CN109961479A - Localization method and welding streamline applied to battery modules bus welding streamline - Google Patents
Localization method and welding streamline applied to battery modules bus welding streamline Download PDFInfo
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- CN109961479A CN109961479A CN201711428728.4A CN201711428728A CN109961479A CN 109961479 A CN109961479 A CN 109961479A CN 201711428728 A CN201711428728 A CN 201711428728A CN 109961479 A CN109961479 A CN 109961479A
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- battery modules
- feature point
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- Computer Vision & Pattern Recognition (AREA)
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Abstract
The embodiment of the invention discloses the localization methods and welding streamline that are applied to battery modules bus welding streamline, are related to the field of locating technology of battery modules bus welding streamline.The localization method applied to battery modules bus welding streamline includes: the coordinate in Image Acquisition station acquisition each pole of battery modules in basis coordinates system；Fisrt feature point and second feature point are marked on fixture in battery modules or for clamping battery modules, and object coordinates system is established based on the fisrt feature point and second feature point, obtains the coordinate of each pole of battery modules based on the object coordinates system；The fisrt feature point and second feature point are identified in welding post, are carried out coordinate system conversion and are obtained coordinate of the coordinate of each pole of battery modules based on the object coordinates system in welding position coordinate system.Technical solution disclosed by the embodiments of the present invention be conducive to improve each pole of battery modules positioning accuracy and efficiency and battery modules bus welding efficiency and accuracy.
Description
Technical field
Technical solution disclosed by the embodiments of the present invention is related to the field of locating technology of battery modules bus welding streamline, especially
It is related to localization method and welding streamline applied to battery modules bus welding streamline.
Background technique
The bus (Busbar) of new energy resource power battery mould group can be criticized using battery modules bus welding streamline
The welding of quantization.Usual battery modules include multiple poles, need to determine multiple poles when multiple poles weld bus
Position.
Inventor has found that battery modules bus welding streamline is to battery in the prior art during studying the present invention
The location efficiency and precision of mould group bus are low, seriously affect the efficiency and accuracy of the welding of battery modules bus.
Summary of the invention
Technical solution disclosed by the invention is able to solve following technical problem: battery modules bus welding stream in the prior art
Waterline is low to the location efficiency and precision of battery modules bus, seriously affects the efficiency and accuracy of the welding of battery modules bus.
One or more embodiment of the invention discloses a kind of determines applied to battery modules bus welding streamline
Position method, comprising: in coordinate of the Image Acquisition station acquisition each pole of battery modules in basis coordinates system；In battery modules or
Person, which is used to clamp, marks fisrt feature point and second feature point on the fixture of battery modules, be based on the fisrt feature point and second
Characteristic point establishes object coordinates system, obtains the coordinate of each pole of battery modules based on the object coordinates system；In welding post
It identifies the fisrt feature point and second feature point, carries out coordinate system conversion and obtain the battery mould based on the object coordinates system
Coordinate of the coordinate of each pole of group in welding position coordinate system.
In one or more embodiment of the invention, with the straight line where the fisrt feature point and second feature point
A reference axis as the object coordinates system.
In one or more embodiment of the invention, the fisrt feature point and second feature point label are in battery mould
On the diagonal line of group.
In one or more embodiment of the invention, using the fisrt feature point or second feature point as institute
State the coordinate origin of object coordinates system, the fisrt feature point and second feature point mark one in battery modules respectively
On pole.
In one or more embodiment of the invention, the basis coordinates system, the object coordinates system and the weldering
Connecing a coordinate system is two-dimensional coordinate system.
One or more embodiment of the invention discloses a kind of welding streamline, for welding battery modules bus, wraps
It includes: the image collecting device of Image Acquisition station being set, the laser soldering device of welding post is set and for will be electric
Chi Mo group is transmitted to the transmitting device of the welding post from described image acquisition station；Described image acquisition device is used in institute
State coordinate of the Image Acquisition station acquisition each pole of battery modules in basis coordinates system；Described image acquisition device is also used in electricity
Fisrt feature point and second feature point are marked on fixture in Chi Mo group or for clamping battery modules, it is special based on described first
Sign point and second feature point establish object coordinates system, obtain the coordinate of each pole of battery modules based on the object coordinates system；
The laser soldering device is used to identify the fisrt feature point and second feature point, progress coordinate system conversion in welding post
Obtain coordinate of the coordinate of each pole of battery modules based on the object coordinates system in welding position coordinate system.
In one or more embodiment of the invention, described image acquisition device is with the fisrt feature point and second
A reference axis of the straight line as the object coordinates system where characteristic point.
In one or more embodiment of the invention, described image acquisition device is by the fisrt feature point and second
Characteristic point marks on the diagonal line of battery modules.
In one or more embodiment of the invention, described image acquisition device is with the fisrt feature point or institute
The coordinate origin that second feature point is the object coordinates system is stated, the fisrt feature point and second feature point mark respectively
On a pole of battery modules.
In one or more embodiment of the invention, the basis coordinates system of described image acquisition device is that two dimension is sat
Mark system, the object coordinates system that described image acquisition device is established are two-dimensional coordinate system, the welding of laser soldering device
Position coordinate system is two-dimensional coordinate system.
One or more embodiment of the invention discloses a kind of non-transient computer readable storage medium, described non-transient
Computer instruction is stored in computer readable storage medium, the computer instruction is loaded suitable for processor, above-mentioned to realize
Any one is applied to the localization method of battery modules bus welding streamline.
Compared with prior art, technical solution disclosed by the invention mainly have it is following the utility model has the advantages that
In an embodiment of the present invention, the localization method applied to battery modules bus welding streamline, by
Image Acquisition station acquires coordinate of each pole of battery modules in basis coordinates system, allows and accurately adopts in Image Acquisition station
Coordinate of each pole of set battery mould group in basis coordinates system.Pass through the fixture in battery modules or for clamping battery modules
Upper label fisrt feature point and second feature point are established object coordinates system based on the fisrt feature point and second feature point, are obtained
The coordinate for obtaining each pole of battery modules based on the object coordinates system, so that seat of each pole of battery modules in basis coordinates system
Mark the coordinate being converted into the object coordinates system.By identifying the fisrt feature point and second feature in welding post
Point carries out coordinate system conversion and obtains the coordinate of each pole of battery modules based on the object coordinates system in welding position coordinate system
Coordinate so that the coordinate of each pole of battery modules based on the object coordinates system is converted into the seat in welding position coordinate system
Mark, convenient for welding corresponding bus in each pole of battery modules based on the welding position coordinate system.It is described to be applied to battery modules
The localization method of bus welding streamline, without identifying the coordinate of each pole of all battery modules in welding post, thus
The location efficiency to each pole of battery modules can be improved, furthermore the positioning for being applied to battery modules bus welding streamline
Method position fixing process is simple and reliable, is conducive to improve the positioning accuracy to each pole of battery modules, ultimately facilitates raising battery
The efficiency and accuracy of mould group bus welding.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for this field
For those of ordinary skill, without any creative labor, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is that a kind of localization method applied to battery modules bus welding streamline shows in one embodiment of the invention
It is intended to；
Fig. 2 is schematic diagram of the battery modules in basis coordinates system X1-Y1 in one embodiment of the invention；
Fig. 3 is to establish object coordinates system X2-Y2 based on fisrt feature point and second feature point in one embodiment of the invention
Schematic diagram；
Fig. 4 is the coordinate conversion of each pole of battery modules based on object coordinates system X2-Y2 in one embodiment of the invention
At the schematic diagram of the coordinate in welding position coordinate system X3-Y3；
Fig. 5 is the schematic diagram of welding streamline in one embodiment of the invention.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Following claims, specification and Figure of description
In term " first ", " second " etc. be to be not use to describe a particular order for distinguishing different objects.
One or more embodiment of the invention discloses a kind of determines applied to battery modules bus welding streamline
Position method.Technical solution of the present invention is illustrated below by specific embodiment, what is be related in specific embodiment answers
Localization method for battery modules bus welding streamline is preferred embodiment, and all possible implementation of non-present invention
Example.The localization method applied to battery modules bus welding streamline that various embodiments of the present invention are related to is mainly used in electricity
The welding streamline of Chi Mo group bus.
One or more embodiment of the invention discloses a kind of determines applied to battery modules bus welding streamline
Position method.Referring to figs. 1 to Fig. 4, wherein Fig. 1 is a kind of applied to battery modules bus welding flowing water in one embodiment of the invention
The schematic diagram of the localization method of line, Fig. 2 are signal of the battery modules in basis coordinates system X1-Y1 in one embodiment of the invention
Figure, Fig. 3 are to establish object coordinates based on fisrt feature point Mark 1 and second feature point Mark 2 in one embodiment of the invention
It is the schematic diagram of X2-Y2, Fig. 4 is each pole of battery modules based on object coordinates system X2-Y2 in one embodiment of the invention
Coordinate is converted into the schematic diagram of the coordinate in welding position coordinate system X3-Y3.It anticipates as shown in fig. 1, it is described to be applied to battery
The localization method of mould group bus welding streamline includes:
Step 1: in coordinate of the Image Acquisition station acquisition each pole of battery modules in basis coordinates system X1-Y1；
Step 2: fisrt feature point Mark1 and the is marked on the fixture in battery modules or for clamping battery modules
Two characteristic point Mark2 establish object coordinates system X2-Y2 based on the fisrt feature point Mark 1 and second feature point Mark 2,
Obtain the coordinate of each pole of battery modules based on the object coordinates system X2-Y2；
Step 3: identifying the fisrt feature point Mark 1 and second feature point Mark 2 in welding post, carry out coordinate
System's conversion obtains the coordinate of each pole of battery modules based on the object coordinates system X2-Y2 in welding position coordinate system X3-Y3
Coordinate.
The localization method applied to battery modules bus welding streamline in above-described embodiment, by Image Acquisition work
Coordinate of the position acquisition each pole of battery modules in basis coordinates system X1-Y1 so that Image Acquisition station can be with precise acquisition electricity
Coordinate of each pole of Chi Mo group in basis coordinates system X1-Y1.Pass through the folder in battery modules or for clamping battery modules
Fisrt feature point Mark 1 and second feature point Mark2 is marked on tool, is based on the fisrt feature point Mark 1 and second feature
Point Mark 2 establishes object coordinates system X2-Y2, obtains the seat of each pole of battery modules based on the object coordinates system X2-Y2
Mark, so that each pole of battery modules is converted into the seat in the object coordinates system X2-Y2 in the coordinate in basis coordinates system X1-Y1
Mark.By identifying the fisrt feature point Mark 1 and second feature point Mark 2 in welding post, coordinate system conversion is carried out
Obtain coordinate of the coordinate of each pole of battery modules based on the object coordinates system X2-Y2 in welding position coordinate system X3-Y3,
So that the coordinate of each pole of battery modules based on the object coordinates system X2-Y2 is converted into welding position coordinate system X3-Y3
Coordinate, convenient for welding corresponding bus in each pole of battery modules based on the welding position coordinate system X3-Y3.Above-described embodiment
In the localization method applied to battery modules bus welding streamline, without identifying all battery modules in welding post
The coordinate of each pole, thus the location efficiency to each pole of battery modules can be improved, it is furthermore described to be applied to battery modules mother
The localization method position fixing process of wire bonding assembly line is simple and reliable, is conducive to improve the positioning accuracy to each pole of battery modules,
Ultimately facilitate the efficiency and accuracy for improving the welding of battery modules bus.
In a kind of possible embodiment, with 2 place the fisrt feature point Mark 1 and second feature point Mark
A reference axis of the straight line as the object coordinates system X2-Y2.
In a kind of possible embodiment, the fisrt feature point Mark 1 and the label of second feature point Mark 2 are in electricity
On the diagonal line of Chi Mo group.
In a kind of possible embodiment, with the fisrt feature point Mark 1 or second feature point Mark 2
For the coordinate origin of the object coordinates system X2-Y2, the fisrt feature point Mark 1 and the second feature point Mark 2 minutes
It Biao Ji not be on a pole of battery modules.
In a kind of possible embodiment, the basis coordinates system X1-Y1, the object coordinates system X2-Y2 and described
Welding position coordinate system X3-Y3 is two-dimensional coordinate system.
One embodiment of the invention discloses a kind of welding streamline, for welding battery modules bus.With reference to Fig. 5, for this
The schematic diagram of welding streamline in one embodiment of invention.It anticipates as shown in Figure 5, the welding streamline includes: that setting exists
The image collecting device 10 of Image Acquisition station, the laser soldering device 20 that welding post is set and for by battery modules
The transmitting device 30 of the welding post is transmitted to from described image acquisition station；Described image acquisition device 10 is used for described
Image Acquisition station acquires coordinate of each pole of battery modules in basis coordinates system；Described image acquisition device 10 is also used in electricity
Fisrt feature point and second feature point are marked on fixture in Chi Mo group or for clamping battery modules, it is special based on described first
Sign point and second feature point establish object coordinates system, obtain the coordinate of each pole of battery modules based on the object coordinates system；
The laser soldering device 20 is used to identify the fisrt feature point and second feature point in welding post, carries out coordinate system and change
Calculate coordinate of the coordinate for obtaining each pole of battery modules based on the object coordinates system in welding position coordinate system.
Preferably, described image acquisition device 10 is including CCD (Charge-coupled Device) camera and for driving
The CCD camera first drives mould group.The laser soldering device 20 is including laser welding head and for driving the Laser Welding
Second driving mould group of connector.The first driving mould group and/or the second driving mould group can be manipulator, multiaxis driving
Platform etc..The laser welding head controls the offset of laser beam by galvanometer or collimation head.
In a kind of possible embodiment, described image acquisition device 10 is with the fisrt feature point and second feature point
A reference axis of the straight line at place as the object coordinates system.
In a kind of possible embodiment, described image acquisition device 10 is by the fisrt feature point and second feature point
Label is on the diagonal line of battery modules.
In a kind of possible embodiment, described image acquisition device 10 is with the fisrt feature point or described second
Characteristic point is the coordinate origin of the object coordinates system, and the fisrt feature point and second feature point are marked respectively in battery
On one pole of mould group.
In a kind of possible embodiment, the basis coordinates system of described image acquisition device 10 is two-dimensional coordinate system,
The object coordinates system that described image acquisition device 10 is established is two-dimensional coordinate system, the welding position of laser soldering device 20
Coordinate system is two-dimensional coordinate system.
One embodiment of the invention discloses a kind of non-transient computer readable storage medium, and the non-transient computer is readable
Computer instruction is stored in storage medium, the computer instruction is loaded suitable for processor, to realize that any one of the above is answered
Localization method for battery modules bus welding streamline.
When the technical solution in above-mentioned each embodiment uses software realization, above-mentioned each embodiment can will be realized
Computer instruction and/or data storage in computer-readable medium or as on readable medium one or more instructions or
Code is transmitted.Computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be what computer can store
Any usable medium.As example but not limited to this: computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or
Other optical disc storages, magnetic disk storage medium or other magnetic storage apparatus or can carry or store with instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.In addition, any connection can fit
When become computer-readable medium.For example, if software is using coaxial cable, light pricker optical cable, twisted pair, Digital Subscriber Line
(DSL) either the wireless technology of such as infrared ray, radio and microwave etc is transmitted from website, server or other remote sources
, then the wireless technology packet of coaxial cable, optical fiber cable, twisted pair, DSL or such as infrared ray, wireless and microwave etc
It includes in the definition of affiliated medium.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the application, rather than its limitations.Although
The application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
And these are modified or replaceed, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of localization method applied to battery modules bus welding streamline characterized by comprising
In coordinate of the Image Acquisition station acquisition each pole of battery modules in basis coordinates system；
Fisrt feature point and second feature point are marked on fixture in battery modules or for clamping battery modules, are based on institute
It states fisrt feature point and second feature point establishes object coordinates system, obtain each pole of battery modules based on the object coordinates system
Coordinate；
The fisrt feature point and second feature point are identified in welding post, are carried out coordinate system conversion and are obtained based on the object
Coordinate of the coordinate of each pole of the battery modules of coordinate system in welding position coordinate system.
2. the localization method according to claim 1 applied to battery modules bus welding streamline, which is characterized in that with
A reference axis of the straight line as the object coordinates system where the fisrt feature point and second feature point.
3. the localization method according to claim 2 applied to battery modules bus welding streamline, which is characterized in that institute
Fisrt feature point and second feature point label are stated on the diagonal line of battery modules.
4. the localization method according to claim 2 applied to battery modules bus welding streamline, which is characterized in that with
The fisrt feature point or second feature point are the coordinate origin of the object coordinates system, the fisrt feature point and institute
Second feature point is stated to mark respectively on a pole of battery modules.
5. the localization method according to claim 1 applied to battery modules bus welding streamline, which is characterized in that institute
Stating basis coordinates system, the object coordinates system and the welding position coordinate system is two-dimensional coordinate system.
6. a kind of welding streamline, for welding battery modules bus characterized by comprising be arranged in Image Acquisition station
Image collecting device, be arranged in welding post laser soldering device and for by battery modules from described image acquire work
Position is transmitted to the transmitting device of the welding post；
Described image acquisition device is used for the seat in described image acquisition station acquisition each pole of battery modules in basis coordinates system
Mark；Described image acquisition device is also used to mark fisrt feature on the fixture in battery modules or for clamping battery modules
Point and second feature point establish object coordinates system based on the fisrt feature point and second feature point, obtain and be based on the object
The coordinate of each pole of the battery modules of coordinate system；
The laser soldering device is used to identify the fisrt feature point and second feature point, progress coordinate system in welding post
Conversion obtains coordinate of the coordinate of each pole of battery modules based on the object coordinates system in welding position coordinate system.
7. welding streamline according to claim 6, which is characterized in that described image acquisition device is with the fisrt feature
A reference axis of the straight line as the object coordinates system where point and second feature point.
8. welding streamline according to claim 7, which is characterized in that described image acquisition device is by the fisrt feature
Point and second feature point label are on the diagonal line of battery modules.
9. welding streamline according to claim 7, which is characterized in that described image acquisition device is with the fisrt feature
Point or second feature point are the coordinate origin of the object coordinates system, the fisrt feature point and second feature point
It is marked on a pole of battery modules respectively.
10. welding streamline according to claim 6, which is characterized in that the basis coordinates of described image acquisition device
System is two-dimensional coordinate system, and the object coordinates system that described image acquisition device is established is two-dimensional coordinate system, laser soldering device
The welding position coordinate system be two-dimensional coordinate system.
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| CN201711428728.4A CN109961479B (en) | 2017-12-25 | 2017-12-25 | Positioning method applied to battery module bus welding production line and welding production line |
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| CN201711428728.4A CN109961479B (en) | 2017-12-25 | 2017-12-25 | Positioning method applied to battery module bus welding production line and welding production line |
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| CN109961479B CN109961479B (en) | 2021-01-08 |
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| CN109961479B (en) | 2021-01-08 |
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