CN109961479B - Positioning method applied to battery module bus welding production line and welding production line - Google Patents
Positioning method applied to battery module bus welding production line and welding production line Download PDFInfo
- Publication number
- CN109961479B CN109961479B CN201711428728.4A CN201711428728A CN109961479B CN 109961479 B CN109961479 B CN 109961479B CN 201711428728 A CN201711428728 A CN 201711428728A CN 109961479 B CN109961479 B CN 109961479B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- battery module
- characteristic point
- welding
- coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Connection Of Batteries Or Terminals (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The embodiment of the invention discloses a positioning method applied to a battery module bus welding production line and the welding production line, and relates to the technical field of positioning of the battery module bus welding production line. The positioning method applied to the battery module bus welding production line comprises the following steps: collecting coordinates of each pole of the battery module in the base coordinate system at an image collecting station; marking a first characteristic point and a second characteristic point on a battery module or a clamp for clamping the battery module, establishing an object coordinate system based on the first characteristic point and the second characteristic point, and obtaining the coordinate of each pole of the battery module based on the object coordinate system; and identifying the first characteristic point and the second characteristic point at a welding station, and converting a coordinate system to obtain the coordinates of each pole of the battery module based on the object coordinate system in the welding station coordinate system. The technical scheme disclosed by the embodiment of the invention is beneficial to improving the positioning precision and efficiency of each pole of the battery module and the efficiency and accuracy of bus welding of the battery module.
Description
Technical Field
The technical scheme disclosed by the embodiment of the invention relates to the technical field of positioning of a battery module bus welding production line, in particular to a positioning method applied to the battery module bus welding production line and the welding production line.
Background
The bus (Busbar) of the new energy power battery module can be welded in batches by adopting a battery module bus welding assembly line. Generally, the battery module comprises a plurality of poles, and the plurality of poles are required to be positioned when the plurality of poles are welded with the bus bars.
In the process of researching the invention, the inventor finds that the positioning efficiency and precision of the battery module bus welding assembly line on the battery module bus in the prior art are low, and the efficiency and accuracy of the battery module bus welding are seriously influenced.
Disclosure of Invention
The technical scheme disclosed by the invention can solve the following technical problems: the positioning efficiency and the precision of a battery module bus welding assembly line on the battery module bus in the prior art are low, and the efficiency and the accuracy of the battery module bus welding are seriously influenced.
One or more embodiments of the invention disclose a positioning method applied to a battery module bus welding production line, which comprises the following steps: collecting coordinates of each pole of the battery module in the base coordinate system at an image collecting station; marking a first characteristic point and a second characteristic point on a battery module or a clamp for clamping the battery module, establishing an object coordinate system based on the first characteristic point and the second characteristic point, and obtaining the coordinate of each pole of the battery module based on the object coordinate system; and identifying the first characteristic point and the second characteristic point at a welding station, and converting a coordinate system to obtain the coordinates of each pole of the battery module based on the object coordinate system in the welding station coordinate system.
In one or more embodiments of the present invention, a straight line where the first feature point and the second feature point are located is taken as one coordinate axis of the object coordinate system.
In one or more embodiments of the present invention, the first and second characteristic points are marked on a diagonal line of the battery module.
In one or more embodiments of the present invention, the first feature point or the second feature point is taken as a coordinate origin of the object coordinate system, and the first feature point and the second feature point are respectively marked on one pole of the battery module.
In one or more embodiments of the invention, the base coordinate system, the object coordinate system, and the weld site coordinate system are each two-dimensional coordinate systems.
One or more embodiments of the present invention disclose a welding line for welding a bus bar of a battery module, including: the device comprises an image acquisition device arranged at an image acquisition station, a laser welding device arranged at a welding station and a transmission device used for transmitting a battery module from the image acquisition station to the welding station; the image acquisition device is used for acquiring the coordinates of each pole of the battery module in the base coordinate system at the image acquisition station; the image acquisition device is also used for marking a first characteristic point and a second characteristic point on the battery module or a clamp for clamping the battery module, establishing an object coordinate system based on the first characteristic point and the second characteristic point, and obtaining the coordinates of each pole of the battery module based on the object coordinate system; and the laser welding device is used for identifying the first characteristic point and the second characteristic point at a welding station, and converting a coordinate system to obtain the coordinates of all poles of the battery module based on the object coordinate system in the welding station coordinate system.
In one or more embodiments of the present invention, the image capturing apparatus uses a straight line where the first feature point and the second feature point are located as a coordinate axis of the object coordinate system.
In one or more embodiments of the present invention, the image capture device marks the first feature point and the second feature point on a diagonal line of the battery module.
In one or more embodiments of the present invention, the image capturing device uses the first feature point or the second feature point as a coordinate origin of the object coordinate system, and the first feature point and the second feature point are respectively marked on one pole of the battery module.
In one or more embodiments of the present invention, the base coordinate system of the image capturing device is a two-dimensional coordinate system, the object coordinate system established by the image capturing device is a two-dimensional coordinate system, and the welding position coordinate system of the laser welding device is a two-dimensional coordinate system.
One or more embodiments of the invention disclose a non-transitory computer readable storage medium, wherein computer instructions are stored in the non-transitory computer readable storage medium, and the computer instructions are suitable for being loaded by a processor, so as to implement any one of the above positioning methods applied to a battery module bus welding production line.
Compared with the prior art, the technical scheme disclosed by the invention mainly has the following beneficial effects:
in the embodiment of the invention, the positioning method applied to the bus welding production line of the battery module collects the coordinates of each pole of the battery module in the base coordinate system at the image collection station, so that the coordinates of each pole of the battery module in the base coordinate system can be accurately collected at the image collection station. The method comprises the steps of marking a first characteristic point and a second characteristic point on a battery module or a clamp for clamping the battery module, establishing an object coordinate system based on the first characteristic point and the second characteristic point, obtaining coordinates of all poles of the battery module based on the object coordinate system, and converting the coordinates of all poles of the battery module in the base coordinate system into the coordinates in the object coordinate system. The first characteristic point and the second characteristic point are identified at the welding station, and the coordinate system is converted to obtain the coordinate of each pole of the battery module based on the object coordinate system in the welding position coordinate system, so that the coordinate of each pole of the battery module based on the object coordinate system is converted into the coordinate in the welding position coordinate system, and the welding of the corresponding bus bar of each pole of the battery module based on the welding position coordinate system is facilitated. The positioning method applied to the battery module bus welding production line does not need to identify the coordinates of all the battery module poles at the welding station, so that the positioning efficiency of the battery module poles can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic diagram of a positioning method applied to a bus welding line of a battery module according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a battery module in the base coordinate system X1-Y1 according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an object coordinate system X2-Y2 established based on a first feature point and a second feature point according to an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating the transformation of the coordinates of each pole of the battery module into the coordinates in the welding position coordinate system X3-Y3 based on the object coordinate system X2-Y2 according to an embodiment of the present invention;
FIG. 5 is a schematic view of a welding line in an embodiment of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, 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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "first", "second", and the like in the claims, the description, and the drawings of the specification of the present application are used for distinguishing between different objects and not for describing a particular order.
One or more embodiments of the invention disclose a positioning method applied to a bus welding production line of a battery module. The technical solution of the present invention is described below by using specific embodiments, and the positioning method applied to the bus welding line of the battery module in the specific embodiments is only a preferred embodiment, and is not all possible embodiments of the present invention. The positioning method applied to the welding assembly line of the battery module bus, provided by the embodiments of the invention, is mainly applied to the welding assembly line of the battery module bus.
One or more embodiments of the invention disclose a positioning method applied to a bus welding production line of a battery module. Referring to fig. 1 to 4, fig. 1 is a schematic diagram illustrating a positioning method applied to a bus welding line of a battery module according to an embodiment of the present invention, fig. 2 is a schematic diagram illustrating a battery module in a base coordinate system X1-Y1 according to an embodiment of the present invention, fig. 3 is a schematic diagram illustrating an object coordinate system X2-Y2 established based on a first feature point Mark1 and a second feature point Mark2 according to an embodiment of the present invention, and fig. 4 is a schematic diagram illustrating a coordinate transformation of each pole of the battery module into a coordinate in a welding position coordinate system X3-Y3 based on an object coordinate system X2-Y2 according to an embodiment of the present invention. As illustrated in fig. 1, the positioning method applied to the bus welding line of the battery module comprises the following steps:
step 1: collecting coordinates of each pole of the battery module in a base coordinate system X1-Y1 at an image collecting station;
step 2: marking a first characteristic point Mark1 and a second characteristic point Mark2 on a battery module or a clamp for clamping the battery module, establishing an object coordinate system X2-Y2 based on the first characteristic point Mark1 and the second characteristic point Mark2, and obtaining the coordinates of each pole of the battery module based on the object coordinate system X2-Y2;
and step 3: and identifying the first characteristic point Mark1 and the second characteristic point Mark2 at a welding station, and performing coordinate system conversion to obtain the coordinates of each pole of the battery module in a welding position coordinate system X3-Y3 based on the object coordinate system X2-Y2.
The positioning method applied to the bus welding production line of the battery module in the embodiment collects the coordinates of each pole of the battery module in the base coordinate systems X1-Y1 at the image collection station, so that the coordinates of each pole of the battery module in the base coordinate systems X1-Y1 can be accurately collected at the image collection station. The method comprises the steps of marking a first characteristic point Mark1 and a second characteristic point Mark2 on a battery module or a clamp for clamping the battery module, establishing an object coordinate system X2-Y2 based on the first characteristic point Mark1 and the second characteristic point Mark2, and obtaining the coordinates of each pole of the battery module based on the object coordinate system X2-Y2, so that the coordinates of each pole of the battery module in a base coordinate system X1-Y1 are converted into the coordinates in the object coordinate system X2-Y2. The first characteristic point Mark1 and the second characteristic point Mark2 are identified at a welding station, and coordinate system conversion is carried out to obtain the coordinates of the battery module pole columns based on the object coordinate system X2-Y2 in the welding position coordinate system X3-Y3, so that the coordinates of the battery module pole columns based on the object coordinate system X2-Y2 are converted into the coordinates in the welding position coordinate system X3-Y3, and welding of corresponding bus bars on the battery module pole columns based on the welding position coordinate system X3-Y3 is facilitated. The positioning method applied to the bus welding assembly line of the battery module in the embodiment does not need to identify the coordinates of all the poles of the battery module at the welding station, so that the positioning efficiency of all the poles of the battery module can be improved.
In a possible implementation, a straight line where the first feature point Mark1 and the second feature point Mark2 are located is taken as a coordinate axis of the object coordinate system X2-Y2.
In one possible embodiment, the first Mark1 and the second Mark2 are marked on the diagonal of the battery module.
In a possible implementation manner, the first feature point Mark1 or the second feature point Mark2 is taken as a coordinate origin of the object coordinate system X2-Y2, and the first feature point Mark1 and the second feature point Mark2 are respectively marked on one pole of the battery module.
In one possible embodiment, the base coordinate system X1-Y1, the object coordinate system X2-Y2, and the weld site coordinate system X3-Y3 are all two-dimensional coordinate systems.
The embodiment of the invention discloses a welding production line which is used for welding a battery module bus. Referring to fig. 5, a schematic diagram of a welding line in an embodiment of the invention is shown. As illustrated in fig. 5, the welding line comprises: the device comprises an image acquisition device 10 arranged at an image acquisition station, a laser welding device 20 arranged at a welding station and a transmission device 30 used for transmitting the battery module from the image acquisition station to the welding station; the image acquisition device 10 is used for acquiring the coordinates of each pole of the battery module in the base coordinate system at the image acquisition station; the image acquisition device 10 is further configured to mark a first characteristic point and a second characteristic point on the battery module or on a fixture for clamping the battery module, establish an object coordinate system based on the first characteristic point and the second characteristic point, and obtain coordinates of each pole of the battery module based on the object coordinate system; the laser welding device 20 is configured to identify the first characteristic point and the second characteristic point at a welding station, and perform coordinate system conversion to obtain coordinates of the coordinates of each pole of the battery module in the welding station coordinate system based on the object coordinate system.
Preferably, the image capturing Device 10 includes a CCD (Charge-coupled Device) camera and a first driving module for driving the CCD camera. The laser welding apparatus 20 includes a laser welding head and a second driving module for driving the laser welding head. The first driving module and/or the second driving module can be a manipulator, a multi-axis driving platform and the like. The laser welding head controls the offset of the laser beam through a vibrating mirror or a collimation head.
In a possible embodiment, the image capturing device 10 uses a straight line where the first feature point and the second feature point are located as a coordinate axis of the object coordinate system.
In one possible embodiment, the image capture device 10 marks the first feature point and the second feature point on a diagonal line of the battery module.
In a possible implementation manner, the image capturing device 10 uses the first feature point or the second feature point as a coordinate origin of the object coordinate system, and the first feature point and the second feature point are respectively marked on one pole of the battery module.
In a possible embodiment, the base coordinate system of the image capturing device 10 is a two-dimensional coordinate system, the object coordinate system established by the image capturing device 10 is a two-dimensional coordinate system, and the welding position coordinate system of the laser welding device 20 is a two-dimensional coordinate system.
An embodiment of the present invention discloses a non-transitory computer readable storage medium, in which computer instructions are stored, and the computer instructions are suitable for being loaded by a processor, so as to implement any one of the above positioning methods applied to a bus welding assembly line of a battery module.
When the techniques in the various embodiments described above are implemented using software, the computer instructions and/or data to implement the various embodiments described above may be stored on a computer-readable medium or transmitted as one or more instructions or code on a readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that a computer can store. Taking this as an example but not limiting: computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Further, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The utility model provides a be applied to battery module generating line's welding assembly line's positioning method which characterized in that includes:
collecting coordinates of each pole of the battery module in the base coordinate system at an image collecting station;
marking a first characteristic point and a second characteristic point on a battery module or a clamp for clamping the battery module, establishing an object coordinate system based on the first characteristic point and the second characteristic point, and obtaining coordinates of each pole of the battery module based on the object coordinate system so as to convert the coordinates of each pole of the battery module in the base coordinate system into the coordinates in the object coordinate system;
and identifying the first characteristic point and the second characteristic point at a welding station, and converting a coordinate system to obtain the coordinates of each pole of the battery module based on the object coordinate system in the welding station coordinate system.
2. The positioning method applied to the battery module bus welding production line as recited in claim 1, wherein a straight line where the first characteristic point and the second characteristic point are located is taken as a coordinate axis of the object coordinate system.
3. The positioning method applied to the battery module bus bar welding line according to claim 2, wherein the first characteristic point and the second characteristic point are marked on a diagonal line of the battery module.
4. The positioning method applied to the bus welding production line of the battery module as recited in claim 2, wherein the first characteristic point or the second characteristic point is taken as a coordinate origin of the object coordinate system, and the first characteristic point and the second characteristic point are respectively marked on one pole of the battery module.
5. The positioning method applied to the battery module bus welding production line of claim 1, wherein the base coordinate system, the object coordinate system and the welding position coordinate system are two-dimensional coordinate systems.
6. The utility model provides a welding assembly line for welding battery module generating line, its characterized in that includes: the device comprises an image acquisition device arranged at an image acquisition station, a laser welding device arranged at a welding station and a transmission device used for transmitting a battery module from the image acquisition station to the welding station;
the image acquisition device is used for acquiring the coordinates of each pole of the battery module in the base coordinate system at the image acquisition station; the image acquisition device is also used for marking a first characteristic point and a second characteristic point on the battery module or a clamp for clamping the battery module, establishing an object coordinate system based on the first characteristic point and the second characteristic point, and obtaining the coordinates of each pole of the battery module based on the object coordinate system, so that the coordinates of each pole of the battery module in the base coordinate system are converted into the coordinates in the object coordinate system;
and the laser welding device is used for identifying the first characteristic point and the second characteristic point at a welding station, and converting a coordinate system to obtain the coordinates of all poles of the battery module based on the object coordinate system in the welding station coordinate system.
7. The welding line of claim 6, wherein the image capture device uses a straight line of the first and second feature points as a coordinate axis of the object coordinate system.
8. The welding line of claim 7, wherein the image capture device marks the first and second feature points on a diagonal of the battery module.
9. The welding line of claim 7, wherein the image capture device uses the first feature point or the second feature point as an origin of coordinates of the object coordinate system, and the first feature point and the second feature point are respectively marked on one pole of the battery module.
10. The welding line of claim 6, wherein the base coordinate system of the image capture device is a two-dimensional coordinate system, the object coordinate system established by the image capture device is a two-dimensional coordinate system, and the weld position coordinate system of the laser welding device is a two-dimensional coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711428728.4A CN109961479B (en) | 2017-12-25 | 2017-12-25 | Positioning method applied to battery module bus welding production line and welding production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711428728.4A CN109961479B (en) | 2017-12-25 | 2017-12-25 | Positioning method applied to battery module bus welding production line and welding production line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109961479A CN109961479A (en) | 2019-07-02 |
| CN109961479B true CN109961479B (en) | 2021-01-08 |
Family
ID=67021811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711428728.4A Active CN109961479B (en) | 2017-12-25 | 2017-12-25 | Positioning method applied to battery module bus welding production line and welding production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109961479B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113790673B (en) * | 2021-11-16 | 2022-04-01 | 江苏时代新能源科技有限公司 | Battery, power utilization device, welding deviation detection device and method |
| CN114571073A (en) * | 2022-03-15 | 2022-06-03 | 上海锡明光电科技有限公司 | Laser welding visual positioning guiding method, system, device and medium |
| CN116060770A (en) * | 2023-03-02 | 2023-05-05 | 超音速人工智能科技股份有限公司 | Blade battery welding positioning method, device and storage medium |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005267377A (en) * | 2004-03-19 | 2005-09-29 | Yamaha Corp | Position information conversion device, and data output program for position information conversion device |
| CN101063880A (en) * | 2007-06-07 | 2007-10-31 | 北京航空航天大学 | Cutter spacing optimizing method for cydariform knife tool multiple coordinates line width processing |
| CN102542600B (en) * | 2011-12-14 | 2014-12-03 | 北京工业大学 | Simulated projection DRR( digitally reconstructed radiograph) generating method based on CUDA (compute unified device architecture) technology |
| CN104354167B (en) * | 2014-08-29 | 2016-04-06 | 广东正业科技股份有限公司 | A kind of Robotic Hand-Eye Calibration method and device |
| CN104708301B (en) * | 2015-02-09 | 2017-04-12 | 杭州自动化技术研究院有限公司 | Automatic heating wire assembling device based on machine vision |
| CN104959989B (en) * | 2015-07-01 | 2016-06-29 | 江南大学 | A kind of door of elevator feeding localization method under vision guide |
| CN105066984B (en) * | 2015-07-16 | 2019-03-12 | 深圳訾岽科技有限公司 | A kind of vision positioning method and system |
| CN105066831A (en) * | 2015-09-09 | 2015-11-18 | 大族激光科技产业集团股份有限公司 | Calibration method of single or multi-robot system cooperative work coordinate system |
| CN106392404B (en) * | 2016-11-24 | 2018-06-22 | 东软集团股份有限公司 | Battery modules welding fixture and battery modules welder |
| CN107506162B (en) * | 2017-08-29 | 2020-10-09 | 歌尔科技有限公司 | Coordinate mapping method, computer-readable storage medium, and projector |
-
2017
- 2017-12-25 CN CN201711428728.4A patent/CN109961479B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109961479A (en) | 2019-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109961479B (en) | Positioning method applied to battery module bus welding production line and welding production line | |
| CN106403942B (en) | Personnel indoor inertial positioning method based on substation field depth image identification | |
| CN108269322B (en) | Inspection method | |
| CN110988586B (en) | Distribution network live working robot operation accurate positioning method and system | |
| CN105547151A (en) | Three-dimensional laser scanning spot cloud data acquisition and processing method and system thereof | |
| CN104708239A (en) | Large-scale marine pipeline initial point recognition and location method and system based on CCD | |
| CN103618382A (en) | Transformer substation operation and maintenance integration field work data collection and field work instruction system | |
| CN113310427B (en) | Three-dimensional scanning system and three-dimensional scanning method | |
| CN104376171A (en) | Automatic design method and system for terminal block drawing and cable detailed list | |
| CN105392196A (en) | Positioning method and device | |
| CN112000124B (en) | Unmanned aerial vehicle inspection method applied to power grid | |
| CN105405442A (en) | Speech recognition method, device and equipment | |
| CN110158967A (en) | A kind of binding reinforcing bars method and system | |
| CN204707215U (en) | A kind of testing apparatus of high-pixel camera head | |
| CN111917178B (en) | Inspection method of operation and maintenance integrated transformer substation | |
| CN115325959B (en) | Three-dimensional scanning system and method | |
| CN102646186A (en) | Two-dimensional code reading method, equipment and device as well as computer and two-dimensional code reading system | |
| CN116060770A (en) | Blade battery welding positioning method, device and storage medium | |
| CN115525050A (en) | Indoor production line inspection method and device based on mobile inspection robot | |
| CN111981977A (en) | Distribution network automatic line patrol system based on edge computing technology | |
| CN115147356A (en) | Photovoltaic panel inspection positioning method, device, equipment and storage medium | |
| CN116266402A (en) | Automatic object labeling method and device, electronic equipment and storage medium | |
| CN109631846B (en) | On-site reconnaissance method and system based on real environment | |
| CN208383314U (en) | A kind of infrared thermal imager for infrared measurement of temperature | |
| CN112506185A (en) | Control method and device for live-wire work 6-degree-of-freedom operating platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220831 Address after: 518000 workshop 501, building 3, intelligent manufacturing center park, No. 12, Chongqing Road, Heping community, Fuhai street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Han's lithium battery intelligent equipment Co.,Ltd. Address before: 518000 9 new West Road, North Nanshan District high tech park, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. |