Gluing method and device, computer readable storage medium and computer program product

Abstract

The invention provides a gluing method and device, a computer readable storage medium and a computer program product. The method comprises the steps that a gluing starting point position is positioned according to an image of a target battery pack bottom shell; obtaining a target battery pack bottom shell gluing track parameter, wherein the track parameter comprises a moving direction and a moving distance between adjacent point positions of a gluing track; generating a gluing track taking the gluing starting point as a starting point according to the track parameters; and the gluing robot is controlled to conduct gluing according to the gluing track.

Description

Technical Field

[0001] This application relates to the field of adhesive coating technology, and more specifically, to an adhesive coating method, apparatus, computer-readable storage medium, and computer program product. Background Technology

[0002] In the manufacturing of battery packs for new energy vehicles, the adhesive coating process is a crucial step in ensuring the sealing and stability of the battery pack. To ensure consistent adhesive coating quality, the industry commonly uses machine vision to guide the adhesive coating robot, achieving precise coating by controlling the matching of robot speed and adhesive dispensing volume. However, in traditional technology, a teaching point needs to be set every 1cm along the robot trajectory, resulting in more than 1400 teaching points for the adhesive coating trajectory of a single battery pack.

[0003] This model has significant drawbacks: on the one hand, the initial teaching process takes a very long time, which greatly affects the efficiency of the production preparation stage; on the other hand, when the vision system parameters, equipment structure or process requirements are adjusted, the entire trajectory needs to be re-taught, which not only consumes a lot of manpower and resources, but also leads to production interruption, making it difficult to respond quickly to process change requirements, which seriously restricts the improvement of production efficiency and process stability. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, and computer program product for applying adhesive, so as to at least solve the problem of low adhesive application efficiency caused by long teaching time in the prior art.

[0005] To achieve the above objectives, according to one aspect of this application, a method for applying adhesive is provided, comprising: locating an adhesive application starting point based on an image of the bottom shell of a target battery pack; obtaining trajectory parameters for applying adhesive to the bottom shell of the target battery pack, the trajectory parameters including the direction and distance of movement between adjacent points of the adhesive application trajectory; generating an adhesive application trajectory starting from the adhesive application starting point based on the trajectory parameters; and controlling an adhesive application robot to apply adhesive according to the adhesive application trajectory.

[0006] Optionally, obtaining the trajectory parameters of the adhesive coating path of the target battery pack bottom shell includes: obtaining the model of the target battery pack bottom shell to obtain a target model; if a target trajectory parameter corresponding to the target model exists, obtaining the target trajectory parameter corresponding to the target model; if no trajectory parameter corresponding to the target model exists, obtaining an existing trajectory parameter and adjusting the existing trajectory parameter to obtain the target trajectory parameter corresponding to the target model.

[0007] Optionally, generating an adhesive application trajectory starting from the adhesive application start point based on the trajectory parameters includes: a first movement step, sequentially acquiring multiple trajectory parameters whose movement direction is the positive direction of the first coordinate axis of the robot coordinate system, and sequentially controlling the end of the adhesive application robot to move a first predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply adhesive according to the trajectory parameters; a second movement step, acquiring the first trajectory parameter, and controlling the end of the adhesive application robot to move a second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a third predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply adhesive according to the first trajectory parameter, wherein the first trajectory parameter is the next trajectory parameter after the last acquired trajectory parameter; a third movement step, acquiring the second trajectory parameter, and controlling the end of the adhesive application robot to move a second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a third predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply adhesive according to the second trajectory parameter, wherein the second trajectory parameter is the next trajectory parameter after the first trajectory parameter; a fourth movement step, sequentially acquiring multiple trajectory parameters whose movement direction is the positive direction of the first coordinate axis of the robot coordinate system and a third predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system to apply adhesive according to the second trajectory parameter, wherein the second trajectory parameter is the next trajectory parameter after the first trajectory parameter; and a fourth movement step, sequentially acquiring multiple trajectory parameters whose movement direction is the positive direction of the first coordinate axis of the robot coordinate system and a third predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system to apply adhesive according to the second trajectory parameter, wherein the second trajectory parameter is the next trajectory parameter after the first trajectory parameter; and a fourth movement step, sequentially acquiring multiple trajectory parameters whose movement direction is the positive direction of the first coordinate axis of the robot coordinate system and a third predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system. The first movement step involves obtaining a trajectory parameter in the negative direction of the first coordinate axis of the robot coordinate system, and sequentially controlling the end effector of the glue-applying robot to move a first predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue; the fifth movement step involves obtaining a third trajectory parameter, and controlling the end effector of the glue-applying robot to move a fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a fifth predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue, wherein the third trajectory parameter is the next trajectory parameter after the last obtained trajectory parameter; the sixth movement step involves obtaining a fourth trajectory parameter, and controlling the end effector of the glue-applying robot to move a fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a fifth predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue, wherein the fourth trajectory parameter is the next trajectory parameter after the third trajectory parameter; the first movement step, the second movement step, the third movement step, the fourth movement step, the fifth movement step, and the sixth movement step are repeated sequentially a predetermined number of times to obtain the glue-applying trajectory.

[0008] Optionally, locating the adhesive application starting point based on the image of the target battery pack bottom shell includes: acquiring images of multiple process holes on the target battery pack bottom shell to obtain a target image; identifying the center coordinates of two process holes based on the target image; calculating the offset based on the center coordinates of the two process holes; controlling the end effector of the adhesive application robot to move to the adhesive application starting point; and controlling the end effector of the adhesive application robot to move by the offset to complete the correction.

[0009] Optionally, locating the adhesive application starting point based on the image of the target battery pack bottom shell further includes: acquiring a contour image of the target battery pack bottom shell; calculating an offset based on the contour image of the target battery pack bottom shell; controlling the end effector of the adhesive application robot to move to the adhesive application starting point; and controlling the end effector of the adhesive application robot to move by the offset to complete the correction.

[0010] Optionally, before locating the adhesive application start point based on the image of the target battery pack bottom shell, the method further includes: controlling a mobile device to load the target battery pack bottom shell to a workstation; and controlling a clamping fixture to clamp the mobile device.

[0011] Optionally, controlling the glue-applying robot to apply glue according to the glue-applying trajectory includes: when the size of the bottom shell of the target battery pack is larger than a predetermined size, controlling multiple glue-applying robots to apply glue to the bottom shell of the target battery pack from the corresponding glue-applying starting point according to the corresponding glue-applying trajectory until the glue application is completed, wherein the glue-applying robot corresponds one-to-one with the glue-applying trajectory of a local area of ​​the bottom shell of the target battery pack.

[0012] According to another aspect of this application, an adhesive application apparatus is provided, comprising: a positioning unit for locating an adhesive application starting point based on an image of a target battery pack bottom shell; an acquisition unit for acquiring trajectory parameters for adhesive application on the target battery pack bottom shell, the trajectory parameters including the movement direction and movement distance between adjacent points of the adhesive application trajectory; a generation unit for generating an adhesive application trajectory starting from the adhesive application starting point based on the trajectory parameters; and a control unit for controlling an adhesive application robot to apply adhesive according to the adhesive application trajectory.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the described adhesive application methods.

[0014] According to another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements any of the described adhesive application methods.

[0015] By applying the technical solution of this application, in the above-mentioned adhesive coating method, the adhesive coating starting point is located based on the image of the bottom shell of the target battery pack, and the adhesive coating starting point is taught. Then, the adhesive coating robot can be directly controlled to generate the adhesive coating trajectory of the bottom shell of the target battery pack from the adhesive coating starting point according to the trajectory parameters. The adhesive can then be applied according to the adhesive coating trajectory. Only one teaching point, the adhesive coating starting point, needs to be taught, which greatly reduces the number of teaching points to generate the adhesive coating trajectory, shortens the teaching time, significantly reduces labor costs, and solves the problem of low adhesive coating efficiency caused by long teaching time in the prior art. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal performing an adhesive application method according to an embodiment of this application is shown;

[0018] Figure 2 A schematic flowchart of an adhesive application method according to an embodiment of this application is shown;

[0019] Figure 3 A schematic diagram of an adhesive application trajectory provided according to an embodiment of this application is shown;

[0020] Figure 4 A structural block diagram of an adhesive applicator provided according to an embodiment of this application is shown.

[0021] The above figures include the following reference numerals:

[0022] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] As described in the background section, the long teaching time in the prior art leads to low glue application efficiency. To solve this problem, embodiments of this application provide a glue application method, apparatus, computer-readable storage medium, and computer program product.

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0028] The methods and embodiments provided in this application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal using an adhesive application method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0029] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the adhesive application method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] This embodiment provides a method for applying adhesive that operates on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] Figure 2 This is a flowchart of an adhesive application method according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0032] Step S201: Locate the starting point for adhesive application based on the image of the bottom shell of the target battery pack;

[0033] Specifically, a 2D industrial camera with a resolution of ≥20 million pixels is installed on the glue-applying robot, and a ring LED light source is used to ensure the clarity of the process hole imaging. The starting point of glue application is located by taking pictures with 2D vision.

[0034] Step S202: Obtain the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack. The trajectory parameters include the direction and distance of movement between each adjacent point of the adhesive coating trajectory.

[0035] Specifically, trajectory parameters can be flexibly adapted based on battery pack size and process requirements. Each pair of adjacent points consists of a trajectory parameter representing the direction and distance of movement, ensuring compatibility with multiple product models. For small-batch, multi-variety scenarios, a touchscreen interface can be developed to support parameter presets and recalls (such as storing 10 commonly used battery pack parameter schemes), eliminating the need for manual value input and further reducing switchover time.

[0036] Step S203: Generate an adhesive application trajectory starting from the above adhesive application start point based on the above trajectory parameters.

[0037] Specifically, starting from the glue application start point, the trajectory of the next point can be generated based on the trajectory parameters corresponding to the glue application start point, and then the trajectory of the next point can be generated based on the trajectory parameters corresponding to the next point, until the complete glue application trajectory is obtained.

[0038] Step S204: Control the glue-applying robot to apply glue according to the above-mentioned glue-applying trajectory.

[0039] Specifically, a six-axis robot with a repeatability accuracy of ≤ ±0.05mm is selected. It is equipped with a servo-driven precision glue dispensing valve (glue dispensing accuracy ±0.02ml / s) to control the glue dispensing robot to move along the above-mentioned glue dispensing trajectory and apply glue synchronously.

[0040] In this embodiment, the above-mentioned adhesive application method locates the adhesive application starting point based on the image of the target battery pack bottom shell, realizing the teaching of the adhesive application starting point. It is possible to directly control the adhesive application robot to generate the adhesive application trajectory of the target battery pack bottom shell from the adhesive application starting point according to the trajectory parameters, and then apply adhesive according to the adhesive application trajectory. Only one teaching point, the adhesive application starting point, needs to be taught, which greatly reduces the number of teaching points to generate the adhesive application trajectory, shortens the teaching time, significantly reduces labor costs, and solves the problem of low adhesive application efficiency caused by long teaching time in the prior art.

[0041] In order to obtain the trajectory parameters corresponding to different models, in one optional implementation, step S202 above includes:

[0042] Step S2021: Obtain the model number of the bottom shell of the target battery pack to obtain the target model number;

[0043] Step S2022: If there are target trajectory parameters corresponding to the above target model, obtain the target trajectory parameters corresponding to the above target model;

[0044] Step S2023: If the trajectory parameters corresponding to the target model do not exist, obtain the existing trajectory parameters and adjust the existing trajectory parameters to obtain the target trajectory parameters corresponding to the target model.

[0045] In the above embodiments, the glue-applying robot records the model of the battery pack bottom shell and the corresponding trajectory parameters. Based on the target model of the target battery pack bottom shell, it determines whether there are corresponding target trajectory parameters. If there are, the target trajectory parameters corresponding to the target model can be directly obtained. If not, the existing trajectory parameters are adjusted to obtain the target trajectory parameters corresponding to the target model. This allows for rapid changes in the glue-applying trajectory and is suitable for glue-applying various types of battery packs.

[0046] In an optional implementation, to automatically generate the adhesive application trajectory, step S203 above includes:

[0047] Step S2031, first movement step, sequentially acquire multiple trajectory parameters whose movement direction is the positive direction of the first coordinate axis of the robot coordinate system, and sequentially control the end of the glue-applying robot to move a first predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue according to the trajectory parameters.

[0048] Step S2032, second movement step, obtain the first trajectory parameter, and control the end of the glue-applying robot to move a second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a third predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue according to the first trajectory parameter. The first trajectory parameter is the next trajectory parameter after the last acquired trajectory parameter.

[0049] Step S2033, third movement step, obtain the second trajectory parameter, and control the end of the glue-applying robot to move the second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and move the third predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue according to the second trajectory parameter. The second trajectory parameter is the next trajectory parameter after the first trajectory parameter.

[0050] Step S2034, the fourth movement step, sequentially acquire multiple trajectory parameters whose movement direction is the negative direction of the first coordinate axis of the robot coordinate system, and sequentially control the end of the glue-applying robot to move the first predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue according to the trajectory parameters.

[0051] Step S2035, the fifth movement step, obtain the third trajectory parameter, and control the end of the glue-applying robot to move the fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and the fifth predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue according to the third trajectory parameter. The third trajectory parameter is the next trajectory parameter after the last acquired trajectory parameter.

[0052] Step S2036, the sixth movement step, obtain the fourth trajectory parameter, and control the end of the glue-applying robot to move the fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and the fifth predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue according to the fourth trajectory parameter. The fourth trajectory parameter is the next trajectory parameter after the third trajectory parameter.

[0053] Step S2037: Repeat the first, second, third, fourth, fifth, and sixth movement steps sequentially a predetermined number of times to obtain the adhesive application trajectory.

[0054] In the above embodiments, such as Figure 3 As shown, step S1 involves visual guidance to the first robot position. Step S2 involves the robot moving a first predetermined distance (e.g., 10mm) in the Y+ direction from the previous position. Step S3 involves repeating S2 N times (adjusting the number of times based on the battery pack size). Step S4 involves the robot moving a second predetermined distance (e.g., R26, half the distance between two straight lines) in the X+ direction and a third predetermined distance (e.g., 5mm) in the Y+ direction from the previous position. Step S5 involves the robot moving a second predetermined distance (e.g., R26, half the distance between two straight lines) in the X+ direction and a third predetermined distance (e.g., 5mm) in the Y- direction from the previous position. Step S6 involves the robot moving a first predetermined distance (e.g., 10mm) in the Y- direction from the previous position. Step S7 involves repeating S6 N times (adjusting the number of times based on the battery pack size). Step S8 involves the robot moving a fourth predetermined distance (R27, robot register) in the X+ direction and a fifth predetermined distance (e.g., 5mm) in the Y- direction from the previous position. Step S9: Based on the previous position, the robot moves a fourth predetermined distance (e.g., R27, half the distance between the two straight trajectories) in the X+ direction and a fifth predetermined distance (e.g., 5mm) in the Y+ direction. Step S10: Repeat steps S1 to S9 N1 times to obtain the adhesive application trajectory.

[0055] In an optional embodiment, to locate the starting point for adhesive application, step S201 includes:

[0056] Step S2011: Obtain images of multiple process holes in the bottom shell of the target battery pack to obtain the target image;

[0057] Step S2012: Identify the center coordinates of the two process holes based on the target image.

[0058] Step S2013: Calculate the offset based on the center coordinates of the two process holes mentioned above;

[0059] Step S2014: Control the end effector of the above-mentioned glue-applying robot to move to the above-mentioned glue-applying starting point;

[0060] Step S2015: Control the end effector of the glue-applying robot to move the offset amount to complete the correction.

[0061] In the above embodiments, by identifying the center coordinates of the two process holes in the battery pack, the offset can be calculated based on the center coordinates of the two process holes. The offset can then be used to correct the starting point of the adhesive application, replacing the traditional multi-point visual positioning and reducing the complexity of the vision system.

[0062] In an optional embodiment, to locate the starting point for adhesive application, step S201 further includes:

[0063] Step S2016: Obtain the outline image of the bottom shell of the target battery pack;

[0064] Step S2017: Calculate the offset based on the outline image of the bottom shell of the target battery pack.

[0065] Step S2018: Control the end effector of the above-mentioned glue-applying robot to move to the above-mentioned glue-applying starting point;

[0066] Step S2019: Control the end effector of the glue-applying robot to move the offset amount to complete the correction.

[0067] In the above embodiments, if the identification of process holes is affected by oil stains or wear, 2D vision can be used to identify the edge contour of the battery pack or QR code markings, and the offset can be calculated by contour fitting to adapt to complex working conditions.

[0068] To prevent deviation of the adhesive application trajectory, in an optional embodiment, before locating the adhesive application start point based on the image of the target battery pack bottom shell, the method further includes:

[0069] Step S301: Control the mobile device to load the bottom shell of the target battery pack to the workstation;

[0070] Step S302: Control the clamping fixture to clamp the above-mentioned mobile device.

[0071] In the above implementation, the AGC trolley carrying the battery pack bottom shell enters the workstation, the clamping fixture clamps the trolley to prevent the battery pack bottom shell from moving and affecting the glue application trajectory. After the glue application is completed, the AGC trolley carrying the battery pack bottom shell leaves the workstation.

[0072] To improve adhesive application efficiency, in one optional embodiment, step S204 includes:

[0073] Step S2041: When the size of the bottom shell of the target battery pack is larger than the predetermined size, multiple glue-applying robots are controlled to apply glue to the bottom shell of the target battery pack from the corresponding glue-applying starting point according to the corresponding glue-applying trajectory until the glue application is completed. The glue-applying robots correspond one-to-one with the glue-applying trajectories of the local area of ​​the bottom shell of the target battery pack.

[0074] In the above embodiments, when the battery pack size is too large, dual robots can be used for zoned adhesive application. By synchronizing the starting point parameters through master-slave communication, each robot generates its own zone trajectory, thereby improving adhesive application efficiency.

[0075] This application also provides an adhesive application apparatus. It should be noted that the adhesive application apparatus of this application can be used to execute the adhesive application method provided in this application. This apparatus is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0076] The following describes the adhesive application apparatus provided in the embodiments of this application.

[0077] Figure 4 This is a schematic diagram of an adhesive application apparatus according to an embodiment of this application. Figure 4 As shown, the device includes:

[0078] Positioning unit 10 is used to locate the starting point of adhesive application based on the image of the bottom shell of the target battery pack;

[0079] Specifically, a 2D industrial camera with a resolution of ≥20 million pixels is installed on the glue-applying robot, and a ring LED light source is used to ensure the clarity of the process hole imaging. The starting point of glue application is located by taking pictures with 2D vision.

[0080] The acquisition unit 20 is used to acquire the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack. The trajectory parameters include the direction and distance of movement between each adjacent point of the adhesive coating trajectory.

[0081] Specifically, trajectory parameters can be flexibly adapted based on battery pack size and process requirements. Each pair of adjacent points consists of a trajectory parameter representing the direction and distance of movement, ensuring compatibility with multiple product models. For small-batch, multi-variety scenarios, a touchscreen interface can be developed to support parameter presets and recalls (such as storing 10 commonly used battery pack parameter schemes), eliminating the need for manual value input and further reducing switchover time.

[0082] The generation unit 30 is used to generate an adhesive application trajectory starting from the above-mentioned adhesive application start point based on the above-mentioned trajectory parameters.

[0083] Specifically, starting from the glue application start point, the trajectory of the next point can be generated based on the trajectory parameters corresponding to the glue application start point, and then the trajectory of the next point can be generated based on the trajectory parameters corresponding to the next point, until the complete glue application trajectory is obtained.

[0084] The control unit 40 is used to control the glue-applying robot to apply glue according to the above-mentioned glue-applying trajectory.

[0085] Specifically, a six-axis robot with a repeatability accuracy of ≤ ±0.05mm is selected. It is equipped with a servo-driven precision glue dispensing valve (glue dispensing accuracy ±0.02ml / s) to control the glue dispensing robot to move along the above-mentioned glue dispensing trajectory and apply glue synchronously.

[0086] In this embodiment, the above-mentioned adhesive coating device locates the adhesive coating starting point based on the image of the target battery pack bottom shell, realizing the teaching of the adhesive coating starting point. It can then directly control the adhesive coating robot to generate the adhesive coating trajectory of the target battery pack bottom shell from the adhesive coating starting point according to the trajectory parameters. Adhesive can then be applied according to the adhesive coating trajectory. Only one teaching point, the adhesive coating starting point, needs to be taught, which greatly reduces the number of teaching points to generate the adhesive coating trajectory, shortens the teaching time, significantly reduces labor costs, and solves the problem of low adhesive coating efficiency caused by long teaching time in the prior art.

[0087] To obtain trajectory parameters corresponding to different models, in one optional implementation, the acquisition unit includes:

[0088] The first acquisition module is used to acquire the model number of the bottom shell of the target battery pack and obtain the target model number;

[0089] The second acquisition module is used to acquire the target trajectory parameters corresponding to the target model when there are target trajectory parameters corresponding to the target model.

[0090] The third acquisition module is used to acquire existing trajectory parameters when the trajectory parameters corresponding to the target model do not exist, and to adjust the existing trajectory parameters to obtain the target trajectory parameters corresponding to the target model.

[0091] In the above embodiments, the glue-applying robot records the model of the battery pack bottom shell and the corresponding trajectory parameters. Based on the target model of the target battery pack bottom shell, it determines whether there are corresponding target trajectory parameters. If there are, the target trajectory parameters corresponding to the target model can be directly obtained. If not, the existing trajectory parameters are adjusted to obtain the target trajectory parameters corresponding to the target model. This allows for rapid changes in the glue-applying trajectory and is suitable for glue-applying various types of battery packs.

[0092] To automatically generate adhesive application paths, in one optional implementation, the generation unit includes:

[0093] The first moving module is used to execute the first moving step, sequentially acquire multiple trajectory parameters whose moving direction is the positive direction of the first coordinate axis of the robot coordinate system, and sequentially control the end of the glue-applying robot to move a first predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue according to the trajectory parameters.

[0094] The second movement module is used to execute the second movement step, obtain the first trajectory parameter, and control the end of the glue-applying robot to move a second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a third predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue according to the first trajectory parameter. The first trajectory parameter is the next trajectory parameter after the last acquired trajectory parameter.

[0095] The third movement module is used to perform the third movement step, obtain the second trajectory parameters, and control the end of the glue-applying robot to move the second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and move the third predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue, according to the second trajectory parameters. The second trajectory parameters are the next trajectory parameters after the first trajectory parameters.

[0096] The fourth movement module is used to execute the fourth movement step, sequentially acquire multiple trajectory parameters whose movement direction is the negative direction of the first coordinate axis of the robot coordinate system, and sequentially control the end of the glue-applying robot to move the first predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue according to the trajectory parameters.

[0097] The fifth movement module is used to execute the fifth movement step, obtain the third trajectory parameter, and control the end of the glue-applying robot to move the fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and the fifth predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue, based on the third trajectory parameter.

[0098] The sixth movement module is used to execute the sixth movement step, obtain the fourth trajectory parameter, and control the end of the glue-applying robot to move the fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and the fifth predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue, wherein the fourth trajectory parameter is the next trajectory parameter after the third trajectory parameter.

[0099] The repeating module is used to sequentially repeat the first moving step, the second moving step, the third moving step, the fourth moving step, the fifth moving step, and the sixth moving step a predetermined number of times to obtain the adhesive application trajectory.

[0100] In the above embodiments, such as Figure 3 As shown, step S1 involves visual guidance to the first robot position. Step S2 involves the robot moving a first predetermined distance (e.g., 10mm) in the Y+ direction from the previous position. Step S3 involves repeating S2 N times (adjusting the number of times based on the battery pack size). Step S4 involves the robot moving a second predetermined distance (e.g., R26, half the distance between two straight lines) in the X+ direction and a third predetermined distance (e.g., 5mm) in the Y+ direction from the previous position. Step S5 involves the robot moving a second predetermined distance (e.g., R26, half the distance between two straight lines) in the X+ direction and a third predetermined distance (e.g., 5mm) in the Y- direction from the previous position. Step S6 involves the robot moving a first predetermined distance (e.g., 10mm) in the Y- direction from the previous position. Step S7 involves repeating S6 N times (adjusting the number of times based on the battery pack size). Step S8 involves the robot moving a fourth predetermined distance (R27, robot register) in the X+ direction and a fifth predetermined distance (e.g., 5mm) in the Y- direction from the previous position. Step S9: Based on the previous position, the robot moves a fourth predetermined distance (e.g., R27, half the distance between the two straight trajectories) in the X+ direction and a fifth predetermined distance (e.g., 5mm) in the Y+ direction. Step S10: Repeat steps S1 to S9 N1 times to obtain the adhesive application trajectory.

[0101] In one optional embodiment, to locate the starting point of adhesive application, the positioning unit includes:

[0102] The fourth acquisition module is used to acquire images of multiple process holes in the bottom shell of the target battery pack to obtain the target image;

[0103] The recognition module is used to identify the center coordinates of the two process holes based on the target image.

[0104] The first calculation module is used to calculate the offset based on the center coordinates of the two aforementioned process holes;

[0105] The first control module is used to control the end effector of the above-mentioned glue-applying robot to move to the above-mentioned glue-applying starting point.

[0106] The second control module is used to control the end effector of the glue-applying robot to move by the offset amount and complete the correction.

[0107] In the above embodiments, by identifying the center coordinates of the two process holes in the battery pack, the offset can be calculated based on the center coordinates of the two process holes. The offset can then be used to correct the starting point of the adhesive application, replacing the traditional multi-point visual positioning and reducing the complexity of the vision system.

[0108] In an optional embodiment, to locate the starting point of adhesive application, the positioning unit further includes:

[0109] The first acquisition module is used to acquire the outline image of the bottom shell of the target battery pack;

[0110] The second calculation module is used to calculate the offset based on the outline image of the bottom shell of the target battery pack.

[0111] The third control module is used to control the end effector of the above-mentioned glue-applying robot to move to the above-mentioned glue-applying starting point.

[0112] The fourth control module is used to control the end effector of the glue-applying robot to move by the aforementioned offset amount, thereby completing the correction.

[0113] In the above embodiments, if the identification of process holes is affected by oil stains or wear, 2D vision can be used to identify the edge contour of the battery pack or QR code markings, and the offset can be calculated by contour fitting to adapt to complex working conditions.

[0114] To prevent deviation of the adhesive application trajectory, in an optional embodiment, the above-mentioned device further includes:

[0115] The fifth control module is used to control the mobile device to load the target battery pack bottom shell to the work station before locating the adhesive application start point based on the image of the target battery pack bottom shell;

[0116] The sixth control module is used to control the clamping fixture to clamp the aforementioned mobile device.

[0117] In the above implementation, the AGC trolley carrying the battery pack bottom shell enters the workstation, the clamping fixture clamps the trolley to prevent the battery pack bottom shell from moving and affecting the glue application trajectory. After the glue application is completed, the AGC trolley carrying the battery pack bottom shell leaves the workstation.

[0118] To improve adhesive application efficiency, in one optional embodiment, the control unit includes:

[0119] The seventh control module is used to control multiple glue-applying robots to apply glue to the bottom shell of the target battery pack from the corresponding glue-applying starting point according to the corresponding glue-applying trajectory when the size of the bottom shell of the target battery pack is larger than the predetermined size, until the glue application is completed. The glue-applying robot corresponds one-to-one with the glue-applying trajectory of a local area of ​​the bottom shell of the target battery pack.

[0120] In the above embodiments, when the battery pack size is too large, dual robots can be used for zoned adhesive application. By synchronizing the starting point parameters through master-slave communication, each robot generates its own zone trajectory, thereby improving adhesive application efficiency.

[0121] The aforementioned adhesive application device includes a processor and a memory. The positioning unit, acquisition unit, generation unit, and control unit are all stored as program units in the memory, and the processor executes these program units stored in the memory to achieve their respective functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0122] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem of low adhesive application efficiency due to long teach times in existing technologies.

[0123] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0124] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to perform the adhesive application method.

[0125] Specifically, the adhesive application methods include:

[0126] Step S201: Locate the starting point for adhesive application based on the image of the bottom shell of the target battery pack;

[0127] Specifically, a 2D industrial camera with a resolution of ≥20 million pixels is installed on the glue-applying robot, and a ring LED light source is used to ensure the clarity of the process hole imaging. The starting point of glue application is located by taking pictures with 2D vision.

[0128] Step S202: Obtain the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack. The trajectory parameters include the direction and distance of movement between each adjacent point of the adhesive coating trajectory.

[0129] Specifically, trajectory parameters can be flexibly adapted based on battery pack size and process requirements. Each pair of adjacent points consists of a trajectory parameter representing the direction and distance of movement, ensuring compatibility with multiple product models. For small-batch, multi-variety scenarios, a touchscreen interface can be developed to support parameter presets and recalls (such as storing 10 commonly used battery pack parameter schemes), eliminating the need for manual value input and further reducing switchover time.

[0130] Step S203: Generate an adhesive application trajectory starting from the above adhesive application start point based on the above trajectory parameters.

[0131] Specifically, starting from the glue application start point, the trajectory of the next point can be generated based on the trajectory parameters corresponding to the glue application start point, and then the trajectory of the next point can be generated based on the trajectory parameters corresponding to the next point, until the complete glue application trajectory is obtained.

[0132] Step S204: Control the glue-applying robot to apply glue according to the above-mentioned glue-applying trajectory.

[0133] Specifically, a six-axis robot with a repeatability accuracy of ≤ ±0.05mm is selected. It is equipped with a servo-driven precision glue dispensing valve (glue dispensing accuracy ±0.02ml / s) to control the glue dispensing robot to move along the above-mentioned glue dispensing trajectory and apply glue synchronously.

[0134] This invention provides a processor for running a program, wherein the program executes the adhesive application method.

[0135] Specifically, the adhesive application methods include:

[0136] Step S201: Locate the starting point for adhesive application based on the image of the bottom shell of the target battery pack;

[0137] Specifically, a 2D industrial camera with a resolution of ≥20 million pixels is installed on the glue-applying robot, and a ring LED light source is used to ensure the clarity of the process hole imaging. The starting point of glue application is located by taking pictures with 2D vision.

[0138] Step S202: Obtain the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack. The trajectory parameters include the direction and distance of movement between each adjacent point of the adhesive coating trajectory.

[0139] Specifically, trajectory parameters can be flexibly adapted based on battery pack size and process requirements. Each pair of adjacent points consists of a trajectory parameter representing the direction and distance of movement, ensuring compatibility with multiple product models. For small-batch, multi-variety scenarios, a touchscreen interface can be developed to support parameter presets and recalls (such as storing 10 commonly used battery pack parameter schemes), eliminating the need for manual value input and further reducing switchover time.

[0140] Step S203: Generate an adhesive application trajectory starting from the above adhesive application start point based on the above trajectory parameters.

[0141] Specifically, starting from the glue application start point, the trajectory of the next point can be generated based on the trajectory parameters corresponding to the glue application start point, and then the trajectory of the next point can be generated based on the trajectory parameters corresponding to the next point, until the complete glue application trajectory is obtained.

[0142] Step S204: Control the glue-applying robot to apply glue according to the above-mentioned glue-applying trajectory.

[0143] Specifically, a six-axis robot with a repeatability accuracy of ≤ ±0.05mm is selected. It is equipped with a servo-driven precision glue dispensing valve (glue dispensing accuracy ±0.02ml / s) to control the glue dispensing robot to move along the above-mentioned glue dispensing trajectory and apply glue synchronously.

[0144] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0145] Step S201: Locate the starting point for adhesive application based on the image of the bottom shell of the target battery pack;

[0146] Specifically, a 2D industrial camera with a resolution of ≥20 million pixels is installed on the glue-applying robot, and a ring LED light source is used to ensure the clarity of the process hole imaging. The starting point of glue application is located by taking pictures with 2D vision.

[0147] Step S202: Obtain the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack. The trajectory parameters include the direction and distance of movement between each adjacent point of the adhesive coating trajectory.

[0148] Specifically, trajectory parameters can be flexibly adapted based on battery pack size and process requirements. Each pair of adjacent points consists of a trajectory parameter representing the direction and distance of movement, ensuring compatibility with multiple product models. For small-batch, multi-variety scenarios, a touchscreen interface can be developed to support parameter presets and recalls (such as storing 10 commonly used battery pack parameter schemes), eliminating the need for manual value input and further reducing switchover time.

[0149] Step S203: Generate an adhesive application trajectory starting from the above adhesive application start point based on the above trajectory parameters.

[0150] Specifically, starting from the glue application start point, the trajectory of the next point can be generated based on the trajectory parameters corresponding to the glue application start point, and then the trajectory of the next point can be generated based on the trajectory parameters corresponding to the next point, until the complete glue application trajectory is obtained.

[0151] Step S204: Control the glue-applying robot to apply glue according to the above-mentioned glue-applying trajectory.

[0152] Specifically, a six-axis robot with a repeatability accuracy of ≤ ±0.05mm is selected. It is equipped with a servo-driven precision glue dispensing valve (glue dispensing accuracy ±0.02ml / s) to control the glue dispensing robot to move along the above-mentioned glue dispensing trajectory and apply glue synchronously.

[0153] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0154] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0155] Step S201: Locate the starting point for adhesive application based on the image of the bottom shell of the target battery pack;

[0156] Specifically, a 2D industrial camera with a resolution of ≥20 million pixels is installed on the glue-applying robot, and a ring LED light source is used to ensure the clarity of the process hole imaging. The starting point of glue application is located by taking pictures with 2D vision.

[0157] Step S202: Obtain the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack. The trajectory parameters include the direction and distance of movement between each adjacent point of the adhesive coating trajectory.

[0158] Specifically, trajectory parameters can be flexibly adapted based on battery pack size and process requirements. Each pair of adjacent points consists of a trajectory parameter representing the direction and distance of movement, ensuring compatibility with multiple product models. For small-batch, multi-variety scenarios, a touchscreen interface can be developed to support parameter presets and recalls (such as storing 10 commonly used battery pack parameter schemes), eliminating the need for manual value input and further reducing switchover time.

[0159] Step S203: Generate an adhesive application trajectory starting from the above adhesive application start point based on the above trajectory parameters.

[0160] Specifically, starting from the glue application start point, the trajectory of the next point can be generated based on the trajectory parameters corresponding to the glue application start point, and then the trajectory of the next point can be generated based on the trajectory parameters corresponding to the next point, until the complete glue application trajectory is obtained.

[0161] Step S204: Control the glue-applying robot to apply glue according to the above-mentioned glue-applying trajectory.

[0162] Specifically, a six-axis robot with a repeatability accuracy of ≤ ±0.05mm is selected. It is equipped with a servo-driven precision glue dispensing valve (glue dispensing accuracy ±0.02ml / s) to control the glue dispensing robot to move along the above-mentioned glue dispensing trajectory and apply glue synchronously.

[0163] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0164] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0165] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0166] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0167] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0168] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0169] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0170] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0173] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0174] 1) In the adhesive application method of this application, the adhesive application starting point is located based on the image of the bottom shell of the target battery pack, and the adhesive application starting point is taught. Then, the adhesive application robot can be directly controlled to generate the adhesive application trajectory of the bottom shell of the target battery pack from the adhesive application starting point according to the trajectory parameters. The adhesive can be applied according to the adhesive application trajectory. Only one teaching point, the adhesive application starting point, needs to be taught, which greatly reduces the number of teaching points to generate the adhesive application trajectory, shortens the teaching time, significantly reduces labor costs, and solves the problem of low adhesive application efficiency caused by long teaching time in the prior art.

[0175] 2) In the adhesive coating device of this application, the adhesive coating starting point is located according to the image of the bottom shell of the target battery pack, and the adhesive coating starting point is taught. Then, the adhesive coating robot can be directly controlled to generate the adhesive coating trajectory of the bottom shell of the target battery pack from the adhesive coating starting point according to the trajectory parameters. The adhesive can be applied according to the adhesive coating trajectory. Only one teaching point, the adhesive coating starting point, needs to be taught, which greatly reduces the number of teaching points to generate the adhesive coating trajectory, shortens the teaching time, significantly reduces labor costs, and solves the problem of low adhesive coating efficiency caused by long teaching time in the prior art.

[0176] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for applying adhesive, characterized in that, include: Locate the starting point for adhesive application based on the image of the target battery pack's bottom shell; The trajectory parameters of the adhesive coating on the bottom shell of the target battery pack are obtained, including the direction and distance of movement between each adjacent point of the adhesive coating trajectory. Generate an adhesive application trajectory starting from the adhesive application start point based on the trajectory parameters; Control the glue-applying robot to apply glue according to the glue-applying trajectory.

2. The method according to claim 1, characterized in that, Obtaining the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack includes: Obtain the model number of the bottom shell of the target battery pack to obtain the target model number; If a target trajectory parameter corresponding to the target model exists, obtain the target trajectory parameter corresponding to the target model; If the trajectory parameters corresponding to the target model do not exist, the existing trajectory parameters are obtained, and the existing trajectory parameters are adjusted to obtain the target trajectory parameters corresponding to the target model.

3. The method according to claim 1, characterized in that, Generate an adhesive application trajectory based on the trajectory parameters, starting from the adhesive application start point, including: In the first movement step, the trajectory parameters of the first coordinate axis of the robot coordinate system are obtained sequentially, and the end of the glue-applying robot is controlled to move a first predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue according to the trajectory parameters. The second movement step involves acquiring a first trajectory parameter and controlling the end of the glue-applying robot to move a second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a third predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue, based on the first trajectory parameter. The third movement step involves obtaining a second trajectory parameter and controlling the end of the glue-applying robot to move a second predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a third predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue, based on the second trajectory parameter. The second trajectory parameter is the next trajectory parameter after the first trajectory parameter. The fourth movement step involves sequentially acquiring multiple trajectory parameters whose movement direction is the negative direction of the first coordinate axis of the robot coordinate system, and sequentially controlling the end of the glue-applying robot to move the first predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue according to the trajectory parameters. The fifth movement step involves obtaining a third trajectory parameter, and controlling the end effector of the glue-applying robot to move a fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a fifth predetermined distance along the negative direction of the first coordinate axis of the robot coordinate system to apply glue, based on the third trajectory parameter. The sixth movement step involves obtaining a fourth trajectory parameter, and controlling the end effector of the glue-applying robot to move a fourth predetermined distance along the positive direction of the second coordinate axis of the robot coordinate system and a fifth predetermined distance along the positive direction of the first coordinate axis of the robot coordinate system to apply glue, wherein the fourth trajectory parameter is the next trajectory parameter after the third trajectory parameter. The adhesive application trajectory is obtained by repeating the first, second, third, fourth, fifth, and sixth movement steps sequentially a predetermined number of times.

4. The method according to claim 1, characterized in that, Locate the starting point for adhesive application based on the image of the target battery pack bottom shell, including: Images of multiple process holes in the bottom shell of the target battery pack are acquired to obtain the target image; Identify the center coordinates of the two process holes based on the target image; The offset is calculated based on the center coordinates of the two process holes; Control the end effector of the glue-applying robot to move to the glue-applying starting point; The end effector of the adhesive applicator is controlled to move by the offset amount to complete the correction.

5. The method according to claim 1, characterized in that, Locating the adhesive application start point based on the image of the target battery pack bottom shell also includes: Obtain the contour image of the bottom shell of the target battery pack; The offset is calculated based on the contour image of the bottom shell of the target battery pack; Control the end effector of the glue-applying robot to move to the glue-applying starting point; The end effector of the adhesive applicator is controlled to move by the offset amount to complete the correction.

6. The method according to claim 1, characterized in that, Before locating the adhesive application start point based on the image of the target battery pack bottom shell, the method further includes: Control the mobile device to load the bottom shell of the target battery pack to the workstation; The clamping fixture is controlled to clamp the mobile device.

7. The method according to any one of claims 1 to 6, characterized in that, Controlling the glue-applying robot to apply glue according to the glue-applying trajectory includes: When the size of the target battery pack bottom shell is larger than the predetermined size, multiple glue-applying robots are controlled according to the corresponding glue-applying trajectory to apply glue to the target battery pack bottom shell from the corresponding glue-applying starting point until the glue application is completed. The glue-applying robot corresponds one-to-one with the glue-applying trajectory of a local area of ​​the target battery pack bottom shell.

8. A glue-applying device, characterized in that, include: The positioning unit is used to locate the starting point for adhesive application based on the image of the bottom shell of the target battery pack. The acquisition unit is used to acquire the trajectory parameters of the adhesive coating on the bottom shell of the target battery pack, the trajectory parameters including the direction and distance of movement between each adjacent point of the adhesive coating trajectory; The generation unit is used to generate an adhesive application trajectory starting from the adhesive application start point based on the trajectory parameters. The control unit is used to control the glue-applying robot to apply glue according to the glue-applying trajectory.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the adhesive application method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the adhesive application method according to any one of claims 1 to 7.

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