A detection method and device of a battery sensor

Abstract

The application relates to a battery sensor detection method and device, and relates to the technical field of battery sensors, which comprises the following steps: acquiring the placement state of a test module in a detection area and outputting a request instruction; when the request instruction is consistent with a preset operation instruction, collecting the weight value in a preset feeding area and a trigger position corresponding to the weight value; when the weight value is consistent with a preset reference weight value, defining the trigger position as a grabbing position; grabbing the test module according to the grabbing position and moving the test module to the detection area, collecting the light and shadow position of the test module in the detection area; when the light and shadow position is coincident with the detection area, lowering the test module into the detection area to correct the placement state, and inputting preset debugging information into the test module to synchronously collect the output information of the test module for recording. The application has the effect of improving detection efficiency and precision.

Description

Technical Field

[0001] This invention relates to the technical field of battery sensors, and more particularly to a method and apparatus for detecting battery sensors. Background Technology

[0002] A battery sensor detection system is a specialized device that collects battery parameters through sensing elements, processes and analyzes them to achieve battery status monitoring and early warning of anomalies.

[0003] Currently, traditional battery sensor testing relies on manual operation. Workers need to manually install the test module on the base, then power on the test board for testing, and finally observe and record the test results with the naked eye.

[0004] In traditional manual testing, prolonged manual inspection can easily lead to visual fatigue and deviations in observation results. Furthermore, manual recording methods are prone to data errors, resulting in low testing efficiency, which needs improvement. Summary of the Invention

[0005] To improve detection efficiency and data recording accuracy, this invention provides a detection method and apparatus for a battery sensor.

[0006] In a first aspect, the present invention provides a detection method for a battery sensor, employing the following technical solution:

[0007] A method for detecting a battery sensor, comprising:

[0008] Step 1: Obtain the placement status of the preset test modules in the preset detection area and output the request command;

[0009] Step 2: When the request command matches the preset operation command, collect the weight value in the preset loading area and the trigger position corresponding to the weight value;

[0010] Step 3: When the weight value matches the preset baseline weight value, define the trigger position as the grab position;

[0011] Step 4: Grab the test module according to the grab position and move it to the detection area, and collect the light and shadow position of the test module in the detection area;

[0012] Step 5: When the light and shadow position coincides with the detection area, lower the test module into the detection area to correct the placement state, and input the preset debugging information into the test module to synchronously collect and record the output information of the test module.

[0013] By adopting the above technical solution, the test modules in the loading area can be automatically captured, assembled, tested, and recorded, realizing fully automated product assembly, inspection, and recording, saving manpower, and improving work efficiency and the accuracy of data recording.

[0014] Optionally, in step 2, the steps before the test module reaches the loading area also include:

[0015] Step 20: When the test module moves to the preset scanning area, it collects the abnormal spacing in the abnormal area. The scanning area includes the qualified area and the abnormal areas located on both sides of the qualified area.

[0016] Step 21: If the abnormal spacing is less than the preset baseline spacing, then follow the preset movement vector of the test module to perform a horizontal scan to obtain the horizontal distance detection value and the horizontal scan angle.

[0017] Step 22: Obtain the distance reference value based on the sweep angle, and compare the difference between the distance detection value and the distance reference value under the same sweep angle value. Define the distance detection value corresponding to the difference as the abnormal distance value. Calculate the push vector based on the comparison relationship between the position of the qualified area and the abnormal distance value, and obtain the trigger information when the test module enters the preset push area.

[0018] Step 23: Push and reset the test module using the push vector according to the trigger information.

[0019] By adopting the above technical solution, when the test module moves to the scanning area, the abnormal distance is obtained by scanning the abnormal area in the scanning area. Combined with the difference calculated by the horizontal scanning, the pushing vector of the test module can be obtained. When the test module enters the pushing area, the pushing vector is transmitted to the pushing area, and the test module is reset according to the pushing vector.

[0020] Optionally, in step 23, the step of the test module entering the pushing area and pushing the test module according to the pushing vector further includes:

[0021] Step 230: Obtain the sensing information triggered when the test module passes through the pushing area and the movement vector of the test module;

[0022] Step 231: When the sensing information matches the preset benchmark sensing information, collect the product model of the test module;

[0023] Step 232: Determine the air blowing point, air blowing force, and product weight based on the product model;

[0024] Step 233: Determine the frictional resistance based on the product weight and the conveyor belt friction coefficient, and obtain the pushing force based on the blowing force and the frictional resistance;

[0025] Step 234: Follow the blowing point according to the movement vector of the test module. When the test module moves laterally according to the pushing speed, the blowing point follows the pushing vector to complete the synchronous lateral displacement. After the lateral movement is completed, the wind force is controlled according to the movement vector to maintain the blowing force towards the blowing point until it leaves the pushing area.

[0026] By adopting the above technical solution, when the test module enters the pushing area, the product model of the test module is collected in advance. The product model can reveal the basic information of the product. Based on the product information, the center of gravity of the test module can be determined. The center of gravity is the blowing point. At the same time as the test module resets, the blowing point must be accurately aligned with the center of gravity of the module and move synchronously with the movement of the test module to ensure that the force is balanced during pushing and avoid tilting or deviation, thus providing stability for the test module in the pushing area.

[0027] Optionally, in step 234, the steps preceding the synchronous movement of the blowing point following the push vector further include:

[0028] Step 2340: Adjust the thrust vector to maintain the preset thrust speed;

[0029] Step 2341: Determine the steady point of wind pressure based on the corrected thrust vector and thrust velocity;

[0030] Step 2342: The stable point synchronously follows the movement vector and the push vector;

[0031] Step 2343: When the thrust vector disappears, the wind pressure moves from the stable point to the blowing point;

[0032] Step 2344: When the test module moves laterally according to the pushing speed, the blowing point is moved to the stable point simultaneously, and the synchronous lateral displacement is completed at the stable point. After the lateral movement is completed, it returns from the stable point to the blowing point until it exits the pushing area.

[0033] By adopting the above technical solution, the test module moves laterally when it is pushed in the pushing area. At this time, the center of gravity of the test module moves to the stable point. While the test module moves laterally, the air pressure point is changed to the stable point and moves laterally and vertically in sync with the test module. This prevents the test module from being overturned when it is pushed, thus enhancing the stability of the test module during movement. When the test module finishes moving laterally, the air pressure point is transferred from the stable point to the air pressure point until the test module moves outside the pushing area and stops blowing air.

[0034] Optionally, after step 234, the steps following the test module passing through the push area also include:

[0035] Step 235: Obtain the sensing information triggered when the test module passes through the preset adjustment area, and receive the sensing information to output a calibration command;

[0036] Step 236: Generate a preset calibration matrix according to the calibration instructions and transmit it to the adjustment area, and obtain the calibration information on the calibration matrix;

[0037] Step 237: When the calibration information is triggered, the control test module stops moving and collects position information;

[0038] Step 2380: When the position information matches the preset reference position information, control the test module to move to the loading area;

[0039] Step 2381: When the location information is inconsistent with the preset reference location information, calculate the difference between the location information and the preset reference location information and define it as the adjustment coordinate;

[0040] Step 239: Determine the adjustment parameters based on the adjustment coordinates, and adjust the test module according to the adjustment parameters until the position information is consistent with the preset reference position information.

[0041] By adopting the above technical solution, when the test module enters the adjustment area, a sensing signal is triggered, and a calibration matrix is ​​generated at the bottom of the adjustment area. The test module enters the calibration matrix and blocks the calibration signal triggered on the calibration matrix, causing the test module to stop moving. The position information refers to the calibration signal triggered by the blockage. The reference position information is consistent with the calibration matrix, and the test module is adjusted by operating the adjustment line according to the difference between the two.

[0042] Optionally, in step 239, the steps in adjusting the test module according to the adjustment parameters control adjustment line further include:

[0043] Step 2390: Divide the reference position into an adjustment region and a stable region based on the adjustment coordinates, collect calibration information within the adjustment region, and form an adjustment surface;

[0044] Step 2391: Determine the angle value of the adjustment area based on the adjustment surface and adjustment coordinates, and obtain the minimum adjustment angle from the angle values;

[0045] Step 2392: Determine the contact surface closest to the position information based on the minimum adjustment angle, and control the adjustment line to move onto the contact surface;

[0046] Step 2393: Determine the adjustment parameters based on the minimum adjustment angle and adjustment coordinates, and adjust the test module according to the adjustment parameters until the position information is consistent with the preset reference position information.

[0047] By adopting the above technical solution, the reference position can be divided into an adjustment area and a stable area according to the adjustment coordinates. The adjustment area is the area not covered by the test module, and the stable area is the area covered by the test module. The adjustment areas are integrated to form an adjustment surface. The minimum angle in the adjustment surface can be found based on the adjustment surface. One side of the minimum angle is on the test module, and the other side is on the calibration matrix. The edge on the test module corresponds to the surface on which the adjustment line needs to adjust the test module, which is the contact surface. Finally, the adjustment line is moved to the contact surface and clamped, and the test module is rotated and adjusted until the test module completely covers the calibration matrix.

[0048] Optionally, in step 2393, the step of adjusting the test module according to the adjustment parameter control line further includes:

[0049] Step 23930: If the test module is still inconsistent with the reference position information after adjustment, determine the high control position and low control position of the adjustment line on the test module based on the product model;

[0050] Step 23931: Determine the adjustment force of the adjustment line according to the preset recovery position;

[0051] Step 23932: Move the adjustment line to the high control position and the low control position respectively according to the adjustment force, and flip the test module to the recycling position;

[0052] Step 23933: Control the test module to continue moving to the loading area.

[0053] If the test module is still not aligned with the reference position after the adjustment line is adjusted, the test module may be placed with its top and bottom reversed. In this case, the test module can be clamped by the adjustment line and thrown to the recovery position.

[0054] Secondly, the present invention provides a battery sensor detection device, which adopts the following technical solution:

[0055] A battery sensor detection device, which uses any of the above-mentioned battery sensor detection methods for detection, includes a current generator, a test board and a host. The test board is provided with connecting guide plates and fixed by screws. The test board is provided with a base, an inductor, a resistor and a terminal block of a fixed test module connected in sequence through the connecting guide plates.

[0056] The current generator is connected to the terminal block on the test board. The connecting strip connects and conducts the base and the resistor. The connecting strip connects and conducts the resistor and the inductor. The connecting strip connects and conducts the inductor and the terminal block. The connecting strip connects and conducts the terminal block and the resistor. The test module is connected to the host computer by a wire.

[0057] The current generator provides an adjustable electrical signal for the entire detection circuit and connects to the test module via a connecting plate. Finally, the test information from the test module is connected to the host computer via wires.

[0058] By adopting the above technical solution, an adjustable electrical signal, including voltage and current parameters, is provided to the circuit on the test board through a current generator. The test module is tested by different electrical signals, and the test data is imported into the host, realizing an automated testing process and improving work efficiency.

[0059] Optionally, the test plate is provided with adjustable lifting support feet, the support feet including a nut rotatably connected to the test plate, a toothed cylinder snapped and fixed with the nut, a sleeve meshing with the toothed cylinder, and a driven shaft for rotation and lifting.

[0060] The gear cylinder includes a connecting part and a retaining tooth part fixed on the connecting part, and a limiting ring is provided on the inner wall of the connecting part;

[0061] The top of the connecting part is provided with a fixing block that engages with the rotating cap. The rotating cap is provided with a fixing groove for receiving the fixing block. The inner edge of the rotating cap is provided with a tooth groove for the locking teeth to be inserted and engaged. The rotating cap is provided with a deformation groove.

[0062] A toothed ring that meshes with the toothed cylinder is provided on the upper part of the inner wall of the sleeve, and a connecting ball is provided on the lower part of the inner wall of the sleeve;

[0063] The driven shaft includes a sliding part that is slidably connected to the limiting ring, a rotating part that is fixed outside the sliding part, a cap that is engaged with the sliding part and limited by the limiting ring, and a pad that fixes the sliding part and the rotating part.

[0064] When the cap and the limiting ring mutually limit each other, the lower end of the connecting part is located between the sliding part and the rotating part;

[0065] The outer wall of the sliding part is provided with a groove that mates with the connecting ball.

[0066] By adopting the above technical solution, rotating the cap embedded in the test plate causes the toothed cylinder fixed to the cap to rotate together. The toothed cylinder drives the sleeve to rotate together through the toothed part. The connecting ball on the sleeve, in conjunction with the sliding groove on the sliding part, can control the driven shaft to slide up and down in the toothed cylinder, thereby controlling the support foot to slide up and down.

[0067] Optionally, the base includes a housing, a base connected to the housing, a locking block disposed inside the housing for locking the test module, a spring installed between the housing and the locking block, and an unlocking switch;

[0068] The unlocking switch includes an unlocking block and an unlocking rod fixed to the unlocking block. The housing has a switch slot for the unlocking rod to extend out. The locking block has a locking slot for the locking test module. The unlocking block is located between the locking blocks, and the contact surface between the locking block and the unlocking block is an inclined guide surface.

[0069] The test module is snapped into the locking slot on the locking block. The unlocking rod drives the unlocking block to move downward, causing the locking block to move to both sides to unlock the locking block from locking the test module. The deformed spring pushes the locking blocks at both ends to converge, and the locking blocks on both sides squeeze the unlocking block to move upward, returning to the initial state.

[0070] By employing the above technical solution, the test module is fixed using locking blocks. The spring force causes the two locking blocks to tend to converge towards the center, thus maintaining the locked state of the test module. Pressing down the unlocking lever causes the unlocking blocks to slide downwards, widening the distance between the locking blocks to unlock the test module. When the unlocking lever is released, the spring's restoring force pushes the locking blocks on both sides together, squeezing the unlocking blocks back to their original position. This improves the efficiency of locking and unlocking the test module.

[0071] In summary, this application includes at least one of the following beneficial technical effects:

[0072] A battery sensor detection method enables fully automated transmission, installation, and data detection and recording of test modules.

[0073] The test board can be installed on complex terrain thanks to its height-adjustable support feet.

[0074] The test module is snapped onto the base, and the unlocking lever drives the unlocking block to unlock the test module, enabling quick installation and removal of the test module. Attached Figure Description

[0075] Figure 1 This is a schematic diagram of a battery sensor detection device;

[0076] Figure 2 This is a schematic diagram of the test board;

[0077] Figure 3 This is a structural diagram of the support leg;

[0078] Figure 4 This is a structural diagram of the test module and the base;

[0079] Figure 5 This is a schematic diagram of a detection method using a battery sensor;

[0080] Figure 6 This is a schematic diagram of the test module passing through the scanned area;

[0081] Figure 7 This is a schematic diagram of the test module passing through the push area;

[0082] Figure 8 This is a schematic diagram of the test module after the adjustment area;

[0083] Figure 9 This is a dynamic flowchart of the test module.

[0084] The parts referred to by the numbers in the above attached figures are as follows: 1. Test board; 10. Test module; 100. Socket; 101. Snap-fit ​​block; 11. Base; 110. Housing; 1100. Switch slot; 111. Base; 112. Locking block; 1120. Locking slot; 113. Spring; 114. Unlocking switch; 1140. Unlocking block; 1141. Unlocking rod; 115. Angled guide surface; 12. Terminal block; 13. Inductor; 14. Resistor; 15. Support foot; 150. Rotary cap; 1500. Fixing slot; 1501. Gear groove; 1502. Deformation groove; 1503. Raised ring; 151. Gear cylinder; 1510. Connecting part; 151 1. Gear section; 1512. Limiting ring; 1513. Fixing block; 152. Sleeve; 1520. Gear ring; 1521. Connecting ball; 153. Driven shaft; 1530. Sliding part; 15300. Snap ring; 1531. Rotating part; 15310. Slide groove; 1532. Snap cap; 15320. Snap groove; 1533. Foot pad; 16. Connecting guide plate; 17. Through hole; 2. Current generator; 3. Main unit; 4. Wire; 5. Detection area; 6. Feeding area; 60. Gripping position; 7. Scanning area; 70. Qualified area; 71. Abnormal area; 8. Pushing area; 9. Adjustment area; 90. Retrieval position; 91. Calibration matrix. Detailed Implementation

[0085] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0086] This invention discloses a detection device for a battery sensor.

[0087] Reference Figure 1 The current generator 2 is connected to the test board 1 by wire 4. The test board 1 is fitted with a test module 10, and the test module 10 is connected to the host 3 by wire 4.

[0088] Reference Figure 1 and Figure 2 The connecting guide plate 16 is fixed to the test plate 1 by bolts. The resistor 14 is sleeved on the bolts and connected to the connecting guide plate 16. The connecting guide plate 16 connects the wavy inductor 13, the arc resistor 14, the terminal 12 and the base 11 in series.

[0089] The current generator 2 outputs an adjustable electrical signal (including current and voltage parameters) to the detection circuit. By adjusting the electrical signal parameters, the test module 10 is tested under multiple operating conditions. Different parameters correspond to different test results. The electrical signal emitted by the current generator 2 is connected to the terminal 12 on the test board 1 through the wire 4, and then connected to the inductor 13 and the resistor 14 through the connecting plate 16. Finally, it is connected to the base 11 that fixes the test module 10. When the circuit is on, the test module 10 is tested. The wire 4 is inserted into the socket 100 connecting the test module 10 and the host 3, and the data is recorded in the host 3 connected by the wire 4.

[0090] The test plate 1 has through holes 17 at each of its four corners, and the support feet 15 are fastened to the through holes 17 by the screw caps 150 at their upper ends.

[0091] Reference Figure 3 The support foot 15 includes a swivel cap 150 rotatably connected to the test plate 1, a toothed cylinder 151 snapped and fixed to the swivel cap 150, a sleeve 152 meshing with the toothed cylinder 151, and a driven shaft 153 that rotates and lifts. The deformation groove 1502 opened on the swivel cap 150 can make the swivel cap 150 pinched, deformed and tightened. A raised ring 1503 is ultrasonically welded to the bottom edge of the swivel cap 150 and placed in the through hole 17 of the test plate for snapping and fixing.

[0092] The locking tooth 1511 and the connecting part 1510 are welded together. A limiting ring 1512 is welded on the inner wall of the connecting part 1510. The fixing groove 1500 and the fixing block 1513 are inserted and fixed. The tooth groove 1501 and the upper end of the locking tooth 1511 are meshed and connected to each other. The limiting ring 1512 and the locking cap 1532 on the top of the driven shaft 153 mutually limit each other.

[0093] A toothed ring 1520 is welded to the upper end of the inner wall of the sleeve 152 and engages with the lower end of the toothed part 1511. A connecting ball 1521 is welded to the lower end of the inner wall of the sleeve 152. The connecting ball 1521 slides against the groove 15310 of the sliding part 1530 on the driven shaft 153, which enables the driven shaft 153 to rotate and slide up and down.

[0094] The foot piece 1533 at the bottom of the driven shaft 153 prevents the sleeve 152 from falling off. The foot piece 1533 welds and fixes the sliding part 1530 and the rotating part 1531 together. The sliding part 1530 is a solid cylinder, and the rotating part 1531 is an annular cylinder located outside the sliding part 1530. A gap is left between the rotating part 1531 and the sliding part 1530 for the placement of the connecting part 1510 during sliding. The retaining ring 15300 at the top of the sliding part 1530 engages and is fixed with the retaining groove 15320 on the retaining cap 1532.

[0095] By squeezing the cap 150 to deform it, the upper convex ring 1503 is inserted into the through hole 17 of the test plate 1. The elastic restoring force of the cap 150 is used to fix it. The clamping cap 1532 is placed in the connecting part 1510 and above the limiting ring 1512. The gear cylinder 151 is inserted from below the through hole 17 of the test plate 1 and fixed with the cap 150. Then the sleeve 152 is inserted from below the gear cylinder 151. Finally, the driven shaft 153 is inserted from below into the sleeve 152 and the gear cylinder 151 and is engaged and fixed with the clamping cap 1532 inside the gear cylinder 151. At this time, the connecting ball 1521 is inserted into the slide groove 15310 to complete the installation of the support foot 15.

[0096] Reference Figure 4 The housing 110 is fixedly connected to the base 111. The housing 110 has a hole for the connecting guide plate 16 to pass through. The locking blocks 112 are symmetrically placed and slidably installed in the housing 110. A spring 113 is placed between the locking blocks 112 and the housing 110. An opposing inclined guide surface 115 is provided between the two locking blocks 112. An unlocking switch 114 is slidably connected on the inclined guide surface 115. The unlocking switch 114 includes an unlocking block 1140 and an unlocking rod 1141. The unlocking rod 1141 is located between the unlocking blocks 1140. The housing 110 has a switch groove 1100 for the unlocking rod 1141 to extend and slide.

[0097] The locking block 112 has a locking groove 1120 for engaging the test module 10. The engaging block 101 at the bottom of the test module 10 moves downward and engages and is fixed in the locking groove 1120. The unlocking block 1140 is placed between the locking blocks 112. The inclined guide surface 115 of the unlocking block 1140 slides and fits against the inclined guide surface 115 of the locking block 112, and the inclined guide surface 115 of the locking block 112 is larger than the inclined guide surface 115 of the unlocking block 1140.

[0098] Pressing down the unlocking lever 1141 causes the unlocking block 1140 to move downward along the inclined guide surface 115 of the locking block 112, squeezing the locking block 112 to both sides to unlock the locking block 112 from locking the test module 10; when the unlocking lever 1141 is stopped, the elastic force of the compressed and deformed spring 113 causes the two locking blocks 112 to tend to converge towards the middle, thereby squeezing the unlocking block 1140 along the inclined guide surface 115 to the upper end of the inclined guide surface 115, thus restoring the lock.

[0099] Based on the same inventive concept, embodiments of the present invention provide a detection method for a battery sensor.

[0100] Reference Figure 5 A method for detecting a battery sensor includes the following steps:

[0101] Step 1: Obtain the placement status of the preset test module 10 in the preset detection area 5, and output the request command.

[0102] The detection area 5 corresponds to the base 11 area on the test board 1. The placement state of the test module 10 includes a placed state and an unplaced state. The placed state means that the test module 10 has been placed in the detection area 5, and the unplaced state means that the test module 10 has not been placed in the detection area 5. The request command refers to the command output by the weighing sensor below the detection area 5 to control the robotic arm to move above the loading area 6.

[0103] The weight in the detection area 5 is sensed by the gravity sensor below the detection area 5 to obtain the placement status of the test module 10. When the detection area 5 is in an unplaced state, a request command is sent from the weighing sensor below the detection area 5; when the detection area 5 is in a placed state, no request command is output.

[0104] Step 2: When the request command matches the preset operation command, collect the weight value in the preset loading area 6 and the trigger position corresponding to the weight value.

[0105] The operation command refers to the command output when the detection area 5 is in an unplaced state. The loading area 6 refers to the area where the robotic arm grasps the test module 10. The weight value refers to the weight detected by the load cell under the loading area 6. The trigger position refers to the position of the load cell when it detects the test module 10.

[0106] When the request command matches the preset operation command, the detection area 5 is in an unplaced state, and the load cell under the loading area 6 detects the weight on the conveyor belt and records the position where the load cell is triggered; when the request command does not match the preset operation command, the detection area 5 is in a placed state, and at this time the weight value in the loading area 6 and the trigger position corresponding to the weight value are not obtained.

[0107] Step 3: When the weight value matches the preset baseline weight value, define the trigger position as gripping position 60.

[0108] The baseline weight is the pre-entered weight information of the test module 10, and the gripping position is the position where the robotic arm grips the test module 10.

[0109] When the weighing sensor detects that the weight on the conveyor belt matches the preset weight, it determines that the object on the conveyor belt is the test module 10, and the trigger position of the test module 10 is identified as the gripping position 60. If the weight of the test module 10 does not match the preset weight, it is possible that the object on the conveyor belt is not the test module 10 or that the test module 10 is not placed there. In this case, the trigger position is not identified as the gripping position 60.

[0110] Step 4: Grab the test module 10 according to the grab position 60 and move it to the detection area 5, and collect the light and shadow position of the test module 10 in the detection area 5.

[0111] The position of light and shadow refers to the projection position of the test module 10 in the vertical direction in the detection area 5.

[0112] A robotic arm grasps the test module 10 and moves it above the detection area 5. A constantly lit lamp is installed above the detection area 5. When the robotic arm performs a grasping action according to the coordinates of the grasping point and moves above the detection area 5, the height of the lamp remains unchanged, and the height at which the robotic arm grasps the test module 10 and moves it to the detection area 5 also remains unchanged. The test module 10 projects an image under the lamp, which is collected by the light sensor in the detection area 5. The light sensor array is composed of light sensors, and the position of the light and shadow of the test module 10 is obtained from the occlusion of the test module 10 when it is grasped and moved by the robotic arm. The coordinate information of the light sensor when it is occluded by the test module 10 is the movement coordinate of the test module 10.

[0113] Step 5: When the light and shadow position coincides with the detection area 5, the test module 10 is lowered into the detection area 5 to correct the placement state, and the output information of the test module 10 is collected and recorded simultaneously with the preset debugging information input into the test module 10.

[0114] The debugging information refers to the specific voltage signal generated and output to the test module 10 by adjusting the current generator 2. The voltage signal is set by the staff according to the actual situation, which will not be elaborated here.

[0115] The projection movement coordinates of the test module 10 are completely aligned with the coordinates of the light sensor on the detection area 5, that is, the test module 10 is aligned with the base 11. The robotic arm slowly lowers the module to ensure that the module is completely attached to the detection table. The installation of the test module 10 is detected by the gravity sensor under the detection area 5, and the placement state is corrected to "placed state". Then, the debugging information is input to the test module 10 through the current generator 2, and the output information of the test module 10 is collected and recorded simultaneously.

[0116] Reference Figure 6 Before the test module 10 reaches the feeding area 6, the following steps are also included:

[0117] Step 20: When the test module 10 moves to the scanning area 7, the scanning area 7 includes the qualified area 70 and the abnormal area 71 located on both sides of the qualified area 70, and the abnormal spacing in the abnormal area 71 is collected.

[0118] Scanning area 7 is the "pre-positioning detection area" upstream of the conveyor belt of test module 10 before entering the loading area 6. The qualified area 70 is the "standard position range" preset by the test module within scanning area 7. The abnormal area 71 refers to the remaining area within scanning area 7 excluding the qualified area 70, and is divided into a "left abnormal area" and a "right abnormal area," located on either side of the qualified area 70. The abnormal distance is the vertical distance value of the laser rangefinder sensor within the horizontally scanned abnormal area 71 of the test module 10.

[0119] When the test module 10 moves with the conveyor belt to the preset scanning area 7, the laser ranging sensor above the laser scanning area 7 is activated to scan the two abnormal areas 71 along the conveyor belt and collect the abnormal distances along the scanning path. Laser ranging sensors are installed in the abnormal areas 71 on both sides of the qualified area 70.

[0120] Step 21: If the abnormal spacing is less than the preset reference spacing, then follow the preset movement vector of the test module 10 to perform a horizontal scan to obtain the horizontal distance detection value and the horizontal scan angle.

[0121] The reference spacing is the vertical distance from the laser rangefinder to the conveyor belt surface. The movement vector refers to the moving speed of the test module 10 in the forward direction of the conveyor belt. The distance detection value refers to the distance of the laser emitted beam in the abnormal area 71 by the laser emitted beam acquisition test module 10. The sweep angle refers to the scanning angle range of the laser emitted beam and is set to a constant value.

[0122] If the abnormal distance is less than the reference distance, it indicates that the test module 10 is located in the abnormal area 71. The laser rangefinder moves synchronously with the movement vector of the test module 10 and performs a horizontal scan to obtain the horizontal distance detection value and the horizontal scanning angle. The laser rangefinder is mounted on a slide at the top of the scanning area 7 and is driven by a motor.

[0123] Assuming a reference spacing of 100cm, if test module 10 is located in abnormal region 71, and the vertical distance from the laser to the surface of test module 10 is 40cm, then the abnormal spacing = reference spacing - distance from the laser to the module = 100cm - 40cm = 60cm. The range of abnormal spacing is collected based on the horizontal scanning angle and scanning distance of the laser emission. If the abnormal spacing is 0, then there is no object in abnormal region 71, and test module 10 is located in qualified region 70, requiring no adjustment or output position.

[0124] Step 22: Obtain the distance reference value based on the sweep angle, and compare the difference between the distance detection value and the distance reference value under the same sweep angle value. Define the distance detection value corresponding to the difference as the abnormal distance value. Calculate the push vector based on the comparison relationship between the position of the qualified area 70 and the abnormal distance value, and obtain the trigger information when the test module 10 enters the preset push area 8.

[0125] The distance reference value refers to the distance of the laser beam when the test module 10 is not in the abnormal region 71. The abnormal distance value refers to the distance between the laser beam and the test module 10 when the test module 10 is in the abnormal region 71; the abnormal distance value changes as the test module 10 moves. The push vector refers to the force and direction of the push rod in the push region 8 pushing the test module 10. The push region 8 is the position correction region that the test module 10 enters after the position offset is detected in the scanning region 7. The trigger information refers to the signal sent by the diffuse reflection photoelectric sensor at the entrance of the push region 8 to control the cylinder to push the push rod.

[0126] Different scanning angles yield different distance reference values. The horizontal sweep angle value is an angle value within a range of horizontal sweep angles. For example, a horizontal sweep angle of 90° can be any degree between 0° and 90°. Assuming the horizontal sweep angle is 90°, the distance detection value is the distance from the laser beam emitted to the conveyor belt or test module 10 within the range of 0° to 90°, and the distance reference value is the distance from the laser beam emitted to the conveyor belt within the range of 0° to 90°.

[0127] The push rod is propelled by a cylinder, and the pushing distance of the push rod is fixed to the distance to reach the qualified area. When the test module 10 is not pushed, it is under no-load force, and the force is small; when the test module 10 is pushed, it is under load force, and the force is large.

[0128] When the abnormal distance value is 0, that is, there is no test module 10 in the abnormal area 71, the push rod is under no-load force; when the abnormal distance value is greater than 0, that is, there is a test module 10 in the abnormal area 71, the push rod switches to load force until it is pushed to the qualified area 70.

[0129] The boundary between the qualified area 70 and the abnormal area 71 is set to 0. The output coordinates in one direction are positive, and those in the other direction are negative. Combining the recorded output coordinates and the sweep angle, the specific position of the test module 10 on the conveyor belt is calculated. Based on the sweep angle, a theoretical distance benchmark value is calculated using trigonometric functions. The difference between the detected value and the benchmark value is compared, and this difference is taken as the abnormal distance value, generating a push vector (direction: output coordinate direction; magnitude: abnormal distance value + compensation amount). A diffuse reflection photoelectric sensor is installed at the entrance of the push area 8. When the module is blocked, it outputs a trigger signal, synchronizing the calculated information to the push mechanism.

[0130] Step 23: Push and reset the test module 10 according to the trigger information using the push vector.

[0131] Pushing mechanisms are set on both sides of the pushing area 8. After receiving the trigger signal, they output thrust according to the pushing vector. For example, when the vector value is negative, the left push rod pushes; when the vector value is positive, the right push rod pushes. The push rod pushes the test module 10 until it reaches the calculated distance and stops retracting.

[0132] Reference Figure 7 The steps for test module 10 to enter push region 8 and push test module 10 according to push vector also include the following steps:

[0133] Step 230: Obtain the sensing information triggered when the test module 10 passes through the pushing area 8 and the movement vector of the test module 10.

[0134] The sensing information refers to the electrical signal output by the laser sensor located at the edge of the obstruction area after the test module 10 enters the pushing area 8. The movement vector refers to the forward movement speed of the test module 10 within the pushing area 8 along the conveyor belt.

[0135] When entering the pushing area 8, the sensor triggers a sensing signal, outputs a sensing signal and obtains the movement vector of the test module 10. The movement vector is the forward speed of the test module 10, that is, the conveyor speed of the conveyor belt.

[0136] Step 231: When the sensing information is consistent with the preset reference sensing information, the product model of the test module 10 is collected.

[0137] The reference sensing information refers to the electrical signal that triggers the laser sensor when the test module 10 enters the pushing area 8. The product model refers to the product-related information recorded in advance, including specific data such as shape and quality, which is obtained by scanning the QR code on the outer packaging of the test module 10 beforehand.

[0138] When the sensing information matches the reference sensing information, the product model of the test module 10 is extracted to provide a basis for subsequent customized parameters.

[0139] Step 232: Determine the air blowing point, air blowing force, and product weight based on the product model.

[0140] The blowing point refers to the center of gravity point determined based on the shape and weight of the test module 10. The blowing force refers to the airflow force from the blowing nozzle towards the test module 10. The product weight refers to the overall weight of the test module 10.

[0141] A servo slide is installed above the pushing area 8. A blower nozzle is installed on the slide and drives it to slide and blow air. According to the collected product model, the test module 10 is assumed to be placed on the coordinate axis. The left edge coordinate of the test module 10 in the x-axis direction is set as x1 (smaller value) and the right edge coordinate is set as x2 (larger value) by laser scanning. The length of the test module 10 in the x-axis direction is Lx=x2-x1. The front edge coordinate of the test module 10 in the y-axis direction is set as y1, the length of the test module 10 in the y-axis direction is Ly=y2-y1, and the rear edge coordinate is set as y2. According to the centroid formula, Gx=(x1+x2) / 2, Gy=(y1+y2) / 2, the position coordinate of the blower point can be obtained. (Gx, Gy) is the centroid coordinate. Alternatively, the position of the blower point can be preset when the product model is entered, and the blowing force can be determined according to the position of the blower point.

[0142] Step 233: Determine the frictional resistance based on the product weight and the friction coefficient of the conveyor belt, and obtain the pushing force based on the air blowing force and the frictional resistance.

[0143] The conveyor belt friction coefficient refers to the friction coefficient of the pre-recorded test module 10 as it moves on the conveyor belt. The pushing force refers to the force with which the push rod pushes the test module 10. Different test modules 10 have different weights, resulting in different blowing forces and frictional resistances, and therefore different pushing forces.

[0144] The calculation process is as follows:

[0145] The horizontal forces include the pushing force of the push rod, the blowing force, and the sliding friction force, with a total external force F. 总 For: F 总x =F 推 +F 风 -ƒ, where F 总x For the total external force, F 推 For the push rod, F 风 ƒ represents the force of the blowing air, and ƒ represents the frictional resistance.

[0146] ƒ=µmg, F 总 =F 推 +F 风 -ƒ;

[0147] If F 总 >0: The object accelerates along the positive x-axis;

[0148] If F 总 =0: The object moves at a constant speed;

[0149] If F 总 <0: The object decelerates or comes to a stop;

[0150] The point of contact between the object and the conveyor belt is the fulcrum of the torque, and the total torque M is...总 It consists of three parts:

[0151] 1. The torque M generated by the push rod's pushing force 推 M 推 =F 推 *h 推 (Clockwise is positive, the object is tilted forward);

[0152] 2. The torque M generated by the blowing force 风 M 风 =F 风 *h 风 (When the direction is the same as that of the push rod, the direction of the torque is the same);

[0153] 3. The anti-tilting moment M generated by gravity 重 M 重 =mg*△x (△x is the horizontal distance from the static center of gravity to the fulcrum, and is negative when counterclockwise, which hinders tilting).

[0154] Step 234: Follow the blowing point according to the movement vector of the test module 10. When the test module 10 moves laterally according to the pushing speed, the blowing point follows the pushing vector to complete the synchronous lateral displacement. After the lateral movement is completed, the wind force is controlled according to the movement vector to maintain the blowing force towards the blowing point until it leaves the pushing area 8.

[0155] The pushing speed refers to the pre-set speed setting of the push rod pushing the test module 10.

[0156] The test module 10 remains stable at its center of gravity under constant wind pressure within the propulsion zone 8. The wind pressure moves synchronously with the test module 10, maintaining synchronous lateral and longitudinal following as the test module 10 moves laterally, ensuring that the wind pressure always blows on the center of the test module 10 until the test module 10 leaves the propulsion zone 8.

[0157] Step 2340: Adjust the thrust vector to maintain the preset thrust speed.

[0158] Different pushing parameters are determined based on different pushing forces, and the pushing force is increased or decreased to maintain the originally set pushing speed.

[0159] Step 2341: Determine the stable point of wind pressure based on the corrected thrust vector and thrust velocity.

[0160] The stable point refers to the position of the center of gravity of the test module 10 when it is pushed by the push rod to make lateral movement.

[0161] The calculation process is as follows:

[0162] Total torque balance formula (when an object is flipped, the total torque causes the object to tilt at a small angle). θ ):

[0163] M 总 =M 推 +M 风 -M 重 =0

[0164] mg*(G 0x -x 支 )=F 推 h 推 +F 风 h 风

[0165] x 支 Let x be the x-coordinate of the contact point, and x be the x-coordinate when tilted. 支 =G 0x -H´tan θ ,tan θ (The offset of the contact point relative to the static center of gravity)

[0166] When the object only tilts slightly ( θ <10°, tan θ ≈sin θ ≈ θ (in radians), substitute x 支 =G 0x -H θ To the torque balance formula: mg*[G 0x -(G 0x -H θ )]=F 推 h 推 +F 风 h 风 ,

[0167] The angle of inclination is obtained after simplification. θ The calculation formula is as follows: θ =(F 推 h 推 +F 风 h 风 ) / mgH.

[0168] If the tilt angle is too large (e.g.) θ (For angles greater than 45°), the force of the push rod / blowing force should be reduced or the height of the point of application lowered to prevent the object from flipping (critical flipping condition: θ =arctan(G 0x / H)).

[0169] tilt angle θ After generation, the dynamic center of gravity shifts relative to the static center of gravity along the x-axis, with an offset of ΔG = -Hsin θ (The negative sign indicates that the center of gravity shifts in the opposite direction of the tilt). Therefore, the dynamic center of gravity x-axis coordinate is:

[0170] H 动 =G 0x -Hsin θ , combined θ The calculation formula (sin when slightly tilted) θ ≈ θ The final simplified formula is:

[0171] G 动x =G 0x -H(F 推 h 推 +F 风 h 风 ) / mgH

[0172] =G 0x -(F 推 h 推 +F 风 h 风 ) / mg

[0173] =G 0x -Σ(F*h) / mg.

[0174] (Σ(F*h) is the sum of the products of all horizontal external forces and the height of their points of application).

[0175] The known parameters to be substituted are as follows:

[0176] Static centroid coordinates G 0x ;

[0177] The object's mass m;

[0178] Push rod pushing force F 推 ;

[0179] Blowing force F 风 ;

[0180] coefficient of friction µ;

[0181] The height of the push rod is h 推 ;

[0182] The effective height of the blowing point h 风 ;

[0183] Center of gravity height H;

[0184] Acceleration of the center of gravity g;

[0185] The vertical height H' from the center of gravity to the support surface where the contact point is located.

[0186] Step 2342: The stable point synchronously follows the moving vector and the pushing vector.

[0187] The test module 10 is pushed laterally by the push rod and moves vertically on the conveyor belt simultaneously. The position of the wind pressure point moves with the movement of the test module 10, keeping the wind pressure point at a stable point on the test module 10.

[0188] Step 2343: When the thrust vector disappears, the wind pressure moves from the stable point to the blowing point.

[0189] When the push vector disappears, that is, the test module 10 reset ends. The test module 10 does not move laterally, but only moves vertically on the conveyor belt. At this time, there is no pushing force, and the air pressure remains blowing on the center of gravity of the test module 10, that is, the blowing point.

[0190] Step 2344: When the test module 10 moves laterally according to the pushing speed, the blowing point is moved to the stable point simultaneously, and the synchronous lateral displacement is completed at the stable point. After the lateral movement is completed, it returns from the stable point to the blowing point until it exits the pushing area 8.

[0191] The test module 10 remains stable at its center of gravity within the push zone 8, constantly subjected to wind pressure. As the push rod moves the test module 10, its center of gravity shifts to a stable point. The wind pressure moves synchronously with the test module 10, shifting to the stable point and moving laterally. As the test module 10 stops moving laterally, its center of gravity shifts to the blowing point, and the wind pressure moves synchronously from the stable point to the blowing point, ensuring that the wind pressure always blows onto the center of the test module 10 until the test module 10 exits the push zone 8.

[0192] Reference Figure 8 The testing module, after passing through the push area, also includes the following steps:

[0193] Step 235: Obtain the sensing information triggered when the test module 10 passes through the preset adjustment area 9, and receive the sensing information to output a calibration command.

[0194] Adjustment area 9 refers to the further adjustment area after the test module 10 has been adjusted by the push area 8. The sensing information refers to the change in the optical signal generated by the fiber optic sensor at the entrance when the test module 10 enters adjustment area 9, which is converted by the sensor and output as an electrical signal, confirming that the module has entered the area and triggering the subsequent calibration process. The calibration command refers to the signal of the calibration matrix generated by the fiber optic sensor at the top of adjustment area 9 on the conveyor belt after receiving the sensing information.

[0195] An optical fiber sensor is installed above the entrance of adjustment area 9. When the module blocks the optical fiber, i.e., the test module 10 enters adjustment area 9, a calibration signal is generated at the output.

[0196] Step 236: Generate a preset calibration matrix 91 according to the calibration instruction and transmit it to the adjustment area 9, and obtain the calibration information on the calibration matrix 91.

[0197] The calibration matrix 91 refers to the laser grid array projected by the laser calibration system onto the adjustment area 9, which perfectly matches the standard projection contour of the test module 10. The calibration matrix 91 consists of four laser lines, each composed of multiple laser columns. The calibration information refers to the farthest laser line that the test module 10 travels within the calibration matrix 91, reflecting the actual position of the test module 10 within the adjustment area 9.

[0198] After receiving the instruction, the laser calibration system projects the same laser grid matrix as the test module 10 onto the adjustment area 9. The matrix consists of multiple calibration laser columns.

[0199] Step 237: When the calibration information is triggered, the control test module 10 stops moving and collects position information.

[0200] Position information refers to the coordinate data of each laser column in calibration matrix 91 when it is blocked when the test module 10 stops moving.

[0201] When the test module 10 moves and blocks the laser column, it triggers calibration information. At this time, it controls the conveyor belt carrying the test module 10 to stop and collects the trigger signal of the calibration signal when the test module 10 stops. The triggered signal is the position information of the test module 10.

[0202] Step 2380: When the position information is consistent with the preset reference position information, control the test module 10 to move to the loading area 6.

[0203] The reference position information refers to the information that each laser column in the calibration matrix 91 is blocked by the test module 10.

[0204] When the position information of the test module 10 matches that of the calibration matrix 91, the calibration is successful, and the control conveyor belt continues to move upward to the material feeding area 6.

[0205] Step 2381: When the location information is inconsistent with the preset reference location information, calculate the difference between the location information and the preset reference location information and define it as the adjustment coordinate.

[0206] The difference refers to the information in calibration matrix 91 about the laser column not being obscured by test module 10 and the corresponding coordinate data. The adjustment coordinates refer to the deviation between the actual position information of test module 10 and the reference position information, and are coordinate parameters used to guide the precise correction of the adjustment line.

[0207] When the position information of the test module 10 is inconsistent with the calibration matrix 91, the calibration signal triggered by the test module 10 is compared with the one that is not triggered, and the difference between the two is calculated and defined as the adjustment coordinate.

[0208] Step 239: Determine the adjustment parameters based on the adjustment coordinates, and adjust the test module 10 according to the adjustment parameters until the position information is consistent with the preset reference position information.

[0209] The adjustment parameters refer to the coordinate parameters that guide the adjustment line to accurately correct the test module 10 according to the adjustment coordinates.

[0210] The adjustment area 9 is equipped with an adjustment line for adjusting the position of the test module 10. A movable slide rail is located at the top of the adjustment area 9, and two multi-axis robotic arms are mounted on the slide rail. Two support rods extend from the ends of the robotic arms, and the adjustment line connects the support rods. The motion parameters of the adjustment line (such as clamping force and movement distance) are determined based on the adjustment coordinates, and the adjustment line is controlled to push the test module 10 until the test module 10 completely obscures all calibration information of the calibration matrix 91.

[0211] Step 2390: Divide the reference position into an adjustment region and a stable region based on the adjustment coordinates, collect calibration information within the adjustment region, and form an adjustment surface.

[0212] The adjustment region refers to the area in calibration matrix 91 where the laser column is not obscured by test module 10. The stable region refers to the area in calibration matrix 91 where the laser column is obscured by test module 10. The adjustment surface refers to the two-dimensional data plane formed by quantifying the position coordinates of the laser column in the adjustment region.

[0213] When the test module 10 and the calibration matrix 91 are not aligned, the position information and calibration information form a difference. The difference area is the adjustment area, and the triggered calibration information area is the stable area. The calibration information in the adjustment area is collected and defined as the adjustment surface.

[0214] Step 2391: Determine the angle value of the adjustment area based on the adjustment surface and adjustment coordinates, and obtain the minimum adjustment angle from the angle value.

[0215] Angle value refers to the angle parameter calculated using inverse trigonometric functions based on the right-angled triangle geometry of the adjustment surface. Minimum angle value refers to the smallest angle parameter selected from multiple angle values ​​calculated from the adjustment surface; it is the minimum rotation threshold for the adjustment line to perform correction actions.

[0216] The side length of the adjustment surface can be obtained from the distance between the lasers on the adjustment surface. The adjustment surface is a right triangle. The angle value in the adjustment surface can be calculated by using the tangent formula of the inverse trigonometric function (tanα = hypotenuse / adjacent side), and the minimum adjustment angle can be obtained by comparison.

[0217] Step 2392: Determine the contact surface closest to the position information based on the minimum adjustment angle, and control the adjustment line to move to the contact surface.

[0218] The contact surface refers to a specific surface on the surface of the test module 10 that matches the minimum angle value, and is the direct surface on which the adjustment line applies the corrective force.

[0219] The contact surfaces are the two surfaces on the test module 10 that are in contact with the minimum adjustment angle on the adjustment surface. The multi-axis robotic arm is controlled to move the adjustment line to a surface parallel to the contact surfaces and then clamp it. When the minimum angle values ​​are the same, i.e., the minimum angle value is 45°, any surface can be chosen as the contact surface.

[0220] Step 2393: Determine the adjustment parameters based on the adjustment angle and adjustment coordinates, and adjust the test module 10 according to the adjustment parameters until the position information is consistent with the preset reference position information.

[0221] The adjustment parameters refer to the set of specific technical parameters used to control the adjustment line to perform correction actions, calculated based on the minimum adjustment angle and adjustment coordinates.

[0222] Then, clamp and adjust the test module 10 according to the angle control line until the test module 10 is consistent with the calibration matrix 91.

[0223] Step 23930: If the test module 10 is still inconsistent with the reference position information after adjustment, determine the high control position and low control position of the adjustment line on the test module 10 based on the product model.

[0224] The high control position refers to the clamping position located in the upper region of the test module 10, as determined by the product model of the test module 10. It is the upper fulcrum where the upward and outward flipping force is applied to the adjustment line. The low control position refers to the clamping position located in the lower region of the test module 10, as determined by the product model of the test module 10. It is the lower fulcrum where the downward and inward flipping force is applied to the adjustment line.

[0225] If the test module 10 is still inconsistent with the calibration matrix 91 after adjustment by the adjustment line, the high control position and low control position of the adjustment line on the test module 10 are determined according to the product model set before the start. The product model includes the three-dimensional data of the product, namely the length, width and height data. The high control position is located in the upper middle of the test module 10 and does not exceed the height of the test module 10; the low control position is located in the lower middle of the product and does not contact the conveyor belt.

[0226] Step 23931: Determine the adjustment force of the adjustment line according to the preset recovery position 90.

[0227] The recycling location 90 refers to the area on the side of the adjustment area 9 used to store the unqualified test modules 10. It is a dedicated storage or rework temporary storage area for unqualified modules.

[0228] The distance from the product position to the recycling position 90 can be determined based on the recycling position 90. Different distances correspond to different forces. The adjustment force at this time is the force of the adjustment line of the high control position.

[0229] Step 23932: Move the adjustment line to the high control position and the low control position respectively according to the adjustment force, and flip the test module 10 to the retraction position 90.

[0230] One side of the adjustment line moves to the high control position of the contact surface, and the other side of the adjustment line moves to the low control position on the other side. According to the adjustment force and the force applied by the adjustment line in the high control position, the test module 10 is flipped over to the recycling position 90.

[0231] Step 23933: Control test module 10 to continue moving to loading area 6.

[0232] After completing the above operations, continue to control the conveyor belt to transport the test module 10 to the loading area 6.

[0233] Reference Figure 9 The detection area 5 is on the test board 1. The test module 10 passes through the scanning area 7, the pushing area 8, the adjustment area 9 and the feeding area 6 in sequence on the conveyor belt. The middle part of the scanning area 7, which is aligned with the gripping position 60 and the calibration matrix 91, is the qualified area 70. The two ends of the qualified area 70 are the abnormal areas 71.

[0234] Scanning area 7 is used to detect the position of test module 10 on the conveyor belt. If all test modules 10 are in qualified area 70, there is no need to push test modules 10. If test modules 10 are in abnormal area, the abnormal distance information is recorded and transmitted to pushing area 8.

[0235] The push area 8 is used to push the test module 10 to reset. The test module 10 in the qualified area 70 in the scan area 7 does not need to be reset. The test module 10 in the abnormal area 71 in the scan area 7 is controlled by the push rod to push the test module 10 according to the abnormal distance information transmitted by the scan area 7.

[0236] Adjustment area 9 is used for fine-tuning the alignment of the test module 10. Adjustment area 9 contains a calibration matrix 91 composed of laser beams. The degree of laser beam obstruction is used to determine if the test module 10 is properly positioned. Two adjustment lines are used to clamp and adjust the module until it completely obstructs the laser beams on the calibration matrix 91, meaning the test module 10 coincides with the calibration matrix 91. If the module is still not aligned with the calibration matrix 91 after adjustment, it may be because the test module 10 is placed upside down. In this case, the control adjustment lines flip the upside-down test module 10 and drop it to the return position 90.

[0237] The loading area 6 is used to grab the test module 10 to be installed. A robotic arm is installed next to the loading area 6. When the test module 10 enters the loading area 6, it triggers a row of gravity sensors under the conveyor belt. The triggered sensors define the position as the gripping position 60 of the robotic arm and transmit it to the robotic arm to achieve precise gripping by the robotic arm.

[0238] The gripping position 60 in the feeding area 6 and the calibration matrix 91 in the adjustment area 9 are aligned with the qualified area 70.

[0239] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A detection method of a battery sensor, characterized by, The method comprises the following steps: Step 1: Obtain the placement state of the preset test module (10) in the preset detection area (5), and output a request instruction; Step 2: When the request instruction is consistent with the preset operation instruction, collect the weight value in the preset feeding area (6) and the trigger position corresponding to the weight value; Step 3: When the weight value is consistent with the preset reference weight value, define the trigger position as the grabbing position (60); Step 4: Grab the test module (10) according to the grabbing position (60) and move it to the detection area (5), and collect the light shadow position of the test module (10) in the detection area (5); Step 5: When the light shadow position coincides with the detection area (5), lower the test module (10) into the detection area (5) to correct the placement state, and input the test module (10) with the preset debugging information to collect the output information of the test module (10) synchronously to record; The steps before the test module (10) reaches the feeding area (6) further comprise: Step 20: When the test module (10) moves to the preset scanning area (7), collect the abnormal interval in the abnormal area (71), wherein the scanning area (7) comprises a qualified area (70) and abnormal areas (71) located on both sides of the qualified area (70); Step 21: If the abnormal interval is less than the preset reference interval, follow the preset movement vector of the test module (10) to perform horizontal scanning to obtain a horizontal distance detection value and a horizontal scanning angle; Step 22: Based on the horizontal scanning angle, obtain a distance reference value, and compare the difference between the distance detection value and the distance reference value at the same horizontal scanning angle value, define the distance detection value corresponding to the difference as an abnormal distance value, calculate a pushing vector based on the comparison relationship between the position of the qualified area (70) and the abnormal distance value, and obtain trigger information when the test module (10) enters the preset pushing area (8); Step 23: According to the trigger information, push the test module (10) with the pushing vector.

2. The detection method for a battery sensor according to claim 1, characterized in that, In step 23, when the test module (10) enters the pushing area (8) and is pushed with the pushing vector, the steps further comprise: Step 230: Obtain the sensing information triggered when the test module (10) passes through the pushing area (8) and the movement vector of the test module (10); Step 231: When the sensing information is consistent with the preset reference sensing information, collect the product model of the test module (10); Step 232: Determine the blowing point, blowing intensity, and product weight according to the product model; Step 233: Determine the friction resistance according to the product weight and the friction coefficient of the conveyor belt, and obtain the pushing intensity according to the blowing intensity and the friction resistance; Step 234: Follow the blowing point according to the movement vector of the test module (10), control the horizontal movement of the test module (10) according to the pushing speed, the blowing point follows the pushing vector to complete synchronous horizontal displacement, and after completing the horizontal movement, control the air force according to the movement vector to maintain the blowing intensity to the blowing point until leaving the pushing area (8).

3. The detection method for a battery sensor according to claim 2, characterized in that, In step 234, before the blowing point follows the pushing vector to move synchronously, the steps further comprise: Step 2340: correct the pushing vector to maintain the preset pushing speed; Step 2341: determine the stable point of the wind pressure according to the corrected pushing vector and the pushing speed; Step 2342: the stable point synchronously follows the moving vector and the pushing vector; Step 2343: when the pushing vector disappears, the wind pressure moves from the stable point to the blowing point; Step 2344: when the test module (10) moves laterally according to the pushing speed control test module (10), the blowing point is synchronously moved to the stable point, and the synchronous lateral displacement is completed at the stable point, and after the lateral movement is completed, the test module (10) is restored from the stable point to the blowing point until it exits the pushing area (8).

4. The detection method for a battery sensor according to claim 2, characterized in that, After step 234, the steps after the test module (10) passes through the pushing area (8) further include: Step 235: obtain the sensing information triggered when the test module (10) passes through the preset adjustment area (9), receive the sensing information output calibration instruction; Step 236: generate a preset calibration matrix (91) according to the calibration instruction and emit it into the adjustment area (9), and obtain the calibration information on the calibration matrix (91); Step 237: when the calibration information is triggered, control the test module (10) to stop moving, and collect position information; Step 2380: when the position information is consistent with the preset reference position information, control the test module (10) to move to the feeding area (6); Step 2381: when the position information is inconsistent with the preset reference position information, calculate the difference between the position information and the preset reference position information and define it as an adjustment coordinate; Step 239: determine the adjustment parameter according to the adjustment coordinate, and control the adjustment line to adjust the test module (10) according to the adjustment parameter until the position information is consistent with the preset reference position information.

5. The detection method for a battery sensor according to claim 4, characterized in that, In step 239, the steps of controlling the adjustment line to adjust the test module (10) according to the adjustment parameter further include: Step 2390: divide the reference position into an adjustment area and a stable area based on the adjustment coordinate, collect the calibration information in the adjustment area and form an adjustment surface; Step 2391: determine the angle value of the adjustment area according to the adjustment surface and the adjustment coordinate, and obtain the minimum adjustment angle from the angle value; Step 2392: determine the contact surface closest to the position information according to the minimum adjustment angle, and control the adjustment line to move to the contact surface; Step 2393: determine the adjustment parameter according to the minimum adjustment angle and the adjustment coordinate, and control the adjustment line to adjust the test module (10) according to the adjustment parameter until the position information is consistent with the preset reference position information.

6. The detection method for a battery sensor according to claim 5, characterized in that, In step 2393, the steps of controlling the adjustment line to adjust the test module (10) according to the adjustment parameter further include: Step 23930: if the test module (10) is still inconsistent with the reference position information after adjustment, determine the high control position and the low control position of the adjustment line on the test module (10) based on the product model; Step 23931: determine the adjustment force of the adjustment line according to the preset recovery position (90); Step 23932: control the adjustment line to move to the high control position and the low control position respectively according to the adjustment force, and flip the test module (10) to the recovery position (90); Step 23933: control the test module (10) to continue moving to the loading area (6).

7. A battery sensor detection device, which is detected by the battery sensor detection method according to any one of claims 1 to 6, comprising a current generator (2), a test board (1) and a host (3), characterized in that: The test board (1) is provided with a connecting guide sheet (16), and the test board (1) is provided with a base (11), an inductor (13), a resistor (14) and a terminal post (12) connected in sequence through the connecting guide sheet (16) and used for fixing the test module (10); The current generator (2) is connected to the terminal post (12) on the test board (1), the connecting guide sheet (16) is connected and conducts the base (11) and the resistor (14), the connecting guide sheet (16) is connected and conducts the resistor (14) and the inductor (13), the connecting guide sheet (16) is connected and conducts the inductor (13) and the terminal post (12), the connecting guide sheet (16) is connected and conducts the terminal post (12) and the resistor (14), and the test module (10) is connected to the host computer (3) by the wire (4). The current generator (2) provides an adjustable electric signal for the entire detection circuit, and connects the test module (10) through the connecting guide sheet (16), and finally connects the test information of the test module (10) to the host computer (3) through the wire (4).

8. The battery sensor detection apparatus of claim 7, wherein: The test board (1) is provided with an adjustable lifting support leg (15), the support leg (15) comprises a rotating cap (150) rotatably connected with the test board (1), a gear cylinder (151) fixedly connected with the rotating cap (150), a sleeve (152) engaged with the gear cylinder (151), and a driven shaft (153) rotatably lifted; The gear cylinder (151) comprises a connecting portion (1510) and a clamping tooth portion (1511) fixed on the connecting portion (1510), and a limiting ring (1512) is arranged on the inner wall of the connecting portion (1510); A fixed block (1513) fixedly connected with the rotating cap (150) is arranged on the top of the connecting portion (1510), a fixed groove (1500) into which the fixed block (1513) is arranged is arranged in the rotating cap (150), a tooth groove (1501) into which the clamping tooth portion (1511) is inserted and engaged is formed in the inner side of the edge of the rotating cap (150), and a deformation groove (1502) is formed in the rotating cap (150); A tooth ring (1520) engaged with the gear cylinder (151) is arranged above the inner wall of the sleeve (152), and a connecting ball (1521) is arranged below the inner wall of the sleeve (152); The driven shaft (153) comprises a sliding portion (1530) slidably connected with the limiting ring (1512), a rotating portion (1531) fixed outside the sliding portion (1530), a clamping cap (1532) clamped with the sliding portion (1530) and limited by the limiting ring (1512), and a pad piece (1533) fixedly connecting the sliding portion (1530) and the rotating portion (1531); When the clamping cap (1532) and the limiting ring (1512) limit each other, the lower end of the connecting portion (1510) is located between the sliding portion (1530) and the rotating portion (1531); A sliding groove (15310) matched with the connecting ball (1521) is formed in the outer wall of the sliding portion (1530).

9. The battery sensor detection apparatus of claim 7, wherein: The base (11) comprises a shell (110), a base (111) connected with the shell (110), locking blocks (112) arranged in the shell (110) for locking the test module (10), springs (113) mounted between the shell (110) and the locking blocks (112), and unlocking switches (114); The unlocking switch (114) comprises an unlocking block (1140) and an unlocking rod (1141) fixed with the unlocking block (1140), the shell (110) is provided with a switch groove (1100) for the unlocking rod (1141) to extend and move, the locking block (112) is provided with a locking groove (1120) for locking the test module (10), the unlocking block (1140) is located between the locking blocks (112), and the contact surface of the locking blocks (112) and the unlocking block (1140) is a slope guide surface (115); The unlocking rod (1141) drives the unlocking block (1140) to move downward, so that the locking blocks (112) move to both sides to unlock the test module (10).

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