CN111532823A - Battery material deviation rectifying method and battery material deviation rectifying equipment - Google Patents
Battery material deviation rectifying method and battery material deviation rectifying equipment Download PDFInfo
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- CN111532823A CN111532823A CN201910103270.8A CN201910103270A CN111532823A CN 111532823 A CN111532823 A CN 111532823A CN 201910103270 A CN201910103270 A CN 201910103270A CN 111532823 A CN111532823 A CN 111532823A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
- B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
- B65H7/06—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
- B65H7/10—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to incorrect side register
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
- B65H2511/20—Location in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
- B65H2511/20—Location in space
- B65H2511/24—Irregularities, e.g. in orientation or skewness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2553/00—Sensing or detecting means
- B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
- B65H2553/42—Cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
Abstract
The application provides a battery material deviation rectifying method and a battery material deviation rectifying device, wherein the deviation rectifying method comprises the following steps: acquiring an image of the battery material; determining at least one contour line and at least one characteristic point of the battery material according to the image; determining the offset of the actual position and the preset position of the battery material according to at least one contour line and at least one characteristic point of the battery material; and adjusting the position of the battery material according to the offset. In this application, acquire the image of battery material through image detection device to according to the offset of image acquisition battery material, the controller adjusts the position of battery material according to the offset, thereby improves the position accuracy of battery material.
Description
Technical Field
The application relates to the field of battery manufacturing, in particular to a battery material deviation rectifying method and a battery material deviation rectifying device.
Background
In the automatic production process of batteries, the position precision of battery materials is an important index, and the final quality of products can be directly influenced. Therefore, it becomes important to accurately position each cell material to a target location. However, for some light and thin materials, such as photovoltaic silicon wafers and pole pieces of battery cells, it is difficult to position them to the target position directly by a robot arm.
Disclosure of Invention
In order to solve the technical problem, the application provides a battery material deviation rectifying method and a battery material deviation rectifying device so as to correct the position of a battery material.
The application provides a deviation rectifying method for a battery material, which is used for a deviation rectifying device for the battery material, and the deviation rectifying method comprises the following steps: acquiring an image of the battery material; determining at least one contour line and at least one characteristic point of the battery material according to the image; determining the offset of the actual position and the preset position of the battery material according to at least one contour line and at least one characteristic point of the battery material; and adjusting the position of the battery material according to the offset.
Further, the determining at least one contour line of the battery material according to the image includes: and obtaining a plurality of contour points on the battery material according to the image, and forming the contour line according to the fitting of the contour points.
Further, the acquiring a plurality of contour points on the battery material includes: and acquiring a plurality of contour points on the battery material according to the gray value of the pixel point of the image.
Further, the contour lines are straight lines.
Further, determining the offset between the actual position and the preset position of the battery material according to the at least one contour line and the at least one feature point of the battery material includes: according to at least one contour line and at least one characteristic point of the battery material, acquiring a deviation angle between the contour line and a corresponding preset contour line and a deviation displacement between the characteristic point and the corresponding preset characteristic point; the offset displacement includes a first displacement component in a first direction and a second displacement component in a second direction.
Further, the determining at least one feature point of the battery material according to the image includes: determining a first contour line and a second contour line of the battery material according to the image; the characteristic point is the intersection point of the first contour line and the second contour line.
Further, obtaining a deviation angle between the contour line and a corresponding preset contour line according to the at least one contour line of the battery material includes: according to the first contour line and the second contour line of the battery material, a first deviation angle between the first contour line and a corresponding first preset contour line and a second deviation angle between the second contour line and a corresponding second preset contour line are obtained; and averaging the first deviation angle and the second deviation angle to obtain a deviation angle.
Further, the deviation rectifying method comprises the following steps: and calculating a difference value between the first deviation angle and the second deviation angle, and if the absolute value of the difference value is larger than a preset difference value range, judging that the battery material is a defective product.
Further, the deviation rectifying equipment for the battery material comprises a platform for holding the battery material; the adjusting the position of the battery material according to the offset comprises: controlling the platform to rotate by the deviation angle; controlling the platform to move along a first direction; and controlling the platform to move along a second direction.
The application also provides a battery material deviation correcting device which is used for correcting the position of the battery material and is characterized by comprising a platform, a driving device, an image detection device and a controller, wherein the platform is used for holding the battery material; the driving device is used for driving the platform to move; the image detection device acquires an image of the battery material, determines at least one contour line and at least one feature point of the battery material according to the image, and determines the offset between the actual position and the preset position of the battery material according to the at least one contour line and the at least one feature point of the battery material; the controller is respectively electrically connected with the image detection device and the driving device, receives the offset, controls the driving device to drive the platform according to the offset, and adjusts the position of the battery material.
In this application, acquire the image of battery material through image detection device to according to the offset of image acquisition battery material, the controller adjusts the position of battery material according to the offset, thereby improves the position accuracy of battery material.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a deviation rectifying apparatus for battery material according to the present application, wherein a driving device is not shown;
FIG. 2 is a schematic structural diagram of a driving device of the battery material deviation rectifying apparatus shown in FIG. 1;
FIG. 3 is a schematic flow chart illustrating an embodiment of a method for correcting a deviation of a battery material according to the present application;
FIG. 4 is a schematic diagram of a battery material in an actual position according to the present application, wherein the predetermined position is shown by a dashed line;
FIG. 5 is an enlarged view of a portion of FIG. 4;
fig. 6 to 8 are schematic views illustrating a state in which the battery material is subjected to position correction.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "plurality" or "a number" means two or more. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, an embodiment of the present application provides a deviation rectifying apparatus for a battery material, which is used to correct a position of a battery material 6, where the battery material may be a pole piece, a tab, or other structures.
Referring to fig. 1 and fig. 2, the apparatus for rectifying deviation of battery material includes an image detecting device 1, a platform 2, a driving device 3 and a control device 4, wherein the battery material 6 is held on the platform 2, for example, the battery material is held on the platform by static friction force therebetween, or the battery material is relatively static. The driving device 3 is electrically connected with the image acquisition detection device 1 and the control device 4 respectively. The image detection device 1 is used for acquiring an image of the battery material and processing the image to obtain an offset (relative to a preset position) of the battery material; the control device 4 receives the offset of the battery material and controls the driving device 3 to drive the platform 2 to move according to the offset, so that the position of the battery material is corrected.
The image acquisition detection device 1 comprises a camera 11 and a processor 12 electrically connected with the camera, wherein the processor 12 identifies according to an image acquired by the camera 11, acquires at least one contour line and at least one feature point of the battery material, acquires the offset of the battery material according to the at least one contour line and the at least one feature point, and transmits the offset to a control device 4 electrically connected with the control device.
The driving device 3 includes a first driving mechanism 31, a second driving mechanism 32 and a third driving mechanism 33, the platform 2 is connected to the first power output end of the first driving mechanism 31, the first driving mechanism 31 is fixed to the second power output end 321 of the second driving mechanism 32, and the second driving mechanism 32 is fixed to the third power output end 331 of the third driving mechanism 33. The first driving mechanism 31 drives the platform 2 to rotate, the second driving mechanism 32 drives the first driving mechanism 31 and the platform 2 to move along the first direction X, and the third driving mechanism 33 drives the second driving mechanism 32, the first driving mechanism 31 and the platform 2 to move along the second direction Y, but the first driving mechanism 31, the second driving mechanism 32 and the third driving mechanism 33 may also drive the platform 2 independently from each other to control the rotation of the platform 2, the movement of the first direction X and the movement of the second direction Y, respectively, and the present disclosure is not limited specifically. In this embodiment, the first driving mechanism 31 is a rotary motor, and the second driving mechanism 32 and the third driving mechanism 33 are air cylinders, but in other embodiments, the second driving mechanism 32 and the third driving mechanism 33 may be linear motors, and a transmission mechanism may be added as needed.
In one embodiment, the platform 2 may be selected from two fixed sheets of glass with a light source 5 disposed between the two sheets of glass to illuminate the battery material to improve the brightness and clarity of the image. In another embodiment, the platform 2 may be a single glass plate, and the light source is disposed below the single glass plate, and it should be noted that the light source is offset from the driving device.
In one embodiment, the first direction X is an extending direction of the first contour L1 of the battery material, the second direction Y is an extending direction of the second contour L2 of the battery material, and the rotation axis of the platform 2 is perpendicular to the first direction X and the second direction Y. Referring to fig. 4, the predetermined position of the battery material 6 is shown by a dotted line, the first contour line L1 corresponds to the first predetermined contour line Lx, and the second contour line L2 corresponds to the second predetermined contour line Ly.
The application further provides a deviation rectifying method for a battery material, which is used for the deviation rectifying device for a battery material in the foregoing embodiment, please refer to fig. 3, and the deviation rectifying method includes:
s1: and acquiring an image of the battery material.
In one embodiment, an image of the battery material 6 is obtained by the camera 11 of the image detection apparatus 1, please refer to fig. 4, in which a solid line part represents an actual position of the battery material 6, and a dotted line part represents a preset position of the battery material 6 (i.e. a position where the battery material is located when the battery material conforms to the position accuracy, and the following preset also means the same meaning).
S2: and determining at least one contour line of the battery material according to the image.
In one embodiment, the processor 12 of the image detection apparatus 1 obtains a plurality of contour points on the battery material according to the obtained image, and forms a contour line according to the contour point fitting. In this embodiment, the contour line is a straight line.
In one embodiment, a plurality of contour points on the battery material are obtained according to the gray values of the pixel points of the image. Taking a battery material as a pole piece as an example, the pole piece is usually black, the background color outside the pole piece is white, the pixel points at the black-white junction usually have a certain gray level, and some pixel points that can be used as boundaries, that is, the contour points, are selected according to the gray level values of the pixel points at the junction, which can be specifically shown in fig. 5. There are many methods for selection, which are not described herein. In summary, the contour points are fitted to form a straight line, i.e. a contour line.
S3: and determining the offset of the actual position and the preset position of the battery material according to the at least one contour line and the at least one characteristic point of the battery material.
In one embodiment, a contour line, such as the first contour line L1, is obtained. According to the first contour line L1, the deviation angle theta between the first contour line L1 and the corresponding first preset contour line Lx and the deviation displacement between the characteristic point A and the corresponding preset characteristic point B are obtained. The angle of departure θ may be obtained by subtracting the slope-reduced angles of L1 and Lx. The offset displacement includes a first displacement component along the first direction X and a second displacement component along the second direction Y, it is noted that the displacement separation has directionality.
In another embodiment, two or more contour lines, such as the first contour line L1 and the second contour line L2, are obtained, a first deviation angle θ between the first contour line L1 and the corresponding first preset contour line Lx and a second deviation angle α between the second contour line L2 and the corresponding second preset contour line Ly are obtained, and the first deviation angle θ and the second deviation angle α are averaged to obtain a deviation angle, i.e., (θ + α)/2.
In one embodiment, feature point A is the intersection of the first contour line L1 and the second contour line L2. A planar coordinate system is established by using the plane of the battery material, L1 may be represented as a 1X + B1Y + c1 as 0, and L2 may be represented as a 2X + B2Y + c2 as 0, so that the coordinates of the characteristic point a (i.e., the intersection point) may be calculated as (Xa, Ya), where Xa is (c1-B1c1+ B1c2)/(a1B1-a2B1-a1), Ya is (a1 (c1-c1B1+ B1c2)/(a1B1-a2B), and since the predetermined position is known, the coordinates (Xb, Yb) of the point B are also known, and the difference between the coordinates of the point a and the point B, i.e., (Xa-Xb, Ya-Yb), and the second displacement component in the Y direction, i.e., the first displacement and the second displacement component in the Y direction may be calculated.
The angle formed by the first contour line L1 and the second contour line L2 of qualified battery materials is a fixed value, the angle formed by the first contour line Lx and the second contour line Ly is also the fixed value, and if the battery materials are unqualified products, the angle formed by the first contour line L1 and the second contour line L2 is not equal to the fixed value, so that the difference between theta and alpha is large. In one embodiment, the image obtaining device compares the value of θ - α with a preset difference range, and determines that the battery material is a defective product if the absolute value of the difference is greater than the preset difference range, where the preset difference range is set to 5 degrees, for example.
When determining that there is a defective product, the processor 12 may control another prompting device (not shown) to issue an alarm prompt to prompt an operator to intervene, for example, to check and adjust a previous process to avoid an increase in the number of defective products or to discard the defective product as waste.
S4: and adjusting the position of the battery material according to the offset.
In one embodiment, the control device 3 receives the offset amount obtained by the processor, i.e. the offset displacement and the offset angle, and controls the driving device 5 to adjust the platform 2: firstly, controlling a driving device 5 to drive a platform 2 to rotate around a characteristic point A by an angle of-theta, and moving a battery material to a position shown in figure 6 along with the platform 2; secondly, controlling the driving device 5 to drive the platform 2 to translate Yb-Ya along the Y direction, where Yb-Ya has directionality, and when Yb is greater than Ya, it translates along the positive direction of the Y direction, otherwise translates along the negative direction of the Y direction (if they are equal, translation is not needed), please refer to fig. 7; the driving device 5 is controlled to drive the platform 2 to translate Xb-Xa along the X direction, it should be noted that Xb-Xa has directionality, and when Xb is greater than Xa, it translates along the positive direction of the X direction, otherwise translates along the negative direction of the X direction (if Xb is greater than Xa, translation is not needed), please refer to fig. 8, at this time, the battery material reaches the preset position, thereby implementing correction of the position of the pole piece.
In some other embodiments, other points may be used as the rotation center, for example, the center of the platform is used as the rotation center, in which case the coordinates of the point a may change after the rotation, and the offset in the X and Y directions may be calculated by using the changed coordinates of the point a.
After the position of the battery material is corrected, the pole piece can be sucked away by a suction mechanism (not shown) for subsequent processes.
In this application, acquire the image of battery material through image detection device to according to the offset of image acquisition battery material, the controller adjusts the position of battery material according to the offset, thereby improves the position accuracy of battery material.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (10)
1. A deviation rectifying method for battery materials is used for deviation rectifying equipment for the battery materials, and is characterized by comprising the following steps:
acquiring an image of the battery material;
determining at least one contour line and at least one characteristic point of the battery material according to the image;
determining the offset of the actual position and the preset position of the battery material according to at least one contour line and at least one characteristic point of the battery material;
and adjusting the position of the battery material according to the offset.
2. The method for rectifying deviation of battery material according to claim 1, wherein: said determining at least one contour line of said battery material from said image comprises:
and obtaining a plurality of contour points on the battery material according to the image, and forming the contour line according to the fitting of the contour points.
3. The method for rectifying deviation of battery material according to claim 2, wherein: the obtaining a plurality of contour points on the battery material comprises:
and acquiring a plurality of contour points on the battery material according to the gray value of the pixel point of the image.
4. The method for rectifying deviation of battery material according to any one of claims 1 to 3, wherein: the contour lines are straight lines.
5. The method for rectifying deviation of battery material according to claim 4, wherein:
the determining the offset between the actual position and the preset position of the battery material according to the at least one contour line and the at least one feature point of the battery material comprises the following steps:
according to at least one contour line and at least one characteristic point of the battery material, acquiring a deviation angle between the contour line and a corresponding preset contour line and a deviation displacement between the characteristic point and the corresponding preset characteristic point;
the offset displacement includes a first displacement component in a first direction and a second displacement component in a second direction.
6. The method for rectifying deviation of battery material according to claim 5, wherein: the determining at least one feature point of the battery material according to the image comprises:
determining a first contour line and a second contour line of the battery material according to the image;
the characteristic point is the intersection point of the first contour line and the second contour line.
7. The method for rectifying deviation of battery material according to claim 6, wherein:
according to at least one contour line of the battery material, acquiring a deviation angle between the contour line and a corresponding preset contour line, and the method comprises the following steps:
according to the first contour line and the second contour line of the battery material, a first deviation angle between the first contour line and a corresponding first preset contour line and a second deviation angle between the second contour line and a corresponding second preset contour line are obtained;
and averaging the first deviation angle and the second deviation angle to obtain a deviation angle.
8. The method for rectifying deviation of battery material according to claim 7, wherein: the deviation rectifying method comprises the following steps:
and calculating a difference value between the first deviation angle and the second deviation angle, and if the absolute value of the difference value is larger than a preset difference value range, judging that the battery material is a defective product.
9. The method for rectifying deviation of battery material according to claim 5, wherein: the deviation rectifying equipment for the battery material comprises a platform for holding the battery material;
the adjusting the position of the battery material according to the offset comprises:
controlling the platform to rotate by the offset angle;
controlling the platform to move along a first direction;
and controlling the platform to move along a second direction.
10. A battery material deviation correcting device is used for correcting the position of a battery material and is characterized by comprising:
a platform for holding the battery material;
the driving device is used for driving the platform to move;
the image detection device is used for acquiring an image of the battery material, determining at least one contour line and at least one characteristic point of the battery material according to the image, and determining the offset of the actual position and the preset position of the battery material according to the at least one contour line and the at least one characteristic point of the battery material;
and the controller is electrically connected with the image detection device and the driving device respectively, receives the offset, controls the driving device to drive the platform according to the offset, and adjusts the position of the battery material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103270.8A CN111532823A (en) | 2019-02-01 | 2019-02-01 | Battery material deviation rectifying method and battery material deviation rectifying equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910103270.8A CN111532823A (en) | 2019-02-01 | 2019-02-01 | Battery material deviation rectifying method and battery material deviation rectifying equipment |
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| CN111532823A true CN111532823A (en) | 2020-08-14 |
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| CN112158554A (en) * | 2020-10-30 | 2021-01-01 | 广东利元亨智能装备股份有限公司 | Deviation rectifying method and device |
| CN114926507A (en) * | 2022-07-18 | 2022-08-19 | 深圳新视智科技术有限公司 | Pole piece deviation rectifying method, device and equipment and readable storage medium |
| CN117372515A (en) * | 2023-09-15 | 2024-01-09 | 钛玛科（北京）工业科技有限公司 | Self-adaptive deviation rectifying control system |
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