CN116053549A - Battery cell positioning method, device and system - Google Patents
Battery cell positioning method, device and system Download PDFInfo
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/05—Accumulators with non-aqueous electrolyte
- H01M10/052—Li-accumulators
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/05—Accumulators with non-aqueous electrolyte
- H01M10/058—Construction or manufacture
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M6/00—Primary cells; Manufacture thereof
- H01M6/005—Devices for making primary cells
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The application discloses a battery cell positioning method, device and system, and belongs to the technical field of battery cell assembly. The method comprises the following steps: acquiring a first image of the side surface of the battery cell; determining first coordinate information of the side face based on the first image; determining a first deviation value based on the first coordinate information, and correcting the deviation of the battery cell based on the first deviation value; acquiring a second image of the plane of the battery cell; determining second coordinate information of the plane based on the second image; determining a second deviation value based on the second coordinate information, and correcting the deviation of the battery cell based on the second deviation value; the battery cell comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces which are arranged between the two planes, the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and a pole of the battery cell is arranged on one of the two end faces. The method eliminates the deviation caused by the radian of the battery cell and effectively improves the positioning precision and efficiency of the battery cell.
Description
Technical Field
The application belongs to the technical field of battery cell assembly, and particularly relates to a battery cell positioning method, device and system.
Background
In the production process of lithium batteries, a shell-entering procedure of loading a bare cell into a shell is an important procedure for assembling the lithium batteries. The bare cell needs to be positioned before the battery is put into the shell so as to accurately put the bare cell into the shell. The accurate positioning before the shell entering directly influences the execution of the shell entering process, and the inaccurate positioning of the battery cell easily causes risks of battery cell bulge, battery cell scrapping and the like, so that explosion accidents are seriously possibly caused.
At present, the cell positioning in the shell entering process is mostly achieved by searching four sides of a bare cell, finding out the center point of the main body part of the bare cell by four sides, obtaining image coordinates, calculating coordinate difference values through calibration relations, correcting deviation according to the difference values, entering the shell, but the cell has a certain radian, a cell feeding mechanism cannot ensure that the cell feeding process does not deflect, the cell has a certain swing angle, the lateral deviation of the cell is brought, the larger the swing angle is, the larger the caused deviation is, and the lower the positioning accuracy of the cell is.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a method, a device and a system for positioning the battery cell, which realize accurate positioning of the battery cell in-shell process.
In a first aspect, the present application provides a method for positioning a battery cell, including:
acquiring a first image of the side surface of the battery cell;
determining first coordinate information of the side face based on the first image;
determining a first deviation value based on the first coordinate information, and correcting the deviation of the battery cell based on the first deviation value;
acquiring a second image of the plane of the battery cell;
determining second coordinate information of the plane based on the second image;
determining a second deviation value based on the second coordinate information, and correcting the deviation of the battery cell based on the second deviation value;
the battery cell comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces, wherein the two end faces and the two side faces are arranged between the two planes, the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and a pole column of the battery cell is arranged on one of the two end faces.
According to the battery cell positioning method, through the first image of the side face of the battery cell and the second image of the plane of the battery cell, the battery cell is positioned and corrected in the shell, deviation of the battery cell with a certain radian in the thickness direction is eliminated, the swing angle of the battery cell is adjusted, the polar column of the battery cell is swung, and the positioning precision and efficiency of the battery cell are effectively improved.
According to one embodiment of the application, the determining the first coordinate information of the side based on the first image includes:
based on the gray scale characteristics of the first image, performing image segmentation on the first image to obtain a first gray scale image;
and carrying out edge detection on the first gray level image, and determining the first coordinate information.
According to one embodiment of the present application, the determining a first deviation value based on the first coordinate information includes:
fitting to obtain a first measurement datum line of the side surface based on the first coordinate information;
determining first height information and second height information of vertexes of two ends of the side surface based on the first measurement datum line;
the first deviation value is determined based on a difference between the first altitude information and the second altitude information.
According to one embodiment of the present application, the acquiring the second image of the plane of the battery cell includes:
and acquiring the second image of the plane, which is close to one end of the pole.
According to one embodiment of the present application, the determining, based on the second image, second coordinate information of the plane includes:
performing template matching in the second image based on the shape reference of the polar column, and determining a target detection area of the second image;
Performing edge detection on the target detection area to obtain a target pixel point of the second image;
fitting to obtain a first straight line, a second straight line and a third straight line based on the target pixel point, wherein the first straight line and the second straight line intersect at a first intersection point, the second straight line and the third straight line intersect at a second intersection point, the first straight line and the third straight line are obtained based on fitting of pixel points of two sides intersecting with the plane, and the second straight line is obtained based on fitting of pixel points of sides intersecting with the plane, where one end of the polar column is located, of the end face of the polar column;
the second coordinate information is determined based on a midpoint of the first intersection point and the second intersection point.
In a second aspect, the present application provides a cell positioning device, the device comprising:
the first acquisition module is used for acquiring a first image of the side face of the battery cell;
a first processing module for determining first coordinate information of the side surface based on the first image;
the second processing module is used for determining a first deviation value based on the first coordinate information and rectifying deviation of the battery cell based on the first deviation value;
the second acquisition module is used for acquiring a second image of the plane of the battery cell;
A third processing module for determining second coordinate information of the plane based on the second image;
the fourth processing module is used for determining a second deviation value based on the second coordinate information and rectifying deviation of the battery cell based on the second deviation value;
the battery cell comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces, wherein the two end faces and the two side faces are arranged between the two planes, the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and a pole column of the battery cell is arranged on one of the two end faces.
According to the electric core positioning device, through the first image of the side face of the electric core and the second image of the plane of the electric core, the electric core is positioned and corrected, deviation of the electric core with a certain radian in the thickness direction is eliminated, the swing angle of the electric core is adjusted, the polar column of the electric core is swung, and the positioning precision and efficiency of the electric core are effectively improved.
In a third aspect, the present application provides a cell positioning system comprising:
the battery cell to be positioned comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces which are arranged between the two planes, wherein the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and a pole of the battery cell is arranged on one of the two end faces;
The first image acquisition device is arranged on one side of the battery cell and is used for acquiring a first image of the side surface of the battery cell;
the second image acquisition device is arranged above the plane of the battery cell and is used for acquiring a second image of the plane of the battery cell;
the controller is electrically connected with the first image acquisition device and the second image acquisition device, and is used for positioning and rectifying the battery cell based on the battery cell positioning method according to the first aspect.
In a fourth aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method for positioning a battery cell according to the first aspect when executing the computer program.
In a fifth aspect, the present application provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a cell positioning method as described in the first aspect above.
In a sixth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements a cell positioning method as described in the first aspect above.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein:
fig. 1 is one of flow diagrams of a method for positioning a battery cell according to an embodiment of the present application;
FIG. 2 is a second flow chart of a method for positioning a battery cell according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a cell positioning system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a battery cell according to an embodiment of the present disclosure;
fig. 5 is a side view of a cell provided in an embodiment of the present application;
FIG. 6 is a schematic illustration of a first image provided by an embodiment of the present application;
FIG. 7 is a schematic illustration of a second image provided by an embodiment of the present application;
fig. 8 is a schematic structural diagram of a cell positioning device according to an embodiment of the present disclosure;
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 10 is a hardware schematic of an electronic device according to an embodiment of the present application.
Reference numerals:
the battery cell 300, the pole 310, the first image acquisition device 410 and the second image acquisition device 420.
Detailed Description
Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The battery cell positioning method, the battery cell positioning device, the battery cell positioning system, the electronic equipment and the readable storage medium provided by the embodiment of the application are described in detail below by means of specific embodiments and application scenes of the specific embodiments with reference to the accompanying drawings.
The cell positioning method can be applied to a terminal, and can be specifically executed by hardware or software in the terminal.
The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet having a touch sensitive surface (e.g., a touch screen display and/or a touch pad). It should also be appreciated that in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer having a touch-sensitive surface (e.g., a touch screen display and/or a touch pad).
In the following various embodiments, a terminal including a display and a touch sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.
The execution main body of the cell positioning method provided by the embodiment of the application may be an electronic device or a functional module or a functional entity capable of implementing the cell positioning method in the electronic device, where the electronic device mentioned in the embodiment of the application includes, but is not limited to, a mobile phone, a tablet computer, a camera, a wearable device, and the like, and the cell positioning method provided by the embodiment of the application is described below by taking the electronic device as an execution main body as an example.
The battery cell positioning method provided by the embodiment of the application can be applied to a mechanism for executing battery cell positioning and shell-entering operation, and is used for positioning the battery cell 300 to be positioned, namely, positioning the bare battery cell before the battery is in the shell.
In the embodiment of the present application, the battery cell 300 includes two planes that are oppositely disposed along the thickness direction, and two end surfaces and two side surfaces that are disposed between the two planes, the two end surfaces are oppositely disposed, and the two side surfaces are oppositely disposed between the two end surfaces.
As shown in fig. 3, the terminal post 310 of the battery cell 300 is disposed at one of the two end surfaces.
In actual implementation, the battery cell 300 may have a rectangular parallelepiped shape.
As shown in fig. 1, the method for positioning the battery cell includes: steps 110 to 160.
In this step, a first image of either side of the cell 300 is acquired.
It will be appreciated that the first image of a side of the cell 300 may be representative of the shape of the edge where the oppositely disposed two planes intersect the side, and of the edge where the oppositely disposed two end faces intersect the side.
In practical implementation, the battery cell 300 has a certain arc, and as shown in fig. 4, two planes of the battery cell 300 opposite to each other have a certain bending degree from the view of the side of the battery cell 300.
In this embodiment, the first image capturing device 410 may be disposed at one side of the battery cell 300, and a first image of the side of the battery cell 300 is captured by the first image capturing device 410.
For example, the two sides of the battery 300 are a first side and a second side, the first image capturing device 410 is disposed on one side of the first side of the battery 300, and the first image corresponding to the first side of the battery 300 is captured by the first image capturing device 410.
It will be appreciated that before the first image capturing device 410 captures the first image, the first image capturing device 410 needs to be calibrated with a mechanism for performing cell positioning and in-shell, and a conversion relationship between the mechanism and the first image capturing device 410 is obtained.
In actual implementation, the calibration of the first image acquisition device 410 and the machine component may be performed using nine-point translational calibration.
The mechanism clamps a part for calibration, moves the part into the image field of the first image acquisition device 410 for nine times to obtain nine mechanism coordinates, the first image acquisition device 410 photographs nine times to obtain nine image coordinates, and the conversion relationship between the mechanism and the first image acquisition device 410 is calculated by combining the nine mechanism coordinates and the nine image coordinates.
A first image of a side of the cell 300 may characterize the shape of the edge where two oppositely disposed planes intersect the side, and the shape of the edge where two oppositely disposed end faces intersect the side.
In this step, from the first image of a certain side surface of the battery cell 300, coordinate information of an edge where two oppositely disposed planes intersect the side surface and coordinate information of an edge where two oppositely disposed end surfaces intersect the side surface can be determined.
The first coordinate information corresponding to the first image of a certain side surface includes coordinate information of sides where two planes which are oppositely arranged intersect the side surface, coordinate information of sides where two end surfaces which are oppositely arranged intersect the side surface, coordinate information of the side surface, and the like.
It can be understood that the terminal 310 of the battery cell 300 is disposed on one of the two end faces, and the first coordinate information corresponding to the first image also includes coordinate information of the terminal 310 with respect to the side face.
The first coordinate information includes coordinate information of sides where two planes disposed opposite to each other intersect the side surface and coordinate information of sides where two end surfaces disposed opposite to each other intersect the side surface.
It will be appreciated that the two sides of the two oppositely disposed planes intersecting the side, and the two sides of the two oppositely disposed end faces intersecting the side, intersect at four first points of intersection corresponding to the four corners of the side.
In this embodiment, the first coordinate information includes coordinate information of four first intersecting points, and according to the coordinate information of the four first intersecting points, a first deviation value of the battery cell 300 along the thickness direction may be determined, and the battery cell 300 is rectified according to the first deviation value.
In actual implementation, according to the first coordinate information, the deviation of the battery cell 300 in the thickness direction, namely, the first deviation value is determined, the deviation of the battery cell 300 is rectified through the first deviation value, the deflection brought in the feeding process of the battery cell 300 is eliminated, the swing angle of the battery cell 300 is adjusted, and the battery cell 300 is in a neutral state when seen from the side.
In this step, a second image of either of the two planes of the cell 300 is acquired.
It will be appreciated that the second image of a certain plane of the cell 300 may characterize the shape of the edge of the oppositely disposed sides intersecting the plane, and the shape of the edge of the oppositely disposed sides intersecting the plane.
In this embodiment, the second image capturing device 420 may be disposed above a certain plane of the battery cell 300, and a second image of the plane of the battery cell 300 may be captured by the second image capturing device 420.
For example, the two planes of the battery 300 are a first plane and a second plane, the first image capturing device 410 is disposed above the first plane of the battery 300, and the second image corresponding to the first plane of the battery 300 is captured by the second image capturing device 420.
It will be appreciated that before the second image capturing device 420 captures the second image, the second image capturing device 420 needs to be calibrated with a mechanism for performing cell positioning and in-shell, and a conversion relationship between the mechanism and the second image capturing device 420 is obtained.
In actual implementation, the calibration of the second image acquisition device 420 and the machine component may be performed using nine-point translational calibration.
The mechanism clamps a part for calibration, moves the part into the image field of the second image acquisition device 420 for nine times to obtain nine mechanism coordinates, the second image acquisition device 420 photographs nine times to obtain nine image coordinates, and the conversion relationship between the mechanism and the second image acquisition device 420 is calculated by combining the nine mechanism coordinates and the nine image coordinates.
A second image of a certain plane of the cell 300 may characterize the shape of the edge of the oppositely disposed sides intersecting the plane, and the shape of the edge of the oppositely disposed sides intersecting the plane.
In this step, from the second image of a certain plane of the battery cell 300, coordinate information of sides where the two opposite sides intersect the plane and coordinate information of sides where the two opposite end surfaces intersect the plane can be determined.
The second coordinate information corresponding to the second image of a certain plane includes coordinate information of sides where two side surfaces are oppositely arranged and intersected with the plane, coordinate information of sides where two end surfaces are oppositely arranged and intersected with the plane, coordinate information of the plane, and the like.
It can be understood that the terminal post 310 of the battery cell 300 is disposed on one of the two end surfaces, and the second coordinate information corresponding to the second image also includes the coordinate information of the terminal post 310 relative to the plane.
The second coordinate information includes coordinate information of sides where the two side surfaces are oppositely disposed to intersect the plane and coordinate information of sides where the two end surfaces are oppositely disposed to intersect the plane.
It will be appreciated that the two sides of the opposing pair intersect the plane, and the two sides of the opposing pair intersect the plane, intersect at four second intersection points corresponding to the four corners of the plane.
In this embodiment, the second coordinate information includes coordinate information of four second intersection points, and according to the coordinate information of the four second intersection points, a second deviation value of the battery cell 300 along the width direction of the plane may be determined, and the battery cell 300 is rectified according to the second deviation value.
In actual implementation, according to the second coordinate information, the deviation of the battery cell 300 in the width direction along the plane, that is, the second deviation value, is determined, the deviation of the battery cell 300 is rectified through the second deviation value, the deviation caused in the feeding process of the battery cell 300 is eliminated, and then the position of the pole 310 of the battery cell 300 is adjusted.
In the related art, the positioning of the battery cell 300 in the shell-entering procedure is mostly achieved by searching four sides of the bare battery cell, the center point of the main body part of the bare battery cell is obtained by dividing four sides, the image coordinates are obtained, the coordinate difference is calculated through the calibration relation, the deviation is corrected according to the difference, the battery cell 300 has a certain radian, the material feeding mechanism of the battery cell 300 cannot ensure that the material feeding process of the battery cell 300 does not deflect, the battery cell 300 has a certain swinging angle, the lateral deviation of the battery cell 300 is brought, the larger the swinging angle is, the larger the caused deviation is, and the lower the positioning accuracy of the battery cell 300 is.
In this embodiment of the present application, the spatial position information of the electric core 300 is determined through the coordinate information corresponding to the first image and the second image, the first coordinate information is used to correct the deviation of the electric core 300 in the thickness direction, the second coordinate information is used to correct the deviation of the electric core 300 in the plane width direction, the influence of the lateral deviation of the electric core 300 is eliminated, the swing angle of the electric core 300 is adjusted, the polar column 310 of the electric core 300 is swung, the positioning of the electric core 300 before the electric core 300 is put into the shell is accurate, the accuracy of the process of putting into the shell is facilitated to be improved, and the safety of the electric core 300 is improved.
According to the battery cell positioning method provided by the embodiment of the application, the positioning deviation correction is performed on the battery cell 300 in the shell through the first image of the side surface of the battery cell 300 and the second image of the plane of the battery cell 300, the deviation of the battery cell 300 with a certain radian in the thickness direction is eliminated, the swing angle of the battery cell 300 is adjusted, the pole 310 of the battery cell 300 is swung, and the positioning precision and efficiency of the battery cell 300 are effectively improved.
In some embodiments, step 120, determining first coordinate information for the side based on the first image, includes:
based on the gray features of the first image, performing image segmentation on the first image to obtain a first gray image;
and performing edge detection on the first gray level image to determine first coordinate information.
It will be appreciated that each pixel in the first image has a corresponding gray value, where the gray value ranges from 0 to 255, where 0 corresponds to black, 255 corresponds to white, and the intermediate value is the color of the black-to-white transition.
In this embodiment, a segmentation threshold may be set according to the gray scale characteristics, image segmentation may be performed on the first image, the gray scale value of the pixel point from 0 to the segmentation threshold is reassigned to 0, and the gray scale value of the pixel point from the segmentation threshold to 255 is reassigned to 255, so as to obtain a corresponding first gray scale image.
Edge detection is used to identify points in the image where the brightness change is significant, and the significant change in the brightness attribute of the image reflects the demarcation between the cell 300 and the image background.
In this embodiment, after the first image is processed into the first gray-scale image, the pixels of the white-black boundary are extracted, where the pixels represent the boundary between the cell 300 and the image background, that is, the pixels represent the sides where two planes oppositely disposed in the cell 300 intersect the side surface and the sides where two end surfaces oppositely disposed intersect the side surface.
It should be noted that, after the first image is processed into the first gray image, edge detection is performed, so that sensitivity of edge detection can be improved, and the obtained first coordinate information is more accurate.
In some embodiments, determining the first deviation value based on the first coordinate information includes:
fitting to obtain a first measurement datum line of the side surface based on the first coordinate information;
determining first height information and second height information of vertexes of two ends of the side surface based on the first measurement datum line;
a first deviation value is determined based on a difference between the first altitude information and the second altitude information.
In this embodiment, according to the first coordinate information, fitting may be performed by a least square method, and as shown in fig. 6, a series of image points crisscrossed in the figure are fitted to obtain a first measurement reference line of the side surface.
According to the first measurement datum line, the vertexes of two ends of the side face, namely two first intersection points where the side face intersects with the plane above, are determined, the first height information and the second height information of the vertexes of the two ends are calculated according to the principle that the points (the vertexes of the two ends) are perpendicular to a straight line (the first measurement datum line), the first deviation value is equal to the difference value of the first height information and the second height information, the deviation of the battery cell 300 is corrected according to the difference value, the deflection of the battery cell 300 is eliminated, the swing angle of the battery cell 300 is adjusted, and the battery cell 300 is in a neutral state from the side face.
In some embodiments, step 140, acquiring a second image of the plane of the cell 300 may include:
A second image of the plane near one end of the pole 310 is acquired.
In this embodiment, the second image includes a small-field image with a plane near one end of the pole 310, and capturing the small-field image can improve the image accuracy, and can also avoid the problem of near-large and far-small due to the wide-angle lens of the second image capturing device 420.
It can be appreciated that although the battery cell 300 has a certain arc, the planar shape of the battery cell 300 is not distorted when seen from the plane of the battery cell 300, and the second image of the plane near one end of the pole 310 is obtained, so that the deviation can be corrected from the width direction of the plane of the battery cell 300.
It should be noted that, two opposite end surfaces are provided, one of which is provided with the pole 310, so as to obtain a second image of the end of the pole 310, which is close to the plane, and thus the pole 310 of the battery cell 300 is accurately put into the shell.
In some embodiments, step 150, determining second coordinate information of the plane based on the second image may include:
performing template matching in the second image based on the shape reference of the pole 310, and determining a target detection area of the second image;
performing edge detection on the target detection area to obtain a target pixel point of the second image;
fitting to obtain a first straight line, a second straight line and a third straight line based on the target pixel points;
Second coordinate information is determined based on a midpoint of the first intersection point and the second intersection point.
The first straight line and the second straight line intersect at a first intersection point, the second straight line and the third straight line intersect at a second intersection point, the first straight line and the third straight line are obtained based on fitting pixels of edges where two side faces intersect with a plane, and the second straight line is obtained based on fitting pixels of edges where an end face where one end of the pole 310 is located intersects with the plane.
In this embodiment, the location of the pole 310 and the cell 300 is determined by searching for the matching similar features in the second image based on the shape reference of the pole 310, that is, determining the target detection area including the pole 310 and the cell 300 in the second image where only the plane is near one end of the pole 310.
Edges of the two opposite sides intersecting the plane and edges of the end face of the pole 310 intersecting the plane are determined by edge detection in the target detection area.
The target pixel point of the second image includes two sides which are oppositely arranged and intersect with the plane, and a pixel point of the side where the end face of the polar column 310 intersects with the plane, and the target pixel point of the second image is fitted to obtain a first straight line, a second straight line and a third straight line.
In this embodiment, the transverse straight line (the second straight line) intersects with the left and right lines (the first straight line and the third straight line) respectively to obtain two intersecting points (the first intersecting point and the second intersecting point), the midpoint is obtained according to the two intersecting points, and then the second coordinate information is determined, the second deviation value is calculated, the deviation of the battery cell 300 is corrected, the battery cell 300 is adjusted, and the positive pole 310 is arranged, so that the subsequent accurate shell entering is facilitated.
A specific embodiment is described below.
As shown in fig. 5, a first image capturing device 410 captures a first image of a side of the battery cell 300, the first image capturing device 410 includes a side camera, a second image capturing device 420 captures a second image of a plane of the battery cell 300, and the second image capturing device 420 includes an upper camera.
As shown in fig. 2, before photographing, the upper camera and the side camera need to be calibrated in nine-point translation with a mechanism for performing cell positioning and housing, that is, the conversion relationship between the mechanism and the upper camera and the conversion relationship between the mechanism and the side camera are obtained.
The control side camera photographs an image and performs image preprocessing.
In actual production, when the mechanism controls the battery cell 300 to reach a designated position, the upper computer calls the side camera to take a picture, and a side image, namely a first image, of the battery cell 300 is obtained.
And extracting target characteristics of the first image through gray segmentation, wherein each pixel point in the first image has a gray value, the range of 0-255,0 is black, 255 is white, and the intermediate value is a black-to-white transitional color.
Setting a segmentation threshold value as H, reassigning the gray value of a (0-H) pixel point to 0, reassigning the gray value of a (> H-255) pixel point to 255, and obtaining a first gray image.
In the first gray level image detection area, the first gray level image detection area is subdivided into a plurality of small areas, white and black demarcation points are extracted through an edge detection algorithm, all image point coordinates are converted into coordinates under a mechanism coordinate system through a conversion relation between a side camera and a mechanism, as shown in fig. 6, a line is fitted to a crisscross image point row by a least square method, and the line is used as a first measurement datum line.
The bare cell main body in the first gray level image is white, the background is black, the image coordinate of the highest point of the white characteristic of the region is calculated, the left and right heights delta A and delta B can be calculated through the principle of point to straight line vertical line, and the first deviation value is Y-direction deviation value = delta A-delta B.
Depending on the charging situation of the battery cell 300, Δa- Δb may be a positive value or a negative value, where a positive value represents that the battery cell 300 is high or low, and vice versa, the Y-direction deviation value is sent to the mechanism to correct the deviation, and after the deviation is corrected, the battery cell 300 is in a neutral state when viewed from the side.
The upper computer triggers the upper camera to shoot, and the second image of one end where the pole 310 is located can be shot, so that the small visual field can improve the precision, and the near, the large and the far of the wide-angle lens can be avoided.
Establishing geometric references of different positions of the battery cell 300, for example, geometric references of the pole 310 and geometric references of the end part of the battery cell 300, shooting a second image when the end part of the battery cell 300 is in the image view of the upper camera, searching for matching similar characteristics according to the geometric references, and determining the position of the battery cell 300.
When needed, the target detection area for subsequent edge searching may change with the change of the position of the battery cell 300.
In the target detection area, the target detection area is subdivided into a plurality of small areas, white and black demarcation points are extracted through an edge detection algorithm, as shown in fig. 7, crisscross points are obtained, and three straight lines are fitted through a least square method.
The transverse straight line is intersected with the left line and the right line to obtain two intersection points, a midpoint is obtained according to the two intersection points, and the coordinate of the midpoint is changed into the coordinate under the coordinate system of the mechanism, namely the second coordinate information through the conversion relation between the upper camera and the mechanism.
Extracting current X value from the second coordinate information, as shown in the dot of figure 7, making difference between the current X value and the reference X value to obtain deviation in X direction, sending the deviation value in X direction to the mechanism for deviation correction,
In this embodiment of the application, the position of electric core 300 main part in the space is confirmed through last camera and side camera respectively, handles electric core 300 position fluctuation change, and quick accuracy is fixed a position, goes up camera and side camera and associatively with the mechanism respectively and carries out the location guide, has reduced the complexity that many cameras are associatively with the module multiparty, rectifies from X direction and Y direction, eliminates the deviation influence that electric core 300 radian brought, helps promoting the degree of accuracy of going into the shell process, improves electric core 300 security.
In the method for positioning a battery cell provided in the embodiment of the present application, the execution body may be the battery cell positioning device 800. In this embodiment, taking the cell positioning device 800 as an example to execute the cell positioning method, the cell positioning device 800 provided in the embodiment of the present application is described.
The embodiment of the application also provides a cell positioning device 800.
As shown in fig. 8, the cell positioning device 800 includes:
a first acquiring module 810, configured to acquire a first image of a side surface of the battery cell 300;
a first processing module 820 for determining first coordinate information of the side based on the first image;
the second processing module 830 is configured to determine a first deviation value based on the first coordinate information, and correct the deviation of the electrical core 300 based on the first deviation value;
A second obtaining module 840, configured to obtain a second image of the plane of the battery cell 300;
a third processing module 850 for determining second coordinate information of the plane based on the second image;
a fourth processing module 860, configured to determine a second deviation value based on the second coordinate information, and correct the deviation of the battery cell 300 based on the second deviation value;
the battery cell 300 includes two planes oppositely arranged along the thickness direction, two end faces and two side faces, the two end faces and the two side faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and the pole 310 of the battery cell 300 is arranged on one of the two end faces.
According to the battery cell positioning device 800 provided by the embodiment of the application, through the first image of the side surface of the battery cell 300 and the second image of the plane of the battery cell 300, positioning correction is performed on the battery cell 300 in the shell, deviation of the battery cell 300 with a certain radian in the thickness direction is eliminated, the swing angle of the battery cell 300 is adjusted, the pole 310 of the battery cell 300 is swung, and the positioning precision and efficiency of the battery cell 300 are effectively improved.
In some embodiments, the first processing module 820 is configured to perform image segmentation on the first image based on the gray scale feature of the first image to obtain a first gray scale image;
And performing edge detection on the first gray level image to determine first coordinate information.
In some embodiments, the second processing module 830 is configured to fit a first measurement datum of the side surface based on the first coordinate information;
determining first height information and second height information of vertexes of two ends of the side surface based on the first measurement datum line;
a first deviation value is determined based on a difference between the first altitude information and the second altitude information.
In some embodiments, a second acquisition module 840 is used to acquire a second image of an end of the planar surface proximate the pole 310.
In some embodiments, a third processing module 850 for performing template matching in the second image based on the shape reference of the pole 310, determining a target detection region of the second image;
performing edge detection on the target detection area to obtain a target pixel point of the second image;
fitting to obtain a first straight line, a second straight line and a third straight line based on target pixel points, wherein the first straight line and the second straight line intersect at a first intersection point, the second straight line and the third straight line intersect at a second intersection point, the first straight line and the third straight line are obtained based on fitting of pixel points of edges of two sides intersecting with a plane, and the second straight line is obtained based on fitting of pixel points of edges of an end face of one end of a pole 310 intersecting with the plane;
Second coordinate information is determined based on a midpoint of the first intersection point and the second intersection point.
The cell positioning device 800 in the embodiment of the present application may be an electronic device, or may be a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or may be other devices than a terminal. By way of example, the electronic device may be a mobile phone, tablet computer, notebook computer, palm computer, vehicle-mounted electronic device, mobile internet appliance (Mobile Internet Device, MID), augmented reality (augmented reality, AR)/Virtual Reality (VR) device, robot, wearable device, ultra-mobile personal computer, UMPC, netbook or personal digital assistant (personal digital assistant, PDA), etc., but may also be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and the embodiments of the present application are not limited in particular.
The cell positioning device 800 in the embodiment of the present application may be a device with an operating system. The operating system may be an Android operating system, an IOS operating system, or other possible operating systems, which is not specifically limited in the embodiments of the present application.
The battery cell positioning device 800 provided in this embodiment of the present application can implement each process implemented by the method embodiments of fig. 1 to 7, and in order to avoid repetition, a description is omitted here.
The embodiment of the application provides a battery cell positioning system.
As shown in fig. 5, the cell positioning system includes:
the battery cell 300 to be positioned, wherein the battery cell 300 comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces which are arranged between the two planes, the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and the pole 310 of the battery cell 300 is arranged on one of the two end faces;
the first image acquisition device 410, the first image acquisition device 410 is disposed at one side of the battery cell 300, and the first image acquisition device 410 is used for acquiring a first image of a side surface of the battery cell 300;
the second image acquisition device 420, the second image acquisition device 420 is arranged above the plane of the battery cell 300, and the second image acquisition device 420 is used for acquiring a second image of the plane of the battery cell 300;
the controller is electrically connected with the first image acquisition device 410 and the second image acquisition device 420, and is used for positioning and rectifying the electric core 300 based on the electric core positioning method.
According to the battery cell positioning system, through the first image of the side surface of the battery cell 300 and the second image of the plane of the battery cell 300, positioning deviation correction is performed on the battery cell 300 in the shell, deviation of the battery cell 300 with a certain radian in the thickness direction is eliminated, the swing angle of the battery cell 300 is adjusted, the pole 310 of the battery cell 300 is swung, and the positioning precision and efficiency of the battery cell 300 are effectively improved.
In some embodiments, as shown in fig. 9, the embodiment of the present application further provides an electronic device 900, including a processor 901, a memory 902, and a computer program stored in the memory 902 and capable of running on the processor 901, where the program when executed by the processor 901 implements the respective processes of the foregoing embodiment of the cell positioning method, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.
The electronic device in the embodiment of the application includes the mobile electronic device and the non-mobile electronic device.
Fig. 10 is a schematic hardware structure of an electronic device implementing an embodiment of the present application.
The electronic device 1000 includes, but is not limited to: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, and processor 1010.
Those skilled in the art will appreciate that the electronic device 1000 may also include a power source (e.g., the battery 300) for powering the various components, and that the power source may be logically coupled to the processor 1010 by a power management system to perform functions such as managing charging, discharging, and power consumption by the power management system. The electronic device structure shown in fig. 10 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than shown, or may combine certain components, or may be arranged in different components, which are not described in detail herein.
The input unit 1004, in this embodiment, a camera, is configured to obtain a first image of a side surface of the battery cell 300;
a processor 1010 for determining first coordinate information of the side based on the first image;
determining a first deviation value based on the first coordinate information, and rectifying the deviation of the battery cell 300 based on the first deviation value;
an input unit 1004, configured to acquire a second image of a plane of the battery cell 300;
a processor 1010, further configured to determine second coordinate information of the plane based on the second image;
determining a second deviation value based on the second coordinate information, and rectifying the deviation of the battery cell 300 based on the second deviation value;
The battery cell 300 includes two planes oppositely arranged along the thickness direction, two end faces and two side faces, the two end faces and the two side faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and the pole 310 of the battery cell 300 is arranged on one of the two end faces.
According to the electronic equipment provided by the embodiment of the application, through the first image of the side surface of the battery cell 300 and the second image of the plane of the battery cell 300, the battery cell 300 is positioned and corrected when being put into the shell, the deviation of the battery cell 300 with a certain radian in the thickness direction is eliminated, the swing angle of the battery cell 300 is adjusted, the pole column 310 of the battery cell 300 is swung, and the positioning precision and efficiency of the battery cell 300 are effectively improved.
In some embodiments, the processor 1010 is further configured to perform image segmentation on the first image based on the gray scale characteristics of the first image to obtain a first gray scale image;
and performing edge detection on the first gray level image to determine first coordinate information.
In some embodiments, the processor 1010 is further configured to fit a first measurement datum of the side based on the first coordinate information;
determining first height information and second height information of vertexes of two ends of the side surface based on the first measurement datum line;
A first deviation value is determined based on a difference between the first altitude information and the second altitude information.
In some embodiments, the input unit 1004 is further configured to acquire a second image of an end of the plane proximate to the pole 310.
In some embodiments, the processor 1010 is further configured to perform template matching in the second image based on the shape reference of the pole 310, and determine a target detection area of the second image;
performing edge detection on the target detection area to obtain a target pixel point of the second image;
fitting to obtain a first straight line, a second straight line and a third straight line based on target pixel points, wherein the first straight line and the second straight line intersect at a first intersection point, the second straight line and the third straight line intersect at a second intersection point, the first straight line and the third straight line are obtained based on fitting of pixel points of edges of two sides intersecting with a plane, and the second straight line is obtained based on fitting of pixel points of edges of an end face of one end of a pole 310 intersecting with the plane;
second coordinate information is determined based on a midpoint of the first intersection point and the second intersection point.
It should be understood that in the embodiment of the present application, the input unit 1004 may include a graphics processor (Graphics Processing Unit, GPU) 10041 and a microphone 10042, and the graphics processor 10041 processes image data of still pictures or videos obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 1006 may include a display panel 10061, and the display panel 10061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072. The touch panel 10071 is also referred to as a touch screen. The touch panel 10071 can include two portions, a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and so forth, which are not described in detail herein.
The memory 1009 may be used to store software programs and various data, and the memory 1009 may mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area may store an operating system, application programs or instructions (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the memory 1009 may include volatile memory or nonvolatile memory, or the memory 1009 may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM), static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (ddr SDRAM), enhanced SDRAM (Enhanced SDRAM), synchronous DRAM (SLDRAM), and Direct RAM (DRRAM). Memory 1009 in embodiments of the present application includes, but is not limited to, these and any other suitable types of memory.
The processor 1010 may include one or more processing units; the processor 1010 integrates an application processor that primarily processes operations involving an operating system, user interface, application programs, and the like, and a modem processor that primarily processes wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor 1010.
The embodiment of the present application further provides a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements each process of the foregoing embodiment of the electrical core positioning method, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program realizes the cell positioning method when being executed by a processor.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a program or an instruction, implementing each process of the above embodiment of the electrical core positioning method, and achieving the same technical effect, so as to avoid repetition, and no redundant description is provided herein.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The cell positioning method is characterized by comprising the following steps of:
acquiring a first image of the side surface of the battery cell;
determining first coordinate information of the side face based on the first image;
determining a first deviation value based on the first coordinate information, and correcting the deviation of the battery cell based on the first deviation value;
Acquiring a second image of the plane of the battery cell;
determining second coordinate information of the plane based on the second image;
determining a second deviation value based on the second coordinate information, and correcting the deviation of the battery cell based on the second deviation value;
the battery cell comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces, wherein the two end faces and the two side faces are arranged between the two planes, the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and a pole column of the battery cell is arranged on one of the two end faces.
2. The method of claim 1, wherein determining first coordinate information of the side based on the first image comprises:
based on the gray scale characteristics of the first image, performing image segmentation on the first image to obtain a first gray scale image;
and carrying out edge detection on the first gray level image, and determining the first coordinate information.
3. The method of claim 1, wherein determining a first deviation value based on the first coordinate information comprises:
Fitting to obtain a first measurement datum line of the side surface based on the first coordinate information;
determining first height information and second height information of vertexes of two ends of the side surface based on the first measurement datum line;
the first deviation value is determined based on a difference between the first altitude information and the second altitude information.
4. A method of positioning a cell according to any of claims 1-3, wherein said acquiring a second image of the plane of the cell comprises:
and acquiring the second image of the plane, which is close to one end of the pole.
5. The method of claim 4, wherein determining second coordinate information of the plane based on the second image comprises:
performing template matching in the second image based on the shape reference of the polar column, and determining a target detection area of the second image;
performing edge detection on the target detection area to obtain a target pixel point of the second image;
fitting to obtain a first straight line, a second straight line and a third straight line based on the target pixel point, wherein the first straight line and the second straight line intersect at a first intersection point, the second straight line and the third straight line intersect at a second intersection point, the first straight line and the third straight line are obtained based on fitting of pixel points of two sides intersecting with the plane, and the second straight line is obtained based on fitting of pixel points of sides intersecting with the plane, where one end of the polar column is located, of the end face of the polar column;
The second coordinate information is determined based on a midpoint of the first intersection point and the second intersection point.
6. A cell positioning device, comprising:
the first acquisition module is used for acquiring a first image of the side face of the battery cell;
a first processing module for determining first coordinate information of the side surface based on the first image;
the second processing module is used for determining a first deviation value based on the first coordinate information and rectifying deviation of the battery cell based on the first deviation value;
the second acquisition module is used for acquiring a second image of the plane of the battery cell;
a third processing module for determining second coordinate information of the plane based on the second image;
the fourth processing module is used for determining a second deviation value based on the second coordinate information and rectifying deviation of the battery cell based on the second deviation value;
the battery cell comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces, wherein the two end faces and the two side faces are arranged between the two planes, the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and a pole column of the battery cell is arranged on one of the two end faces.
7. A cell positioning system, comprising:
the battery cell to be positioned comprises two planes which are oppositely arranged along the thickness direction, two end faces and two side faces which are arranged between the two planes, wherein the two end faces are oppositely arranged, the two side faces are oppositely arranged between the two end faces, and a pole of the battery cell is arranged on one of the two end faces;
the first image acquisition device is arranged on one side of the battery cell and is used for acquiring a first image of the side surface of the battery cell;
the second image acquisition device is arranged above the plane of the battery cell and is used for acquiring a second image of the plane of the battery cell;
the controller is electrically connected with the first image acquisition device and the second image acquisition device and is used for positioning and correcting the battery cell based on the battery cell positioning method according to any one of claims 1-5.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the cell positioning method of any of claims 1-5 when the program is executed by the processor.
9. A non-transitory computer readable storage medium, having stored thereon a computer program, which when executed by a processor, implements the cell positioning method according to any of claims 1-5.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the cell positioning method according to any of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211611783.8A CN116053549A (en) | 2022-12-14 | 2022-12-14 | Battery cell positioning method, device and system |
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| CN202211611783.8A CN116053549A (en) | 2022-12-14 | 2022-12-14 | Battery cell positioning method, device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117020413A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117020413A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
| CN117020413B (en) * | 2023-10-08 | 2024-02-23 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
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