CN116485880A

CN116485880A - Flying welding method and device for battery top cover and computer equipment

Info

Publication number: CN116485880A
Application number: CN202310301249.5A
Authority: CN
Inventors: 蔡建腾; 邓剑杰; 黄鑫
Original assignee: Hymson Laser Technology Group Co Ltd
Current assignee: Hymson Laser Technology Group Co Ltd
Priority date: 2023-03-17
Filing date: 2023-03-17
Publication date: 2023-07-25

Abstract

The present application relates to a flying welding method, apparatus, computer device, storage medium and computer program product for battery top covers. The method comprises the following steps: acquiring target data point position information of a battery top cover to be welded under a camera coordinate system; converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the position information of the target data point of the battery top cover to be welded under the welding coordinate system; generating a target welding track diagram of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded under the welding coordinate system; and performing flying welding on the battery top cover to be welded according to the target welding track diagram under a welding coordinate system. By adopting the method, the welding efficiency of the battery top cover can be improved.

Description

Flying welding method and device for battery top cover and computer equipment

Technical Field

The present application relates to the field of welding automation control, and in particular, to a method, apparatus, computer device, storage medium and computer program product for flying welding of battery top covers.

Background

With the development of battery manufacturing technology, energy storage batteries are increasingly widely used in various fields, and play a key role in storing electric energy, regulating voltage and the like.

In the prior art, in one of the links of battery production and manufacture, the battery top cover is welded manually and manually. However, due to the large demand of battery production and manufacturing, the welding method consumes a long time, and the welding process is complicated, so that the welding efficiency of the battery top cover is low.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a flying welding method, apparatus, computer device, computer readable storage medium, and computer program product for battery top covers that are capable of improving the welding efficiency of battery top covers.

In a first aspect, the present application provides a flying welding method for a battery top cover. The method comprises the following steps:

acquiring target data point position information of a battery top cover to be welded under a camera coordinate system; the battery top cover to be welded comprises two long sides and two short sides, and the target data point position information comprises key data point position information on the two long sides and key data point position information on the two short sides;

Converting the target data point position information of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system;

generating a target welding track diagram of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded under the welding coordinate system; the target welding track graph comprises welding track graphs on the two long sides and welding track graphs on the two short sides;

and under the welding coordinate system, performing flying welding on the battery top cover to be welded according to the target welding track diagram.

In one embodiment, after acquiring the position information of the target data point of the battery top cover to be welded in the camera coordinate system, the method further comprises:

acquiring first position information of a battery carrier of the battery top cover to be welded under the camera coordinate system and second position information of the battery carrier under the welding coordinate system;

determining affine transformation coefficients between the camera coordinate system and the welding coordinate system according to the conversion relation between the first position information and the second position information;

And determining a conversion relation between the camera coordinate system and the welding coordinate system according to the affine transformation coefficient.

In one embodiment, before converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relationship between the camera coordinate system and the welding coordinate system to obtain the position of the target data point of the battery top cover to be welded under the welding coordinate system, the method further includes:

preprocessing target data point position information of the battery top cover to be welded under a camera coordinate system to obtain preprocessed target data point position information;

judging whether the position information of the preprocessed target data point accords with a preset condition or not;

the converting, according to the conversion relationship between the camera coordinate system and the welding coordinate system, the target data point position of the battery top cover to be welded under the camera coordinate system to obtain the target data point position of the battery top cover to be welded under the welding coordinate system, includes:

and under the condition that the preprocessed target data point position information accords with the preset condition, converting the preprocessed target data point position information according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

In one embodiment, the generating the target welding track map of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded in the welding coordinate system includes:

respectively carrying out linear connection processing on the position information of the key data points on each of the two long sides to obtain a welding track graph on the two long sides;

performing arc fitting processing and straight line connection processing on first key data point position information and second key data point position information in key data point position information on each short side of the two short sides respectively to obtain a welding track diagram on the two short sides;

and obtaining a target welding track diagram of the battery top cover to be welded according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides.

In one embodiment, before performing flying welding on the to-be-welded battery top cover according to the target welding track diagram, the method further comprises:

dividing the target welding track graph according to a preset interval distance to obtain a divided target welding track graph;

generating an encoder signal according to the segmented target welding track graph; the encoder signal is used for recording position information of a battery carrier loaded with a battery to be welded on a welding assembly line;

And performing flying welding on the battery top cover to be welded according to the target welding track diagram, wherein the flying welding comprises the following steps:

and controlling the welding equipment to perform flying welding on the battery top cover to be welded according to the encoder signal to obtain the battery with the welded battery top cover.

In one embodiment, after performing flying welding on the battery top cover to be welded according to the target welding track diagram, the method further includes:

screening out the batteries meeting preset welding conditions from the batteries with the welded battery top covers;

and identifying the battery meeting the preset welding conditions as a battery with a qualified battery top cover.

In a second aspect, the present application also provides a flying welding device for a battery top cover. The device comprises:

the position information acquisition module is used for acquiring the position information of the target data point of the battery top cover to be welded under the camera coordinate system; the battery top cover to be welded comprises two long sides and two short sides, and the target data point position information comprises key data point position information on the two long sides and key data point position information on the two short sides;

the position information conversion module is used for converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the position information of the target data point of the battery top cover to be welded under the welding coordinate system;

The welding track generation module is used for generating a target welding track graph of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded under the welding coordinate system; the target welding track graph comprises welding track graphs on the two long sides and welding track graphs on the two short sides;

and the battery top cover welding module is used for performing flying welding on the battery top cover to be welded according to the target welding track diagram under the welding coordinate system.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

Generating a target welding track diagram of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded under the welding coordinate system; the target welding track graph comprises two welding track graphs on the long sides and two welding track graphs on the short sides;

and performing flying welding on the battery top cover to be welded according to the target welding track diagram under a welding coordinate system.

The above-mentioned flying welding method, apparatus, computer device, storage medium and computer program product for battery top cover, through obtaining the target data point position information of the battery top cover to be welded under the camera coordinate system; converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the position information of the target data point of the battery top cover to be welded under the welding coordinate system; then generating a target welding track diagram of the battery top cover to be welded according to the position information of the target data point of the battery top cover to be welded under the welding coordinate system; and finally, performing flying welding on the battery top cover to be welded according to the target welding track diagram under a welding coordinate system. In this way, firstly, the target data point position information of the battery top cover to be welded under a camera coordinate system is obtained, and the key data point position information of two long sides and two short sides of the battery top cover to be welded can be effectively obtained; converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system, thereby converting the position information of any camera coordinate point into the position information of the welding coordinate point, and accurately obtaining the position information of the target data point of the battery top cover to be welded under the welding coordinate system; then generating a target welding track diagram of the battery top cover to be welded, which meets the conditions, according to the target data point position information of the battery top cover to be welded under the welding coordinate system; finally, performing flying welding on the battery top cover to be welded according to the target welding track diagram under a welding coordinate system; the battery top cover is welded in a welding mode based on an automatic control technology, so that the welding speed is greatly increased, and the whole process does not need manual operation for welding, so that complicated processes such as welding operation and the like through manual operation are avoided, and the welding efficiency of the battery top cover is improved.

Drawings

FIG. 1 is an application environment diagram of a flying welding method for battery top covers in one embodiment;

FIG. 2 is a flow diagram of a method of flying welding for battery top covers in one embodiment;

FIG. 3 is a flow chart of a process for transferring batteries on a pipeline for welding in one embodiment;

FIG. 4 is a block diagram of a welding station in one embodiment;

FIG. 5 is a calibration diagram of a weld nine point in one embodiment;

FIG. 6 is a graph of trace key points and a fitted trace in one embodiment;

FIG. 7 is a flow chart of a method of flying welding for battery top covers in another embodiment;

FIG. 8 is a flow chart of a method of flying welding for battery top covers in yet another embodiment;

FIG. 9 is a block diagram of a flying welding device for battery top covers in one embodiment;

fig. 10 is an internal structural view of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The flight welding method for the battery top cover, provided by the embodiment of the application, can be applied to an application environment shown in fig. 1. The CCD (Charge-coupled Device) camera station 101 communicates with the welding station 102 through a network by using TCP (Transmission Control Protocol ), the CCD station and the welding station form an internal local area network through a switch, and the CCD station is used as a server for TCP communication, starts monitoring and waits for connection. The welding station is used as a client for TCP communication, is connected with a server, and periodically transmits TCP heartbeat packets to keep TCP long connection. In addition, the CCD camera station 101 communicates with the photoelectric switch 103 and the camera 104, respectively, through a network, the welding station 102 communicates with the photoelectric switch 105, the conveyor encoder 106, the laser 107, and the galvanometer 108, respectively, and the laser 107 communicates with the galvanometer 108 through a network. Specifically, referring to fig. 1, the ccd camera station 101 receives a photoelectric switch signal sent by the photoelectric switch 103, and controls the camera 104 to take a picture, so as to obtain target data point position information of the battery top cover to be welded under a camera coordinate system, where the battery top cover to be welded includes two long sides and two short sides, and the target data point position information includes key data point position information on the two long sides and key data point position information on the two short sides; next, the CCD camera station 101 transmits the target data point location information to the welding station 102; the welding station 102 converts the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the position information of the target data point of the battery top cover to be welded under the welding coordinate system; generating a target welding track diagram of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded under the welding coordinate system; the target welding track graph comprises two welding track graphs on long sides and two welding track graphs on short sides; and performing flying welding on the battery top cover to be welded according to the target welding track diagram under a welding coordinate system. For example, when the welding station 102 receives the signal of the photoelectric switch 105, it issues a target welding track diagram to the laser 107 and the galvanometer 108, and controls the laser 107 and the galvanometer 108 to perform flying welding according to the target welding track diagram according to the encoder signal sent by the conveyor encoder 106. It should be noted that the long side welding part can adopt vibrating mirror flight welding or adopting the following mode of shaft clamp control to follow the welding, and the middle track point of the straight line end follows the position movement of the assembly line conveyor belt; the short side welding part can adopt a vibrating mirror flight welding or a swinging head with a small visual field for flight welding, because the height range of the short side welding station in the Y direction is smaller, and mainly the flight extension length of the conveyor belt in the X direction is longer.

The CCD camera station 101 is a server end of TCP communication, and can be realized by an independent server or a server cluster formed by a plurality of servers; the welding station 102 is a client for TCP communication and may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and internet of things devices; the photoelectric switch 103 and the photoelectric switch 105 are one type of sensor and are used for converting the intensity change of light between a transmitting end and a receiving end into the change of current so as to achieve the purpose of detection; the camera 104 is a CCD camera (a camera configured with a charge coupled element); the conveyor encoder 106 is an encoder that is carried on the conveyor belt, wherein the encoder is a device that compiles, converts, or processes signals (e.g., bitstreams) or data into a form of signals that can be communicated, transmitted, and stored, and can be used to discern the speed of the object, and to accurately position the object for deployment; the laser 107 is a device capable of emitting laser light, and includes a solid laser, a gas laser, a semiconductor laser, and the like, which can be used for assisting a welding device in welding; the galvanometer 108 is composed of an X-Y optical scanning head, an electronic drive amplifier and an optical reflection lens, and is a scanning galvanometer used in the laser industry.

In one embodiment, as shown in fig. 2, there is provided a flying welding method for a battery top cover, which is exemplified as the method applied to the welding station in fig. 1, and includes the steps of:

step S201, acquiring target data point position information of a battery top cover to be welded under a camera coordinate system; the battery top cover to be welded comprises two long sides and two short sides, and the target data point position information comprises key data point position information on the two long sides and key data point position information on the two short sides.

The battery top cover to be welded refers to a top cover of a target battery to be welded, and is similar to a rectangle in shape and comprises two long sides and two short sides.

The camera coordinate system refers to a coordinate system formed under the view angle of the CCD camera.

The target data point position information refers to preset position information of key data points on two long sides and two short sides; the key data points of the long side are two end points of the long side, and the key data points of the short side are points on two circular arcs and the lowest points of the left side and the right side.

Specifically, a CCD camera station responds to a flight welding request for a battery top cover, generates a position information acquisition instruction, and controls a camera to take a picture according to the position information acquisition instruction to generate a picture to be taken; and carrying out key data point position analysis on the photographed picture to obtain key data point position information of the battery top cover to be welded under the camera coordinate system, sending the key data point position information of the battery top cover to be welded under the camera coordinate system to a welding station, and receiving the key data point position information of the battery top cover to be welded under the camera coordinate system through the welding station.

For example, a CCD camera station responds to a high-speed flight subsection welding request for a lithium battery top cover, generates a position information acquisition instruction, and controls a CCD camera to perform flight snapshot according to the position information acquisition instruction to generate a snapshot picture; and carrying out key data point position analysis on the snap-shot picture to obtain key data point position information of the lithium battery top cover to be welded under a CCD camera coordinate system, sending the key data point position information of the battery top cover to be welded under the camera coordinate system to a welding station, and receiving the key data point position information of the battery top cover to be welded under the camera coordinate system through the welding station.

Step S202, converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system, and obtaining the position information of the target data point of the battery top cover to be welded under the welding coordinate system.

The welding coordinate system refers to a coordinate system formed under the view angle of actual welding of the vibrating mirror.

The conversion relation between the camera coordinate system and the welding coordinate system refers to affine transformation coefficients between the two coordinate systems, and the affine transformation coefficients can be obtained through calculation.

Specifically, the welding station establishes a relation between a camera coordinate system and a welding coordinate system, calculates affine transformation coefficients between the two coordinate systems, and converts target data point position information of the battery top cover to be welded under the camera coordinate system according to the affine transformation coefficients to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

By way of example, the welding station controls the battery carrier to sequentially move to the welding station and the CCD camera station, two groups of nine-point coordinates under the vibrating mirror coordinate system and the camera coordinate system are respectively generated, and affine transformation coefficients of the CCD camera coordinate system and the welding coordinate system can be calculated through corresponding coordinates of the nine coordinate points of the two groups; and converting the target data point position information of the battery top cover to be welded under the CCD camera coordinate system according to the affine transformation coefficient to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

Step S203, a target welding track diagram of the battery top cover to be welded is generated according to the target data point position information of the battery top cover to be welded under the welding coordinate system; the target welding track graph comprises two welding track graphs on long sides and two welding track graphs on short sides.

The target welding track graph is formed by means of straight line connection, arc fitting and the like according to the position information of the target data points, and consists of two long sides and two short sides.

Specifically, the welding station analyzes the position information of the target data point of the battery top cover to be welded under the welding coordinate system, generates a plurality of sections of welding tracks through the modes of linear connection, arc fitting and the like, and then splices to form a target welding track diagram of the battery top cover to be welded.

The welding station analyzes the position information of the target data point of the battery top cover to be welded under the welding coordinate system, generates a long-side welding track in a linear connection mode, generates a short-side welding track in a linear connection and arc fitting mode, and splices the long-side welding track and the short-side welding track to form a target welding track diagram of the battery top cover to be welded.

And S204, performing flying welding on the battery top cover to be welded according to the target welding track diagram under the welding coordinate system.

Wherein, flying welding refers to a novel laser welding technology for scanning welding by controlling welding equipment.

Specifically, the current coordinate system of the welding station is converted into a welding coordinate system, and under the welding coordinate system, the welding equipment is controlled to perform flying welding on the battery top cover to be welded according to the target welding track diagram.

By way of example, the welding station converts the current coordinate system into a welding coordinate system, and under the welding coordinate system, the vibrating mirror is controlled to perform flying welding on the battery top cover to be welded according to the target welding track diagram, so that the battery with the welded battery top cover is obtained.

In the flight welding method for the battery top cover, the target data point position information of the battery top cover to be welded under the camera coordinate system is firstly obtained, so that the key data point position information of two long sides and two short sides of the battery top cover to be welded can be effectively obtained; converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system, thereby converting the position information of any camera coordinate point into the position information of the welding coordinate point, and accurately obtaining the position information of the target data point of the battery top cover to be welded under the welding coordinate system; then generating a target welding track diagram of the battery top cover to be welded, which meets the conditions, according to the target data point position information of the battery top cover to be welded under the welding coordinate system; finally, performing flying welding on the battery top cover to be welded according to the target welding track diagram under a welding coordinate system; the battery top cover is welded in a welding mode based on an automatic control technology, so that the welding speed is greatly increased, and the whole process does not need manual operation for welding, so that complicated processes such as welding operation and the like through manual operation are avoided, and the welding efficiency of the battery top cover is improved.

In one embodiment, the step S201 further includes the following after the target data point position information of the battery top cover to be welded in the camera coordinate system is acquired: acquiring first position information of a battery carrier of a battery top cover to be welded under a camera coordinate system and second position information of the battery carrier under a welding coordinate system; determining affine transformation coefficients between a camera coordinate system and a welding coordinate system according to the conversion relation between the first position information and the second position information; and determining the conversion relation between the camera coordinate system and the welding coordinate system according to the affine transformation coefficient.

The first position information refers to coordinate position information of the battery carrier of the battery top cover to be welded under a camera coordinate system.

The second position information refers to coordinate position information of the battery carrier of the battery top cover to be welded under a welding coordinate system.

Wherein affine transformation refers to that in geometry, one vector space is subjected to linear transformation once and then translated, and the vector space is transformed into the other vector space.

Specifically, a welding station receives a position information acquisition instruction, and acquires first position information of a battery carrier of a battery top cover to be welded under a camera coordinate system and second position information of the battery carrier under the welding coordinate system according to the position information acquisition instruction; analyzing the first position information and the second position information to obtain a conversion relation between the first position information and the second position information; according to the conversion relation between the first position information and the second position information, calculating affine transformation coefficients between a camera coordinate system and a welding coordinate system; and determining the mutual conversion relation between the camera coordinate system and the welding coordinate system through affine transformation coefficients between the two coordinate systems.

For example, first the battery carrier is moved to the photo-induced position, the position a of the encoder signal is recorded, the battery carrier is moved to the galvanometer welding range, the position B of the encoder signal is recorded, and then the spot welding is performed on 9 coordinate points in the galvanometer coordinate system (as shown in fig. 3). Only the coordinates of the conveyor belt in the X direction need to be processed, namely the vibrating mirror coordinates of the nine point coordinates are respectively the vibrating mirror coordinates X+ (B-A) and the vibrating mirror coordinates Y.

Namely, nine-point coordinates are as follows:

X11+(B-A),Y11 X12+(B-A),Y12 X13+(B-A),Y13

X21+(B-A),Y21 X22+(B-A),Y22 X23+(B-A),Y23

X31+(B-A),Y31 X32+(B-A),Y32 X33+(B-A),Y33

and (3) moving the battery carrier to a photoelectric sensing switch of a CCD station, photographing by the CCD, and identifying 9-point coordinates in a camera coordinate system.

x11,y11 x12,y12 x13,y13

x21,y21 x22,y22 x23,y23

x31,y31 x32,y32 x33,y33

Affine transformation coefficients of the CCD coordinate system and the welding coordinate system can be calculated by the coordinates corresponding to the 9 coordinate points of the two groups. Through affine transformation coefficients between the two coordinate systems, conversion of any CCD coordinate point into an actual welding coordinate point can be achieved, and conversion of any welding coordinate point into a CCD coordinate point can also be achieved.

In this embodiment, a conversion relationship between the first position information and the second position information is obtained by obtaining the first position information of the battery carrier of the battery top cover to be welded under the camera coordinate system and the second position information of the battery carrier under the welding coordinate system; according to the conversion relation between the first position information and the second position information, affine transformation coefficients between the camera coordinate system and the welding coordinate system can be accurately calculated, so that the conversion relation between the camera coordinate system and the welding coordinate system is determined, and arbitrary conversion between coordinate points of the camera coordinate system and coordinate points of the welding coordinate system is realized.

In one embodiment, the step S202, before converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relationship between the camera coordinate system and the welding coordinate system, further includes the following steps: preprocessing target data point position information of a battery top cover to be welded under a camera coordinate system to obtain preprocessed target data point position information; judging whether the position information of the preprocessed target data point accords with a preset condition or not;

step S202 is performed to convert the position information of the target data point of the battery top cover to be welded in the camera coordinate system according to the conversion relationship between the camera coordinate system and the welding coordinate system, so as to obtain the position information of the target data point of the battery top cover to be welded in the welding coordinate system, and specifically includes the following steps: and under the condition that the preprocessed target data point position information accords with the preset condition, converting the preprocessed target data point position information according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

The preprocessing refers to converting the position information of target data points of the battery top cover to be welded under a camera coordinate system into a data format.

The preset conditions comprise: the judging standard of the long side is mainly to judge the total length between the starting point and the end point of the long side, because the length range is set on the software, and the length of the coordinates given by the CCD is too long or too short to be welded; the judging standard of the short side is that the initial angle, the end angle and the radius of the arc after fitting of the two arcs are close to 90 degrees or not, and the radius of the arc is between 2.6 and 3.0mm or not, and welding is not carried out as long as the arc is unqualified, but whether the accuracy of identifying the welding seam track of the CCD meets the standard is judged according to the checked data.

The data format of the preprocessed target data point position information is a character string format.

Specifically, the welding station performs data format conversion processing on target data point position information of the battery top cover to be welded under a camera coordinate system to obtain target data point position information after data format conversion; judging whether the position information of the target data point accords with preset conditions or not; and under the condition that the target data point position information after the data format conversion accords with the preset condition, converting the target data point position information after the data format conversion according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

For example, the welding station performs data format conversion processing on the position information of the target data point of the battery top cover to be welded under the camera coordinate system to obtain the position information of the target data point in the character string format; according to preset judging standards, respectively judging whether the position information of the target data points on the two long sides and the position information of the key data points on the two short sides meet the preset judging standards; and under the condition that the position information of the target data points on the two long sides and the position information of the key data points on the two short sides meet the preset conditions, converting the position information of the target data points in the character string format according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the position information of the target data points of the battery top cover to be welded under the welding coordinate system.

In the embodiment, target data point position information in a character string format is obtained by preprocessing the target data point position information of the battery top cover to be welded under a camera coordinate system; judging whether the preprocessed target data point position information accords with a preset condition, and converting the preprocessed target data point position information according to a conversion relation between a camera coordinate system and a welding coordinate system under the condition that the preprocessed target data point position information accords with the preset condition to obtain target data point position information of the battery top cover to be welded under the welding coordinate system; therefore, the interference of abnormal data point position information is avoided, and the target data point position information of the battery top cover to be welded under the welding coordinate system is accurately obtained.

In one embodiment, the step S203 generates a target welding track map of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded in the welding coordinate system, which specifically includes the following contents: respectively carrying out linear connection processing on the position information of the key data points on each of the two long sides to obtain a welding track graph on the two long sides; performing arc fitting processing and straight line connection processing on first key data point position information and second key data point position information in key data point position information on each of the two short sides respectively to obtain welding track diagrams on the two short sides; and obtaining a target welding track diagram of the battery top cover to be welded according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides.

Wherein, as shown in FIG. 4, the first critical data points are the data points numbered 2, 3, 4, 6, 7, and 8; the second critical data points are the data points numbered 1, 5, and 9.

The circular arc fitting processing refers to fitting a circular angle through 3 point coordinates, calculating parameters such as a circle center, a radius, a circular arc starting angle, a circular arc ending angle, a circular arc rotating direction and the like, distributing point position data according to set distance precision, and connecting initial and ending straight line segment data.

Specifically, the welding station analyzes the position information of the key data points on each of the two long sides, and carries out linear connection processing on the key data points on each long side according to the position information of the key data points on each long side to form a welding track graph on the two long sides; then analyzing the first key data point position information and the second key data point position information in the key data point position information on each short side, and performing arc fitting treatment and linear connection treatment on the first key data point position information and the second key data point position information to form a welding track diagram on two short sides; and according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides, splicing to obtain the target welding track diagram of the battery top cover to be welded.

For example, as shown in fig. 4, the long sides connect points by straight lines, that is, a straight line segment is formed according to every two points, and the long side track is a combination of multiple segment segments; the 9 point coordinates of the short side are of specific significance, and the three point coordinates which are not in the same straight line can be fitted with a unique circular arc, so that the three points 2, 3 and 4 of the short side are fitted with a right circular arc, the 6, 7 and 8 points of the short side are fitted with a left circular arc, and the rest points are spliced according to the straight line segment; and according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides, splicing to obtain the target welding track diagram of the battery top cover to be welded.

In the embodiment, the welding track diagrams on the two long sides are obtained by respectively carrying out linear connection processing on the position information of the key data points on each of the two long sides; performing arc fitting processing and straight line connection processing on first key data point position information and second key data point position information in key data point position information on each of the two short sides respectively to obtain welding track diagrams on the two short sides; and according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides, accurately obtaining the target welding track diagram of the battery top cover to be welded, which meets the conditions.

In one embodiment, before performing flying welding on the battery top cover to be welded according to the target welding track diagram, the method further comprises the following steps: dividing the target welding track graph according to a preset interval distance to obtain a divided target welding track graph; generating an encoder signal according to the segmented target welding track graph; the encoder signal is used for recording position information of a battery carrier loaded with a battery to be welded on the welding assembly line;

step S204, performing flying welding on the battery top cover to be welded according to the target welding track diagram, specifically including the following steps: and controlling welding equipment to perform flying welding on the battery top cover to be welded according to the encoder signals to obtain the battery with the welded battery top cover.

The interval distance refers to the distance between discrete points formed after the target welding track graph is divided.

The encoder signal is a signal for recording position information of a battery carrier loaded with a battery to be welded.

Specifically, a welding station acquires a preset interval distance, and segments a target welding track graph according to the preset interval distance to form a large number of discrete points, wherein the discrete points form the target welding track graph; generating an encoder signal according to the target welding track diagram; and under the welding coordinate system, controlling welding equipment to perform flying welding on the battery top cover to be welded according to the encoder signals, and obtaining the battery with the welded battery top cover.

For example, the welding station obtains a preset interval distance of 20um, and divides the welding station according to each 20um to form a large number of discrete points, because the laser spots are large and small, the interval laser of 20um can be welded into continuous tracks; generating an encoder signal according to the track, wherein the encoder signal can know the current position to which to move by accumulating the pulse number, and welding is performed according to the subdivided coordinate points; as shown in fig. 5 and 6, in the welding coordinate system, the vibrating mirror is controlled to perform flying welding on the battery top cover to be welded according to the encoder signal, and the battery with the welded battery top cover is obtained.

In the embodiment, dividing the target welding track graph according to a preset interval distance to obtain a divided target welding track graph; generating an encoder signal according to the segmented target welding track graph; then, according to the encoder signal, controlling a welding device to perform flying welding on the battery top cover to be welded to obtain a battery with the welded battery top cover; thereby avoiding the complicated processes of manually welding operation and the like, greatly increasing the welding speed and improving the welding efficiency of the battery top cover.

In one embodiment, after performing flying welding on the battery top cover to be welded according to the target welding track diagram, the following is further included: screening out the batteries meeting preset welding conditions from the batteries with the welded battery top covers; and identifying the battery meeting the preset welding conditions as a battery with a qualified battery top cover.

The preset welding conditions refer to welding conditions which are correspondingly formulated according to the standard of battery production and manufacturing and can be used for checking whether the welding of a battery top cover of a battery is qualified or not; such as: and detecting whether the welding strip is straight along the main grid, and whether the surface is smooth and bright, if the phenomena of cold joint, off-welding, welding thorn, welding bead splashing and the like occur, judging that the welding of the battery top cover of the battery is unqualified if the phenomena occur.

Specifically, the welding station judges whether the battery welded by the battery top cover meets the requirement according to the preset welding condition, screens out the battery meeting the preset welding condition, and takes the screened battery as the battery with qualified welding of the battery top cover.

In the embodiment, the battery meeting the preset welding conditions is screened out from the battery with the welded battery top cover; identifying the battery meeting the preset welding conditions as a battery with a qualified battery top cover; therefore, the battery with unqualified battery top cover welding can be effectively screened out, and the battery with qualified battery top cover welding can be accurately obtained.

In one embodiment, as shown in fig. 7, another flying welding method for a battery top cover is provided, which specifically includes the following steps:

step S701, acquiring target data point position information of a battery top cover to be welded under a camera coordinate system; the battery top cover to be welded comprises two long sides and two short sides, and the target data point position information comprises key data point position information on the two long sides and key data point position information on the two short sides.

Step S702, obtaining first position information of a battery carrier of a battery top cover to be welded under a camera coordinate system and second position information of the battery carrier under the welding coordinate system; determining affine transformation coefficients between a camera coordinate system and a welding coordinate system according to the conversion relation between the first position information and the second position information; and determining the conversion relation between the camera coordinate system and the welding coordinate system according to the affine transformation coefficient.

Step S703, preprocessing target data point position information of the battery top cover to be welded under a camera coordinate system to obtain preprocessed target data point position information; and judging whether the position information of the preprocessed target data point meets preset conditions.

Step S704, under the condition that the preprocessed target data point position information meets the preset condition, converting the preprocessed target data point position information according to the conversion relationship between the camera coordinate system and the welding coordinate system, to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

Step S705, respectively carrying out linear connection processing on the position information of the key data points on each of the two long sides to obtain a welding track graph on the two long sides; and respectively carrying out arc fitting processing and straight line connection processing on the first key data point position information and the second key data point position information in the key data point position information on each of the two short sides to obtain a welding track graph on the two short sides.

Step S706, obtaining a target welding track diagram of the battery top cover to be welded according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides.

Step S707, dividing the target welding track graph according to a preset interval distance to obtain a divided target welding track graph; generating an encoder signal according to the segmented target welding track graph; the encoder signal is used for recording position information of a battery carrier loaded with a battery to be welded on the welding assembly line.

And step 708, controlling the welding equipment to perform flying welding on the battery top cover to be welded according to the encoder signal to obtain the battery with the welded battery top cover.

Step S709, screening out the batteries meeting preset welding conditions from the batteries with the welded battery top covers; and identifying the battery meeting the preset welding standard as a battery with a qualified battery top cover.

In the flight welding method for the battery top cover, the target data point position information of the battery top cover to be welded under the camera coordinate system is firstly obtained, so that the key data point position information of two long sides and two short sides of the battery top cover to be welded can be effectively obtained; determining a conversion relation between a camera coordinate system and a welding coordinate system according to affine transformation coefficients, and converting target data point position information of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system, so that the conversion of any camera coordinate point position information into welding coordinate point position information is realized, and the target data point position information of the battery top cover to be welded under the welding coordinate system is accurately obtained; then, respectively carrying out linear connection processing on the position information of the key data points on each of the two long sides to obtain a welding track graph on the two long sides; performing arc fitting processing and straight line connection processing on first key data point position information and second key data point position information in key data point position information on each of the two short sides respectively to obtain welding track diagrams on the two short sides; obtaining a target welding track diagram of the battery top cover to be welded according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides, so as to generate the target welding track diagram of the battery top cover to be welded which meets the conditions; finally, dividing the target welding track graph according to a preset interval distance to obtain a divided target welding track graph; generating an encoder signal according to the segmented target welding track graph; according to the encoder signal, controlling welding equipment to perform flying welding on the battery top cover to be welded to obtain a battery with the welded battery top cover; the battery top cover is welded in a welding mode based on an automatic control technology, so that the welding speed is greatly increased, and the whole process does not need manual welding, so that complicated processes such as welding operation and the like through manual welding are avoided, and the welding efficiency of the battery top cover is improved; in addition, in the battery with the welded battery top cover, screening out the battery meeting the preset welding conditions; identifying the battery meeting the preset welding standard as a battery with a qualified battery top cover; therefore, the battery with unqualified battery top cover welding can be effectively screened out, and the battery with qualified battery top cover welding can be accurately obtained.

In order to more clearly illustrate the flying welding method for the battery top cover provided by the embodiment of the application, the flying welding method for the battery top cover is specifically described in the following specific embodiment. In one embodiment, as shown in fig. 8, the application further provides a flying welding method for a battery top cover, which specifically includes the following steps:

step S801, performing nine-point calibration on a CCD camera coordinate system and a galvanometer welding coordinate system respectively, and establishing a conversion relation between the two coordinate systems.

Step S802, a CCD camera photographs and generates key point coordinates of a running track of the battery carrier, and key data point position information of two long sides and two short sides of the battery top cover to be welded is obtained.

Step S803, the CCD station and the welding station perform TCP communication, and key point coordinates of the running track of the battery carrier are sent to the welding station.

Step S804, the welding station converts the key point coordinates under the CCD camera coordinate system into key point coordinates under the vibrating mirror welding coordinate system according to the conversion relation between the CCD camera coordinate system and the vibrating mirror welding coordinate system.

And S805, the welding station generates a welding track graph according to the coordinates of the key points under the vibrating mirror welding coordinate system.

And step S806, under the vibrating mirror welding coordinate system, the welding station controls the welding equipment to perform flying welding on the target battery top cover according to the welding track diagram.

In the flight welding method for the battery top cover, nine points are calibrated first, and conversion of any CCD coordinate point into an actual welding coordinate point and conversion of any welding coordinate point into a CCD coordinate point can be realized by calculating affine transformation coefficients between two coordinate systems; then, the CCD camera photographs to generate key point coordinates of the running track of the battery carrier, so that key data point position information on two long sides and two short sides of the battery top cover to be welded can be effectively obtained; the CCD station and the welding station perform TCP communication, and key point coordinates of the running track of the battery carrier are sent to the welding station, so that position information of any camera coordinate point is converted into position information of a welding coordinate point, and target data point position information of a battery top cover to be welded under a welding coordinate system is accurately obtained; then the welding station generates a welding track diagram according to the coordinates of the key points, so that a target welding track diagram of the battery top cover to be welded, which meets the conditions, is generated; finally, under the vibrating mirror welding coordinate system, controlling welding equipment to perform flying welding on the top cover of the target battery according to the welding track diagram; the battery top cover is welded in a welding mode based on an automatic control technology, so that the welding speed is greatly increased, and the whole process does not need manual operation for welding, so that complicated processes such as welding operation and the like through manual operation are avoided, and the welding efficiency of the battery top cover is improved.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a flying welding device for the battery top cover, which is used for realizing the flying welding method for the battery top cover. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in one or more embodiments of the flying welding device for a battery top cover provided below may refer to the limitation of the flying welding method for a battery top cover hereinabove, and will not be repeated herein.

In one embodiment, as shown in fig. 9, there is provided a flying welding device for a battery top cover, comprising: a position information acquisition module 901, a position information conversion module 902, a welding track generation module 903, and a battery top cover welding module 904, wherein:

the position information acquisition module 901 is used for acquiring position information of target data points of the battery top cover to be welded under a camera coordinate system; the battery top cover to be welded comprises two long sides and two short sides, and the target data point position information comprises key data point position information on the two long sides and key data point position information on the two short sides.

The position information conversion module 902 is configured to convert, according to a conversion relationship between the camera coordinate system and the welding coordinate system, target data point position information of the battery top cover to be welded under the camera coordinate system, and obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

The welding track generation module 903 is configured to generate a target welding track map of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded under the welding coordinate system; the target welding track graph comprises two welding track graphs on long sides and two welding track graphs on short sides.

And the battery top cover welding module 904 is used for performing flying welding on the battery top cover to be welded according to the target welding track diagram under the welding coordinate system.

In one embodiment, the flying welding device for the battery top cover further comprises a conversion relation determining module, which is used for acquiring first position information of the battery carrier of the battery top cover to be welded under a camera coordinate system and second position information of the battery carrier of the battery top cover to be welded under the welding coordinate system; determining affine transformation coefficients between a camera coordinate system and a welding coordinate system according to the conversion relation between the first position information and the second position information; and determining the conversion relation between the camera coordinate system and the welding coordinate system according to the affine transformation coefficient.

In one embodiment, the flying welding device for the battery top cover further comprises a preprocessing module, which is used for preprocessing the position information of the target data point of the battery top cover to be welded under the camera coordinate system to obtain the preprocessed position information of the target data point; and judging whether the position information of the preprocessed target data point meets preset conditions.

The position information conversion module 902 is further configured to convert, when the preprocessed position information of the target data point meets a preset condition, the preprocessed position information of the target data point according to a conversion relationship between the camera coordinate system and the welding coordinate system, so as to obtain the position information of the target data point of the battery top cover to be welded under the welding coordinate system.

In one embodiment, the welding track generating module 903 is further configured to perform a linear connection process on the position information of the key data point on each of the two long sides, so as to obtain a welding track graph on the two long sides; performing arc fitting processing and straight line connection processing on first key data point position information and second key data point position information in key data point position information on each of the two short sides respectively to obtain welding track diagrams on the two short sides; and obtaining a target welding track diagram of the battery top cover to be welded according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides.

In one embodiment, the flying welding device for the battery top cover further comprises a signal generating module, wherein the signal generating module is used for dividing the target welding track graph according to a preset interval distance to obtain a divided target welding track graph; generating an encoder signal according to the segmented target welding track graph; the encoder signal is used for recording position information of a battery carrier loaded with a battery to be welded on the welding assembly line.

And the battery top cover welding module 904 is further used for controlling welding equipment to perform flying welding on the battery top cover to be welded according to the encoder signal to obtain the battery with the welded battery top cover.

In one embodiment, the flying welding device for the battery top cover further comprises a battery screening module, which is used for screening out the batteries meeting preset welding conditions from the batteries with the welded battery top covers; and identifying the battery meeting the preset welding conditions as a battery with a qualified battery top cover.

The various modules in the flying welding device for battery top covers described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 10. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a flying welding method for a battery top cover. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:

converting the position information of the target data point of the battery top cover to be welded under the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the position information of the target data point of the battery top cover to be welded under the welding coordinate system;

Generating a target welding track diagram of the battery top cover to be welded according to the target data point position information of the battery top cover to be welded under the welding coordinate system; the target welding track graph comprises two welding track graphs on long sides and two welding track graphs on short sides;

In one embodiment, the processor when executing the computer program further performs the steps of: acquiring first position information of a battery carrier of a battery top cover to be welded under a camera coordinate system and second position information of the battery carrier under a welding coordinate system; determining affine transformation coefficients between a camera coordinate system and a welding coordinate system according to the conversion relation between the first position information and the second position information; and determining the conversion relation between the camera coordinate system and the welding coordinate system according to the affine transformation coefficient.

In one embodiment, the processor when executing the computer program further performs the steps of: preprocessing target data point position information of a battery top cover to be welded under a camera coordinate system to obtain preprocessed target data point position information; judging whether the position information of the preprocessed target data point accords with a preset condition or not; and under the condition that the preprocessed target data point position information accords with the preset condition, converting the preprocessed target data point position information according to the conversion relation between the camera coordinate system and the welding coordinate system to obtain the target data point position information of the battery top cover to be welded under the welding coordinate system.

In one embodiment, the processor when executing the computer program further performs the steps of: respectively carrying out linear connection processing on the position information of the key data points on each of the two long sides to obtain a welding track graph on the two long sides; performing arc fitting processing and straight line connection processing on first key data point position information and second key data point position information in key data point position information on each of the two short sides respectively to obtain welding track diagrams on the two short sides; and obtaining a target welding track diagram of the battery top cover to be welded according to the welding track diagrams on the two long sides and the welding track diagrams on the two short sides.

In one embodiment, the processor when executing the computer program further performs the steps of: dividing the target welding track graph according to a preset interval distance to obtain a divided target welding track graph; generating an encoder signal according to the segmented target welding track graph; the encoder signal is used for recording position information of a battery carrier loaded with a battery to be welded on the welding assembly line; and controlling welding equipment to perform flying welding on the battery top cover to be welded according to the encoder signals to obtain the battery with the welded battery top cover.

In one embodiment, the processor when executing the computer program further performs the steps of: screening out the batteries meeting preset welding conditions from the batteries with the welded battery top covers; and identifying the battery meeting the preset welding conditions as a battery with a qualified battery top cover.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A method of flying welding for a battery top cover, the method comprising:

2. The method of claim 1, further comprising, after obtaining the target data point position information of the battery top cover to be welded in the camera coordinate system:

3. The method according to claim 1, wherein before converting the target data point position information of the battery top cover to be welded in the camera coordinate system according to the conversion relation between the camera coordinate system and the welding coordinate system, obtaining the target data point position of the battery top cover to be welded in the welding coordinate system, further comprising:

4. The method of claim 1, wherein generating the target welding trajectory graph of the battery top cover to be welded based on the target data point position information of the battery top cover to be welded in the welding coordinate system comprises:

5. The method of claim 1, further comprising, prior to flying welding the battery top cover to be welded in accordance with the target welding trajectory graph:

6. The method according to any one of claims 1 to 5, further comprising, after performing flying welding of the battery top cover to be welded in accordance with the target welding trajectory diagram:

7. A flying welding device for a battery top cover, the device comprising:

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.

9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.