CN109297409A - The identification positioning device and method of battery displacement - Google Patents
The identification positioning device and method of battery displacement Download PDFInfo
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- CN109297409A CN109297409A CN201811238786.5A CN201811238786A CN109297409A CN 109297409 A CN109297409 A CN 109297409A CN 201811238786 A CN201811238786 A CN 201811238786A CN 109297409 A CN109297409 A CN 109297409A
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- battery
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- displacement
- compartment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The present invention provides a kind of identification positioning devices of battery displacement, including battery compartment, dot scaling board, the grabbing assembly for carrying battery and the image collection assembly for acquiring battery location information Yu battery compartment location information, image collection assembly is set to below grabbing assembly, dot scaling board is set on grabbing assembly and dot scaling board is located in the acquisition range above image collection assembly, grabbing assembly by battery location adjust to it is corresponding with battery bin location when, calculate battery position adjusted by basic point of the dot on dot scaling board.The present invention also proposes a kind of recognition positioning method of battery displacement, when establishing coordinate system, the position after the battery adjustment is directly calculated by the relationship between the basic point coordinate of basic point, battery location, the position after battery adjustment is moved to by grabbing assembly again Chong Die with battery bin location, to realize the identification positioning for the displacement for only needing once photo taking that battery can be completed, production efficiency is improved.
Description
Technical field
The present invention relates to battery assembly technical field, in particular to the identification positioning device and one kind of a kind of battery displacement
The recognition positioning method of battery displacement.
Background technique
In current battery assembly line, use is mostly double-station double camera positioning identification system.First on battery
A point location is chosen, positioning for the first time takes pictures to obtain its coordinate points (X1, Y1), and chooses battery top edge, with horizontal line
Compare the deviation angle θ 1 obtained；Then a reference point is chosen in the same position of battery compartment and edge is positioned, second of bat
According to obtain its coordinate (X2, Y2) and deviation angle θ 2.The positioning of the two position directly can be obtained by (X, Y) coordinate, and angle
The positioning of degree is realized by spin matrix.When the deflection angle of battery rotates to the angle of θ 2 by θ 1, (X1,
Y1 it) necessarily has occurred that variation, is taken pictures by third time position its new coordinate points (X3, Y3) for just obtaining generation at this time, then adjusted
The coordinate points (X3, Y3) of renewing are overlapped to (X2, Y2), and the identification positioning of the displacement of battery can be completed.
Time required for once photo taking and process image procossing are moved to manipulator in practice is about 1
Second, the productive temp of equipment is seriously affected, to reduce production efficiency.It needs to take pictures twice in the above process, speed is slow, efficiency
It is lower.
Summary of the invention
The main object of the present invention is to provide a kind of identification positioning device of battery displacement, it is intended to which it is right in the prior art to solve
The problem of battery needs to take pictures twice when positioning, and speed is slow, low efficiency.
To achieve the above object, the identification positioning device of battery displacement proposed by the present invention, comprising: positioning table, battery compartment,
Dot scaling board, the grabbing assembly for carrying battery and believe for acquiring the battery location information and the battery bin location
The image collection assembly of breath, the battery compartment and the grabbing assembly are set on the positioning table, described image acquisition component
It is set to below the grabbing assembly, the dot scaling board is set on the grabbing assembly and dot scaling board position
In acquisition range above the described image acquisition component, the grabbing assembly is using the dot on the dot scaling board as basic point
It calculates the battery to adjust to the position after the correspondence battery compartment, and the battery displacement is moved to the correspondence battery compartment
Position.
Preferably, the grabbing assembly includes: bracket and pickup folder, and the pickup folder is set to the frame bottom, institute
State bracket can the dot on the dot scaling board make rotating motion for the center of circle, the bracket drives the pickup folder when rotating
On battery rotary.
Preferably, the dot scaling board is made of film plate laser printing.
Preferably, described image acquisition component includes positioning camera and light source, and the positioning camera is set to the bracket
Top, the light source are set to below the positioning camera.
In addition, to achieve the above object, the present invention also proposes a kind of recognition positioning method of battery displacement, the battery position
The recognition positioning method of shifting includes:
The battery bin location of battery compartment is obtained, and the battery bin location is set as target position；
Acquire battery battery location and the dot coordinate on dot scaling board, judge the battery location with it is described
Whether target position is consistent；
When the battery location and the target position are inconsistent, according to the battery location, target position and institute
Battery described in dot Coordinate Adjusting is stated to the target position；
The battery is put into the battery compartment by control grabbing assembly.
Preferably, described when the battery location and the target position are inconsistent, according to the battery location, target
Battery to the step of target position described in position and the dot Coordinate Adjusting includes:
The battery and the battery are determined according to the target position of the battery location of the battery and the battery compartment
The misalignment angle in storehouse；
The angle information of the battery is adjusted according to the misalignment angle；
According to battery described in the battery location, the misalignment angle and dot Coordinate Adjusting to the target position.
Preferably, described that the battery is determined according to the battery location of the battery and the target position of the battery compartment
Include: with the step of misalignment angle of the battery compartment
It is obtained by image analysis corresponding on the edge of battery position in a coordinate system and the battery compartment
Edge position in a coordinate system；
The edge of the battery and the first angle and the battery of the coordinate system X-axis are obtained by image analysis
Second angle at corresponding edge and the coordinate system X-axis on storehouse；
The difference of first angle and second angle is the misalignment angle.
Preferably, the battery according to the battery location, the misalignment angle and default dot Coordinate Adjusting
Include: to the step of target position
The battery is calculated according to the misalignment angle and the dot coordinate to adjust from the battery location to the mesh
When cursor position, the battery offset in X-axis and Y-axis in a coordinate system；
The battery location and the battery in a coordinate system X-axis and the offset in Y-axis and be the target position.
A basic point, the grabbing assembly is arranged when establishing coordinate system in technical solution of the present invention on the grabbing assembly
By the position of the battery adjust to it is corresponding with the battery bin location during, sat by the basic point of the basic point
Relationship between mark, battery location directly calculates the position after the battery adjustment, then passes through the grabbing assembly for institute
State battery adjustment after position be moved to it is Chong Die with the battery bin location, thus realization only need once photo taking that institute can be completed
The identification positioning for stating the displacement of battery, saves productive temp, improves production efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow diagram of the recognition positioning method first embodiment of battery displacement of the present invention；
Fig. 2 is the flow diagram of the recognition positioning method second embodiment of battery displacement of the present invention；
Fig. 3 is the flow diagram of the recognition positioning method 3rd embodiment of battery displacement of the present invention；
The identification positioning device concrete structure schematic diagram of the position Fig. 4 battery displacement of the present invention.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 10 | Grabbing assembly | 20 | Dot scaling board |
| 30 | Battery compartment |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
It to be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
Within enclosing.
The present invention proposes a kind of identification positioning device of battery displacement, the identification positioning device packet of the battery displacement in fact
It includes: positioning table, battery compartment 30, dot scaling board 20, the grabbing assembly 10 for carrying battery and for acquiring the battery position
It is described fixed that the image collection assembly of confidence breath and the battery compartment location information, the battery compartment and the grabbing assembly are set to
On the platform of position, described image acquisition component is set to 10 lower section of grabbing assembly, and the dot scaling board 20 is set to described grab
It takes on component 10 and the dot scaling board 20 is located in the acquisition range above described image acquisition component, the crawl group
Part 10 calculates the battery as basic point using the dot on the dot scaling board 20 and adjusts to the position after the correspondence battery compartment 30
It sets, and the battery displacement is moved to the position of the correspondence battery compartment 30.
Described image acquisition component may include locating piece, and the locating piece is set to 30 top of battery compartment, be used for
It takes pictures to the battery compartment 30 positioning, a reference point is chosen on the battery compartment 30 and determines that the reference of the reference point is sat
Mark.Alternatively, carrying out positioning bat to the battery compartment 30 before the grabbing assembly 10 grabs battery from external feed mechanism
According to, the reference coordinate of the reference point is obtained, is taken pictures to save the locating piece to battery compartment positioning, simplified device knot
Structure, to save equipment cost.
When the grabbing assembly 10 grabs battery and is moved to above the battery compartment, described image acquisition component is to institute
It states the dot on battery and the dot scaling board 20 and carries out positioning of taking pictures, then the battery is adjusted by the grabbing assembly 10
Position keeps it corresponding with 30 position of battery compartment.For example, described image acquisition component takes pictures to battery positioning,
Two points are preset on the battery, which is subjected to line, meter with the dot on the dot scaling board 20 respectively
The angle between two straight lines is calculated, similarly, two corresponding reference points are chosen on the battery compartment 30, and calculate itself and institute
The angle between dot line is stated, when adjusting identical to two angles, then determines the battery location and the battery compartment 30
Position it is corresponding.Alternatively, described image acquisition component takes pictures to battery positioning, one is chosen on the battery and is preset
Point obtains the preset coordinate and the battery one edge and referring to the angle between straight line of the preset, similarly, in institute
It states and chooses a corresponding reference point and reference edge on battery compartment 30, obtain its reference coordinate and reference edge and the reference is straight
Angle between line then determines the position phase of the battery location with the battery compartment 30 when adjusting identical to two angles
It is corresponding.In above process, by dot coordinate on the dot scaling board 20, adjust the battery location when angle that turns over
It spends size and adjusts the preset coordinate of preset on foregoing description battery, it is described after the battery adjustment can be calculated
Preset generate new coordinate, finally by the new coordinate that the grabbing assembly 10 generates the preset be moved to it is described
The battery, can be put into the battery compartment 30 by the reference coordinate overlapping of the reference point on battery compartment 30.To realize
It only needs once photo taking that the identification positioning of the displacement of the battery can be completed, saves productive temp, improve production efficiency.It needs
It is noted that in above process, the line of dot is on the preset, the reference point to the dot scaling board 20
Its projection in the horizontal plane.
A basic point, the crawl group is arranged when establishing coordinate system in technical solution of the present invention on the grabbing assembly 10
Part 10 by the position of the battery adjust to it is corresponding with 30 position of battery compartment during, pass through the base of the basic point
Relationship between point coordinate, battery location directly calculates the position after the battery adjustment, then passes through the grabbing assembly
10 by the battery adjustment after position be moved to it is Chong Die with 30 position of battery compartment, thus realization only need once photo taking i.e.
The identification of the displacement of the achievable battery positions, and saves productive temp, improves production efficiency.
Specifically, the crawl group 10 includes: bracket and the pickup folder for clamping battery, the pickup folder is set to
The frame bottom, the dot scaling board 20 are set to above the pickup folder, and the bracket drives the dot when mobile
Scaling board does 9 points of calibration, and to constitute spin matrix, the central point of the spin matrix is the basic point, when the bracket rotates
Drive the battery rotary on the pickup folder.The dot of the dot scaling board 20 can mark on the bracket, can also be with
Label is in any side of the bracket, it is only necessary to guarantee that the dot scaling board 20 can be shot by described image acquisition component
It arrives.After the pickup folder clamping to the battery, nine point calibration are carried out above the battery compartment 30, that is, move nine positions
It sets, described every one position described image acquisition component of movement of bracket then shoots positioning to the dot scaling board on the bracket,
Transition matrix is constituted after the bracket completes 9 points of calibration, to make the pixel shot by described image acquisition component
Coordinate is converted to for controlling the mobile mechanical coordinate of grabbing assembly.After obtaining mechanical coordinate, controls the bracket and drive institute
It is mobile to state battery, until the default edge on the battery adjusts until parallel with the reference edge on the battery compartment 30.
It should be noted that by 9 points of transition matrixes obtained by calibrating, the point at center can be set to basic point, to pass through the base
Point calculates the coordinate after the battery rotation.
The gripper assembly can also include everything part, and the pickup folder is set to the bracket by the everything part
On, the pickup folder can drive the battery to be adjusted in the horizontal plane under the action of the everything part, so that described
Battery is consistent with the battery compartment 30 in the position of relative level, so that the battery run-off the straight is prevented, thus into
One step improves the identification positioning accuracy of the battery displacement.
As one embodiment, the detailed process and algorithm for adjusting the battery to 30 position of battery compartment are as follows:
In practice, for optimization algorithm, the misalignment angle calculated between the battery and the battery compartment 30, and root are generallyd use
The mode of position after calculating the battery rotary according to misalignment angle.
The misalignment angle between the battery and the battery compartment 30 is calculated first, and positioning of taking pictures is being carried out to the battery
When, one is chosen on the image referring to straight line, while choosing certain one edge on the battery, obtained by the analysis to image
The edge and the angle referring to straight line,.For example, the length of the battery is chosen, correspondingly, equally choosing the battery compartment 30
Length as reference edge, and obtain the reference edge and referring to the angle between straight line, the difference between two angles is then
The misalignment angle of the battery compartment 30, i.e., the angle that the described battery needs to turn over are corresponded to for the battery.
Secondly, choose a preset and its preset coordinate on the battery, the grabbing assembly 10 drive the battery with
Dot on the dot scaling board 20 is that the center of circle turns over the misalignment angle, according to the default seat of preset on the battery
The dot coordinate of dot and the misalignment angle produce after can calculating the preset rotation on mark, the dot scaling board 20
Raw coordinates of targets.Its specific calculating process is as follows:
It is described to preset if the preset coordinate is (Xa, Ya), rotational angle θ when the dot coordinate is origin
Volume coordinates of targets is (Xb, Yb) after point rotation.As the rotational angle θ it is known that can then be calculated according to following calculation formula
Coordinates of targets (Xb, Yb):
Xb=Xa*cos θ-Ya*sin θ
Yb=Xa*sin θ+Ya*cos θ
Be converted to the representation of matrix are as follows:
When the dot coordinate is not origin, if the dot coordinate is (a, b), then the calculating side of the coordinates of targets
Formula are as follows:
Xb=(Xa-a) cos θ-(Ya-b) sin θ+a
Yb=(Xa-a) sin θ+(Ya-b) cos θ+b
In Halcon, above-mentioned calculation formula can be used and directly calculate, following operator also can be used and calculated.
Hom_mat2d_identity (HomMat2DIdentity)
Hom_mat2d_rotate (HomMat2DIdentity, rad (θ), a, b, HomMat2DRotate)
Affine_trans_point_2d (HomMat2DRotate, X1, Y1, X3, Y3)
Finally, the coordinates of targets of the battery is calculated by above-mentioned algorithm, the grabbing assembly 10 is controlled by battery
On preset be moved to from the target coordinate position it is Chong Die with the reference coordinate of the battery compartment 30, to carry out accurate group
Dress.To realize optimization algorithm, computational accuracy is improved.
Specifically, the dot scaling board is made of film plate laser printing, so that the dot scaling board precision
Reach 0.03mm, to further increase accuracy of identification.
Specifically, described image acquisition component includes positioning camera and light source, the positioning camera is set to the bracket
Top, the light source are set to below the positioning camera.The light source is hollow design, to mention for the positioning camera
While for illumination, guarantee that it will not stop the shooting optical path of the positioning camera.
In addition, the present invention also proposes a kind of recognition positioning method of battery displacement, Fig. 1 is please referred to, Fig. 1 is battery of the present invention
The flow diagram of the recognition positioning method first embodiment of displacement, the recognition positioning method of the battery displacement include following step
It is rapid:
Step S10: the battery bin location of battery compartment is obtained, and the battery bin location is set as target position；
The battery compartment is carried out positioning to take pictures by described image acquisition component to obtain 30 position of battery compartment, image
Acquisition component may include locating piece, and the locating piece is set to 30 top of battery compartment, for fixed to the battery compartment 30
Position is taken pictures, to obtain the battery bin location of the battery compartment 30, needs to adjust using 30 position of battery compartment as the battery
The whole target position arrived.For example, choosing a reference point on the battery compartment 30 and determining the reference coordinate of the reference point.Or
Person carries out positioning to the battery compartment 30 and takes pictures, obtain before the grabbing assembly 10 grabs battery from external feed mechanism
The reference coordinate of the reference point is taken, and using the reference coordinate of the reference point as the coordinates of targets of the battery；
Step S20: the battery location of battery and the dot coordinate on dot scaling board 20 are acquired, judges the battery
Whether position is consistent with the target position；
When the grabbing assembly 10 grabs battery and is moved to above the battery compartment, described image acquisition component is to institute
The dot stated on battery and the dot scaling board 20 carries out positioning of taking pictures, and obtains the dot coordinate and the battery of the dot
Battery location.For example, described image acquisition component takes pictures to battery positioning, two points are preset on the battery, it will
Two presets carry out line with the dot on the dot scaling board 20 respectively, calculate the angle between two straight lines,
Similarly, two corresponding reference points are chosen on the battery compartment 30, and calculate its angle between the dot line, when
When adjusting identical to two angles, then determine that the battery location is corresponding with the position of the battery compartment 30.Alternatively, the figure
It takes pictures as acquisition component positions the battery, chooses a preset on the battery, obtain the default seat of the preset
It is marked with and it is corresponding similarly to choose one on the battery compartment 30 for the battery one edge and referring to the angle between straight line
Reference point and reference edge, obtain its reference coordinate and reference edge and referring to the angle between straight line.When two angle phases
Meanwhile judging that the battery location is consistent with the target position, then without being adjusted, when two angle differences, judgement
The battery location and the target position are mended unanimously, then need to be adjusted；
Step S30: when the battery location and the target position are inconsistent, according to the battery location, target position
Set and the dot Coordinate Adjusting described in battery to the target position；
Obtain the variable that the battery is moved to the target position from battery location, for example, by way of rotation into
Row adjustment, then according on the dot scaling board 20 dot coordinate, adjust the battery location when angular dimension that turns over
And the preset coordinate of preset on foregoing description battery is adjusted, after can calculating the battery adjustment, is produced from the preset
Raw new coordinate；
Step S40: the battery is put into the battery compartment by control grabbing assembly.
By grabbing assembly 10 by coordinates of targets is adjusted to Chong Die with the reference coordinate on the battery when, can be by institute
Battery is stated to be placed in the battery compartment 30.Technical solution of the present invention is logical when establishing coordinate system, sets on the grabbing assembly
Set a basic point, the grabbing assembly by the position of the battery adjust to it is corresponding with the battery bin location during,
The position after the battery adjustment is directly calculated by the relationship between the basic point coordinate of the basic point, battery location, then
By the grabbing assembly by the battery adjustment after position be moved to it is Chong Die with the battery bin location, thus realize
It needs once photo taking that the identification positioning of the displacement of the battery can be completed, saves productive temp, improve production efficiency.
Further, referring to figure 2., second of the recognition positioning method first embodiment based on battery displacement of the present invention is real
A flow diagram is applied, the step S30 includes:
Step S31: according to the target position of the battery location of the battery and the battery compartment determine the battery with
The misalignment angle of the battery compartment；
Step S32: the angle information of the battery is adjusted according to the misalignment angle；
Step S33: according to battery described in the battery location, the misalignment angle and dot Coordinate Adjusting to the mesh
Cursor position.
In practice, for optimization algorithm, generally use inclined between the calculating battery and the battery compartment 30
Declinate degree, and calculate according to misalignment angle the mode of the position after the battery rotary.
The misalignment angle between the battery and the battery compartment 30 is calculated first, and the battery is obtained by image analysis
Edge position in a coordinate system and the battery compartment on the position of corresponding edge in a coordinate system；Pass through image
Analysis obtains corresponding edge on the edge of the battery and the first angle and the battery compartment of the coordinate system X-axis
With the second angle of the coordinate system X-axis；The difference of first angle and second angle is the misalignment angle.Or
Person, the battery take pictures position when, choose one on the image referring to straight line, while choosing on the battery a certain
Edge passes through and obtains the edge and the angle referring to straight line to the analysis of image.For example, the length of the battery is chosen,
Correspondingly, equally choose the length of the battery compartment 30 as reference edge, and obtain the reference edge and referring between straight line
Angle, the difference between two angles is then the misalignment angle that the battery corresponds to the battery compartment 30, i.e., the described battery needs
The angle to be turned over.According to the dot coordinate of dot on the preset coordinate of preset on the battery, the dot scaling board 20
And the misalignment angle can calculate the coordinates of targets generated after the preset rotation.It should be noted that in above-mentioned mistake
Cheng Zhong, the line of dot is its projection in the horizontal plane on the preset, the reference point to the dot scaling board 20.
To realize the identification positioning for the displacement for only needing once photo taking that the battery can be completed, productive temp is saved, life is improved
Produce efficiency.
Further, referring to figure 3., the third of the recognition positioning method second embodiment based on battery displacement of the present invention is real
A flow diagram is applied, the step S33 includes:
Step S331: the battery is calculated according to the misalignment angle and the dot coordinate and is adjusted from the battery location
When to the target position, the battery offset in X-axis and Y-axis in a coordinate system；
Step S333: the battery location and the battery in a coordinate system X-axis and the offset in Y-axis and be described
Target position.
A preset and its preset coordinate are chosen on the battery, the grabbing assembly 10 drives the battery with the circle
Dot on point scaling board 20 is that the center of circle turns over the misalignment angle, according to the preset coordinate of preset on the battery, described
The dot coordinate of dot and the misalignment angle can calculate the mesh generated after the preset rotation on dot scaling board 20
Mark coordinate.Its specific calculating process is as follows:
It is described to preset if the preset coordinate is (Xa, Ya), rotational angle θ when the dot coordinate is origin
Volume coordinates of targets is (Xb, Yb) after point rotation.As the rotational angle θ it is known that can then be calculated according to following calculation formula
Coordinates of targets (Xb, Yb):
Xb=Xa*cos θ-Ya*sin θ
Yb=Xa*sin θ+Ya*cos θ
Be converted to the representation of matrix are as follows:
When the dot coordinate is not origin, if the dot coordinate is (a, b), then the calculating side of the coordinates of targets
Formula are as follows:
Xb=(Xa-a) cos θ-(Ya-b) sin θ+a
Yb=(Xa-a) sin θ+(Ya-b) cos θ+b
In Halcon, above-mentioned calculation formula can be used and directly calculate, following operator also can be used and calculated.
Hom_mat2d_identity (HomMat2DIdentity)
Hom_mat2d_rotate (HomMat2DIdentity, rad (θ), a, b, HomMat2DRotate)
Affine_trans_point_2d (HomMat2DRotate, X1, Y1, X3, Y3)
Finally, the coordinates of targets of the battery is calculated by above-mentioned algorithm, the grabbing assembly 10 is controlled by battery
On preset be moved to from the target coordinate position it is Chong Die with the reference coordinate of the battery compartment 30, to carry out accurate group
Dress.To realize optimization algorithm, computational accuracy is improved.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (8)
1. a kind of identification positioning device of battery displacement, which is characterized in that the identification positioning device of the battery displacement includes: fixed
Position platform, battery compartment, dot scaling board, the grabbing assembly for carrying battery and for acquire the battery location information with it is described
The image collection assembly of battery compartment location information, the battery compartment and the grabbing assembly are set on the positioning table, described
Image collection assembly is set to below the grabbing assembly, and the dot scaling board is set on the grabbing assembly and described
Dot scaling board is located in the acquisition range above described image acquisition component, and the grabbing assembly is on the dot scaling board
Dot be that basic point calculates the battery and adjusts to the position after the correspondence battery compartment, and the battery displacement is moved to correspondence
The position of the battery compartment.
2. the identification positioning device of battery displacement according to claim 1, which is characterized in that the grabbing assembly includes:
Bracket and pickup folder for clamping battery, the pickup folder are set to the frame bottom, and the dot scaling board is set to
Above the pickup folder, the bracket drives the dot scaling board to do 9 points of calibration when mobile, described to constitute spin matrix
The central point of spin matrix is the basic point.
3. the identification positioning device of battery displacement according to claim 1, which is characterized in that the dot scaling board is phenanthrene
Woods plate laser printing is made.
4. the identification positioning device of battery displacement according to claim 2, which is characterized in that described image acquisition component packet
Positioning camera and light source are included, the positioning camera is set to the cradle top, and the light source is set under the positioning camera
Side.
5. a kind of recognition positioning method of battery displacement, which is characterized in that the recognition positioning method of the battery displacement includes:
The battery bin location of battery compartment is obtained, and the battery bin location is set as target position；
The battery location and the dot coordinate on dot scaling board for acquiring battery, judge the battery location and the target
Whether position is consistent；
When the battery location and the target position are inconsistent, according to the battery location, target position and the circle
Battery described in Coordinate Adjusting is put to the target position；
The battery is put into the battery compartment by control grabbing assembly.
6. the recognition positioning method of battery displacement according to claim 5, which is characterized in that described in the battery location
When inconsistent with the target position, according to battery described in the battery location, target position and the dot Coordinate Adjusting
Include: to the step of target position
The battery and the battery compartment are determined according to the target position of the battery location of the battery and the battery compartment
Misalignment angle；
The angle information of the battery is adjusted according to the misalignment angle；
According to battery described in the battery location, the misalignment angle and dot Coordinate Adjusting to the target position.
7. the recognition positioning method of battery displacement according to claim 6, which is characterized in that described according to the battery
The target position of battery location and the battery compartment determines that the step of misalignment angle of the battery and the battery compartment includes:
Corresponding side on the edge of battery position in a coordinate system and the battery compartment is obtained by image analysis
The position of edge in a coordinate system；
It is obtained by image analysis on the edge of the battery and the first angle and the battery compartment of the coordinate system X-axis
Second angle at corresponding edge and the coordinate system X-axis；
The difference of first angle and second angle is the misalignment angle.
8. the recognition positioning method of battery displacement according to claim 7, which is characterized in that described according to the battery position
It sets, battery to the step of target position described in the misalignment angle and default dot Coordinate Adjusting includes:
The battery is calculated according to the misalignment angle and the dot coordinate to adjust from the battery location to the target position
When setting, the battery offset in X-axis and Y-axis in a coordinate system；
The battery location and the battery in a coordinate system X-axis and the offset in Y-axis and be the target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811238786.5A CN109297409B (en) | 2018-10-23 | 2018-10-23 | Battery displacement identification and positioning device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811238786.5A CN109297409B (en) | 2018-10-23 | 2018-10-23 | Battery displacement identification and positioning device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109297409A true CN109297409A (en) | 2019-02-01 |
| CN109297409B CN109297409B (en) | 2020-07-21 |
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| CN201811238786.5A Active CN109297409B (en) | 2018-10-23 | 2018-10-23 | Battery displacement identification and positioning device and method |
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