robot; the upper computer sends the bolt type configuration information to the lower computer, wherein the bolt type configuration information includes first type information corresponding to the first type; after the upper computer sends the target type information corresponding to the target bolt type to the lower computer, the method further comprises: the lower computer compares the target type information with the first type information to obtain a comparison result; in the case where the comparison result is that the target type information is the same as the first type information, the lower computer determines that the target bolt type is the first type; in the case where the comparison result is that the target type information is different from the first type information, the lower computer determines that the target bolt type is other than the first type.
[0032] In this way, by using the upper computer to configure the first type information corresponding to the preset first type for the lower computer, the lower computer can determine whether the target bolt is the preset first type, thereby controlling the subsequent tightening operation.
[0033] In some embodiments, before the first image is compared with the preset bolt feature template by the host computer to determine the target bolt type corresponding to the target bolt, the method further comprises: acquiring, by the host computer, at least one image corresponding to at least one type of bolt; extracting, by the host computer, feature information corresponding to the at least one type of bolt from the at least one image; and constructing, by the host computer, the bolt feature template according to the feature information.
[0034] In this way, by extracting feature information corresponding to each type of bolt from at least one image of the at least one type of bolt by the host computer, and then constructing a bolt feature template using the feature information, the bolt type recognition accuracy is improved by comparing the template with the acquired first image to determine the type of the target bolt contained therein.
[0035] In some embodiments, the extracting, by the host computer, of the feature information corresponding to the at least one type of bolt from the at least one image comprises: extracting, by the host computer, contour feature points corresponding to the at least one type of bolt from the at least one image; and acquiring, by the host computer, coordinates of the contour feature points as the feature information.
[0036] In this way, by extracting contour feature points corresponding to each type of bolt from the image, and acquiring coordinates of the contour feature points as the feature information of the type of bolt, the bolt feature corresponding to each type of bolt can be accurately extracted.
[0037] In some embodiments, in the case where the target bolt type is other than the first type, the method further comprises: outputting, by the host computer, bolt identification information corresponding to the target bolt and error prompt information.
[0038] In this way, by reporting an error in the case where the bolt type of the target bolt is not the preset first type, the maintenance personnel can be facilitated to query and maintain later.
[0039] In some embodiments, in the case where the target bolt type is other than the first type, the method further comprises: outputting, by the host computer, the first image.
[0040] In this way, by outputting and displaying the erroneous first image in the case where the bolt type of the target bolt is not the preset first type, the maintenance personnel can be facilitated to query and maintain later. BRIEF DESCRIPTION OF DRAWINGS
[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. Those skilled in the art can further obtain other drawings according to these drawings without any creative effort.
[0042] Figure 1 is a structural schematic diagram of a bolt tightening system provided by an embodiment of the present application;
[0043] Figure 2 is an interface schematic diagram of a pop-up prompt provided by an embodiment of the present application;
[0044] Figure 3 is a flow schematic diagram of a bolt tightening method provided by an embodiment of the present application. DETAILED DESCRIPTION
[0045] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of protection of the present application.
[0046] It should be noted that, in this document, the relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.
[0047] As the background, the battery needs to go through the bolt tightening process of the battery box during the production process, that is, the bolt tightening operation is performed on the pre-tightened bolt on the battery box, for example, the bolt on the upper cover of the battery box is tightened, or the bolt on the front panel of the battery box is tightened. Because the types of bolts used on different parts of the battery box are different, for example, the bolt for the upper cover is a flat head bolt, and the bolt for the front panel is a cross bolt, and the bolts are easily confused when placed on the battery box, which may affect the quality of battery production.
[0048] To solve the above technical problems, the bolt tightening system and method provided by the embodiments of the present application are provided. The first image of the battery box is collected by the image collection component when the battery box reaches the bolt tightening station, and is sent to the upper computer. The upper computer compares the first image with the preset bolt feature template, determines the target bolt type corresponding to the target bolt to be tightened on the battery box, and sends the target type information corresponding to the target bolt type to the lower computer. The lower computer controls the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box when it is determined that the target bolt type is the preset first type. In this way, since the bolt type identification function is added in the bolt tightening process of the battery box, the tightening operation of the bolt is only performed when the bolt type is the preset first type, thereby reducing the probability of using the wrong type of bolt in the battery production process and improving the battery production quality.
[0049] The bolt tightening system and method provided by the embodiments of the present application will be described in detail below.
[0050] Figure 1 FIG. 1 is a structural schematic diagram of a bolt tightening system provided by an embodiment of the present application.
[0051] As shown in FIG. 1, the bolt tightening system 10 includes an image collection component 11, an upper computer 12, and a lower computer 13. Figure 1
[0052] The image collection component 11 can be used to collect the first image of the battery box when the battery box reaches the bolt tightening station, and send the first image to the upper computer. The battery box includes a target bolt to be tightened.
[0053] The upper computer 12 can be used to compare the first image with the preset bolt feature template, determine the target bolt type corresponding to the target bolt, and send the target type information corresponding to the target bolt type to the lower computer.
[0054] The lower computer 13 can be used to control the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box when it is determined that the target bolt type is the preset first type according to the target type information.
[0055] The above various parts will be introduced respectively as follows.
[0056] Here, the image collection component 11 can include components capable of collecting images, such as cameras, video cameras, etc. The image collection component 11 can be arranged on the bolt tightening station for performing the tightening operation on the bolt on the battery box. The battery box can be a box containing batteries or battery cell components.
[0057] Exemplarily, when the battery box reaches the bolt tightening station, the image acquisition assembly 11 can be controlled to acquire an image of the battery box reaching the bolt tightening station, to obtain a first image containing the battery box, which can include the bolts pre-tightened on the battery box at the previous station. Correspondingly, the first image acquired can contain the battery box and the pre-tightened bolts thereon. Among the pre-tightened bolts, there can be a target bolt to be tightened, which can be a flat head bolt, or a cross bolt, or other types of bolts.
[0058] The host computer 12 can be an electronic device capable of performing computing operations, such as a computer, a computer, etc. The host computer 12 can be connected with the image acquisition assembly 11 to receive the images acquired by the image acquisition assembly 11. The host computer 12 can be installed with a vision software, through which the acquired images can be processed.
[0059] Exemplarily, the vision software in the host computer 12 can contain an image source module for binding the image acquisition function of the image acquisition assembly 12 to receive the images acquired by the image acquisition assembly 12.
[0060] In addition, the vision software can also include a function module related to bolt type identification, for comparing the acquired first image with a pre-set bolt feature template to identify the target bolt type to which the target bolt belongs. For example, the vision software can contain a type module for establishing a bolt feature template, a branch judgment module for comparing the bolt feature template with the first image, a type definition module for defining the type information corresponding to the bolt type, a type sending module for sending the target type information corresponding to the target type when the target type is judged, and an image output module for saving and displaying the first image.
[0061] Here, the bolt feature template can be a feature template corresponding to one or more types of bolts. By comparing the bolt feature template with the acquired first image, the bolt type to which the target bolt in the first image belongs, i.e. the target bolt type, can be determined.
[0062] After the host computer 12 identifies the target bolt type of the target bolt, the host computer 12 can send the target type information corresponding to the target bolt type to the lower computer 13. The target type information can include identification information capable of uniquely representing the target bolt type. For example, when the target bolt type is a flat head type, the target type information can be "1", and when the target bolt type is a cross type, the target type information can be "2".
[0063] In addition, the lower-level machine 13 can include a device capable of directly controlling the robot to operate the battery box, including tightening the bolt to be tightened on the battery box. The lower-level machine 13 can be, for example, a PLC (Programmable Logic Controller), a single-chip microcomputer, etc. The lower-level machine 13 can be connected with the upper-level machine 12 to receive the target type information sent by the upper-level machine 12.
[0064] Illustratively, after receiving the target type information sent by the upper-level machine 12, the lower-level machine 13 can determine whether the target bolt type of the target bolt is the preset first type according to the target type information, and if so, control the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box. The first type can be a type corresponding to the bolt operated by the target robot. For example, if the target robot is a robot for tightening the upper cover bolt, the first type can be the bolt type corresponding to the upper cover bolt, i.e., a flat head type; if the target robot is a robot for tightening the front panel bolt, the first type can be the bolt type corresponding to the front panel bolt, i.e., a cross type. In addition, the target robot can be a robot provided on the bolt tightening station for performing the bolt tightening operation.
[0065] In this way, by using the image acquisition assembly 11 to acquire the first image of the battery box when it reaches the bolt tightening station and sending it to the upper-level machine 12, the upper-level machine 12 compares the first image with the preset bolt feature template to determine the target bolt type corresponding to the target bolt to be tightened on the battery box, and sends the target type information corresponding to the target bolt type to the lower-level machine 13. The lower-level machine 13 controls the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box when it is determined that the target bolt type is the preset first type. In this way, since the bolt type identification function is added in the bolt tightening process of the battery box, the tightening operation of the bolt is only performed when the bolt type is the preset first type, thereby reducing the probability of using the wrong type of bolt in the battery production process and improving the battery production quality.
[0066] In some embodiments of the present application, the lower-level machine 13 can also be used to control the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box when it is determined that the target bolt type is other than the first type according to the target type information.
[0067] Exemplarily, if the preset first type is the flat head type, and the target bolt type determined by the lower machine 13 according to the received target type information is the cross type, it can be determined that the target bolt type is other than the first type, i.e., the target bolt is a wrong type of bolt. At this time, in order to avoid using the wrong type of bolt on the battery box, the lower machine 13 can control the target robot to pause the tightening operation on the target bolt, or not send the tightening operation instruction for the target bolt to the target robot.
[0068] In this way, by stopping the tightening operation on the target bolt in the case where it is determined that the target bolt type is not the preset first type, the operation can be stopped in time when the bolt type is wrong, thereby reducing the probability of using the wrong type of bolt in the battery production process and improving the battery production quality.
[0069] In some embodiments of the present application, the upper machine 12 can also be configured to obtain bolt type configuration information corresponding to the target robot, and send the bolt type configuration information to the lower machine 13, wherein the bolt type configuration information includes first type information corresponding to the first type; and the lower machine 13 can also be configured to compare the target type information with the first type information to obtain a comparison result, and determine that the target bolt type is the first type in the case where the comparison result is that the target type information is the same as the first type information, and determine that the target bolt type is other than the first type in the case where the comparison result is that the target type information is different from the first type information.
[0070] Here, the user can configure the preset bolt type for the lower machine 13 through the upper machine 12. Based on this, the upper machine 12 can obtain the bolt type configuration information corresponding to the target robot according to the bolt type configured by the user. Different robots can correspond to different bolt types, or can correspond to the same bolt type. After the upper machine 12 sends the bolt type configuration information to the lower machine 13, the lower machine 13 can determine the preset bolt type according to the bolt type configuration information, and obtain the corresponding type information therefrom. For example, if the user configures the flat head type for the target robot, the lower machine 13 can obtain the type information "1" corresponding to the preset flat head type from the bolt type configuration information; if the user configures the cross type for the target robot, the lower machine 13 can obtain the type information "2" corresponding to the preset cross type from the bolt type configuration information.
[0071] Exemplarily, after receiving the bolt type configuration information for the target robot sent by the host computer 13 and analyzing the first type information corresponding to the preset first type therefrom, the lower computer 13 can compare the target type information corresponding to the target bolt with the first type information. For example, if the first type information is "1" and the target type information is also "1", it can be determined that the target bolt type is the first type, i.e., the type of the target bolt is consistent with the preset bolt type; if the first type information is "1" and the target type information is "2", it can be determined that the target bolt type is other than the first type, i.e., the type of the target bolt is inconsistent with the preset bolt type.
[0072] In this way, by configuring the first type information corresponding to the preset first type for the lower computer 13 by the host computer 12, the lower computer 13 can determine whether the target bolt is the preset first type of bolt, thereby realizing the control of the subsequent tightening operation.
[0073] In some embodiments of the present application, the host computer 12 described above can also be used to obtain at least one image corresponding to at least one type of bolt, extract feature information corresponding to at least one type of bolt from at least one image, and construct a bolt feature template according to the feature information.
[0074] Exemplarily, the host computer 12 can obtain at least one image corresponding to at least one type of bolt by real-time acquisition or manual upload, etc., wherein one or more images can be obtained for one type of bolt, the feature information corresponding to the type or each type of bolt is obtained from these images, and then the bolt feature template is constructed by using the feature information.
[0075] For example, when the preset first type is a cross type, the image corresponding to the cross type of bolt can be obtained, and then the feature information of the cross type is extracted from the image, and the bolt feature template is constructed by using the feature information. In this way, the bolt feature template of the cross type can be used to compare the target bolt in the acquired first image, identify whether the target bolt is a cross type of bolt, and then determine whether it meets the preset cross type.
[0076] In this way, by extracting the feature information corresponding to each type of bolt from at least one image corresponding to at least one type of bolt by the host computer, and then constructing the bolt feature template by using the feature information, the template can be used to compare with the acquired first image to determine the type of the target bolt contained therein, thereby improving the accuracy of bolt type identification.
[0077] In some embodiments of the present application, the host computer 12 described above can also be configured to extract contour feature points corresponding to at least one type of bolt from the at least one image, and obtain coordinates of the contour feature points as the feature information.
[0078] For example, the host computer 12 can perform contour recognition on a certain type of bolt in the image, such as contour recognition on a cross-shaped bolt in the image, so as to obtain a plurality of contour feature points with a "cross" feature, and then obtain coordinates of each contour feature point in the image, and take the coordinates of the contour feature points as the feature information of the type of bolt.
[0079] In this way, by extracting contour feature points corresponding to each type of bolt from the image and obtaining coordinates of the contour feature points as the feature information of the type of bolt, the bolt features corresponding to each type of bolt can be accurately extracted.
[0080] In some embodiments of the present application, the host computer 12 described above can also be configured to, in the case where the target bolt type is other than the first type, output bolt identification information corresponding to the target bolt and error prompt information.
[0081] Here, the bolt identification information can be identification information capable of uniquely representing the target bolt, such as a bolt number of the target bolt. The error prompt information may, for example, be information prompting that the bolt type of the target bolt is incorrect, including but not limited to prompt information in the form of text, sound, icon, etc.
[0082] For example, if the target bolt is the 28th bolt of the upper cover of the battery box, when the bolt type of the target bolt does not match the preset bolt type, a pop-up window 20 as shown in the figure can be displayed in the display interface of the visual software installed on the host computer 12, and the bolt number 28 of the target bolt and the error prompt information that the 28th bolt is an incorrect bolt of the upper cover, "please check whether the bolt is used correctly", etc. can be displayed in the pop-up window 20. In addition, correct configuration information can also be displayed in the pop-up window 20 to prompt the maintenance personnel to timely adjust the incorrect bolt to the correct type of bolt. When the maintenance personnel clicks the confirmation button 21 in the pop-up window, the pop-up window 20 can be closed. Figure 2
[0083] In this way, by reporting an error when the bolt type of the target bolt is not the preset first type, the maintenance personnel can be facilitated to query and maintain later.
[0084] In some embodiments of the present application, the host computer 12 described above can also be configured to, in the case where the target bolt type is other than the first type, output the first image.
[0085] Here, when the host computer 12 determines that the target bolt type is not the preset first type, the first image can be saved so that the maintenance personnel can call up and display the first image in the display interface of the vision software installed on the host computer 12 during later maintenance.
[0086] In this way, by outputting and displaying the erroneous first image when the bolt type of the target bolt is not the preset first type, the maintenance personnel can conveniently query and maintain later.
[0087] In some embodiments of the present application, the host computer 12 described above can also be used to determine the position offset of the target bolt in the first image and the pose information of the target robot at the next step, and send the position offset and the pose information to the lower computer 13; the lower computer 13 described above can also be used to control the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box according to the position offset and the pose information when it is determined that the target bolt type is the preset first type according to the target type information.
[0088] Here, since the battery box can be offset in position when it is conveyed to the bolt tightening station, at this time, the host computer 12 can be used to calculate the position offset of the target bolt in the first image and the pose information of the target robot at the next step, so as to accurately control the target robot to find the target bolt and perform the tightening operation by referring to the position offset and the pose information when the target robot on the bolt tightening station is controlled by the lower computer 13 to perform the tightening operation on the target bolt on the battery box. The position offset can include X offset and Y offset.
[0089] Exemplarily, the host computer 12 can determine the X offset and the Y offset of the target bolt in the first image by comparing the first image with a reference template. The reference template can be, for example, an image collected when the battery box is at the accurate position of the bolt tightening station. In addition, the host computer 12 can also determine the pose information of the target robot at the next step by obtaining the current pose information of the target robot. The current pose information of the target robot can be obtained in the following manner: the host computer 12 reads data containing the current pose information of the target robot from the lower computer 13, parses the data according to the communication protocol between the host computer 12 and the lower computer 13, extracts the current pose information of the target robot from the data after the data is understood by the host computer 12. After receiving the X offset, the Y offset and the pose information of the target robot at the next step, the lower computer 13 can control the target robot to adjust the position according to the X offset, the Y offset and the pose information when it is determined that the bolt type of the target bolt conforms to the preset first type, so as to accurately position to the target bolt on the battery box and perform the tightening operation on the target bolt.
[0090] In this way, by using the host computer 12 to calculate the position offset of the target bolt and the posture information of the target robot at the next step, and using the lower-level computer 13 to control the target robot to perform the tightening operation on the target bolt more accurately according to the position offset and the posture information when it is determined that the type of the target bolt is the preset first type, the accuracy of the bolt tightening operation can be improved.
[0091] In some embodiments of the present application, the lower-level computer 13 described above can also be used to control the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box according to the position offset and the posture information when the position offset is less than the preset threshold and it is determined according to the target type information that the type of the target bolt is the preset first type.
[0092] Here, since the position of the target bolt may exceed the operable range of the target robot when the position offset of the target bolt is too large, the lower-level computer 13 can determine whether the position offset of the target bolt is less than a preset threshold before controlling the target robot to perform the tightening operation, and the preset threshold can be determined according to the operable range of the target robot.
[0093] For example, if the lower-level computer 13 determines that the position offset of the target bolt is less than the preset threshold and the type of the target bolt meets the preset first type, the lower-level computer 13 can control the target robot to perform the tightening operation on the target bolt by referring to the position offset and the posture information of the target robot at the next step.
[0094] In this way, by controlling the target robot to perform the tightening operation on the target bolt only when the position offset of the target bolt is less than the preset threshold and the type of the target bolt is the preset first type, the bolt tightening operation can be performed when the target bolt is not too offset, and the probability of failure of the bolt tightening operation can be reduced.
[0095] In some embodiments of the present application, the lower-level computer 13 described above can also be used to control the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box when the position offset is greater than or equal to the preset threshold.
[0096] For example, if the lower-level computer 13 determines that the position offset of the target bolt is greater than or equal to the preset threshold, i.e., the position of the target bolt has exceeded the operable range of the target robot, or the type of the target bolt does not meet the preset first type, the lower-level computer 13 can control the target robot to pause the tightening operation on the target bolt, or not issue the tightening operation instruction for the target bolt to the target robot.
[0097] In addition, in a case where the host computer 12 determines that the position offset of the target bolt is greater than or equal to the preset threshold, the host computer 12 can also save the first image for later query and maintenance by maintenance personnel.
[0098] In this way, in a case where the position offset of the target bolt is greater than or equal to the preset threshold, that is, the position of the target bolt exceeds the operable range of the target robot, the target robot is stopped in time from the tightening operation on the target bolt, so that the probability of failure of the bolt tightening operation can be reduced.
[0099] In some embodiments of the present application, the host computer 12 described above can also be used to position correct the first image according to the reference template to obtain a position correction result, and determine the position offset of the target bolt in the first image according to the position correction result.
[0100] For example, when calculating the position offset of the target bolt, the host computer 12 can determine a position reference through a 9-point positioning method in the vision software to obtain a reference template, and then position correct the first image according to the reference template to obtain a position correction result, so as to identify and position the target bolt in the first image by using circular positioning, thereby calculating the adjusted position offset.
[0101] In this way, by position correcting the first image according to the reference template and then determining the position offset of the target bolt in the first image according to the position correction result, the accuracy of determining the position offset of the target bolt can be improved.
[0102] Figure 3 is a flowchart of a bolt tightening method provided by an embodiment of the present application. As shown in Figure 3 The bolt tightening method comprises the following steps.
[0103] S310, acquiring, by an image acquisition component, a first image of a battery box body in a case where the battery box body reaches a bolt tightening station, and sending the first image to a host computer, the battery box body comprising a target bolt to be tightened;
[0104] S320, comparing, by the host computer, the first image with a preset bolt feature template to determine a target bolt type corresponding to the target bolt;
[0105] S330, sending, by the host computer, target type information corresponding to the target bolt type to a lower computer;
[0106] S340, in a case where the target bolt type is determined to be a preset first type according to the target type information, controlling, by the lower computer, a target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box body.
[0107] Thus, by using the image acquisition component to acquire the first image of the battery box when the battery box reaches the bolt tightening station and sending the first image to the upper computer, the upper computer compares the first image with the preset bolt feature template to determine the target bolt type corresponding to the target bolt to be tightened on the battery box, and sends the target type information corresponding to the target bolt type to the lower computer. In the case where the target bolt type is the preset first type, the lower computer controls the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box. In this way, since the bolt type identification function is added in the battery box bolt tightening process, the tightening operation of the bolt is only performed when the bolt type is the preset first type, thereby reducing the probability of using the wrong type of bolt in the battery production process and improving the battery production quality.
[0108] In some embodiments of the present application, the bolt tightening method can further include:
[0109] In the case where the target bolt type is determined to be other types than the first type according to the target type information, the lower computer controls the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box.
[0110] In this way, by stopping the tightening operation on the target bolt in the case where the target bolt type is not the preset first type, the operation can be stopped in time when the bolt type is wrong, thereby reducing the probability of using the wrong type of bolt in the battery production process and improving the battery production quality.
[0111] In some embodiments of the present application, the bolt tightening method can further include:
[0112] The upper computer acquires bolt type configuration information corresponding to the target robot;
[0113] The upper computer sends the bolt type configuration information to the lower computer, and the bolt type configuration information includes first type information corresponding to the first type;
[0114] Correspondingly, after the above S330, the bolt tightening method can further include:
[0115] The lower computer compares the target type information with the first type information to obtain a comparison result;
[0116] In the case where the comparison result is that the target type information is the same as the first type information, the lower computer determines that the target bolt type is the first type;
[0117] In the case where the comparison result is that the target type information is different from the first type information, the lower computer determines that the target bolt type is other types than the first type.
[0118] In this way, by using the host computer to configure the first type information corresponding to the first type for the slave computer, the slave computer can determine whether the target bolt is the first type of bolt as preset, thereby controlling the subsequent tightening operation.
[0119] In some embodiments of the present application, before S320, the bolt tightening method can further include:
[0120] acquiring, by the host computer, at least one image corresponding to at least one type of bolt;
[0121] extracting, by the host computer, feature information corresponding to the at least one type of bolt from the at least one image;
[0122] constructing, by the host computer, a bolt feature template according to the feature information.
[0123] In this way, by using the host computer to extract the feature information corresponding to each type of bolt from the at least one image corresponding to the at least one type of bolt, and then using the feature information to construct a bolt feature template, the template can be used to compare with the collected first image to determine the type of the target bolt contained therein, thereby improving the accuracy of bolt type identification.
[0124] In some embodiments of the present application, the feature information corresponding to the at least one type of bolt extracted by the host computer from the at least one image can specifically include: extracting, by the host computer, contour feature points corresponding to the at least one type of bolt from the at least one image; and acquiring, by the host computer, coordinates of the contour feature points as the feature information.
[0125] In this way, by extracting the contour feature points corresponding to each type of bolt from the image, and acquiring the coordinates of the contour feature points as the feature information of the type of bolt, the bolt features corresponding to each type of bolt can be accurately extracted.
[0126] In some embodiments of the present application, in the case where the target bolt type is other than the first type, the bolt tightening method can further include:
[0127] outputting, by the host computer, bolt identification information corresponding to the target bolt and error prompt information.
[0128] In this way, by reporting an error in the case where the bolt type of the target bolt is not the first type as preset, it is convenient for maintenance personnel to query and maintain later.
[0129] In some embodiments of the present application, in the case where the target bolt type is other than the first type, the bolt tightening method can further include:
[0130] output the first image by the upper computer.
[0131] In this way, by outputting and displaying the erroneous first image in the case where the bolt type of the target bolt is not the preset first type, the maintenance personnel can conveniently query and maintain later.
[0132] In some embodiments of the present application, before the above S340, the bolt tightening method can further include:
[0133] determining, by the upper computer, the position offset of the target bolt in the first image and the pose information of the target robot in the next step;
[0134] sending, by the upper computer, the position offset and the pose information to the lower computer;
[0135] Correspondingly, the above S340 can specifically include:
[0136] controlling, by the lower computer, the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box according to the position offset and the pose information in the case where the target bolt type is determined to be the preset first type according to the target type information.
[0137] In this way, by calculating the position offset of the target bolt and the pose information of the target robot in the next step by the upper computer, and controlling the target robot to more accurately perform the tightening operation on the target bolt according to the position offset and the pose information by the lower computer in the case where the target bolt type is determined to be the preset first type, the accuracy of the bolt tightening operation can be improved.
[0138] In some embodiments of the present application, the above controlling, by the lower computer, the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box according to the position offset and the pose information in the case where the target bolt type is determined to be the preset first type according to the target type information, can specifically include:
[0139] controlling, by the lower computer, the target robot on the bolt tightening station to perform the tightening operation on the target bolt on the battery box according to the position offset and the pose information in the case where the position offset is less than a preset threshold and the target bolt type is determined to be the preset first type according to the target type information.
[0140] In this way, by controlling the target robot to perform the tightening operation on the target bolt only in the case where the position offset of the target bolt is less than a preset threshold and the target bolt type is the preset first type, the bolt tightening operation can be performed in the case where the target bolt offset is not too large, and the probability of failure of the bolt tightening operation can be reduced.
[0141] In some embodiments of the application, the bolt tightening method can further include:
[0142] In the case that the position offset of the target bolt is greater than or equal to the preset threshold, the lower computer controls the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box.
[0143] In this way, in the case that the position offset of the target bolt is greater than or equal to the preset threshold, i.e., the position of the target bolt exceeds the operable range of the target robot, the tightening operation of the target robot on the target bolt is stopped in time, which can reduce the probability of failure of the bolt tightening operation.
[0144] In some embodiments of the application, the determination of the position offset of the target bolt in the first image by the upper computer can specifically include:
[0145] The upper computer corrects the position of the first image according to the reference template to obtain a position correction result.
[0146] The upper computer determines the position offset of the target bolt in the first image according to the position correction result.
[0147] In this way, by correcting the position of the first image according to the reference template and then determining the position offset of the target bolt in the first image according to the position correction result, the accuracy of determining the position offset of the target bolt can be improved.
[0148] The specific explanations and descriptions of the above embodiments can refer to the related parts in the foregoing embodiments, which will not be repeated here.
[0149] Although the application has been described with reference to the preferred embodiments, various modifications can be made to it without departing from the scope of the application, and equivalent components can be substituted for the components therein, especially, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. A bolt tightening system, characterized by, The system comprises: an image acquisition component configured to acquire a first image of a battery box body when the battery box body reaches a bolt tightening station, and send the first image to an upper computer, the battery box body comprising a target bolt to be tightened; the upper computer configured to compare the first image with a preset bolt feature template, determine a target bolt type corresponding to the target bolt, and send target type information corresponding to the target bolt type to a lower computer; the lower computer configured to control a target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box body when it is determined according to the target type information that the target bolt type is a preset first type.
2. The system of claim 1, wherein: the lower computer is further configured to control the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box body when it is determined according to the target type information that the target bolt type is a type other than the first type.
3. The system of claim 1 or 2, wherein: the upper computer is further configured to obtain bolt type configuration information corresponding to the target robot, send the bolt type configuration information to the lower computer, and the bolt type configuration information comprises first type information corresponding to the first type; the lower computer is further configured to compare the target type information with the first type information to obtain a comparison result, determine that the target bolt type is the first type when the comparison result is that the target type information is the same as the first type information, and determine that the target bolt type is a type other than the first type when the comparison result is that the target type information is different from the first type information.
4. The system of claim 1, wherein: the upper computer is further configured to obtain at least one image corresponding to at least one type of bolt, extract feature information corresponding to the at least one type of bolt from the at least one image, and construct the bolt feature template according to the feature information.
5. The system of claim 1, wherein: the upper computer is further configured to extract contour feature points corresponding to the at least one type of bolt from the at least one image, and obtain coordinates of the contour feature points as the feature information.
6. The system of claim 1, wherein: the upper computer is further configured to output bolt identification information corresponding to the target bolt and error prompt information when the target bolt type is a type other than the first type.
7. The system of claim 1 or 5, wherein: the upper computer is further configured to output the first image when the target bolt type is a type other than the first type.
8. The system of claim 1, wherein: The host computer is further configured to determine a position offset of the target bolt in the first image and posture information of the target robot at the next step, and send the position offset and the posture information to the slave computer; In a case where the target bolt type is determined to be the preset first type according to the target type information, the slave computer is further configured to control the target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box according to the position offset and the posture information.
9. The system of claim 7, wherein: In a case where the position offset is less than a preset threshold and the target bolt type is determined to be the preset first type according to the target type information, the slave computer is further configured to control the target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box according to the position offset and the posture information.
10. The system of claim 7 or 8, wherein: In a case where the position offset is greater than or equal to the preset threshold, the slave computer is further configured to control the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box.
11. The system of claim 7, wherein: The host computer is further configured to perform position correction on the first image according to a reference template to obtain a position correction result, and determine the position offset of the target bolt in the first image according to the position correction result.
12. A bolt tightening method characterized by, Comprising: acquiring, by an image acquisition component, a first image of a battery box when the battery box arrives at a bolt tightening station, and sending the first image to a host computer, the battery box comprising a target bolt to be tightened; comparing, by the host computer, the first image with a preset bolt feature template to determine a target bolt type corresponding to the target bolt; sending, by the host computer, target type information corresponding to the target bolt type to a slave computer; controlling, by the slave computer, a target robot on the bolt tightening station to perform a tightening operation on the target bolt on the battery box in a case where the target bolt type is determined to be a preset first type according to the target type information.
13. The method of claim 12, wherein, The method further comprises: controlling, by the slave computer, the target robot on the bolt tightening station to stop performing the tightening operation on the target bolt on the battery box in a case where the target bolt type is determined to be a type other than the first type according to the target type information.
14. The method according to claim 12 or 13, characterized in that, The method further comprises: acquiring, by the host computer, bolt type configuration information corresponding to the target robot; sending, by the host computer, the bolt type configuration information to the slave computer, the bolt type configuration information comprising first type information corresponding to the first type; after sending, by the host computer, the target type information corresponding to the target bolt type to the slave computer, the method further comprises: comparing, by the slave computer, the target type information with the first type information to obtain a comparison result; determining, by the lower-level machine, that the target bolt type is the first type when the comparison result is that the target type information is the same as the first type information; determining, by the lower-level machine, that the target bolt type is a type other than the first type when the comparison result is that the target type information is different from the first type information.
15. The method of claim 12, wherein, Before comparing, by the upper-level machine, the first image with a preset bolt feature template to determine the target bolt type corresponding to the target bolt, the method further comprises: acquiring, by the upper-level machine, at least one image corresponding to at least one type of bolt; extracting, by the upper-level machine, feature information corresponding to the at least one type of bolt from the at least one image; constructing, by the upper-level machine, the bolt feature template according to the feature information.
16. The method of claim 15, wherein, The extracting, by the upper-level machine, feature information corresponding to the at least one type of bolt from the at least one image comprises: extracting, by the upper-level machine, contour feature points corresponding to the at least one type of bolt from the at least one image; acquiring, by the upper-level machine, coordinates of the contour feature points as the feature information.
17. The method of claim 12, wherein, When the target bolt type is a type other than the first type, the method further comprises: outputting, by the upper-level machine, bolt identification information corresponding to the target bolt and error prompt information.
18. The method of claim 12 or 17, wherein, When the target bolt type is a type other than the first type, the method further comprises: outputting, by the upper-level machine, the first image.