Battery pack detection equipment and battery pack detection method

Abstract

The invention discloses battery pack detection equipment and a battery pack detection method, and relates to the technical field of batteries. The battery pack detection equipment comprises a gantry truss, a first camera group, a second camera group and a processor. Wherein the gantry truss comprises a first frame body and a second frame body, the first frame body comprises a first supporting beam, and a first line body is arranged on the first supporting beam; the second frame body comprises a second supporting beam, and a second line body is arranged on the second supporting beam. The first camera group is slidably arranged on the first line body in the second direction and used for shooting a top surface image of the battery pack. The two oppositely-arranged second camera groups are arranged on the second line body in a sliding mode in the second direction, the second camera groups are rotationally connected to the second line body in the third direction, and the second camera groups are used for shooting side face images and end face images of the battery pack. And the processor is used for receiving the top surface image, the side surface image and the end surface image, and detecting the appearance of the battery pack based on the top surface image, the side surface image and the end surface image.

Description

Technical Field

[0001] This application relates to the field of battery technology, and in particular to battery pack testing equipment and battery pack testing methods. Background Technology

[0002] New energy batteries are being used more and more widely in daily life and industry. For example, new energy vehicles equipped with batteries are already widely used. In addition, batteries are increasingly being used in the field of energy storage.

[0003] During battery production, it is necessary to inspect the battery's appearance to determine if any defects are present. This is especially important for batteries, as their casings contain numerous components, requiring inspection of both the casing's surface and the appearance of these components to minimize the risk of defects. Currently, this inspection is often done manually. However, manual inspection is susceptible to omissions due to human error and is also inefficient. Summary of the Invention

[0004] This application provides a battery pack testing device and a battery testing method, which can improve the accuracy and efficiency of battery appearance inspection.

[0005] The first aspect of this application provides a battery pack inspection device, comprising: a gantry truss, a first camera group, a second camera group, and a processor. The gantry truss includes a first frame and a second frame. The first frame includes two first support beams extending along a first direction, with a first line slidably mounted on the two first support beams along the first direction. The second frame includes two second support beams extending along the first direction, with a second line slidably mounted on the two second support beams along the first direction. The first camera group is slidably mounted on the first line along a second direction and is used to capture a top image of the battery pack; the second direction is perpendicular to the first aspect. Two opposing second camera groups are slidably mounted on the second line along the second direction, and the second camera groups are rotatably connected to the second line about a third direction. The second camera groups are used to capture side and end images of the battery pack; the third direction is perpendicular to both the first and second directions. The processor receives the top, side, and end images and performs appearance inspection on the battery pack based on these images.

[0006] The battery pack testing equipment provided in this application, because the gantry truss includes a first frame and a second frame, allows a first camera group to be slidably mounted on the first support beam of the first frame via a first guide rail. This allows the first camera group to capture top surface images of the battery pack. Furthermore, by sliding the first camera group on the first guide rail, the first camera group can be moved relative to the top surface of the battery pack, facilitating the acquisition of top surface images of various areas of the top surface. Alternatively, two second camera groups can be slidably mounted on the second support beam of the second frame via a second guide rail, and rotatably connected to the second guide rail. This allows the second camera groups to be moved relative to the side or end face of the battery pack via the second guide rail, and can be rotated to face the side or end face, facilitating the acquisition of side images of various areas of the side and end face images of various areas of the end face. Furthermore, by mounting the first and second camera groups on the first and second frames respectively, they can move independently, reducing mutual interference during movement and thus improving the efficiency of image acquisition of the battery pack. Simultaneously, the processor can receive top, side, and end images, and can use these images for identification and detection to determine the presence of defects, thereby improving the accuracy and efficiency of battery pack appearance inspection.

[0007] In one possible implementation of this application, the first camera group includes a first 3D scanning camera and a first bracket having a first accommodating cavity. The first bracket includes a first top plate and two first side plates. The upper ends of the two first side plates are respectively fixed to the two ends of the first top plate. The first top plate and the two first side plates form the first accommodating cavity. The first opening of the first accommodating cavity faces the top surface of the battery pack along a third direction. The first bracket is slidably disposed on the first line body through the first top plate or the first side plates. The third direction is perpendicular to the first direction and perpendicular to the second direction. The first 3D scanning camera is fixed on the first top plate and located outside the first accommodating cavity, and is used to capture a 3D image of the top surface of the battery pack.

[0008] In this application's technical solution, the first bracket includes a first top plate and two first side plates, which together form a first accommodating cavity. The first top plate and two first side plates also provide multiple mounting points for multiple cameras in the first camera group. Simultaneously, fixing the first 3D scanning camera to the first top plate and positioning it outside the first accommodating cavity not only allows the first 3D scanning camera to acquire a 3D image of the top surface of the battery pack, thereby obtaining depth information of the top surface, but also reduces the obstruction of the first side plates to the shooting area of ​​the first 3D scanning camera.

[0009] In one possible implementation of this application, the first camera group further includes a first two-dimensional line scan camera, which is fixed on a first side plate and located outside the first accommodating cavity, offset from the fixed position of the first three-dimensional scanning camera, and facing the top surface of the battery, for capturing a first line scan image of the top surface.

[0010] In this application's technical solution, since the first camera group also includes a first two-dimensional line scan camera, the top surface area of ​​the battery pack can be photographed by the first two-dimensional line scan camera to acquire a first line scan image containing overall planar information of the top surface of the battery pack, thereby obtaining two-dimensional image information of the top surface. This helps to combine the two-dimensional line scan image of the top surface with the three-dimensional image of the top surface to obtain more comprehensive information about the top surface. Simultaneously, the first two-dimensional line scan camera is located outside the first accommodating cavity and is offset from the first three-dimensional scanning camera on the first bracket, which reduces the obstruction of the first two-dimensional line scan camera to the first three-dimensional scanning camera.

[0011] In one possible implementation of this application, the first camera group further includes a first strip light source, which is rotatably disposed on the outer wall of the first side plate. The illumination area of ​​the first strip light source covers the shooting area of ​​the first two-dimensional line scan camera on the top surface, and is used to illuminate the top surface.

[0012] In this application's technical solution, by fixing the first strip light source to the outer wall of the first side plate on which the first two-dimensional line scan camera is mounted, the first strip light source can illuminate the shooting area of ​​the first two-dimensional line scan camera, which helps to improve the quality of the first line scan image acquired by the first two-dimensional line scan camera. It also reduces the obstruction of the first strip light source to the first three-dimensional scanning camera.

[0013] In one possible implementation of this application, the first camera group further includes a first two-dimensional camera, which is fixed to another first side plate and located outside the first accommodating cavity on the side near the first opening, facing the top surface of the battery pack, for capturing a two-dimensional image of the top surface.

[0014] In this application's technical solution, the first camera group also includes a first two-dimensional camera. This first two-dimensional camera can capture two-dimensional images of the top surface of the battery pack, facilitating the acquisition of image information of components such as labels and nameplates on the top surface of the battery pack. This allows for the detection of detailed parts such as components on the top surface of the battery pack. Simultaneously, the first two-dimensional camera is fixed to the outer wall of another first side plate, allowing for a greater distance between the first two-dimensional camera and the first three-dimensional scanning camera and the first two-dimensional line scanning camera, thus reducing mutual obstruction between the cameras.

[0015] In one possible implementation of this application, the first camera group further includes two second strip light sources. The second strip light sources are fixed to the first side plate on which the first two-dimensional camera is mounted, located on the side outside the first accommodating cavity near the first opening, and the two second strip light sources are symmetrically arranged on both sides of the first two-dimensional camera. The illumination area of ​​the second strip light sources covers the shooting area of ​​the first two-dimensional camera on the top surface of the battery pack, and is used to illuminate the top surface of the battery pack.

[0016] In this application's technical solution, by fixing the second strip light source to the outer wall of the first side plate on which the first 2D camera is mounted, the second strip light source can illuminate the shooting area of ​​the first 2D camera, which helps improve the quality of the top 2D image captured by the first 2D camera. Furthermore, setting two second strip light sources makes the brightness of the shooting area of ​​the first 2D camera more uniform.

[0017] In one possible implementation of this application, the first camera group further includes a first ring light source. The first ring light source is fixed to the first side plate on which the first two-dimensional camera is disposed and is located on the side outside the first accommodating cavity near the first opening. The first ring light source is coaxially disposed with the first two-dimensional camera. The illumination area of ​​the first ring light source covers the shooting area of ​​the first two-dimensional camera on the top surface of the battery pack, and is used to illuminate the top surface of the battery pack.

[0018] In the technical solution of this application, since a first ring light source is provided for the first two-dimensional camera and the first ring light source is coaxially set with the first two-dimensional camera, the shooting area of ​​the first two-dimensional camera on the top surface of the battery pack can be illuminated by the first ring light source, thereby making the shooting area of ​​the first two-dimensional camera brighter, which is conducive to improving the quality of the top two-dimensional image captured by the first two-dimensional camera, thereby improving the accuracy of judging the defects on the top surface of the battery pack.

[0019] In one possible implementation of this application, the first camera group further includes a first three-dimensional camera, which is movably disposed on the inner wall of the first top plate and located between the first two-dimensional line scan camera and the first two-dimensional camera, facing the top surface of the battery pack, for capturing images of the pin header connector on the top surface of the battery pack.

[0020] In the technical solution of this application, since the first camera assembly also includes a first three-dimensional camera movably disposed on the inner wall of the first top plate, the first three-dimensional camera can capture images of the pin header connectors of spring pins and other connectors on the top surface of the battery pack, thereby determining whether the installation angle and installation position of the pin header connectors are appropriate based on the pin header connector images.

[0021] In one possible implementation of this application, the first camera group further includes a first rotating member and a first sliding member. The first sliding member is fixed to the inner wall of the first top plate, the first rotating member is connected to the first sliding member, and the first two-dimensional camera is disposed on the first rotating member. The first sliding member can drive the first rotating member to move relative to the first support in a third direction, and the first rotating member can drive the first three-dimensional camera to rotate around a third direction.

[0022] In the technical solution of this application, since the first three-dimensional camera is set on the inner wall of the first top plate through the first rotating member and the first sliding member, the first three-dimensional camera can be driven to move along a third direction through the first sliding member, and the first three-dimensional camera can be driven to rotate around a third direction through the first rotating member. This makes it easy to adjust the distance and angle between the first three-dimensional camera and the pin header connector, so that the first three-dimensional camera can capture images of the pin header connector from multiple angles and all directions, thereby improving the detection accuracy of the pin header connector installation status.

[0023] In one possible implementation of this application, the battery pack testing device further includes a third rotating member, and the first bracket is connected to the first line body through the third rotating member. The third rotating member is used to drive the first camera group to rotate around a third direction.

[0024] In this technical solution, by connecting the first camera group to the first line via a third rotating component, the first camera group can be rotated around a third direction via the third rotating component, thereby adjusting the angle between the first camera group and the top surface of the battery pack. This allows the cameras in the first camera group to face the plane on the top surface of the battery pack or protruding devices on the top surface of the battery pack at different angles. This adjusts the shooting direction and angle of the cameras in the first camera group towards the protruding devices, facilitating the acquisition of more comprehensive and clear images of the protruding devices on the top surface of the battery pack, and thus improving the accuracy of defect identification on the top surface of the battery pack.

[0025] In one possible implementation of this application, the battery pack testing device further includes a third line body, which is slidably disposed on the first line body along a third direction. A third rotating member is connected to the third line body, and the third line body is capable of driving the first camera group to move along the third direction.

[0026] In this technical solution, since the first camera group is connected to the third cable via the third cable, the first camera group can be moved along a third direction by the third cable, thereby adjusting the distance between the first camera group and the top surface of the battery pack. This allows for convenient adjustment of the focal length between the cameras in the first camera group and the top surface of the battery pack.

[0027] In one possible implementation of this application, a height sensor is provided on the third line or the first bracket. The height sensor is used to detect the height distance between the first camera group and the top surface of the battery pack along a third direction, so as to adjust the height distance.

[0028] In the technical solution of this application, since a height sensor is set on the third line or the first bracket, the height distance information between the first camera group and the top surface of the battery pack can be obtained in a timely manner through the height sensor. Thus, the movement of the third line can be controlled in a timely and fast manner according to the height distance to adjust the distance between the first camera group and the top surface of the battery pack, thereby adjusting the height distance to make it consistent with the preset shooting distance.

[0029] In one possible implementation of this application, the second camera group includes a second bracket and a second two-dimensional camera; the second bracket is perpendicular to a third direction, and one side of the second bracket is slidably connected to the second line body along the third direction; the second two-dimensional camera is tilted at a preset angle on the second bracket and located on the side of the second bracket close to the second line body, and the second two-dimensional camera is used to capture edge images of the edge between the top surface and the side surface of the battery pack or the edge between the top surface and the end surface.

[0030] In this application's technical solution, because the second bracket is perpendicular to a third direction, its large surface area allows for multiple mounting points for multiple cameras in the second camera group. Furthermore, fixing the second 2D camera to the side of the second bracket near the second linear body allows it to be tilted at a preset angle at the edge of the second bracket, reducing not only the bracket's obstruction of the second 2D camera but also the camera's obstruction of other components in the second camera group. Additionally, the second 2D camera can capture clear edge images of the battery pack, enabling the determination of defects on the battery pack's edges based on these images.

[0031] In one possible implementation of this application, the second camera group further includes two third strip light sources. The third strip light sources are tilted at a preset angle on the second bracket and symmetrically arranged on both sides of the second two-dimensional camera to illuminate the edges captured by the second two-dimensional camera.

[0032] In this technical solution, by tilting the third strip light source at a preset angle on the second bracket, the shooting area of ​​the second 2D camera can be illuminated by the third strip light source, which helps to improve the quality of the edge images captured by the second 2D camera. Furthermore, setting two third strip light sources can make the brightness on the edges captured by the second 2D camera more uniform.

[0033] In one possible implementation of this application, the second camera group further includes a second three-dimensional camera. The second three-dimensional camera is rotatably mounted on the second bracket via a second rotating member and is located on the side of the second bracket away from the second wire. The second rotating member can drive the second three-dimensional camera to rotate relative to the second bracket around a first direction or a second direction. The second three-dimensional camera is used to capture images of the pin header connectors on the side or end face of the battery pack.

[0034] In this application's technical solution, since the second camera group also includes a second 3D camera, images of the pin header connectors, such as spring pins, on the side and end faces of the battery pack can be captured by the second 3D camera. This allows for the determination of whether the installation angle and position of the pin header connector are appropriate based on the images. Furthermore, the second 3D camera is mounted on the second bracket via a second rotating component. This component allows the second 3D camera to rotate around a first or second direction, facilitating the adjustment of the angle between the second 3D camera and the pin header connector, thereby enabling the capture of clearer images of the pin header connector.

[0035] In one possible implementation of this application, the second camera group further includes a third two-dimensional camera. The third two-dimensional camera is slidably disposed on the second bracket along the first or second direction and is located on the side of the second bracket away from the second line body. The third two-dimensional camera is disposed on the second bracket at an interval from the second three-dimensional camera. The third two-dimensional camera is used to capture two-dimensional side images or two-dimensional end images of the battery pack.

[0036] In this application's technical solution, the second camera group also includes a third 2D camera. This third 2D camera can acquire side and end 2D images of the battery pack, facilitating the acquisition of image information of components such as labels and nameplates on the sides and ends of the battery pack. This allows for the detection of detailed parts such as components on the sides and ends of the battery pack. Simultaneously, the third 2D camera is slidably mounted on the second bracket along either the first or second direction, facilitating the adjustment of the distance between the third 2D camera and the sides and ends of the battery pack.

[0037] In one possible implementation of this application, the second camera group further includes a second slider, which is fixed on the second bracket on the side away from the second line body. A third two-dimensional camera is disposed on the second slider, and the second slider can drive the third two-dimensional camera to move relative to the second bracket along the first direction or the second direction.

[0038] In the technical solution of this application, since the third two-dimensional camera is mounted on the second bracket via the second slider, the third two-dimensional camera can be driven to move relative to the second bracket along the first direction or the second direction via the second slider.

[0039] In one possible implementation of this application, the second camera group further includes a second ring light source, which is fixed to the second slider and located on the side or end face of the third two-dimensional camera near the battery pack, and is coaxially arranged with the third two-dimensional camera. The second ring light source is used to illuminate the shooting area of ​​the third two-dimensional camera on the side or end face of the battery pack.

[0040] In the technical solution of this application, since a second ring light source is provided for the third two-dimensional camera and the second ring light source is coaxially set with the third two-dimensional camera, the second ring light source can illuminate the shooting area of ​​the third two-dimensional camera on the side and end face of the battery pack. This makes the shooting area of ​​the third two-dimensional camera brighter, which is conducive to improving the quality of the side two-dimensional image and end face two-dimensional image acquired by the third two-dimensional camera. This can improve the accuracy of judging the side and end face defects of the battery pack.

[0041] In one possible implementation of this application, the second camera group further includes two fourth strip light sources. The fourth strip light sources are fixed on the second bracket on the side away from the second line body and are located on the side or end face of the third two-dimensional camera near the battery pack. The two fourth strip light sources are symmetrically arranged on both sides of the third two-dimensional camera. The illumination area of ​​the fourth strip light sources covers the shooting area of ​​the third two-dimensional camera on the side or end face of the battery pack, and is used to illuminate the shooting area of ​​the third two-dimensional camera.

[0042] In this technical solution, by symmetrically placing two fourth-line light sources on both sides of the third 2D camera, the shooting area of ​​the third 2D camera can be illuminated by the fourth-line light sources, which helps to improve the quality of the side and end-face 2D images captured by the third 2D camera. Furthermore, setting two fourth-line light sources makes the brightness of the shooting area of ​​the third 2D camera more uniform.

[0043] In one possible implementation of this application, the second camera group further includes a second three-dimensional scanning camera, which is fixed on the second bracket on the side away from the second line body and located between the second three-dimensional camera and the third two-dimensional camera, for capturing side three-dimensional images or end three-dimensional images of the battery pack.

[0044] In this technical solution, by fixing the second 3D scanning camera on the side of the second bracket away from the second line body, the second 3D scanning camera can acquire side 3D images and end 3D images of the battery pack, thereby obtaining depth information of the side and end faces of the battery pack based on the side 3D images and end 3D images. Furthermore, the second 3D scanning camera is located between the second 3D camera and the third 2D camera, which reduces mutual occlusion between the two cameras.

[0045] In one possible implementation of this application, the second camera group further includes a second two-dimensional line scan camera, which is fixed on the side of the second bracket away from the second line body and located at the end of the second bracket away from the third two-dimensional camera. The second two-dimensional line scan camera is used to capture side line scan images or end face line scan images of the battery pack.

[0046] In this application's technical solution, since the second camera group also includes a second two-dimensional line scan camera, the side and end face areas of the battery pack can be photographed using the second two-dimensional line scan camera. This facilitates the acquisition of overall planar information of the battery pack's side and end face, including side line scan images and end face line scan images, thereby obtaining two-dimensional image information of the side and end face. Furthermore, the two-dimensional line scan images of the side and end face can be combined with the three-dimensional images of the side and end face, respectively, which helps to obtain more comprehensive information from the side and end face images.

[0047] In one possible implementation of this application, the second camera group further includes a fifth strip light source, which is rotatably mounted on the second bracket around a third direction and located on the side of the second two-dimensional line scan camera near the battery pack, for illuminating the shooting area of ​​the second two-dimensional line scan camera on the battery pack.

[0048] In this application's technical solution, by placing the fifth strip light source on the second bracket adjacent to the second two-dimensional line scan camera, the fifth strip light source can illuminate the shooting area of ​​the second two-dimensional line scan camera, which helps improve the quality of the side and end-face line scan images captured by the second two-dimensional line scan camera. Furthermore, rotating the fifth strip light source on the second bracket facilitates adjustment of its illumination area on the side or end face of the battery pack, thereby allowing the illumination area of ​​the fifth strip light source to overlap with the shooting area of ​​the second two-dimensional line scan camera.

[0049] In one possible implementation of this application, the battery pack testing device further includes a fourth rotating member, and the second bracket is connected to the second line body through the fourth rotating member; when the second line body moves along the first direction to one of the two ends of the two second support beams, the fourth rotating member can drive the second camera group to rotate to the end face facing the battery pack, or the fourth rotating member can drive the second camera group to rotate to the side facing the battery pack.

[0050] In this technical solution, since the second bracket is connected to the second line body via the fourth rotating member, the second camera group can be rotated around a third direction by the fourth rotating member. This allows adjustment of the orientation of the cameras in the second camera group, meaning the cameras in the second camera assembly can face either the side or the end face of the battery pack. Thus, the second camera group can capture both side and end face images of the battery pack, improving its utilization efficiency.

[0051] In one possible implementation of this application, the battery pack testing device further includes a fourth line body, which is slidably disposed on the second line body along a third direction. A fourth rotating member is connected to the fourth line body, and the fourth line body is capable of driving the second camera group to move along a third direction.

[0052] In the technical solution of this application, since the fourth rotating component is connected to the second line body through the fourth line body, the second camera group can be driven to move along the third direction through the fourth line body. This allows the position of the second camera group relative to the side and end face of the battery pack along the third direction to be adjusted, thereby enabling the capture of side and end face images of various areas of the side and end face.

[0053] In one possible implementation of this application, the battery pack testing device further includes a position detection element. Along a first direction, at least one end of the first support beam is fixed with the position detection element, which is used to detect the position of the first wire on the first support beam to stop the movement of the first wire relative to the first support beam, or to bring the first wire to its origin relative to the first support beam; and / or, along the first direction, at least one end of the second support beam is provided with a position detection element, which is used to detect the position of the second wire on the second support beam to stop the movement of the second wire relative to the second support beam, or to bring the second wire to its origin relative to the second support beam.

[0054] In the technical solution of this application, since position sensors are provided for the first line body and / or the second line body, the position of the first line body relative to the first support beam can be detected by the position sensors, and the position of the second line body relative to the second support beam can be detected by the position sensors, thereby determining whether the first line body and / or the second line body has moved to the desired position, which helps to improve the accuracy of the movement position of the first line body and / or the second line body.

[0055] In one possible implementation of this application, the battery pack testing equipment further includes a positioning device, which includes a positioning base, a lifting mechanism, and a positioning mechanism. The positioning base is disposed adjacent to the second frame, and the lifting mechanism is slidably disposed on the positioning base along a third direction to drive the battery pack to move towards or away from the first camera group along the third direction. The positioning mechanism is slidably disposed on the positioning base and can move towards the battery pack to limit the position of the battery pack relative to the gantry truss.

[0056] In this technical solution, the positioning device includes a lifting mechanism that can lift the battery packs a certain distance along a third direction, ensuring that each battery pack is at a specific height relative to the first camera group. Simultaneously, the positioning device includes a positioning structure that can limit the position of the battery packs relative to the gantry truss, thus ensuring that each battery pack is positioned at a specific location relative to the first camera group in the horizontal plane. This improves the quality of the top, side, and end images of the battery packs acquired by the first and second camera groups.

[0057] In one possible implementation of this application, the positioning mechanism includes a transport positioning component and a tray positioning component; the positioning mechanism is slidably disposed on the positioning base along a first direction and is capable of moving along the first direction toward the transport device close to the battery pack; the tray positioning component is slidably disposed on the side of the positioning base close to the first camera group along a third direction and is capable of moving along the third direction toward the tray supporting the battery pack.

[0058] In this application's technical solution, a transport positioning component is provided in the positioning mechanism, which can constrain the transport component carrying the battery to a fixed position relative to the gantry truss. A pallet positioning component is also provided in the positioning mechanism, which can constrain the pallet carrying the battery to a fixed position, thereby constraining the battery to a fixed position relative to the gantry truss.

[0059] In one possible implementation of this application, the positioning device further includes a guiding component, which includes two sets of guide frames. The guide frames extend along a first direction, and both ends of the guide frames are bent toward the side away from the battery pack to guide the battery pack into the limiting space formed by the two sets of guide frames. The guide frames are provided with a plurality of guide wheels arranged at intervals along the extension direction of the guide frames. When the edge of the transport device contacts the guide wheels, the guide wheels rotate to limit the movement path of the transport device.

[0060] In the technical solution of this application, since a guide component is provided in the positioning device, the movement path of the transport device during the movement of the transport device toward the positioning device can be guided and restricted by the guide component, and the friction between the transport device and the positioning device can be reduced by the guide wheel in the guide component.

[0061] Compared to manual visual inspection, the aforementioned battery pack inspection equipment not only improves production efficiency by enabling unmanned assembly line inspection, but also achieves comprehensive high-definition three-dimensional imaging of the appearance information of the top, sides, and ends of the battery pack through the camera layout on the equipment. This improves the accuracy and consistency of the inspection, thereby enabling effective and stable quality inspection of the battery pack in a shorter inspection time.

[0062] The second aspect of this application provides a battery pack inspection method, applied to the battery pack inspection equipment provided in any one of the first aspects above. The battery pack inspection method includes: responding to a top shooting command, controlling a first line to slide along a first direction on a first support beam, and / or controlling a first camera group to slide along a second direction on the first line, causing the first camera group to move relative to the top surface of the battery pack and capturing a top surface image of the battery pack; responding to a side shooting command, controlling a second line to slide along a first direction on a second support beam, and / or controlling a second camera group to slide along a second direction on the second line, and / or controlling the second camera group to rotate relative to the second line about a third direction, causing the second camera group to move relative to the side or end face of the battery pack and capturing a side image and an end face image of the battery pack; and inspecting the appearance of the battery pack based on the top surface image, the side image, and the end face image.

[0063] The battery inspection method provided in this application, during the inspection of a battery pack, can acquire multiple images characterizing the presence of defects in the battery pack's appearance by using a first camera group to capture top surface images, and a second camera group to capture side surface images and end surface images. Simultaneously, a processor or similar device can be used to identify and detect defects in the top, side, and end surface images to determine their presence, thereby improving the accuracy and efficiency of battery pack appearance inspection.

[0064] In one possible implementation of this application, in response to a side-shooting command, controlling the second line body to slide along a first direction on the second support beam, and / or controlling the second camera group to slide along a second direction on the second line body, and / or controlling the second camera group to rotate relative to the second line body about a third direction, so that the second camera group moves relative to the side or end face of the battery pack, and captures side and end face images of the battery pack, includes: controlling the second line body to slide along the first direction on the second support beam, so that the second camera group moves relative to the side of the battery pack, and controlling the second camera group to rotate relative to the second line body about a third direction, so that the shooting direction of the second camera group is towards the side of the battery pack, and capturing a side image of the battery pack; controlling the second line body to slide along the first direction on the second support beam until the second camera group extends beyond the space where the battery pack is located in the first direction; controlling the second camera group to slide along the second direction on the second line body, so that the second camera group moves relative to the end face of the battery pack, and controlling the second camera group to rotate relative to the second line body about a third direction, so that the shooting direction of the second camera group is towards the end face of the battery pack, and capturing an end face image of the battery pack.

[0065] In the technical solution of this application, by controlling the second line body to move along the first direction, controlling the second camera group to move along the second direction, and controlling the second camera group to rotate around the third direction, the second camera group can be moved to a position corresponding to each side and end face, and the shooting direction of the second camera group can be directed toward each side and end face of the battery pack respectively. It can also drive the second camera group to move relative to each side and end face, so that the second camera group can be used to complete the side image shooting of all sides of the battery pack and the end face image shooting of all end faces.

[0066] In one possible implementation of this application, the first camera group of the battery pack testing device includes a first three-dimensional camera, a first rotating member, and a first sliding member. The first sliding member is fixed to a first bracket, the first rotating member is connected to the first sliding member, and the first three-dimensional camera is disposed on the first rotating member. The battery pack testing method further includes: controlling the first sliding member to move relative to the first bracket along a third direction, so as to drive the first three-dimensional camera to move relative to the pin header connector on the top surface of the battery pack along a third direction, so that the distance between the first three-dimensional camera and the pin header connector meets a preset distance threshold; and / or controlling the first rotating member to rotate relative to the first bracket around a third direction, so as to drive the first three-dimensional camera to rotate relative to the pin header connector around a third direction, so that the included angle between the first three-dimensional camera and the pin header connector meets a preset included angle threshold.

[0067] In this application's technical solution, by controlling the first rotating component to drive the first 3D camera to rotate relative to the pin header connector on the top surface of the battery pack, the angle between the first 3D camera and the pin header connector can be adjusted, thereby ensuring a perpendicular relationship between them. Furthermore, by controlling the first sliding component to drive the first 3D camera to move relative to the pin header connector along a third direction, the distance between them can be adjusted, enabling parallel imaging of the pin header connector by the first 3D camera. This helps reduce issues such as high-brightness reflections and blurred depth of field in the top surface image including the pin header connector, thus improving the quality of the top surface image including the pin header connector. Attached Figure Description

[0068] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0069] Figure 1 A schematic diagram of the battery pack testing equipment provided in this application;

[0070] Figure 2A schematic diagram of the structure of the second drive mechanism and the second camera group in the battery pack testing equipment provided in this application;

[0071] Figure 3 This is a schematic diagram of the battery pack provided in this application;

[0072] Figure 4 Schematic diagram of the structure of the first camera group in the battery pack testing equipment provided in this application Figure 1 ;

[0073] Figure 5 Schematic diagram of the structure of the first camera group in the battery pack testing equipment provided in this application Figure 2 ;

[0074] Figure 6 Schematic diagram of the structure of the second camera group in the battery pack testing equipment provided in this application Figure 1 ;

[0075] Figure 7 Schematic diagram of the structure of the second camera group in the battery pack testing equipment provided in this application Figure 2 ;

[0076] Figure 8 A schematic diagram of the positioning device in the battery pack testing equipment provided in this application;

[0077] Figure 9 This is a schematic diagram illustrating the usage method of the battery pack testing equipment provided in this application.

[0078] Explanation of reference numerals in the attached figures:

[0079] 1-Gantry truss; 11-Second frame; 111-Second support beam; 12-First frame; 121-First support beam; 2-First camera group; 21-First bracket; 211-First top plate; 212-First side plate; 213-First accommodating cavity; 22-First 3D scanning camera; 23-First 2D line scanning camera; 24-First 2D camera; 25-First 3D camera; 26-First strip light source; 261-First light source mounting bracket; 27-Second strip light source; 271-Second light source mounting bracket; 28-First 291-Ring light source; 292-First rotating component; 292-First sliding component; 3-Second camera group; 31-Second bracket; 32-Second 2D camera; 33-Second 3D camera; 34-Third 2D camera; 35-Second 3D scanning camera; 36-Second 2D line scanning camera; 371-Third bar light source; 372-Second ring light source; 373-Fourth bar light source; 374-Fifth bar light source; 375-Camera mount; 376-Third light source mounting bracket; 377-Fourth light source mounting bracket; 378-Fifth light source Mounting bracket; 38-Second rotating component; 39-Second sliding component; 4-First drive mechanism; 41-Fifth liner; 42-First liner; 43-Third liner; 44-Third rotating component; 5-Second drive mechanism; 51-Sixth liner; 52-Second liner; 53-Fourth liner; 54-Fourth rotating component; 6-Positioning device; 61-Positioning base; 62-Lifting mechanism; 621-Lifting drive component; 622-Lifting transmission component; 623-Lifting beam; 63-Positioning mechanism; 631-Transporting positioning assembly; 6311 - Transport positioning drive; 6312 Transport positioning component; 632 Pallet positioning assembly; 6321 Pallet positioning drive; 6322 Pallet positioning component; 64 Guide assembly; 641 Guide frame; 642 Guide wheel; 7 Battery pack; 71 Top surface; 72 Side surface; 73 End surface; 81 Top surface acquisition point; 82 Top surface preset path; 83 Side surface acquisition point; 84 Side surface preset path; 85 End surface acquisition point; 86 End surface preset path; X - First direction; Y - Second direction; Z - Third direction. Detailed Implementation

[0080] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification and the foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0082] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0083] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0084] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0085] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0086] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0087] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0088] Currently, new energy batteries are being used more and more widely in daily life and industry. They are not only used in energy storage systems for hydropower, thermal power, wind power, and solar power plants, but also extensively in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in aerospace and other fields. With the continuous expansion of the application areas of power batteries, the market demand is also constantly increasing.

[0089] With technological advancements, the requirements for battery appearance quality control are gradually increasing, and the monitoring of defects in the battery casing and its components is becoming increasingly refined. Related technologies include manual inspection and camera-based image review for battery appearance inspection. Manual inspection involves observing the battery's appearance to determine if defects are present. Camera-based image review involves viewing captured images of the battery and manually identifying defects within those images. However, neither method provides accurate and efficient inspection of battery appearance. Camera-based image review is susceptible to issues such as missed detections due to human error during image viewing, while manual inspection suffers from reduced efficiency due to operator fatigue and inconsistent results. Therefore, a battery pack inspection device is needed that not only improves the accuracy of battery appearance inspection but also enhances its efficiency.

[0090] This application provides a battery pack testing device. The battery involved in this application embodiment may include one or more battery cell assemblies for providing voltage and capacity. The battery cell assembly may include multiple battery cells, which are connected in series, parallel, or mixed connection through a busbar component.

[0091] In some embodiments, a battery cell assembly is typically formed by arranging multiple battery cells; as an example, a battery cell assembly can be a battery module, which is formed by arranging and fixing multiple battery cells together to form a single module. As an example, a battery module can be formed by bundling multiple battery cells together with cable ties.

[0092] For example, a battery can be a battery pack, which includes a housing and one or more individual battery cells housed within the housing. A battery can also refer to an energy storage device, which includes a housing with a door on at least one side. Energy storage devices include energy storage containers, energy storage cabinets, etc. This application does not limit the specific form or type of battery.

[0093] Reference Figure 1 and Figure 2 , Figure 1 A schematic diagram of the battery pack testing equipment provided in this application is shown. Figure 2 This is a schematic diagram of the second drive mechanism and the second camera group in the battery pack testing equipment provided in this application. The battery pack 7 testing equipment includes: a gantry truss 1, a first camera group 2, a second camera group 3, and a processor. The gantry truss 1 includes a first frame 12 and a second frame 11. The first frame 12 includes two first support beams 121 extending along a first direction X, and a first line 42 is slidably mounted on the two first support beams 121 along the first direction X. The second frame 11 includes two second support beams 111 extending along the first direction X, and a second line 52 is slidably mounted on the two second support beams 111 along the first direction X. The first camera group 2 is slidably mounted on the first line 42 along a second direction Y, and is used to capture images of the top surface of the battery pack 7; the second direction Y is perpendicular to the first direction. Two opposing second camera groups 3 are slidably mounted on the second line body 52 along the second direction Y, and are rotatably connected to the second line body 52 around the third direction Z. The second camera groups 3 are used to capture side and end images of the battery pack 7; the third direction Z is perpendicular to the first direction X, and the third direction Z is perpendicular to the second direction Y. The processor receives the top, side, and end images, and performs appearance detection on the battery pack 7 based on the top, side, and end images.

[0094] In the embodiments of this application, such as Figure 1As shown, the gantry truss 1 provides mounting points and support for other components in the battery pack 7 testing equipment, and the battery pack 7 testing equipment can be installed at a predetermined workstation via the gantry truss 1. For example, the gantry truss 1 can be configured as a frame structure, that is, using multiple rod-like members, which can be fixedly connected end to end to form the required gantry truss 1.

[0095] For example, the gantry truss 1 includes a first frame 12 and a second frame 11. The second frame 11 may include four lower columns and two second support beams 111. The four lower columns extend along a third direction Z (parallel or nearly parallel to the direction of gravity), and the two second support beams 111 extend in a horizontal plane, allowing them to be arranged parallel to each other and extending along a first direction X. Alternatively, the two second support beams 111 can be connected by two connecting beams extending along a second direction Y to form a rectangular frame. The four lower columns are then connected to the ends of the two second support beams 111 to form the second frame 11. The four lower columns can be fixed to a workstation (e.g., the ground). The first direction X can be the direction of movement of the battery pack 7 during the process of transporting the battery pack 7 to the battery pack 7 testing equipment. The first direction X is perpendicular or nearly perpendicular to the third direction Z, and the second direction Y is perpendicular or nearly perpendicular to the first direction X and the third direction Z.

[0096] In another example, the first frame 12 may include four upper columns and two first support beams 121. The four upper columns extend along a third direction Z, allowing the two first support beams 121 to be arranged parallel to each other and extending along a first direction X. Alternatively, the two first support beams 121 can be connected by two connecting beams extending along a second direction Y to form a rectangular frame. One end of each of the four upper columns is connected to both ends of the two first support beams 121, and the other ends of the four upper columns are fixed to the connecting beams in the second frame 11, thus forming the first frame 12. In this way, along the third direction Z, the first frame 12 is located above the second frame 11, meaning the first support beams 121 are located on the side of the second support beams 111 away from the ground.

[0097] In the embodiments of this application, such as Figure 1 As shown, a first drive mechanism 4 can be installed in the battery pack 7 testing device. The first drive mechanism 4 includes a fifth line body 41 and a first line body 42. The fifth line body 41 is installed on the first support beam 121 along the first direction X, and the first line body 42 is installed on the fifth line body 41 along the second direction Y.

[0098] For example, the fifth linear body 41 can be configured to include a fifth driving component and a fifth guiding component. The fifth driving component can be a motor, hydraulic cylinder, pneumatic cylinder, servo motor, etc. The fifth guiding component can be a matching fifth guide rail and a fifth slider, etc., where two fifth guide rails extend along the first direction X and are fixed parallel to each other on two first support beams 121 of the first frame 12, and the fifth slider is slidably mounted on the fifth guide rails. The fifth driving component is mounted on the fifth guide rail or the gantry truss 1, and the output component of the fifth driving component is connected to the fifth slider via a transmission, such as connecting the output shaft of the servo motor to the fifth slider via a belt or chain, or connecting the output component of the hydraulic cylinder, pneumatic cylinder, etc., to the fifth slider. The fifth linear body 41 can also be a fifth linear motor. In this way, the fifth linear body 41 can move along the first direction X.

[0099] In another example, the first linear body 42 can also be configured as a structure including a first driving element and a first guiding assembly. The first driving element can be a motor, hydraulic cylinder, pneumatic cylinder, servo motor, etc. The first guiding assembly can be a matching first guide rail and a first slider, etc., which can extend the first guide rail along the second direction Y and fix the first guide rail on two fifth sliders in the fifth linear body 41. The first slider is slidably mounted on the first guide rail. The first driving element is fixed on the first guide rail, and the output of the first driving element is connected to the first slider for transmission, such as connecting the output shaft of the servo motor to the first slider via a belt or chain, or connecting the output of the hydraulic cylinder, pneumatic cylinder, etc., to the first slider. The first linear body 42 can also be a first linear motor, with both ends of the first linear motor fixed to two fifth sliders in the fifth linear body 41 respectively. In this way, the fifth linear body 41 can drive the first linear body 42 to move along the first direction X, while the first linear body 42 itself can move along the second direction Y. That is, the first linear body 42 can be slidably mounted on the first support beam 121 along the first direction X.

[0100] In the embodiments of this application, such as Figure 1 and Figure 2 As shown, a second drive mechanism 5 can be installed in the battery pack 7 testing device. The second drive mechanism 5 includes a sixth line body 51 and a second line body 52. ​​The sixth line body 51 is disposed on the second support beam 111 along the first direction X, and the second line body 52 is disposed on the sixth line body 51 along the second direction Y.

[0101] For example, the sixth linear body 51 can be configured to include a sixth driving component and a sixth guiding component. The sixth driving component can be a motor, hydraulic cylinder, pneumatic cylinder, servo motor, etc. The sixth guiding component can be a matching sixth guide rail and a sixth slider, etc., where two sixth guide rails extend along the first direction X and are fixed parallel to each other on two second support beams 111 of the second frame 11, and the sixth slider is slidably mounted on the sixth guide rails. The sixth driving component is mounted on the sixth guide rail or the gantry truss 1, and the output component of the sixth driving component is connected to the sixth slider via a drive mechanism, such as connecting the output shaft of a servo motor to the sixth slider via a belt or chain, or connecting the output component of a hydraulic cylinder, pneumatic cylinder, etc., to the sixth slider. The sixth linear body 51 can also be a sixth linear motor. In this way, the sixth linear body 51 can move along the first direction X.

[0102] In another example, the second linear body 52 can be configured to include a second driving element and a second guiding component. The second driving element can be a motor, hydraulic cylinder, pneumatic cylinder, servo motor, etc. The second guiding component can be a matching second guide rail and second slider, etc., which can extend the second guide rail along the second direction Y and fix the second guide rail to the two sixth sliders in the sixth linear body 51. The second slider is slidably mounted on the second guide rail. The second driving element is fixed to the second guide rail, and the output component of the second driving element is connected to the second slider for transmission, such as connecting the output shaft of the servo motor to the second slider via a belt or chain, or connecting the output component of the hydraulic cylinder, pneumatic cylinder, etc., to the second slider. The second linear body 52 can also be a second linear motor, with both ends of the second linear motor fixed to the two sixth sliders in the sixth linear body 51 respectively. In this way, the sixth linear body 51 can drive the second linear body 52 to move along the first direction X, while the second linear body 52 itself can move along the second direction Y. That is, the second linear body 52 can be slidably mounted on the second support beam 111 along the first direction X.

[0103] In the embodiments of this application, reference is made to Figure 3 , Figure 3A schematic diagram of the battery pack 7 provided in this application is shown. The battery pack 7 is typically an approximately cubic shape, with a relatively small thickness but a length and width greater than its thickness. This results in the top surface 71 (the surface away from the ground along the third direction Z) and bottom surface (the surface closer to the ground along the third direction Z) of the battery pack 7 typically having large surface areas. The bottom surface of the battery often needs to connect to structural components that support and install electrical equipment; therefore, the bottom surface of the battery pack 7 is usually not provided with, or has very few, components. The sides are multiple external surfaces surrounding the battery pack 7 along the third direction Z. For example, if the battery is approximately cubic, the battery pack 7 has at least two side surfaces 72 and two end surfaces 73. For instance, side surfaces 72 can be the surface of a side extending along the length direction (first direction X) of the battery pack 7, while end surfaces 73 can be the surface of a side extending along the width direction (second direction Y) of the battery pack 7. The top surface 71, side surfaces 72, and end surfaces 73 of the battery typically have connectors and other components. The battery pack 7 can be placed inside the gantry truss 1 with the bottom surface of the battery facing the ground. Then, a first camera group 2 and a second camera group 3 can be set up in the battery pack 7 detection equipment to collect images of the top surface 71, side surface 72 and end surface 73 of the battery pack 7.

[0104] In this embodiment, the first camera group 2 may include multiple cameras, such as a 3D camera, a 2D camera, or a line scan camera. The multiple cameras in the first camera group 2 can be slidably connected to the first line 42. For example, the first camera group 2 can be connected to a component on the first line 42 that can move along the second direction Y. In this way, the multiple cameras in the first camera group 2 can capture images of the top surface 71 of the battery pack 7, and the first line 42 can drive the first camera group 2 to move relative to the top surface 71 of the battery pack 7 along the first direction X and the second direction Y, thereby acquiring top surface images of various areas of the top surface 71.

[0105] In this embodiment, the second camera group 3 may include multiple cameras, such as a drone camera, a 3D camera, a 2D camera, a line scan camera, etc. The multiple cameras in the second camera group 3 can be slidably connected on the second line body 52. ​​For example, the second camera group 3 can be connected to a component on the second line body 52 that can move along the second direction Y.

[0106] For example, such as Figure 1 As shown, two sets of second camera groups 3 can be slidably mounted on the second linear body 52. ​​That is, the second linear body 52 can be configured to include two linear motors, and two sets of second camera groups 3 can be mounted on each of the two linear motors. In this way, each linear motor can drive one set of second camera groups 3 to move along the second direction Y.

[0107] In another example, the second camera group 3 can be rotatably connected to the second linear body 52 about a third direction Z, such as by rotatably connecting the second camera group 3 to the output of a linear motor via a shaft or the like. This allows the second camera group 3 to rotate to face the side 72 of the battery pack 7, or to face the end face 73 of the battery pack 7. In this way, the second linear body 52 can drive the second camera group 3 to move relative to the side 72 and end face 73 of the battery pack 7 along the first direction X and the second direction Y, thereby acquiring side images of various regions of the side 72 and end face images of various regions of the end face 73.

[0108] In this embodiment, the processor refers to a unit with computing capabilities, such as a computer or server with a processor. The cameras in the first camera group 2 and the second camera group 3 can be electrically connected to the processor, such as via cables or a wireless network. This allows the cameras in the first camera group 2 and the second camera group 3 to upload acquired top, side, and end-face images to the processor. The processor can also be configured to determine whether each received image contains defects based on a preset judgment method, thereby determining whether the corresponding battery pack 7 has any appearance defects, thus completing the appearance inspection of the battery pack 7.

[0109] For example, multiple standard images of the battery pack 7 can be stored in a memory electrically connected to the processor, such as a top standard image of the top surface 71 of the battery pack 7, side standard images of each side surface 72 of the battery pack 7, and end standard images of each end surface 73 of the battery pack 7. The processor can compare the received top surface image with the top standard image to determine whether there are defects in the top surface image; it can also compare the received side surface images with the side standard images to determine whether there are defects in the side surface images; and it can also compare the received end surface images with the end surface standard images to determine whether there are defects in the end surface images. For example, it can determine whether there are scratches in the top surface image, side surface image, and end surface image, or whether the installation position and orientation of some externally mounted devices of the battery pack 7 are accurate, thereby determining whether there are defects in the battery pack 7.

[0110] The battery pack 7 testing device provided in this application embodiment, since the gantry truss 1 includes a first frame 12 and a second frame 11, can slide the first camera group 2 on the first support beam 121 of the first frame 12 via the first line 42, and can acquire the top surface image of the top surface 71 of the battery pack 7 through the first camera group 2; and by sliding the first camera group 2 on the first line 42, the first line 42 can drive the first camera group 2 to move relative to the top surface 71 of the battery pack 7, thereby facilitating the acquisition of the top surface image of each area of ​​the top surface 71 through the first camera group 2. Alternatively, two sets of second camera groups 3 can be slidably mounted on the second support beam 111 of the second frame 11 via the second line body 52, and the two sets of second camera groups 3 can be slidably mounted on the second line body 52. ​​The second camera groups 3 are also rotatably connected to the second line body 52. ​​The second line body 52 can drive the second camera groups 3 to move relative to the side 72 or end face 73 of the battery pack 7, and can rotate the second camera groups 3 to face the side 72 or end face 73, thereby facilitating the acquisition of side images of various areas of the side 72 and end face images of various areas of the end face 73. Moreover, by setting the first camera group 2 and the second camera group 3 on the first frame 12 and the second frame 11 respectively, the first camera group 2 and the second camera group 3 can move independently, which helps to reduce mutual interference between the first camera group 2 and the second camera group 3 during movement, thereby improving the efficiency of image acquisition of the battery pack 7. Meanwhile, the processor can receive top, side and end images, and can use the processor to identify and detect the top, side and end images to determine whether there are defects in the images, thereby improving the accuracy and efficiency of the appearance inspection of the battery pack 7.

[0111] In some possible embodiments of this application, reference is made to Figure 4 and Figure 5 , Figure 4 Schematic diagram of the structure of the first camera group 2 in the battery pack 7 testing device provided in this application Figure 1 , Figure 5 Schematic diagram of the structure of the first camera group 2 in the battery pack 7 testing device provided in this application Figure 2The first camera group 2 includes a first three-dimensional scanning camera 22 and a first bracket 21 having a first accommodating cavity 213. The first bracket 21 includes a first top plate 211 and two first side plates 212. The upper ends of the two first side plates 212 are respectively fixed to the two ends of the first top plate 211. The first top plate 211 and the two first side plates 212 form the first accommodating cavity 213. The first opening of the first accommodating cavity 213 faces the top surface 71 of the battery pack 7 along the third direction Z. The first bracket 21 is slidably disposed on the first line body 42 through the first top plate 211 or the first side plates 212. The first three-dimensional scanning camera 22 is fixed on the first top plate 211 and located outside the first accommodating cavity 213, and is used to capture a three-dimensional image of the top surface of the battery pack 7.

[0112] In the embodiments of this application, such as Figure 4 and Figure 5 As shown, a first bracket 21 can be set in the first camera group 2 to set multiple cameras and other devices in the first camera group 2.

[0113] For example, the first support 21 can be configured as an approximately cubic frame structure, and a cavity can be formed inside the first support 21, which serves as the first receiving cavity 213. For instance, along the third direction Z, the first opening of the first receiving cavity 213 of the first support 21 faces the ground, that is, after the first support 21 is connected to the first wire 42, the first opening of the first receiving cavity 213 faces the top surface 71 of the battery pack 7 along the third direction Z.

[0114] In another example, the first support 21 includes a first top plate 211 and two first side plates 212. The first top plate 211 is a flat plate and is perpendicular to the third direction Z, that is, the first top plate 211 extends along a horizontal plane. The two first side plates 212 can also be flat plates, and both first side plates 212 extend along the third direction Z. For example, the upper ends of the two first side plates 212 can be fixed to opposite ends of the first top plate 211, thus forming an approximately "n-shaped" first support 21, with the first opening of the first support 21 facing the top surface 71 of the battery pack 7.

[0115] In the embodiments of this application, such as Figure 4 and Figure 5 As shown, a first 3D scanning camera 22 can be mounted on the first bracket 21. For example, the first 3D scanning camera 22 can be fixed to the first top plate 211 by bolts, such as fixing the first 3D scanning camera 22 to the side of the first top plate 211 facing the top surface 71 of the battery pack 7, and the first 3D scanning camera 22 can be located outside the first accommodating cavity 213, in which case the lens of the first 3D scanning camera 22 faces the first opening. Then, the first 3D scanning camera 22 can acquire a 3D image of the top surface 71 that can characterize the height information of each part of the top surface 71 of the battery.

[0116] In the above embodiment, since the first bracket 21 includes a first top plate 211 and two first side plates 212, a first accommodating cavity 213 can be formed by the first top plate 211 and the two first side plates 212, and multiple mounting points can be provided for multiple cameras in the first camera group 2. Simultaneously, fixing the first 3D scanning camera 22 to the first top plate 211 and positioning it outside the first accommodating cavity 213 not only allows the first 3D scanning camera 22 to acquire a 3D image of the top surface of the battery pack 7, thereby obtaining depth information of the top surface of the battery pack based on this 3D image, but also reduces the obstruction of the first side plates 212 on the shooting area of ​​the first 3D scanning camera.

[0117] In some possible embodiments of this application, such as Figure 4 and Figure 5 As shown, the first camera group 2 also includes a first two-dimensional line scan camera 23. The first two-dimensional line scan camera 23 is fixed on a first side plate 212 and located outside the first accommodating cavity 213. It is offset from the fixed position of the first three-dimensional scanning camera 22 and faces the top surface 71 of the battery, and is used to capture the first line scan image of the top surface 71.

[0118] In this embodiment, a first two-dimensional line scan camera 23 can also be set in the first camera group 2, and the first two-dimensional line scan camera 23 can be fixed on the first bracket 21. For example, the first two-dimensional line scan camera 23 can be fixed on one end of a first side plate 212 away from the first top plate 211, and the first two-dimensional line scan camera 23 is located in the area outside the first accommodating cavity 213 near the first opening. At the same time, the first two-dimensional line scan camera 23 avoids the acquisition path of the first three-dimensional scanning camera 22, that is, the first two-dimensional line scan camera 23 and the first three-dimensional scanning camera 22 are fixed on the first bracket 21 at a certain distance from each other, so as to reduce the obstruction of the first two-dimensional line scan camera 23 to the first three-dimensional scanning camera 22. If the first two-dimensional line scan camera 23 is a two-dimensional color line scan camera, a clear first line scan image of the top surface 71 of the battery pack 7 can be acquired through the first two-dimensional line scan camera 23 during the movement of the first camera group 2.

[0119] For example, two first two-dimensional line scanning cameras 23 can be fixed on a first side plate 212, with the two first two-dimensional line scanning cameras 23 fixed on the first side plate 212 along the width direction of the first side plate 212. Along the third direction Z, the first two-dimensional line scanning cameras 23 face the top surface 71 of the battery pack 7. For example, the first two-dimensional line scanning cameras 23 can be fixed on the first side plate 212 by means of screws, adhesives, etc.

[0120] In the above embodiment, since the first camera group 2 also includes a first two-dimensional line scan camera 23, the first two-dimensional line scan camera 23 can capture images of the area of ​​the top surface 71 of the battery pack 7, so as to acquire a first line scan image containing the overall planar information of the top surface 71 of the battery pack 7, thereby obtaining two-dimensional image information of the top surface. This helps to combine the two-dimensional line scan image of the top surface with the three-dimensional image of the top surface to obtain more comprehensive information of the top surface image. At the same time, the first two-dimensional line scan camera 23 is located outside the first accommodating cavity 213 and is offset from the first three-dimensional scanning camera 22 on the first bracket 21, which can reduce the obstruction of the first two-dimensional line scan camera 23 to the first three-dimensional scanning camera 22.

[0121] In some possible embodiments of this application, the first camera group 2 further includes a first strip light source 26, which is rotatably disposed on the outer wall of the first side plate 212. The illumination area of ​​the first strip light source 26 covers the shooting area of ​​the first two-dimensional line scan camera 23 on the top surface 71, and is used to illuminate the top surface 71.

[0122] In this embodiment of the application, corresponding fill lights can be set for each of the multiple cameras in the first camera group 2, so as to illuminate the shooting area of ​​the corresponding camera through the fill lights, so that the shooting area has uniform brightness, etc.

[0123] For example, the first strip light source 26 can be disposed on the outer wall of the first side plate 212 on which the first two-dimensional line scan camera 23 is mounted, so that the first strip light source 26 and the first two-dimensional line scan camera 23 are adjacent. Furthermore, the extending direction of the first strip light source 26 is parallel to the length direction of the imaging area of ​​the two first two-dimensional line scan cameras 23. That is, the extending direction of the first strip light source 26 is parallel to the arrangement direction of the two first two-dimensional line scan cameras 23. This allows the illumination area of ​​the first strip light source 26 to cover the imaging area of ​​the first two-dimensional line scan camera 23 on the top of the battery pack 7, thereby enabling the imaging area of ​​the first two-dimensional line scan camera 23 on the top surface 71 of the battery pack 7 to have uniform brightness and reducing the influence of reflected light, etc., on the first two-dimensional line scan camera 23. For example, the first strip light source 26 can be a light-emitting diode (LED) lamp, etc.

[0124] In another example, a first light source mounting bracket 261 matching the first strip light source 26 can be used. The first light source mounting bracket 261 is bolted to the outer wall of the first side plate 212, and the two ends of the first strip light source 26 are rotatably connected to the first light source mounting bracket 261 via a pivot. This allows the first strip light source 26 to rotate relative to the first bracket 21, facilitating the adjustment of the illumination area of ​​the first strip light source 26 on the top surface 71 of the battery pack 7.

[0125] In the above embodiments, since the first strip light source 26 is fixed to the outer wall of the first side plate 212 on which the first two-dimensional line scan camera 23 is mounted, the first strip light source 26 can illuminate the shooting area of ​​the first two-dimensional line scan camera 23, which is beneficial to improving the quality of the first line scan image acquired by the first two-dimensional line scan camera 23. It can also reduce the obstruction of the first strip light source 26 to the first three-dimensional scanning camera 22.

[0126] In some possible embodiments of this application, the first camera group 2 further includes a first two-dimensional camera 24, which is fixed to another first side plate 212 and located outside the first accommodating cavity 213 on the side near the first opening, facing the top surface 71 of the battery pack 7, for capturing a two-dimensional image of the top surface 71.

[0127] In this embodiment, a first two-dimensional camera 24 can be disposed in the first camera group 2. For example, the first two-dimensional camera 24 can be fixed to the outer wall of another first side plate 212 in the first bracket 21, so that the first two-dimensional camera 24 is located outside the first accommodating cavity 213. That is, the first two-dimensional line scan camera 23 is fixed on one first side plate 212, and the first two-dimensional camera 24 is fixed on the other first side plate 212. The first two-dimensional camera 24 can be fixed to the outer wall of the first side plate 212 by means of screws, adhesives, etc.

[0128] For example, the first two-dimensional camera 24 can be positioned on the first side plate 212 away from the first top plate 211, so that the first two-dimensional camera 24 is in a position close to the first opening and faces the top surface 71 of the battery pack 7.

[0129] In the above embodiment, since the first camera group 2 also includes a first two-dimensional camera 24, the first two-dimensional camera 24 can acquire two-dimensional images of the top surface of the battery pack 7, so as to obtain image information of components such as labels and nameplates on the top surface 71 of the battery pack 7, and so that details such as components on the top surface 71 of the battery pack 7 can also be detected. At the same time, the first two-dimensional camera 24 is fixed to the outer wall of another first side plate 212, which can make the first two-dimensional camera 24 far away from the first three-dimensional scanning camera 22 and the first two-dimensional line scanning camera 23, which helps to reduce mutual occlusion between the cameras.

[0130] In some possible embodiments of this application, the first camera group 2 further includes two second strip light sources 27. The second strip light sources 27 are fixed on the first side plate 212 on which the first two-dimensional camera 24 is disposed, located on the side of the first accommodating cavity 213 near the first opening, and the two second strip light sources 27 are symmetrically disposed on both sides of the first two-dimensional camera 24. The illumination area of ​​the second strip light sources 27 covers the shooting area of ​​the first two-dimensional camera 24 on the top surface 71 of the battery pack 7, and is used to illuminate the top surface 71 of the battery pack 7.

[0131] In this embodiment, a corresponding fill light can be provided for the first two-dimensional camera 24 to illuminate the shooting area of ​​the first two-dimensional camera 24 so that the shooting area has uniform brightness, etc.

[0132] For example, the second strip light source 27 can be disposed on the outer wall of the first side plate 212 on which the first two-dimensional camera 24 is mounted, so that the second strip light source 27 and the first two-dimensional camera 24 are adjacent. For example, two second strip light sources 27 can be symmetrically disposed on both sides of the first two-dimensional camera 24, and both second strip light sources 27 are located outside the first accommodating cavity 213. The extending direction of the second strip light source 27 can be perpendicular to the plane on which the first side plate 212 is located. This allows the illumination area of ​​the second strip light source 27 to cover the shooting area of ​​the first two-dimensional camera 24 on the top of the battery pack 7, thereby enabling the shooting area of ​​the first two-dimensional camera 24 on the top surface 71 of the battery pack 7 to have uniform brightness. For example, the first strip light source 26 can be a light-emitting diode (LED) lamp, etc.

[0133] In another example, a second light source mounting bracket 271 matching the second strip light source 27 can be used. The second light source mounting bracket 271 is bolted to the outer wall of the first side plate 212, and the two ends of the second strip light source 27 are rotatably connected to the second light source mounting bracket 271 via a pivot. This allows the second strip light source 27 to rotate relative to the first bracket 21, facilitating the adjustment of the illumination area of ​​the second strip light source 27 on the top surface 71 of the battery pack 7.

[0134] In the above embodiment, since the second strip light source 27 is fixed to the outer wall of the first side plate 212 on which the first two-dimensional camera 24 is mounted, the second strip light source 27 can illuminate the shooting area of ​​the first two-dimensional camera 24, which helps to improve the quality of the top two-dimensional image captured by the first two-dimensional camera 24. Furthermore, setting two second strip light sources 27 can make the brightness of the shooting area of ​​the first two-dimensional camera 24 more uniform.

[0135] In some possible embodiments of this application, the first camera group 2 further includes a first ring light source 28. The first ring light source 28 is fixed on the first side plate 212 on which the first two-dimensional camera 24 is disposed, and is located on the side of the first accommodating cavity 213 near the first opening. The first ring light source 28 is coaxially disposed with the first two-dimensional camera 24. The illumination area of ​​the first ring light source 28 covers the shooting area of ​​the first two-dimensional camera 24 on the top surface 71 of the battery pack 7, and is used to illuminate the top surface 71 of the battery pack 7.

[0136] In this embodiment, a ring-shaped supplementary light can also be provided for the first two-dimensional camera 24. For example, a first ring light source 28 can be fixed on the first side plate 212 on which the first two-dimensional camera 24 is mounted. The first ring light source 28 has a circular ring structure and can be coaxially arranged with the first two-dimensional camera 24, that is, the axis of the first ring light source 28 is parallel or nearly parallel to the axis of the first two-dimensional camera 24, and coincides or nearly coincides with it. This allows the illumination area formed by the first ring light source 28 on the top surface 71 of the battery pack 7 to cover the shooting area of ​​the first two-dimensional camera 24 on the top surface 71 of the battery pack 7, so that the shooting area of ​​the first two-dimensional camera 24 has uniform brightness.

[0137] In the above embodiments, since a first ring light source 28 is provided for the first two-dimensional camera 24 and the first ring light source 28 is coaxially arranged with the first two-dimensional camera 24, the first ring light source 28 can illuminate the shooting area of ​​the first two-dimensional camera 24 on the top surface 71 of the battery pack 7, thereby making the shooting area of ​​the first two-dimensional camera 24 brighter, which is beneficial to improving the quality of the top two-dimensional image captured by the first two-dimensional camera 24, thereby improving the accuracy of the judgment of defects on the top surface 71 of the battery pack 7.

[0138] In some possible embodiments of this application, the first camera group 2 further includes a first three-dimensional camera 25, which is movably disposed on the inner wall of the first top plate 211 and located between the first two-dimensional line scan camera 23 and the first two-dimensional camera 24, facing the top surface 71 of the battery pack 7, for capturing images of the pin header connectors on the top surface 71 of the battery pack 7.

[0139] In this embodiment, a first 3D camera 25 may also be mounted on the first bracket 21. For example, the first 3D camera 25 may be movably mounted on the inner wall of the first top plate 211, with the first 3D camera 25 facing the first opening. The first 3D camera 25 can capture stereoscopic images of connectors mounted on the top surface 71 of the battery pack 7, such as images of pogo pins.

[0140] For example, the first 3D camera 25 can be movably mounted on the inner wall of the first top plate 211 in a manner that allows it to move relative to the first support 21. For instance, the first 3D camera 25 can be a high-precision laser camera, such as an infrared laser 3D camera with a depth map and color map resolution of 1920*1080@20fps.

[0141] In the above embodiment, since the first camera group 2 also includes a first three-dimensional camera 25 movably disposed on the inner wall of the first top plate 211, the first three-dimensional camera 25 can capture images of the pin header connectors of spring pins and other connectors on the top surface 71 of the battery pack 7, thereby determining whether the installation angle and installation position of the pin header connector are appropriate based on the pin header connector images.

[0142] In some possible embodiments of this application, the first camera group 2 further includes a first rotating member 291 and a first sliding member 292. The first sliding member 292 is fixed to the inner wall of the first top plate 211, the first rotating member 291 is connected to the first sliding member 292, and the first two-dimensional camera 24 is disposed on the first rotating member 291. The first sliding member 292 can drive the first rotating member 291 to move relative to the first support 21 along the third direction Z, and the first rotating member 291 can drive the first three-dimensional camera 25 to rotate around the third direction Z.

[0143] In this embodiment, the first 3D camera 25 can be movably mounted on the inner wall of the first top plate 211 via a first rotating member 291 and a first sliding member 292. For example, the first rotating member 291 can be a rotary cylinder, a servo motor, a stepper motor, etc. The first sliding member 292 can be a slide cylinder, a hydraulic cylinder, a linear motor, etc.

[0144] For example, the first sliding member 292 can be fixed along the third direction Z to the inner wall of the first top plate 211, the first rotating member 291 can be fixed to the piston rod of the first sliding member 292, and the first three-dimensional camera 25 can be fixed to the rotating shaft of the first rotating member 291.

[0145] In the above embodiments, since the first three-dimensional camera 25 is mounted on the inner wall of the first top plate 211 via the first rotating member 291 and the first sliding member 292, the first three-dimensional camera 25 can be driven to move along the third direction Z by the first sliding member 292, and the first three-dimensional camera 25 can be driven to rotate around the third direction Z by the first rotating member 291. This facilitates the adjustment of the distance and angle between the first three-dimensional camera 25 and the pin header connector, allowing the first three-dimensional camera to capture images of the pin header connector from multiple angles and in all directions. For example, multiple pin header connector images captured from multiple angles can be fused using image fusion techniques such as pyramid fusion and alpha fusion to obtain pin header connector images with higher image quality, thereby improving the detection accuracy of the pin header connector installation status.

[0146] In some possible embodiments of this application, the battery pack 7 detection device further includes a third rotating member 44, the first bracket 21 is connected to the first line body 42 through the third rotating member 44, and the third rotating member 44 is used to drive the first camera group 2 to rotate around a third direction Z.

[0147] In the embodiments of this application, such as Figure 1 As shown, the first drive mechanism 4 also includes a third rotating member 44, which is connected to the first line body 42. The rotation axis of the third rotating member 44 is parallel to the third direction Z. The first camera group 2 is connected to the third rotating member 44 through the first bracket 21.

[0148] For example, the third rotating member 44 can be a rotating drive and a rotating shaft. For instance, the first top plate 211 in the first bracket 21 is connected to the first line body 42 via a rotating shaft, the rotating drive is fixed to the first line body 42, and the rotating drive and the rotating shaft are connected via a gear or other transmission; the rotating drive can be a servo motor, etc. The third rotating member 44 can also be a servo motor, with the servo motor fixed to the first line body 42 and the first top plate 211 fixed to the output shaft of the servo motor. In this way, the third rotating member 44 can drive the first camera group 2 to rotate relative to the top surface 71 of the battery pack 7.

[0149] In the above embodiment, since the first camera group 2 is connected to the first line body 42 via the third rotating member 44, the first camera group 2 can be rotated around the third direction Z by the third rotating member 44, thereby adjusting the angle between the first camera group 2 and the top surface 71 of the battery pack 7. In this way, the cameras in the first camera group 2 can be directed at different angles toward the plane in the top surface 71 of the battery pack 7 or the protruding devices on the top surface 71 of the battery pack 7. This allows adjustment of the shooting direction and shooting angle of the cameras in the first camera group 2 toward the protruding devices, which is beneficial for obtaining a more comprehensive and clear image of the protruding devices on the top surface 71 of the battery pack 7, thereby improving the accuracy of defect judgment and identification of the top surface 71 of the battery pack 7.

[0150] In some possible embodiments of this application, the battery pack 7 detection device further includes a third line body 43, which is slidably disposed on the first line body 42 along the third direction Z. A third rotating member 44 is connected to the third line body 43, and the third line body 43 can drive the first camera group 2 to move along the third direction Z.

[0151] In the embodiments of this application, such as Figure 1 As shown, a third line body 43 can be set in the first drive mechanism 4 to drive the first camera group 2 to move along the third direction Z.

[0152] For example, the third linear body 43 can be configured to include a third driving component and a third guiding component. The third driving component can be a motor, hydraulic cylinder, pneumatic cylinder, servo motor, etc. The third guiding component can be a matching third guide rail and third slider, etc., which can extend the third guide rail along the third direction Z and fix the third guide rail on the first slider in the first linear body 42. The third slider is slidably mounted on the third guide rail. The third driving component is fixed on the third guide rail, and the output component of the third driving component is connected to the third slider for transmission, such as connecting the output shaft of the servo motor to the third slider via a belt or chain, or connecting the output component of the hydraulic cylinder, pneumatic cylinder, etc., to the third slider. The third linear body 43 can also be a third linear motor, which is fixed on the first slider in the first linear body 42. In this way, the fifth linear body 41 can drive the first linear body 42 to move along the first direction X, and the first linear body 42 can drive the third linear body 43 to move along the second direction Y, and the third linear body 43 can drive the first camera assembly 2 to move along the third direction Z.

[0153] In the above embodiment, since the first camera group 2 is connected to the first cable 42 via the third cable 43, the first camera group 2 can be moved along the third direction Z by the third cable 43, thereby adjusting the distance between the first camera group 2 and the top surface 71 of the battery pack 7. This allows for convenient adjustment of the focal length between the camera in the first camera group 2 and the top surface 71 of the battery pack 7.

[0154] In some possible embodiments of this application, a height sensor (not shown in the figure) is provided on the third line body 43 or the first bracket 21. The height sensor is used to detect the height distance between the first camera group 2 and the top surface 71 of the battery pack 7 along the third direction Z, so as to adjust the height distance.

[0155] In this embodiment of the application, a height sensor can be set in the battery pack 7 detection device to detect the height distance between the top surface 71 of the battery pack 7 and the first camera group 2. The height distance is the distance between the first camera group 2 and the top surface 71 of the battery pack 7 along the third direction Z, so as to facilitate the adjustment of the focal length between the camera in the first camera group 2 and the top surface 71 of the battery pack 7.

[0156] For example, the height sensor can be an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor, etc. The height sensor can be fixed on the first bracket 21, or it can be fixed on a part connected to the third rotating member 44 on the third line body 43, and the height sensor is oriented towards the top surface 71 of the battery pack 7 in the third direction Z. Then the height distance between the first camera group 2 and the top surface 71 of the battery pack 7 can be obtained by the height sensor.

[0157] In another example, the height sensor can be electrically connected to the controller of the battery pack 7 detection device. The height sensor can upload the acquired height and distance information to the controller in real time. The controller can control the third line 43 to move the first camera group 2 relative to the top surface 71 of the battery pack 7 along the third direction Z based on the difference between the height and distance and the preset acquisition distance, so as to adjust the height and distance to match the preset shooting distance.

[0158] In the above embodiments, since a height sensor is provided on the third line body 43 or the first bracket 21, the height distance information between the first camera group 2 and the top surface 71 of the battery pack 7 can be obtained in a timely manner through the height sensor. Thus, the movement of the third line body 43 can be controlled in a timely and fast manner according to the height distance to adjust the distance between the first camera group 2 and the top surface 71 of the battery pack 7, thereby adjusting the height distance to make it consistent with the preset shooting distance.

[0159] In some possible embodiments of this application, reference is made to Figure 6 and Figure 7 , Figure 6 Schematic diagram of the structure of the second camera group 3 in the battery pack 7 testing device provided in this application Figure 1 , Figure 7 Schematic diagram of the structure of the second camera group 3 in the battery pack 7 testing device provided in this application Figure 2 The second camera group 3 includes a second bracket 31 and a second two-dimensional camera 32. The second bracket 31 is parallel to the plane containing the first direction X and the second direction Y. Along the third direction Z, one side of the second bracket 31 is slidably connected to the second line body 52. ​​The second two-dimensional camera 32 is tilted at a preset angle on the second bracket 31 and is located on the side of the second bracket 31 close to the second line body 52. ​​The second two-dimensional camera 32 is used to capture edge images of the edge between the top surface 71 and the side surface 72 or the edge between the top surface 71 and the end surface 73 of the battery pack 7.

[0160] In this embodiment, a second bracket 31 can be provided in the second camera group 3 to fix and mount multiple cameras and other devices in the second camera group 3. For example, the second bracket 31 can be configured as a plate-shaped structure and extend in the horizontal plane, that is, the first bracket 21 is perpendicular or nearly perpendicular to the third direction Z.

[0161] For example, one side of the second bracket 31 can be connected to the second line body 52 along a third direction Z. For instance, the second bracket 31 can be connected to the slider in the second line body 52 by bolts or the like. This allows the second bracket 31 and the second line body 52 to be slidably connected.

[0162] In this embodiment, a second two-dimensional camera 32 can be mounted on the second bracket 31. For example, along the third direction Z, the second two-dimensional camera 32 can be mounted on the second bracket 31 near the second line body 52. ​​The second two-dimensional camera 32 can also be mounted on the second bracket 31 at an angle. For instance, the shooting direction of the second two-dimensional camera 32 can have a preset angle with the third direction Z, such as an angle of 30°, 45°, etc. This allows the second two-dimensional camera 32 to be nearly perpendicular to the edges between the top surface 71 and the side surface 72 of the battery pack 7, or the edges between the top surface 71 and the end surface 73, facilitating the capture of clear images of the edges of the battery pack 7 by the second two-dimensional camera 32.

[0163] In the above embodiments, since the second bracket 31 is perpendicular to the third direction Z, the large surface area of ​​the second bracket 31 can provide multiple mounting points for multiple cameras in the second camera group 3. Furthermore, fixing the second 2D camera 32 to the side of the second bracket 31 near the second linear body 52 allows the second 2D camera 32 to be tilted at a preset angle at the edge of the second bracket 31. This not only reduces the obstruction of the second 2D camera 32 by the second bracket 31 but also reduces the obstruction of the second 2D camera 32 by other components in the second camera group 3. The second 2D camera 32 can also capture clear edge images of the battery pack 7, allowing for the determination of whether defects exist on the edges of the battery pack 7.

[0164] In some possible embodiments of this application, the second camera group 3 further includes two third strip light sources 371. The third strip light sources 371 are inclined at a preset angle on the second bracket 31 and symmetrically arranged on both sides of the second two-dimensional camera 32, for lighting the edges captured by the second two-dimensional camera 32.

[0165] In this embodiment, a corresponding fill light can be provided for the second two-dimensional camera 32 to illuminate the shooting area of ​​the second two-dimensional camera 32 so that the shooting area has uniform brightness, etc.

[0166] For example, the third strip light source 371 can be positioned on the second bracket 31 near the second linear body 52, so that the third strip light source 371 is adjacent to the second two-dimensional camera 32. For instance, two third strip light sources 371 can be symmetrically positioned on both sides of the second two-dimensional camera 32, with the two third strip light sources 371 at the same tilt angle as the second two-dimensional camera 32 at the edge of the second bracket 31. The extension direction of the third strip light source 371 can be angled with a third direction Z, so that the third strip light source 371 is perpendicular to the second two-dimensional camera 32. This allows the illumination area of ​​the third strip light source 371 to cover the shooting area of ​​the second two-dimensional camera 32 on the edge of the battery pack 7, thereby enabling uniform brightness in the shooting area of ​​the second two-dimensional camera 32 on the edge of the battery pack 7. For example, the third strip light source 371 can be a light-emitting diode (LED) lamp, etc.

[0167] In another example, a third light source mounting bracket 376 matching the third strip light source 371 can be used. The third light source mounting bracket 376 is fixed to the second bracket 31 on the surface near the second line body 52 using bolts or the like. The third strip light source 371 and the third light source mounting bracket 376 are rotatably connected via a pivot. This allows the third strip light source 371 to rotate relative to the second bracket 31, facilitating adjustment of the illumination angle of the third strip light source 371 on the edge of the battery pack 7.

[0168] In the above embodiment, since the third strip light source 371 is tilted at a preset angle on the second bracket 31, the shooting area of ​​the second two-dimensional camera 32 can be illuminated by the third strip light source 371, which helps to improve the quality of the edge image captured by the second two-dimensional camera 32. Furthermore, setting two third strip light sources 371 can make the brightness on the edge captured by the second two-dimensional camera 32 more uniform.

[0169] In some possible embodiments of this application, the second camera group 3 further includes a second three-dimensional camera 33. The second three-dimensional camera 33 is rotatably mounted on the second bracket 31 via a second rotating member 38 and is located on the side of the second bracket 31 away from the second wire body 52. ​​The second rotating member 38 can drive the second three-dimensional camera 33 to rotate relative to the second bracket 31 around the first direction X or the second direction Y. The second three-dimensional camera 33 is used to capture images of the pin header connector on the side 72 or end face 73 of the battery pack 7.

[0170] In this embodiment, a second three-dimensional camera 33 can be mounted on the second bracket 31. For example, the second three-dimensional camera 33 can be rotatably mounted on the side of the second bracket 31 away from the second wire body 52, and the second three-dimensional camera 33 can face the side 72 or end face 73 of the battery pack 7. The second three-dimensional camera 33 can capture stereoscopic images of connectors mounted on the side 72 and end face 73 of the battery pack 7, such as images of pogo pins.

[0171] For example, the second rotating component 38 can be a rotary cylinder, a servo motor, a stepper motor, etc. The rotation axis of the second rotating component 38 can be made parallel or nearly parallel to the first direction X or the second direction Y. By fixing one end of the second rotating component 38 to the second bracket 31 and fixing the second 3D camera 33 to the rotation axis of the second rotating component 38, the second rotating component 38 can drive the second 3D camera 33 to rotate around the first direction X or the second direction Y.

[0172] In the above embodiment, since the second camera group 3 also includes a second three-dimensional camera 33, the second three-dimensional camera 33 can capture images of the pin header connectors such as spring pins on the side 72 and end face 73 of the battery pack 7. This allows for the determination of whether the installation angle and position of the pin header connector are appropriate based on the pin header connector images. Furthermore, by mounting the second three-dimensional camera 33 on the second bracket 31 via the second rotating member 38, the second three-dimensional camera 33 can be rotated around the first direction X or the second direction Y, facilitating the adjustment of the angle between the second three-dimensional camera 33 and the pin header connector, thereby enabling the capture of clearer images of the pin header connector.

[0173] In some possible embodiments of this application, such as Figure 6 and Figure 7 As shown, the second camera group 3 also includes a third two-dimensional camera 34. The third two-dimensional camera 34 is slidably disposed on the second bracket 31 along the first direction X or the second direction Y, and is located on the side of the second bracket 31 away from the second line body 52. ​​The third two-dimensional camera 34 and the second three-dimensional camera 33 are disposed on the second bracket 31 at intervals. The third two-dimensional camera 34 is used to capture two-dimensional side images or two-dimensional end images of the battery pack 7.

[0174] In this embodiment, a third two-dimensional camera 34 can be provided in the second camera group 3. For example, the third two-dimensional camera 34 can be slidably connected to the second bracket 31 on the side away from the second line body 52. ​​The third two-dimensional camera 34 can also slide along the first direction X or the second direction Y.

[0175] For example, the third 2D camera 34 and the second 3D camera 33 can be positioned on the second bracket 31 at a certain distance apart, that is, the third 2D camera 34 can be located at one end of the second bracket 31, and the second 3D camera 33 can be located at the other end of the second bracket 31. This helps to reduce mutual occlusion between the third 2D camera 34 and the second 3D camera 33.

[0176] In the above embodiment, since the second camera group 3 also includes a third two-dimensional camera 34, the third two-dimensional camera 34 can acquire side two-dimensional images and end two-dimensional images of the side 72 and end 73 of the battery pack 7, so as to obtain image information of components such as labels and nameplates on the side 72 and end 73 of the battery pack 7, and enable the detection of detailed parts such as components on the side 72 and end 73 of the battery pack 7. At the same time, the third two-dimensional camera 34 is slidably mounted on the second bracket 31 along the first direction X or the second direction Y, so as to facilitate the adjustment of the distance between the third two-dimensional camera 34 and the side 72 and end 73 of the battery pack 7.

[0177] In some possible embodiments of this application, the second camera group 3 further includes a second slider 39, which is fixed on the second bracket 31 on the side away from the second line body 52. ​​The third two-dimensional camera 34 is disposed on the second slider 39, and the second slider 39 can drive the third two-dimensional camera 34 to move relative to the second bracket 31 along the first direction X or the second direction Y.

[0178] In this embodiment, the third 2D camera 34 can be slidably mounted on the second bracket 31 via the second slider 39. For example, the second slider 39 can be a rodless cylinder, hydraulic cylinder, linear motor, etc. The fixed end of the second slider 39 is fixed on the side of the second bracket 31 away from the second linear body 52, and the sliding end of the second slider 39 extends along the first direction X or the second direction Y. The third 2D camera 34 is fixed to the sliding end of the second slider 39 via the camera mounting bracket 375, so that the second slider 39 can drive the third 2D camera 34 to move relative to the second bracket 31 along the first direction X or the second direction Y.

[0179] In the above embodiment, since the third two-dimensional camera 34 is mounted on the second bracket 31 via the second slider 39, the third two-dimensional camera 34 can be driven to move relative to the second bracket 31 along the first direction X or the second direction Y via the second slider 39.

[0180] In some possible embodiments of this application, the second camera group 3 further includes a second ring light source 372, which is fixed to the second slider 39 and located on the side 72 or end face 73 of the third two-dimensional camera 34 near the battery pack 7, and is coaxially arranged with the third two-dimensional camera 34. The second ring light source 372 is used to illuminate the shooting area of ​​the third two-dimensional camera 34 on the side 72 or end face 73 of the battery pack 7.

[0181] In this embodiment, a ring-shaped supplementary light can be provided for the third 2D camera 34. For example, a second ring light source 372 can be fixed on the second slider 39, and the second ring light source 372 can be fixed on the camera mount 375. The second ring light source 372 has a circular structure, and the second ring light source 372 and the third 2D camera 34 can be coaxially arranged, that is, the axis of the second ring light source 372 is parallel or nearly parallel to the axis of the third 2D camera 34, and coincides or nearly coincides. This allows the illumination area formed by the second ring light source 372 on the side 72 and end 73 of the battery pack 7 to cover the shooting area of ​​the third 2D camera 34 on the side 72 and end 73 of the battery pack 7, so that the shooting area of ​​the third 2D camera 34 has uniform brightness.

[0182] In the above embodiments, since a second ring light source 372 is provided for the third two-dimensional camera 34 and the second ring light source 372 is coaxially arranged with the third two-dimensional camera 34, the second ring light source 372 can illuminate the shooting area of ​​the third two-dimensional camera 34 on the side 72 and end face 73 of the battery pack 7. This can make the shooting area of ​​the third two-dimensional camera 34 have uniform brightness, which is beneficial to improving the quality of the side two-dimensional image and end face two-dimensional image acquired by the third two-dimensional camera 34. This can improve the accuracy of judging defects on the side 72 and end face 73 of the battery pack 7.

[0183] In some possible embodiments of this application, the second camera group 3 further includes two fourth strip light sources 373. The fourth strip light sources 373 are fixed on the second bracket 31 on the side away from the second linear body 52 and are located on the side 72 or end face 73 of the third two-dimensional camera 34 near the battery pack 7. The two fourth strip light sources 373 are symmetrically arranged on both sides of the third two-dimensional camera 34. The illumination area of ​​the fourth strip light sources 373 covers the shooting area of ​​the third two-dimensional camera 34 on the side 72 or end face 73 of the battery pack 7, and is used to illuminate the shooting area of ​​the third two-dimensional camera 34.

[0184] In this embodiment, a corresponding strip light can also be provided for the third two-dimensional camera 34 to illuminate the shooting area of ​​the third two-dimensional camera 34 so that the shooting area has uniform brightness, etc.

[0185] For example, the fourth strip light source 373 can be positioned on the second bracket 31 on the side away from the second linear body 52, and the fourth strip light source 373 and the third two-dimensional camera 34 can be adjacent. For instance, two fourth strip light sources 373 can be symmetrically positioned on both sides of the third two-dimensional camera 34, with each fourth strip light source 373 being closer to the battery pack 7 than the third two-dimensional camera 34. The extension direction of the fourth strip light source 373 can be parallel to the third direction Z. This allows the illumination area of ​​the fourth strip light source 373 to cover the shooting area of ​​the third two-dimensional camera 34 on the side 72 and end face 73 of the battery pack 7, thereby enabling uniform brightness in the shooting area of ​​the third two-dimensional camera 34 on the side 72 and end face 73 of the battery pack 7. For example, the fourth strip light source 373 can be a light-emitting diode (LED) lamp, etc.

[0186] In another example, a fourth light source mounting bracket 377 matching the fourth strip light source 373 can be used. The fourth light source mounting bracket 377 is bolted to the second bracket 31, and the two ends of the fourth strip light source 373 are rotatably connected to the fourth light source mounting bracket 377 via a pivot. This allows the fourth strip light source 373 to rotate relative to the second bracket 31, facilitating adjustment of the illumination area of ​​the fourth strip light source 373 on the side 72 or end face 73 of the battery pack 7.

[0187] In the above embodiments, since the two fourth strip light sources 373 are symmetrically arranged on both sides of the third two-dimensional camera 34, the shooting area of ​​the third two-dimensional camera 34 can be illuminated by the fourth strip light sources 373, which is beneficial to improving the quality of the side two-dimensional images and end-face two-dimensional images captured by the third two-dimensional camera 34. Furthermore, setting two fourth strip light sources 373 can make the brightness of the shooting area of ​​the third two-dimensional camera 34 more uniform.

[0188] In some possible embodiments of this application, the second camera group 3 further includes a second three-dimensional scanning camera 35, which is fixed on the second bracket 31 on the side away from the second line body 52 and is located between the second three-dimensional camera 33 and the third two-dimensional camera 34, for capturing side three-dimensional images or end three-dimensional images of the battery pack 7.

[0189] In the embodiments of this application, such as Figure 6As shown, a second 3D scanning camera 35 can be mounted on the second bracket 31. For example, the second 3D scanning camera 35 can be fixed to the side of the second bracket 31 away from the second wire body 52 by bolts, and the second 3D scanning camera 35 can be positioned on the second bracket 31 away from the battery pack 7, with the lens of the second 3D scanning camera 35 facing the side 72 or end face 73 of the battery pack 7. The second 3D scanning camera 35 can be positioned between the second 3D camera 33 and the third 2D camera 34, with a distance between the second 3D scanning camera 35 and the second 3D camera 33, and also a distance between the second 3D scanning camera 35 and the third 2D camera 34. Then, the second 3D scanning camera 35 can acquire side 3D images and end face 3D images that can characterize the height information of each part of the side 72 and end face 73 of the battery.

[0190] In the above embodiment, since the second 3D scanning camera 35 is fixed on the second bracket 31 on the side away from the second line body 52, the second 3D scanning camera 35 can be used to acquire side 3D images and end 3D images of the battery pack 7, thereby obtaining the depth information of the side 72 and end 73 of the battery pack 7 based on the side 3D images and end 3D images. Furthermore, the second 3D scanning camera 35 is located between the second 3D camera 33 and the third 2D camera 34, which can reduce mutual occlusion between the second 3D scanning camera 35, the second 3D camera 33, and the third 2D camera 34.

[0191] In some possible embodiments of this application, the second camera group 3 further includes a second two-dimensional line scan camera 36, ​​which is fixed on the second bracket 31 on the side away from the second line body 52 and located on the second bracket 31 at the end away from the third two-dimensional camera 34. The second two-dimensional line scan camera 36 is used to capture side line scan images or end face line scan images of the battery pack 7.

[0192] In this embodiment, a second two-dimensional line scan camera 36 can also be provided in the second camera group 3, and the second two-dimensional line scan camera 36 can be fixed on the second bracket 31. For example, the second two-dimensional line scan camera 36 can be fixed on the side of the second bracket 31 away from the second line body 52, and the second two-dimensional line scan camera 36 can face the side 72 or end face 73 of the battery pack 7. If the second two-dimensional line scan camera 36 is a two-dimensional color line scan camera, then during the movement of the second camera group 3 relative to the side 72 or end face 73 of the battery pack 7, the second two-dimensional line scan camera 36 can acquire the side line scan image and the end face line scan image of the battery pack 7.

[0193] For example, the third two-dimensional camera 34 can be set at one end of the second bracket 31, while the second two-dimensional line scan camera 36 can be set at the other end of the second bracket 31, so that the second two-dimensional line scan camera 36 and the third two-dimensional camera 34 are far apart from each other.

[0194] In the above embodiment, since the second camera group 3 also includes a second two-dimensional line scan camera 36, ​​the second two-dimensional line scan camera 36 can capture images of the side 72 and end face 73 of the battery pack 7, so as to acquire overall planar information including side 72 and end face 73 of the battery pack 7, side line scan images and end face line scan images, thereby obtaining two-dimensional image information of side 72 and end face 73. Furthermore, the two-dimensional line scan images of side 72 and end face 73 can be combined with the three-dimensional images of side 72 and end face 73, respectively, which helps to obtain more comprehensive information of side images and end face images.

[0195] In some possible embodiments of this application, the second camera group 3 further includes a fifth strip light source 374, which is rotatably mounted on the second bracket 31 about a third direction Z and located on the side of the second two-dimensional line scan camera 36 near the battery pack 7, for lighting the shooting area of ​​the second two-dimensional line scan camera 36 on the battery pack 7.

[0196] In this embodiment, a corresponding strip light can be provided for the second two-dimensional line scan camera 36 in the second camera group 3 to illuminate the shooting area of ​​the second two-dimensional line scan camera 36 so that the shooting area has uniform brightness, etc.

[0197] For example, the fifth strip light source 374 can be positioned on the side of the second bracket 31, adjacent to the second two-dimensional line scan camera 36, ​​so that the fifth strip light source 374 is located on the side of the second two-dimensional line scan camera 36 closer to the battery pack 7. Furthermore, the extension direction of the fifth strip light source 374 is parallel to the third direction Z. This allows the illumination area of ​​the fifth strip light source 374 to cover the imaging area of ​​the second two-dimensional line scan camera 36 on the side 72 and end face 73 of the battery pack 7, thereby enabling uniform brightness in the imaging area of ​​the second two-dimensional line scan camera 36 on the side 72 and end face 73 of the battery pack 7. For example, the fifth strip light source 374 can be a light-emitting diode (LED) lamp, etc.

[0198] In another example, a fifth light source mounting bracket 378 matching the fifth strip light source 374 can be used. The fifth light source mounting bracket 378 is bolted to the second bracket 31, and the two ends of the fifth strip light source 374 are rotatably connected to the fifth light source mounting bracket 378 via a pivot. This allows the fifth strip light source 374 to rotate relative to the second bracket 31 about a third direction Z, facilitating the adjustment of the illumination area of ​​the fifth strip light source 374 on the side 72 and end face 73 of the battery pack 7.

[0199] In the above embodiment, since the fifth strip light source 374 is positioned on the second bracket 31 adjacent to the second two-dimensional line scan camera 36, ​​the shooting area of ​​the second two-dimensional line scan camera 36 can be illuminated by the fifth strip light source 374, which helps to improve the quality of the side and end face line scan images captured by the second two-dimensional line scan camera 36. Furthermore, by rotating the fifth strip light source 374 on the second bracket 31, it is easy to adjust the illumination area of ​​the fifth strip light source 374 on the side 72 or end face 73 of the battery pack 7, thereby allowing the illumination area of ​​the fifth strip light source 374 to coincide with the shooting area of ​​the second two-dimensional line scan camera 36.

[0200] In some possible embodiments of this application, the battery pack 7 detection device further includes a fourth rotating member 54, and the second bracket 31 is connected to the second line body 52 through the fourth rotating member 54; when the second line body 52 moves along the first direction X to one of the two ends of the two second support beams 111, the fourth rotating member 54 can drive the second camera group 3 to rotate to the end face 73 facing the battery pack 7, or the fourth rotating member 54 can drive the second camera group 3 to rotate to the side face 72 facing the battery pack 7.

[0201] In this embodiment of the application, as shown in the embodiment of the application, Figure 2 As shown, the second drive mechanism 5 also includes a fourth rotating member 54, which is connected to the second linear body 52. ​​The rotation axis of the fourth rotating member 54 is parallel or nearly parallel to the third direction Z. The second camera group 3 is connected to the fourth rotating member 54 via the second bracket 31. For example, the side of the second bracket 31 closest to the second linear body 52 can be connected to the fourth rotating member 54.

[0202] For example, the fourth rotating member 54 can be a rotating drive and a rotating shaft. For instance, the second bracket 31 is connected to the second line body 52 via a rotating shaft, the rotating drive is mounted on the second line body 52, and the rotating drive and rotating shaft are connected via a gear or other transmission; the rotating drive can be a servo motor, etc. The fourth rotating member 54 can also be a servo motor, mounted on the second line body 52, and the second bracket 31 is fixed to the output shaft of the servo motor. In this way, the fourth rotating member 54 can drive the second camera group 3 to rotate relative to the battery pack 7 around a third direction Z.

[0203] In the above embodiment, since the second bracket 31 is connected to the second line body 52 via the fourth rotating member 54, the second camera group 3 can be rotated around the third direction Z by the fourth rotating member 54. This allows adjustment of the orientation of the cameras in the second camera group 3, that is, the cameras in the second camera group 3 can face the side 72 or the end face 73 of the battery pack 7. In this way, the second camera group 3 can capture both side images and end face images of the battery pack 7, which helps to improve the utilization efficiency of the second camera group 3.

[0204] In some possible embodiments of this application, the battery pack 7 detection device further includes a fourth line body 53, which is slidably disposed on the second line body 52 along the third direction Z. A fourth rotating member 54 is connected to the fourth line body 53, and the fourth line body 53 can drive the second camera group 3 to move along the third direction Z.

[0205] In this embodiment of the application, as shown in the embodiment of the application, Figure 2 As shown, a fourth line body 53 can be set in the second drive mechanism 5 to drive the second camera group 3 to move along the third direction Z.

[0206] For example, the fourth linear body 53 can be configured to include a fourth driving element and a fourth guiding component. The fourth driving element can be a motor, hydraulic cylinder, pneumatic cylinder, servo motor, etc. The fourth guiding component can be a matching fourth guide rail and fourth slider, etc., which can extend the fourth guide rail in a third direction Z and fix the fourth guide rail on the second slider in the second linear body 52. ​​The fourth slider is slidably mounted on the fourth guide rail. The fourth driving element is fixed on the fourth guide rail, and the output component of the fourth driving element is connected to the fourth slider for transmission, such as connecting the output shaft of the servo motor to the fourth slider via a belt or chain, or connecting the output component of the hydraulic cylinder, pneumatic cylinder, etc., to the fourth slider. The fourth linear body 53 can also be a fourth linear motor, which is fixed on the second slider in the second linear body 52. ​​Then, the fourth rotating component 54 is fixed on the fourth slider of the fourth linear body 53. In this way, the sixth line body 51 can drive the second line body 52 to move along the first direction X, and the second line body 52 can drive the fourth line body 53 to move along the second direction Y. The fourth line body 53 can then drive the fourth rotating member 54 to move along the third direction Z, which can also drive the second camera group 3 to move along the third direction Z.

[0207] In the above embodiment, since the fourth rotating member 54 is connected to the second line 52 through the fourth line 53, the second camera group 3 can be driven to move along the third direction Z by the fourth line 53. This allows the position of the second camera group 3 relative to the side 72 and end face 73 of the battery pack 7 along the third direction Z to be adjusted, thereby enabling the capture of side images and end face images of each area of ​​the side 72 and end face 73.

[0208] In some possible embodiments of this application, the battery pack 7 detection device further includes a position detection element (not shown in the figure). Along the first direction X, at least one end of the first support beam 121 is fixed with the position detection element, which is used to detect the position of the first wire 42 on the first support beam 121, so that the first wire 42 stops moving relative to the first support beam 121, or so that the first wire 42 is at its origin relative to the first support beam 121; and / or, along the first direction X, at least one end of the second support beam 111 is provided with a position detection element, which is used to detect the position of the second wire 52 on the second support beam 111, so that the second wire 52 stops moving relative to the second support beam 111, or so that the second wire 52 is at its origin relative to the second support beam 111.

[0209] In this embodiment, multiple position detection devices can be set in the battery pack 7 detection device to determine whether each part, such as the first line body 42 and the second line body 52, has returned to the original position or reached the stop position relative to the gantry truss 1.

[0210] For example, a limit sensor, serving as a position detection element, can be installed at each end of the first support beam 121, and the limit sensor can be electrically connected to the controller of the battery pack 7 detection device. Thus, during the sliding of the first linear body 42 relative to the first support beam 121 along the first direction X, after the limit sensor detects a signal, the controller can control the first linear body 42 to stop moving in a timely manner. Alternatively, an origin sensor, serving as a position detection element, can be installed at each end of the first support beam 121. Thus, during the movement of the first linear body 42 along the first support beam 121 to its initial position, the origin sensor can detect whether the first linear body 42 has returned to the accurate origin position.

[0211] In another example, a limit sensor, serving as a position detection element, can be installed at each end of the second support beam 111, and the limit sensor can be electrically connected to the controller of the battery pack 7 detection device. Thus, during the sliding of the second linear body 52 relative to the second support beam 111 along the first direction X, the controller can control the second linear body 52 to stop moving promptly after the limit sensor detects a signal. Alternatively, an origin sensor, serving as a position detection element, can be installed at each end of the second support beam 111. This way, during the movement of the second linear body 52 along the second support beam 111 to its initial position, the origin sensor can detect whether the second linear body 52 has returned to the accurate origin position.

[0212] In the above embodiments, since position sensors are provided for the first line body 42 and / or the second line body 52, the position of the first line body 42 relative to the first support beam 121 can be detected by the position sensors, and the position of the second line body 52 relative to the second support beam 111 can be detected by the position sensors. This allows it to be determined whether the first line body 42 and / or the second line body 52 has moved to the desired position, which helps to improve the accuracy of the movement position of the first line body 42 and / or the second line body 52.

[0213] In some possible embodiments of this application, reference is made to Figure 8 , Figure 8 This is a schematic diagram of the positioning device 6 in the battery pack 7 testing equipment provided in this application. Figure 1 and Figure 8 As shown, the battery pack 7 testing equipment also includes a positioning device 6, which includes a positioning base 61, a lifting mechanism 62, and a positioning mechanism 63. The positioning base 61 is arranged adjacent to the second frame 11. The lifting mechanism 62 is slidably disposed on the positioning base 61 along the third direction Z, and is used to drive the battery pack 7 to move closer to or away from the first camera group 2 along the third direction Z. The positioning mechanism 63 is slidably disposed on the positioning base 61 and can move towards the battery pack 7 to limit the position of the battery pack 7 relative to the gantry truss 1.

[0214] In the embodiments of this application, such as Figure 1 As shown, after the battery pack 7 is transported into the gantry 1 of the battery pack 7 testing equipment, it is necessary to constrain the battery pack 7 relative to the battery pack 7 testing equipment in a defined position. A positioning device 6 can be installed in the battery pack 7 testing equipment to constrain the position and movement of the battery pack 7 relative to the gantry 1. For example, along the third direction Z, the positioning device 6 can be installed within the gantry 1, and can be located in the lower region within the gantry 1.

[0215] In the embodiments of this application, such as Figure 8 As shown, the positioning base 61 provides mounting points for other components in the positioning device 6 and can fix the positioning device 6 at a position corresponding to the gantry truss 1. For example, the positioning base 61 can be configured as a frame structure, such as setting two independent frames distributed along the second direction Y and extending the independent frames along the first direction X, so that the area between the two frames can be used as a parking space for the transport device and the battery pack 7.

[0216] In this embodiment, a lifting mechanism 62 can be provided in the positioning device 6 to lift the tray carrying the battery pack 7 a certain height along the third direction Z.

[0217] For example, the lifting mechanism 62 can be configured to include a lifting drive component 621, a lifting transmission component 622, and a lifting beam 623. The lifting drive component 621 can be a cylinder, hydraulic cylinder, etc., and can be fixed on the positioning base 61. The lifting transmission component 622 can be a wedge block, which is connected to the output component of the lifting drive component 621 and can be slidably mounted on the positioning base 61 along the first direction X. The lifting beam 623 can be configured as a long rod-like structure extending along the first direction X, and can be slidably mounted on the positioning base 61 in the vertical direction. A roller can be provided on the side of the lifting beam 623 near the wedge block, and the roller abuts against the inclined surface of the wedge block. Thus, as the lifting drive 621 drives the wedge block to move along the first direction X, the roller rolls relative to the inclined surface of the wedge block, which allows the lifting beam 623 to move upward or downward along the third direction Z, thereby lifting or lowering the battery pack 7 so that the battery pack 7 is closer to or further away from the first camera group 2.

[0218] In this embodiment, a positioning mechanism 63 can be provided on the positioning base 61. After the transport device transports the battery pack 7 into the parking space, the positioning mechanism 63 can restrict the movement of the transport device and the battery pack 7 and limit the battery pack 7 to the desired position. For example, multiple positioning elements can be provided in the positioning mechanism 63 to position the battery pack 7 from multiple directions.

[0219] In the above embodiments, since the positioning device 6 is equipped with a lifting mechanism 62, the battery pack 7 can be lifted a certain distance along the third direction Z by the lifting mechanism 62, so that each battery pack 7 can be at a certain height relative to the first camera group 2. At the same time, the positioning device 6 is equipped with a positioning structure, which can limit the position of the battery pack 7 relative to the gantry truss 1 by the positioning mechanism 63, so that each battery pack 7 can be at a certain position relative to the first camera group 2 in the horizontal plane, which is beneficial to improving the quality of the top, side and end images of the battery pack 7 acquired by the first camera group 2 and the second camera group 3.

[0220] In some possible embodiments of this application, the battery pack 7 detection device further includes a positioning device 6, and the positioning mechanism 63 includes a transport positioning component 631 and a tray positioning component 632; the positioning mechanism 63 is slidably disposed on the positioning base 61 along the first direction X, and can move along the first direction X toward the transport device of the battery pack 7; the tray positioning component 632 is slidably disposed on the side of the positioning base 61 near the first camera group 2 along the third direction Z, and can move along the third direction Z toward the tray supporting the battery pack 7.

[0221] In the embodiments of this application, such as Figure 8As shown, a transport positioning component 631 can be provided in the positioning mechanism 63 to limit the position of the transport device for transporting the battery pack 7 relative to the gantry truss 1. The transport device can be an Automated Guided Vehicle (AGV).

[0222] For example, along the first direction X, a set of transport positioning components 631 can be provided at each end of the two frames serving as the positioning base 61 to limit the position of the transported item relative to the gantry truss 1 by means of four sets of transport positioning components 631. For example, the transport positioning components 631 can be configured to include a seventh driving member and a first positioning member. The seventh driving member can be a cylinder, hydraulic cylinder, electric cylinder, etc., and the first positioning member can be a positioning block or positioning plate fixed on the output member of the seventh driving member. In this way, during the sliding of the output shaft of the seventh driving member, the first positioning member can be driven to move along the second direction Y, so that the first positioning member is located in the parking space or away from the parking space, thereby restricting or releasing the transport device.

[0223] In the embodiments of this application, such as Figure 8 As shown, a pallet positioning component 632 can be provided in the positioning mechanism 63 to limit the position of the pallet used to carry the battery pack 7 relative to the gantry truss 1, thereby limiting the position of the battery pack 7 carried on the pallet relative to the gantry truss 1.

[0224] For example, along the second direction Y, a set of pallet positioning components 632 can be respectively provided on both sides of the two frames in the positioning base 61 to limit the position of the pallet in the second direction Y by means of the two sets of pallet positioning components 632. For example, the pallet positioning component 632 can be configured to include an eighth driving member and a second positioning member. The eighth driving member can be a cylinder, hydraulic cylinder, electric cylinder, etc., and the second positioning member can be a positioning block or positioning plate fixed on the output member of the eighth driving member. In this way, during the sliding of the output shaft of the eighth driving member, the second positioning member can be driven to move along the third direction Z, so that the two second positioning members can clamp on both sides of the pallet or move away from the pallet, thereby limiting the position of the pallet along the second direction Y.

[0225] In the above embodiments, since a transport positioning component 631 is provided in the positioning mechanism 63, the transport positioning component 631 can be used to fix the transport component carrying the battery in a fixed position relative to the gantry truss 1. The positioning mechanism 63 is also provided with a pallet positioning component 632, which can be used to fix the pallet carrying the battery in a fixed position, thereby fixing the battery in a fixed position relative to the gantry truss 1.

[0226] In some possible embodiments of this application, the positioning device 6 further includes a guide assembly 64, which includes two sets of guide frames 641. The guide frames 641 extend along a first direction X, and both ends of the guide frames 641 are bent away from the side 72 of the battery pack 7 to guide the battery pack 7 into the limiting space formed by the two sets of guide frames 641. A plurality of guide wheels 642 are provided on the guide frames 641 and are spaced apart along the extension direction of the guide frames 641. When the edge of the transport device contacts the guide wheel 642, the guide wheel 642 rotates to limit the movement path of the transport device.

[0227] In the embodiments of this application, such as Figure 8 As shown, a guide component 64 can also be provided in the positioning device 6 to guide and restrict the movement path of the transport device within the parking space.

[0228] For example, a guide frame 641 can be provided on the positioning base 61. The guide frame 641 extends along the first direction X. The two ends of the guide frame 641 can be bent away from the side 72 of the battery pack 7 to make the distance between the opening end and the outlet end between the two guide frames 641 larger, so that the transport device can enter the limiting space formed by the two guide frames 641. Multiple guide wheels 642 can be provided on the guide frame 641. The multiple guide wheels 642 are distributed sequentially on the guide frame 641 along the first direction X, that is, along the extending direction of the guide frame 641, the multiple guide wheels 642 are spaced apart on the guide frame 641. The guide frame 641 and the guide wheels 642 can be used as a guiding component 64. In this way, after the edge of the transport device contacts the guide wheel 642, the guide wheel 642 rotates, which helps to reduce the friction between the transport device and the positioning device 6, and the movement path of the transport device can be restricted sequentially by the multiple guide wheels 642.

[0229] In this embodiment, an inlet grating and an outlet grating can also be provided in the positioning device 6. That is, along the first direction X, an inlet grating can be provided at the inlet end of the positioning device 6, and an outlet grating can be provided at the outlet end of the positioning device 6. The inlet and outlet gratings can not only determine whether the battery has entered the parking space, but also detect whether any foreign objects have entered the parking space.

[0230] In the above embodiments, since a guide component 64 is provided in the positioning device 6, the movement path of the transport device during its movement toward the positioning device 6 can be guided and restricted by the guide component 64, and the friction between the transport device and the positioning device 6 can be reduced by the guide wheel 642 in the guide component 64.

[0231] Based on the same technical concept, this application also provides a battery pack testing method, which is applied to the battery pack testing equipment provided in any of the above embodiments. The implementation of this method can refer to the implementation of the battery pack testing equipment described above.

[0232] Reference Figure 9 , Figure 9 A schematic flowchart of the control method for the battery pack testing equipment provided in this application is shown. This battery pack testing method is applied to the battery pack testing equipment provided in any of the above embodiments. Figure 9 As shown, the control method of the battery pack testing equipment includes the following steps S101 to S103, which are described below in conjunction with... Figure 9 Please provide an explanation.

[0233] S101. In response to the top shooting command, control the first line body to slide along the first direction on the first support beam, and / or control the first camera group to slide along the second direction on the first line body, so that the first camera group moves relative to the top surface of the battery pack and captures an image of the top surface of the battery pack.

[0234] In this embodiment of the application, the transport device can be controlled to transport the battery pack to be tested to the testing station in the battery pack testing equipment, that is, to transport the battery pack to be tested to the parking space defined by the positioning device in the gantry truss.

[0235] For example, the transport device can be an AGV. When the AGV reaches a position close to the battery pack detection device, it can send an entry request to the controller of the battery pack detection device. In response to the entry request, the controller can send a light-emitting grating shielding signal to the positioning device. The entrance grating detection component on the positioning device will then shut down in response to the grating shielding signal. In this way, the AGV carrying the battery pack moves into the parking space of the positioning device, and the entrance grating detection component restarts. At this time, the AGV and the battery pack are located inside the positioning device.

[0236] In another example, after the battery pack to be detected arrives at the positioning device, the positioning device can be controlled to position the battery pack to a specific detection location.

[0237] For example, the transport positioning component in the positioning device can be controlled to move towards the AGV until it comes into contact with the AGV, thereby restricting the AGV to a fixed position relative to the gantry truss. This ensures that the battery pack is in a basically accurate position relative to the gantry truss. After positioning the AGV, the lifting mechanism in the positioning device can be controlled to perform a lifting action, such as moving the lifting mechanism along a third direction to lift the tray supporting the battery pack a certain distance along the third direction, so that the battery pack reaches a fixed height, that is, the distance between the battery pack and the first camera group reaches a preset distance.

[0238] Next, after lifting the battery, the pallet positioning components in the positioning device can be controlled to position the pallet supporting the battery pack in the horizontal plane. For example, two sets of opposing pallet positioning components can be controlled to move vertically towards the pallet, so that the pallet positioning components abut against the opposite sides of the pallet, thereby clamping and restricting the pallet in a fixed position. In this way, the battery pack can be restricted to a fixed detection position relative to the gantry truss both horizontally and vertically, ensuring that the battery is in a defined position relative to the battery pack detection equipment.

[0239] In this embodiment, after the battery pack is positioned, top and side shooting commands can be generated. Alternatively, top and side shooting commands can be generated through user input to the controller. This embodiment does not limit the method of generating top and side shooting commands.

[0240] In this embodiment of the application, after receiving the top shooting command, the controller can control the first camera group to shoot the top surface image of the battery pack.

[0241] For example, such as Figure 3 As shown, the first, third, and fifth linear actuators and the third rotating member can be controlled to move the first camera group relative to the top surface 71 of the battery pack 7. For example, the fifth linear actuator can be controlled to move along the first direction X, thereby moving the first linear actuator along the first direction X. The first linear actuator can be controlled to move along the second direction Y, thereby moving the first camera group to the vicinity of the top surface acquisition point 81 above the top surface 71 of the battery pack 7. The top surface acquisition point 81 is a spatial point above the top surface 71 of the battery pack 7, such as a spatial point above a corner of the top surface 71 of the battery pack 7. After the first camera group reaches the vicinity of the top surface acquisition point 81, the third linear actuator can be controlled to move along the third direction Z to adjust the distance between the first camera group and the top surface 71 of the battery pack 7 to a preset shooting distance, so that the first camera group is positioned at the top surface acquisition point 81. In this way, the cameras in the first camera group can be positioned at a fixed point relative to the top surface 71 of the battery pack 7, allowing the first camera group to start capturing top surface images of the top surface 71 of the battery pack 7 from the fixed point.

[0242] Another example, such as Figure 3 As shown, after the first camera group reaches the top surface acquisition point 81, the fifth and first guide wires can be controlled to move the first camera group along a preset path on the top surface 71. The preset path on the top surface 71 can be a virtual route parallel to the top surface 71 of the battery pack 7 and extending along the first direction X and the second direction Y. For example, the preset path on the top surface 71 can be an approximately S-shaped path, so that the cameras in the first camera group can capture top surface images of every area of ​​the top surface 71.

[0243] S102. In response to the side shooting command, control the second line body to slide along the first direction on the second support beam, and / or control the second camera group to slide along the second direction on the second line body, and / or control the second camera group to rotate relative to the second line body about a third direction, so that the second camera group moves relative to the side or end face of the battery pack, and captures side and end face images of the battery pack.

[0244] In the embodiments of this application, such as Figure 3 As shown, during the process of acquiring a top surface image of the top surface 71 of the battery pack 7, or before or after acquiring the top surface image, the second camera group can be controlled to acquire side and end surface images of the upper side surface 72 and end surface 73 of the battery pack 7. For example, after receiving a side shooting command, the controller can control the second camera group to capture a side surface image of the side surface 72 of the battery pack 7, or capture an end surface image of the end surface 73 of the battery pack 7.

[0245] For example, such as Figure 3 As shown, the second, fourth, and sixth wires, along with the fourth rotating member, can be controlled to move the second camera assembly relative to the side 72 and end face 73 of the battery pack 7. For example, the sixth wire can be controlled to move along a first direction X, thereby moving the second wire along the first direction X. The second wire can be controlled to move along a second direction Y, thereby moving the second camera assembly relative to the side 72 of the battery pack 7, while simultaneously controlling the second camera assembly to capture a side image of the side 72. Alternatively, the sixth and second wires can be controlled to move the second camera assembly to a position adjacent to the end face 73 of the battery pack 7, and the fourth rotating member can be controlled to rotate the second camera assembly toward the end face 73 of the battery pack 7. Then, the second wire can be controlled to move the second camera assembly relative to the end face 73 along the second direction Y, and the second camera assembly can capture an end face image of the end face 73.

[0246] S103. Detect the appearance of the battery pack based on the top, side and end images.

[0247] In this embodiment of the application, after the first camera group and the second camera group have acquired the top surface image, side surface image and end surface image of the battery pack, or during the acquisition of the top surface image, side surface image and end surface image of the battery pack, the first camera group can upload the acquired top surface image to the processor in a timely manner, and the second camera group can also upload the acquired side surface image and end surface image to the processor in a timely manner. The processor can then determine whether there are defects on the top surface, side surface and end surface of the battery based on the acquired top surface image, side surface image and end surface image.

[0248] For example, multiple standard images of the battery pack can be stored in a memory electrically connected to the processor, such as a top standard image of the top surface of the battery pack, side standard images of the sides of the battery pack, and end standard images of the ends of the battery pack. The processor can compare the received top surface image with the top standard image to determine whether there are defects in the top surface image; the processor can also compare the received side image with the side standard image to determine whether there are defects in the side image; the processor can also compare the received end surface image with the end surface standard image to determine whether there are defects in the end surface image. For example, it can be determined whether there are scratches in the top surface image, side image, and end surface image, or whether the installation position and orientation of some devices mounted on the outside of the battery pack are accurate, thereby determining whether the battery pack has defects.

[0249] The battery inspection method provided in this application, during the inspection of a battery pack, can acquire multiple images that characterize the presence of defects in the battery pack's appearance by using a first camera group to capture top surface images of the battery pack, and a second camera group to capture side surface images and end surface images of the battery pack. Simultaneously, a processor or similar device can be used to identify and detect defects in the top, side, and end surface images to determine their presence, thereby improving the accuracy and efficiency of battery pack appearance inspection.

[0250] In some possible embodiments of this application, based on Figure 9 , Figure 9 Step S102 can be achieved through the following steps S1021 to S1023.

[0251] S1021. Control the second line body to slide on the second support beam along the first direction, so that the second camera group moves relative to the side of the battery pack, and control the second camera group to rotate relative to the second line body around the third direction, so that the shooting direction of the second camera group is towards the side of the battery pack, and captures the side image of the battery pack.

[0252] In the embodiments of this application, such as Figure 3 As shown, the second linear body can be controlled to move along the second direction Y, so that the two second camera groups are respectively positioned opposite to the side 72 of a battery pack 7. Furthermore, the fourth rotating component can be controlled to rotate the second camera groups, ensuring that the shooting direction of each camera in the second camera group is towards the corresponding side 72. For example, the second camera group can be positioned at a side acquisition point 83 opposite to the side 72, and the side acquisition point 83 can be a spatial point adjacent to the side 72 of the battery pack 7.

[0253] For example, after the second camera group reaches the side acquisition point 83, the sixth and fourth guide wires can be controlled to move the second camera group relative to the side 72. For instance, to make the two second camera groups reach the side acquisition points 83 corresponding to the two sides 72 respectively, the sixth guide wire can be controlled to move the second camera group along a preset side path 84, thereby allowing the two second camera groups to simultaneously capture side images of the two sides 72. The preset side path 84 is a virtual route parallel to the side 72 of the battery pack 7.

[0254] S1022, Control the second line body to slide along the first direction on the second support beam until the second camera group extends beyond the space where the battery pack is located in the first direction.

[0255] In this embodiment, after acquiring the side image, the sixth line can be controlled to drive the second line to slide relative to the second support beam in the first direction until the second camera group exceeds the space where the battery pack is located in the first direction. That is, the second camera group is in a position where it will not collide with the battery pack during the rotation of the second camera group around the third direction driven by the fourth rotating member.

[0256] S1023. Control the second camera group to slide along the second direction on the second line body, so that the second camera group moves relative to the end face of the battery pack, and control the second camera group to rotate relative to the second line body around the third direction, so that the shooting direction of the second camera group is towards the end face of the battery pack, and capture an image of the end face of the battery pack.

[0257] In the embodiments of this application, such as Figure 3 As shown, after the second camera group extends beyond the space where the battery pack 7 is located in the first direction X, the second camera group is also located on the side of the plane where the end face 73 is located, away from the center of the battery pack 7. The second line can be controlled to move along the second direction Y, thereby causing one of the second camera groups to move relative to one end face 73 along the second direction Y. Furthermore, the fourth rotating member can be controlled to rotate the second camera group around the third direction Z, so that the shooting direction of all cameras in the second camera group is facing the corresponding end face 73. For example, the second camera group can be positioned at an end face acquisition point 85 opposite to the end face 73. The end face acquisition point 85 can be a spatial point adjacent to the end face 73 of the battery pack 7.

[0258] For example, after the second camera group reaches the end-face acquisition point 85, the second and fourth guide wires can be controlled to move the second camera group relative to the end-face 73. For instance, after a second camera group reaches the end-face acquisition point 85 corresponding to an end-face 73, the second guide wire can be controlled to move the second camera group along a preset end-face path 86 corresponding to that end-face 73, thereby enabling the second camera group to capture an end-face image of that end-face 73. The preset end-face path 86 is a virtual route parallel to the end-face 73 of the battery pack 7.

[0259] In another example, after acquiring an end-face image of one end face 73, the sixth liner can be controlled to move the second camera group to a position adjacent to another end face 73. The second and fourth liners can then be controlled to move the second camera group relative to the other end face 73, so that the second camera group reaches the end-face acquisition point 85 corresponding to the other end face 73. The second and fourth liners can then be controlled to move the second camera group relative to the other end face 73. For example, after one second camera group reaches the end-face acquisition point 85 corresponding to the other end face 73, the second liner can be controlled to move the second camera group along a preset end-face path 86 corresponding to that other end face 73, thereby allowing the second camera group to capture an end-face image of that end face 73. This process continues until side images of all sides 72 and end-face images of all end faces 73 are captured.

[0260] In the above embodiments, by controlling the second line to move along the first direction, controlling the second camera group to move along the second direction, and controlling the second camera group to rotate around the third direction, the second camera group can be moved to a position corresponding to each side and end face, and the shooting direction of the second camera group can be directed toward each side and end face of the battery pack, respectively. It can also drive the second camera group to move relative to each side and end face, so that the second camera group can be used to complete the side image shooting of all sides of the battery pack and the end face image shooting of all end faces.

[0261] In some possible embodiments of this application, based on Figure 9 , Figure 9 Step S101 can be achieved through the following steps S1011 to S1012.

[0262] S1011. Control the first sliding member to move relative to the first bracket in a third direction, so as to drive the first three-dimensional camera to move relative to the pin header connector on the top surface of the battery pack in a third direction, so that the distance between the first three-dimensional camera and the pin header connector meets the preset distance threshold.

[0263] In this embodiment, a pin header connector is typically provided on the top surface of the battery pack. The pin header connector often has multiple pins or multiple pin sockets. When taking a stereoscopic image of the pin header connector using a first 3D camera, the first 3D camera needs to be parallel to the extension direction of the pins in the pin header connector, and there needs to be a preset distance threshold between the camera and the pins.

[0264] For example, the first slider can be controlled to move along a third direction, so as to drive the first three-dimensional camera to move relative to the top surface of the battery pack along the third direction, so that the distance between the first three-dimensional camera and the pin header connector reaches within a preset distance threshold range, that is, the distance between the first three-dimensional camera and the pin header connector is consistent with or close to the focal length of the first three-dimensional camera.

[0265] S1012. Control the first rotating component to rotate relative to the first support in a third direction, so as to drive the first three-dimensional camera to rotate relative to the pin header connector in a third direction, so that the included angle between the first three-dimensional camera and the pin header connector meets the preset included angle threshold.

[0266] In this embodiment, the pin header connector on the top surface of the battery pack may have an angle between 0 and 90° and the top surface, meaning the pin header connector is not perpendicularly positioned on the top surface of the battery pack. The first rotating component can be controlled to rotate the first 3D camera around a third direction to adjust the shooting angle between the first 3D camera and the pin header connector, ensuring the angle between the first 3D camera and the pin header connector on the top surface is perpendicular, i.e., the first 3D camera is perpendicular or nearly perpendicular to the end face of the pin header connector away from the top surface of the battery pack. This allows the angle between the first 3D camera and the pin header connector to meet a preset angle threshold, enabling parallel shooting of the pin header connector. It should be noted that the preset angle threshold can also be a non-perpendicular angle; this embodiment does not limit the range or value of the preset angle threshold.

[0267] In the above embodiments, by controlling the first rotating member to drive the first 3D camera to rotate relative to the pin header connector on the top surface of the battery pack, the angle between the first 3D camera and the pin header connector can be adjusted, thereby ensuring a perpendicular relationship between them. Furthermore, by controlling the first sliding member to drive the first 3D camera to move relative to the pin header connector along a third direction, the distance between them can be adjusted, enabling parallel imaging of the pin header connector by the first 3D camera. This helps reduce issues such as high-brightness reflections and blurred depth of field in the top surface image including the pin header connector, thus improving the quality of the top surface image including the pin header connector.

[0268] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

1. A battery pack testing device, characterized in that, include: A gantry truss includes a first frame and a second frame. The first frame includes two first support beams extending along a first direction, and a first line body is slidably arranged on the two first support beams along the first direction. The second frame includes two second support beams extending along the first direction, and a second line body is slidably arranged on the two second support beams along the first direction. A first camera group is slidably disposed on the first line body along a second direction for capturing images of the top surface of the battery pack; the second direction is perpendicular to the first direction. Two sets of second camera groups are arranged opposite to each other and are slidably disposed on the second line body along the second direction. The second camera groups are rotatably connected to the second line body around a third direction. The second camera groups are used to capture side images and end images of the battery pack. The third direction is perpendicular to the first direction and the third direction is perpendicular to the second direction. A processor is configured to receive the top surface image, the side surface image, and the end surface image, and to detect the appearance of the battery pack based on the top surface image, the side surface image, and the end surface image.

2. The battery pack testing equipment according to claim 1, characterized in that, The first camera assembly includes a first 3D scanning camera and a first bracket having a first accommodating cavity. The first bracket includes a first top plate and two first side plates. The upper ends of the two first side plates are respectively fixed to the two ends of the first top plate. The first top plate and the two first side plates form the first accommodating cavity. The first opening of the first accommodating cavity faces the top surface of the battery pack along a third direction. The first bracket is slidably disposed on the first line body through the first top plate or the first side plates. The third direction is perpendicular to the first direction and the third direction is perpendicular to the second direction. The first 3D scanning camera is fixed to the first top plate and located outside the first accommodating cavity, and is used to capture a 3D image of the top surface of the battery pack.

3. The battery pack testing equipment according to claim 2, characterized in that, The first camera group further includes a first two-dimensional line scan camera, which is fixed on a first side plate and located outside the first accommodating cavity, offset from the fixed position of the first three-dimensional scanning camera, and facing the top surface of the battery, for capturing a first line scan image of the top surface.

4. The battery pack testing equipment according to claim 3, characterized in that, The first camera group further includes a first strip light source, which is rotatably disposed on the outer wall of the first side plate. The illumination area of ​​the first strip light source covers the shooting area of ​​the first two-dimensional line scan camera on the top surface, and is used to illuminate the top surface.

5. The battery pack testing equipment according to claim 3, characterized in that, The first camera group further includes a first two-dimensional camera, which is fixed to another of the first side plates and located outside the first accommodating cavity on the side near the first opening, facing the top surface of the battery pack, for capturing a two-dimensional image of the top surface.

6. The battery pack testing equipment according to claim 5, characterized in that, The first camera group further includes two second strip light sources. The second strip light sources are fixed to the first side plate on which the first two-dimensional camera is mounted, located outside the first accommodating cavity on the side near the first opening, and the two second strip light sources are symmetrically arranged on both sides of the first two-dimensional camera. The illumination area of ​​the second strip light sources covers the shooting area of ​​the first two-dimensional camera on the top surface of the battery pack, and is used to illuminate the top surface of the battery pack.

7. The battery pack testing equipment according to claim 5, characterized in that, The first camera group further includes a first ring light source, which is fixed to the first side plate on which the first two-dimensional camera is mounted and located outside the first accommodating cavity on the side near the first opening. The first ring light source is coaxially arranged with the first two-dimensional camera, and the illumination area of ​​the first ring light source covers the shooting area of ​​the first two-dimensional camera on the top surface of the battery pack, for illuminating the top surface of the battery pack.

8. The battery pack testing equipment according to claim 5, characterized in that, The first camera group further includes a first 3D camera, which is movably disposed on the inner wall of the first top plate and located between the first 2D line scan camera and the first 2D camera, facing the top surface of the battery pack, for capturing images of the pin header connector on the top surface of the battery pack.

9. The battery pack testing equipment according to claim 8, characterized in that, The first camera assembly further includes a first rotating member and a first sliding member. The first sliding member is fixed to the inner wall of the first top plate, and the first rotating member is connected to the first sliding member. The first two-dimensional camera is mounted on the first rotating member. The first sliding member can drive the first rotating member to move relative to the first support along the third direction, and the first rotating member can drive the first three-dimensional camera to rotate around the third direction.

10. The battery pack testing equipment according to any one of claims 2 to 9, characterized in that, The battery pack testing equipment also includes a third rotating component, and the first bracket is connected to the first line body through the third rotating component. The third rotating component is used to drive the first camera group to rotate around a third direction.

11. The battery pack testing equipment according to claim 10, characterized in that, The battery pack testing equipment also includes a third line body, which is slidably disposed on the first line body along the third direction. The third rotating member is connected to the third line body, and the third line body can drive the first camera group to move along the third direction.

12. The battery pack testing equipment according to claim 11, characterized in that, A height sensor is provided on the third line or the first bracket. The height sensor is used to detect the height distance between the first camera group and the top surface of the battery pack along the third direction, so as to adjust the height distance.

13. The battery pack testing equipment according to any one of claims 1 to 9, characterized in that, The second camera group includes a second bracket and a second two-dimensional camera; the second bracket is perpendicular to the third direction, and one side of the second bracket is slidably connected to the second line body along the third direction; The second two-dimensional camera is tilted at a preset angle on the second bracket and located on the side of the second bracket close to the second line body. The second two-dimensional camera is used to capture edge images of the edge between the top surface and the side surface of the battery pack or the edge between the top surface and the end surface.

14. The battery pack testing equipment according to claim 13, characterized in that, The second camera group also includes two third strip light sources, which are tilted at the preset angle on the second bracket and symmetrically arranged on both sides of the second two-dimensional camera to illuminate the edges captured by the second two-dimensional camera.

15. The battery pack testing equipment according to claim 13, characterized in that, The second camera group also includes a second three-dimensional camera, which is rotatably mounted on the second bracket via a second rotating member and located on the side of the second bracket away from the second line body. The second rotating member can drive the second three-dimensional camera to rotate relative to the second bracket around the first direction or the second direction. The second three-dimensional camera is used to capture images of the pin header connectors on the side or end face of the battery pack.

16. The battery pack testing equipment according to claim 15, characterized in that, The second camera group further includes a third two-dimensional camera, which is slidably mounted on the second bracket along the first direction or the second direction and located on the side of the second bracket away from the second line body. The third two-dimensional camera is spaced apart from the second three-dimensional camera on the second bracket. The third two-dimensional camera is used to capture two-dimensional side images or two-dimensional end images of the battery pack.

17. The battery pack testing equipment according to claim 16, characterized in that, The second camera assembly also includes a second slider, which is fixed on the second bracket on the side away from the second line body. The third two-dimensional camera is disposed on the second slider, and the second slider can drive the third two-dimensional camera to move relative to the second bracket along the first direction or the second direction.

18. The battery pack testing equipment according to claim 17, characterized in that, The second camera group also includes a second ring light source, which is fixed to the second slider and located on the side or end face of the third two-dimensional camera near the battery pack, and is coaxially arranged with the third two-dimensional camera. The second ring light source is used to illuminate the shooting area of ​​the third two-dimensional camera on the side or end face of the battery pack.

19. The battery pack testing equipment according to claim 16, characterized in that, The second camera group also includes two fourth strip light sources. The fourth strip light sources are fixed on the second bracket on the side away from the second line body and are located on the side or end face of the third two-dimensional camera near the battery pack. The two fourth strip light sources are symmetrically arranged on both sides of the third two-dimensional camera. The illumination area of ​​the fourth strip light sources covers the shooting area of ​​the third two-dimensional camera on the side or end face of the battery pack, and is used to illuminate the shooting area of ​​the third two-dimensional camera.

20. The battery pack testing equipment according to claim 16, characterized in that, The second camera group also includes a second three-dimensional scanning camera, which is fixed on the second bracket on the side away from the second line body and located between the second three-dimensional camera and the third two-dimensional camera, for capturing side three-dimensional images or end three-dimensional images of the battery pack.

21. The battery pack testing equipment according to claim 16, characterized in that, The second camera group also includes a second two-dimensional line scan camera, which is fixed on the second bracket on the side away from the second line body and located on the second bracket at the end away from the third two-dimensional camera. The second two-dimensional line scan camera is used to capture side line scan images or end face line scan images of the battery pack.

22. The battery pack testing equipment according to claim 21, characterized in that, The second camera group also includes a fifth strip light source, which is rotatably mounted on the second bracket around a third direction and located on the side of the second two-dimensional line scan camera near the battery pack, for illuminating the shooting area of ​​the second two-dimensional line scan camera on the battery pack.

23. The battery pack testing equipment according to claim 13, characterized in that, The battery pack testing equipment further includes a fourth rotating component, and the second bracket is connected to the second line body through the fourth rotating component; When the second line moves along the first direction to one of the two ends of the second support beam, the fourth rotating member can drive the second camera group to rotate to the end face facing the battery pack, or the fourth rotating member can drive the second camera group to rotate to the side facing the battery pack.

24. The battery pack testing equipment according to claim 23, characterized in that, The battery pack testing equipment further includes a fourth line body, which is slidably disposed on the second line body along the third direction. The fourth rotating member is connected to the fourth line body, and the fourth line body can drive the second camera group to move along the third direction.

25. The battery pack testing equipment according to any one of claims 1 to 9, characterized in that, It also includes a position detection component. Along the first direction, at least one end of the first support beam is fixed with the position detection component. The position detection component is used to detect the position of the first line body on the first support beam so that the first line body stops moving relative to the first support beam, or so that the first line body is at the origin position relative to the first support beam. And / or, along the first direction, at least one end of the second support beam is provided with the position detection element, the position detection element being used to detect the position of the second line body on the second support beam, so as to stop the movement of the second line body relative to the second support beam, or to make the second line body relative to the second support beam be at the origin position.

26. The battery pack testing equipment according to any one of claims 1 to 9, characterized in that, The battery pack testing equipment further includes a positioning device, which comprises a positioning base, a lifting mechanism, and a positioning mechanism. The positioning base is disposed adjacent to the second frame. The lifting mechanism is slidably disposed on the positioning base along a third direction to drive the battery pack to move closer to or away from the first camera group along the third direction. The positioning mechanism is slidably disposed on the positioning base and can move closer to the battery pack to limit the position of the battery pack relative to the gantry truss.

27. The battery pack testing equipment according to claim 26, characterized in that, The positioning mechanism includes a transport positioning component and a tray positioning component; the positioning mechanism is slidably disposed on the positioning base along the first direction and is capable of moving along the first direction toward the transport device close to the battery pack; the tray positioning component is slidably disposed on the side of the positioning base close to the first camera group along the third direction and is capable of moving along the third direction toward the tray supporting the battery pack.

28. The battery pack testing equipment according to claim 27, characterized in that, The positioning device further includes a guiding component, which includes two sets of guide frames. The guide frames extend along the first direction, and both ends of the guide frames are bent away from the side of the battery pack to guide the battery pack into the limiting space formed by the two sets of guide frames. The guide frame is provided with a plurality of guide wheels arranged at intervals along the extension direction of the guide frame. When the edge of the transport device contacts the guide wheel, the guide wheel rotates to limit the movement path of the transport device.

29. A method for detecting a battery pack, characterized in that, The battery pack testing method, applied to the battery pack testing equipment according to any one of claims 1 to 28, comprises: In response to a top shooting command, the first line body is controlled to slide along a first direction on the first support beam, and / or the first camera group is controlled to slide along a second direction on the first line body, so that the first camera group moves relative to the top surface of the battery pack and captures an image of the top surface of the battery pack. In response to the side shooting command, the second line body is controlled to slide along the first direction on the second support beam, and / or the second camera group is controlled to slide along the second direction on the second line body, and / or the second camera group is controlled to rotate relative to the second line body about a third direction, so that the second camera group moves relative to the side or end face of the battery pack and captures side and end face images of the battery pack. The appearance of the battery pack is detected based on the top image, the side image, and the end image.

30. The battery pack testing method according to claim 29, characterized in that, In response to a side-view shooting command, controlling the second line to slide along the first direction on the second support beam, and / or controlling the second camera group to slide along the second direction on the second line, and / or controlling the second camera group to rotate relative to the second line about a third direction, causing the second camera group to move relative to the side or end face of the battery pack, and capturing side and end face images of the battery pack, including: Control the second line to slide along the first direction on the second support beam, so that the second camera group moves relative to the side of the battery pack, and control the second camera group to rotate relative to the second line about a third direction, so that the shooting direction of the second camera group is towards the side of the battery pack, and captures a side image of the battery pack. Control the second line to slide along the first direction on the second support beam until the second camera group extends beyond the space where the battery pack is located in the first direction; The second camera group is controlled to slide along the second direction on the second line body, so that the second camera group moves relative to the end face of the battery pack, and the second camera group is controlled to rotate relative to the second line body around the third direction, so that the shooting direction of the second camera group is facing the end face of the battery pack, and the end face image of the battery pack is captured.

31. The battery pack testing method according to claim 29, wherein the first camera group of the battery pack testing equipment includes a first three-dimensional camera, a first rotating member, and a first sliding member, the first sliding member is fixed to a first bracket, the first rotating member is connected to the first sliding member, and the first three-dimensional camera is disposed on the first rotating member, characterized in that, The battery pack testing method further includes: Control the first slider to move relative to the first bracket in a third direction, thereby causing the first 3D camera to move relative to the pin header connector on the top surface of the battery pack in a third direction, such that the distance between the first 3D camera and the pin header connector meets a preset distance threshold; and / or, The first rotating component is controlled to rotate relative to the first bracket about the third direction, so as to drive the first three-dimensional camera to rotate relative to the pin header connector about the third direction, so that the included angle between the first three-dimensional camera and the pin header connector meets the preset included angle threshold.

Images