CN114882023B

CN114882023B - Battery string position and posture correction method, device, control equipment and system

Info

Publication number: CN114882023B
Application number: CN202210791779.8A
Authority: CN
Inventors: 郑华勇; 哈亮; 李应天
Original assignee: Suzhou Calf Automation Equipment Co ltd
Current assignee: Suzhou Calf Automation Equipment Co ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2022-11-18
Anticipated expiration: 2042-07-07
Also published as: CN114882023A

Abstract

The application discloses a method, a device, equipment and a system for correcting a battery serial position and posture, wherein the method comprises the following steps: acquiring an image of the battery string pose correction battery string acquired by the battery string pose correction image acquisition equipment; determining the pose of the battery string based on the image of the battery string pose correction battery string; determining difference information between the pose of the battery string pose correction battery string and a preset standard pose; and determining the motion parameters of the battery string posture correction equipment based on the battery string posture correction difference information, and controlling the battery string posture correction equipment to move according to the battery string posture correction motion parameters so as to drive the battery string posture correction battery string to move and adjust the posture, so that the posture of the battery string after being adjusted is the same as the preset standard posture of the battery string posture correction. The scheme provided by the application can reduce the labor cost for correcting the battery string position and posture, so that the battery string position and posture adjustment efficiency and the adjustment precision are higher.

Description

Battery serial position and posture correction method, device, control equipment and system

Technical Field

The application relates to the technical field of battery production and assembly, in particular to a battery string position and posture correction method, device, control equipment and system.

Background

In the production, assembly and other processes of the battery string, the pose of the battery string is often required to be adjusted so as to accurately assemble or produce the battery string. In the practical application process, when the battery strings are transferred to a conveying line, an assembly line or a bearing device of the battery strings, situations that the pose of the battery strings is inaccurate, such as battery string skew, battery string deviation and the like, often occur, and in such situations, the pose of the battery strings is correctly placed in a manual alignment manner in the related art. However, manual placement consumes a lot of labor, so that the labor cost is high, the correction precision is low, and the correction efficiency is low.

Disclosure of Invention

The application provides a battery string position and posture correction method, device, control equipment and system, can reduce the human cost that battery string position and posture was corrected for the position and posture adjustment efficiency and the adjustment accuracy of battery string are higher. The specific scheme is as follows.

In a first aspect, an embodiment of the present application provides a battery string posture correction method, which is applied to a control device in a battery string supporting system, where the battery string supporting system further includes: the battery string correcting device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, and the image collecting device is used for collecting an image of the battery string; the method comprises the following steps:

acquiring an image of the battery string acquired by the image acquisition equipment;

determining a pose of the battery string based on the image of the battery string;

determining difference information between the pose of the battery string and a preset standard pose;

and determining the motion parameters of the correction equipment based on the difference information, and controlling the correction equipment to move according to the motion parameters so as to drive the battery string to move and adjust the pose, so that the pose after the adjustment of the battery string is the same as the preset standard pose.

Optionally, the determining the pose of the battery string based on the image of the battery string includes:

determining position information of each corner point of the battery string according to the image of the battery string;

the determining of the difference information between the pose of the battery string and the preset standard pose includes:

and determining difference information between the position information of each corner of the battery string and the preset standard position information corresponding to each corner respectively.

Optionally, the correction device comprises: the first correcting mechanism and the third correcting mechanism are respectively arranged at two ends of the bearing main body and are respectively used for driving two ends of the battery string in the length direction to move in the width direction, and the second correcting mechanism is used for driving the battery string to move in the length direction;

the determining the motion parameter of the correction device based on the difference information and controlling the correction device to move according to the motion parameter comprises:

and determining motion parameters corresponding to the first correction mechanism, the second correction mechanism and the third correction mechanism respectively based on the difference information, and controlling the first correction mechanism, the second correction mechanism and the third correction mechanism to move according to the respective motion parameters.

Optionally, the first correction mechanism includes a first moving part, the second correction mechanism includes a second moving part, the third correction mechanism includes a third moving part, the first moving part and the third moving part are respectively configured to drive two ends of the battery string in the length direction to move in the width direction, and the second moving part is configured to drive the battery string to move in the length direction;

the determining, based on the difference information, motion parameters corresponding to the first correction mechanism, the second correction mechanism, and the third correction mechanism, respectively, includes:

movement amounts corresponding to the first moving member, the second moving member, and the third moving member are determined based on the difference information.

Optionally, the determining difference information between the pose of the battery string and a preset standard pose includes:

determining first rotation information and first translation information of the battery string, which are aligned to the preset standard pose, and determining the first rotation information and the first translation information as difference information between the pose of the battery string and the preset standard pose;

the determining, based on the difference information, respective amounts of movement of the first moving member, the second moving member, and the third moving member includes:

determining post-movement position information of the first moving member, the second moving member and the third moving member according to pre-movement position information of the first moving member, the second moving member and the third moving member, and the first rotation information and the first translation information;

and determining the movement amounts corresponding to the first moving component, the second moving component and the third moving component respectively according to the difference between the position information after the movement and the position information before the movement.

Optionally, the first rotation information is a first rotation matrix, and the first translation information is a first translation matrix;

before the determining post-motion position information of the first, second, and third moving components from the pre-motion position information of the first, second, and third moving components, and the first rotation information and the first translation information, the method further comprises:

taking a matrix obtained by multiplying the first rotation matrix by the first translation matrix as a first conversion matrix;

the determining post-movement position information of the first moving member, the second moving member, and the third moving member based on pre-movement position information of the first moving member, the second moving member, and the third moving member, and the first rotation information and the first translation information includes:

and multiplying the positions before the movement of the first moving component, the second moving component and the third moving component by the first conversion matrix respectively to obtain the position information after the movement of the first moving component, the second moving component and the third moving component.

Optionally, the first rotation matrix is:

the theta is an included angle between the length direction of the battery string and the length direction of the battery string in the preset standard pose; and/or the presence of a gas in the atmosphere,

the first translation matrix is:

wherein, in the process,x、yand the offsets of the center of the battery string and the center of the battery string in the preset standard pose in the horizontal direction and the vertical direction are respectively.

Optionally, the first moving member, the second moving member, and the third moving member are a first baffle, a second baffle, and a third baffle, respectively;

determining the movement amounts corresponding to the first moving member, the second moving member and the third moving member respectively according to the difference between the position information after the movement and the position information before the movement, including:

determining the respective amounts of movement of the first, second, and third moving members by the following equations:

movement amount of the first moving member = distance (cross (L) ^w _M1 , L ^w _MB1 )，cross(L ^w _M1 , L ^w _MB1after ))

Movement amount of the second moving member = distance (cross (L) ^w _M2 , L ^w _MB2 )，cross(L ^w _M2 , L ^w _MB2after ))

Movement amount of the third moving member = distance (cross (L) ^w _M3 , L ^w _MB3 )，cross(L ^w _M3 , L ^w _MB3after ))

Wherein L is ^w _M1 Position information, L, indicating the perpendicular bisector of the first baffle ^w _MB1 Position information indicating a straight line on which the first shutter is located; l is ^w _MB1after Bit indicating the straight line on which the first shutter is movedSetting information; l is a radical of an alcohol ^w _M2 Position information of the perpendicular bisector of the second baffle, L ^w _MB2 Position information indicating a straight line where the second shutter is located; l is ^w _MB2after Position information indicating a straight line on which the second shutter is moved; l is ^w _M3 Indicating position information of the perpendicular bisector of the third baffle, L ^w _MB3 Position information indicating a straight line on which the third baffle is located; l is a radical of an alcohol ^w _MB3after Position information indicating a straight line on which the third shutter moves, and function distance (cross (L) ^w _M1 , L ^w _MB1 )，cross(L ^w _M1 , L ^w _MB1after ) For computing the cross (L) of the vector product ^w _M1 , L ^w _MB1 ) To the cross (L) of the vector product ^w _M1 , L ^w _MB1after ) Of (d) cross (L) ^w _M1 , L ^w _MB1 ) For calculating the vector L ^w _M1 And vector L ^w _MB1 The vector product of (c).

Optionally, the first correction mechanism further comprises a first cam for driving the first moving part to move, the second correction mechanism further comprises a second cam for driving the second moving part to move, and the third correction mechanism further comprises a third cam for driving the third moving part to move;

the controlling the correction device to move according to the motion parameters includes:

determining the rotation amount of the first cam, the second cam and the third cam according to the movement amount corresponding to the first moving component, the second moving component and the third moving component respectively;

and controlling the first cam, the second cam and the third cam to rotate according to the rotation amount so as to drive the first moving component, the second moving component and the third moving component to move by corresponding movement amounts.

Optionally, the first cam, the second cam, and the third cam are all archimedes cams;

the determining the rotation amounts of the first cam, the second cam and the third cam according to the movement amounts corresponding to the first moving member, the second moving member and the third moving member respectively comprises:

determining an amount of rotation of the first cam according to the following equation: Δ θ 1= k × Δ B1;

determining an amount of rotation of the second cam according to the following equation: Δ θ 2= k × Δ B2;

determining an amount of rotation of the third cam according to the following equation: Δ θ 3= k × Δ B3;

where Δ θ 1, Δ θ 2, and Δ θ 3 are rotation amounts of the first cam, the second cam, and the third cam, respectively, k is a cam coefficient, and Δ B1, Δ B2, and Δ B3 are movement amounts of the first moving member, the second moving member, and the third moving member, respectively.

Optionally, the determining, according to the image of the battery string, the position information of each corner point of the battery string includes:

determining position information of each corner point of the battery string under a camera coordinate system according to the image of the battery string, wherein the camera coordinate system is a coordinate system corresponding to the image acquisition equipment;

before determining difference information between the position information of each corner point of the battery string and the standard position information corresponding to each corner point, the method further includes:

converting the position information of each corner point of the battery string in a camera coordinate system into the position information of each corner point in a world coordinate system, and determining the position information of each corner point in the world coordinate system as the position information of each corner point;

and the standard position information corresponding to each corner point is position information in the world coordinate system.

Optionally, the converting the position information of each corner point of the battery string in the camera coordinate system into the position information of each corner point in the world coordinate system includes:

determining a transformation parameter for transforming the camera coordinate system into a world coordinate system;

and converting the position information of each corner point of the battery string in a camera coordinate system into position information in a world coordinate system based on the conversion parameters.

Optionally, the transformation parameters include: a rotation parameter, a translation parameter, and a scaling parameter.

Optionally, the second rotation matrix is:

the scaling parameter is a scaling matrix, and the scaling matrix is:

the translation parameter is a second translation matrix, and the second translation matrix is:

；

wherein the content of the first and second substances,

the included angle between a camera coordinate system and a world coordinate system is indicated, sx is the ratio of the length of any side of the battery string under the world coordinate system to the length of the side under the camera coordinate system, and Sy is equal to Sx;

the first target coordinate is subtracted from the abscissa of the first point of the battery string in the world coordinate system, the first target coordinate is the product of the abscissa of the vector of the width side corresponding to the first point in the camera coordinate system and Sx,

the second target coordinate is subtracted from the ordinate of the first point of the battery string in the world coordinate system, and the second target coordinate is the product of the ordinate of the vector of the width side corresponding to the first point in the camera coordinate system and Sy.

Optionally, the converting, based on the transformation parameters, position information of each corner point of the battery string in a camera coordinate system into position information in a world coordinate system includes:

determining the product of the position information of each corner point of the battery string and the transformation matrix as the position information of each corner point in a world coordinate system;

the transformation matrix is: the second rotation matrix x the second translation matrix x the scaling matrix.

Optionally, the image acquisition devices include a plurality of image acquisition devices, the image acquisition devices are respectively arranged at two ends of the battery string in the length direction, and the image acquisition devices are used for acquiring image information of corner points of the battery string at the two ends of the battery string in the length direction.

In a second aspect, an embodiment of the present application further provides a battery string position and posture correction device, including:

the acquisition unit is used for acquiring the image of the battery string acquired by the image acquisition equipment;

a pose determination unit configured to determine a pose of the battery string based on the image of the battery string;

a difference determination unit for determining difference information between the pose of the battery string and a preset standard pose;

and the control unit is used for determining the motion parameters of the correction equipment based on the difference information and controlling the correction equipment to move according to the motion parameters so as to drive the battery string to move and adjust the pose, so that the pose after the adjustment of the battery string is the same as the preset standard pose.

Optionally, the pose determination unit includes:

the corner information determining subunit is used for determining the position information of each corner of the battery string according to the image of the battery string;

the difference determining unit is specifically configured to: and determining difference information between the position information of each corner of the battery string and the preset standard position information corresponding to each corner respectively.

the control unit is specifically configured to:

the control unit is specifically configured to: movement amounts corresponding to the first moving member, the second moving member, and the third moving member are determined based on the difference information.

Optionally, the difference determining unit is specifically configured to:

determining first rotation information and first translation information of the battery string, which align to the preset standard pose, and determining the first rotation information and the first translation information as difference information between the pose of the battery string and the preset standard pose;

the control unit is specifically configured to:

determining post-movement position information of the first moving member, the second moving member and the third moving member according to pre-movement position information of the first moving member, the second moving member and the third moving member, and the first rotation information and the first translation information; and determining the movement amounts corresponding to the first moving component, the second moving component and the third moving component respectively according to the difference between the position information after the movement and the position information before the movement.

the device further comprises:

a matrix determining unit, configured to multiply the first rotation matrix and the first translation matrix to obtain a matrix serving as a first conversion matrix;

the control unit is specifically configured to: and multiplying the positions before the movement of the first moving part, the second moving part and the third moving part by the first conversion matrix respectively to obtain the position information after the movement of the first moving part, the second moving part and the third moving part.

Optionally, the first moving part, the second moving part, and the third moving part are a first baffle, a second baffle, and a third baffle, respectively;

the control unit is specifically configured to determine the respective amounts of movement of the first moving member, the second moving member, and the third moving member by the following formulas:

Wherein L is ^w _M1 Position information, L, indicating the perpendicular bisector of the first baffle ^w _MB1 Position information indicating a straight line on which the first shutter is located; l is ^w _MB1after Position information indicating a straight line on which the first shutter is moved; l is ^w _M2 Position information, L, indicating the perpendicular bisector of the second baffle ^w _MB2 Position information indicating the straight line on which the second shutter is located, L ^w _M3 Position information indicating a perpendicular bisector of the third baffle; l is ^w _MB2after Position information indicating a straight line on which the second shutter is moved; l is ^w _MB3 Position information indicating a straight line on which the third baffle is located; l is a radical of an alcohol ^w _MB3after Position information indicating a straight line on which the third shutter moves, and function distance (cross (L) ^w _M1 , L ^w _MB1 )，cross(L ^w _M1 , L ^w _MB1after ) For computing the cross (L) of the vector product ^w _M1 , L ^w _MB1 ) To the cross (L) of the vector product ^w _M1 , L ^w _MB1after ) The distance between, cross (L) ^w _M1 , L ^w _MB1 ) For calculating the vector L ^w _M1 And vector L ^w _MB1 The vector product of (c).

the control unit is specifically configured to: determining the rotation amounts of the first cam, the second cam and the third cam according to the movement amounts corresponding to the first moving component, the second moving component and the third moving component respectively; and controlling the first cam, the second cam and the third cam to rotate according to the rotation amount so as to drive the first moving component, the second moving component and the third moving component to move by corresponding movement amounts.

Optionally, the first cam, the second cam and the third cam are all archimedes cams;

the control unit is specifically configured to:

Optionally, the corner information determining subunit is specifically configured to:

the device further comprises:

the information determining unit is used for converting the position information of each corner point of the battery string in a camera coordinate system into the position information of each corner point in a world coordinate system and determining the position information of each corner point in the world coordinate system as the position information of each corner point;

Optionally, the information determining unit is specifically configured to:

determining transformation parameters for transforming the camera coordinate system into a world coordinate system;

and converting the position information of each corner point of the battery string in a camera coordinate system into the position information in a world coordinate system based on the conversion parameters.

In a third aspect, the present application further provides a control device, which is applied to a battery string carrying system, where the battery string carrying system further includes: the battery string fixing device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, the image collecting device is used for collecting the image of the battery string, and the control device comprises:

a processor; and

a memory for storing a data processing program for performing the method according to any one of the first aspect when the control device is powered on and the program is run by the processor.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing a data processing program, where the program is executed by a processor to perform the method according to any one of the first aspect.

In a fifth aspect, an embodiment of the present application further provides a battery string carrying system, including:

the bearing main body is used for bearing the battery string;

the correction device is used for adjusting the pose of the battery string carried by the carrying main body;

the image acquisition equipment is used for acquiring an image of the battery string;

a control device for performing the method of any one of the first aspect.

Compared with the prior art, the method has the following advantages:

the application provides a battery cluster position appearance correction method is applied to the controlgear among the battery cluster bearing system, and battery cluster bearing system still includes: the battery string correcting device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, and the image collecting device is used for collecting an image of the battery string; when the control equipment carries out position correction, the image of the battery string acquired by the image acquisition equipment is acquired, the pose of the battery string is determined based on the image of the battery string, the difference information between the pose of the battery string and the preset standard pose is determined, the motion parameter of the correction equipment is determined based on the difference information between the pose of the battery string and the preset standard pose, the correction equipment is controlled to move according to the motion parameter so as to drive the battery string to move and adjust the pose, and the adjusted pose of the battery string is the same as the preset standard pose.

Therefore, the pose of the battery string can be automatically adjusted by the scheme provided by the application, manual adjustment is not needed, a large amount of labor cost is reduced, and the pose adjustment efficiency is improved, so that the production, assembly and other efficiencies of the battery string are improved. And this application adjusts the position appearance of battery cluster through the machine is automatic, and degree of automation is higher, and for manual adjustment, the scheme of this application more is difficult to receive the influence such as artifical attention is not concentrated to make the rate of accuracy of position appearance adjustment higher, stability better.

Drawings

Fig. 1 is a flowchart of an example of a method for correcting a battery string attitude according to an embodiment of the present application;

FIG. 2 is a schematic diagram of the distribution of image capturing devices (i.e., cameras) in the embodiment of the present application;

FIG. 3 is a schematic diagram of the correspondence between the camera coordinate system and the world coordinate system;

FIG. 4 is a schematic diagram of the operation of the calibration apparatus and the battery string;

FIG. 5 is a schematic diagram of the location of a battery string in a world coordinate system;

FIG. 6 is a diagram illustrating the effect of using the scheme of the present application to correct a battery string;

FIG. 7 is a cam curve diagram of an Archimedes cam in an embodiment of the present application;

fig. 8 is a block diagram of a battery string posture correction apparatus according to an embodiment of the present application;

fig. 9 is a block diagram of a control device according to an embodiment of the present application.

Reference numerals are as follows:

21: a first baffle plate; 22: a second baffle; 23: a third baffle plate; 410: an acquisition unit; 420: a pose determination unit; 430: a difference determination unit; 440: a control unit; 501: a processor; 502: a memory.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

In the production, assembly and other processes of the battery string, the pose of the battery string is often required to be adjusted so as to accurately assemble or produce the battery string. In the practical application process, when the battery string is transferred to the bearing device of the battery string on the conveying line, the assembly line, and the like, the situation that the pose of the battery string is inaccurate, for example, the battery string is inclined, the battery string is deviated, and the like, in this situation, the pose of the battery string is usually correctly placed in a manual alignment manner in the related art. However, manual placement consumes a lot of labor, so that labor cost is high and correction efficiency is low.

Based on the above reasons, in order to reduce the labor cost for battery string pose correction and make the pose adjustment efficiency of the battery string higher, the first embodiment of the present application provides a battery string pose correction method.

The battery string posture correction method provided by the embodiment is applied to the control equipment in the battery string bearing system.

Next, a battery string carrying system in the embodiment of the present application will be described.

A battery string position and posture correction method is applied to control equipment in a battery string bearing system, and the battery string bearing system further comprises: the battery string correcting device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, and the image collecting device is used for collecting an image of the battery string; the method comprises the following steps:

acquiring an image of a battery string acquired by image acquisition equipment;

determining the pose of the battery string based on the image of the battery string;

The battery string bearing system can be a system device such as a battery string conveying system, an assembling system and a welding system, and can also be a system device for bearing the battery string in other production process.

The above-mentioned battery cluster system of bearing weight of includes: the device comprises a bearing main body, a correcting device, an image acquisition device and a control device.

The bearing main body is used for bearing the battery string, and the bearing main body can be a conveying belt mechanism, a lifting mechanism, a tray mechanism, a sucker mechanism, a mechanical arm and the like, and can also be other mechanisms capable of bearing the battery string.

The correcting device is used for adjusting the pose of the battery string carried by the carrying main body, and can be a telescopic mechanism, a rotating mechanism, a mechanical arm mechanism and the like, a moving mechanism, a sliding mechanism and the like, or other mechanisms which can drive the battery string to move so as to adjust the pose of the battery string.

The image acquisition device can be a camera, an infrared image sensor and the like, and can also be other devices capable of acquiring the battery string image.

The control device may be a computer, a desktop computer, a notebook computer, a mobile phone, a tablet computer, a server, a terminal device, or other electronic devices capable of performing data processing, and the embodiment of the present application is not particularly limited.

In the embodiment of the application, the battery string bearing system has the function of adjusting the pose of the battery string, and the specific structure is not limited.

Next, the method for correcting the serial posture of the battery provided in this embodiment will be described.

As shown in fig. 1, the method for correcting the serial position of the battery according to the present embodiment includes the following steps S110 to S140.

Step S110: and acquiring an image of the battery string acquired by the image acquisition equipment.

It is understood that the image acquisition device is in communication connection with the control device for data transmission. The image of the battery string collected by the image collection device should be capable of accurately showing the pose of the battery string, and specifically, the image of the battery string collected by the image collection device should include images of each corner of the battery string, for example, the image collection device may collect an entire image of the battery string, and may also collect images of each corner of the battery string.

When image acquisition equipment gathered the image of each corner of battery cluster, can lay image acquisition equipment in the position of the corner of battery cluster, thus, can only carry out the clarity to each corner when the area of battery cluster is bigger, gather accurately, lay because when the battery cluster is bigger like this, if all gather the whole image of battery cluster, probably can make image acquisition equipment than far away from the battery cluster, cause the image definition of gathering to be not enough, perhaps to the requirement of camera than higher, and only the corner carries out local image acquisition and can make image acquisition's more clear. For example, when the battery string has a rectangular strip structure, two image capturing devices may be respectively disposed at two ends of the battery string to capture the corner points at the two ends.

In this embodiment, when the main bearing body can simultaneously bear a plurality of battery strings, the image capturing devices may be flexibly arranged according to the sizes of the battery strings, for example, as shown in fig. 2, the image capturing devices (i.e., the camera 1, the camera 2, and the camera 9 shown in the figure) may be respectively distributed at two ends of the battery strings along the length direction, and the image capturing devices may simultaneously capture images of corner points of two adjacent battery strings.

Step S120: the pose of the battery string is determined based on the image of the battery string.

In step S120, the pose of the battery string may be identified based on an image recognition algorithm. For example, when the image of the whole battery string is included in the image of the battery string, the whole contour of the battery string can be identified, and the pose of the battery string is determined according to the whole contour of the battery string. Or when the image of the battery string contains the corner points of the battery string, the positions of the corner points of the battery string in the image can be identified, so that the pose of the battery string is determined according to the positions of the corner points.

In the embodiment of the application, the pose of the battery string comprises the pose and the position of the battery string.

Step S130: and determining difference information between the pose of the battery string and a preset standard pose.

The preset standard pose may be determined in advance by a worker and stored in a control device or other storage media, and specifically, the preset standard pose may be determined according to an actual scene requirement, for example, the preset standard pose may be horizontal at the width side and vertical at the length side of a battery string, and the battery string is located in the middle of an image. The preset standard gesture may also be other gestures.

The difference information between the pose of the battery string and the preset standard pose may be difference information between the outline of the battery string and the outline of the battery string when the battery string is in the preset standard pose, or may be difference information between the corner position of the battery string and the corner position of the battery string when the battery string is in the preset standard pose, or may be other information capable of indicating the difference between the pose of the battery string and the preset standard pose.

Step S140: and determining the motion parameters of the correction equipment based on the difference information, and controlling the correction equipment to move according to the motion parameters so as to drive the battery string to move and adjust the pose, so that the pose after the adjustment of the battery string is the same as the preset standard pose.

The motion parameter of the correction device may be determined according to the kind of the correction device, and when the correction device is a telescopic mechanism, the motion parameter of the correction device may be a telescopic amount, when the correction device is a robot arm, the motion parameter of the correction device may be a moving coordinate of the robot arm, and when the correction device is a cam, the motion parameter of the correction device may be a rotation amount of the cam.

In step S140, the control device may control the calibration device to move according to the determined movement parameter to drive the battery string to move, detect whether the pose of the battery string is the same as the preset standard pose through the detection device, and control the calibration device to stop moving when the pose of the battery string is the same as the preset standard pose. That is, step S140 may implement the motion adjustment through the servo system.

The scheme provided by the application can automatically adjust the pose of the battery string, manual adjustment is not needed, a large amount of labor cost is reduced, the pose adjustment efficiency and the pose adjustment precision are improved, and therefore the production efficiency, the assembly efficiency and the like of the battery string are improved. And this application adjusts the position appearance of battery cluster through the machine is automatic, and degree of automation is higher, and for manual adjustment, the rate of accuracy of the scheme position appearance adjustment of this application is higher, stability is better.

In one embodiment, step S120 may be implemented as following step S121.

Step S121: and determining the position information of each corner point of the battery string according to the image of the battery string.

Step S130 may be implemented as following step S131.

Step S131: and determining difference information between the position information of each corner point of the battery string and the preset standard position information corresponding to each corner point respectively.

The preset standard position information corresponding to each corner point in step S131 is the preset standard attitude in step S130.

The difference information between the position information of each corner point and the preset standard position information corresponding to each corner point may specifically be coordinate difference information, or may also be other information used for representing the difference between the two.

According to the embodiment, the positions of the battery strings can be conveniently shown through the angular points of the battery strings, and the angular point identification is easier to realize, so that the difference between the pose of the battery strings and the standard pose can be conveniently determined, and the pose adjustment efficiency and operability are improved.

In one embodiment, the above-mentioned correction apparatus may include: the first correcting mechanism and the third correcting mechanism are respectively arranged at two ends of the bearing main body, the second correcting mechanism is arranged on the bearing main body, the first correcting mechanism and the third correcting mechanism are respectively used for driving two ends of the battery string in the length direction to move along the width direction, and the second correcting mechanism is used for driving the battery string to move along the length direction.

The first, second and third correction mechanisms may be identical in structure, so that the correction apparatus is simpler in structure and simpler in control. For example, the three correction mechanisms are all telescopic mechanisms, or all cams, and the like, but are not limited thereto.

In the embodiment, the first correcting mechanism and the third correcting mechanism can drive the battery string to move and swing along the width direction, and the second correcting mechanism can drive the battery string to move along the length direction, so that the pose of the battery string can be adjusted.

The above step S140 can be implemented as the following step S141.

Step S141: and determining motion parameters corresponding to the first correction mechanism, the second correction mechanism and the third correction mechanism respectively based on the difference information, and controlling the first correction mechanism, the second correction mechanism and the third correction mechanism to move according to the respective motion parameters.

According to the embodiment, the first correcting mechanism, the second correcting mechanism and the third correcting mechanism are controlled respectively, so that the pose adjustment is more accurate, and the pose adjustment of the battery string is easier to realize.

In a specific embodiment, the first correction mechanism may include a first moving part, the second correction mechanism may include a second moving part, and the third correction mechanism may include a third moving part, where the first moving part and the third moving part are respectively configured to drive two ends of the battery string in the length direction to move in the width direction, and the second moving part is configured to drive the battery string to move in the length direction.

The first moving member may be a telescopic structure, for example, a telescopic rod, an air cylinder or a hydraulic cylinder, a linear motor, a movable baffle, or other movable mechanisms.

Step S140 may be implemented as following step S141 a.

Step S141a: movement amounts corresponding to the first moving member, the second moving member, and the third moving member are determined based on the difference information.

In this embodiment, the control method of the correction device can be made simpler and easier to implement by the movement of the moving member, and the structure of the correction device can also be made simpler.

In a specific embodiment, step S130 can be implemented as the following step S132.

Step S132: and determining first rotation information and first translation information of the battery string aligned to a preset standard pose, and determining the first rotation information and the first translation information as difference information between the pose of the battery string and the preset standard pose.

The first rotation information is angle information that the pose of the battery string is aligned to a preset standard pose and needs to be rotated, and the first rotation information is the movement amount that the pose of the battery string is aligned to the preset standard pose and needs to be moved.

Step S141a can be realized as the following steps S141b to S141 c.

Step S141b: and determining the post-movement position information of the first moving component, the second moving component and the third moving component according to the pre-movement position information of the first moving component, the second moving component and the third moving component, the first rotation information and the first translation information.

The above-mentioned pre-movement position information refers to a position at which the moving member has not moved, that is, a position at which the moving member has not corrected the battery. The post-movement position information refers to a position of the moving member after the movement, that is, a position where the moving member corrects the battery.

In step S141b, the position obtained by rotating the pre-movement position of the first moving member according to the first rotation information and moving the first moving member according to the first movement information may be determined as the post-movement position information of the first moving member. The method for determining the position of the second moving part and the third moving part after the movement is similar to that of the first moving part, and the description is omitted here.

Step S141c: and determining the moving amount corresponding to the first moving component, the second moving component and the third moving component according to the difference between the position information after the movement and the position information before the movement.

In addition, the movement amount corresponding to each moving part is determined more easily according to the rotation information and the displacement information, so that the correction process is simple and accurate.

Specifically, the first rotation information is a first rotation matrix, and the first translation information is a first translation matrix.

Before the step S141b, the following step S141d may be further included.

Step S141d: and taking a matrix obtained by multiplying the first rotation matrix by the first translation matrix as a first conversion matrix.

The step S141b may be implemented as the following steps: and multiplying the positions before the movement of the first moving component, the second moving component and the third moving component by the first conversion matrix respectively to obtain the position information after the movement of the first moving component, the second moving component and the third moving component respectively.

In the embodiment, the rotation information and the translation information are expressed in a matrix form, so that the calculation is simpler and easier to realize.

Specifically, the first rotation matrix is:

and theta is an included angle between the length direction of the battery string and the length direction of the battery string in the preset standard pose. For example, as shown in fig. 5, θ is an angle between a vector corresponding to the AD side of the battery string and the vertical axis, that is, θ =

And the preset standard posture is that the length direction of the battery string is parallel to the longitudinal axis.

It can be understood that θ is an angle between the length direction of the battery string in the world coordinate system and the length direction of the battery string in the preset standard pose, that is, the calculation of the position of the battery string in the world coordinate system is performed.

As described aboveThe first translation matrix may be:

and x and y are respectively the offset of the center of the battery string in the horizontal direction and the offset of the center of the battery string in the vertical direction relative to the center of the battery string in the preset standard pose. Alternatively, as shown in fig. 5, if the center of the battery string in the preset standard pose is the origin of coordinates of the world coordinate system, the center of the battery string in the preset standard pose is the origin of coordinates of the world coordinate systemx、yThe coordinates of the center of the battery string in the horizontal direction and the vertical direction in the world coordinate system respectively, namely x = P ^w _O0 .x ，y= P ^w _O0 .y，P ^w _O0 .x、 P ^w _O0 Y are the coordinates of the center of the battery string in the horizontal direction and the vertical direction in the world coordinate system, respectively.

In one embodiment, the first moving member, the second moving member, and the third moving member are a first shutter 21, a second shutter 22, and a third shutter 23, respectively.

In step S141c, the movement amounts of the first moving member, the second moving member, and the third moving member may be determined by the following formulas:

Wherein L is ^w _M1 Indicating the position information of the perpendicular bisector of the first flap 21 in the world coordinate system, L ^w _MB1 Position information indicating a straight line on which the first baffle 21 is located in a world coordinate system; l is a radical of an alcohol ^w _MB1after A straight line showing the position of the first shutter 21 after the movementThe location information of (a); l is ^w _M2 Indicating the position information of the perpendicular bisector of the second baffle 22 in the world coordinate system, L ^w _MB2 Position information indicating a straight line on which the second shutter 22 is located in the world coordinate system; l is a radical of an alcohol ^w _MB2after Position information indicating a straight line on which the second shutter 22 moves; l is a radical of an alcohol ^w _M3 Indicating the position information of the perpendicular bisector of the third baffle 23 in the world coordinate system, L ^w _MB3 Position information indicating a straight line on which the third barrier 23 is located in the world coordinate system; l is ^w _MB3after Position information indicating a straight line on which the third shutter 23 is moved, and function distance (cross (L) ^w _M1 , L ^w _MB1 )，cross(L ^w _M1 , L ^w _MB1after ) For computing the cross (L) of the vector product ^w _M1 , L ^w _MB1 ) To the cross (L) of the vector product ^w _M1 , L ^w _MB1after ) The distance between, cross (L) ^w _M1 , L ^w _MB1 ) For calculating the vector L ^w _M1 And vector L ^w _MB1 Is calculated as the vector product of (a).

In one embodiment, the first correction mechanism may further include a first cam for driving the first moving member to move, the second correction mechanism may further include a second cam for driving the second moving member to move, and the third correction mechanism may further include a third cam for driving the third moving member to move;

in step S140, the calibration device may be controlled to move according to the motion parameters according to the following steps S142 to S143.

Step S142: and determining the rotation amounts of the first cam, the second cam and the third cam according to the corresponding movement amounts of the first moving member, the second moving member and the third moving member.

Step S143: the first cam, the second cam and the third cam are controlled to rotate according to the rotation amount so as to drive the first moving component, the second moving component and the third moving component to move by corresponding moving amounts.

Specifically, when the first cam, the second cam and the third cam are all archimedes cams, the step S142 may be implemented as follows:

the amount of rotation of the second cam is determined according to the following equation: Δ θ 2= k × Δ B2;

the amount of rotation of the third cam is determined according to the following equation: Δ θ 3= k × Δ B3;

Specifically, when the archimedes cam rotates around the cam origin at a constant angular velocity, the cam high point moves along a ray from the cam origin to the high point at a constant velocity, and the cam curve locus is an archimedes spiral, as shown in fig. 7.

In the embodiment, the cam drives the baffle to move, so that the baffle can be conveniently controlled to move, and the structure is simple and easy to realize. In addition, because the calculation of the relationship between the rotation and the movement of the Archimedes cam is convenient, the rotation amount of the Archimedes cam can be conveniently determined by the embodiment of the application.

Each cam may be another type of cam, and the present application is not particularly limited.

In one embodiment, step S121 may be implemented as the following step S121 a.

S121a: and determining the position information of each corner point of the battery string under a camera coordinate system according to the image of the battery string.

The camera coordinate system is a coordinate system corresponding to the image acquisition equipment.

Before step S131, the above-described correction method may further include the following step S150.

Step S150: and converting the position information of each corner point of the battery string in a camera coordinate system into the position information of each corner point in a world coordinate system, and determining the position information of each corner point in the world coordinate system as the position information of each corner point.

And the standard position information corresponding to each corner point is the position information of each corner point in a world coordinate system.

In this embodiment, since the position of each corner point in the camera coordinate system can be easily determined by an image, and the standard position information is usually set in the world coordinate system, the position of each corner point in the camera coordinate system is converted into the world coordinate system for the convenience of calculation.

In one embodiment, in step S150, the position information of each corner point of the battery string in the camera coordinate system may be converted into the position information in the world coordinate system according to the following steps S151 to S152.

Step S151: transformation parameters for transforming the camera coordinate system into the world coordinate system are determined.

Specifically, transformation parameters for transforming the camera coordinate system into the world coordinate system can be established through the tooling template. Fig. 3 is a schematic diagram of a corresponding relationship between a camera coordinate system and a world coordinate system, and in the embodiment of the present application, a tooling template may be established with reference to fig. 3, so as to determine a transformation parameter.

The transformation parameters may include: a rotation parameter, a translation parameter, and a scaling parameter.

Specifically, the rotation parameter may be a second rotation matrix, where the second rotation matrix is:

，

refers to the angle between the camera coordinate system and the world coordinate system.

Fig. 4 is a schematic diagram of the operation of the calibration device and the battery string. In the embodiment of the present application,

specifically, the direction of the battery string corresponding to the width directionMeasuring angle in camera coordinate system, i.e.

=

As shown in fig. 4, a denotes one corner point of the battery string, and B denotes another corner point on the width side where the point a of the battery string is located.

The scaling parameter may be a scaling matrix, where the scaling matrix is:

sx is the ratio of the length of any side of the battery string in the world coordinate system to the length of the side in the camera coordinate system, sy is equal to Sx, for example, sx = Sy = | P as shown in FIG. 4 ^w _AB |/|P ^c _AB |，|P ^w _AB I is the modulus of the vector of the AB edge in the world coordinate system, | P ^c _AB And | is the modulus of the vector of the AB edge under the camera coordinate system.

；

wherein the content of the first and second substances,

the target coordinate is subtracted from the abscissa of the first point of the battery string in the world coordinate system, the target coordinate is the product of the abscissa of the vector of the width side corresponding to the first point in the camera coordinate system and Sx, and the first point is any point of the battery string. For example,

= P ^w _A .x- P ^c _AB .x*Sx ，b= P ^w _A .y- P ^c _AB y Sy, where P ^w _A X is the abscissa of point A in the world coordinate system, P ^c _AB X is the vector ABOn the abscissa in the camera coordinate system,

the second target coordinate is the product of the longitudinal coordinate of the vector of the width side corresponding to the first point in the camera coordinate system and Sy.

Step S152: and converting the position information of each corner point of the battery string in the camera coordinate system into the position information in the world coordinate system based on the conversion parameters.

Specifically, in step S152, the product of the position information of each corner point of the battery string and the transformation matrix may be determined as the position information of each corner point in the world coordinate system.

For example, as shown in fig. 5, the position of the battery string in the world coordinate system is shown.

The embodiment can conveniently determine the position information of each corner point under the world coordinate system through the transformation matrix.

As shown in fig. 6, according to the present invention, the battery string 1 on the left side shown in fig. 6 can be corrected to the battery string shown on the right side by the first baffle 21, the second baffle 22, and the third baffle 23, and after the correction, the center of the battery string 1 coincides with the center of the coordinate system.

In one embodiment, the image capturing devices may include a plurality of image capturing devices, and the image capturing devices are respectively disposed at two ends of the battery string in the length direction, and are configured to capture image information at corner points of the two ends of the battery string in the length direction.

Corresponding to the battery string position and posture correction method provided in the first embodiment of the present application, a second embodiment of the present application also provides a battery string position and posture correction device. As shown in fig. 8, the battery string posture correction device provided in the embodiment of the present application includes:

an obtaining unit 410, configured to obtain an image of the battery string collected by the image collecting device;

a pose determination unit 420 for determining a pose of the battery string based on the image of the battery string;

a difference determination unit 430, configured to determine difference information between the pose of the battery string and a preset standard pose;

and the control unit 440 is configured to determine a motion parameter of the correction device based on the difference information, and control the correction device to move according to the motion parameter to drive the battery string to move to adjust the pose, so that the pose adjusted by the battery string is the same as the preset standard pose.

Optionally, the pose determination unit 420 includes:

the difference determining unit 430 is specifically configured to: and determining difference information between the position information of each corner point of the battery string and the preset standard position information corresponding to each corner point respectively.

Optionally, the correction device comprises: the first correcting mechanism and the third correcting mechanism are respectively arranged at two ends of the bearing main body, and are used for driving two ends of the battery string in the length direction to move along the width direction;

the control unit 440 is specifically configured to:

and determining the motion parameters corresponding to the first correction mechanism, the second correction mechanism and the third correction mechanism respectively based on the difference information, and controlling the first correction mechanism, the second correction mechanism and the third correction mechanism to move according to the respective motion parameters.

Optionally, the first correction mechanism includes a first moving part, the second correction mechanism includes a second moving part, the third correction mechanism includes a third moving part, the first moving part and the third moving part are respectively used for driving two ends of the battery string in the length direction to move in the width direction, and the second moving part is used for driving the battery string to move in the length direction;

the control unit 440 is specifically configured to: movement amounts corresponding to the first moving member, the second moving member, and the third moving member are determined based on the difference information.

Optionally, the difference determining unit 430 is specifically configured to:

determining first rotation information and first translation information of the battery string, which align to a preset standard pose, and determining the first rotation information and the first translation information as difference information between the pose of the battery string and the preset standard pose;

the control unit 440 is specifically configured to:

determining the post-motion position information of the first moving component, the second moving component and the third moving component according to the pre-motion position information of the first moving component, the second moving component and the third moving component, as well as the first rotation information and the first translation information; and determining the moving amount corresponding to the first moving component, the second moving component and the third moving component according to the difference between the position information after the movement and the position information before the movement.

the device still includes:

the control unit 440 is specifically configured to: and multiplying the positions before the movement of the first moving component, the second moving component and the third moving component by the first conversion matrix respectively to obtain the position information after the movement of the first moving component, the second moving component and the third moving component.

Alternatively, the first moving member, the second moving member and the third moving member are a first baffle 21, a second baffle 22 and a third baffle 23 respectively;

the control unit 440 is specifically configured to determine the respective moving amounts of the first moving member, the second moving member, and the third moving member by the following formulas:

Wherein L is ^w _M1 Position information, L, indicating the perpendicular bisector of the first flap 21 ^w _MB1 Position information indicating a straight line on which the first shutter 21 is located; l is ^w _MB1after Position information indicating a straight line on which the first shutter 21 is moved; l is ^w _M2 Position information, L, indicating the perpendicular bisector of the second baffle 22 ^w _MB2 Position information, L, indicating the straight line on which the second shutter 22 is located ^w _M3 Position information indicating a perpendicular bisector of the third baffle 23; l is a radical of an alcohol ^w _MB2after Position information indicating a straight line on which the second shutter 22 moves; l is ^w _MB3 Position information indicating a straight line on which the third shutter 23 is located; l is ^w _MB3after Position information indicating a straight line on which the third shutter 23 is moved, function distance (cross (L) ^w _M1 , L ^w _MB1 )，cross(L ^w _M1 , L ^w _MB1after ) For computing the cross (L) of the vector product ^w _M1 , L ^w _MB1 ) To the cross (L) of the vector product ^w _M1 , L ^w _MB1after ) The distance between, cross (L) ^w _M1 , L ^w _MB1 ) For calculating the vector L ^w _M1 And vector L ^w _MB1 Is calculated as the vector product of (a).

the control unit 440 is specifically configured to: determining the rotation amounts of the first cam, the second cam and the third cam according to the corresponding movement amounts of the first moving component, the second moving component and the third moving component; the first cam, the second cam and the third cam are controlled to rotate according to the rotation amount so as to drive the first moving component, the second moving component and the third moving component to move by corresponding movement amounts.

the control unit 440 is specifically configured to:

the amount of rotation of the first cam is determined according to the following equation: Δ θ 1= k × Δ B1;

the device still includes:

the information determining unit is used for converting the position information of each corner point of the battery string in the camera coordinate system into the position information of each corner point in the world coordinate system and determining the position information of each corner point in the world coordinate system as the position information of each corner point;

and the standard position information corresponding to each corner point is position information in a world coordinate system.

Optionally, the information determining unit is specifically configured to:

and converting the position information of each corner point of the battery string in the camera coordinate system into the position information in the world coordinate system based on the conversion parameters.

Corresponding to the battery string pose correction method provided by the first embodiment of the present application, a third embodiment of the present application further provides a control device for correcting the pose of a battery string, which is applied to a battery string carrying system, and the battery string carrying system further includes: the battery string adjusting device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, and the image collecting device is used for collecting an image of the battery string. As shown in fig. 9, the control apparatus includes: a processor 501; and a memory 502, the memory 502 is used for storing a program of the battery string attitude correction method, and after the device is powered on and runs the program of the battery string attitude correction method through the processor 501, the following steps are executed:

acquiring an image of a battery string acquired by image acquisition equipment;

and determining the motion parameters of the correction equipment based on the difference information, and controlling the correction equipment to move according to the motion parameters so as to drive the battery string to move and adjust the pose, so that the adjusted pose of the battery string is the same as the preset standard pose.

A fourth embodiment of the present application provides a computer-readable storage medium storing a program of a battery string posture correction method, corresponding to the battery string posture correction method provided in the first embodiment of the present application, and applied to a control device in a battery string support system, where the battery string support system further includes: the battery string adjusting device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, and the image collecting device is used for collecting an image of the battery string. The program is executed by the processor 501, and performs the following steps:

acquiring an image of a battery string acquired by image acquisition equipment;

Corresponding to the battery string posture correction method provided in the first embodiment of the present application, a fifth embodiment of the present application further provides a battery string carrying system, including:

the bearing main body is used for bearing the battery string;

the image acquisition equipment is used for acquiring images of the battery strings;

the control equipment is used for acquiring the image of the battery string acquired by the image acquisition equipment; determining the pose of the battery string based on the image of the battery string; determining difference information between the pose of the battery string and a preset standard pose; and determining the motion parameters of the correction equipment based on the difference information, and controlling the correction equipment to move according to the motion parameters so as to drive the battery string to move and adjust the pose, so that the adjusted pose of the battery string is the same as the preset standard pose.

It should be noted that, for the detailed description of the apparatus, the control device, and the computer-readable storage medium provided in the second embodiment to the fourth embodiment of the present application, reference may be made to the related description of the first embodiment of the present application, and details are not repeated here.

In a typical configuration, the node devices in a blockchain include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

1. Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), random access memory of other nature (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage media, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.

2. As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, therefore, the scope of the present application should be determined by the claims that follow.

Claims

1. The battery string position and posture correction method is applied to control equipment in a battery string bearing system, and the battery string bearing system further comprises the following steps: the battery string correcting device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, and the image collecting device is used for collecting an image of the battery string; the method comprises the following steps:

determining a motion parameter of the correction equipment based on the difference information, and controlling the correction equipment to move according to the motion parameter so as to drive the battery string to move and adjust the pose, so that the adjusted pose of the battery string is the same as the preset standard pose;

the correction apparatus includes: the first correcting mechanism and the third correcting mechanism are respectively arranged at two ends of the bearing main body, and the second correcting mechanism is arranged on the bearing main body, and are respectively used for driving two ends of a battery string in the length direction to move in the width direction, and driving the battery string to move in the length direction; the first correction mechanism comprises a first moving part, the second correction mechanism comprises a second moving part, the third correction mechanism comprises a third moving part, the first moving part and the third moving part are respectively used for driving two ends of the battery string in the length direction to move in the width direction, and the second moving part is used for driving the battery string to move in the length direction; the first correcting mechanism further comprises a first cam for driving the first moving part to move, the second correcting mechanism further comprises a second cam for driving the second moving part to move, and the third correcting mechanism further comprises a third cam for driving the third moving part to move;

the determining a motion parameter of the correction device based on the difference information and controlling the correction device to move according to the motion parameter includes:

determining motion parameters corresponding to the first correction mechanism, the second correction mechanism and the third correction mechanism respectively based on the difference information, and controlling the first correction mechanism, the second correction mechanism and the third correction mechanism to move according to the respective motion parameters;

determining movement amounts corresponding to the first moving member, the second moving member, and the third moving member, respectively, based on the difference information;

the controlling the correction device to move according to the motion parameter includes:

controlling the first cam, the second cam and the third cam to rotate according to the rotation amount so as to drive the first moving component, the second moving component and the third moving component to move by corresponding movement amounts;

the first cam, the second cam and the third cam are all Archimedes cams;

2. The method of claim 1, wherein the determining the pose of the battery string based on the image of the battery string comprises:

the determining of the difference information between the pose of the battery string and the preset standard pose comprises:

3. The method of claim 2, wherein determining difference information between the pose of the battery string and a preset standard pose comprises:

4. The method of claim 3, wherein the first rotation information is a first rotation matrix and the first translation information is a first translation matrix;

taking a matrix obtained by multiplying the first rotation matrix and the first translation matrix as a first conversion matrix;

and multiplying the positions before the movement of the first moving part, the second moving part and the third moving part by the first conversion matrix respectively to obtain the position information after the movement of the first moving part, the second moving part and the third moving part.

5. The method of claim 4, wherein the first rotation matrix is:

the first translation matrix is:

wherein x and y are the center of the battery string and the position of the battery string respectivelyAnd respectively offsetting the center of the preset standard pose in the horizontal direction and the vertical direction.

6. The method according to claim 5, characterized in that the first moving means, the second moving means and the third moving means are respectively a first shutter (21), a second shutter (22) and a third shutter (23);

determining the respective amounts of movement of the first moving member, the second moving member, and the third moving member by the following formulas:

movement amount of the first moving member = distance (cross (L) ^w _M1 ,L ^w _MB1 )，cross(L ^w _M1 ,L ^w _MB1after ))

Movement amount of the second moving member = distance (cross (L) ^w _M2 ,L ^w _MB2 )，cross(L ^w _M2 ,L ^w _MB2after ))

Movement amount of the third moving member = distance (cross (L) ^w _M3 ,L ^w _MB3 )，cross(L ^w _M3 ,L ^w _MB3after ))

Wherein L is ^w _M1 Position information L indicating a perpendicular bisector of the first flap 21 ^w _MB1 Position information indicating a straight line on which the first shutter (21) is located; l is ^w _MB1after Position information indicating a straight line on which the first shutter is moved; l is a radical of an alcohol ^w _M2 Position information L indicating a perpendicular bisector of the second baffle 22 ^w _MB2 Position information indicating a straight line on which the second shutter (22) is located; l is ^w _MB2after Position information indicating a straight line on which the second shutter is moved; l is a radical of an alcohol ^w _M3 Indicating position information of a perpendicular bisector of the third baffle (23), L ^w _MB3 Position information indicating a straight line on which the third shutter (23) is located; l is ^w _MB3after Position information indicating a straight line on which the third shutter moves, and function distance (cross (L) ^w _M1 ,L ^w _MB1 )，cross(L ^w _M1 ,L ^w _MB1after ) For computing the cross (L) of the vector product ^w _M1 ,L ^w _MB1 ) To the cross (L) of the vector product ^w _M1 ,L ^w _MB1after ) The distance between, cross (L) ^w _M1 ,L ^w _MB1 ) For calculating the vector L ^w _M1 And vector L ^w _MB1 Is calculated as the vector product of (a).

7. The method according to any one of claims 2 to 6, wherein the determining the position information of each corner point of the battery string according to the image of the battery string comprises:

and the standard position information corresponding to each corner point is position information under the world coordinate system.

8. The method according to claim 7, wherein converting the position information of each corner point of the battery string in a camera coordinate system into the position information of each corner point in a world coordinate system comprises:

9. The method of claim 8, wherein the transformation parameters comprise: a rotation parameter, a translation parameter, and a scaling parameter.

10. The method of claim 9, wherein the rotation parameter is a second rotation matrix, and wherein the second rotation matrix is:

the scaling parameter is a scaling matrix, and the scaling matrix is:

wherein alpha refers to an included angle between a camera coordinate system and a world coordinate system, sx refers to the ratio of the length of any side of the battery string under the world coordinate system to the length of the side under the camera coordinate system, and Sy is equal to Sx; a is the abscissa of the first point of the battery string in the world coordinate system minus a first target coordinate, the first target coordinate being the product of the abscissa of the vector of the width side corresponding to the first point in the camera coordinate system and Sx, b is the ordinate of the first point of the battery string in the world coordinate system minus a second target coordinate, the second target coordinate being the product of the ordinate of the vector of the width side corresponding to the first point in the camera coordinate system and Sy.

11. The method according to claim 10, wherein the converting the position information of each corner point of the battery string in a camera coordinate system into the position information in a world coordinate system based on the transformation parameters comprises:

determining the product of the position information of each corner point of the battery string and the transformation matrix as the position information of each corner point under a world coordinate system;

12. The method according to claim 1, wherein the image capturing devices comprise a plurality of image capturing devices, and the image capturing devices are respectively arranged at two ends of the battery string in the length direction and are used for capturing image information at corner points of the two ends of the battery string in the length direction.

13. The utility model provides a battery cluster position appearance correcting unit which characterized in that is applied to the controlgear among the battery cluster bearing system, battery cluster bearing system still includes: the battery string correcting device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, and the image collecting device is used for collecting an image of the battery string; the device comprises:

an acquisition unit (410) for acquiring an image of the battery string acquired by the image acquisition device;

a pose determination unit (420) for determining a pose of the battery string based on the image of the battery string;

a difference determination unit (430) for determining difference information between the pose of the battery string and a preset standard pose;

the control unit (440) is used for determining a motion parameter of the correction device based on the difference information and controlling the correction device to move according to the motion parameter so as to drive the battery string to move and adjust the pose, so that the pose after the adjustment of the battery string is the same as the preset standard pose;

the correction apparatus includes: the first correcting mechanism and the third correcting mechanism are respectively arranged at two ends of the bearing main body and are respectively used for driving two ends of the battery string in the length direction to move in the width direction, and the second correcting mechanism is used for driving the battery string to move in the length direction; the first correction mechanism comprises a first moving part, the second correction mechanism comprises a second moving part, the third correction mechanism comprises a third moving part, the first moving part and the third moving part are respectively used for driving two ends of the battery string in the length direction to move in the width direction, and the second moving part is used for driving the battery string to move in the length direction; the first correcting mechanism further comprises a first cam for driving the first moving part to move, the second correcting mechanism further comprises a second cam for driving the second moving part to move, and the third correcting mechanism further comprises a third cam for driving the third moving part to move;

the control unit is specifically configured to: determining motion parameters corresponding to the first correction mechanism, the second correction mechanism and the third correction mechanism respectively based on the difference information, and controlling the first correction mechanism, the second correction mechanism and the third correction mechanism to move according to the respective motion parameters;

the determining, based on the difference information, motion parameters corresponding to the first correction mechanism, the second correction mechanism, and the third correction mechanism, respectively, includes: determining movement amounts corresponding to the first moving member, the second moving member, and the third moving member, respectively, based on the difference information;

the control unit is specifically configured to: determining the rotation amount of the first cam, the second cam and the third cam according to the movement amount corresponding to the first moving component, the second moving component and the third moving component respectively; controlling the first cam, the second cam and the third cam to rotate according to the rotation amount so as to drive the first moving component, the second moving component and the third moving component to move by corresponding movement amounts;

the first cam, the second cam and the third cam are all Archimedes cams;

determining an amount of rotation of the second cam according to the following equation: Δ θ 2=k × Δ B2;

14. A control device, applied to a battery string carrying system, the battery string carrying system further comprising: the battery string fixing device comprises a bearing main body, a correcting device and an image collecting device, wherein the bearing main body is used for bearing a battery string, the correcting device is used for adjusting the pose of the battery string borne by the bearing main body, the image collecting device is used for collecting the image of the battery string, and the control device comprises:

a processor (501); and

a memory (502) for storing a data processing program which, when powered on and executed by the control device via the processor, performs the method according to any one of claims 1-12.

15. A battery string carrying system, comprising:

the bearing main body is used for bearing the battery string;

control device for performing the method according to any one of claims 1-12.