CN-121983693-A - Laser positioning and mechanical arm cooperation-based nondestructive dismantling lithium battery recycling method

CN121983693ACN 121983693 ACN121983693 ACN 121983693ACN-121983693-A

Abstract

The application provides a nondestructive dismantling lithium battery recycling method based on laser positioning and mechanical arm cooperation, which comprises the steps of S1, collecting shape and coordinate data of a battery pack on a conveying line in real time, generating scanning coverage parameters, judging by combining conveying speed, eliminating noise on coordinate data to generate accurate position data if the conveying speed exceeds a speed threshold, S2, carrying out space matching on the shape of the battery pack based on the accurate position data, establishing a relative position model of a laser head and a mechanical arm base, judging the scanning coverage by combining a mechanical arm operation radius limit value, and if the limit value is smaller than the scanning coverage parameters, realizing dynamic adaptation by joint parameter adjustment, outputting an adapted operation radius value, S3, planning a cooperation path according to the adapted operation radius value for equipment coordination requirements, avoiding collision risk, and obtaining an optimized cooperation path, and S4, continuously monitoring positioning accuracy based on real-time change of the optimized cooperation operation path and the conveying speed.

Inventors

TANG CUNFU
LU BING
YAN CAINENG
XING BO
XIAO JIANBIN

Assignees

秦田贸易(深圳)有限公司

Dates

Publication Date: 20260505
Application Date: 20251224

Claims (10)

1. A nondestructive dismantling lithium battery recycling method based on laser positioning and mechanical arm cooperation is characterized by comprising the steps of S1, collecting shape and coordinate data of a battery pack on a conveying line in real time by a laser positioning device, generating scanning coverage parameters, judging by combining conveying speed, eliminating noise on seat label data to generate accurate position data if the conveying speed exceeds a speed threshold, S2, carrying out space matching on the shape of the battery pack based on the accurate position data, establishing a relative position model of a laser head and a mechanical arm base, judging scanning coverage by combining a mechanical arm operation radius limit value, and if the limit value is smaller than the scanning coverage parameters, realizing dynamic adaptation by joint parameter adjustment, outputting an adapted operation radius value, S3, planning a cooperative path according to equipment coordination requirements by the adapted operation radius value, avoiding collision risk, obtaining an optimized cooperative operation path, S4, continuously monitoring positioning accuracy based on real-time change of the optimized cooperative path and conveying speed, and realizing continuous optimization of the laser positioning and the mechanical arm.
2. The method of claim 1, wherein the step S1 comprises the steps of S11, continuously emitting laser beams by a laser positioning device to scan the surface of a battery pack to generate three-dimensional point cloud data as position coordinates, S12, receiving the three-dimensional point cloud data by a control device to extract the edge profile of the battery pack as the shape characteristic of the battery pack, S13, adjusting the scanning angle and the density parameters of a laser scanning head to obtain scanning coverage parameters, S14, judging whether the conveying speed exceeds a preset speed threshold according to the scanning coverage parameters in combination with the current conveying speed information of a conveying line, and S15, fusing the predicted position of the battery pack with an actual measured value and outputting smooth accurate position data when the conveying speed exceeds the preset speed threshold.
3. The method according to claim 2, wherein the step S11 further comprises preliminarily recording environmental parameters of the illumination intensity and the vibration frequency of the conveyor line, and storing the environmental parameters in association with the point cloud data.
4. The method of claim 3, wherein the step S12 further comprises: The control device performs gridding processing on the point cloud data through a built-in image processing module, divides a three-dimensional space into a plurality of small cube units, counts the point cloud density in each unit, adopts an edge detection technology, identifies areas with large density change in the point cloud data, and extracts external contour features of the battery pack.
5. The method of claim 4, wherein the step S15 further comprises: Initializing an initial position and a state covariance matrix of a battery pack, wherein the initial position is a point cloud center point coordinate obtained by first scanning; predicting the position of the battery pack at the next moment according to the current conveying speed and direction, and calculating the error of a position prediction value; calculating a Kalman gain by the latest position measurement data; Updating the predicted value of the position and outputting smooth accurate position data.
6. The method of claim 1, wherein the step S2 comprises the steps of S21, extracting shape characteristics of a battery pack by a control device, registering the shape characteristics with a pre-stored template to determine a relative pose transformation matrix as a preliminary space matching model, S22, acquiring a current limit value of an operation radius of the mechanical arm through the preliminary space matching model, S23, inquiring a kinematic model of the mechanical arm by the control device, calculating the maximum reachable distance from a base to the tail end of the mechanical arm as the current limit value, S24, solving the target angles of all joints by inverse kinematics, verifying singular configuration avoidance, judging whether the adjusted mechanical arm meets dynamic adaptation requirements, and acquiring an adapted operation radius value.
7. The method of claim 1, wherein the step S3 includes the steps of S31, the control device constructing a multi-device configuration space and setting up a collision detector, and S32, iteratively updating path node positions, evaluating a total job path length and a safety margin, selecting a job path with highest fitness as an optimized collaborative job path, and smoothing a trajectory point.
8. The method of claim 7, wherein the step S31 further comprises the control device constructing a virtual three-dimensional configuration space containing spatial location information of the laser positioning device, the robot arm, the conveyor line and the battery pack.
9. The method of claim 8, wherein the step S32 further comprises the control device planning a collaborative work path using a particle swarm optimization algorithm.
10. The method of claim 9, wherein the step S32 further comprises: the total working path length is obtained by calculating the Euclidean distance summation between each node, and the safety margin is obtained by calculating the minimum distance between the working path node and the collision detection body.

Description

Laser positioning and mechanical arm cooperation-based nondestructive dismantling lithium battery recycling method Technical Field The invention relates to the technical field of lithium battery recovery, in particular to a nondestructive disassembly lithium battery recovery method based on laser positioning and mechanical arm cooperation. Background The field of lithium battery recovery has non-negligible importance in promoting resource recycling and environmental protection. With the rapid development of new energy industry, the number of waste lithium batteries is rapidly increased, and how to efficiently and safely recycle the batteries becomes an important subject to be solved in industry. The field is not only related to the recycling efficiency of resources, but also directly affects the control of environmental pollution and the improvement of economic benefits, and is an important link for realizing sustainable development. However, in the current lithium battery recycling process, the disassembly link generally faces the problem of insufficient automation degree. Many methods, when faced with complex industrial environments, are difficult to accommodate in diverse operating scenarios, particularly with significantly shorter plates in terms of coordination between devices. In the disassembly process, the equipment often cannot accurately cope with the diversified form and position changes of the battery pack, so that the operation efficiency is low, and even potential safety hazards can be caused by misoperation. This limitation makes it difficult to meet the large-scale industrial demands of the recovery process. The technical difficulty of the deeper level is how to realize high-precision collaborative operation of multiple devices in a complex environment. Particularly, in the aspect of the positioning accuracy, interference in an industrial environment, such as light change, equipment vibration and the like, often causes inaccurate positioning data, thereby affecting the accuracy of disassembly. Due to the lack of positioning accuracy, the robotic arm may not accurately identify the specific location of the battery pack during operation, even during movement, and collide with other equipment or obstacles. For example, in a recovery line running at high speed, the position of the battery pack may shift due to uneven conveyor speed, which may result in disassembly failure or battery damage if the equipment fails to capture such subtle changes in real time. The misoperation caused by inaccurate positioning not only reduces the disassembly efficiency, but also increases the risk of resource waste. Therefore, how to realize efficient collaborative operation of multiple devices by improving positioning accuracy in a complex industrial environment becomes a key problem to be overcome in the process of recovering and disassembling lithium batteries. Disclosure of Invention The invention provides a nondestructive dismantling lithium battery recycling method based on laser positioning and mechanical arm cooperation, which aims to solve the technical problems in the background technology and comprises the steps of S1, collecting shape and coordinate data of a battery pack on a conveying line in real time by a laser positioning device, generating scanning coverage parameters, judging by combining conveying speed, eliminating noise on seat mark data to generate accurate position data if the conveying speed exceeds a speed threshold, S2, carrying out space matching on the shape of the battery pack based on the accurate position data, establishing a relative position model of a laser head and a mechanical arm base, judging scanning coverage by combining a mechanical arm operation radius limit value, and if the limit value is smaller than the scanning coverage parameters, realizing dynamic adaptation through joint parameter adjustment, outputting an adapted operation radius value, S3, planning a cooperative path according to the adapted operation radius value aiming at equipment coordination requirements, avoiding collision risks, obtaining an optimized cooperative operation path, S4, continuously monitoring positioning accuracy based on real-time change of the optimized cooperative path and conveying speed, and realizing continuous cooperative optimization of the laser positioning and the mechanical arm. Further, the step S1 comprises the steps of continuously emitting laser beams to scan the surface of the battery pack by the laser positioning device to generate three-dimensional point cloud data as position coordinates, the step S12 of receiving the three-dimensional point cloud data by the control device to extract the edge profile of the battery pack as the shape characteristic of the battery pack, the step S13 of adjusting the scanning angle and the density parameter of the laser scanning head to obtain scanning coverage parameters, the step S14 of judging whether the conveying speed exceeds a preset sp