Laser positioning-based crown moving positioning control method and cell formation equipment

Abstract

The application discloses a trolley transplanting positioning control method based on laser positioning and a battery cell formation device. The method comprises the following steps: acquiring a first positioning signal, the first positioning signal being a first laser echo signal returned after a first laser detection beam is affected by a response part; judging whether the trolley device reaches a current target positioning position according to a wavelength shift amount of the first laser echo signal; when the wavelength shift amount meets a preset judgment condition, it is judged that the trolley device reaches the target positioning position, and a stop command is generated to control a walking driving assembly of the trolley device to stop running. The method acquires the laser echo signal returned after the first laser detection beam is affected by the response part, and uses the wavelength shift amount generated after the laser beam is affected by the response part to perform positioning detection, which is helpful to realize automatic detection and accurate positioning. The battery cell formation device comprises a trolley mechanism, a transfer mechanism, a laser positioning mechanism and a controller, and the controller is configured to execute the above method.

Description

Technical Field

[0001] This invention relates to the field of battery manufacturing technology, and in particular to a crane transfer positioning control method and cell formation equipment based on laser positioning. Background Technology

[0002] Overhead crane transfer equipment is widely used in automated production lines, especially in the field of battery cell production. The overhead crane needs to move along the crane track to a designated position to transfer the battery cells onto the formation fixture for subsequent formation processes. During the movement and transfer of battery cells by the overhead crane, the positioning accuracy of the overhead crane relative to the transfer device directly affects the accuracy and safety of the battery cell transfer.

[0003] In existing technologies, in application scenarios where overhead cranes need to transfer battery cells sequentially to multiple transfer devices (such as multiple formation jigs arranged at equal intervals), each movement requires re-positioning and detection, resulting in low positioning efficiency. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a laser-based crane transfer positioning control method and a cell formation device.

[0005] In a first aspect, the crane transplanting positioning control method based on laser positioning according to embodiments of the present invention includes the following steps: Acquire a first positioning signal, wherein the first positioning signal is a first laser echo signal returned by the first laser detection beam after passing through the response part of the first mating component; Based on the wavelength offset of the first laser echo signal, determine whether the overhead crane device has reached the current target positioning position; When the wavelength offset meets the preset judgment condition, it is determined that the current target positioning position has been reached, and a first stop command is generated. The first stop command is used to control the traveling drive component of the crane device to stop running.

[0006] According to the laser positioning-based overhead crane transplanting positioning control method of the present invention, the preset judgment condition is that the wavelength offset falls within a preset threshold range.

[0007] According to the laser positioning-based crane transplanting positioning control method of the present invention, the response unit is a groove structure, the groove structure has an opening and an accommodating space formed by the indentation relative to the opening, the accommodating space has an inner wall, the inner wall is used to reflect and / or scatter the incoming first laser detection beam so that the returned first laser echo signal has a wavelength shift. When the incident point of the first laser detection beam is within the span of the opening, the wavelength offset is within the preset threshold range.

[0008] According to an embodiment of the present invention, a crane relocation positioning control method based on laser positioning determines whether the crane device has reached the current target positioning position based on the wavelength offset of the first laser echo signal, including: Record the wavelength offset of the first laser echo signal in real time; When the wavelength offset reaches its peak value and then begins to decrease, it is determined that the overhead crane device has passed the center position of the response unit, and the position corresponding to the peak value is recorded as the first reference position. The walking drive component is controlled to drive the overhead crane to move in the opposite direction until the wavelength offset meets the preset judgment condition again, and the current position is recorded as the second reference position. The center position of the response unit is calculated based on the first reference position and the second reference position.

[0009] The crane transplanting positioning control method based on laser positioning according to an embodiment of the present invention, after calculating the center position of the response unit according to the first reference position and the second reference position, further includes: The center position of the response unit is assigned to the translation axis of the crane device to update the position setting value of the translation axis, and the traveling drive component is controlled to drive the crane device to move to the center position according to the updated position setting value. The current spatial position of the overhead crane device is marked as the current target positioning position, and the current target positioning position obtained from the first positioning is marked as the reference position.

[0010] The crane relocation positioning control method based on laser positioning according to an embodiment of the present invention, after calibrating the current spatial position of the crane device as the current target positioning position, further includes: The walking drive component is controlled to drive the crane device to move along the direction of travel until the wavelength offset of the first laser echo signal meets the preset judgment condition again, and the current position is marked as the second target positioning position. Calculate the first distance L1 based on the current target location and the second target location; The first distance L1 is configured as the movement step size between two adjacent fixtures of the overhead crane device in the same straight direction.

[0011] According to an embodiment of the laser-based crane transfer positioning control method of the present invention, the crane device starts from the material picking position each time, and the distance between the material picking position and the reference position is a preset constant C. After calibrating the current spatial position of the crane device as the current target positioning position, the method further includes: Obtain the next fixture positioning command; When the next fixture and the current fixture are located in the same transfer device, the theoretical displacement of the next fixture relative to the reference position is equal to the first distance L1; When the next fixture is located in the adjacent next transfer device, the second distance L2 between the two opposite side walls of the two adjacent transfer devices is obtained. Based on the second distance L2, the offset distance of the fixture already positioned in the current transfer device relative to the side wall of its transfer device, and the offset distance of the side wall of the next transfer device relative to its corresponding fixture, the displacement across the transfer device is calculated. The theoretical displacement of the next fixture relative to the reference position is equal to the displacement across the transfer device. Based on the sum of the preset constant C and the theoretical displacement, the traveling drive component is controlled to drive the overhead crane to move along the traveling direction; The first positioning signal is reacquired, and the position of the overhead crane device is corrected according to the wavelength offset of the reacquired first laser echo signal until the wavelength offset meets the preset judgment condition.

[0012] The crane transfer positioning control method based on laser positioning according to an embodiment of the present invention further includes, before obtaining the next fixture positioning command: In response to the array positioning trigger command, based on the preset total number of fixtures, the first distance L1 and the displacement of the cross-transfer device, the theoretical displacement of each fixture relative to the reference position is calculated in sequence. The actual moving distance of the overhead crane device from the material picking position to each fixture is calculated based on the preset constant C and the sum of each theoretical displacement. Positioning operations are performed on each fixture in sequence until all fixtures are positioned.

[0013] According to an embodiment of the laser-based crane relocation positioning control method of the present invention, after determining that the current target positioning position has been reached and generating a first stop command when the wavelength offset meets a preset determination condition, the method further includes: Acquire a second positioning signal, which is the second laser echo signal returned by the second laser detection beam after passing through the second mating component; Based on the wavelength offset of the second laser echo signal, determine the relative offset of the overhead crane device and the current target positioning position in the lateral direction; When the relative offset exceeds the preset deviation range, a lateral fine-tuning command is generated. The lateral fine-tuning command is used to drive the overhead crane to move in the lateral direction until the relative offset falls into the preset deviation range. And / or, When the wavelength offset meets the preset judgment condition, after determining that the current target positioning position has been reached and generating the first stop command, the method further includes: Acquire a third positioning signal group, the third positioning signal group including at least two third laser detection beams that return after being acted upon by at least two detection positions arranged at intervals along the lateral direction; Based on the deviation between the wavelength offsets of each of the third laser echo signals, the parallelism of the overhead crane device relative to the current target positioning position in the vertical direction is determined. When the deviation value exceeds the preset parallelism tolerance, a tilt compensation command is generated. The tilt compensation command is used to adjust the action timing of each output end of the lifting drive component of the overhead crane device so that the deviation value falls within the preset parallelism tolerance. And / or, The first positioning signal is multiple, and the multiple first positioning signals are respectively derived from multiple first laser detection channels symmetrically arranged on both sides of the overhead crane device in the lateral direction; The determination of whether the overhead crane device has reached the current target positioning position based on the wavelength offset of the first laser echo signal includes: Calculate the wavelength offset for each of the first laser detection channels; When all the wavelength offsets meet the preset determination conditions, it is determined that the current target positioning position has been reached; When at least one of the wavelength offsets does not meet the preset judgment condition, a deflection correction command is generated based on the difference between each wavelength offset. The deflection correction command is used to drive the overhead crane device to rotate around the vertical axis until each wavelength offset meets the preset judgment condition.

[0014] The crane transfer positioning control method based on laser positioning according to embodiments of the present invention has at least the following beneficial effects: This application acquires the first laser echo signal returned after the first laser detection beam passes through the response unit, and uses the wavelength offset generated after the laser beam passes through the response unit for positioning detection. The controller controls the start and stop of the crane device according to whether the wavelength offset meets a preset judgment condition. This helps to achieve automatic detection and accurate positioning of the relative position between the crane device and the transfer device, thereby improving the positioning accuracy of the crane device during the transfer of battery cells and reducing reliance on manual operation. This application can more accurately reflect the relative relationship between the crane device and the target positioning position through wavelength offset detection. Furthermore, after completing the initial positioning, this application can mark the current spatial position of the crane device as a reference position. When the crane device subsequently transfers to other transfer devices, this reference position is used to determine the moving distance, eliminating the need to re-execute the complete positioning search process for each transfer, thus reducing repetitive positioning operations and improving the overall efficiency of multiple transfer operations.

[0015] In a second aspect, the cell formation apparatus according to embodiments of the present invention includes: The crane mechanism includes a crane track and a crane device slidably mounted on the crane track, the crane device having a first carrier, a travel drive assembly and a lifting drive assembly; The transfer mechanism is located below the overhead crane track and includes multiple transfer devices arranged at intervals along the direction of travel, each of which has a second carrier. A laser positioning mechanism includes a first laser component and a first mating component. The first laser component is disposed on one of the overhead crane device and the transfer device, and the first mating component is disposed on the other of the overhead crane device and the transfer device. The first mating component has a response part. The first laser component is used to emit a first laser detection beam and receive a first laser echo signal returned after being acted upon by the response part. The controller is connected to the walking drive component, the lifting drive component and the laser positioning mechanism respectively, and the controller is configured to execute the above-described laser positioning-based crane transplanting positioning control method.

[0016] The cell formation equipment according to the embodiments of the present invention has at least the following beneficial effects: By applying the above-mentioned crane transfer positioning control method based on laser positioning to the cell formation equipment, this application helps to realize the automatic detection of the relative position between the crane device and the transfer device, thereby helping to improve the positioning accuracy of the crane device when transferring the cell to the second carrier of the transfer device, and further helping to reduce the risk of collision damage to the cell during the transfer process due to inaccurate positioning.

[0017] Meanwhile, the cell formation equipment of this application can establish a reference position during the initial positioning. The subsequent relocation positioning of each transfer device is based on this reference position to determine the moving distance. There is no need to re-execute the complete positioning search process each time, which helps to reduce repetitive positioning operations and thus helps to improve the overall efficiency of multiple relocation operations.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 A flowchart illustrating the steps of establishing a positioning reference in the overhead crane transplanting positioning control method according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the repeated moving and transplanting steps of the overhead crane transplanting positioning control method according to an embodiment of the present invention. Figure 3 This is a partial structural diagram of the cell formation equipment according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the cell formation equipment according to an embodiment of the present invention; Figure 5 Embodiments of the present invention Figure 3 A magnified view of the area marked A; Figure 6 Embodiments of the present invention Figure 3 A magnified view of the area marked B; Figure 7 This is a schematic diagram of the first structure during the crane transplanting movement according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the second structure during the crane transplanting movement according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the third structure during the crane transplanting movement according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the fourth structure during the crane transplanting movement according to an embodiment of the present invention; Explanation of reference numerals in the attached figures: 1. Crane mechanism; 11. Crane track; 12. Crane device; Transfer mechanism 2; transfer support frame 21; transfer device 22; First laser component 100; First mating component 200; Response part 210; Second laser component 300; Second mating part 400; Third laser component 500. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of the invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If the terms "first" and "second" are used, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0024] This application provides a battery cell formation device. This battery cell formation device is mainly used for the transfer operation of battery cells in an automated production line, that is, to transfer the battery cells from the first carrier of the overhead crane device 12 to the second carrier of the transfer device 22, so as to facilitate subsequent formation processes.

[0025] Reference Figures 3 to 10 The cell formation equipment includes a crane mechanism 1, a transfer mechanism 2, and a laser positioning mechanism. The crane mechanism 1 includes a crane track 11 and a crane device 12. The crane track 11 extends in the horizontal direction (i.e., the direction of travel), and the crane device 12 is slidably mounted on the crane track 11 and can reciprocate along the crane track 11 under the drive of the travel drive component.

[0026] In addition, the overhead crane device 12 is also equipped with a lifting drive assembly and a first carrier. The lifting drive assembly is used to drive the first carrier to move up and down in the vertical direction, and the first carrier is used to hold the battery cell.

[0027] Reference Figure 3The transfer mechanism 2 is located below the overhead crane track 11 and includes a transfer support frame 21 and a transfer device 22 mounted on the transfer support frame 21. The transfer device 22 is equipped with a second carrier, and the second carrier has an array of clamping components in the horizontal direction, which can carry multiple battery cells simultaneously.

[0028] like Figure 3 As shown, multiple transfer devices 22 are arranged at intervals along the direction of travel, with the spacing between adjacent transfer devices 22 being a preset equal spacing value. A laser positioning mechanism is used to detect the position of the overhead crane device 12 relative to the transfer device 22, so that the transfer of the battery cells can only be carried out after the overhead crane device 12 has reached the accurate position.

[0029] In this application, the laser positioning mechanism includes a first laser component 100 and a first mating component 200. The first laser component 100 is disposed on one of the overhead crane device 12 and the transfer device 22, and the first mating component 200 is disposed on the other of the overhead crane device 12 and the transfer device 22. In this embodiment, the first laser component 100 is mounted on the overhead crane device 12, and the first mating component 200 is mounted on the transfer device 22.

[0030] In other embodiments, the first laser component 100 may also be mounted on the transfer device 22, and the first mating component 200 may be mounted on the overhead crane device 12. Both arrangements can achieve the same positioning and detection function.

[0031] The first mating part 200 has a responsive part 210. (Refer to...) Figure 5 The response unit 210 is a groove structure with an opening and a recessed space formed relative to the opening. The recessed space has an inner wall that reflects and / or scatters the incident first laser detection beam, causing a wavelength shift in the returned first laser echo signal relative to the emitted first laser detection beam. The opening of the groove structure has a defined span range; when the incident point of the first laser detection beam is within the span range of the opening, the returned wavelength shift is within a preset threshold range. The groove structure can adopt various cross-sectional shapes, such as V-shaped, arc-shaped, or rectangular, as long as its inner wall can reflect and scatter the laser beam. The opening size and depth of the groove structure can be set according to actual detection accuracy requirements. A larger opening span range results in a wider effective detection range and relatively lower requirements for mechanical installation accuracy; a smaller opening span range results in a narrower effective detection range and relatively higher positioning resolution. Wavelength shifting is achieved through a groove structure, eliminating the need for additional complex optical components, resulting in a simple structure that is easy to manufacture. The controller is connected to the walking drive assembly, the lifting drive assembly, and the laser positioning mechanism, respectively.

[0032] Advantageously, this application uses a groove structure as the response unit 210 and uses the wavelength offset generated by the reflection and scattering of the laser beam through the inner wall of the groove for positioning detection. The magnitude of the wavelength offset has a monotonic mapping relationship with the distance between the laser incident point and the center position of the groove. Therefore, the controller can determine whether the crane device 12 has reached the target position and the degree and direction of deviation from the target position based on the specific value of the wavelength offset, thereby helping to achieve more accurate positioning control and reduce reliance on manual operation.

[0033] Preferably, the response unit 210 is mounted on the second fixture at the central axis position of the second fixture. Specifically, in the width direction of the second fixture, the response unit 210 is located at the middle position of the width of the second fixture.

[0034] Once the crane device 12 has moved and positioned itself in the first direction (i.e., the direction of travel of the fixture), if the incident point of the first laser detection beam falls exactly at the midpoint of the width direction of the second fixture, the wavelength offset meets the preset judgment condition. At this time, the crane device 12 is aligned with the fixture in the width direction of the second fixture, which facilitates the alignment of the first carrier and the second fixture in the width direction, thereby helping to reduce the risk of collision caused by the offset in the width direction during the transfer of the battery cells. The alignment detection of the crane device 12 in the width direction of the second fixture, together with the positioning detection in the first direction, achieves the precise positioning of the crane device 12 in two directions in the horizontal plane.

[0035] Reference Figures 1 to 2 This application also provides a laser-based crane transfer positioning control method for the above-mentioned cell formation equipment.

[0036] Specifically, the crane positioning and control method includes the following steps: The first positioning signal is obtained. The first positioning signal is the first laser echo signal returned after the first laser detection beam passes through the response part 210 of the first mating member 200.

[0037] Understandably, the first laser component 100 emits a first laser detection beam vertically downwards, which illuminates the response section 210 of the first mating component 200 located below the overhead crane device 12. The first laser component 100 receives the first laser echo signal that returns upwards after being acted upon by the response section 210, and transmits this signal to the controller. The controller determines whether the overhead crane device 12 has reached the current target positioning position based on the wavelength offset of the first laser echo signal.

[0038] When the wavelength offset meets the preset judgment condition, the controller determines that the overhead crane device 12 has reached the current target positioning position and generates a first stop command. The first stop command is used to control the traveling drive component of the overhead crane device 12 to stop running, so that the overhead crane device 12 stops at the current target positioning position.

[0039] The preset judgment condition is that the wavelength offset falls within the preset threshold range.

[0040] Based on the setting of the response unit 210 as a groove structure, when the incident point of the first laser detection beam is within the span of the opening of the groove structure, the inner wall of the groove reflects and scatters the laser beam, and the returned laser signal generates a wavelength shift, and the wavelength shift is within a preset threshold range.

[0041] When the incident point is outside the groove, the returned laser signal does not produce a wavelength shift or the wavelength shift does not meet the preset judgment conditions.

[0042] In this way, the controller can accurately determine whether the overhead crane device 12 has reached the target position based on whether the wavelength offset falls within the preset threshold range.

[0043] Specifically, when the crane device 12 moves along the crane track 11 but has not yet reached the target positioning position, the first laser detection beam emitted by the first laser component 100 installed on the crane device 12 fails to be aligned with the response part 210 of the first mating part 200, or although it is irradiated to the response part 210, the incident point is outside the span of the groove opening. At this time, the wavelength offset of the returned laser signal does not meet the preset judgment condition, and the controller maintains the walking drive component to continue to operate, so that the crane device 12 continues to move along the crane track 11.

[0044] When the crane device 12 moves along the crane track 11 to the target positioning position, the incident point of the first laser detection beam is located within the opening span of the groove structure. The inner wall of the groove reflects and scatters the laser beam, causing a wavelength shift in the returned laser signal. If this wavelength shift falls within a preset threshold range, the controller will stop the walking drive component based on this wavelength shift. Determining whether the position is in place using a preset threshold range allows for a certain tolerance in the determination result, helping to overcome the influence of factors such as mechanical vibration and temperature drift on the detection accuracy, thereby improving the stability and reliability of the positioning.

[0045] According to some embodiments of this application, the controller records the wavelength offset of the first laser echo signal in real time. As the overhead crane device 12 gradually approaches the target positioning position along the overhead crane track 11, the light outlet of the first laser component 100 installed on the overhead crane device 12 gradually moves towards the center of the groove structure in the horizontal direction, and the position of the incident point of the first laser detection beam on the surface of the groove structure also gradually moves towards the center of the groove. Since the wavelength offset has a monotonic mapping relationship with the distance of the incident point relative to the center of the groove structure, the wavelength offset also changes monotonicly as the incident point gradually approaches the center position. When the incident point reaches the center position of the groove structure, the wavelength offset reaches its peak value.

[0046] It should be noted that when the groove cross-section is V-shaped or arc-shaped, the wavelength offset at the center is the maximum value; under other cross-sectional shapes, the peak value may be the minimum value. This application uses the maximum value as an example for illustration, but those skilled in the art can understand that when the shape of the groove cross-section changes, the corresponding extreme value type will also change accordingly, which does not affect the substance of the technical solution of this application.

[0047] As the crane device 12 continues to move forward, the incident point passes the center of the groove structure, and the wavelength offset begins to decrease. When the controller detects that the wavelength offset has reached its peak and then begins to decrease, it determines that the crane device 12 has passed the center of the response unit 210 and records the position corresponding to the peak as the first reference position. At this point, the crane device 12 has passed the target positioning position and needs to be adjusted back.

[0048] The controller controls the walking drive assembly to drive the overhead crane device 12 to move in the reverse direction. During the reverse movement, the incident point moves from one side of the groove structure to the other side, the wavelength offset gradually increases again, and then decreases again after passing through the peak.

[0049] When the wavelength offset meets the preset judgment condition again (i.e., falls within the preset threshold range again), the controller records the current position as the second reference position. Since the preset threshold range corresponds to the case where the incident point is within the span of the groove opening, the second reference position actually corresponds to the boundary position where the incident point enters the effective detection range from the other side of the groove.

[0050] Based on the first reference position and the second reference position, the controller calculates the center position of the response unit 210.

[0051] Specifically, the center position is located between the first reference position and the second reference position, and its accurate position can be determined by averaging the first and second reference positions. Since the first reference position corresponds to the position where the incident point exactly passes through the center of the groove (i.e., the position where the wavelength offset reaches its peak), and the second reference position corresponds to the boundary position where the incident point re-enters the effective detection range from the other side, the positioning error caused by factors such as mechanical inertia and transmission clearance during unidirectional movement can be eliminated through the combined calculation of the above two reference positions.

[0052] After completing the above calculations, the controller assigns the calculated center position of the response unit 210 to the translation axis of the crane device 12 to update the position setting value of the translation axis, and controls the traveling drive assembly to move the crane device 12 to the center position according to the updated position setting value. At this time, the crane device 12 is accurately located directly above the center position of the response unit 210 in the horizontal direction, that is, the crane device 12 and the transfer device 22 are aligned in the direction of travel. The controller marks the current spatial position of the crane device 12 as the current target positioning position. Thus, the crane device 12 has completed the positioning of the current transfer device 22.

[0053] This embodiment utilizes a bidirectional detection method of "overcoming peak value - reverse backtesting" to determine the center position by taking advantage of the symmetrical variation characteristics of wavelength offset on the groove structure. This helps eliminate positioning errors caused by mechanical inertia, transmission backlash, and other factors during unidirectional movement, thereby improving positioning accuracy. Furthermore, since the determination criteria for the second reference position and the first reference position are based on the same preset conditions, their consistent criteria help ensure the accuracy and consistency of the calculation results.

[0054] According to some embodiments of this application, the transfer device 22 is provided with two second fixtures, each of which is used to receive a group of battery cells. Each second fixture has an array of clamping components in the horizontal direction, capable of simultaneously supporting multiple battery cells. Therefore, after positioning the first second fixture, it is also necessary to position the second second fixture, specifically including the following steps: After the controller marks the current spatial position of the crane device 12 as the current target positioning position (i.e., completes the positioning of the first response unit 210, which corresponds to the first second fixture), the controller controls the walking drive assembly to drive the crane device 12 to continue moving forward along the travel direction.

[0055] During movement, the first laser component 100 continuously emits a first laser detection beam vertically downwards and receives the returned first laser echo signal, while the controller monitors the wavelength offset in real time. When the trolley device 12 moves horizontally to the position of the second response unit 210 (which corresponds to the second second fixture), the incident point of the first laser detection beam falls within the opening span of the groove structure of the second response unit 210, and the wavelength offset again meets the preset judgment condition. At this time, the controller marks the current position as the second target positioning position.

[0056] The controller calculates a first distance L1 between the current target positioning position and the second target positioning position. This first distance L1 is the actual distance between two adjacent fixtures on the same transfer device 22. Due to mechanical installation errors, this actual distance may deviate from the theoretical distance on the design drawings. The controller configures this first distance L1 as the movement step size between two adjacent fixtures of the crane device 12 in the same straight direction.

[0057] Specifically, when it is necessary to move from the current transfer device 22 of the crane device 12 to the next adjacent transfer device 22, the crane device 12 will directly use the first distance L1 as the reference value for the moving distance.

[0058] In this embodiment, the actual distance between two second fixtures on the same transfer device 22 is used as the moving step length for subsequent transplantation. This makes the moving step length directly derived from the measured value rather than relying on the theoretical design value, which helps to eliminate the spacing error that may occur during the installation of the transfer device 22, thereby helping to improve the positioning accuracy of the overhead crane device 12 when it moves between the transfer devices 22.

[0059] Furthermore, the process includes the following steps: After completing the calibration of the current target positioning position, the controller obtains the next fixture positioning command. This command can be issued by a host computer or triggered by the operator through a human-machine interface.

[0060] When the next fixture is located on the same transfer device 22 as the current fixture, the controller calculates the theoretical displacement of the overhead crane device 12 to the next fixture based on the current target positioning position and the first distance L1 (i.e., the actual distance between two adjacent fixtures on the same transfer device 22). At this time, the theoretical displacement is equal to the first distance L1.

[0061] Reference Figure 10When the next fixture is located in the adjacent next transfer device 22, the controller obtains the second distance L2 between the two opposite sidewalls of the two adjacent transfer devices 22, and calculates the displacement across the transfer device 22 based on the second distance L2, the offset distance of the currently positioned fixture in the transfer device 22 relative to its sidewall, and the offset distance of the sidewall of the next transfer device 22 relative to its corresponding fixture. Specifically, the displacement across the transfer device 22 is equal to the second distance L2 plus the offset distance of the currently positioned fixture in the transfer device 22 relative to its sidewall, plus the offset distance of the sidewall of the next transfer device 22 relative to its corresponding fixture. If the structures of each transfer device 22 are identical and the installation positions of the fixtures relative to the sidewalls are the same, the displacement across the transfer device 22 can be pre-calibrated as a fixed value L_cross.

[0062] Preferably, when the aforementioned response unit 210 is located on the central axis of the second fixture, the offset distance of the central axis of the currently positioned fixture in the transfer device 22 relative to the side wall of its respective transfer device 22 is half the width of that fixture, and the offset distance of the side wall of the next transfer device 22 relative to the central axis of its corresponding fixture is also half the width of that fixture. Therefore, the displacement across the transfer device 22 is equal to the second distance L2 plus half the width of the current transfer device 22 fixture, plus half the width of the next transfer device 22 fixture. If the fixture widths of all transfer devices 22 are the same, then the displacement across the transfer device 22 is equal to the sum of the second distance L2 and the width of a single fixture, that is, L_cross = L2 + L1.

[0063] In an array positioning scenario, multiple relay devices 22 are arranged in a matrix along the direction of travel. The distance between two adjacent fixtures on the same relay device 22 is the first distance L1, and the distance between the two opposite sidewalls of two adjacent relay devices 22 is the second distance L2. When calculating the theoretical displacement of each fixture sequentially, the controller follows these rules: If the currently positioned fixture and the next target fixture are located in the same transfer device 22, the theoretical displacement is equal to the first distance L1; if the currently positioned fixture and the next target fixture are located in two adjacent transfer devices 22, the theoretical displacement is equal to the displacement across transfer devices 22.

[0064] The displacement of the transfer device 22 is determined based on the second distance L2, the offset distance of the currently positioned fixture in the transfer device 22 relative to the side wall of the transfer device 22, and the offset distance of the side wall of the next transfer device 22 relative to its corresponding fixture. Specifically, the displacement across transfer device 22 is equal to the second distance L2 plus the offset distance of the currently positioned fixture in transfer device 22 relative to its side wall, plus the offset distance of the side wall of the next transfer device 22 relative to its corresponding fixture. If the structures of each transfer device 22 are identical and the installation positions of the fixtures relative to the side walls are the same, the above offset distances can be pre-calibrated, and the displacement across transfer device 22 is a fixed value.

[0065] Preferably, when the response unit 210 is located on the central axis of the second fixture, the offset distance of the central axis of the currently positioned fixture in the transfer device 22 relative to the side wall of its respective transfer device 22 is half the width of the fixture, and the offset distance of the side wall of the next transfer device 22 relative to the central axis of its corresponding fixture is also half the width of the fixture. Therefore, the displacement across the transfer device 22 is equal to the second distance L2 plus half the width of the fixture in the current transfer device 22 plus half the width of the fixture in the next transfer device 22. If the fixture widths of all transfer devices 22 are the same, then the displacement across the transfer device 22 is equal to the sum of the second distance L2 and the width of a single fixture.

[0066] For example, assuming there are N transfer devices 22 arranged sequentially, each transfer device 22 is equipped with multiple jigs arranged at equal intervals along the direction of travel, the distance between adjacent jigs on the same transfer device 22 is a first distance L1, and the distance from the material pick-up position to the reference position is C (pre-calibrated), then each time the overhead crane device 12 departs from the material pick-up position, it calculates the actual travel distance according to the sequence number of the transfer device 22 where the target jig is located and the jig sequence number, using the following general formula: For the j-th fixture of the i-th transfer device 22 (i≥1, j=1 or 2): When j=1 (the target is the first fixture of the i-th transfer device 22): actual moving distance = C + (i-1)×(L1 +L2) + L1; When j=2 (the target is the second fixture of the i-th transfer device 22): actual moving distance = C + (i-1)×(L1 +L2) + 2L1; The actual moving distance corresponding to each fixture is calculated sequentially according to the above general formula until all fixtures on all transfer devices 22 are positioned.

[0067] The controller controls the walking drive assembly to move the overhead crane device 12 along the traveling direction by the calculated theoretical displacement. After the movement is completed, the overhead crane device 12 reaches a position near the next fixture. However, due to factors such as mechanical transmission errors and uneven track, there may be a deviation between the actual position of the overhead crane device 12 and the target position. Therefore, the controller reacquires the first positioning signal and corrects the position of the overhead crane device 12 based on the wavelength offset of the reacquired first laser echo signal until the wavelength offset meets the preset judgment condition. This correction process is consistent with the positioning process described in Embodiment 3, that is, the position of the overhead crane device 12 is precisely adjusted by utilizing the wavelength offset characteristics of the groove structure.

[0068] This embodiment performs wavelength offset detection and closed-loop correction after each coarse positioning movement, ensuring accurate positioning for each transplant. Furthermore, since the measured first distance L1 and the displacement of the cross-transfer device 22 are used as the movement reference during the coarse positioning stage, the adjustment required for each transplant is small, which helps to shorten the positioning time and improve transplant efficiency.

[0069] In application scenarios where multiple transfer devices 22 are arranged sequentially, operators can trigger array positioning commands to enable the controller to automatically position all transfer devices 22. Specifically, in response to the array positioning trigger command, the controller calculates the theoretical displacement of each fixture according to the current target positioning position, the preset total number of fixtures, the first distance L1, and the displacement across transfer devices 22, following the aforementioned alternating stepping rules. The controller then performs the positioning operation on each fixture sequentially until all fixtures are positioned. This array positioning function allows operators to manually confirm or trigger the positioning only during the initial positioning; subsequent positioning of all transfer devices 22 is automatically completed by the controller, reducing manual intervention and improving production automation.

[0070] During array positioning, after each fixture's positioning operation is completed, the controller updates the peak value of the wavelength offset recorded in the current positioning operation to the previous laser value and stores the previous laser value. This previous laser value can be used to compare positioning deviations between adjacent fixtures. Specifically, when there is a difference in the peak laser values ​​recorded during the positioning process of two adjacent fixtures, it can reflect that there may be differences in the groove structure state of the two response units 210 (such as different surface contamination, different degrees of wear, etc.). This information can be used for equipment maintenance early warning or reliability assessment of positioning results.

[0071] According to some embodiments of this application, refer to Figure 5 and Figure 6 It also includes a second positioning module for detecting the relative offset between the overhead crane device 12 and the transfer device 22 in the lateral direction.

[0072] After the wavelength offset meets the preset judgment condition and a first stop command is generated, the controller acquires a second positioning signal. The second positioning signal is the second laser echo signal returned by the second laser detection beam after being acted upon by the second mating component 400. The second positioning module is similar in structure and principle to the first positioning module, except that the second laser component 300 emits the second laser detection beam in the lateral direction (i.e., the horizontal direction perpendicular to the direction of travel), and the second mating component 400 is mounted on a corresponding other component.

[0073] The controller determines the relative lateral offset between the overhead crane device 12 and the current target positioning position based on the wavelength offset of the second laser echo signal. The second mating component 400 can also employ a groove structure as the response unit 210, and its working principle is the same as that of the first mating component 200, which will not be elaborated here. When the relative offset exceeds the preset deviation range, the controller generates a lateral fine-tuning command, which drives the overhead crane device 12 to move laterally until the relative offset falls within the preset deviation range.

[0074] In practical applications, the crane device 12 and the transfer device 22 need to be aligned not only in the direction of travel but also in the lateral direction (i.e., the width direction of the crane device 12). If the crane device 12 deviates from the center position of the transfer device 22 in the lateral direction, the battery cell may collide with the second carrier of the transfer device 22 during the descent transfer process. By setting up the second positioning module, this embodiment helps to achieve precise alignment of the crane device 12 and the transfer device 22 in the lateral direction, thereby helping to reduce the risk of battery cell collision damage caused by lateral offset.

[0075] In some embodiments, to further improve the reliability of lateral positioning, second laser components 300 can be respectively provided at the front and rear ends of the crane device 12 along the travel direction, or second mating parts 400 can be respectively provided at the front and rear ends of the travel direction. By detecting the front and rear ends separately, it can be determined whether the crane device 12 has a deflection angle relative to the transfer device 22. When the lateral offset detected at the front and rear ends is inconsistent, it indicates that the crane device 12 is deflected relative to the travel direction, and angle correction is required.

[0076] According to some embodiments of this application, a third positioning module is also included for detecting the parallelism between the overhead crane device 12 and the transfer device 22 in the vertical direction.

[0077] After the wavelength offset meets the preset judgment condition and a first stop command is generated, the controller acquires the third positioning signal group. The third positioning signal group includes the third laser echo signals returned after being acted upon by at least two third laser detection beams that are spaced apart in the lateral direction. The third laser component 500 is disposed on one of the overhead crane device 12 and the transfer device 22, and the third mating component is installed on the other of the overhead crane device 12 and the transfer device 22.

[0078] The third mating component has multiple detection positions arranged at intervals along the transverse direction.

[0079] In some embodiments, the surface of the overhead crane device 12 or the surface of the transfer device 22 can be directly configured as a third mating part, that is, the surface of the overhead crane device 12 or the transfer device 22 can be directly used as a detection position without the need to set up an additional independent third mating part structure.

[0080] In other embodiments, the third mating component is an independently set reflector plate with multiple detection positions specifically for detection by the third positioning module.

[0081] The controller determines the parallelism of the overhead crane device 12 relative to the current target positioning position in the direction of travel based on the deviation between the wavelength offsets of each third laser echo signal.

[0082] Specifically, the third laser component 500 emits a third laser detection beam vertically towards each detection position, and the detection positions are spaced apart horizontally. Since the positions of each detection position are different in the horizontal direction, the relative vertical distance between the overhead crane device 12 and the transfer device 22 at each corresponding detection position can be obtained by detecting the wavelength offset of the laser signal returned from each detection position. If the wavelength offsets at each detection position are consistent (i.e., the deviation is within the preset parallelism tolerance range), it indicates that the overhead crane device 12 and the transfer device 22 are parallel to each other in the direction of travel. If there is a deviation between the wavelength offsets at each detection position and the deviation exceeds the preset parallelism tolerance, it indicates that the overhead crane device 12 is tilted relative to the transfer device 22.

[0083] When the deviation exceeds the preset parallelism tolerance, the controller generates a tilt compensation command. This tilt compensation command is used to adjust the timing of the actions of each output end of the lifting drive assembly of the overhead crane device 12 so that the deviation falls within the preset parallelism tolerance. Specifically, the lifting drive assembly typically includes multiple output ends. By controlling the output timing and output stroke of each output end separately, the overhead crane device 12 can maintain a horizontal attitude during descent or perform tilt correction when tilt exists.

[0084] For example, when it is detected that the front end of the overhead crane device 12 is lower than the rear end, the controller can control the front end lifting output to descend at a slightly slower speed or reduce the descent stroke, while controlling the rear end lifting output to descend at a slightly faster speed or increase the descent stroke, thereby achieving attitude adjustment.

[0085] After horizontal alignment and parallelism confirmation are completed, the controller activates the lifting drive assembly, driving the overhead crane device 12 to descend and transfer the battery cells to the second carrier of the transfer device 22. Through the inclusion of the third positioning module, this embodiment helps ensure that the overhead crane device 12 remains parallel to the transfer device 22 during descent, thereby helping to avoid collision damage to the battery cells during descent due to tilting.

[0086] Furthermore, this application sets up multiple first laser detection channels.

[0087] Specifically, there are multiple first positioning signals, which are respectively derived from multiple first laser detection channels symmetrically arranged on both sides of the overhead crane device 12 in the lateral direction.

[0088] Understandably, the overhead crane device 12 has a first sidewall and a second sidewall arranged opposite each other in the transverse direction. A first laser assembly 100 is installed on both the first and second sidewalls (i.e., one first laser detection channel corresponds to one first laser assembly 100). The transfer device 22 is fixedly equipped with two first mating parts 200, each corresponding one-to-one with one of the two first laser assemblies 100. The two first laser assemblies 100 emit first laser detection beams vertically downwards towards their respective first mating parts 200 and receive the returned first laser echo signals.

[0089] When determining whether the overhead crane device 12 has reached the current target positioning position based on the wavelength offset of the first laser echo signal, the controller calculates the wavelength offset corresponding to each first laser detection channel. When all wavelength offsets meet the preset judgment conditions, the controller determines that the overhead crane device 12 has reached the current target positioning position. When at least one wavelength offset does not meet the preset judgment conditions, the controller generates a deflection correction command based on the difference between the wavelength offsets. This deflection correction command is used to drive the overhead crane device 12 to rotate around the vertical axis until all wavelength offsets meet the preset judgment conditions.

[0090] Specifically, if the wavelength offset detected by the laser detection channels on both sides of the overhead crane device 12 meets the preset judgment conditions, it indicates that both sides of the overhead crane device 12 are aligned with the transfer device 22, that is, the overhead crane device 12 and the transfer device 22 are parallel and centered in the direction of travel. If the wavelength offset on only one side meets the preset judgment conditions while the other side does not, it indicates that the overhead crane device 12 has a deflection angle relative to the transfer device 22. In this case, only one side is aligned while the other side is deviated. The controller calculates the deflection direction and deflection angle based on the difference in wavelength offset between the two sides, generates a corresponding deflection correction command, and drives the overhead crane device 12 to rotate around the vertical axis until both sides meet the preset judgment conditions.

[0091] This embodiment helps to eliminate blind spots that may exist in single-sided detection by symmetrically arranging multiple laser detection channels on both sides of the crane device 12, and realizes full-width alignment between the crane device 12 and the transfer device 22, thereby helping to further improve the reliability of positioning and reduce the risk of collision of battery cells during the transfer process due to deflection.

[0092] In summary, the working principle of the cell formation equipment and control method provided in this application is as follows: After initial positioning and establishing a positioning reference, the overhead crane device 12, driven by the walking drive assembly, moves along the overhead crane track 11 toward the first transfer device 22. During the movement, the first laser assembly 100 continuously emits a first laser detection beam vertically downward toward the first mating component 200 and receives the returned first laser echo signal. The controller monitors the wavelength offset in real time. When the overhead crane device 12 moves near the groove structure, the wavelength offset begins to change. The overhead crane device 12 continues to move forward, and the controller records the position where the wavelength offset reaches its peak as the first reference position. Then, it controls the overhead crane device 12 to move in the opposite direction until the wavelength offset again meets the preset judgment condition, and records the current position as the second reference position. The controller calculates the center position of the response unit 210 based on the first and second reference positions and assigns this center position to the translation axis, driving the overhead crane device 12 to move to the center position. At this point, the overhead crane device 12 completes the precise positioning of the first fixture, calibrating this position as the reference position. This reference position (i.e., the center position of the first fixture in the first transfer device 22) serves as the reference origin for all subsequent transfer operations.

[0093] After completing the positioning of the current fixture, the controller controls the overhead crane device 12 to continue moving forward until the wavelength offset of the first laser echo signal meets the preset judgment condition again (at this time, the overhead crane device 12 has reached the target position of the next adjacent fixture on the same transfer device 22), and the current position is marked as the second target positioning position. The controller calculates the first distance L1 based on the current target positioning position and the second target positioning position, and uses the first distance L1 as the movement step size between two adjacent fixtures within the same transfer device 22.

[0094] After completing the transfer of the current batch of battery cells, the overhead crane device 12 returns to the material handling position (the material handling mechanism located upstream). After removing the next batch of battery cells, the crane calculates the moving distance and moves to the target fixture according to the target transfer device 22 and the fixture serial number as follows: Let the distance from the material pick-up position to the reference position be C (this distance can be pre-calibrated as a constant), and the theoretical displacement of the target fixture relative to the reference position be D_target. Then the actual moving distance of the overhead crane device 12 from the material pick-up position to the target fixture is C + D_target.

[0095] The calculation method for D_target is as follows: For the first fixture of the second transfer device 22, its theoretical displacement relative to the reference position is: moving from the reference position to the second fixture of the first transfer device 22 (distance L1), moving from the center of the second fixture of the first transfer device 22 to its side wall (distance L1 / 2), crossing the side wall interval L2 between the first transfer device 22 and the second transfer device 22, and moving from the side wall of the second transfer device 22 to the center of its first fixture (distance L1 / 2). Therefore, D_target = L1 + L1 / 2 + L2 + L1 / 2 = 2L1 + L2.

[0096] For the second fixture of the second transfer device 22, D_target = 2L1 + L2 + L1 = 3L1 + L2.

[0097] Similarly, for the j-th fixture of the i-th transfer device 22 (i≥1, j=1 or 2), D_target is: When j=1 (target is the first fixture of the i-th transfer device 22): (i-1)×(L1 + L2) + L1 When j=2 (target is the second fixture of the i-th transfer device 22): (i-1)×(L1 + L2) + 2L1 Therefore, the actual moving distance of the overhead crane device 12 from the material pick-up position is C + D_target.

[0098] After the movement is completed, the controller reacquires the first positioning signal and corrects the position of the overhead crane device 12 based on the reacquired wavelength offset until the wavelength offset meets the preset judgment condition. Since each relocation uses the reference position established during the initial positioning as a reference, there is no need to re-execute the complete positioning search process for each relocation, thus helping to reduce repetitive positioning operations and improve the overall efficiency of multiple relocation operations. At the same time, since closed-loop correction is still required after each relocation reaches the vicinity of the target position through wavelength offset detection, positioning accuracy is also guaranteed.

[0099] After horizontal positioning is completed, the second positioning module checks the alignment of the overhead crane device 12 and the transfer device 22 in the lateral direction to ensure lateral alignment; the third positioning module checks the parallelism between the overhead crane device 12 and the transfer device 22 to ensure they are parallel in the direction of travel; the multi-channel detection module checks the alignment of both sides of the overhead crane device 12 to ensure that the overhead crane device 12 is not deflected. After all checks are confirmed to be correct, the controller controls the lifting drive assembly to start, driving the overhead crane device 12 to descend and transfer the battery cell to the second carrier of the current transfer device 22.

[0100] When the operator triggers the array positioning command, the controller calculates the theoretical displacement of each fixture according to the current target positioning position, the total number of preset fixtures, the first distance L1, and the displacement of the cross-transfer device 22, following an alternating stepping rule. The controller then performs the aforementioned positioning operation on each fixture sequentially until all fixtures are positioned. Throughout the array positioning process, after each fixture's positioning operation is completed, the controller updates the peak value of the wavelength offset recorded in the current positioning operation to the previous laser value and stores it for comparison of positioning deviations between adjacent fixtures.

[0101] This application utilizes a groove structure as the response unit 210 and wavelength offset for positioning detection, which helps achieve non-contact, high-precision positioning and reduces reliance on manual operation. The "over-peak-back-test" bidirectional detection strategy helps eliminate positioning errors caused by mechanical inertia. By measuring the first distance L1 between two adjacent fixtures on the same transfer device 22 as the step size for movement between fixtures within the same transfer device 22, the impact of installation errors on fixture positioning within the same transfer device 22 is eliminated. The coordinated operation of the second positioning module, the third positioning module, and the multi-channel detection module facilitates comprehensive positioning detection in multiple directions and orientations. By establishing a reference position through initial positioning, subsequent transplants use this reference position to determine the movement distance, eliminating the need to re-execute the complete positioning search process for each transplant, thus reducing repetitive positioning operations and improving the overall efficiency of multiple transplant operations.

[0102] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0103] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A crane transplanting positioning control method based on laser positioning, characterized in that, Includes the following steps: Acquire a first positioning signal, which is the first laser echo signal returned after the first laser detection beam passes through the response part (210) of the first mating member (200); Based on the wavelength offset of the first laser echo signal, determine whether the overhead crane device (12) has reached the current target positioning position; When the wavelength offset meets the preset judgment condition, it is determined that the current target positioning position has been reached, and a first stop command is generated. The first stop command is used to control the walking drive component of the crane device (12) to stop running.

2. The crane transplanting positioning control method based on laser positioning according to claim 1, characterized in that, The preset judgment condition is that the wavelength offset falls within the preset threshold range.

3. The crane transplanting positioning control method based on laser positioning according to claim 2, characterized in that, The response part (210) is a groove structure. The groove structure has an opening and a receiving space formed by the indentation relative to the opening. The receiving space has an inner wall. The inner wall is used to reflect and / or scatter the incoming first laser detection beam so that the returned first laser echo signal will have a wavelength shift. When the incident point of the first laser detection beam is within the span of the opening, the wavelength offset is within the preset threshold range.

4. The crane transplanting positioning control method based on laser positioning according to any one of claims 1 to 3, characterized in that, Based on the wavelength offset of the first laser echo signal, determine whether the overhead crane device (12) has reached the current target positioning position, including: Record the wavelength offset of the first laser echo signal in real time; When the wavelength offset reaches its peak and begins to decrease, it is determined that the overhead crane device (12) has passed the center position of the response unit (210), and the position corresponding to the peak value is recorded as the first reference position; Control the walking drive component to drive the crane device (12) to move in the opposite direction until the wavelength offset meets the preset judgment condition again, and record the current position as the second reference position; The center position of the response unit (210) is calculated based on the first reference position and the second reference position.

5. The crane transplanting positioning control method based on laser positioning according to claim 4, characterized in that, After calculating the center position of the response unit (210) based on the first reference position and the second reference position, the method further includes: The center position of the response unit (210) is assigned to the translation axis of the crane device (12) to update the position setting value of the translation axis, and the travel drive assembly is controlled to drive the crane device (12) to move to the center position according to the updated position setting value. The current spatial position of the overhead crane device (12) is marked as the current target positioning position, and the current target positioning position obtained from the first positioning is marked as the reference position.

6. The crane transplanting positioning control method based on laser positioning according to claim 5, characterized in that, After calibrating the current spatial position of the overhead crane device (12) as the current target positioning position, the following is also included: The control walking drive component drives the crane device (12) to move along the direction of travel until the wavelength offset of the first laser echo signal meets the preset judgment condition again, and the current position is marked as the second target positioning position; Calculate the first distance L1 based on the current target location and the second target location; The first distance L1 is configured as the movement step between two adjacent fixtures in the same straight direction of the crane device (12).

7. The crane transplanting positioning control method based on laser positioning according to claim 6, characterized in that, Each time the overhead crane device (12) departs from the material picking position, the distance between the material picking position and the reference position is a preset constant C. After calibrating the current spatial position of the overhead crane device (12) as the current target positioning position, the following is also included: Obtain the next fixture positioning command; When the next fixture is located in the same transfer device (22) as the current fixture, the theoretical displacement of the next fixture relative to the reference position is equal to the first distance L1; When the next fixture is located in the adjacent next transfer device (22), the second distance L2 between the two opposite side walls of the two adjacent transfer devices (22) is obtained, and the displacement across the transfer device (22) is calculated based on the second distance L2, the offset distance of the fixture already positioned in the current transfer device (22) relative to the side wall of its transfer device (22) and the offset distance of the side wall of the next transfer device (22) relative to its corresponding fixture. The theoretical displacement of the next fixture relative to the reference position is equal to the displacement across the transfer device (22). Based on the sum of the preset constant C and the theoretical displacement, the walking drive component is controlled to drive the crane device (12) to move along the direction of travel; The first positioning signal is reacquired, and the position of the overhead crane device (12) is corrected according to the wavelength offset of the reacquired first laser echo signal until the wavelength offset meets the preset judgment condition.

8. The crane transplanting positioning control method based on laser positioning according to claim 7, characterized in that, Before obtaining the next fixture positioning instruction, the following steps are also included: In response to the array positioning trigger command, based on the preset total number of fixtures, the first distance L1 and the displacement of the cross-transfer device (22), the theoretical displacement of each fixture relative to the reference position is calculated in sequence, and the actual moving distance of the overhead crane device (12) from the material picking position to each fixture is calculated based on the preset constant C and the sum of each theoretical displacement, and the positioning operation is performed on each fixture in sequence until all fixtures are positioned.

9. The crane transplanting positioning control method based on laser positioning according to claim 1, characterized in that, When the wavelength offset meets the preset judgment condition, after determining that the current target positioning position has been reached and generating the first stop command, the following steps are also included: Acquire a second positioning signal, which is the second laser echo signal returned after the second laser detection beam passes through the second mating component (400); Based on the wavelength offset of the second laser echo signal, determine the relative offset of the overhead crane device (12) and the current target positioning position in the lateral direction; When the relative offset exceeds the preset deviation range, a lateral fine-tuning command is generated. The lateral fine-tuning command is used to drive the overhead crane device (12) to move in the lateral direction until the relative offset falls into the preset deviation range. And / or, When the wavelength offset meets the preset judgment condition, after determining that the current target positioning position has been reached and generating the first stop command, the following steps are also included: Acquire a third positioning signal group, which includes at least two third laser detection beams that return after passing through at least two detection positions spaced apart in the lateral direction. Based on the deviation between the wavelength offsets of each third laser echo signal, the parallelism of the overhead crane device (12) relative to the current target positioning position in the vertical direction is determined. When the deviation value exceeds the preset parallelism tolerance, a tilt compensation command is generated. The tilt compensation command is used to adjust the action timing of each output end of the lifting drive component of the overhead crane device (12) so that the deviation value falls within the preset parallelism tolerance. And / or, The first positioning signal is multiple, and the multiple first positioning signals are respectively derived from multiple first laser detection channels symmetrically arranged on both sides of the crane device (12) in the transverse direction; Among them, determining whether the overhead crane device (12) has reached the current target positioning position based on the wavelength offset of the first laser echo signal includes: Calculate the wavelength offset for each of the first laser detection channels; When the offset of each wavelength meets the preset judgment condition, it is determined that the current target positioning position has been reached. When at least one wavelength offset does not meet the preset judgment condition, a deflection correction command is generated based on the difference between each wavelength offset. The deflection correction command is used to drive the overhead crane device (12) to rotate around the vertical axis until each wavelength offset meets the preset judgment condition.

10. A cell formation device, characterized in that, include: The overhead crane mechanism (1) includes an overhead crane track (11) and an overhead crane device (12) slidably mounted on the overhead crane track (11), the overhead crane device (12) having a first carrier, a travel drive assembly and a lifting drive assembly; The transfer mechanism (2) is located below the overhead crane track (11) and includes multiple transfer devices (22) arranged at intervals along the direction of travel. Each transfer device (22) has a second carrier. A laser positioning mechanism includes a first laser component (100) and a first mating component (200). The first laser component (100) is disposed on one of the overhead crane device (12) and the transfer device (22), and the first mating component (200) is disposed on the other of the overhead crane device (12) and the transfer device (22). The first mating component (200) has a response part (210). The first laser component (100) is used to emit a first laser detection beam and receive a first laser echo signal returned after being acted upon by the response part (210). A controller is connected to the walking drive assembly, the lifting drive assembly, and the laser positioning mechanism respectively, and the controller is configured to execute the crane transplanting positioning control method based on laser positioning as described in any one of claims 1 to 9.

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