Battery pack detection device and battery pack detection method

Abstract

A battery pack detection device and a battery pack detection method. The battery pack detection device comprises: a gantry truss (1), a first camera set (2), second camera sets (3), and a processor. The gantry truss (1) comprises a first frame (12) and a second frame (11), wherein the first frame (12) comprises first support beams (121), and a first linear element (42) is provided on the first support beams (121); and the second frame (11) comprises second support beams (111), and a second linear element (52) is provided on the second support beams (111). The first camera set (2) is slidably arranged on the first linear element (42) in a second direction, and is used for capturing top surface images of a battery pack. Two opposite second camera sets (3) each are slidably arranged on the second linear element (52) in the second direction, the second camera sets (3) are rotatably connected to the second linear element (52) around a third direction, and the second camera sets (3) are used for capturing side surface images and end surface images of the battery pack. The processor is used for receiving the top surface images, the side surface images, and the end surface images, and detecting the appearance of the battery pack on the basis of the top surface images, the side surface images, and the end surface images.

Description

Battery pack detection device and battery pack detection method

[0001] Cross-reference to related applications

[0002] The present disclosure is based on and claims priority to Chinese Patent Application No. 202411124672.3, filed on August 15, 2024, entitled "Battery pack detection device and battery pack detection method", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of batteries, and in particular to a battery pack detection device and a battery pack detection method. BACKGROUND

[0004] New energy batteries are increasingly widely used in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also increasingly used in the field of energy storage and the like.

[0005] In the process of producing batteries, the appearance of the battery needs to be detected to determine whether there are defects on the surface of the battery. In particular, the battery has many components on the shell, and the appearance of the surface of the shell and the components on the shell needs to be detected to reduce the problem of defects in the battery. In the related art, the appearance of the battery is often checked by manual inspection, but manual inspection has the problem of missed detection due to human factors, and the efficiency of manual inspection is low. SUMMARY

[0006] The present disclosure provides a battery pack detection device and a battery detection method, which can improve the accuracy and efficiency of battery appearance detection.

[0007] The first aspect of the present disclosure provides a battery pack detection device, which comprises a portal frame, a first camera group, a second camera group and a processor. The portal frame comprises a first frame body and a second frame body. The first frame body comprises two first support beams extending in a first direction, and a first wire body is slidably arranged on the two first support beams in the first direction. The second frame body comprises two second support beams extending in the first direction, and a second wire body is slidably arranged on the two second support beams in the first direction. The first camera group is slidably arranged on the first wire body in a second direction, and is used for shooting a top surface image of a battery pack. The second direction is perpendicular to the first direction. Two oppositely arranged second camera groups are respectively slidably arranged on the second wire body in the second direction, and the second camera groups are rotationally connected to the second wire body about a third direction. The second camera groups are used for shooting side surface images and end surface images of the battery pack. The third direction is perpendicular to the first direction and the second direction. The processor is used for receiving the top surface image, the side surface images and the end surface images, and detecting the appearance of the battery pack based on the top surface image, the side surface images and the end surface images.

[0008] The battery pack detection device provided by the present disclosure can slide the first camera group on the first support beams of the first frame body through the first wire body, and can acquire the top surface image of the top surface of the battery pack through the first camera group. The first camera group can be slidably arranged on the first wire body, and the first camera group can be driven by the first wire body to move relative to the top surface of the battery pack, so that the first camera group can acquire the top surface images of various regions of the top surface. The two second camera groups can be slidably arranged on the second support beams of the second frame body through the second wire body, and the two second camera groups can be slidably arranged on the second wire body. The second camera groups are rotationally connected to the second wire body, and the second camera groups can be driven by the second wire body to move relative to the side surface or the end surface of the battery pack, and the second camera groups can be rotated to face the side surface or the end surface, so that the second camera groups can acquire the side surface images of various regions of the side surface and the end surface images of various regions of the end surface. The first camera group and the second camera group are arranged on the first frame body and the second frame body respectively, so that the first camera group and the second camera group can move independently, which can reduce the mutual interference of the first camera group and the second camera group during movement, and can improve the efficiency of image acquisition of the battery pack. The processor can receive the top surface image, the side surface images and the end surface images, and can identify and detect the top surface image, the side surface images and the end surface images to determine whether there is a defect in the images, so as to improve the accuracy and efficiency of appearance detection of the battery pack.

[0009] In a possible implementation of the present disclosure, the first camera group comprises a first three-dimensional scanning camera and a first bracket with a first accommodating cavity, the first bracket comprises a first top plate and two first side plates, upper ends of the two first side plates are fixed to two ends of the first top plate respectively, the first top plate and the two first side plates enclose the first accommodating cavity, a first opening of the first accommodating cavity faces the top surface of the battery pack along a third direction, and the first bracket is slidingly arranged on the first line body through the first top plate or the first side plate; the third direction and the first direction satisfy a perpendicular relationship, and the third direction and the second direction satisfy a perpendicular relationship; the first three-dimensional scanning camera is fixed to the first top plate and located outside the first accommodating cavity, and is configured to capture a three-dimensional image of the top surface of the battery pack.

[0010] In the technical solution of the present disclosure, the first bracket comprises the first top plate and the two first side plates, the first accommodating cavity can be enclosed by the first top plate and the two first side plates, and the first top plate and the two first side plates can provide multiple mounting points for the multiple cameras in the first camera group. Meanwhile, the first three-dimensional scanning camera is fixed to the first top plate and located outside the first accommodating cavity, which not only enables the first three-dimensional scanning camera to capture a three-dimensional image of the top surface of the battery pack, thereby obtaining depth information of the top surface of the battery pack according to the three-dimensional image, but also reduces the obstruction of the first side plates to the shooting area of the first three-dimensional scanning camera.

[0011] In a possible implementation of the present disclosure, the first camera group further comprises a first two-dimensional line scanning camera, the first two-dimensional line scanning camera is fixed to one of the first side plates and located outside the first accommodating cavity, and is staggered with the fixing position of the first three-dimensional scanning camera and faces the top surface of the battery, and is configured to capture a first line scanning image of the top surface.

[0012] In the technical solution of the present disclosure, the first camera group further comprises the first two-dimensional line scanning camera, which can capture the top surface area of the battery pack to obtain a first line scanning 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 scanning image of the top surface with the three-dimensional image of the top surface to obtain more comprehensive information of the top surface image. Meanwhile, the first two-dimensional line scanning camera is located outside the first accommodating cavity and is staggered with the first three-dimensional scanning camera on the first bracket, which can reduce the obstruction of the first two-dimensional line scanning camera to the first three-dimensional scanning camera.

[0013] In a possible implementation of the present disclosure, the first camera group further comprises a first linear light source, the first linear light source is rotationally arranged on the outer wall of the first side plate, a lighting area of the first linear light source covers the shooting area of the first two-dimensional line scanning camera on the top surface, and is configured to light the top surface.

[0014] In the technical scheme of the present disclosure, the first linear light source is fixed on the outer wall of the first side plate on which the first two-dimensional line scanning camera is arranged, so that the first linear light source can illuminate the shooting area of the first two-dimensional line scanning camera, which is conducive to improving the quality of the first line scanning image collected by the first two-dimensional line scanning camera, and can reduce the shielding of the first linear light source to the first three-dimensional scanning camera.

[0015] In a possible implementation of the present disclosure, the first camera group further comprises a first two-dimensional camera, the first two-dimensional camera is fixed to the other first side plate and located outside the first accommodating cavity and close to one side of the first opening, and faces the top surface of the battery pack, and is used for shooting a top surface two-dimensional image of the top surface.

[0016] In the technical scheme of the present disclosure, the first camera group further comprises a first two-dimensional camera, the first two-dimensional camera can collect a top surface two-dimensional image of the battery pack, so as to obtain image information of labels and nameplates and other components on the top surface of the battery pack, so that the details such as components on the top surface of the battery pack can also be detected. At the same time, the first two-dimensional camera is fixed to the outer wall of the other first side plate, so that the first two-dimensional camera has a relatively far distance from the first three-dimensional scanning camera and the first two-dimensional line scanning camera, which is conducive to reducing the mutual shielding between the cameras.

[0017] In a possible implementation of the present disclosure, the first camera group further comprises two second linear light sources, the second linear light sources are fixed on the first side plate on which the first two-dimensional camera is arranged, and are located outside the first accommodating cavity and close to one side of the first opening, and the two second linear light sources are symmetrically arranged on the two sides of the first two-dimensional camera, and the illumination area of the second linear light sources covers the shooting area of the first two-dimensional camera on the top surface of the battery pack, and is used for lighting the top surface of the battery pack.

[0018] In the technical scheme of the present disclosure, the second linear light source is fixed on the outer wall of the first side plate on which the first two-dimensional camera is arranged, so that the second linear light source can illuminate the shooting area of the first two-dimensional camera, which is conducive to improving the quality of the top surface two-dimensional image collected by the first two-dimensional camera. And arranging two second linear light sources can make the brightness of the shooting area of the first two-dimensional camera more uniform.

[0019] In a possible implementation of the present disclosure, the first camera group further comprises a first ring-shaped light source, the first ring-shaped light source is fixed on the first side plate on which the first two-dimensional camera is arranged, and is located outside the first accommodating cavity and close to one side of the first opening, the first ring-shaped light source is coaxially arranged with the first two-dimensional camera, and the illumination area of the first ring-shaped light source covers the shooting area of the first two-dimensional camera on the top surface of the battery pack, and is used for lighting the top surface of the battery pack.

[0020] In the technical scheme of the present disclosure, the first annular light source is coaxially arranged with the first two-dimensional camera, and the first annular light source can illuminate the shooting area of the first two-dimensional camera on the top surface of the battery pack, so that the shooting area of the first two-dimensional camera is brighter, and the quality of the two-dimensional image of the top surface collected by the first two-dimensional camera is improved, thereby improving the accuracy of the judgment of the defects on the top surface of the battery pack.

[0021] In a possible implementation of the present disclosure, the first camera group further includes a first three-dimensional camera, the first three-dimensional camera is movably arranged 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, and faces the top surface of the battery pack and is used to shoot the image of the pin connector of the contact plug on the top surface of the battery pack.

[0022] In the technical scheme of the present disclosure, the first camera assembly further includes the first three-dimensional camera movably arranged on the inner wall of the first top plate, and the image of the pin connector of the contact plug on the top surface of the battery pack can be shot by the first three-dimensional camera, so that whether the installation angle and installation position of the pin connector of the contact plug are appropriate can be judged according to the image of the pin connector.

[0023] In a possible implementation of the present disclosure, 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 arranged 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 the third direction.

[0024] In the technical scheme of the present disclosure, the first three-dimensional camera is arranged 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 in the third direction by the first sliding member, and the first three-dimensional camera can be driven to rotate around the third direction by the first rotating member, so that the distance and the included angle between the first three-dimensional camera and the pin connector of the contact plug can be adjusted, the image of the pin connector of the contact plug can be shot from multiple angles and in all directions by the first three-dimensional camera, and the detection accuracy of the installation of the pin connector of the contact plug is improved.

[0025] In a possible implementation of the present disclosure, the battery pack detection device further includes a third rotating member, the first support is connected to the first line body through the third rotating member, and the third rotating member is used to drive the first camera group to rotate around the third direction.

[0026] In the technical scheme of the present disclosure, the first camera group is connected to the first linear body through the third rotating member, the first camera group can be driven to rotate around the third direction through the third rotating member, and the included angle between the first camera group and the top surface of the battery pack can be adjusted in this way. In this way, the cameras in the first camera group can be directed at the planar surface in the top surface of the battery pack or the protruding device on the top surface of the battery pack at different angles, so that the shooting direction and the shooting angle of the cameras in the first camera group to the protruding device can be adjusted, and a more comprehensive and clear image of the protruding device on the top surface of the battery pack can be obtained, thereby improving the accuracy of defect judgment and identification of the top surface of the battery pack.

[0027] In a possible implementation of the present disclosure, the battery pack detection device further comprises a third linear body, the third linear body is slidingly arranged on the first linear body along a third direction, and the third rotating member is connected to the third linear body, and the third linear body can drive the first camera group to move along the third direction.

[0028] In the technical scheme of the present disclosure, the first camera group is connected to the first linear body through the third linear body, the first camera group can be driven to move along the third direction through the third linear body, and the distance between the first camera group and the top surface of the battery pack can be adjusted in this way. In this way, the focal length between the cameras in the first camera group and the top surface of the battery pack can be conveniently adjusted.

[0029] In a possible implementation of the present disclosure, a height sensor is arranged on the third linear body or the first support, and 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.

[0030] In the technical scheme of the present disclosure, the height sensor is arranged on the third linear body or the first support, the height distance information between the first camera group and the top surface of the battery pack can be obtained in time through the height sensor, so that the third linear body can be controlled in time and quickly according to the height distance, so as to adjust the distance between the first camera group and the top surface of the battery pack, and the height distance can be adjusted to be consistent with the preset shooting distance.

[0031] In a possible implementation of the present disclosure, the second camera group comprises a second support and a second two-dimensional camera; the second support is perpendicular to the third direction, and one side of the second support is slidingly connected to the second linear body along the third direction; the second two-dimensional camera is arranged on the second support at a preset angle and is located on the side of the second support close to the second linear body, and the second two-dimensional camera is used to shoot an edge image 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 of the battery pack.

[0032] In the technical scheme of the present disclosure, the second support and the third direction satisfy the perpendicular relationship, the large surface area of the second support can provide multiple mounting points for multiple cameras in the second camera group, and the second two-dimensional camera is fixed on the second support close to one side of the second line body, so that the second two-dimensional camera is inclined at a preset angle at the edge of the second support, which can not only reduce the shielding of the second two-dimensional camera by the second support, but also reduce the shielding of the second two-dimensional camera to other devices in the second camera group. The second two-dimensional camera can also collect a clear edge image of the edge of the battery pack, so that whether there is a defect on the edge of the battery pack can be determined according to the edge image.

[0033] In a possible implementation of the present disclosure, the second camera group further includes two third linear light sources, the third linear light sources are arranged at a preset angle on the second support and symmetrically arranged on both sides of the second two-dimensional camera, and used for lighting the edge photographed by the second two-dimensional camera.

[0034] In the technical scheme of the present disclosure, the third linear light sources are arranged at a preset angle on the second support, the third linear light sources can light and illuminate the shooting area of the second two-dimensional camera, which is conducive to improving the quality of the edge image of the edge collected by the second two-dimensional camera. In addition, the two third linear light sources can make the brightness of the edge photographed by the second two-dimensional camera more uniform.

[0035] In a possible implementation of the present disclosure, the second camera group further includes a second three-dimensional camera, the second three-dimensional camera is arranged on the second support through a second rotating member and located on the side of the second support away from the second line body, the second rotating member can drive the second three-dimensional camera to rotate relative to the second support around the first direction or the second direction, and the second three-dimensional camera is used for photographing the pin connector image of the pin connector on the side or end surface of the battery pack.

[0036] In the technical scheme of the present disclosure, the second camera group further includes the second three-dimensional camera, the pin connector image of the spring needle and other connectors on the side and end surface of the battery pack can be photographed by the second three-dimensional camera, so that whether the installation angle and installation position of the pin connector are appropriate can be determined according to the pin connector image. In addition, the second three-dimensional camera is arranged on the second support through the second rotating member, the second three-dimensional camera can be driven to rotate around the first direction or the second direction through the second rotating member, so that the angle between the second three-dimensional camera and the pin connector can be adjusted, and a clearer pin connector image of the pin connector can be photographed.

[0037] In a possible implementation of the present disclosure, the second camera group further comprises a third two-dimensional camera, the third two-dimensional camera is arranged on the second support in sliding mode along the first direction or the second direction and is located on a side of the second support away from the second linear body, the third two-dimensional camera is arranged on the second support in a spaced mode with the second three-dimensional camera, and the third two-dimensional camera is configured to capture a side two-dimensional image or an end two-dimensional image of the side surface or the end surface of the battery pack.

[0038] In the technical solution of the present disclosure, since the second camera group further comprises the third two-dimensional camera, the side two-dimensional image and the end two-dimensional image of the side surface and the end surface of the battery pack can be captured by the third two-dimensional camera, so as to obtain the image information of the label and the nameplate of the parts of the side surface and the end surface of the battery pack, and the details such as the parts of the side surface and the end surface of the battery pack can also be detected. Meanwhile, the third two-dimensional camera is arranged on the second support in sliding mode along the first direction or the second direction, so as to facilitate adjustment of the distance between the third two-dimensional camera and the side surface and the end surface of the battery pack.

[0039] In a possible implementation of the present disclosure, the second camera group further comprises a second sliding member, the second sliding member is fixed on a side of the second support away from the second linear body, and the third two-dimensional camera is arranged on the second sliding member, and the second sliding member is configured to drive the third two-dimensional camera to move relative to the second support along the first direction or the second direction.

[0040] In the technical solution of the present disclosure, since the third two-dimensional camera is arranged on the second support through the second sliding member, the third two-dimensional camera can be driven to move relative to the second support along the first direction or the second direction through the second sliding member.

[0041] In a possible implementation of the present disclosure, the second camera group further comprises a second ring-shaped light source, the second ring-shaped light source is fixed on the second sliding member and is located on a side of the third two-dimensional camera close to the side surface or the end surface of the battery pack, and is arranged coaxially with the third two-dimensional camera, and the second ring-shaped light source is configured to light the third two-dimensional camera in the shooting area of the side surface or the end surface of the battery pack.

[0042] In the technical solution of the present disclosure, since the second ring-shaped light source is arranged on the third two-dimensional camera and is arranged coaxially with the third two-dimensional camera, the second ring-shaped light source can light the shooting area of the third two-dimensional camera on the side surface and the end surface of the battery pack, so that the shooting area of the third two-dimensional camera can be brighter, which is conducive to improving the quality of the side two-dimensional image and the end two-dimensional image captured by the third two-dimensional camera, and thus the accuracy of the defect judgment of the side surface and the end surface of the battery pack can be improved.

[0043] In a possible implementation of the present disclosure, the second camera group further comprises two fourth bar-shaped light sources fixed on the second support away from the second linear body and located at the side of the third two-dimensional camera close to the side or end surface of the battery pack, the two fourth bar-shaped light sources are symmetrically arranged on the two sides of the third two-dimensional camera, and the illumination area of the fourth bar-shaped light source covers the shooting area of the third two-dimensional camera on the side or end surface of the battery pack, for lighting the shooting area of the third two-dimensional camera.

[0044] In the technical solution of the present disclosure, the two fourth bar-shaped light sources are symmetrically arranged on the two sides of the third two-dimensional camera, which can light the shooting area of the third two-dimensional camera through the fourth bar-shaped light source, thereby improving the quality of the side two-dimensional image and the end surface two-dimensional image collected by the third two-dimensional camera. In addition, the two fourth bar-shaped light sources can make the brightness of the shooting area of the third two-dimensional camera more uniform.

[0045] In a possible implementation of the present disclosure, the second camera group further comprises a second three-dimensional scanning camera fixed on the second support away from the second linear body and located between the second three-dimensional camera and the third two-dimensional camera, for shooting a side three-dimensional image or an end surface three-dimensional image of the battery pack.

[0046] In the technical solution of the present disclosure, the second three-dimensional scanning camera is fixed on the second support away from the second linear body, which can collect the side three-dimensional image and the end surface three-dimensional image of the battery pack by using the second three-dimensional scanning camera, so as to obtain the depth information of the side and the end surface of the battery pack according to the side three-dimensional image and the end surface three-dimensional image. In addition, the second three-dimensional scanning camera is located between the second three-dimensional camera and the third two-dimensional camera, which can reduce the mutual occlusion among the second three-dimensional scanning camera, the second three-dimensional camera and the third two-dimensional camera.

[0047] In a possible implementation of the present disclosure, the second camera group further comprises a second two-dimensional line scanning camera fixed on the second support away from the second linear body and located at the end of the second support away from the third two-dimensional camera, for shooting a side line scanning image or an end surface line scanning image of the battery pack.

[0048] In the technical solution of the present disclosure, the second camera group further comprises the second two-dimensional line scanning camera, which can shoot the side and the end surface area of the battery pack, so as to collect the side line scanning image and the end surface line scanning image containing the overall plane information of the side and the end surface of the battery pack, thereby obtaining the two-dimensional image information of the side and the end surface. Furthermore, the two-dimensional line scanning image of the side and the end surface can be combined with the three-dimensional image of the side and the end surface respectively, which is helpful to obtain more comprehensive information of the side image and the end surface image.

[0049] In a possible implementation manner of the present disclosure, the second camera group further comprises a fifth linear light source, the fifth linear light source is arranged on the second support in rotation around the third direction and is located on the side of the second two-dimensional line-scan camera close to the battery pack, and is used for illuminating the shooting area of the second two-dimensional line-scan camera on the battery pack.

[0050] In the technical solution of the present disclosure, the fifth linear light source is arranged on the second support adjacent to the second two-dimensional line-scan camera, the shooting area of the second two-dimensional line-scan camera can be illuminated by the fifth linear light source, which is beneficial to improving the quality of the side surface line-scan image and the end surface line-scan image shot by the second two-dimensional line-scan camera. The fifth linear light source is arranged in rotation on the second support, which facilitates adjusting the illumination area of the fifth linear light source on the side surface or the end surface of the battery pack, so that the illumination area of the fifth linear light source can coincide with the shooting area of the second two-dimensional line-scan camera.

[0051] In a possible implementation manner of the present disclosure, the battery pack detection device further comprises a fourth rotating member, the second support is connected to the second line body through the fourth rotating member; in the case that the second line body moves to one of the two ends of the two second support beams along the first direction, the fourth rotating member can drive the second camera group to rotate to face the end surface of the battery pack, or the fourth rotating member can drive the second camera group to rotate to face the side surface of the battery pack.

[0052] In the technical solution of the present disclosure, the second support is connected to the second line body through the fourth rotating member, the second camera group can be rotated around the third direction by the fourth rotating member, so that the orientation of the cameras in the second camera group can be adjusted, that is, the cameras in the second camera group can face the side surface of the battery pack or face the end surface of the battery pack. In this way, the second camera group can be used to shoot the side surface image of the battery pack and the end surface image of the battery pack, which is beneficial to improving the utilization efficiency of the second camera group.

[0053] In a possible implementation manner of the present disclosure, the battery pack detection device further comprises a fourth line body, the fourth line body is arranged on the second line body in sliding 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.

[0054] In the technical solution of the present disclosure, the fourth rotating member is connected to the second line body through the fourth line body, the second camera group can be moved along the third direction by the fourth line body, so that the position of the second camera group relative to the side surface and the end surface of the battery pack along the third direction can be adjusted, and thus the side surface image and the end surface image of each area of the side surface and the end surface can be shot.

[0055] In a possible implementation manner of the present disclosure, the battery pack detection device further comprises a position detection member, at least one end of the first support beam is fixed with the position detection member in the first direction, the position detection member is used for detecting the position of the first wire body on the first support beam, so as to stop the movement of the first wire body relative to the first support beam, or to make the first wire body be at the original position relative to the first support beam; and / or, at least one end of the second support beam is provided with the position detection member in the first direction, the position detection member is used for detecting the position of the second wire body on the second support beam, so as to stop the movement of the second wire body relative to the second support beam, or to make the second wire body be at the original position relative to the second support beam.

[0056] In the technical scheme of the present disclosure, the position sensor is arranged on the first wire body and / or the second wire body, the position of the first wire body relative to the first support beam can be detected by the position sensor, the position of the second wire body relative to the second support beam can be detected by the position sensor, so that whether the first wire body and / or the second wire body moves to the expected position can be determined, and the accuracy of the movement position of the first wire body and / or the second wire body is improved.

[0057] In a possible implementation manner of the present disclosure, the battery pack detection device further comprises a positioning device, the positioning device comprises a positioning base body, a jacking mechanism and a positioning mechanism; the positioning base body is arranged adjacent to the second frame body, the jacking mechanism is slidingly arranged on the positioning base body in the third direction, and is used for driving the battery pack to move in the third direction towards or away from the first camera group; the positioning mechanism is slidingly arranged on the positioning base body and can move towards the battery pack to limit the position of the battery pack relative to the gantry truss.

[0058] In the technical scheme of the present disclosure, the jacking mechanism is arranged in the positioning device, the battery pack can be jacked by the jacking mechanism in the third direction by a distance, so that each battery pack can be at a determined height relative to the first camera group. Meanwhile, the positioning mechanism is arranged in the positioning device, the position of the battery pack relative to the gantry truss can be limited by the positioning mechanism, so that each battery pack can be at a determined position relative to the first camera group in the horizontal plane, and the quality of the top surface image, the side surface image and the end surface image of the battery pack collected by the first camera group and the second camera group is improved.

[0059] In a possible implementation manner of the present disclosure, the positioning mechanism comprises a conveying positioning assembly and a tray positioning assembly; the positioning mechanism is slidingly arranged on the positioning base body in the first direction and can move towards the conveying device of the battery pack in the first direction; the tray positioning assembly is slidingly arranged on one side of the positioning base body close to the first camera group in the third direction and can move towards the tray supporting the battery pack in the third direction.

[0060] In the technical scheme of the present disclosure, the conveying positioning assembly is arranged in the positioning mechanism, so that the conveying part for conveying the battery is limited to a fixed position relative to the portal frame. The tray positioning assembly is also arranged in the positioning mechanism, so that the tray for carrying the battery is limited to a fixed position, thereby limiting the battery to a fixed position relative to the portal frame.

[0061] In a possible implementation of the present disclosure, the positioning device further comprises a guide assembly, the guide assembly comprising two groups of guide frames, the guide frames extending in a first direction and the two ends of the guide frames being bent away from the side of the battery pack, so as to guide the battery pack into the limiting space formed by the two groups of guide frames; a plurality of guide wheels are arranged on the guide frames and arranged at intervals in the extension direction of the guide frames, and in the case that the edge of the conveying device contacts the guide wheels, the guide wheels rotate to limit the movement path of the conveying device.

[0062] In the technical scheme of the present disclosure, the guide assembly is arranged in the positioning device, so that the movement path of the conveying device during movement to the positioning device can be guided and limited, and the guide wheels in the guide assembly can reduce the friction between the conveying device and the positioning device.

[0063] Compared with manual visual inspection, the above-mentioned battery pack detection device not only improves production efficiency while realizing unmanned assembly line detection, but also can realize omnidirectional high-definition stereoscopic imaging of the appearance information of the top surface, side surface and end surface of the battery pack through the arrangement mode of the cameras on the battery pack detection device, thereby improving detection accuracy and consistency, so that effective and stable detection of the quality of the battery pack can be realized in a shorter detection time.

[0064] The second aspect of the present disclosure provides a battery pack detection method applied to the battery pack detection device provided in any one of the first aspect, the battery pack detection method comprising: in response to a top shooting instruction, controlling the first line body to slide on the first support beam in a first direction, and / or controlling the first camera group to slide on the first line body in a second direction, so that the first camera group moves relative to the top surface of the battery pack and shoots a top surface image of the battery pack; in response to a side shooting instruction, controlling the second line body to slide on the second support beam in the first direction, and / or controlling the second camera group to slide on the second line body in the second direction, and / or controlling the second camera group to rotate relative to the second line body around a third direction, so that the second camera group moves relative to the side surface or end surface of the battery pack and shoots a side surface image and an end surface image of the battery pack; and detecting the appearance of the battery pack based on the top surface image, the side surface image and the end surface image.

[0065] The battery detection method provided by the present disclosure can acquire multiple images capable of representing whether the appearance of the battery pack has defects by acquiring the top surface image of the top surface of the battery pack through the first camera group and acquiring the side surface image of the side surface of the battery pack and the end surface image of the end surface of the battery pack through the second camera group. Meanwhile, the processor can be used to identify and detect the top surface image, the side surface image and the end surface image to determine whether defects exist in the top surface image, the side surface image and the end surface image, thereby improving the accuracy and detection efficiency of the appearance detection of the battery pack.

[0066] In a possible implementation of the present disclosure, in response to the side shooting instruction, the second linear body is controlled to slide on the second support beam in the first direction, and / or the second camera group is controlled to slide on the second linear body in the second direction, and / or the second camera group is controlled to rotate relative to the second linear body around the third direction, so as to move the second camera group relative to the side surface or the end surface of the battery pack and shoot the side surface image and the end surface image of the battery pack. The operation of moving the second camera group relative to the side surface or the end surface of the battery pack and shooting the side surface image and the end surface image of the battery pack includes: moving the second linear body on the second support beam in the first direction so as to move the second camera group relative to the side surface of the battery pack, and rotating the second camera group relative to the second linear body around the third direction so as to make the shooting direction of the second camera group face the side surface of the battery pack, and shooting the side surface image of the battery pack; moving the second linear body on the second support beam in the first direction so as to make the second camera group exceed the space where the battery pack is located in the first direction; moving the second camera group on the second linear body in the second direction so as to move the second camera group relative to the end surface of the battery pack, and rotating the second camera group relative to the second linear body around the third direction so as to make the shooting direction of the second camera group face the end surface of the battery pack, and shooting the end surface image of the battery pack.

[0067] In the technical solution of the present disclosure, the second linear body is controlled to move in the first direction, the second camera group is controlled to move in the second direction, and the second camera group is controlled to rotate around the third direction, so as to move the second camera group to the position corresponding to each side surface and end surface, make the shooting direction of the second camera group face each side surface and each end surface of the battery pack, and drive the second camera group to move relative to each side surface and each end surface, thereby enabling the second camera group to complete the shooting of the side surface image of all side surfaces of the battery pack and the shooting of the end surface image of all end surfaces.

[0068] In a possible implementation of the present disclosure, the first camera group of the battery pack detection device comprises a first three-dimensional camera, a first rotating member and a first sliding member, the first sliding member is fixed to the first support, the first rotating member is connected to the first sliding member, and the first three-dimensional camera is arranged on the first rotating member. The battery pack detection method further comprises: controlling the first sliding member to move relative to the first support along a third direction to drive the first three-dimensional camera to move relative to the pin header connector on 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 satisfies a preset distance threshold; and / or, controlling the first rotating member to rotate relative to the first support around the third direction to drive the first three-dimensional camera to rotate relative to the pin header connector around the third direction, so that the included angle between the first three-dimensional camera and the pin header connector satisfies a preset included angle threshold.

[0069] In the technical solution of the present disclosure, since the first rotating member drives the first three-dimensional camera to rotate relative to the pin header connector on the top surface of the battery pack, the included angle between the first three-dimensional camera and the pin header connector can be adjusted, so that the first three-dimensional camera and the pin header connector can satisfy a vertical relationship. Moreover, the first sliding member drives the first three-dimensional camera to move relative to the pin header connector along the third direction, so that the distance between the first three-dimensional camera and the pin header connector can be adjusted, and thus the first three-dimensional camera can realize parallel shooting of the pin header connector, which is beneficial to reducing problems such as highlight reflection and depth of field blur in the top surface image containing the pin header connector, and can improve the quality of the top surface image containing the pin header connector. BRIEF DESCRIPTION OF DRAWINGS

[0070] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The detailed description is made with reference to the accompanying drawings.

[0071] FIG. 1 is a structural schematic diagram of a battery pack detection device provided by the present disclosure;

[0072] FIG. 2 is a structural schematic diagram of a second driving mechanism and a second camera group in the battery pack detection device provided by the present disclosure;

[0073] FIG. 3 is a structural schematic diagram of a battery pack provided by the present disclosure;

[0074] FIG. 4 is a structural schematic diagram of a first camera group in the battery pack detection device provided by the present disclosure;

[0075] FIG. 5 is a structural schematic diagram of the first camera group in the battery pack detection device provided by the present disclosure;

[0076] FIG. 6 is a structural schematic diagram of a second camera group in the battery pack detection device provided by the present disclosure;

[0077] FIG. 7 is a structural schematic diagram of a second camera group in a battery pack detection device provided by the present disclosure;

[0078] FIG. 8 is a structural schematic diagram of a positioning device in a battery pack detection device provided by the present disclosure;

[0079] FIG. 9 is a flow schematic diagram of a use method of a battery pack detection device provided by the present disclosure.

[0080] Legend: 1-gantry truss; 11-second truss body; 111-second support beam; 12-first truss body; 121-first support beam; 2-first camera group; 21-first support; 211-first top plate; 212-first side plate; 213-first accommodating cavity; 22-first three-dimensional scanning camera; 23-first two-dimensional line scanning camera; 24-first two-dimensional camera; 25-first three-dimensional camera; 26-first linear light source; 261-first light source mounting rack; 27-second linear light source; 271-second light source mounting rack; 28-first ring light source; 291-first rotating member; 292-first sliding member; 3-second camera group; 31-second support; 32-second two-dimensional camera; 33-second three-dimensional camera; 34-third two-dimensional camera; 35-second three-dimensional scanning camera; 36-second two-dimensional line scanning camera; 371-third linear light source; 372-second ring light source; 373-fourth linear light source; 374-fifth linear light source; 375-camera fixing rack; 376-third light source mounting rack; 377-fourth light source mounting rack; 378-fifth light source mounting rack; 38-second rotating member; 39-second sliding member; 4-first driving mechanism; 41-fifth linear body; 42-first linear body; 43-third linear body; 44-third rotating member; 5-second driving mechanism; 51-sixth linear body; 52-second linear body; 53-fourth linear body; 54-fourth rotating member; 6-positioning device; 61-positioning base body; 62-jacking mechanism; 621-jacking driving member; 622-jacking transmission member; 623-jacking beam; 63-positioning mechanism; 631-conveying positioning assembly; 6311-conveying positioning driving member; 6312-conveying positioning member; 632-tray positioning assembly; 6321-tray positioning driving member; 6322-tray positioning member; 64-guiding assembly; 641-guiding rack; 642-guiding wheel; 7-battery pack; 71-top surface; 72-side surface; 73-end surface; 81-top surface collection point; 82-top surface preset path; 83-side surface collection point; 84-side surface preset path; 85-end surface collection point; 86-end surface preset path; X-first direction; Y-second direction; Z-third direction. DETAILED DESCRIPTION

[0081] The embodiments of the technical solutions of the present disclosure will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present disclosure, and therefore only serve as examples, and cannot limit the protection scope of the present disclosure.

[0082] 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 disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure; the terms "comprising" and "having," and any variations thereof, as used herein are intended to cover a non-exclusive inclusion.

[0083] In the description of the embodiments of the present disclosure, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0084] In this paper, the reference to "embodiments" means that the specific features, structures or properties described in conjunction with the embodiments can be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. The skilled person in the art explicitly and implicitly understands that the embodiments described herein can be combined with other embodiments.

[0085] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are "or" relationship.

[0086] In the description of the embodiments of the present disclosure, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed, operated or used in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present disclosure.

[0087] In the description of the embodiments of the present disclosure, unless explicitly defined and limited otherwise, the technical terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0088] In the description of the embodiments of the present disclosure, unless explicitly defined and limited otherwise, the technical term "contact" should be understood in a broad sense, which can be direct contact or contact through an intermediate medium layer, and can be contact between two objects in contact without interaction force, or contact between two objects in contact with interaction force.

[0089] At present, new energy batteries are more and more widely used in life and industry. New energy batteries are not only used in energy storage power supply systems such as hydroelectric, thermal, wind and solar power stations, but also widely used in electric bicycles, electric motorcycles, electric vehicles and other electric vehicles, and aerospace and other fields. With the continuous expansion of the application field of power batteries, the market demand is also increasing.

[0090] With the development of technology, the appearance quality control requirements of the battery are gradually improved, and the monitoring of the large surface of the battery shell and the appearance defects of the parts on the large surface is more and more precise. In related technologies, the appearance detection method of the battery includes manual judgment and camera storage backtracking. The manual judgment method is to observe the appearance of the battery by manual observation to determine whether the appearance of the battery has defects. Camera storage backtracking is to view the collected images of the battery by personnel, and to determine whether the battery in the image has defects by manual determination. However, whether the manual judgment method or the camera storage backtracking method can not accurately and efficiently detect the appearance of the battery. Because the camera storage backtracking has the problem of missed detection caused by improper viewing of the image due to human factors, and the detection efficiency is affected by fatigue and other factors during manual judgment, and the detection consistency is poor. Therefore, a battery pack detection device is needed that can not only improve the accuracy of battery appearance detection, but also needs to improve the detection efficiency of the battery appearance.

[0091] The embodiments of the present disclosure provide a battery pack detection device, and the battery involved in the embodiments of the present disclosure can include one or more battery cell assemblies for providing voltage and capacity. The battery cell assembly can include a plurality of battery cells connected in series, parallel or mixed connection through a busbar component.

[0092] In some embodiments, the battery cell assembly is generally formed by arranging a plurality of battery cells; as an example, the battery cell assembly can be a battery module, which is formed by arranging and fixing a plurality of battery cells into an independent module. As an example, the battery module can be formed by bundling a plurality of battery cells by a cable tie.

[0093] As an example, the battery can be a battery pack, which includes a box body and one or more battery cell assemblies accommodated in the box body. The battery can also refer to an energy storage device, which includes a box body provided with a door on at least one side. The energy storage device includes an energy storage container, an energy storage cabinet, etc. The embodiments of the present disclosure do not limit the specific form and type of the battery.

[0094] Referring to FIG. 1 and FIG. 2, FIG. 1 shows a structural schematic diagram of a battery pack detection device provided by the present disclosure, and FIG. 2 shows a structural schematic diagram of a second driving mechanism and a second camera group in the battery pack detection device provided by the present disclosure. The battery pack detection device 7 includes a portal frame 1, a first camera group 2, a second camera group 3, and a processor. The portal frame 1 includes a first frame body 12 and a second frame body 11. The first frame body 12 includes two first support beams 121 extending along a first direction X, and a first wire body 42 is slidingly arranged on the two first support beams 121 along the first direction X. The second frame body 11 includes two second support beams 111 extending along the first direction X, and a second wire body 52 is slidingly arranged on the two second support beams 111 along the first direction X. The first camera group 2 is slidingly arranged on the first wire body 42 along a second direction Y, and is used to capture a top surface image of the battery pack 7. The second direction Y is perpendicular to the first direction. Two oppositely arranged second camera groups 3 are respectively slidingly arranged on the second wire body 52 along the second direction Y, and the second camera group 3 is rotationally connected to the second wire body 52 about a third direction Z. The second camera group 3 is used to capture a side surface image and an end surface image of the battery pack 7. The third direction Z is perpendicular to the first direction X and the second direction Y. The processor is used to receive the top surface image, the side surface image, and the end surface image, and detect the appearance of the battery pack 7 based on the top surface image, the side surface image, and the end surface image.

[0095] In the embodiments of the present disclosure, as shown in FIG. 1, the portal frame 1 is used to provide mounting points and supports for other components in the battery pack detection device 7, and the battery pack detection device 7 can be installed at a predetermined station through the portal frame 1. For example, the portal frame 1 can be arranged in the structure of a frame, that is, a plurality of rod-shaped members are fixedly connected to each other in a head-to-tail manner to form the required portal frame 1.

[0096] Exemplarily, the gantry truss 1 comprises a first truss 12 and a second truss 11. The second truss 11 can comprise four lower vertical columns extending along a third direction Z (a direction parallel or close to parallel to the direction of gravity) and two second support beams 111 extending in a horizontal plane, which can be arranged in parallel and extend along a first direction X. 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 vertical columns can be connected to two ends of the two second support beams 111 respectively to form the second truss 11. The four lower vertical columns can be fixed to a work station (e.g. the ground). The first direction X can be the direction of movement of the battery pack 7 in the process of transporting the battery pack 7 into the battery pack 7 detection device. The first direction X is perpendicular or close to perpendicular to the third direction Z, the second direction Y is perpendicular or close to perpendicular to the first direction X, and the second direction Y is perpendicular or close to perpendicular to the third direction Z.

[0097] In another example, the first truss 12 can comprise four upper vertical columns extending along the third direction Z and two first support beams 121 arranged in parallel and extending along the first direction X. The two first support beams 121 can be connected by two connecting beams extending along the second direction Y to form a rectangular frame. One end of the four upper vertical columns can be connected to two ends of the two first support beams 121 respectively, and the other end of the four upper vertical columns can be fixed to the connecting beams in the second truss 11. In this way, along the third direction Z, the first truss 12 is above the second truss 11, i.e. the first support beams 121 are on the side of the second support beams 111 away from the ground.

[0098] In the embodiments of the present disclosure, as shown in FIG. 1, the first driving mechanism 4 can be arranged in the battery pack 7 detection device, and the first driving mechanism 4 comprises a fifth linear body 41 and a first linear body 42. The fifth linear body 41 is arranged on the first support beam 121 along the first direction X, and the first linear body 42 is arranged on the fifth linear body 41 along the second direction Y.

[0099] Exemplarily, the fifth linear body 41 can be provided in a structure including a fifth driving member and a fifth guide assembly. The fifth driving member can be a motor, a hydraulic cylinder, a pneumatic cylinder, a servo motor, etc. The fifth guide assembly can be a fifth guide rail and a fifth sliding block matched with each other, and the two fifth guide rails can be arranged in parallel and fixed on the two first support beams 121 of the first frame body 12 along the first direction X, and the fifth sliding block is arranged on the fifth guide rail in a sliding manner. The fifth driving member is installed on the fifth guide rail or the portal truss 1, and the output member of the fifth driving member is in transmission connection with the fifth sliding block, such as that the output shaft of the servo motor is connected with the fifth sliding block through a belt or a chain, or the output member of the hydraulic cylinder or the pneumatic cylinder is connected with the fifth sliding block. 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.

[0100] Another example, the first linear body 42 can also be provided in a structure including a first driving member and a first guide assembly. The first driving member can be a motor, a hydraulic cylinder, a pneumatic cylinder, a servo motor, etc. The first guide assembly can be a first guide rail and a first sliding block matched with each other, and the first guide rail can be arranged in the second direction Y and fixed on the two fifth sliding blocks in the fifth linear body 41. The first sliding block is arranged on the first guide rail in a sliding manner. The first driving member is fixed on the first guide rail, and the output member of the first driving member is in transmission connection with the first sliding block, such as that the output shaft of the servo motor is connected with the first sliding block through a belt or a chain, or the output member of the hydraulic cylinder or the pneumatic cylinder is connected with the first sliding block. The first linear body 42 can also be a first linear motor, and the two ends of the first linear motor are fixed on the two fifth sliding blocks 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, and the first linear body 42 can move along the second direction Y by itself. That is, the first linear body 42 can be arranged on the first support beam 121 in a sliding manner along the first direction X.

[0101] In the embodiments of the present disclosure, as shown in FIG. 1 and FIG. 2, the second driving mechanism 5 can be provided in the battery pack 7 detection device, and the second driving mechanism 5 includes a sixth linear body 51 and a second linear body 52. The sixth linear body 51 is arranged on the second support beam 111 along the first direction X, and the second linear body 52 is arranged on the sixth linear body 51 along the second direction Y.

[0102] Exemplarily, the sixth linear body 51 can be provided in a structure form comprising a sixth driving member and a sixth guide assembly. The sixth driving member can adopt a motor, a hydraulic cylinder, a pneumatic cylinder, a servo motor, etc. The sixth guide assembly can adopt a matched sixth guide rail and a sixth sliding block, etc. Two sixth guide rails can be arranged in extension along the first direction X and fixed in parallel on the two second support beams 111 of the second frame body 11, and the sixth sliding block is arranged in sliding on the sixth guide rail. The sixth driving member is installed on the sixth guide rail or the portal truss 1, and the output member of the sixth driving member is in transmission connection with the sixth sliding block, such as the output shaft of the servo motor is connected with the sixth sliding block through a belt or a chain, or the output member of the hydraulic cylinder, the pneumatic cylinder, etc. is connected with the sixth sliding block. The sixth linear body 51 can also adopt a sixth linear motor. In this way, the sixth linear body 51 can generate movement along the first direction X.

[0103] Another example, the second linear body 52 can be provided in a structure form comprising a second driving member and a second guide assembly. The second driving member can adopt a motor, a hydraulic cylinder, a pneumatic cylinder, a servo motor, etc. The second guide assembly can adopt a matched second guide rail and a second sliding block, etc. The second guide rail can be extended along the second direction Y and fixed on the two sixth sliding blocks in the sixth linear body 51. The second sliding block is arranged in sliding on the second guide rail. The second driving member is fixed on the second guide rail, and the output member of the second driving member is in transmission connection with the second sliding block, such as the output shaft of the servo motor is connected with the second sliding block through a belt or a chain, or the output member of the hydraulic cylinder, the pneumatic cylinder, etc. is connected with the second sliding block. The second linear body 52 can also adopt a second linear motor, and the two ends of the second linear motor are respectively fixed on the two sixth sliding blocks in the sixth linear body 51. In this way, the sixth linear body 51 can drive the second linear body 52 to move along the first direction X, and the second linear body 52 can generate movement along the second direction Y by itself. That is, the second linear body 52 can be arranged in sliding on the second support beam 111 along the first direction X.

[0104] In the embodiments of the present disclosure, referring to FIG. 3, FIG. 3 shows a structural schematic diagram of the battery pack 7 provided by the present disclosure. The battery pack 7 is generally in the shape of a cuboid, and the thickness of the battery pack 7 is small, while the length and the width are both larger than the thickness, so that the top surface 71 (the surface away from the ground along the third direction Z) and the bottom surface (the surface close to the ground along the third direction Z) of the battery pack 7 generally have a large surface. The bottom surface of the battery pack 7 is generally not provided with or provided with fewer components, because the bottom surface of the battery pack 7 needs to be connected with the structural member for installing and supporting the battery pack 7 by the electrical equipment. The side surface is the external surface of the battery pack 7 around the third direction Z. For example, when the battery is in the shape of a cuboid, the battery pack 7 has at least two side surfaces 72 and two end surfaces 73. For example, the side surface 72 can be the surface of the side part extending along the length direction (the first direction X) of the battery pack 7, and the end surface 73 can be the surface of the side part extending along the width direction (the second direction Y) of the battery pack 7. The top surface 71, the side surface 72 and the end surface 73 of the battery pack 7 are generally provided with some components such as connectors. The battery pack 7 can be placed inside the portal truss 1, so that the bottom surface of the battery pack 7 faces the ground. Then, the first camera group 2 and the second camera group 3 for collecting the images of the top surface 71, the side surface 72 and the end surface 73 of the battery pack 7 can be respectively arranged in the battery pack 7 detection device.

[0105] In the embodiments of the present disclosure, the first camera group 2 can include a plurality of cameras, such as three-dimensional cameras, two-dimensional cameras, line-scan cameras, etc. The plurality of cameras in the first camera group 2 can be arranged on the first linear body 42 in a sliding connection manner. For example, the first camera group 2 can be connected to the first linear body 42, which can move along the second direction Y. In this way, the plurality of cameras in the first camera group 2 can capture the top surface 71 of the battery pack 7, and the first linear body 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, so as to collect the top surface images of each area of the top surface 71 by the first camera group 2.

[0106] In the embodiments of the present disclosure, the second camera group 3 can include a plurality of cameras, such as flying cameras, three-dimensional cameras, two-dimensional cameras, line-scan cameras, etc. The plurality of cameras in the second camera group 3 can be arranged on the second linear body 52 in a sliding connection manner. For example, the second camera group 3 can be connected to the second linear body 52, which can move along the second direction Y.

[0107] For example, as shown in FIG. 1, two second camera groups 3 can be arranged on the second linear body 52 in a sliding manner. That is, the second linear body 52 can be arranged in a structure including two linear motors, and the two second camera groups 3 can be arranged on the two linear motors respectively. In this way, each linear motor can drive a second camera group 3 to move along the second direction Y.

[0108] Another example, the second camera group 3 can be connected to the second linear body 52 by rotating around the third direction Z, such as connecting the second camera group 3 to the output of the linear motor by a rotating shaft. Then the second camera group 3 can be rotated to face the side surface 72 of the battery pack 7, or the second camera group 3 can be rotated to face the end surface 73 of the battery pack 7. In this way, the second camera group 3 can be driven by the second linear body 52 to move along the first direction X and the second direction Y relative to the side surface 72 and the end surface 73 of the battery pack 7, so as to collect side surface images of each area of the side surface 72 and collect end surface images of each area of the end surface 73 by the second camera group 3.

[0109] In the embodiments of the present disclosure, the processor refers to a unit with computing function, for example, a computer, a server, etc. with a processor can be used. The cameras in the first camera group 2 and the second camera group 3 can be electrically connected to the processor, such as through a cable or through a wireless network. In this way, the cameras in the first camera group 2 and the second camera group 3 can be configured to upload the collected top surface images, side surface images and end surface images to the processor. The processor can be configured to determine whether there is a defect in each received image based on a preset determination method, so as to determine whether the corresponding battery pack 7 has an appearance defect, so as to complete the detection of the appearance of the battery pack 7.

[0110] For example, the standard images of a plurality of battery packs 7 can be stored in the memory electrically connected to the processor, such as the top surface standard image of the top surface 71 of the battery pack 7, the side surface standard image of each side surface 72 of the battery pack 7 and the end surface standard image of each end surface 73 of the battery pack 7. The processor can compare the received top surface image with the top surface standard image to determine whether there is a defect in the top surface image; the received side surface image can be compared with the side surface standard image to determine whether there is a defect in the side surface image; and the received end surface image can be compared with the end surface standard image to determine whether there is a defect in the end surface image. For example, it can be determined whether there is a scratch in the top surface image, the side surface image and the end surface image, or whether the installation position and attitude of some devices installed outside the battery pack 7 are accurate, so as to determine whether the battery pack 7 has a defect.

[0111] The battery pack 7 detection device provided by the embodiments of the present disclosure can be used to detect the appearance of the battery pack 7. The gantry truss 1 includes the first truss body 12 and the second truss body 11, the first camera group 2 is slidably arranged on the first support beam 121 of the first truss body 12 through the first wire body 42, and the top surface image of the top surface 71 of the battery pack 7 can be collected by the first camera group 2. The first camera group 2 is slidably arranged on the first wire body 42, the first wire body 42 drives the first camera group 2 to move relative to the top surface 71 of the battery pack 7, and thus the top surface image of each region of the top surface 71 can be collected by the first camera group 2. Two second camera groups 3 are slidably arranged on the second support beam 111 of the second truss body 11 through the second wire body 52, the two second camera groups 3 are slidably arranged on the second wire body 52, the second camera group 3 is rotationally connected to the second wire body 52, the second wire body 52 drives the second camera group 3 to move relative to the side surface 72 or the end surface 73 of the battery pack 7, and the second camera group 3 can be rotated to face the side surface 72 or the end surface 73, so that the side surface image of each region of the side surface 72 and the end surface image of each region of the end surface 73 can be collected by the second camera group 3. The first camera group 2 and the second camera group 3 are arranged on the first truss body 12 and the second truss body 11 respectively, the first camera group 2 and the second camera group 3 can move independently, which is beneficial to reduce the mutual interference of the first camera group 2 and the second camera group 3 during the movement, and thus the efficiency of collecting the images of the battery pack 7 can be improved. Meanwhile, the processor can receive the top surface image, the side surface image and the end surface image, and the top surface image, the side surface image and the end surface image can be identified and detected by the processor to determine whether there is a defect in the images, so that the accuracy and the detection efficiency of the appearance detection of the battery pack 7 can be improved.

[0112] In some possible embodiments of the present disclosure, referring to FIG. 4 and FIG. 5, FIG. 4 is a structural schematic diagram of the first camera group 2 in the battery pack 7 detection device provided by the present disclosure, and FIG. 5 is another structural schematic diagram of the first camera group 2 in the battery pack 7 detection device provided by the present disclosure. The first camera group 2 includes the first three-dimensional scanning camera 22 and the first bracket 21 with the first accommodating cavity 213. The first bracket 21 includes the first top plate 211 and two first side plates 212, the upper ends of the two first side plates 212 are fixed to the two ends of the first top plate 211 respectively, the first top plate 211 and the two first side plates 212 enclose 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, and the first bracket 21 is slidably arranged on the first wire body 42 through the first top plate 211 or the first side plate 212. The first three-dimensional scanning camera 22 is fixed to the first top plate 211 and located outside the first accommodating cavity 213, and is used to shoot the top surface three-dimensional image of the battery pack 7.

[0113] In the embodiments of the present disclosure, as shown in FIG. 4 and FIG. 5, the first support 21 can be arranged in the first camera group 2 to arrange the plurality of cameras and other devices in the first camera group 2 by using the first support 21.

[0114] For example, the first support 21 can be arranged as a frame structure in the shape of a cube, and a cavity can be formed in the first support 21 as the first accommodating cavity 213. For example, along the third direction Z, the first opening of the first accommodating cavity 213 of the first support 21 faces the ground, that is, after the first support 21 is connected with the first line body 42, the first opening of the first accommodating cavity 213 faces the top surface 71 of the battery pack 7 along the third direction Z.

[0115] For 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 the first top plate 211 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 the two first side plates 212 both extend along the third direction Z. For example, the upper ends of the two first side plates 212 can be respectively fixed to the opposite ends of the first top plate 211, and then an approximately “n-shaped” first support 21 can be formed, and the first opening of the first support 21 faces the top surface 71 of the battery pack 7.

[0116] In the embodiments of the present disclosure, as shown in FIG. 4 and FIG. 5, the first three-dimensional scanning camera 22 can be arranged on the first support 21. For example, the first three-dimensional scanning camera 22 can be fixed to the first top plate 211 by bolts, for example, the first three-dimensional scanning camera 22 is fixed to one side of the first top plate 211 facing the top surface 71 of the battery pack 7, and the first three-dimensional scanning camera 22 can be located outside the first accommodating cavity 213, and at this time, the lens of the first three-dimensional scanning camera 22 faces the first opening. Then, the top surface three-dimensional image capable of representing the height information of each part of the top surface 71 of the battery can be acquired by the first three-dimensional scanning camera 22.

[0117] In the above embodiments, since the first support 21 includes the first top plate 211 and the two first side plates 212, the first accommodating cavity 213 can be formed by the first top plate 211 and the two first side plates 212, and the first top plate 211 and the two first side plates 212 can provide a plurality of mounting points for the plurality of cameras in the first camera group 2. At the same time, the first three-dimensional scanning camera 22 is fixed to the first top plate 211 and located outside the first accommodating cavity 213, which not only can acquire the top surface three-dimensional image of the battery pack 7 by using the first three-dimensional scanning camera 22, so that the depth information of the top surface of the battery pack can be obtained according to the top surface three-dimensional image, but also can reduce the shielding of the first side plates 212 to the shooting area of the first three-dimensional scanning camera.

[0118] In some possible embodiments of the present disclosure, as shown in FIG. 4 and FIG. 5, the first camera group 2 further comprises a first two-dimensional line scanning camera 23 fixed on a first side plate 212 outside the first accommodating cavity 213 and offset from the fixing position of the first three-dimensional scanning camera 22, and faces the top surface 71 of the battery pack 7, and is used for shooting the first line scanning image of the top surface 71.

[0119] In some possible embodiments of the present disclosure, the first two-dimensional line scanning camera 23 can be arranged in the first camera group 2 and fixed on the first support 21. For example, the first two-dimensional line scanning camera 23 can be fixed on a first side plate 212 away from the first top plate 211, and located in the region close to the first opening outside the first accommodating cavity 213. Meanwhile, the first two-dimensional line scanning camera 23 is offset from the first three-dimensional scanning camera 22 by a certain distance and fixed on the first support 21, so as to reduce the shielding of the first three-dimensional scanning camera 22 by the first two-dimensional line scanning camera 23. When the first two-dimensional line scanning camera 23 is a two-dimensional color line scanning camera, the first line scanning image of the top surface 71 of the battery pack 7 can be clearly acquired by the first two-dimensional line scanning camera 23 during the movement of the first camera group 2.

[0120] For example, two first two-dimensional line scanning cameras 23 can be fixed on a first side plate 212, and the two first two-dimensional line scanning cameras 23 are fixed on the first side plate 212 along the width direction of the first side plate 212. In 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 are fixed on the first side plate 212 by means of screws, adhesives or the like.

[0121] In the above embodiments, since the first camera group 2 further comprises the first two-dimensional line scanning camera 23, the region of the top surface 71 of the battery pack 7 can be shot by the first two-dimensional line scanning camera 23, so as to acquire the first line scanning image containing the overall planar information of the top surface 71 of the battery pack 7, and thus the two-dimensional image information of the top surface is obtained. This helps to combine the two-dimensional line scanning image of the top surface with the three-dimensional image of the top surface to obtain more comprehensive information of the top surface image. Meanwhile, the first two-dimensional line scanning camera 23 is located outside the first accommodating cavity 213 and offset from the first three-dimensional scanning camera 22 and arranged on the first support 21, so as to reduce the shielding of the first three-dimensional scanning camera 22 by the first two-dimensional line scanning camera 23.

[0122] In some possible embodiments of the present disclosure, the first camera group 2 further comprises a first linear light source 26 rotationally arranged on the outer wall of the first side plate 212, and the illumination region of the first linear light source 26 covers the shooting region of the first two-dimensional line scanning camera 23 on the top surface 71, and is used for lighting the top surface 71.

[0123] In the embodiments of the present disclosure, the first plurality of cameras in the first camera group 2 can be respectively provided with corresponding light supplement lamps, so as to illuminate the shooting areas of the corresponding cameras by the light supplement lamps, so that the shooting areas have uniform brightness and the like.

[0124] For example, the first linear light source 26 can be arranged on the outer wall of the first side plate 212 on which the first two-dimensional line scanning camera 23 is arranged, so that the first linear light source 26 is adjacent to the first two-dimensional line scanning camera 23. In addition, the extension direction of the first linear light source 26 is parallel to the length direction of the shooting area of the two first two-dimensional line scanning cameras 23. That is, the extension direction of the first linear light source 26 is parallel to the arrangement direction of the two first two-dimensional line scanning cameras 23. In this way, the illumination area of the first linear light source 26 can cover the shooting area of the first two-dimensional line scanning camera 23 on the top of the battery pack 7, so that the shooting area of the first two-dimensional line scanning camera 23 on the top surface 71 of the battery pack 7 has uniform brightness, and the influence of reflected light and the like on the first two-dimensional line scanning camera 23 is reduced. For example, the first linear light source 26 can be a light-emitting diode (LED) lamp or the like.

[0125] For another example, a first light source mounting bracket 261 matched with the first linear light source 26 can be used, the first light source mounting bracket 261 is fixed on the outer wall of the first side plate 212 by bolts, and the two ends of the first linear light source 26 are rotatably connected to the first light source mounting bracket 261 by a rotating shaft. In this way, the first linear light source 26 can be rotated relative to the first support 21, so as to adjust the illumination area of the first linear light source 26 on the top surface 71 of the battery pack 7.

[0126] In the above embodiments, since the first linear light source 26 is fixed on the outer wall of the first side plate 212 on which the first two-dimensional line scanning camera 23 is arranged, the shooting area of the first two-dimensional line scanning camera 23 can be illuminated by the first linear light source 26, which is beneficial to improve the quality of the first line scanning image collected by the first two-dimensional line scanning camera 23. In addition, the first linear light source 26 can reduce the shielding of the first three-dimensional scanning camera 22.

[0127] In some possible embodiments of the present disclosure, 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 close to the first opening and faces the top surface 71 of the battery pack 7, and is used for shooting a top surface two-dimensional image of the top surface 71.

[0128] In the embodiments of the present disclosure, the first two-dimensional camera 24 can be arranged in the first camera group 2. For example, the first two-dimensional camera 24 can be fixed on the outer wall of the other first side plate 212 in the first support 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 on the outer wall of the first side plate 212 by means of screws, adhesives or the like.

[0129] For example, the first two-dimensional camera 24 can be located at the end of the first side plate 212 away from the first top plate 211, so that the first two-dimensional camera 24 is located close to the first opening, and the first two-dimensional camera 24 faces the top surface 71 of the battery pack 7.

[0130] In the above embodiments, since the first camera group 2 further includes the first two-dimensional camera 24, the top surface two-dimensional image of the battery pack 7 can be acquired by the first two-dimensional camera 24, so as to obtain the image information of the labels and nameplates and other components of the top surface 71 of the battery pack 7, so that the details such as the components of the top surface 71 of the battery pack 7 can also be detected. Meanwhile, the first two-dimensional camera 24 is fixed on the outer wall of the other first side plate 212, so that the first two-dimensional camera 24 has a relatively far distance from the first three-dimensional scanning camera 22 and the first two-dimensional line-scan camera 23, which is beneficial to reduce the mutual shielding between the cameras.

[0131] In some possible embodiments of the present disclosure, the first camera group 2 further includes two second strip-shaped light sources 27. The second strip-shaped light sources 27 are fixed on the first side plate 212 on which the first two-dimensional camera 24 is arranged, and are located on the side of the first accommodating cavity 213 close to the first opening. The two second strip-shaped light sources 27 are symmetrically arranged on the two sides of the first two-dimensional camera 24, and the illumination area of the second strip-shaped light sources 27 covers the shooting area of the first two-dimensional camera 24 on the top surface 71 of the battery pack 7, so as to light the top surface 71 of the battery pack 7.

[0132] In the embodiments of the present disclosure, the first two-dimensional camera 24 can be provided with a corresponding fill light, so as to illuminate the shooting area of the first two-dimensional camera 24 by the fill light, so that the shooting area has uniform brightness and the like.

[0133] For example, the second linear light source 27 can be arranged on the outer wall of the first side plate 212 where the first two-dimensional camera 24 is arranged, and the second linear light source 27 is adjacent to the first two-dimensional camera 24. For example, two second linear light sources 27 can be symmetrically arranged on both sides of the first two-dimensional camera 24, and the two second linear light sources 27 are both located outside the first accommodating cavity 213. The extending direction of the second linear light source 27 can be perpendicular to the plane where the first side plate 212 is located. The illumination area of the second linear light source 27 can cover the shooting area of the first two-dimensional camera 24 on the top of the battery pack 7, so that the shooting area of the first two-dimensional camera 24 on the top surface 71 of the battery pack 7 has uniform brightness. For example, the first linear light source 26 can be a light-emitting diode (LED) lamp or the like.

[0134] For another example, a second light source mounting bracket 271 matched with the second linear light source 27 can be used, the second light source mounting bracket 271 is fixed to the outer wall of the first side plate 212 by bolts, and the two ends of the second linear light source 27 are rotationally connected to the second light source mounting bracket 271 through a rotating shaft. The second linear light source 27 can be rotated relative to the first support 21, so as to adjust the illumination area of the second linear light source 27 on the top surface 71 of the battery pack 7.

[0135] In the above embodiment, since the second linear light source 27 is fixed to the outer wall of the first side plate 212 where the first two-dimensional camera 24 is arranged, the shooting area of the first two-dimensional camera 24 can be illuminated by the second linear light source 27, which is beneficial to improve the quality of the top surface two-dimensional image collected by the first two-dimensional camera 24. In addition, two second linear light sources 27 are arranged, which can make the brightness of the shooting area of the first two-dimensional camera 24 more uniform.

[0136] In some possible embodiments of the present disclosure, the first camera group 2 further includes a first annular light source 28, the first annular light source 28 is fixed to the first side plate 212 where the first two-dimensional camera 24 is arranged, and is located on the side close to the first opening outside the first accommodating cavity 213. The first annular light source 28 is coaxially arranged with the first two-dimensional camera 24, and the illumination area of the first annular light source 28 covers the shooting area of the first two-dimensional camera 24 on the top surface 71 of the battery pack 7, for illuminating the top surface 71 of the battery pack 7.

[0137] In the embodiments of the present disclosure, the first two-dimensional camera 24 can be provided with a ring-shaped light supplement lamp. For example, a first ring-shaped light source 28 is fixed on the first side plate 212 where the first two-dimensional camera 24 is installed. The first ring-shaped 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-shaped light source 28 is parallel or close to parallel to the axis of the first two-dimensional camera 24, and coincides or close to coincides. Then the first ring-shaped light source 28 can be made to cover the illumination area formed by the top surface 71 of the battery pack 7 on the shooting area of the first two-dimensional camera 24 on the top surface 71 of the battery pack 7, so as to make the shooting area of the first two-dimensional camera 24 have uniform brightness.

[0138] In the above embodiments, since the first two-dimensional camera 24 is provided with the first ring-shaped light source 28, and the first ring-shaped light source 28 is coaxially arranged with the first two-dimensional camera 24, the shooting area of the first two-dimensional camera 24 on the top surface 71 of the battery pack 7 can be illuminated by the first ring-shaped light source 28, so that the shooting area of the first two-dimensional camera 24 can be brighter, which is beneficial to improve the quality of the top surface two-dimensional image collected by the first two-dimensional camera 24, so as to improve the accuracy of the defect judgment of the top surface 71 of the battery pack 7.

[0139] In some possible embodiments of the present disclosure, the first camera group 2 further includes a first three-dimensional camera 25, which is movably arranged 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, and faces the top surface 71 of the battery pack 7, and is used for shooting the pin header image of the top surface 71 of the battery pack 7.

[0140] In the embodiments of the present disclosure, the first three-dimensional camera 25 can also be arranged on the first support 21. For example, the first three-dimensional camera 25 can be movably arranged on the inner wall of the first top plate 211 and made to face the first opening. The first three-dimensional camera 25 can be used to collect the three-dimensional image of the connector arranged on the top surface 71 of the battery pack 7, such as the image of the pogo pin.

[0141] For example, the first three-dimensional camera 25 can be movably arranged on the inner wall of the first top plate 211 in a manner that can move relative to the first support 21. For example, the first three-dimensional camera 25 can be a high-precision laser camera, such as an infrared laser three-dimensional camera with a resolution of 1920*1080@20fps for depth map and color map.

[0142] 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.

[0143] In some possible embodiments disclosed herein, 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, and the first rotating member 291 is connected to the first sliding member 292. 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. The first rotating member 291 can drive the first three-dimensional camera 25 to rotate around the third direction Z.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] In some possible embodiments of this disclosure, 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.

[0148] In the embodiments of the present disclosure, as shown in FIG. 1, the first driving mechanism 4 further includes a third rotating member 44 connected to the first linear member 42, and 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 support 21.

[0149] For example, the first top plate 211 in the first support 21 is connected to the first linear member 42 through a rotating shaft, a rotating driving member is fixed to the first linear member 42, and the rotating driving member is connected to the rotating shaft through a gear transmission; the rotating driving member can be a servo motor. The third rotating member 44 can also be a servo motor, the servo motor is fixed to the first linear member 42, and the first top plate 211 is fixed to the output shaft of the servo motor. In this way, the first camera group 2 can be driven to rotate relative to the top surface 71 of the battery pack 7 through the third rotating member 44.

[0150] In the above embodiments, since the first camera group 2 is connected to the first linear member 42 through the third rotating member 44, the first camera group 2 can be driven to rotate around the third direction Z through the third rotating member 44, so as to adjust the included 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 to the plane in the top surface 71 of the battery pack 7 or the protruding device on the top surface 71 of the battery pack 7, so as to adjust the shooting direction and angle of the cameras in the first camera group 2 to the protruding device, which is beneficial to obtaining a more comprehensive and clear image of the protruding device on the top surface 71 of the battery pack 7, and further improves the accuracy of defect judgment and identification of the top surface 71 of the battery pack 7.

[0151] In some possible embodiments of the present disclosure, the battery pack 7 detection device further includes a third linear member 43, the third linear member 43 is slidingly arranged on the first linear member 42 along the third direction Z, the third rotating member 44 is connected to the third linear member 43, and the third linear member 43 can drive the first camera group 2 to move along the third direction Z.

[0152] In the embodiments of the present disclosure, as shown in FIG. 1, the third linear member 43 can be arranged in the first driving mechanism 4 to drive the first camera group 2 to move along the third direction Z through the third linear member 43.

[0153] Exemplarily, the third linear body 43 can be provided in a structure including a third driving member and a third guiding assembly. The third driving member can be a motor, a hydraulic cylinder, a pneumatic cylinder, a servo motor, etc. The third guiding assembly can be a third guide rail and a third sliding block matched with each other, and the third guide rail can extend along the third direction Z and be fixed on the first sliding block in the first linear body 42. The third sliding block is slidingly arranged on the third guide rail. The third driving member is fixed on the third guide rail, and an output member of the third driving member is in transmission connection with the third sliding block, for example, an output shaft of a servo motor is connected with the third sliding block through a belt or a chain, or an output member of a hydraulic cylinder or a pneumatic cylinder is connected with the third sliding block. The third linear body 43 can also be a third linear motor, and the third linear motor is fixed on the first sliding block 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, 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 group 2 to move along the third direction Z.

[0154] In the above embodiment, since the first camera group 2 is connected to the first linear body 42 through the third linear body 43, the first camera group 2 can be driven to move along the third direction Z through the third linear body 43, so that the distance between the first camera group 2 and the top surface 71 of the battery pack 7 can be adjusted. In this way, the focal length between the camera in the first camera group 2 and the top surface 71 of the battery pack 7 can be conveniently adjusted.

[0155] In some possible embodiments of the present disclosure, a height sensor (not shown in the figure) is arranged on the third linear body 43 or the first support 21, and 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.

[0156] In the embodiments of the present disclosure, the height sensor can be arranged in the battery pack 7 detection device, so as to detect the height distance between the top surface 71 of the battery pack 7 and the first camera group 2 through the height sensor, and 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.

[0157] Exemplarily, 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 support 21, or the height sensor can be fixed on a part connected with the third rotating member 44 on the third linear body 43, and the height sensor faces the top surface 71 of the battery pack 7 along the third direction Z, so that the height distance between the first camera group 2 and the top surface 71 of the battery pack 7 can be obtained through the height sensor.

[0158] Another example, the height sensor can be electrically connected with the controller of the battery pack 7 detection device, and the height sensor can upload the acquired height distance information to the controller in real time. The controller can control the third wire body 43 to drive the first camera group 2 to move along the third direction Z relative to the top surface 71 of the battery pack 7 according to the difference between the height distance and the preset collection distance, so as to adjust the height distance, so that the height distance is consistent with the preset shooting distance.

[0159] In the above embodiment, since the height sensor is arranged on the third wire body 43 or the first support 21, the height distance information between the first camera group 2 and the top surface 71 of the battery pack 7 can be acquired in time by the height sensor, so that the third wire body 43 can be controlled in time and quickly according to the height distance, so as to adjust the distance between the first camera group 2 and the top surface 71 of the battery pack 7, and then the height distance can be adjusted, so that the height distance is consistent with the preset shooting distance.

[0160] In some possible embodiments of the present disclosure, referring to FIGS. 6 and 7, FIG. 6 is a structural schematic diagram of the second camera group 3 in the battery pack 7 detection device provided by the present disclosure, and FIG. 7 is another structural schematic diagram of the second camera group 3 in the battery pack 7 detection device provided by the present disclosure. The second camera group 3 includes a second support 31 and a second two-dimensional camera 32. The second support 31 is parallel to the plane where the first direction X and the second direction Y are located, and one side of the second support 31 is slidingly connected with the second wire body 52 along the third direction Z. The second two-dimensional camera 32 is arranged on the second support 31 at a preset angle and is located on the side of the second support 31 close to the second wire body 52, and the second two-dimensional camera 32 is used to shoot the edge image of the edge between the top surface 71 and the side surface 72 of the battery pack 7 or the edge between the top surface 71 and the end surface 73.

[0161] In the embodiments of the present disclosure, the second support 31 can be arranged in the second camera group 3 to fixedly install multiple cameras and other devices in the second camera group 3 by using the second support 31. For example, the second support 31 can be arranged in a plate-shaped structure, and the plate-shaped second support 31 can be extended in the horizontal plane, that is, the first support 21 is perpendicular or close to perpendicular to the third direction Z.

[0162] For example, one side of the second support 31 can be connected with the second wire body 52 along the third direction Z. For example, the second support 31 and the slider in the second wire body 52 are connected by bolts or the like. Then the second support 31 can be slidingly connected with the second wire body 52.

[0163] In the embodiments of the present disclosure, the second two-dimensional camera 32 can be arranged on the second support 31. For example, along the third direction Z, the second two-dimensional camera 32 can be arranged on the second support 31 close to one side of the second linear body 52. The second two-dimensional camera 32 can be arranged on the second support 31 in an inclined manner. For example, the second two-dimensional camera 32 can be arranged on the second support 31 in such a manner that the shooting direction of the second two-dimensional camera 32 and the third direction Z form a preset angle, which can be an angle of 30°, 45°, or the like. In this way, the second two-dimensional camera 32 can be arranged in a manner that the edge between the top surface 71 and the side surface 72 of the battery pack 7, or the edge between the top surface 71 and the end surface 73, is approximately perpendicular to the second two-dimensional camera 32, so that the second two-dimensional camera 32 can shoot the edge of the battery pack 7 to collect a clear image including the edge of the battery pack 7.

[0164] In the above embodiments, since the second support 31 and the third direction Z satisfy the perpendicular relationship, the second support 31 can provide multiple mounting points for multiple cameras in the second camera group 3 by using the large surface area of the second support 31. In addition, the second two-dimensional camera 32 can be fixed on the second support 31 close to one side of the second linear body 52, so that the second two-dimensional camera 32 can be arranged on the edge of the second support 31 in a preset angle. This not only reduces the obstruction of the second support 31 to the second two-dimensional camera 32, but also reduces the obstruction of the second two-dimensional camera 32 to other devices in the second camera group 3. In addition, the second two-dimensional camera 32 can collect a clear edge image of the edge of the battery pack 7, so that whether there is a defect on the edge of the battery pack 7 can be determined according to the edge image.

[0165] In some possible embodiments of the present disclosure, the second camera group 3 further includes two third linear light sources 371, which are arranged on the second support 31 in a preset angle and symmetrically arranged on both sides of the second two-dimensional camera 32, and used for lighting the edge shot by the second two-dimensional camera 32.

[0166] In the embodiments of the present disclosure, the second two-dimensional camera 32 can be provided with a corresponding light supplement lamp, which is used for illuminating the shooting area of the second two-dimensional camera 32, so that the shooting area has uniform brightness and the like.

[0167] For example, the third linear light source 371 can be disposed on the second support 31 near one side of the second linear body 52, and the third linear light source 371 can be disposed adjacent to the second two-dimensional camera 32. For example, two third linear light sources 371 can be disposed symmetrically on both sides of the second two-dimensional camera 32, and the two third linear light sources 371 can be disposed at the edge of the second support 31 at the same inclination angle as the second two-dimensional camera 32. The third linear light source 371 can be disposed at an angle with respect to the third direction Z, so that the third linear light source 371 is perpendicular to the second two-dimensional camera 32. The illumination area of the third linear light source 371 can cover the shooting area of the second two-dimensional camera 32 on the edge of the battery pack 7, so that the shooting area of the second two-dimensional camera 32 on the edge of the battery pack 7 has uniform brightness. For example, the third linear light source 371 can be a light-emitting diode (LED) lamp or the like.

[0168] For another example, a third light source mounting bracket 376 matched with the third linear light source 371 can be used, and the third light source mounting bracket 376 can be fixed on the surface of the second support 31 near one side of the second linear body 52 by a bolt or the like. The third linear light source 371 can be rotatably connected to the third light source mounting bracket 376 by a rotating shaft. The third linear light source 371 can be rotated relative to the second support 31, so as to adjust the lighting angle of the third linear light source 371 on the edge of the battery pack 7.

[0169] In the above embodiment, the third linear light source 371 is disposed on the second support 31 at a preset angle, and the third linear light source 371 can illuminate and light the shooting area of the second two-dimensional camera 32, which is beneficial to improve the quality of the edge image of the edge collected by the second two-dimensional camera 32. In addition, two third linear light sources 371 can be disposed, and the brightness of the edge photographed by the second two-dimensional camera 32 can be more uniform.

[0170] In some possible embodiments of the present disclosure, the second camera group 3 further includes a second three-dimensional camera 33, and the second three-dimensional camera 33 is rotatably disposed on the second support 31 by a second rotating member 38, and is located on one side of the second support 31 away from the second linear body 52. The second rotating member 38 can drive the second three-dimensional camera 33 to rotate relative to the second support 31 about the first direction X or the second direction Y, and the second three-dimensional camera 33 is used to shoot the edge connector image of the side surface 72 or the end surface 73 of the battery pack 7.

[0171] In the embodiments of the present disclosure, the second three-dimensional camera 33 can be arranged on the second support 31. For example, the second three-dimensional camera 33 can be arranged on the second support 31 in a rotatable manner away from the second line body 52, and the second three-dimensional camera 33 can be directed towards the side surface 72 or the end surface 73 of the battery pack 7. The second three-dimensional camera 33 can be used to capture a three-dimensional image of the connector on the side surface 72 or the end surface 73 of the battery pack 7, such as an image of the pogo pin.

[0172] For example, the second rotating member 38 can be a rotary cylinder, a servo motor, a stepper motor, or the like. The rotation axis of the second rotating member 38 can be parallel or close to parallel to the first direction X or the second direction Y. One end of the second rotating member 38 can be fixed to the second support 31, and the second three-dimensional camera 33 can be fixed to the rotation axis of the second rotating member 38. Then, the second three-dimensional camera 33 can be rotated around the first direction X or the second direction Y by the second rotating member 38.

[0173] In the above embodiments, since the second camera group 3 further includes the second three-dimensional camera 33, the pogo pin connector image of the connector on the side surface 72 or the end surface 73 of the battery pack 7 can be captured by the second three-dimensional camera 33. Thus, whether the installation angle and the installation position of the pogo pin connector are appropriate can be determined according to the pogo pin connector image. Moreover, the second three-dimensional camera 33 is arranged on the second support 31 by the second rotating member 38. The second three-dimensional camera 33 can be rotated around the first direction X or the second direction Y by the second rotating member 38. Thus, the angle between the second three-dimensional camera 33 and the pogo pin connector can be adjusted, and a clearer pogo pin connector image can be captured.

[0174] In some possible embodiments of the present disclosure, as shown in FIGS. 6 and 7, the second camera group 3 further includes a third two-dimensional camera 34. The third two-dimensional camera 34 is arranged on the second support 31 in a sliding manner along the first direction X or the second direction Y, and is located away from the second line body 52. The third two-dimensional camera 34 is arranged on the second support 31 in a spaced manner with the second three-dimensional camera 33. The third two-dimensional camera 34 is used to capture a two-dimensional image of the side surface or the end surface of the battery pack 7.

[0175] In the embodiments of the present disclosure, the third two-dimensional camera 34 can be arranged in the second camera group 3. For example, the third two-dimensional camera 34 can be arranged on the second support 31 in a sliding manner away from the second line body 52. Moreover, the third two-dimensional camera 34 can slide along the first direction X or the second direction Y.

[0176] For example, the third two-dimensional camera 34 and the second three-dimensional camera 33 can be arranged at a distance on the second support 31, that is, the third two-dimensional camera 34 can be arranged at one end of the second support 31, and the second three-dimensional camera 33 can be arranged at the other end of the second support 31. In this way, the mutual occlusion between the third two-dimensional camera 34 and the second three-dimensional camera 33 can be reduced.

[0177] In the above embodiment, since the second camera group 3 further includes the third two-dimensional camera 34, the side two-dimensional image and the end two-dimensional image of the side surface 72 and the end surface 73 of the battery pack 7 can be acquired by the third two-dimensional camera 34, so that the image information of the label and the nameplate and other components of the side surface 72 and the end surface 73 of the battery pack 7 can be obtained, and the details such as the components of the side surface 72 and the end surface 73 of the battery pack 7 can also be detected. Meanwhile, the third two-dimensional camera 34 is arranged on the second support 31 to slide along the first direction X or the second direction Y, so that the distance between the third two-dimensional camera 34 and the side surface 72 and the end surface 73 of the battery pack 7 can be adjusted.

[0178] In some possible embodiments of the present disclosure, the second camera group 3 further includes a second sliding member 39, the second sliding member 39 is fixed on the second support 31 away from one side of the second line body 52, and the third two-dimensional camera 34 is arranged on the second sliding member 39, and the second sliding member 39 can drive the third two-dimensional camera 34 to move relative to the second support 31 along the first direction X or the second direction Y.

[0179] In the embodiments of the present disclosure, the third two-dimensional camera 34 can be arranged on the second support 31 by the second sliding member 39. For example, the second sliding member 39 can be a rodless cylinder, an oil cylinder, a linear motor, etc. The fixed end of the second sliding member 39 is fixed on the second support 31 away from one side of the second line body 52, and the sliding end of the second sliding member 39 extends along the first direction X or the second direction Y. The third two-dimensional camera 34 is fixed on the sliding end of the second sliding member 39 by the camera fixing frame 375, so that the third two-dimensional camera 34 can be driven by the second sliding member 39 to move relative to the second support 31 along the first direction X or the second direction Y.

[0180] In the above embodiment, since the third two-dimensional camera 34 is arranged on the second support 31 by the second sliding member 39, the third two-dimensional camera 34 can be driven by the second sliding member 39 to move relative to the second support 31 along the first direction X or the second direction Y.

[0181] In some possible embodiments of the present disclosure, the second camera group 3 further comprises a second ring-shaped light source 372 fixed to the second sliding member 39 and located at a side of the third two-dimensional camera 34 close to the side surface 72 or the end surface 73 of the battery pack 7 and coaxially arranged with the third two-dimensional camera 34, and the second ring-shaped light source 372 is configured to light the third two-dimensional camera 34 in the shooting area of the side surface 72 or the end surface 73 of the battery pack 7.

[0182] In some possible embodiments of the present disclosure, the third two-dimensional camera 34 can be provided with a ring-shaped light supplementing lamp. For example, the second ring-shaped light source 372 can be fixed to the second sliding member 39, and the second ring-shaped light source 372 can be fixed to the camera fixing frame 375. The second ring-shaped light source 372 has a circular ring structure, and the second ring-shaped light source 372 can be coaxially arranged with the third two-dimensional camera 34, that is, the axis of the second ring-shaped light source 372 is parallel or close to parallel to the axis of the third two-dimensional camera 34, and the two axes coincide or are close to coincide. Then the second ring-shaped light source 372 can cover the shooting area of the third two-dimensional camera 34 on the side surface 72 and the end surface 73 of the battery pack 7 to make the shooting area of the third two-dimensional camera 34 have uniform brightness.

[0183] In the above embodiments, since the second ring-shaped light source 372 is arranged coaxially with the third two-dimensional camera 34, the second ring-shaped light source 372 can light the shooting area of the third two-dimensional camera 34 on the side surface 72 and the end surface 73 of the battery pack 7, so that the shooting area of the third two-dimensional camera 34 has uniform brightness, which is beneficial to improving the quality of the side two-dimensional image and the end two-dimensional image collected by the third two-dimensional camera 34, and thus the accuracy of judging the defects of the side surface 72 and the end surface 73 of the battery pack 7 can be improved.

[0184] In some possible embodiments of the present disclosure, the second camera group 3 further comprises two fourth bar-shaped light sources 373 fixed to the second bracket 31 away from the second linear body 52 and located at a side of the third two-dimensional camera 34 close to the side surface 72 or the end surface 73 of the battery pack 7, and the two fourth bar-shaped light sources 373 are symmetrically arranged at two sides of the third two-dimensional camera 34, and the fourth bar-shaped light sources 373 are configured to light the shooting area of the third two-dimensional camera 34 in the side surface 72 or the end surface 73 of the battery pack 7.

[0185] In some possible embodiments of the present disclosure, the third two-dimensional camera 34 can be provided with corresponding bar-shaped light supplementing lamps to illuminate the shooting area of the third two-dimensional camera 34 to make the shooting area have uniform brightness.

[0186] For example, the fourth linear light source 373 can be disposed on the second support 31 away from the second linear body 52, and adjacent to the third two-dimensional camera 34. For example, two fourth linear light sources 373 can be symmetrically disposed on both sides of the third two-dimensional camera 34, and closer to the battery pack 7 than the third two-dimensional camera 34. The fourth linear light source 373 can be parallel to the third direction Z. The illumination area of the fourth linear light source 373 can cover the shooting area of the third two-dimensional camera 34 on the side surface 72 and the end surface 73 of the battery pack 7, so that the shooting area of the third two-dimensional camera 34 on the side surface 72 and the end surface 73 of the battery pack 7 has uniform brightness. For example, the fourth linear light source 373 can be a light-emitting diode (LED) lamp.

[0187] For another example, a fourth light source mounting bracket 377 matched with the fourth linear light source 373 can be used, the fourth light source mounting bracket 377 is fixed on the second support 31 by bolts, and the two ends of the fourth linear light source 373 are rotatably connected to the fourth light source mounting bracket 377 by a rotating shaft. The fourth linear light source 373 can be rotated relative to the second support 31 to adjust the illumination area of the fourth linear light source 373 on the side surface 72 or the end surface 73 of the battery pack 7.

[0188] In the above embodiment, the two fourth linear light sources 373 are symmetrically disposed on both sides of the third two-dimensional camera 34, and the shooting area of the third two-dimensional camera 34 is illuminated by the fourth linear light source 373, which is beneficial to improve the quality of the side two-dimensional image and the end two-dimensional image collected by the third two-dimensional camera 34. In addition, the two fourth linear light sources 373 can make the brightness of the shooting area of the third two-dimensional camera 34 more uniform.

[0189] In some possible embodiments of the present disclosure, the second camera group 3 further includes a second three-dimensional scanning camera 35 fixed on the second support 31 away from the second linear body 52, and located between the second three-dimensional camera 33 and the third two-dimensional camera 34, for shooting a side three-dimensional image or an end three-dimensional image of the battery pack 7.

[0190] In the embodiments of the present disclosure, as shown in FIG. 6, the second three-dimensional scanning camera 35 can be arranged on the second support 31. For example, the second three-dimensional scanning camera 35 can be arranged on the second support 31 away from the second line body 52, and the second three-dimensional scanning camera 35 can be arranged on the second support 31 away from the battery pack 7, and the lens of the second three-dimensional scanning camera 35 faces the side surface 72 or the end surface 73 of the battery pack 7. The second three-dimensional scanning camera 35 can be arranged between the second three-dimensional camera 33 and the third two-dimensional camera 34, and a distance is provided between the second three-dimensional scanning camera 35 and the second three-dimensional camera 33, and a distance is also provided between the second three-dimensional scanning camera 35 and the third two-dimensional camera 34. Then, the side surface three-dimensional image and the end surface three-dimensional image capable of representing the height information of each part of the side surface 72 and the end surface 73 of the battery can be acquired by the second three-dimensional scanning camera 35.

[0191] In the above embodiments, since the second three-dimensional scanning camera 35 is arranged on the second support 31 away from the second line body 52, the side surface three-dimensional image and the end surface three-dimensional image of the battery pack 7 can be acquired by the second three-dimensional scanning camera 35, so that the depth information of the side surface 72 and the end surface 73 of the battery pack 7 can be obtained according to the side surface three-dimensional image and the end surface three-dimensional image. Moreover, the second three-dimensional scanning camera 35 is arranged between the second three-dimensional camera 33 and the third two-dimensional camera 34, so that the mutual shielding among the second three-dimensional scanning camera 35, the second three-dimensional camera 33 and the third two-dimensional camera 34 can be reduced.

[0192] In some possible embodiments of the present disclosure, the second camera group 3 further includes a second two-dimensional line scanning camera 36, the second two-dimensional line scanning camera 36 is arranged on the second support 31 away from the second line body 52, and is arranged on the second support 31 away from the third two-dimensional camera 34. The second two-dimensional line scanning camera 36 is used for shooting the side surface line scanning image or the end surface line scanning image of the battery pack 7.

[0193] In the embodiments of the present disclosure, the second two-dimensional line scanning camera 36 can also be arranged in the second camera group 3, and the second two-dimensional line scanning camera 36 can be arranged on the second support 31. For example, the second two-dimensional line scanning camera 36 can be arranged on the second support 31 away from the second line body 52, and the second two-dimensional line scanning camera 36 faces the side surface 72 or the end surface 73 of the battery pack 7. If the second two-dimensional line scanning camera 36 is a two-dimensional color line scanning camera, then the side surface line scanning image and the end surface line scanning image of the battery pack 7 can be acquired by the second two-dimensional line scanning camera 36 during the movement of the second camera group 3 relative to the side surface 72 or the end surface 73 of the battery pack 7.

[0194] Exemplarily, the third two-dimensional camera 34 can be arranged at one end of the second support 31, and the second two-dimensional line-scan camera 36 can be arranged at the other end of the second support 31, so that the second two-dimensional line-scan camera 36 and the third two-dimensional camera 34 are far away from each other.

[0195] In the above embodiment, since the second camera group 3 further includes the second two-dimensional line-scan camera 36, the area of the side surface 72 and the end surface 73 of the battery pack 7 can be photographed by the second two-dimensional line-scan camera 36, so as to acquire the side-surface line-scan image and the end-surface line-scan image containing the overall planar information of the side surface 72 and the end surface 73 of the battery pack 7, and thus the two-dimensional image information of the side surface 72 and the end surface 73 can be obtained. Furthermore, the two-dimensional line-scan images of the side surface 72 and the end surface 73 can be combined with the three-dimensional images of the side surface 72 and the end surface 73 respectively, which is helpful to obtain more comprehensive information of the side-surface image and the end-surface image.

[0196] In some possible embodiments of the present disclosure, the second camera group 3 further includes a fifth bar light source 374, the fifth bar light source 374 is arranged on the second support 31 and located at the side of the second two-dimensional line-scan camera 36 close to the battery pack 7, and is used for lighting the photographing area of the second two-dimensional line-scan camera 36 on the battery pack 7.

[0197] In the embodiments of the present disclosure, the second two-dimensional line-scan camera 36 in the second camera group 3 can be provided with a corresponding bar light source, so as to illuminate the photographing area of the second two-dimensional line-scan camera 36 by the bar light source, so that the photographing area has uniform brightness and the like.

[0198] Exemplarily, the fifth bar light source 374 can be arranged at the side of the second support 31 and adjacent to the second two-dimensional line-scan camera 36, and the fifth bar light source 374 can be located at the side of the second two-dimensional line-scan camera 36 close to the battery pack 7. In addition, the extension direction of the fifth bar light source 374 is parallel to the third direction Z. Then, the illumination area of the fifth bar light source 374 can cover the photographing area of the second two-dimensional line-scan camera 36 on the side surface 72 and the end surface 73 of the battery pack 7, so that the photographing area of the second two-dimensional line-scan camera 36 on the side surface 72 and the end surface 73 of the battery pack 7 has uniform brightness. For example, the fifth bar light source 374 can be a light-emitting diode (LED) lamp or the like.

[0199] Another example, a fifth light source mounting frame 378 matched with the fifth bar-shaped light source 374 can be adopted, the fifth light source mounting frame 378 is bolted on the second support 31, and the two ends of the fifth bar-shaped light source 374 are rotationally connected with the fifth light source mounting frame 378 through the rotating shaft. Then the fifth bar-shaped light source 374 can be rotated relative to the second support 31 around the third direction Z, so as to adjust the lighting area of the fifth bar-shaped light source 374 on the side surface 72 and the end surface 73 of the battery pack 7.

[0200] In the above embodiment, since the fifth bar-shaped light source 374 is arranged on the second support 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 bar-shaped light source 374, which is beneficial to improve the quality of the side surface line-scan image and the end surface line-scan image shot by the second two-dimensional line-scan camera 36. Moreover, the fifth bar-shaped light source 374 is rotationally arranged on the second support 31, which is convenient to adjust the lighting area of the fifth bar-shaped light source 374 on the side surface 72 or the end surface 73 of the battery pack 7, so that the lighting area of the fifth bar-shaped light source 374 can coincide with the shooting area of the second two-dimensional line-scan camera 36.

[0201] In some possible embodiments of the present disclosure, the battery pack 7 detection device further comprises a fourth rotating member 54, and the second support 31 is connected to the second line body 52 through the fourth rotating member 54; in the case that the second line body 52 moves to one of the two ends of the two second support beams 111 along the first direction X, the fourth rotating member 54 can drive the second camera group 3 to rotate to face the end surface 73 of the battery pack 7, or the fourth rotating member 54 can drive the second camera group 3 to rotate to face the side surface 72 of the battery pack 7.

[0202] In the embodiments of the present disclosure, as shown in FIG. 2, the second driving mechanism 5 further comprises a fourth rotating member 54, the fourth rotating member 54 is connected to the second line body 52, the rotation axis of the fourth rotating member 54 is parallel or close to parallel to the third direction Z, and the second camera group 3 is connected to the fourth rotating member 54 through the second support 31. For example, the side of the second support 31 close to the second line body 52 can be connected to the fourth rotating member 54.

[0203] For example, the second support 31 can be connected to the second line body 52 through a rotating shaft, a rotating drive member is arranged on the second line body 52, and the rotating drive member is connected to the rotating shaft through a gear or the like. The rotating drive member can be a servo motor. The fourth rotating member 54 can also be a servo motor, the servo motor is arranged on the second line body 52, and the second support 31 is fixed on the output shaft of the servo motor. In this way, the second camera group 3 can be driven to rotate relative to the battery pack 7 around the third direction Z through the fourth rotating member 54.

[0204] In the above embodiment, since the second support 31 is connected to the second wire body 52 through the fourth rotating member 54, the second camera group 3 can be driven to rotate around the third direction Z through the fourth rotating member 54, so that the orientation of the camera in the second camera group 3 can be adjusted, that is, the camera in the second camera group 3 can be oriented to face the side surface 72 of the battery pack 7 or the end surface 73 of the battery pack 7. In this way, the second camera group 3 can be used to capture both the side surface image of the battery pack 7 and the end surface image of the battery pack 7, which is beneficial to improve the utilization efficiency of the second camera group 3.

[0205] In some possible embodiments of the present disclosure, the battery pack 7 detection device further includes a fourth wire body 53, the fourth wire body 53 is slidingly arranged on the second wire body 52 along the third direction Z, and the fourth rotating member 54 is connected to the fourth wire body 53, and the fourth wire body 53 can drive the second camera group 3 to move along the third direction Z.

[0206] In the embodiments of the present disclosure, as shown in FIG. 2, the fourth wire body 53 can be arranged in the second driving mechanism 5 to drive the second camera group 3 to move along the third direction Z through the fourth wire body 53.

[0207] For example, the fourth wire body 53 can be arranged in the form of a fourth driving member and a fourth guide assembly. The fourth driving member can be a motor, a hydraulic cylinder, a pneumatic cylinder, a servo motor, etc. The fourth guide assembly can be a matched fourth guide rail and a fourth sliding block, etc., which can extend the fourth guide rail along the third direction Z and fix the fourth guide rail on the second sliding block in the second wire body 52. The fourth sliding block is slidingly arranged on the fourth guide rail. The fourth driving member is fixed on the fourth guide rail, and the output member of the fourth driving member is in transmission connection with the fourth sliding block, such as connecting the output shaft of the servo motor with the fourth sliding block through a belt or a chain, or connecting the output member of the hydraulic cylinder, the pneumatic cylinder, etc. with the fourth sliding block. The fourth wire body 53 can also be a fourth linear motor, and the fourth linear motor is fixed on the second sliding block in the second wire body 52. The fourth rotating member 54 is fixed on the fourth sliding block of the fourth wire body 53. In this way, the sixth wire body 51 can drive the second wire body 52 to move along the first direction X, the second wire body 52 can drive the fourth wire body 53 to move along the second direction Y, and the fourth wire body 53 can drive the fourth rotating member 54 to move along the third direction Z, so as to drive the second camera group 3 to move along the third direction Z.

[0208] In the above embodiment, since the second support 31 is connected to the second wire body 52 through the fourth rotating member 54, the second camera group 3 can be driven to rotate around the third direction Z through the fourth rotating member 54, so that the orientation of the camera in the second camera group 3 can be adjusted, that is, the camera in the second camera group 3 can be oriented to face the side surface 72 of the battery pack 7 or the end surface 73 of the battery pack 7. In this way, the second camera group 3 can be used to capture both the side surface image of the battery pack 7 and the end surface image of the battery pack 7, which is beneficial to improve the utilization efficiency of the second camera group 3.

[0209] In some possible embodiments of the present disclosure, the battery pack 7 detection device further comprises a position detection member (not shown in the figure), which is fixed to at least one end of the first support beam 121 along the first direction X, and is used to detect the position of the first wire body 42 on the first support beam 121, so as to stop the movement of the first wire body 42 relative to the first support beam 121, or to make the first wire body 42 return to the original position relative to the first support beam 121; and / or, which is arranged on at least one end of the second support beam 111 along the first direction X, and is used to detect the position of the second wire body 52 on the second support beam 111, so as to stop the movement of the second wire body 52 relative to the second support beam 111, or to make the second wire body 52 return to the original position relative to the second support beam 111.

[0210] In the embodiments of the present disclosure, a plurality of position detection members can be arranged in the battery pack 7 detection device to determine whether each part such as the first wire body 42 and the second wire body 52 returns to the original position or reaches the stop position relative to the portal frame 1.

[0211] For example, a limit sensor as a position detection member can be arranged 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. In this way, during the sliding movement of the first wire body 42 relative to the first support beam 121 along the first direction X, the controller can control the first wire body 42 to stop moving in time after the limit sensor detects a signal. A home sensor as a position detection member can also be arranged at each end of the first support beam 121, so that during the movement of the first wire body 42 along the first support beam 121 to the initial position, whether the first wire body 42 returns to the accurate original position can be detected by the home sensor.

[0212] For another example, a limit sensor as a position detection member can also be arranged 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. In this way, during the sliding movement of the second wire body 52 relative to the second support beam 111 along the first direction X, the controller can control the second wire body 52 to stop moving in time after the limit sensor detects a signal. A home sensor as a position detection member can also be arranged at each end of the second support beam 111, so that during the movement of the second wire body 52 along the second support beam 111 to the initial position, whether the second wire body 52 returns to the accurate original position can be detected by the home sensor.

[0213] In the above embodiment, since the position sensor is arranged on the first wire body 42 and / or the second wire body 52, the position of the first wire body 42 relative to the first support beam 121 can be detected by the position sensor, the position of the second wire body 52 relative to the second support beam 111 can be detected by the position sensor, so that whether the first wire body 42 and / or the second wire body 52 moves to the desired position can be determined, and the accuracy of the movement position of the first wire body 42 and / or the second wire body 52 is improved.

[0214] In some possible embodiments of the present disclosure, referring to FIG. 8, FIG. 8 is a structural schematic diagram of the positioning device 6 in the battery pack 7 detection device provided by the present disclosure. As shown in FIG. 1 and FIG. 8, the battery pack 7 detection device further comprises the positioning device 6, the positioning device 6 comprises a positioning base body 61, a jacking mechanism 62 and a positioning mechanism 63; the positioning base body 61 is arranged adjacent to the second frame body 11, the jacking mechanism 62 is slidingly arranged on the positioning base body 61 along the third direction Z, and is used to drive the battery pack 7 to move along the third direction Z to the direction close to or away from the first camera group 2; and the positioning mechanism 63 is slidingly arranged on the positioning base body 61, and can move to the direction close to the battery pack 7 to limit the position of the battery pack 7 relative to the gantry truss 1.

[0215] In the embodiments of the present disclosure, as shown in FIG. 1, after the battery pack 7 is transported into the gantry truss 1 of the battery pack 7 detection device, it is necessary to limit the position of the battery pack 7 relative to the battery pack 7 detection device. Therefore, the positioning device 6 can be arranged in the battery pack 7 detection device to limit the position and movement of the battery pack 7 relative to the gantry truss 1 through the positioning device 6. For example, along the third direction Z, the positioning device 6 can be arranged in the gantry truss 1, and the positioning device 6 can be located in the lower area of the gantry truss 1.

[0216] In the embodiments of the present disclosure, as shown in FIG. 8, the positioning base body 61 is used to provide mounting points for other parts 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 body 61 can be arranged in the structure of a frame, such as two independent frames distributed along the second direction Y, and the independent frames extend 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.

[0217] In the embodiments of the present disclosure, the jacking mechanism 62 can be arranged in the positioning device 6 to jack up the tray carrying the battery pack 7 along the third direction Z by the jacking mechanism 62.

[0218] Exemplarily, the jacking mechanism 62 can be provided in a structure including a jacking driving member 621, a jacking transmission member 622 and a jacking beam 623. The jacking driving member 621 can be a pneumatic cylinder, a hydraulic cylinder or the like, and can be fixed on the positioning base body 61. The jacking transmission member 622 can be a wedge block, connected with an output member of the jacking driving member 621, and can be slidingly installed on the positioning base body 61 along the first direction X. The jacking beam 623 can be provided in a long rod structure extending along the first direction X, and can be slidingly installed on the positioning base body 61 along the vertical direction. A roller can be provided on the jacking beam 623 close to the wedge block, and can be in abutment with an inclined surface of the wedge block. In this way, during the movement of the wedge block along the first direction X driven by the jacking driving member 621, the roller rolls relative to the inclined surface of the wedge block, so that the jacking beam 623 moves upward or downward along the third direction Z, thereby achieving the jacking or lowering of the battery pack 7, so that the battery pack 7 approaches or moves away from the first camera group 2.

[0219] According to the embodiments of the present disclosure, the positioning mechanism 63 can be provided on the positioning base body 61. After the transportation device transports the battery pack 7 into the parking space, the movement of the transportation device and the battery pack 7 can be limited by the positioning mechanism 63, and the battery pack 7 can be limited at a desired position. For example, a plurality of positioning members can be provided in the positioning mechanism 63, so as to position the battery pack 7 from multiple directions by the plurality of positioning members.

[0220] In the above embodiments, since the jacking mechanism 62 is provided in the positioning device 6, the battery pack 7 can be jacked by the jacking mechanism 62 along the third direction Z by a distance, so that each battery pack 7 can be at a determined height relative to the first camera group 2. Meanwhile, the positioning mechanism 63 is provided in the positioning device 6, so as to limit the position of the battery pack 7 relative to the portal truss 1, thereby enabling each battery pack 7 to be at a determined position relative to the first camera group 2 in the horizontal plane, which is beneficial to improving the quality of the top image, the side image and the end image of the battery pack 7 collected by the first camera group 2 and the second camera group 3.

[0221] In some possible embodiments of the present disclosure, the battery pack 7 detection device further includes a positioning device 6, and the positioning mechanism 63 includes a conveying positioning assembly 631 and a tray positioning assembly 632. The positioning mechanism 63 is slidingly provided on the positioning base body 61 along the first direction X, and can move along the first direction X towards the transportation device close to the battery pack 7. The tray positioning assembly 632 is slidingly provided on the positioning base body 61 close to the first camera group 2 along the third direction Z, and can move along the third direction Z towards the tray supporting the battery pack 7.

[0222] In the embodiments of the present disclosure, as shown in FIG. 8, the conveying positioning assembly 631 can be arranged in the positioning mechanism 63 to limit the position of the conveying device for conveying the battery pack 7 relative to the portal frame 1 through the conveying positioning assembly 631. The conveying device can be an automated guided vehicle (AGV).

[0223] For example, in the first direction X, a set of conveying positioning assemblies 631 can be arranged at each end of the two frames as the positioning base 61 to limit the position of the conveying member relative to the portal frame 1 through the four sets of conveying positioning assemblies 631. For example, the conveying positioning assembly 631 can be arranged in the form of a structure including a seventh driving member and a first positioning member. The seventh driving member can be a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, etc., and the first positioning member can be a positioning block or a positioning plate fixed to the output member of the seventh driving member. In this way, the output shaft of the seventh driving member can drive the first positioning member to move in the second direction Y during sliding to make the first positioning member located in the parking space or away from the parking space, so that the conveying device can be limited or released.

[0224] In the embodiments of the present disclosure, as shown in FIG. 8, the tray positioning assembly 632 can be arranged in the positioning mechanism 63 to limit the position of the tray for carrying the battery pack 7 relative to the portal frame 1 through the tray positioning assembly 632, so as to limit the position of the battery pack 7 carried on the tray relative to the portal frame 1.

[0225] For example, in the second direction Y, a set of tray positioning assemblies 632 can be arranged on the two sides of the two frames in the positioning base 61 to limit the position of the tray in the second direction Y through the two sets of tray positioning assemblies 632. For example, the tray positioning assembly 632 can be arranged in the form of a structure including an eighth driving member and a second positioning member. The eighth driving member can be a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, etc., and the second positioning member can be a positioning block or a positioning plate fixed to the output member of the eighth driving member. In this way, the output shaft of the eighth driving member can drive the second positioning member to move in the third direction Z during sliding to make the two second positioning members clamped on the two sides of the tray or away from the tray, so that the position of the tray in the second direction Y can be limited.

[0226] In the above embodiments, the conveying positioning assembly 631 is arranged in the positioning mechanism 63, and the conveying member for conveying the battery can be limited at a fixed position relative to the portal frame 1 through the conveying positioning assembly 631. The tray positioning assembly 632 is also arranged in the positioning mechanism 63, and the tray for carrying the battery can be limited at a fixed position through the tray positioning assembly 632, so that the battery can be limited at a fixed position relative to the portal frame 1.

[0227] In some possible embodiments of the present disclosure, the positioning device 6 further comprises a guiding assembly 64, the guiding assembly 64 comprises two groups of guide frames 641, the guide frames 641 extend along the first direction X, and the two ends of the guide frames 641 are bent away from the side surface 72 of the battery pack 7 to guide the battery pack 7 into the limiting space formed by the two groups of guide frames 641; a plurality of guide wheels 642 are arranged on the guide frames 641 and are arranged at intervals along the extension direction of the guide frames 641, and in the case that the edge of the transport device contacts the guide wheels 642, the guide wheels 642 rotate to limit the movement path of the transport device.

[0228] In the embodiments of the present disclosure, as shown in FIG. 8, the guiding assembly 64 can also be arranged in the positioning device 6 to guide and limit the movement path of the transport device in the parking space through the guiding assembly 64.

[0229] For example, the guide frames 641 can be arranged on the positioning base 61 and extend along the first direction X, and the two ends of the guide frames 641 can be bent away from the side surface 72 of the battery pack 7, so that the distance between the opening end and the outlet end of the two guide frames 641 is large, so as to facilitate the transport device to enter the limiting space formed by the two guide frames 641. A plurality of guide wheels 642 can be arranged on the guide frames 641, the plurality of guide wheels 642 are distributed on the guide frames 641 along the first direction X, that is, along the extension direction of the guide frames 641, and the plurality of guide wheels 642 are arranged at intervals on the guide frames 641. The guide frames 641 and the guide wheels 642 can be used as the guiding assembly 64. In this way, after the edge of the transport device contacts the guide wheels 642, the guide wheels 642 rotate, which is beneficial to reduce the friction between the transport device and the positioning device 6, and the movement path of the transport device can be sequentially limited by the plurality of guide wheels 642.

[0230] In the embodiments of the present disclosure, an entrance grating and an exit grating can also be arranged in the positioning device 6. That is, along the first direction X, the entrance grating can be arranged at the entrance end of the positioning device 6, and the exit grating can be arranged at the exit end of the positioning device 6. Through the entrance grating and the exit grating, it can not only be determined whether the battery enters the parking space, but also it can be detected whether foreign matter enters the parking space.

[0231] In the above embodiments, since the guiding assembly 64 is arranged in the positioning device 6, the movement path of the transport device during the movement process to the positioning device 6 can be guided and limited through the guiding assembly 64, and the friction between the transport device and the positioning device 6 can be reduced through the guide wheels 642 in the guiding assembly 64.

[0232] Based on the same technical concept, the embodiments of the present disclosure also provide a battery pack detection method, the method is applied to the battery pack detection device provided in any one of the above embodiments, and the implementation of the method can be referred to the implementation of the battery pack detection device.

[0233] Referring to FIG. 9, FIG. 9 shows a flowchart of a control method of the battery pack detection device provided by the present disclosure. The control method of the battery pack detection device is applied to the battery pack detection device provided by any one of the above embodiments. As shown in FIG. 9, the control method of the battery pack detection device includes the following steps S101-S103, which are described below in combination with FIG. 9.

[0234] S101, in response to a top shooting instruction, controlling the first line body to slide on the first support beam in a first direction, and / or controlling the first camera group to slide on the first line body in a second direction, so that the first camera group moves relative to the top surface of the battery pack, and shoots a top surface image of the battery pack.

[0235] In the embodiments of the present disclosure, the transportation device can be controlled to transport the battery pack to be detected to the detection station in the battery pack detection device, that is, to the parking space defined by the positioning device in the gantry truss.

[0236] For example, the transportation device can be an AGV. When the AGV reaches a position close to the battery pack detection device, the AGV can send an inbound request to the controller of the battery pack detection device. The controller can send a light barrier shielding signal to the positioning device in response to the inbound request, and the entrance light barrier detection component on the positioning device is closed in response to the light barrier shielding signal. In this way, the AGV carrying the battery pack moves into the parking space of the positioning device, and the entrance light barrier detection component is started again. At this time, the AGV together with the battery pack is located in the positioning device.

[0237] For another example, after the battery pack to be detected reaches the positioning device, the positioning device can be controlled to position the battery pack to limit the battery pack to a certain detection position.

[0238] For example, the transportation positioning component in the positioning device can be controlled to move towards the AGV until abutting against the AGV, so as to limit the AGV relative to the gantry truss to a fixed position, and thus the battery pack is in a substantially accurate position relative to the gantry truss. After the positioning of the AGV is completed, the jacking mechanism in the positioning device can be controlled to perform a jacking action, such as generating a movement in a third direction to jacking the tray supporting the battery pack in the third direction by a distance, 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.

[0239] Then, after the jacking of the battery is completed, the tray positioning assembly in the positioning device can be controlled to position the tray supporting the battery pack in the horizontal plane, such as controlling two sets of opposite tray positioning assemblies to move in the vertical direction to the direction close to the tray, so that the tray positioning assembly abuts against the opposite two sides of the tray, thereby clamping and limiting the tray in a fixed position. In this way, the battery pack can be limited in a fixed detection position relative to the gantry truss in the horizontal plane and in the third direction, so that the battery is in a determined position relative to the battery pack detection equipment.

[0240] In the embodiments of the present disclosure, after the positioning of the battery pack is completed, the top shooting instruction and the side shooting instruction can be generated. Alternatively, the top shooting instruction and the side shooting instruction can also be generated through the input operation of the user on the controller. The present disclosure does not limit the generation manner of the top shooting instruction and the side shooting instruction.

[0241] In the embodiments of the present disclosure, after the controller receives the top shooting instruction, the first camera group can be controlled to shoot the top surface image of the top surface of the battery pack.

[0242] For example, as shown in FIG. 3, the first wire body, the third wire body, the fifth wire body and the third rotating piece can be controlled to drive the first camera group to move relative to the top surface 71 of the battery pack 7. For example, the fifth wire body is controlled to generate movement in the first direction X, so as to drive the first wire body to move in the first direction X. The first wire body is controlled to generate movement in the second direction Y, so as to drive the first camera group to move to the vicinity of the top surface collection point 81 above the top surface 71 of the battery pack 7. The top surface collection point 81 is a spatial point above one corner of the top surface 71 of the battery pack 7. After the first camera group reaches the vicinity of the top surface collection point 81, the third wire body can be controlled to move in the third direction Z, so as 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 at the top surface collection point 81. In this way, the camera in the first camera group can be at a fixed point relative to the top surface 71 of the battery pack 7, and then the first camera group can shoot the top surface image of the top surface 71 of the battery pack 7 from the fixed point.

[0243] For another example, as shown in FIG. 3, after the first camera group reaches the top surface collection point 81, the fifth wire body and the first wire body can be controlled to drive the first camera group to move along the preset path of the top surface 71. The preset path of the top surface 71 can be a virtual route parallel to the top surface 71 of the battery pack 7 and extending in the first direction X and the second direction Y. For example, the preset path of the top surface 71 can be an approximately S-shaped path, so that the camera in the first camera group can shoot the top surface image of each region of the top surface 71.

[0244] S102, in response to the side shooting instruction, controlling the second wire body to slide on the second support beam in the first direction, and / or, controlling the second camera group to slide on the second wire body in the second direction, and / or, controlling the second camera group to rotate relative to the second wire body in the third direction, so as to move the second camera group relative to the side surface or the end surface of the battery pack, and shoot the side surface image and the end surface image of the battery pack.

[0245] In the embodiments of the present disclosure, as shown in FIG. 3, during the process of collecting the top surface image of the top surface 71 of the battery pack 7, or before or after collecting the top surface image, the second camera group can be controlled to collect the side surface image and the end surface image of the upper side surface 72 and the end surface 73 of the battery pack 7. For example, after the controller receives the side shooting instruction, the second camera group can be controlled to shoot the side surface image of the side surface 72 of the battery pack 7, or shoot the end surface image of the end surface 73 of the battery pack 7.

[0246] For example, as shown in FIG. 3, the second wire body, the fourth wire body, the sixth wire body and the fourth rotating piece can be controlled to drive the second camera group to move relative to the side surface 72 and the end surface 73 of the battery pack 7. For example, the sixth wire body is controlled to generate movement in the first direction X, so as to drive the second wire body to move in the first direction X. The second wire body is controlled to generate movement in the second direction Y, so as to drive the second camera group to move relative to the side surface 72 of the battery pack 7, and the second camera group is controlled to shoot the side surface image of the side surface 72. Or, the sixth wire body and the second wire body are controlled to drive the second camera group to move to a position adjacent to the end surface 73 of the battery pack 7, and the fourth rotating piece is controlled to drive the second camera group to rotate to face the end surface 73 of the battery pack 7. Then, the second wire body is controlled to drive the second camera group to move relative to the end surface 73 in the second direction Y, and the second camera group is controlled to shoot the end surface image of the end surface 73.

[0247] S103, detecting the appearance of the battery pack based on the top surface image, the side surface image and the end surface image.

[0248] In the embodiments of the present disclosure, after the first camera group and the second camera group collect the top surface image, the side surface image and the end surface image of the battery pack, or during the process of collecting the top surface image, the side surface image and the end surface image of the battery pack, the first camera group can timely upload the collected top surface image to the processor, and the second camera group can also timely upload the collected side surface image and end surface image to the processor, and the processor can determine whether the top surface, the side surface and the end surface of the battery have defects based on the obtained top surface image, the side surface image and the end surface image.

[0249] For example, it can be determined whether there is a scratch in the top surface image, the side surface image and the end surface image, or whether the installation position and posture of some devices installed outside the battery pack are accurate, so as to determine whether the battery pack has defects.

[0250] The battery detection method provided by the embodiments of the present disclosure can acquire multiple images that can represent whether the appearance of the battery pack has defects, by acquiring the top surface image of the top surface of the battery pack through the first camera group and acquiring the side surface image of the side surface of the battery pack and the end surface image of the end surface of the battery pack through the second camera group during the detection of the battery pack. Meanwhile, the processor or the like can be used to identify and detect the top surface image, the side surface image and the end surface image, so as to determine whether there is a defect in the top surface image, the side surface image and the end surface image, thereby improving the accuracy and detection efficiency of the appearance detection of the battery pack.

[0251] In some possible embodiments of the present disclosure, based on FIG. 9, step S102 in FIG. 9 can be implemented through steps S1021 to S1023.

[0252] S1021, control the second line body to slide on the second support beam in the first direction, so that the second camera group moves relative to the side surface 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 directed to the side surface of the battery pack, and shoot the side surface image of the battery pack.

[0253] In the embodiments of the present disclosure, as shown in FIG. 3, the second line body can be controlled to generate movement in the second direction Y, so that the two second camera groups are located at positions opposite to the side surface 72 of one battery pack 7. The fourth rotating member can be controlled to drive the second camera group to rotate, so that the shooting direction of the camera in each second camera group is directed to the corresponding side surface 72. For example, the second camera group can be located at a side surface collection point 83 opposite to the side surface 72. The side surface collection point 83 can be a space point adjacent to the side surface 72 of the battery pack 7.

[0254] For example, after the second camera group reaches the side collection point 83, the sixth linear body and the fourth linear body can be controlled to drive the second camera group to move relative to the side 72. For example, after two second camera groups reach the side collection points 83 corresponding to the two sides 72 respectively, the sixth linear body can be controlled to drive the second camera group to move along a side preset path 84 corresponding to the side 72, so that the two second camera groups can simultaneously shoot side images of the two sides 72. The side preset path 84 is a virtual route parallel to the side 72 of the battery pack 7.

[0255] S1022, controlling the second linear body to slide on 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.

[0256] In the embodiment of the present disclosure, after the side image collection of the side is completed, the sixth linear body can be controlled to drive the second linear body 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 that cannot collide with the battery pack during the process of being driven by the fourth rotating member to rotate around the third direction.

[0257] S1023, controlling the second camera group to slide on the second linear body in the second direction to move the second camera group relative to the end face of the battery pack, and controlling the second camera group to rotate relative to the second linear body around the third direction to make the shooting direction of the second camera group face the end face of the battery pack, and shoot the end face image of the battery pack.

[0258] In the embodiment of the present disclosure, as shown in FIG. 3, after the second camera group exceeds the space where the battery pack 7 is located in the first direction X, the second camera group is on the side away from the center of the battery pack 7 in the plane where the end face 73 is located. The second linear body can be controlled to generate movement in the second direction Y to drive one second camera group to move relative to one end face 73 in the second direction Y, and the fourth rotating member can be controlled to drive the second camera group to rotate around the third direction Z, so that the shooting direction of the camera in the second camera group faces the corresponding end face 73. For example, the second camera group can be controlled to be at an end face collection point 85 opposite to the end face 73. The end face collection point 85 can be a space point adjacent to the end face 73 of the battery pack 7.

[0259] For example, after the second camera group reaches the side collection point 83, the sixth linear body and the fourth linear body can be controlled to drive the second camera group to move relative to the side 72. For example, after two second camera groups reach the side collection points 83 corresponding to the two sides 72 respectively, the sixth linear body and the fourth linear body can be controlled to drive the second camera group to move relative to the side 72. For example, after two second camera groups reach the side collection points 83 corresponding to the two sides 72 respectively, the sixth linear body can be controlled to drive the second camera group to move along a side preset path 84 corresponding to the side 72, so that the two second camera groups can simultaneously shoot side images of the two sides 72. The side preset path 84 is a virtual route parallel to the side 72 of the battery pack 7.

[0260] Another example, after the end face image collection of one end face 73 is completed, the sixth linear body can be controlled to drive the second camera group to move to a position adjacent to another end face 73. The second linear body and the fourth linear body can be controlled to drive the second camera group to move relative to the another end face 73, so that the second camera group reaches the end face collection point 85 corresponding to the another end face 73. The second linear body and the fourth linear body can be controlled to drive the second camera group to move relative to the another end face 73. For example, after one second camera group reaches the end face collection point 85 corresponding to the another end face 73, the second linear body can be controlled to drive the second camera group to move along the end face preset path 86 corresponding to the another end face 73, so that the second camera group can shoot the end face image of the another end face 73. Until the side face image shooting of all side faces 72 is completed, and the end face image shooting of all end faces 73 is completed.

[0261] In the above embodiment, by controlling the second linear body to move in the first direction, controlling the second camera group to move in 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 face and end face, and the shooting direction of the second camera group can be directed to each side face and each end face of the battery pack, respectively. The second camera group can also be driven to move relative to each side face and each end face, so that the second camera group can complete the side face image shooting of all side faces of the battery pack, and complete the end face image shooting of all end faces.

[0262] In some possible embodiments of the present disclosure, based on FIG. 9, step S101 in FIG. 9 can be implemented through steps S1011 to S1012.

[0263] S1011, control the first sliding member to move relative to the first support in the 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 the third direction, so that the distance between the first three-dimensional camera and the pin header connector meets the preset distance threshold.

[0264] In the embodiments of the present disclosure, the pin header connector is usually arranged on the top surface of the battery pack, and the pin header connector often has a plurality of pins or a plurality of pin insertion holes. When the first three-dimensional camera shoots the stereoscopic image of the pin header connector, the first three-dimensional camera needs to be parallel to the extension direction of the pins in the pin header connector, and has a preset distance threshold from the pins.

[0265] For example, the first sliding member can be controlled to move in the third direction, so as to drive the first three-dimensional camera to move relative to the top surface of the battery pack in the third direction through the first sliding member, so that the distance between the first three-dimensional camera and the pin header connector is within the range of the preset distance threshold, 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.

[0266] S1012, control the first rotating member to rotate around the third direction relative to the first support to drive the first three-dimensional camera to rotate around the third direction relative to the pin header connector, so that the included angle between the first three-dimensional camera and the pin header connector satisfies the preset included angle threshold.

[0267] In the embodiments of the present disclosure, the pin header connector on the top surface of the battery pack and the top surface can have an included angle of 0-90°, that is, the pin header connector is not vertically arranged on the top surface of the battery pack. The first rotating member can be controlled to drive the first three-dimensional camera to rotate around the third direction to adjust the shooting angle between the first three-dimensional camera and the pin header connector, so that the included angle between the first three-dimensional camera and the pin header connector on the top surface satisfies the vertical relationship, that is, the first three-dimensional camera is perpendicular or close to perpendicular to the end surface of the pin header connector away from the top surface of the battery pack. In this way, the included angle between the first three-dimensional camera and the pin header connector can satisfy the preset included angle threshold, and parallel shooting of the camera to the pin header connector can be realized. It should be noted that the preset included angle threshold can also be an angle that is not perpendicular, and the range and value of the preset included angle threshold are not limited in the embodiments of the present disclosure.

[0268] In the above embodiments, since the first rotating member is controlled to drive the first three-dimensional camera to rotate relative to the pin header connector on the top surface of the battery pack, the included angle between the first three-dimensional camera and the pin header connector can be adjusted, so that the first three-dimensional camera and the pin header connector can satisfy the vertical relationship. And the first sliding member is controlled to drive the first three-dimensional camera to move along the third direction relative to the pin header connector, the distance between the first three-dimensional camera and the pin header connector can be adjusted, so that parallel shooting of the first three-dimensional camera to the pin header connector can be realized, which is beneficial to reduce the problems such as highlight reflection, depth of field blur, etc. in the top surface image containing the pin header connector, and can improve the quality of the top surface image containing the pin header connector.

[0269] The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure, and they should be covered in the scope of the specification of the present disclosure. Especially, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way.

Claims

1. A battery pack detection device, comprising: a gantry frame comprising a first frame body and a second frame body, the first frame body comprising two first support beams extending along a first direction, and a first line body slidingly arranged on the two first support beams along the first direction; the second frame body comprising two second support beams extending along the first direction, and a second line body slidingly arranged on the two second support beams along the first direction; a first camera group slidingly arranged on the first line body along a second direction, for capturing a top surface image of a battery pack; the second direction being perpendicular to the first direction; two oppositely arranged second camera groups slidingly arranged on the second line body along the second direction respectively, and the second camera groups being rotatably connected to the second line body around a third direction, the second camera groups being used for capturing side surface images and end surface images of the battery pack; the third direction being perpendicular to the first direction, and the third direction being perpendicular to the second direction; a processor for receiving the top surface image, the side surface images and the end surface images, and detecting an appearance of the battery pack based on the top surface image, the side surface images and the end surface images.

2. The battery pack detection apparatus according to claim 1, wherein the first camera group comprising a first three-dimensional scanning camera and a first bracket having a first accommodating cavity, the first bracket comprising a first top plate and two first side plates, upper ends of the two first side plates being fixed to two ends of the first top plate respectively, the first top plate and the two first side plates enclosing the first accommodating cavity, a first opening of the first accommodating cavity facing the top surface of the battery pack along a third direction, the first bracket being slidingly arranged on the first line body through the first top plate or the first side plate; the third direction being perpendicular to the first direction, and the third direction being perpendicular to the second direction; the first three-dimensional scanning camera being fixed to the first top plate and located outside the first accommodating cavity, for capturing a three-dimensional image of the top surface of the battery pack.

3. The battery pack detection apparatus according to claim 2, wherein the first camera group further comprising a first two-dimensional line scanning camera, the first two-dimensional line scanning camera being fixed to one of the first side plates and located outside the first accommodating cavity, and being staggered with the fixed position of the first three-dimensional scanning camera, facing the top surface of the battery pack, for capturing a first line scanning image of the top surface.

4. The battery pack detection apparatus according to claim 3, wherein the first camera group further comprising a first linear light source, the first linear light source being rotatably arranged on an outer wall of the first side plate, an illumination area of the first linear light source covering a capturing area of the first two-dimensional line scanning camera on the top surface, for illuminating the top surface.

5. The battery pack detection apparatus according to claim 3 or 4, wherein the first camera group further comprising a first two-dimensional camera, the first two-dimensional camera being fixed to the other first side plate and located outside the first accommodating cavity close to one side of the first opening, facing the top surface of the battery pack, for capturing a top surface two-dimensional image of the top surface.

6. The battery pack detection apparatus according to claim 5, wherein The first camera group further comprises two second linear light sources fixed on the first side plate on which the first two-dimensional camera is arranged, located outside the first accommodating cavity and close to one side of the first opening, and symmetrically arranged on two sides of the first two-dimensional camera, and the illumination area of the second linear light source covers the shooting area of the first two-dimensional camera on the top surface of the battery pack, for lighting the top surface of the battery pack.

7. The battery pack detection apparatus according to claim 5 or 6, wherein The first camera group further comprises a first annular light source fixed on the first side plate on which the first two-dimensional camera is arranged, and located outside the first accommodating cavity and close to one side of the first opening, and the first annular light source is coaxially arranged with the first two-dimensional camera, and the illumination area of the first annular light source covers the shooting area of the first two-dimensional camera on the top surface of the battery pack, for lighting the top surface of the battery pack.

8. The battery pack detection apparatus according to any one of claims 5 to 7, wherein The first camera group further comprises a first three-dimensional camera movably arranged on the inner wall of the first top plate and located between the first two-dimensional linear camera and the first two-dimensional camera, and faces the top surface of the battery pack, for shooting the image of the pin header connector on the top surface of the battery pack.

9. The battery pack detection apparatus according to claim 8, wherein, The first camera group further comprises a first rotating member and a first sliding member, the first sliding member is fixed on the inner wall of the first top plate, and the first rotating member is connected to the first sliding member, and the first two-dimensional camera is arranged 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 detection apparatus according to any one of claims 2 to 9, wherein The battery pack detection device further comprises a third rotating member, and the first support is connected to the first linear body through the third rotating member, and the third rotating member is used to drive the first camera group to rotate around the third direction.

11. The battery pack detection apparatus according to claim 10, wherein The battery pack detection device further comprises a third linear body, the third linear body is movably arranged on the first linear body along the third direction, the third rotating member is connected to the third linear body, and the third linear body can drive the first camera group to move along the third direction.

12. The battery pack detection apparatus according to claim 11, wherein, A height sensor is arranged on the third linear body or the first support, and 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 detection apparatus according to any one of claims 1 to 12, wherein The second camera group comprises a second support and a second two-dimensional camera; the second support is perpendicular to the third direction, and one side of the second support is slidably connected to the second linear body along the third direction; The second two-dimensional camera is arranged on the second support at a preset angle and located on one side of the second support close to the second linear body, and the second two-dimensional camera is used to shoot the edge image 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 of the battery pack.

14. The battery pack detection apparatus according to claim 13, wherein, The second camera group further comprises two third linear light sources, which are arranged on the second support in the preset angle and symmetrically arranged on both sides of the second two-dimensional camera, and used for lighting the edge for the second two-dimensional camera.

15. The battery pack detection apparatus according to claim 13 or 14, wherein, The second camera group further comprises a second three-dimensional camera, which is arranged on the second support through a second rotating member and located on a side of the second support away from the second linear body, the second rotating member can drive the second three-dimensional camera to rotate relative to the second support in the first direction or the second direction, and the second three-dimensional camera is used for shooting the side or end connector image of the battery pack.

16. The battery pack detection apparatus of claim 15, wherein, The second camera group further comprises a third two-dimensional camera, which is arranged on the second support in the first direction or the second direction and located on a side of the second support away from the second linear body, and the third two-dimensional camera is arranged on the second support away from the second three-dimensional camera, and the third two-dimensional camera is used for shooting the side or end two-dimensional image of the battery pack.

17. The battery pack detection apparatus of claim 16, wherein, The second camera group further comprises a second sliding member, which is fixed on a side of the second support away from the second linear body, and the third two-dimensional camera is arranged on the second sliding member, and the second sliding member can drive the third two-dimensional camera to move relative to the second support in the first direction or the second direction.

18. The battery pack detection apparatus of claim 17, wherein, The second camera group further comprises a second ring light source, which is fixed on the second sliding member and located on a side of the third two-dimensional camera close to the side or end surface of the battery pack, and arranged coaxially with the third two-dimensional camera, and the second ring light source is used for lighting the shooting area of the third two-dimensional camera on the side or end surface of the battery pack.

19. The battery pack detection apparatus according to any one of claims 16 to 18, wherein The second camera group further comprises two fourth linear light sources, which are fixed on a side of the second support away from the second linear body and located on a side of the third two-dimensional camera close to the side or end surface of the battery pack, and the two fourth linear light sources are symmetrically arranged on both sides of the third two-dimensional camera, and the illumination area of the fourth linear light source covers the shooting area of the third two-dimensional camera on the side or end surface of the battery pack, and used for lighting the shooting area of the third two-dimensional camera.

20. The battery pack detection apparatus according to any one of claims 16 to 19, wherein The second camera group further comprises a second three-dimensional scanning camera, which is fixed on a side of the second support away from the second linear body and located between the second three-dimensional camera and the third two-dimensional camera, and used for shooting the side or end three-dimensional image of the battery pack.

21. The battery pack detection apparatus according to any one of claims 16 to 20, wherein The second camera group further comprises a second two-dimensional line scanning camera, which is fixed on a side of the second support away from the second linear body and located on an end of the second support away from the third two-dimensional camera, and used for shooting the side or end line scanning image of the battery pack.

22. The battery pack detection apparatus of claim 21, wherein, The second camera group further comprises a fifth strip-shaped light source, which is arranged on the second support around the third direction and located on the side of the second two-dimensional line-scan camera close to the battery pack, and used for lighting the shooting area of the second two-dimensional line-scan camera on the battery pack.

23. The battery pack detection apparatus according to any one of claims 13 to 22, wherein The battery pack detection device further comprises a fourth rotating member, and the second support is connected to the second line body through the fourth rotating member. In the case that the second line body moves to one of the two ends of the two second support beams along the first direction, the fourth rotating member can drive the second camera group to rotate to face the end surface of the battery pack, or the fourth rotating member can drive the second camera group to rotate to face the side surface of the battery pack.

24. The battery pack detection apparatus of claim 23, wherein, The battery pack detection device further comprises a fourth line body, which is slidingly arranged on the second line body along the third direction, and 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 detection apparatus according to any one of claims 1 to 24, wherein Further comprising a position detection member, at least one end of the first support beam is fixed with the position detection member along the first direction, and the position detection member is used for detecting the position of the first line body on the first support beam, so as to stop the movement of the first line body relative to the first support beam, or to make the first line body be at the original position relative to the first support beam. And / or, along the first direction, the position detection member is arranged on at least one end of the second support beam, and the position detection member is used for detecting 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 be at the original position relative to the second support beam.

26. The battery pack detection apparatus according to any one of claims 1 to 25, wherein The battery pack detection device further comprises a positioning device, which comprises a positioning base body, a jacking mechanism and a positioning mechanism; the positioning base body is arranged adjacent to the second frame body, the jacking mechanism is slidingly arranged on the positioning base body along the third direction, and used for driving the battery pack to move along the third direction towards the direction close to or away from the first camera group; the positioning mechanism is slidingly arranged on the positioning base body and can move towards the direction close to the battery pack, so as to limit the position of the battery pack relative to the gantry truss.

27. The battery pack detection apparatus of claim 26, wherein, The positioning mechanism comprises a conveying positioning assembly and a tray positioning assembly; the positioning mechanism is slidingly arranged on the positioning base body along the first direction and can move towards the conveying device close to the battery pack along the first direction; the tray positioning assembly is slidingly arranged on the side of the positioning base body close to the first camera group along the third direction and can move towards the tray supporting the battery pack along the third direction.

28. The battery pack detection apparatus of claim 27, wherein, The positioning device further comprises a guide assembly, which comprises two groups of guide frames, the guide frames are arranged along the first direction and the two ends of the guide frames are bent away from the side surface of the battery pack, so as to guide the battery pack into the limiting space formed by the two groups of guide frames; A plurality of guide wheels are arranged on the guide frame and are spaced along the extension direction of the guide frame. When the edge of the conveying device contacts the guide wheels, the guide wheels rotate to limit the movement path of the conveying device.

29. A battery pack detection method applied to the battery pack detection device of any one of claims 1 to 28, the battery pack detection method comprising: in response to a top photographing instruction, controlling the first linear body to slide on the first support beam in a first direction, and / or controlling the first camera group to slide on the first linear body in a second direction, so as to move the first camera group relative to the top surface of the battery pack and photograph a top surface image of the battery pack; in response to a side photographing instruction, controlling the second linear body to slide on the second support beam in the first direction, and / or controlling the second camera group to slide on the second linear body in the second direction, and / or controlling the second camera group to rotate relative to the second linear body around a third direction, so as to move the second camera group relative to the side surface or end surface of the battery pack and photograph a side surface image and an end surface image of the battery pack; detecting the appearance of the battery pack based on the top surface image, the side surface image and the end surface image.

30. The battery pack detection method of claim 29, wherein, in response to a side photographing instruction, controlling the second linear body to slide on the second support beam in the first direction, and / or controlling the second camera group to slide on the second linear body in the second direction, and / or controlling the second camera group to rotate relative to the second linear body around a third direction, so as to move the second camera group relative to the side surface or end surface of the battery pack and photograph a side surface image and an end surface image of the battery pack, comprising: controlling the second linear body to slide on the second support beam in the first direction, so as to move the second camera group relative to the side surface of the battery pack, and controlling the second camera group to rotate relative to the second linear body around a third direction, so as to direct the photographing direction of the second camera group towards the side surface of the battery pack and photograph a side surface image of the battery pack; controlling the second linear body to slide on the second support beam in the first direction, so as to move the second camera group beyond the space where the battery pack is located in the first direction; controlling the second camera group to slide on the second linear body in the second direction, so as to move the second camera group relative to the end surface of the battery pack, and controlling the second camera group to rotate relative to the second linear body around the third direction, so as to direct the photographing direction of the second camera group towards the end surface of the battery pack and photograph an end surface image of the battery pack. 31.The battery pack detection method of claim 29 or 30, wherein the first camera set of the battery pack detection device comprises a first three-dimensional camera, a first rotating member, and a first sliding member, the first sliding member is fixed to a first support, 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 detection method further comprises: controlling the first sliding member to move relative to the first support 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 the third direction, so that the distance between the first three-dimensional camera and the pin header connector satisfies a preset distance threshold; and / or, controlling the first rotating member to rotate relative to the first support around the third direction to drive the first three-dimensional camera to rotate relative to the pin header connector around the third direction, so that an included angle between the first three-dimensional camera and the pin header connector satisfies a preset included angle threshold.

Images