CN115091070A - Closed-loop automatic compensation positioning method for welding of square aluminum shell pole - Google Patents

Closed-loop automatic compensation positioning method for welding of square aluminum shell pole Download PDF

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CN115091070A
CN115091070A CN202210724518.4A CN202210724518A CN115091070A CN 115091070 A CN115091070 A CN 115091070A CN 202210724518 A CN202210724518 A CN 202210724518A CN 115091070 A CN115091070 A CN 115091070A
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pixel
welding
pole
pixel coordinate
coordinate point
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黄家坤
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Yueyang Yaoning New Energy Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
    • 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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Abstract

The invention provides a closed loop automatic compensation positioning method for welding a square aluminum shell pole, which comprises the following steps: s1, acquiring a standard pixel coordinate point A of the welding template; s2, acquiring a pixel map of the welded pole, importing the pixel map into a pixel coordinate system u-v, and acquiring a MARK pixel coordinate point of the welded pole; s3, calculating whether the distance between the standard pixel coordinate A and the MARK pixel coordinate is larger than the overrun distance, if so, carrying out S4, otherwise, returning to S2; s4, converting the pixel coordinate point A and the MARK pixel coordinate point into a standard physical coordinate point A and a MARK physical coordinate point; s5, calculating the x-axis compensation distance and the y-axis compensation distance; and S6, compensating and positioning the welding pole by the pressure plate tool according to the x-axis compensation distance and the y-axis compensation distance. The invention does not need manual mechanical machine adjustment or downward coordinate adjustment, automatically compensates and corrects the downward positioning position of the pressing plate tool, and does not need fixed amount adjustment of the X-axis or Y-axis coordinate position, thereby greatly saving manpower and debugging time.

Description

Closed-loop automatic compensation positioning method for welding of square aluminum shell pole
Technical Field
The invention relates to the technical field of pole welding, in particular to a closed-loop automatic compensation positioning method for welding a square aluminum shell pole.
Background
In the existing welding of a wire testing module pole in the lithium battery industry, in order to more accurately position and compress the position of a bus bar, the accurate positioning is realized by designing and using servo electricity; however, due to the processing precision difference of each tray of the module, the problem of the module placement precision and the precision influence of 3 aspects of the parallel precision difference of the whole welding table and the servo shaft, the positioning precision of the pressing and converging rows of the copper nozzle pressing plate tool is greatly different, the offset center position of the module pole is too large, the pressing plate tool causes laser to be shot on the copper nozzle, and the safety risk is large; referring to fig. 2, when the copper nozzle is pressed down, due to the difference in the module placement accuracy, the difference in the tray processing accuracy and the difference in the accuracy of installing the welding platform, a large amount of labor and time are required for debugging when the module positioning deviation is large, which greatly affects the production efficiency and the productivity; and after the pressing plate is pressed downwards and deflected, laser is directly applied to the copper nozzle, so that safety accidents are caused. To solve the above safety problems, the prior art uses two methods:
1. the parallelism between a welding platform and an X axis or a Y axis of a servo mechanism is adjusted manually or directly by a manual mechanical adjusting module and a tray, and the center position of the module needs to be debugged manually each time the tool is pressed to be deflected, so that a large amount of manpower and debugging time are spent, and the production efficiency is greatly influenced;
2. the coordinate point of the X-axis or Y-axis pressing pole of the pressing plate tool is directly adjusted, the debugging position or compensation of the fixed quantity is realized, the module pole is placed to be inclined every time, the requirement is readjusted once, and the time and the labor are wasted.
Above two kinds of schemes all respectively have different shortcomings, receive above machinery, artifical 3 aspects influence, lead to the repeated positioning accuracy difference of module too big, and the copper mouth clamp plate pushes down skew utmost point post central point and puts, and laser is hit the copper mouth during the welding, causes the safety risk problem.
Disclosure of Invention
The closed-loop automatic compensation positioning method for welding the square aluminum shell pole solves the problems of low efficiency and poor safety of manual adjustment of module pole deviation, can automatically compensate and correct the pressing positioning position of a pressing plate tool without manual mechanical adjustment or adjustment of pressing coordinates, and does not need to adjust the coordinate position of an X axis or a Y axis by fixed quantity, so that manpower and debugging time can be greatly saved.
In order to realize the purpose, the following technical scheme is provided:
a closed loop automatic compensation positioning method for welding a square aluminum shell pole comprises the following steps:
s1, constructing a pixel coordinate system u-v, and acquiring a standard pixel coordinate point A of the welding template;
s2, acquiring a pixel map of the welded pole, importing the pixel map into a pixel coordinate system u-v, and acquiring a MARK pixel coordinate point of the welded pole;
s3, calculating whether the distance between the standard pixel coordinate point A and the MARK pixel coordinate point is greater than the overrun distance, if so, carrying out S4, and if not, returning to S2;
s4, converting the pixel coordinate point A and the MARK pixel coordinate point into a standard physical coordinate point A (x) A ,y A ) And MARK physical coordinate point (x) M ,y M )；
S5, calculating the x-axis compensation distance x b ＝x M -x A And calculating the y-axis compensation distance y b ＝y M -y A ；
And S6, the pressing plate tool carries out compensation positioning on the welding pole according to the x-axis compensation distance and the y-axis compensation distance.
The method comprises the steps of firstly constructing a welding template to obtain a standard pixel coordinate point of a welding spot, namely the center point of a copper nozzle, then obtaining a Mark pixel coordinate point of the Mark center point of a module pole to be welded, calculating the deviation distance between the Mark pixel coordinate point and the X axis and the Y axis of the copper nozzle, compensating the offset of the X axis and the offset of the Y axis to the X axis servo motor and the Y axis servo motor of a pressing plate tool after calculation and unit conversion, realizing automatic compensation of pressing and positioning of the pressing plate tool, and forming closed-loop control. The invention is also provided with an overrun judging step S3 before calculating the compensation amount, and the compensation is not carried out within the error allowable range, thereby improving the whole operation efficiency. In the module pole welding process, the automatic positioning compensation of the welding pressing plate is realized, the manual debugging time is saved, the production efficiency is improved, and the productivity is increased; and the probability of laser hitting the copper nozzle can be avoided or reduced, and the occurrence probability of safety accidents is reduced.
Preferably, the pixel map of the welding pole is obtained by photographing through a CCD camera.
Preferably, the S1 specifically includes the following steps: shooting by using a CCD camera to obtain a template pixel map of the welding template, identifying standard welding points of the welding polar columns from the template pixel map, constructing a pixel coordinate system u-v, and taking any vertex angle of the template pixel map as an origin O 0 U represents a row where the pixel point is located, v represents a column where the pixel point is located, and a standard pixel coordinate point A (u) of the standard welding point is obtained A ,v A )。
Preferably, the S2 specifically includes the following steps: the welding template and the welding pole to be welded are positioned at the same station, the CCD camera is also positioned at the same station, the CCD camera is used for photographing to obtain a pixel map of the welding pole, and the same vertex angle with the template pixel map is selected as an original point O 0 And introducing the coordinate data into a pixel coordinate system u-v, and acquiring a MARK pixel coordinate point (u) of the welding pole M ,v M )。
Preferably, the S4 specifically includes the following steps:
s41, constructing a physical coordinate system x-y in the pixel coordinate system to obtain a midpoint O of the pixel coordinate system 1 (u 0 ，v 0 ) As the origin of the physical coordinate system, wherein the abscissa u corresponds to the abscissa x, and the ordinate v corresponds to the ordinate y;
s42, the relationship between the physical coordinate system and the pixel coordinate system is as follows:
Figure BDA0003710676750000031
Figure BDA0003710676750000032
wherein: (u) 0 ，v 0 ) Represents O 1 Coordinates in a pixel coordinate system, dx and dy respectively represent the physical size of each pixel in the horizontal axis x and the vertical axis y;
s43, assuming the unit in the physical coordinate system is millimeter, dx is millimeter/pixel, and x/dx is pixel same as the unit of the abscissa u, the above equation is expressed as a matrix:
Figure BDA0003710676750000033
the inverse relationship is expressed as:
Figure BDA0003710676750000034
s44, obtaining a standard pixel coordinate point A (u) A ,v A ) And MARK pixel coordinate point (u) M ,v M ) Substituting into matrix to obtain standard physical coordinate point A (x) A ,y A ) And MARK physical coordinate point (x) M ,y M )。
Preferably, the step S3 includes the following steps: calculating a standard physical coordinate point A (x) by a two-point distance formula on a physical coordinate axis A ,y A ) And MARK physical coordinate point (x) M ,y M ) The distance between the pixel coordinate points is taken as the distance between the standard pixel coordinate point a and the MARK pixel coordinate point.
Preferably, the overrun distance is in the range of 2.5mm to 4 mm.
The invention has the beneficial effects that: in the module pole welding process, the automatic positioning compensation of the welding pressing plate is realized, the manual debugging time is saved, the production efficiency is improved, and the productivity is increased; and the probability of laser hitting the copper nozzle can be avoided or reduced, and the occurrence probability of safety accidents is reduced.
Drawings
FIG. 1 is a flow chart of a method of an embodiment;
FIG. 2 is a general welding flow diagram of a prior art module;
FIG. 3 is a diagram of a pixel coordinate system and physical coordinates according to an embodiment.
Detailed Description
Example (b):
the embodiment provides a closed-loop automatic compensation positioning method for welding a square aluminum shell pole, which comprises the following steps with reference to fig. 1:
s1, constructing a pixel coordinate system u-v, and acquiring a standard pixel coordinate point A of the welding template; s1 specifically includes the steps of: shooting by using a CCD camera to obtain a template pixel map of the welding template, identifying standard welding points of the welding polar columns from the template pixel map, constructing a pixel coordinate system u-v, and taking any vertex angle of the template pixel map as an origin O 0 U represents a row where a pixel point is located, v represents a column where the pixel point is located, and a standard pixel coordinate point A (u) of a standard welding point is obtained A ,v A )。
S2, acquiring a pixel map of the welded pole, importing the pixel map into a pixel coordinate system u-v, and acquiring a MARK pixel coordinate point of the welded pole; s2 specifically includes the steps of: the welding template and the welding pole to be welded are positioned at the same station, the CCD camera is also positioned at the same station, the CCD camera is used for photographing to obtain a pixel map of the welding pole, and the same vertex angle with the template pixel map is selected as an original point O 0 And introducing the coordinate points into a pixel coordinate system u-v, and acquiring MARK pixel coordinate points (u) of the welding pole M ,v M )。
S3, calculating whether the distance between the standard pixel coordinate point A and the MARK pixel coordinate point is greater than the overrun distance, if so, carrying out S4, and if not, returning to S2; s3 includes the following steps: calculating a standard physical coordinate point A (x) by a two-point distance formula on a physical coordinate axis A ,y A ) And MARK physical coordinate point (x) M ,y M ) The distance between the pixel coordinate points is taken as the distance between the standard pixel coordinate point a and the MARK pixel coordinate point. The overrun distance is in the range of 2.5mm-4 mm.
S4, converting the pixel coordinate point A and the MARK pixel coordinate point into a standard physical coordinate point A (x) A ,y A ) And MARK physical coordinate point (x) M ,y M ) (ii) a S4 specifically includes the following steps:
s41, referring to FIG. 3, a physical coordinate system x-y is constructed in the pixel coordinate system, with the midpoint O of the pixel coordinate system 1 (u 0 ，v 0 ) As an origin of a physical coordinate system, in the visual processing library OpenCV, an abscissa u corresponds to an abscissa x, and an ordinate v corresponds to an ordinate y;
s42, the relationship between the physical coordinate system and the pixel coordinate system is as follows:
Figure BDA0003710676750000051
Figure BDA0003710676750000052
wherein: (u) 0 ，v 0 ) Represents O 1 Coordinates in a pixel coordinate system, dx and dy respectively represent the physical size of each pixel in the horizontal axis x and the vertical axis y;
s43, assuming the unit in the physical coordinate system is millimeter, dx is millimeter/pixel, and x/dx is pixel same as the unit of the abscissa u, the above equation is expressed as a matrix:
Figure BDA0003710676750000053
the inverse relationship is expressed as:
Figure BDA0003710676750000061
s44, obtaining the standard pixel coordinate point A (u) A ,v A ) And MARK pixel coordinate point (u) M ,v M ) Substituting into matrix to obtain standard physical coordinate point A (x) A ,y A ) And MARK physical coordinate point (x) M ,y M )。
S5, calculating the x-axis compensation distance x b ＝x M -x A And calculating the y-axis compensation distance y b ＝y M -y A ；
And S6, the pressing plate tool carries out compensation positioning on the welding pole according to the x-axis compensation distance and the y-axis compensation distance.
According to the invention, the pixel coordinates photographed by the CCD are converted into image coordinates in mm through the coordinate axes of pixels which are integers in a pixel coordinate system, and under the condition of calibrated OK, the distance difference between the X axis and the Y axis is transmitted to X, Y axis of the pressing plate tool for automatic compensation and positioning, so that closed-loop automatic compensation welding is formed, and the debugging labor and the production time are saved.
The method comprises the steps of firstly constructing a welding template to obtain a standard pixel coordinate point of a welding spot, namely the central point of a copper nozzle, then obtaining a Mark pixel coordinate point of the Mark central point of a module pole to be welded, calculating the deviation distance between the Mark pixel coordinate point and the X axis and the Y axis of the copper nozzle, compensating the offset of the X axis and the Y axis to the X axis servo motor and the Y axis servo motor of a pressing plate tool after calculation and unit conversion, realizing automatic compensation of pressing and positioning of the pressing plate tool, and forming closed-loop control. The invention also has an overrun judging step S3 before calculating the compensation quantity, and the compensation is not carried out in the error allowable range, thereby improving the whole operation efficiency. In the module pole welding process, the automatic positioning compensation of the welding pressing plate is realized, the manual debugging time is saved, the production efficiency is improved, and the productivity is increased; and the probability of laser hitting the copper nozzle can be avoided or reduced, and the occurrence probability of safety accidents is reduced.

Claims (7)

1. A closed loop automatic compensation positioning method for welding a square aluminum shell pole is characterized by comprising the following steps:
s1, constructing a pixel coordinate system u-v, and acquiring a standard pixel coordinate point A of the welding template;
s2, acquiring a pixel map of the welded pole, importing the pixel map into a pixel coordinate system u-v, and acquiring a MARK pixel coordinate point of the welded pole;
s3, calculating whether the distance between the standard pixel coordinate point A and the MARK pixel coordinate point is greater than the overrun distance, if so, carrying out S4, and if not, returning to S2;
s4, converting the pixel coordinate point A and the MARK pixel coordinate point into a standard physical coordinate point A (x) A ,y A ) And MARK physical coordinate point (x) M ,y M )；
S5, calculating the x-axis compensation distance x b ＝x M -x A And calculating the y-axis compensation distance y b ＝y M -y A ；
And S6, the pressing plate tool carries out compensation positioning on the welding pole according to the x-axis compensation distance and the y-axis compensation distance.
2. The closed-loop automatic compensation positioning method for welding the square aluminum shell pole according to claim 1, wherein a pixel map of the welded pole is obtained by photographing through a CCD camera.
3. The closed-loop automatic compensation positioning method for welding the pole of the square aluminum shell according to claim 1, wherein the S1 specifically comprises the following steps: shooting by utilizing a CCD camera to obtain a template pixel image of the welding template, identifying standard welding points of welding poles from the template pixel image, constructing a pixel coordinate system u-v, and taking any vertex angle of the template pixel image as an origin O 0 U represents a row where a pixel point is located, v represents a column where the pixel point is located, and a standard pixel coordinate point A (u) of a standard welding point is obtained A ,v A )。
4. The closed-loop automatic compensation positioning method for welding the pole of the square aluminum shell according to claim 3, wherein the S2 specifically comprises the following steps: the welding template and the welding pole to be welded are positioned at the same station, the CCD camera is also positioned at the same station, the CCD camera is used for photographing to obtain a pixel map of the welding pole, and the same vertex angle with the template pixel map is selected as an original point O 0 And introducing the coordinate points into a pixel coordinate system u-v, and acquiring MARK pixel coordinate points (u) of the welding pole M ,v M )。
5. The closed-loop automatic compensation positioning method for welding the square aluminum shell pole according to claim 4, wherein the S4 specifically comprises the following steps:
s41, constructing a physical coordinate system x-y in the pixel coordinate system to obtain a midpoint O of the pixel coordinate system 1 (u 0 ，v 0 ) As the origin of the physical coordinate system, wherein the abscissa u corresponds to the abscissa x and the ordinate v corresponds to the ordinate y;
s42, the relationship between the physical coordinate system and the pixel coordinate system is as follows:
Figure FDA0003710676740000021
Figure FDA0003710676740000022
wherein: (u) 0 ，v 0 ) Represents O 1 Coordinates in a pixel coordinate system, dx and dy respectively represent the physical size of each pixel in the horizontal axis x and the vertical axis y;
s43, assuming the unit in the physical coordinate system is millimeter, then dx is millimeter/pixel, and x/dx is pixel same as the unit of the abscissa u, the above equation is expressed as a matrix:
Figure FDA0003710676740000023
the inverse relationship is expressed as:
Figure FDA0003710676740000031
s44, obtaining the standard pixel coordinate point A (u) A ,v A ) And MARK pixel coordinate point (u) M ,v M ) Substituting into matrix to obtain standard physical coordinate point A (x) A ,y A ) And MARK physical coordinate point (x) M ,y M )。
6. The closed-loop automatic compensation positioning method for welding the pole of the square aluminum shell according to claim 5, wherein the step S3 comprises the following steps: calculating a standard physical coordinate point A (x) by a two-point distance formula on a physical coordinate axis A ,y A ) And MARK physical coordinate point (x) M ,y M ) The distance between the pixel coordinate points is taken as the distance between the standard pixel coordinate point a and the MARK pixel coordinate point.
7. The closed-loop automatic compensation positioning method for welding the square aluminum shell pole as claimed in claim 1, wherein the over-limit distance is in a range of 2.5mm-4 mm.
CN202210724518.4A 2022-06-23 2022-06-23 Closed-loop automatic compensation positioning method for welding of square aluminum shell pole Pending CN115091070A (en)

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