CN116060256A - Battery cell glue dripping method and device and electronic equipment - Google Patents
Battery cell glue dripping method and device and electronic equipment Download PDFInfo
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- CN116060256A CN116060256A CN202310070241.2A CN202310070241A CN116060256A CN 116060256 A CN116060256 A CN 116060256A CN 202310070241 A CN202310070241 A CN 202310070241A CN 116060256 A CN116060256 A CN 116060256A
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- 239000003292 glue Substances 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 134
- 238000013507 mapping Methods 0.000 claims abstract description 39
- 238000012216 screening Methods 0.000 claims description 28
- 238000004026 adhesive bonding Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 13
- 239000000463 material Substances 0.000 description 6
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 229910052709 silver Inorganic materials 0.000 description 3
- 239000004332 silver Substances 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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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
- H01M6/00—Primary cells; Manufacture thereof
- H01M6/005—Devices for making primary cells
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- General Chemical & Material Sciences (AREA)
- Human Computer Interaction (AREA)
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Abstract
The application provides a method, a device and electronic equipment for dispensing an electric core, which are applied to a dispensing mechanism and comprise the following steps: establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dripping mechanism; shooting a side skirt image of the battery cell through an image sensing mechanism, and analyzing to obtain a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point; and determining the mechanical coordinates corresponding to the target skirt edge locating points according to the image coordinates and the mapping relation corresponding to the target skirt edge locating points aiming at each target skirt edge locating point so as to finish the dispensing operation of the target skirt edge locating points. According to the method and the device, the track of the radian side face of the battery cell is identified, and the mapping relation between the coordinate systems is combined, so that the dispensing head is controlled to finish dispensing operation according to the position information of each point on the track of the radian of the battery cell, and the dispensing precision and the dispensing efficiency of the battery cell are improved.
Description
Technical Field
The application relates to the technical field of battery cell glue dripping, in particular to a glue dripping method and device of a battery cell and electronic equipment.
Background
The battery cell becomes the arc, and the profile modeling tool on the slide rail is placed to the battery cell when the material loading, but, the dispensing mechanism can't learn from where to start the point and glue the head and accomplish the point operation of gluing of battery cell, that is to say, the point position of gluing everywhere of battery cell is ambiguous, leads to unable smooth accurate completion to the point operation of gluing of battery cell.
Disclosure of Invention
Accordingly, an object of the present application is to provide at least a method, an apparatus, and an electronic device for dispensing a battery cell, by identifying a track on a side surface of a radian of the battery cell and combining a mapping relation between coordinate systems, so as to control a dispensing head to complete a dispensing operation according to position information of each point on the track of the radian of the battery cell, and improve dispensing accuracy and dispensing efficiency of the battery cell.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a method for dispensing a battery cell, where the method is applied to a system, and the system includes a dispensing mechanism and an image sensing mechanism, where the dispensing mechanism is used to carry the battery cell and perform a dispensing operation on the battery cell, and the image sensing mechanism is used to obtain a side skirt image of the battery cell, and the method includes:
establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dripping mechanism; shooting a side skirt image of the battery cell through an image sensing mechanism, and analyzing to obtain a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point; and determining the mechanical coordinates corresponding to the target skirt edge locating points according to the image coordinates and the mapping relation corresponding to the target skirt edge locating points aiming at each target skirt edge locating point so as to finish the dispensing operation of the target skirt edge locating points.
In one possible implementation manner, the dispensing mechanism further comprises a dispensing head, a calibration block and a small rod, the image sensing mechanism comprises a first image sensing mechanism for acquiring a side skirt image of the battery cell, the calibration block and the small rod are used for calibrating the first image sensing mechanism, the calibration block is fixed on the small rod, the small rod is adsorbed on the dispensing head, the mapping relation describes a mapping relation between an image coordinate system of the first image sensing mechanism and a mechanical coordinate system of the dispensing mechanism, and the step of establishing the mapping relation between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism comprises the following steps: the dispensing head is controlled to move so as to drive the calibration block to move to an initial calibration position, a calibration starting signal is generated, and the initial calibration position is positioned under the visual field of the first image sensing mechanism; transmitting a calibration start signal and an initial calibration position coordinate to a first image sensing mechanism; the image characteristic information corresponding to the calibration block at the initial calibration position is photographed and extracted through the first image sensing mechanism, and meanwhile, a plurality of position coordinates to be calibrated are generated according to the initial calibration position coordinates and the preset movement step length indicated by the preset calibration shaft; for each position coordinate to be calibrated, controlling the dispensing head to move so that a preset calibration shaft moves to the position where the position coordinate to be calibrated is located, generating a in-place signal and sending the in-place signal to a first image sensing mechanism, and photographing and extracting image characteristic information corresponding to a calibration block at the position where the position coordinate to be calibrated is located through the first image sensing mechanism; and performing calibration calculation according to the plurality of calibration positions and the graphic feature information corresponding to each calibration position to obtain a mapping relation between an image coordinate system of the first image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism, wherein the plurality of calibration positions comprise an initial calibration position and a plurality of positions to be calibrated.
In one possible implementation manner, the glue dropping mechanism further comprises a first light measuring source and a second light measuring source, wherein the first light measuring source and the second light measuring source are arranged between the side skirt edge of the battery cell and the first image sensing mechanism and are respectively positioned at two sides of the first image sensing mechanism and used for assisting the image sensing mechanism to acquire the side skirt edge images of different types of battery cells, and before the side skirt edge images of the battery cells are shot by the image sensing mechanism, the method further comprises the steps of: respectively starting a first light measuring source and a second light measuring source; according to the type of the battery cell, the brightness and the exposure of the light source of the first measuring light source and the brightness and the exposure of the light source corresponding to the second measuring light source are respectively determined and adjusted, so that the first image sensing mechanism obtains the image of the side skirt edge of the battery cell with clear definition.
In one possible implementation, the image coordinates of the plurality of target skirt anchor points are obtained by: preprocessing the acquired side skirt images to remove noise interference; extracting a skirt region through a blob threshold for the preprocessed side skirt image; aiming at the skirt edge area, carrying out edge finding by using a preset curve tool, and extracting a plurality of skirt edge positioning points on the edge of the skirt edge area; screening the skirt edge positioning points by adopting a preset screening strategy to obtain a plurality of target skirt edge positioning points; and determining the image coordinates corresponding to the positioning points of the target skirt edges.
In one possible embodiment, the step of locating the edge of the skirt region using a predetermined curved tool and extracting a plurality of skirt locating points on the edge of the skirt region comprises: determining a skirt start point and a skirt end point corresponding to the battery cell through a preset curve tool in the size of the skirt of the battery cell and a preset fluctuation range; and identifying and extracting a plurality of skirt edge positioning points on the cell skirt edge by using a preset curve tool according to the skirt edge starting point and the skirt edge ending point.
In one possible implementation manner, the step of screening the plurality of skirt positioning points by adopting a preset screening strategy to obtain a plurality of target skirt positioning points includes: taking a skirt edge locating point which is out of a preset fluctuation range as an abnormal point in the plurality of skirt edge locating points to carry out primary screening treatment; performing arc fitting treatment on the plurality of skirt edge positioning points after the first screening treatment to obtain a fitted skirt edge curve so as to obtain a plurality of skirt edge positioning points after the fitting, wherein abnormal points removed in the first screening treatment are replaced by skirt edge positioning points obtained by the arc fitting treatment; and performing secondary screening treatment on the fitted skirt edge positioning points according to a preset gluing rule to obtain a plurality of target skirt edge positioning points.
In one possible implementation manner, the image sensing mechanism further includes a second image sensing mechanism, and the second image sensing mechanism is disposed directly above the electric core, where, for the fitted plurality of skirt positioning points, performing a second screening process on the fitted plurality of skirt positioning points according to a preset glue spreading rule, so as to obtain a plurality of target skirt positioning points, the steps include: determining a dispensing starting point of the battery cell by using a second image sensing mechanism; and determining skirt edge positioning points in a preset dispensing range as a plurality of target skirt edge positioning points from a dispensing starting point.
In one possible implementation, the dispensing operation for each target skirt anchor point is accomplished by: determining mechanical coordinates corresponding to image coordinates of the target skirt edge positioning points according to the mapping relation for each target skirt edge positioning point, wherein the mechanical coordinates indicate the position of a dispensing head in the horizontal X direction and the position of the dispensing head in the vertical Z direction in the dispensing mechanism; for each target skirt edge positioning point, shifting the position of the vertical Z direction indicated by the mechanical coordinate by a preset distance, and adding the thickness of the battery cell skirt edge to obtain a target mechanical coordinate corresponding to the target skirt edge positioning point; and controlling the dispensing head to finish the dispensing operation of the skirt edge positioning points according to the target mechanical coordinates corresponding to each target skirt edge positioning point.
In a second aspect, an embodiment of the present application further provides a dispensing device of an electrical core, which is applied to a dispensing system, where the dispensing system includes a dispensing mechanism and an image sensing mechanism, the dispensing mechanism is used for carrying the electrical core and performing a dispensing operation on the electrical core, and the image sensing mechanism is used for acquiring a side skirt image of the electrical core, where the device includes:
the calibration module is used for establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dripping mechanism; the analysis module is used for shooting side skirt images of the battery cell through the image sensing mechanism, and analyzing to obtain a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point; and the dispensing module is used for determining the mechanical coordinates corresponding to the target skirt edge positioning points according to the image coordinates corresponding to the target skirt edge positioning points and the mapping relation aiming at each target skirt edge positioning point so as to finish the dispensing operation of the target skirt edge positioning points.
In a third aspect, embodiments of the present application further provide an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method for dispensing a battery cell as described in the first aspect or any possible implementation manner of the first aspect.
The embodiment of the application provides a method, a device and an electronic device for dispensing an electric core, which are applied to a dispensing mechanism and comprise the following steps: establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dripping mechanism; shooting a side skirt image of the battery cell through an image sensing mechanism, and analyzing to obtain a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point; aiming at each target skirt edge locating point, determining the mechanical coordinates corresponding to the target skirt edge locating point according to the image coordinates and the mapping relation corresponding to the target skirt edge locating point so as to finish the dispensing operation of the target skirt edge locating point. According to the method and the device, the track of the radian side face of the battery cell is identified, and the mapping relation between the coordinate systems is combined, so that the dispensing head is controlled to finish dispensing operation according to the position information of each point on the track of the radian of the battery cell, and the dispensing precision and the dispensing efficiency of the battery cell are improved.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a flowchart of a method for dispensing a battery cell according to an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a calibration block provided by an embodiment of the present application;
FIG. 3 is a flowchart showing steps of a five-step calibration method provided in an embodiment of the present application;
fig. 4 is a schematic diagram of a position to be calibrated corresponding to a five-step calibration method according to an embodiment of the present application;
fig. 5 shows a schematic structural diagram of a glue dropping mechanism according to an embodiment of the present application;
FIG. 6 shows skirt image data of a black cell provided in an embodiment of the present application;
FIG. 7 shows skirt image data of a silver cell provided in an embodiment of the present application;
fig. 8 shows a schematic structural diagram of a glue dropping device for a battery cell according to an embodiment of the present application;
fig. 9 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
The battery cell becomes the arc, and the profile modeling tool on the slide rail is placed to the battery cell when the material loading, but, the dispensing mechanism can't learn from where to start the point and glue the head and accomplish the point operation of gluing of battery cell, that is to say, the point position of gluing everywhere of battery cell is ambiguous, leads to unable smooth accurate completion to the point operation of gluing of battery cell.
Based on this, the embodiment of the application provides a method, a device, an electronic device and a storage medium for dispensing a battery cell, by identifying the track of the radian side surface of the battery cell and combining the mapping relation between coordinate systems, the dispensing head is controlled to finish dispensing operation according to the position information of each point on the track of the radian of the battery cell, and the dispensing precision and the dispensing efficiency of the battery cell are improved, and specifically as follows:
referring to fig. 1, fig. 1 shows a flowchart of a method for dispensing a battery cell according to an embodiment of the present disclosure. As shown in fig. 1, the method provided by the embodiment of the application is applied to a glue dripping system, the glue dripping system comprises a glue dripping mechanism and an image sensor, the glue dripping mechanism comprises a glue dripping table, an arc-shaped material-bearing imitation tool, a sliding rail, a glue dispensing head and an image sensing mechanism, the sliding rail is arranged on the glue dripping table, the arc-shaped material-bearing imitation tool is used for bearing an electric core, the arc-shaped material-bearing imitation tool is arranged on the sliding rail, the sliding rail drives the arc-shaped material-bearing imitation tool to move, and the image sensing mechanism is used for acquiring a side skirt image of the electric core.
The application comprises the following steps:
s100, establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism.
The glue dropping mechanism further comprises a calibration block and a small rod, the image sensing mechanism comprises a first image sensing mechanism used for acquiring side skirt images of the battery cell, the calibration block and the small rod are used for calibrating the first image sensing mechanism, the calibration block is fixed on the small rod, the small rod is adsorbed on the glue dispensing head, and the mapping relation describes the mapping relation between an image coordinate system of the first image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism.
Specifically, the first image sensing mechanism may be a camera, referring to fig. 2, fig. 2 shows a schematic diagram of a calibration block provided in an embodiment of the present application. As shown in fig. 2, the calibration block may be a standard cube block a, and fig. 2 includes a front view 10, a left view 11, and a top view 12 of the cube block a, where the cube block a is used for calibrating a camera, and the cube block a may be tied to a small rod when in use, and sucked by a dispensing head, and then extend to a view of the camera by the dispensing head.
In a specific embodiment, the side length of the cube block a may be 50mm, and the surface of the cube block a needs to be flush with the surface of the battery cell side skirt, that is, the distance from one surface of the cube block a to the camera lens is equal to the distance from the surface of the battery cell skirt to the camera lens.
In a preferred embodiment, referring to fig. 3, fig. 3 is a flowchart illustrating steps of a five-step calibration method according to an embodiment of the present application. As shown in fig. 3, step 100 includes:
s110, controlling the dispensing head to move so as to drive the calibration block to move to an initial calibration position, and generating a calibration starting signal.
The initial calibration position is in the visual field of the first image sensing mechanism, a plurality of calibration positions are preset, any position can be selected as the initial calibration position, in addition, the attribute of a calibration shaft needs to be preset, namely, the calibration shaft is determined, for example, the calibration shaft can be a straight line which passes through the center of the calibration block and is perpendicular to the upper surface of the calibration block, and the calibration block is controlled to move to the initial calibration position, namely, the calibration shaft is controlled to move to the initial calibration position.
Specifically, a calibration start signal is generated while the calibration block is moved to the initial calibration position.
And S120, transmitting the calibration starting signal and the initial calibration position coordinates to the first image sensing mechanism.
S130, shooting and extracting image characteristic information corresponding to the calibration block at the initial calibration position through the first image sensing mechanism, and generating a plurality of position coordinates to be calibrated according to the initial calibration position coordinates and the preset movement step length indicated by the preset calibration shaft.
The image feature information indicates the image positioning feature of the calibration block, such as the edge intersection point, etc., and may be defined in advance.
And S140, controlling the dispensing head to move aiming at each position coordinate to be calibrated so as to enable the preset calibration shaft to move to the position where the position coordinate to be calibrated is located, generating in-place signals and sending the in-place signals to the first image sensing mechanism, and photographing and extracting image characteristic information corresponding to a calibration block at the position where the position coordinate to be calibrated is located through the first image sensing mechanism.
Specifically, the first image sensing mechanism does not determine that the preset calibration shaft has moved to the position where the coordinate of the position to be positioned is located until the first image sensing mechanism receives the in-place signal, at this time, a corresponding photographing operation can be performed, otherwise, the corresponding in-place signal is always waited, and the acquired image characteristic information is stored in the preset array through the first image sensing mechanism.
And S150, performing calibration calculation according to the plurality of calibration positions and the image characteristic information corresponding to each calibration position to obtain a mapping relation between an image coordinate system of the first image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism.
The plurality of calibration positions comprise an initial calibration position and a plurality of positions to be calibrated.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a position to be calibrated corresponding to a five-step calibration method according to an embodiment of the present application. As shown in fig. 4, the positions 1, 2, 3 and 4 refer to imaging positions of the image features shot by the first image sensing mechanism under the image coordinate system through the running position of the glue dropping mechanism respectively, wherein 0 is the imaging position of the calibration block under the image coordinate system when the preset calibration shaft moves to the initial calibration position, and under the condition that the calibration shaft and the movement step length are determined, the coordinates corresponding to the positions to be calibrated can be determined only by giving the initial calibration position, wherein the movement step length can be designed according to the actual project requirement.
Specifically, assuming that the mechanical coordinate XZ corresponding to the 0 position is (0, 0), that is, the initial calibration position horizontal X coordinate is 0, the vertical Z coordinate is 0, and the motion step length is 8mm, wherein in the set image coordinate system, the X axis is positive to the right, the Y axis is negative, the calculated position coordinates of the calibration axis walking position correspond to the 0 position mechanical coordinate (0, 0), the 1 position mechanical coordinate (8, 8), the 2 position mechanical coordinate (-8, -8), the 3 position mechanical coordinate (-8, 8) and the 4 position mechanical coordinate (8, -8), the calibration axis sequentially carries out walking positions according to the 5 positions, and calibration calculation is carried out according to the mechanical coordinate information corresponding to the five walking positions and the pixel information of the characteristic positioning point obtained by photographing the five walking position positions, so as to obtain the mapping relation between the image coordinate system and the mechanical coordinate system.
S200, shooting side skirt edge images of the battery cell through an image sensing mechanism, and analyzing to obtain a plurality of target skirt edge positioning points and image coordinates corresponding to each target skirt edge positioning point.
Referring to fig. 5, fig. 5 shows a schematic structural diagram of a glue dropping mechanism according to an embodiment of the present application. As shown in fig. 5, the glue dropping mechanism further includes a first light measuring source L1 and a second light measuring source L2, where the first light measuring source L1 and the second light measuring source L2 are disposed between the side edge B of the battery cell and the first image sensing mechanism Camera, and are respectively located at two sides of the first image sensing mechanism Camera, and are used for assisting the first image sensing mechanism Camera to obtain the edge images of different types of battery cells.
In a specific embodiment, as shown in fig. 5, the distance between the first image sensing mechanism Camera and the battery cell side skirt B may be 315±25mm, the distance between the first light measuring source L1 and the second light measuring source L2 may be 80±50mm, the distance between the first light measuring source L1 and the battery cell side skirt B may be 30±20, and the distance between the second light measuring source L2 and the battery cell side skirt B may be 30±20.
Before the image sensing mechanism shoots the side skirt image of the battery cell, the method further comprises the following steps:
the first light measuring source and the second light measuring source are started respectively, and the brightness and the exposure of the light source of the first light measuring source and the brightness and the exposure of the light source corresponding to the second light measuring source are determined and adjusted respectively according to the type of the battery cell, so that the first image sensing mechanism obtains a clear side skirt image of the battery cell.
The battery cell types can comprise black battery cells and silver battery cells, aiming at battery cells with different colors, if a first image sensing mechanism needs to obtain corresponding clear images, the brightness and the exposure corresponding to a corresponding first light measuring source and a corresponding second light measuring source are required to be correspondingly adjusted, the obtained brightness and exposure of the light sources can be saved according to the adjustment of the battery cells with different types, and the quick calling of the battery cells with different types is realized through opening options.
In a preferred embodiment, the image coordinates of the plurality of target skirt anchor points are obtained by:
preprocessing the acquired side skirt image to remove noise interference, and extracting a skirt region through a blob threshold for the preprocessed side skirt image.
Referring to fig. 6, fig. 6 shows skirt image data of a black cell according to an embodiment of the present application. Referring to fig. 7, fig. 7 shows skirt image data of a silver cell according to an embodiment of the present application. And preprocessing the acquired corresponding skirt image data according to different cell types, so as to extract and obtain corresponding skirt areas independently.
Aiming at the skirt edge area, carrying out edge finding by using a preset curve tool, extracting a plurality of skirt edge positioning points on the edge of the skirt edge area, and screening the plurality of skirt edge positioning points by adopting a preset screening strategy to obtain a plurality of target skirt edge positioning points; and determining the image coordinates corresponding to the positioning points of the target skirt edges.
In a preferred embodiment, the step of locating the edge of the skirt region using a predetermined curved tool and extracting a plurality of skirt locating points on the edge of the skirt region comprises:
determining a skirt start point and a skirt end point corresponding to the battery cell through a preset curve tool in the size of the skirt of the battery cell and a preset fluctuation range; and identifying and extracting a plurality of skirt edge positioning points on the cell skirt edge by using a preset curve tool according to the skirt edge starting point and the skirt edge ending point.
Specifically, the imaging at the electrode lug of the electric core reflects light, so that interference is caused to data image processing, so that the position of the electrode lug of the electric core is not used as a skirt edge starting point, therefore, for the obtained skirt edge region, a point which is at a first preset length from the electrode lug side of the electric core and is at a first preset length from the electrode lug side of the electric core is usually determined as a skirt edge starting point, and similarly, a point which is at a second preset length from the electrode lug side is determined as a skirt edge end point.
Under the condition that the skirt start point and the skirt end point are known, a plurality of skirt positioning points can be identified and extracted according to a preset curve tool, and the preset curve tool can be an arc caliper tool.
In another preferred embodiment, the step of screening the plurality of skirt anchor points by using a preset screening policy to obtain a plurality of target skirt anchor points includes:
and taking the skirt edge locating points which are out of the preset fluctuation range as abnormal points in the plurality of skirt edge locating points to carry out primary screening treatment.
Specifically, the purpose of the first screening treatment is to prevent the uneven glue dropping track and structural vibration caused by up-and-down shaking of the motor.
Performing arc fitting treatment on the plurality of skirt edge positioning points after the first screening treatment to obtain a fitted skirt edge curve so as to obtain a plurality of skirt edge positioning points after the fitting, wherein abnormal points removed in the first screening treatment are replaced by skirt edge positioning points obtained through the arc fitting treatment.
Specifically, the method can accurately locate the position of the battery cell skirt edge, eliminate the unsmooth interference points of the skirt edge and complement the eliminated point anti-dead points and the point spacing in a fitting circle mode, so that abnormal sound and unsmooth track of the motor are caused.
And performing secondary screening treatment on the fitted skirt edge positioning points according to a preset gluing rule to obtain a plurality of target skirt edge positioning points.
In a preferred embodiment, the image sensing mechanism further includes a second image sensing mechanism, and the second image sensing mechanism is disposed directly above the electric core, wherein, for the fitted plurality of skirt edge positioning points, performing a second screening process on the fitted plurality of skirt edge positioning points according to a preset glue spreading rule, so as to obtain a plurality of target skirt edge positioning points, the steps of:
determining a dispensing starting point of the battery cell by using a second image sensing mechanism;
and determining skirt edge positioning points in a preset dispensing range as a plurality of target skirt edge positioning points from a dispensing starting point.
S300, determining the mechanical coordinates corresponding to the target skirt edge locating points according to the image coordinates and the mapping relation corresponding to the target skirt edge locating points aiming at each target skirt edge locating point so as to finish the dispensing operation of the target skirt edge locating points.
In a specific implementation, the mapping relationship between the image coordinate system and the mechanical coordinate system is actually the mapping between the X axis in the image coordinate system and the X axis in the mechanical coordinate system and the mapping between the Y axis in the image coordinate system and the Z axis in the mechanical coordinate system, and besides, the dispensing head is further provided with an optical fiber device for positioning the Y-direction position coordinate of the cell skirt in the mechanical coordinate system.
After photographing, converting the obtained image coordinates XY of a series of points of the battery cell skirt edge into mechanical coordinates XZ of the dispensing head according to a calibrated mapping relation, and combining Y coordinates determined by the optical fiber device to form dispensing track points so as to finish dispensing operation through the determined dispensing track points.
In a preferred embodiment, the dispensing operation of the skirt anchor point is accomplished by:
determining mechanical coordinates corresponding to image coordinates of the target skirt edge positioning points according to the mapping relation for each target skirt edge positioning point, wherein the mechanical coordinates indicate the position of a dispensing head in the horizontal X direction and the position of the dispensing head in the vertical Z direction in the dispensing mechanism; for each target skirt edge positioning point, shifting the position of the vertical Z direction indicated by the mechanical coordinate by a preset distance, and adding the thickness of the battery cell skirt edge to obtain a target mechanical coordinate corresponding to the target skirt edge positioning point; and controlling the dispensing head to finish the dispensing operation of the skirt edge positioning points according to the target mechanical coordinates corresponding to each target skirt edge positioning point.
Based on the same application conception, the embodiment of the application also provides a battery cell glue dropping device corresponding to the battery cell glue dropping method provided by the embodiment, and because the principle of solving the problem by the device in the embodiment of the application is similar to that of the battery cell glue dropping method provided by the embodiment of the application, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a glue dropping device for a battery cell according to an embodiment of the present application. As shown in fig. 8, the cell glue dropping device includes:
the calibration module 210 is configured to establish a mapping relationship between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism;
the analyzing module 220 is configured to capture a side skirt image of the battery cell through the image sensing mechanism, and analyze the side skirt image to obtain a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point;
the dispensing module 230 is configured to determine, for each target skirt positioning point, a mechanical coordinate corresponding to the target skirt positioning point according to an image coordinate and a mapping relationship corresponding to the target skirt positioning point, so as to complete a dispensing operation for the target skirt positioning point.
Based on the same application concept, please refer to fig. 9, fig. 9 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application, and an electronic device 400 includes: the device comprises a processor 410, a memory 420 and a bus 430, wherein the memory 420 stores machine-readable instructions executable by the processor 410, and when the electronic device 400 is operated, the processor 410 and the memory 420 communicate through the bus 430, and the machine-readable instructions are executed by the processor 410 to perform the steps of the method for dispensing a battery cell according to any one of the embodiments.
Based on the same application concept, the embodiment of the application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program executes the steps of the method for dripping the battery cell provided by the embodiment when being run by a processor.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application may be embodied in essence or a part contributing to the prior art or a part of the technical solutions, or in the form of a software product, which is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The method for dripping the electric core is applied to a dripping system, the dripping system comprises a dripping mechanism and an image sensing mechanism, the dripping mechanism is used for bearing the electric core and executing the dripping operation on the electric core, the image sensing mechanism is used for acquiring the side skirt image of the electric core,
the method comprises the following steps:
establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dripping mechanism;
shooting a skirt image of the battery cell through the image sensing mechanism, and analyzing to obtain a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point;
and determining the mechanical coordinates corresponding to the target skirt edge locating points according to the image coordinates corresponding to the target skirt edge locating points and the mapping relation aiming at each target skirt edge locating point so as to finish the dispensing operation of the target skirt edge locating points.
2. The method of claim 1, wherein the dispensing mechanism further comprises a dispensing head, a calibration block and a stem, the image sensing mechanism comprises a first image sensing mechanism for acquiring a side skirt image of the battery cell, the calibration block and stem are used for calibration of the first image sensing mechanism, the calibration block is fixed on the stem, the stem is adsorbed on the dispensing head, the mapping relationship describes a mapping relationship between an image coordinate system of the first image sensing mechanism and a mechanical coordinate system of the dispensing mechanism,
the step of establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism comprises the following steps:
controlling the dispensing head to move so as to drive the calibration block to move to an initial calibration position, and generating a calibration starting signal, wherein the initial calibration position is under the visual field of the first image sensing mechanism;
transmitting the calibration starting signal and the initial calibration position coordinates to the first image sensing mechanism;
the first image sensing mechanism is used for shooting and extracting image characteristic information corresponding to the calibration block at the initial calibration position, and meanwhile, a plurality of position coordinates to be calibrated are generated according to the initial calibration position coordinates and the preset movement step length indicated by the preset calibration shaft;
for each position coordinate to be calibrated, controlling the dispensing head to move so that a preset calibration shaft moves to the position where the position coordinate to be calibrated is located, generating a in-place signal and sending the in-place signal to a first image sensing mechanism, and photographing and extracting image characteristic information corresponding to the calibration block at the position where the position coordinate to be calibrated is located through the first image sensing mechanism;
and carrying out calibration calculation according to the plurality of calibration positions and the image characteristic information corresponding to each calibration position to obtain a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism, wherein the plurality of calibration positions comprise an initial calibration position and a plurality of positions to be calibrated.
3. The method of claim 2, wherein the dispensing mechanism further comprises a first light measuring source and a second light measuring source, the first light measuring source and the second light measuring source are arranged between the side skirt edge of the battery cell and the first image sensing mechanism and are respectively positioned at two sides of the first image sensing mechanism for assisting the first image sensing mechanism to acquire side skirt edge images of different types of battery cells,
before the image sensing mechanism shoots the side skirt image of the battery cell, the method further comprises the following steps:
respectively starting a first light measuring source and a second light measuring source;
according to the type of the battery cell, the brightness and the exposure of the light source of the first measuring light source and the brightness and the exposure of the light source corresponding to the second measuring light source are respectively determined and adjusted, so that the first image sensing mechanism obtains the image of the side skirt edge of the battery cell with clear definition.
4. The method of claim 1, wherein the image coordinates of the plurality of target skirt anchor points are obtained by:
preprocessing the acquired side skirt image to remove noise interference;
extracting a skirt region through a blob threshold for the preprocessed side skirt image;
aiming at the skirt edge area, carrying out edge finding by using a preset curve tool, and extracting a plurality of skirt edge positioning points on the edge of the skirt edge area;
screening the plurality of skirt edge positioning points by adopting a preset screening strategy to obtain a plurality of target skirt edge positioning points;
and determining the image coordinates corresponding to the positioning points of the target skirt edges.
5. The method of claim 4, wherein the steps of locating edges using a predetermined curve tool for the skirt region and extracting a plurality of skirt anchor points on the edge of the skirt region comprise:
determining a skirt start point and a skirt end point corresponding to the battery cell through a preset curve tool in the size of the skirt of the battery cell and a preset fluctuation range;
and identifying and extracting a plurality of skirt positioning points on the cell skirt by utilizing the preset curve tool according to the skirt starting point and the skirt ending point.
6. The method of claim 4, wherein the step of screening the plurality of skirt anchor points using a predetermined screening strategy to obtain a plurality of target skirt anchor points comprises:
taking a skirt edge locating point which is out of a preset fluctuation range as an abnormal point in the plurality of skirt edge locating points to carry out primary screening treatment;
performing arc fitting treatment on the plurality of skirt edge positioning points after the first screening treatment to obtain a fitted skirt edge curve so as to obtain a plurality of skirt edge positioning points after the fitting, wherein abnormal points removed in the first screening treatment are replaced by skirt edge positioning points obtained by the arc fitting treatment;
and performing secondary screening treatment on the fitted skirt edge positioning points according to a preset gluing rule to obtain a plurality of target skirt edge positioning points.
7. The method of claim 6, wherein the image sensing mechanism further comprises a second image sensing mechanism, the second image sensing mechanism disposed directly above the battery cell,
the step of performing a second screening treatment on the fitted plurality of skirt edge positioning points according to a preset gluing rule to obtain a plurality of target skirt edge positioning points comprises the following steps:
determining a dispensing starting point of the battery cell by utilizing the second image sensing mechanism;
and determining skirt edge positioning points in a preset dispensing range as a plurality of target skirt edge positioning points from a dispensing starting point.
8. The method of claim 1, wherein dispensing each target skirt anchor point is accomplished by:
determining mechanical coordinates corresponding to the image coordinates of the target skirt edge positioning points according to the mapping relation for each target skirt edge positioning point, wherein the mechanical coordinates indicate the position of a dispensing head in the dispensing mechanism in the horizontal X direction and the position of the dispensing head in the vertical Z direction;
for each target skirt edge positioning point, shifting the position of the vertical Z direction indicated by the mechanical coordinate by a preset distance, and adding the thickness of the battery cell skirt edge to obtain a target mechanical coordinate corresponding to the target skirt edge positioning point;
and controlling the dispensing head to finish dispensing operation on the skirt edge positioning points according to the target mechanical coordinates corresponding to each target skirt edge positioning point.
9. The utility model provides a glue dripping device of electric core, is applied to the glue dripping system, the glue dripping system includes glue dripping mechanism and image sensing mechanism, glue dripping mechanism is used for bearing the electric core and carries out the operation of dripping to the electric core, image sensing mechanism is used for acquireing the side shirt rim image of electric core, its characterized in that, the device includes:
the calibration module is used for establishing a mapping relation between an image coordinate system of the image sensing mechanism and a mechanical coordinate system of the glue dripping mechanism;
the analysis module is used for shooting side skirt images of the battery cell through the image sensing mechanism, and analyzing to obtain a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point;
and the dispensing module is used for determining the mechanical coordinates corresponding to the target skirt edge positioning points according to the image coordinates corresponding to the target skirt edge positioning points and the mapping relation aiming at each target skirt edge positioning point so as to finish the dispensing operation of the target skirt edge positioning points.
10. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the method of dispensing a battery cell according to any one of claims 1 to 8.
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| CN202310070241.2A CN116060256A (en) | 2023-01-31 | 2023-01-31 | Battery cell glue dripping method and device and electronic equipment |
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| CN202310070241.2A CN116060256A (en) | 2023-01-31 | 2023-01-31 | Battery cell glue dripping method and device and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116786373A (en) * | 2023-08-28 | 2023-09-22 | 苏州希盟科技股份有限公司 | Dispensing control method, device and equipment of dispensing equipment and storage medium |
| CN117954749A (en) * | 2024-03-27 | 2024-04-30 | 大连保税区金宝至电子有限公司 | Device and method for automatically bonding sealing gasket joints of power battery pack of pure electric vehicle |
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2023
- 2023-01-31 CN CN202310070241.2A patent/CN116060256A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116786373A (en) * | 2023-08-28 | 2023-09-22 | 苏州希盟科技股份有限公司 | Dispensing control method, device and equipment of dispensing equipment and storage medium |
| CN116786373B (en) * | 2023-08-28 | 2023-11-10 | 苏州希盟科技股份有限公司 | Dispensing control method, device and equipment of dispensing equipment and storage medium |
| CN117954749A (en) * | 2024-03-27 | 2024-04-30 | 大连保税区金宝至电子有限公司 | Device and method for automatically bonding sealing gasket joints of power battery pack of pure electric vehicle |
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