CN117594898A - Battery core disassembly control method and related device for waste lithium batteries - Google Patents

Battery core disassembly control method and related device for waste lithium batteries Download PDF

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Publication number
CN117594898A
CN117594898A CN202410072426.1A CN202410072426A CN117594898A CN 117594898 A CN117594898 A CN 117594898A CN 202410072426 A CN202410072426 A CN 202410072426A CN 117594898 A CN117594898 A CN 117594898A
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plate
waste lithium
battery cell
lithium battery
thickness
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CN117594898B (en
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苏鑫
陈伟波
周松
王龙
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Foshan Longshen Robot Co Ltd
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Foshan Longshen Robot Co Ltd
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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
    • H01M10/54—Reclaiming serviceable parts of waste accumulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
    • B09B—DISPOSAL OF SOLID WASTE NOT OTHERWISE PROVIDED FOR
    • B09B3/00—Destroying solid waste or transforming solid waste into something useful or harmless
    • B09B3/30—Destroying solid waste or transforming solid waste into something useful or harmless involving mechanical treatment
    • B09B3/35—Shredding, crushing or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
    • B09B—DISPOSAL OF SOLID WASTE NOT OTHERWISE PROVIDED FOR
    • B09B3/00—Destroying solid waste or transforming solid waste into something useful or harmless
    • B09B3/40—Destroying solid waste or transforming solid waste into something useful or harmless involving thermal treatment, e.g. evaporation
    • 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
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/84—Recycling of batteries or fuel cells

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  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Secondary Cells (AREA)
  • Battery Electrode And Active Subsutance (AREA)

Abstract

The invention discloses a battery core disassembly control method and a related device of a waste lithium battery, wherein the method comprises the following steps: acquiring the thickness and the type of a battery cell of the waste lithium battery to be disassembled; adjusting an initial hot-cutting position of hot-cutting equipment based on a comparison result of the thickness of the battery core and a preset theoretical thickness, and carrying out hot-cutting separation on the battery core of the waste lithium battery to be disassembled based on the adjusted initial hot-cutting position; performing feature recognition processing based on the real-time images of the waste lithium battery cells after hot cutting and separation, and determining a positive plate and a negative plate of the waste lithium battery cells; respectively constructing respective space models by utilizing a space transformation matrix based on the distance measurement data of the positive plate and the distance measurement data of the negative plate; and selecting a corresponding splitting strategy based on the respective space model and the battery cell type to split the positive plate and the negative plate. The invention not only reduces the error of the hot cutting treatment of the battery cell, but also improves the identification precision of the positive electrode plate and the negative electrode plate, thereby improving the efficiency and the reliability of the disassembly of the battery cell.

Description

Battery core disassembly control method and related device for waste lithium batteries
Technical Field
The invention mainly relates to the technical field of disassembly of lithium batteries, in particular to a battery core disassembly control method and a related device of waste lithium batteries.
Background
The diaphragm and the positive and negative plates contained in the waste lithium battery cells contain cobalt, nickel, lithium and other materials, the materials are widely applied to the fields of aviation, aerospace, electric appliances and the like, so that the disassembly processing of the battery cells of the waste lithium battery is very important, at present, in the prior art, the battery cells are usually disassembled manually, then the positive and negative plates are distinguished by detecting the plates one by one, but the manual disassembly workload is large, the disassembly period is long, the actual conditions of the positive and negative plates are inconvenient to distinguish, the disassembly result is affected, the disassembly quality is difficult to be ensured, the general image recognition is not high in the classification recognition precision of the positive and negative plates, in the disassembly process of the battery cells, the actual lithium battery cell thickness is inconsistent due to the inconsistent scrapping condition, if the battery cells are separated by hot cutting according to the theoretical thickness, the diaphragm cannot be separated in place or the positive and negative plates are damaged due to the excessive hot cutting, the disassembly efficiency of the battery cells is not only affected, and excessive material loss in the disassembly process is caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a battery core disassembly control method and a related device for waste lithium batteries, which not only reduce errors of battery core hot cutting treatment, but also improve the identification precision of positive electrode plates and negative electrode plates, thereby improving the efficiency and reliability of battery core disassembly.
In order to solve the technical problems, the invention provides a battery core disassembly control method of a waste lithium battery, which comprises the following steps:
acquiring the thickness and the type of a battery cell of the waste lithium battery to be disassembled;
comparing the thickness of the battery cell with a preset theoretical thickness, adjusting an initial hot cutting position of hot cutting equipment based on a comparison result, and carrying out hot cutting separation on the battery cell of the waste lithium battery to be disassembled based on the adjusted initial hot cutting position to obtain the battery cell of the waste lithium battery after hot cutting separation;
acquiring a real-time image of the waste lithium battery cell after hot cutting and separation, and performing feature recognition processing based on the real-time image to determine a positive plate and a negative plate of the waste lithium battery cell after hot cutting and separation;
acquiring the ranging data of the positive plate and the ranging data of the negative plate, and respectively constructing a space model of the positive plate and a space model of the negative plate by utilizing a space transformation matrix based on the ranging data of the positive plate and the ranging data of the negative plate;
and selecting a corresponding splitting strategy based on the space model of the positive plate and the space model of the negative plate in combination with the battery cell type, and splitting the positive plate and the negative plate based on the corresponding splitting strategy.
Optionally, the obtaining the cell thickness and the cell type of the waste lithium battery cell to be disassembled includes:
acquiring the thickness of a battery cell of the waste lithium battery to be disassembled based on detection equipment;
and inquiring the cell type information of the waste lithium battery cells based on the specification parameter table.
Optionally, the comparing the thickness of the electrical core with a preset theoretical thickness, and adjusting an initial hot-cutting position of the hot-cutting device based on a comparison result includes:
if the thickness of the electric core is larger than the preset theoretical thickness, calculating a first difference value between the thickness of the electric core and the preset theoretical thickness, and moving the initial hot-cut position upwards by a distance of the first difference value based on the first difference value;
if the thickness of the battery cell is equal to the preset theoretical thickness, the initial hot cutting position does not need to be adjusted;
if the thickness of the battery cell is smaller than the preset theoretical thickness, a second difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, and the initial hot-cut position is moved downwards by a distance of the second difference value based on the second difference value.
Optionally, the acquiring a real-time image of the waste lithium battery cell after hot cutting and separating, and performing feature recognition processing based on the real-time image, determining the positive electrode plate and the negative electrode plate of the waste lithium battery cell after hot cutting and separating includes:
Acquiring a real-time image of the waste lithium battery cell after hot cutting separation by using a preset angle based on camera equipment;
performing image preprocessing on the real-time image to obtain a preprocessed real-time image;
performing feature extraction processing on the preprocessed real-time image to obtain an image feature group;
performing feature analysis based on the image feature group to obtain a classification center of the feature value, and constructing a classification group based on the classification center of the feature value;
and taking the classification group as a tree node, constructing a classification decision tree based on the tree node, and performing classification identification processing on the positive plate and the negative plate based on the classification decision tree.
Optionally, the classifying center for performing feature analysis based on the image feature set to obtain a feature value includes:
carrying out normalization processing on each image feature in the image feature group to obtain a normalization feature value corresponding to each image feature;
calculating a characteristic difference value between a normalized characteristic value corresponding to each image characteristic and a preset comparison value, and taking the minimum characteristic difference value as a classification center of the characteristic value.
Optionally, the constructing a spatial model of the positive plate and a spatial model of the negative plate by using the spatial transformation matrix based on the ranging data of the positive plate and the ranging data of the negative plate respectively includes:
Acquiring a first coordinate origin based on positioning equipment, establishing a first three-dimensional space coordinate system based on the first coordinate origin, and generating an initial model of the positive plate in the first three-dimensional space coordinate system based on the ranging data of the positive plate;
acquiring side-looking three-dimensional point cloud data of a first calibration plate and overlooking three-dimensional point cloud data of the first calibration plate, which correspond to the positive plate;
generating a first space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the first calibration plate and the overlooking three-dimensional point cloud data of the first calibration plate based on an ICP algorithm;
registering the initial model of the positive plate based on the first space transformation matrix to obtain a space model of the positive plate;
acquiring a second coordinate origin based on positioning equipment, establishing a second three-dimensional space coordinate system based on the second coordinate origin, and generating an initial model of the negative plate in the second three-dimensional space coordinate system based on the ranging data of the negative plate;
acquiring side-looking three-dimensional point cloud data of a second calibration plate and overlooking three-dimensional point cloud data of the second calibration plate, which correspond to the negative plate;
generating a second space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the second calibration plate and the overlooking three-dimensional point cloud data of the second calibration plate based on an ICP algorithm;
And carrying out registration processing on the initial model of the negative plate based on the second space transformation matrix to obtain a space model of the negative plate.
Optionally, the space model based on the positive plate and the space model based on the negative plate are combined with the battery cell type to select a corresponding splitting strategy, and split the positive plate and the negative plate based on the corresponding splitting strategy, including:
respectively calibrating data of the positive plate and the negative plate based on the space model of the positive plate and the space model of the negative plate;
and searching a corresponding splitting strategy in a database by combining the cell type based on the space model of the positive plate and the space model of the negative plate, and splitting the positive plate and the negative plate by utilizing a data calibration result based on the corresponding splitting strategy.
In addition, the invention also provides a cell disassembly control device of the waste lithium battery, which comprises:
and a data acquisition module: the method comprises the steps of obtaining the thickness and the type of a battery cell of a waste lithium battery to be disassembled;
and (3) a hot cutting separation module: the method comprises the steps of comparing the thickness of the battery cell with a preset theoretical thickness, adjusting an initial hot-cutting position of hot-cutting equipment based on a comparison result, and hot-cutting and separating the battery cell of the waste lithium battery to be disassembled based on the adjusted initial hot-cutting position to obtain the battery cell of the waste lithium battery after hot-cutting and separation;
Positive and negative plate identification module: the method comprises the steps of acquiring a real-time image of a waste lithium battery cell after hot cutting and separation, and performing feature recognition processing based on the real-time image to determine a positive plate and a negative plate of the waste lithium battery cell after hot cutting and separation;
and a space model construction module: the method comprises the steps of obtaining ranging data of a positive plate and ranging data of a negative plate, and respectively constructing a space model of the positive plate and a space model of the negative plate by utilizing a space transformation matrix based on the ranging data of the positive plate and the ranging data of the negative plate;
positive and negative pole piece split module: the method is used for selecting a corresponding splitting strategy based on the space model of the positive plate and the space model of the negative plate in combination with the battery cell type, and splitting the positive plate and the negative plate based on the corresponding splitting strategy.
In addition, the invention also provides electronic equipment, which comprises a processor and a memory, wherein the memory is used for storing instructions, and the processor is used for calling the instructions in the memory, so that the electronic equipment executes the battery core disassembly control method of the waste lithium battery.
In addition, the invention also provides a computer readable storage medium which stores computer instructions, and when the computer instructions run on the electronic equipment, the electronic equipment is enabled to execute the cell disassembly control method of the waste lithium battery.
According to the embodiment of the invention, the hot-cut initial position is adjusted through the thickness of the waste lithium battery cells, so that the situation that the separator cannot be separated or the positive and negative plates are damaged due to excessive hot cutting caused by insufficient hot cutting due to different thicknesses of the battery cells is avoided, the classification center is determined through the characteristic difference value, the classification decision tree is constructed by the classification center to perform classification identification processing on the positive plates and the negative plates, the classification identification speed and the accuracy of the positive plates and the negative plates can be improved, the space model of the positive plates and the space model of the negative plates are constructed by combining a space transformation matrix in a three-dimensional space coordinate system, the space modeling precision can be improved, and the data calibration of the positive plates and the negative plates is more accurate, so that the efficiency and the reliability of battery cell disassembly are improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a control method for disassembling a battery core of a waste lithium battery in an embodiment of the invention;
fig. 2 is a schematic structural diagram of a control device for disassembling a battery core of a waste lithium battery in an embodiment of the invention;
fig. 3 is a schematic structural composition diagram of an electronic device in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a control method for disassembling a battery core of a waste lithium battery according to an embodiment of the invention.
As shown in fig. 1, a method for controlling disassembly of a battery core of a waste lithium battery, the method comprising:
s11: acquiring the thickness and the type of a battery cell of the waste lithium battery to be disassembled;
in the specific implementation process of the invention, the obtaining of the cell thickness and the cell type of the waste lithium battery cell to be disassembled comprises the following steps: acquiring the thickness of a battery cell of the waste lithium battery to be disassembled based on detection equipment; and inquiring the cell type information of the waste lithium battery cells based on the specification parameter table.
Specifically, due to inconsistent scrapping conditions, the measurement of the cell thickness of the waste lithium battery cell to be disassembled is needed to be carried out again through detection equipment, so that the actual cell thickness is obtained; and inquiring the cell type information corresponding to the waste lithium battery cell to be disassembled through the specification parameter table.
S12: comparing the thickness of the battery cell with a preset theoretical thickness, adjusting an initial hot cutting position of hot cutting equipment based on a comparison result, and carrying out hot cutting separation on the battery cell of the waste lithium battery to be disassembled based on the adjusted initial hot cutting position to obtain the battery cell of the waste lithium battery after hot cutting separation;
in the implementation process of the invention, comparing the thickness of the battery cell with a preset theoretical thickness, and adjusting the initial hot cutting position of the hot cutting device based on the comparison result comprises the following steps: if the thickness of the electric core is larger than the preset theoretical thickness, calculating a first difference value between the thickness of the electric core and the preset theoretical thickness, and moving the initial hot-cut position upwards by a distance of the first difference value based on the first difference value; if the thickness of the battery cell is equal to the preset theoretical thickness, the initial hot cutting position does not need to be adjusted; if the thickness of the battery cell is smaller than the preset theoretical thickness, a second difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, and the initial hot-cut position is moved downwards by a distance of the second difference value based on the second difference value.
Specifically, the hot cutting of the waste lithium battery cell is used for cutting off the diaphragm, the diaphragm is detached from the battery cell pole piece, in the actual situation, the thickness of the actual lithium battery cell is inconsistent due to inconsistent scrapping, whether the thickness of the lithium battery cell is in the appropriate thickness for cutting or not needs to be judged, therefore, the thickness of the battery cell is compared with the preset theoretical thickness, if the actual thickness of the battery cell is larger than the preset theoretical thickness, a first difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, the first difference value is obtained by subtracting the preset theoretical thickness from the thickness of the battery cell, and the initial hot cutting position is moved upwards by the distance of the first difference value based on the first difference value, so that the diaphragm is prevented from being separated in place due to the fact that the hot cutting is not in place, if the thickness of the battery cell is equal to the preset theoretical thickness, the fact that the thickness of the battery cell is in the appropriate thickness for hot cutting is indicated, namely, the preset theoretical thickness is changed into the appropriate thickness, and the initial hot cutting position does not need to be adjusted; if the thickness of the battery cell is smaller than the preset theoretical thickness, a second difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, namely the thickness of the battery cell is subtracted from the preset theoretical thickness to obtain the second difference value, the initial hot-cut position is moved downwards by a distance of the second difference value based on the second difference value, damage to positive and negative pole pieces caused by excessive hot-cut is avoided, the battery cell to be disassembled is subjected to hot-cut separation based on the adjusted initial hot-cut position, the diaphragm is fused at the adjusted hot-cut position through hot-cut equipment, the diaphragm is separated from the lithium battery cell, the diaphragm is separated by hot-cut treatment, the diaphragm is better in notch effect than cold-cut, the efficiency is higher, accordingly, the waste lithium battery cell after hot-cut separation is obtained, after the diaphragm is separated, the subsequent disassembly of battery cell pole pieces can be continued, the battery cell thickness which is actually detected is compared with the preset thickness, and the situation that the diaphragm cannot be separated or the positive and negative pole pieces and the negative pole pieces are damaged caused by insufficient hot-cut due to the fact that the diaphragm is different in place can be avoided based on the comparison result.
S13: acquiring a real-time image of the waste lithium battery cell after hot cutting and separation, and performing feature recognition processing based on the real-time image to determine a positive plate and a negative plate of the waste lithium battery cell after hot cutting and separation;
in the specific implementation process of the invention, the method for acquiring the real-time image of the waste lithium battery cell after hot cutting and separation and carrying out characteristic identification processing based on the real-time image to determine the positive plate and the negative plate of the waste lithium battery cell after hot cutting and separation comprises the following steps: acquiring a real-time image of the waste lithium battery cell after hot cutting separation by using a preset angle based on camera equipment; performing image preprocessing on the real-time image to obtain a preprocessed real-time image; performing feature extraction processing on the preprocessed real-time image to obtain an image feature group; performing feature analysis based on the image feature group to obtain a classification center of the feature value, and constructing a classification group based on the classification center of the feature value; and taking the classification group as a tree node, constructing a classification decision tree based on the tree node, and performing classification identification processing on the positive plate and the negative plate based on the classification decision tree.
Further, the classifying center for performing feature analysis based on the image feature set to obtain a feature value includes: carrying out normalization processing on each image feature in the image feature group to obtain a normalization feature value corresponding to each image feature; calculating a characteristic difference value between a normalized characteristic value corresponding to each image characteristic and a preset comparison value, and taking the minimum characteristic difference value as a classification center of the characteristic value.
Specifically, shooting real-time images of the waste lithium battery cells after hot cutting and separation by using a preset angle through camera equipment; preprocessing a real-time image, denoising the real-time image by using a median filtering method, replacing the value of a point in the image with the median of the point value in one field of the point, enabling surrounding pixel values to be close to a true value, eliminating isolated noise points, obtaining a denoised real-time image, performing image enhancement on the denoised real-time image, modulating the object field of the real-time image in the frequency domain, performing Fourier transformation on the modulated frequency domain, taking the imaginary part of the frequency domain after Fourier transformation, taking the absolute value of the frequency domain, summing the absolute value of the frequency domain according to the absolute value of the frequency domain, calculating the 1/n power, and respectively performing image enhancement along the vertical axis and the horizontal axis according to the calculation result to obtain the preprocessed real-time image; performing feature extraction processing on the preprocessed real-time image, performing pixel mapping on the preprocessed real-time image to obtain a corresponding pixel mapping coefficient, generating a corresponding pixel mapping image according to the corresponding pixel mapping coefficient, performing pooling processing on the pixel mapping image, extracting pooled features of the pixel mapping image, wherein the pixel mapping image corresponds to the dimensionality of the pooled features, performing dimensionality reduction on the pooled features, mapping the pooled features into a data space of a low-dimensional representation through transformation, wherein the data dimension reduction is performed on the pooled features without losing key feature information, and the purpose of dimensionality reduction is to effectively reduce redundant features and irrelevant feature information in the pooled features while dimension reduction is performed on the features, so that an image feature set is obtained; normalizing each image feature in the image feature group, unifying each image feature into the same data interval in order to eliminate the dimensional influence among the image features, mapping each image feature into a distribution interval with the mean value of 0 and the standard deviation of 1 to obtain a normalized feature value corresponding to each image feature, and normalizing the features to enable the features to have comparability; calculating a characteristic difference value of a normalized characteristic value corresponding to each image characteristic and a preset comparison value, reflecting the distance between the normalized characteristic value and the preset comparison value through the characteristic difference value, taking the minimum characteristic difference value as a classification center of the characteristic value, and constructing a classification group based on the classification center of the characteristic value; and constructing a classification decision tree based on the tree node by taking the classification group as a node of the classification decision tree, marking the characteristic value by the type in advance, storing the characteristic value in the corresponding node, training the identification model corresponding to the father node in the classification decision tree according to the corresponding node, carrying out step-by-step classification identification on the real-time image by the identification model of each node in the classification decision tree according to the father node and at least one child node, namely carrying out classification identification treatment on the positive plate and the negative plate by the classification decision tree, so as to distinguish the positive plate and the negative plate of the waste lithium battery cell after hot cutting and separating, determining the classification center by the characteristic difference value, constructing the classification decision tree by the classification center, carrying out classification identification treatment on the positive plate and the negative plate, and improving the classification identification speed and the accuracy of the positive plate and the negative plate.
S14: acquiring the ranging data of the positive plate and the ranging data of the negative plate, and respectively constructing a space model of the positive plate and a space model of the negative plate by utilizing a space transformation matrix based on the ranging data of the positive plate and the ranging data of the negative plate;
in the implementation process of the invention, the space transformation matrix is utilized to respectively construct the space model of the positive plate and the space model of the negative plate based on the distance measurement data of the positive plate and the distance measurement data of the negative plate, and the method comprises the following steps: acquiring a first coordinate origin based on positioning equipment, establishing a first three-dimensional space coordinate system based on the first coordinate origin, and generating an initial model of the positive plate in the first three-dimensional space coordinate system based on the ranging data of the positive plate; acquiring side-looking three-dimensional point cloud data of a first calibration plate and overlooking three-dimensional point cloud data of the first calibration plate, which correspond to the positive plate; generating a first space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the first calibration plate and the overlooking three-dimensional point cloud data of the first calibration plate based on an ICP algorithm; registering the initial model of the positive plate based on the first space transformation matrix to obtain a space model of the positive plate; acquiring a second coordinate origin based on positioning equipment, establishing a second three-dimensional space coordinate system based on the second coordinate origin, and generating an initial model of the negative plate in the second three-dimensional space coordinate system based on the ranging data of the negative plate; acquiring side-looking three-dimensional point cloud data of a second calibration plate and overlooking three-dimensional point cloud data of the second calibration plate, which correspond to the negative plate; generating a second space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the second calibration plate and the overlooking three-dimensional point cloud data of the second calibration plate based on an ICP algorithm; and carrying out registration processing on the initial model of the negative plate based on the second space transformation matrix to obtain a space model of the negative plate.
Specifically, the ranging data of the positive plate and the ranging data of the negative plate are obtained through detection equipment; transmitting first origin position information through a fixed end of positioning equipment, namely acquiring a first coordinate origin, establishing a first three-dimensional space coordinate system for the positive plate by using the first coordinate origin, acquiring coordinate points in the first three-dimensional space coordinate system by using ranging data, calibrating position information of the coordinate points, acquiring a ranging path by using the position information of the coordinate points, generating a plurality of contour points in the first three-dimensional space coordinate system according to the ranging path, and sequentially connecting the contour points to form an initial model of the positive plate; acquiring side-looking three-dimensional point cloud data of a first calibration plate and overlooking three-dimensional point cloud data of the first calibration plate, which correspond to the positive plate, through a multi-eye depth camera, uniformly projecting infrared rays which are invisible to human eyes into a measurement space, recording original data of each speckle in the measurement space through an infrared camera, and generating an image with 3D depth information after calculating the acquired original data, so that the three-dimensional point cloud data can be better acquired through the multi-eye depth camera; generating a first space transformation matrix by utilizing the first calibration plate side view three-dimensional point cloud data and the first calibration plate overlook three-dimensional point cloud data based on a nearest point iteration (Iterative Closest Point, ICP) algorithm, wherein the ICP algorithm is a point cloud registration algorithm, performing preliminary rough registration on the first calibration plate side view three-dimensional point cloud data and the first calibration plate overlook three-dimensional point cloud data to obtain an initial transformation matrix, sampling the first calibration plate side view three-dimensional point cloud data and the first calibration plate overlook three-dimensional point cloud data to obtain a matching point set and nearest neighbor points, calculating a rotation matrix and a translation matrix according to the matching point set and the nearest neighbor points, performing rotation and translation transformation on the rotation matrix and the translation matrix to obtain a corresponding point set, calculating a transformation matrix according to the corresponding point set by utilizing perspective projection transformation vectors, calculating an error function, repeating the above processes to reach error minimization, and obtaining a first space transformation matrix, wherein the expression of the error function is as follows:
，
Wherein E is an error, R is a rotation matrix, T is a translation matrix, p is a perspective projection transformation vector, q is a corresponding point set, and n is the nearest point; registering the initial model of the positive plate based on the first space transformation matrix, namely carrying out coordinate alignment treatment on the initial model of the positive plate through the first space transformation matrix to obtain a space model of the positive plate; similarly, the spatial model of the negative plate is also generated according to the processing steps, and the spatial model of the positive plate and the spatial model of the negative plate are built by combining the spatial transformation matrix in the three-dimensional spatial coordinate system, so that the accuracy of spatial modeling can be improved, and the data calibration of the positive plate and the negative plate is more accurate.
S15: and selecting a corresponding splitting strategy based on the space model of the positive plate and the space model of the negative plate in combination with the battery cell type, and splitting the positive plate and the negative plate based on the corresponding splitting strategy.
In the specific implementation process of the invention, the space model based on the positive electrode plate and the space model based on the negative electrode plate are combined with the battery cell type to select corresponding splitting strategies, and the positive electrode plate and the negative electrode plate are split based on the corresponding splitting strategies, and the method comprises the following steps: respectively calibrating data of the positive plate and the negative plate based on the space model of the positive plate and the space model of the negative plate; and searching a corresponding splitting strategy in a database by combining the cell type based on the space model of the positive plate and the space model of the negative plate, and splitting the positive plate and the negative plate by utilizing a data calibration result based on the corresponding splitting strategy.
Specifically, the positive plate and the negative plate are respectively subjected to data calibration through a space model of the positive plate and a space model of the negative plate, and the actual position, the actual shape and the actual size of the positive plate in the lithium battery cell are determined; the method comprises the steps of searching a corresponding splitting strategy in a database by combining a space model of a positive plate and a space model of a negative plate with the battery cell type, separating the surface of the negative plate from a diaphragm according to the space model of the negative plate, transferring the negative plate, separating the surface of the positive plate from the diaphragm according to the space model of the positive plate by a second manipulator, transferring the positive plate, using different mechanical equipment by combining different battery cell types with the space model corresponding to the positive plate, determining splitting and transferring modes of equipment on the positive plate and the negative plate, determining a grabbing position, a separating angle and the like according to a data calibration result of the space model, and splitting the positive plate and the negative plate according to the splitting strategy searched by combining the battery cell type according to the actual space model, so as to finish battery cell disassembly of the waste lithium battery.
According to the embodiment of the invention, the hot-cut initial position is adjusted through the thickness of the waste lithium battery cells, so that the situation that the separator cannot be separated or the positive and negative plates are damaged due to excessive hot cutting caused by insufficient hot cutting due to different thicknesses of the battery cells is avoided, the classification center is determined through the characteristic difference value, the classification decision tree is constructed by the classification center to perform classification identification processing on the positive plates and the negative plates, the classification identification speed and the accuracy of the positive plates and the negative plates can be improved, the space model of the positive plates and the space model of the negative plates are constructed by combining a space transformation matrix in a three-dimensional space coordinate system, the space modeling precision can be improved, and the data calibration of the positive plates and the negative plates is more accurate, so that the efficiency and the reliability of battery cell disassembly are improved.
Example two
Referring to fig. 2, fig. 2 is a schematic structural diagram of a control device for disassembling a battery core of a waste lithium battery according to an embodiment of the invention.
As shown in fig. 2, a control device for disassembling a battery core of a waste lithium battery, the device includes:
the data acquisition module 21: the method comprises the steps of obtaining the thickness and the type of a battery cell of a waste lithium battery to be disassembled;
in the specific implementation process of the invention, the obtaining of the cell thickness and the cell type of the waste lithium battery cell to be disassembled comprises the following steps: acquiring the thickness of a battery cell of the waste lithium battery to be disassembled based on detection equipment; and inquiring the cell type information of the waste lithium battery cells based on the specification parameter table.
Specifically, due to inconsistent scrapping conditions, the measurement of the cell thickness of the waste lithium battery cell to be disassembled is needed to be carried out again through detection equipment, so that the actual cell thickness is obtained; and inquiring the cell type information corresponding to the waste lithium battery cell to be disassembled through the specification parameter table.
Thermal separation module 22: the method comprises the steps of comparing the thickness of the battery cell with a preset theoretical thickness, adjusting an initial hot-cutting position of hot-cutting equipment based on a comparison result, and hot-cutting and separating the battery cell of the waste lithium battery to be disassembled based on the adjusted initial hot-cutting position to obtain the battery cell of the waste lithium battery after hot-cutting and separation;
in the implementation process of the invention, comparing the thickness of the battery cell with a preset theoretical thickness, and adjusting the initial hot cutting position of the hot cutting device based on the comparison result comprises the following steps: if the thickness of the electric core is larger than the preset theoretical thickness, calculating a first difference value between the thickness of the electric core and the preset theoretical thickness, and moving the initial hot-cut position upwards by a distance of the first difference value based on the first difference value; if the thickness of the battery cell is equal to the preset theoretical thickness, the initial hot cutting position does not need to be adjusted; if the thickness of the battery cell is smaller than the preset theoretical thickness, a second difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, and the initial hot-cut position is moved downwards by a distance of the second difference value based on the second difference value.
Specifically, the hot cutting of the waste lithium battery cell is used for cutting off the diaphragm, the diaphragm is detached from the battery cell pole piece, in the actual situation, the thickness of the actual lithium battery cell is inconsistent due to inconsistent scrapping, whether the thickness of the lithium battery cell is in the appropriate thickness for cutting or not needs to be judged, therefore, the thickness of the battery cell is compared with the preset theoretical thickness, if the actual thickness of the battery cell is larger than the preset theoretical thickness, a first difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, the first difference value is obtained by subtracting the preset theoretical thickness from the thickness of the battery cell, and the initial hot cutting position is moved upwards by the distance of the first difference value based on the first difference value, so that the diaphragm is prevented from being separated in place due to the fact that the hot cutting is not in place, if the thickness of the battery cell is equal to the preset theoretical thickness, the fact that the thickness of the battery cell is in the appropriate thickness for hot cutting is indicated, namely, the preset theoretical thickness is changed into the appropriate thickness, and the initial hot cutting position does not need to be adjusted; if the thickness of the battery cell is smaller than the preset theoretical thickness, a second difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, namely the thickness of the battery cell is subtracted from the preset theoretical thickness to obtain the second difference value, the initial hot-cut position is moved downwards by a distance of the second difference value based on the second difference value, damage to positive and negative pole pieces caused by excessive hot-cut is avoided, the battery cell to be disassembled is subjected to hot-cut separation based on the adjusted initial hot-cut position, the diaphragm is fused at the adjusted hot-cut position through hot-cut equipment, the diaphragm is separated from the lithium battery cell, the diaphragm is separated by hot-cut treatment, the diaphragm is better in notch effect than cold-cut, the efficiency is higher, accordingly, the waste lithium battery cell after hot-cut separation is obtained, after the diaphragm is separated, the subsequent disassembly of battery cell pole pieces can be continued, the battery cell thickness which is actually detected is compared with the preset thickness, and the situation that the diaphragm cannot be separated or the positive and negative pole pieces and the negative pole pieces are damaged caused by insufficient hot-cut due to the fact that the diaphragm is different in place can be avoided based on the comparison result.
Positive and negative plate identification module 23: the method comprises the steps of acquiring a real-time image of a waste lithium battery cell after hot cutting and separation, and performing feature recognition processing based on the real-time image to determine a positive plate and a negative plate of the waste lithium battery cell after hot cutting and separation;
in the specific implementation process of the invention, the method for acquiring the real-time image of the waste lithium battery cell after hot cutting and separation and carrying out characteristic identification processing based on the real-time image to determine the positive plate and the negative plate of the waste lithium battery cell after hot cutting and separation comprises the following steps: acquiring a real-time image of the waste lithium battery cell after hot cutting separation by using a preset angle based on camera equipment; performing image preprocessing on the real-time image to obtain a preprocessed real-time image; performing feature extraction processing on the preprocessed real-time image to obtain an image feature group; performing feature analysis based on the image feature group to obtain a classification center of the feature value, and constructing a classification group based on the classification center of the feature value; and taking the classification group as a tree node, constructing a classification decision tree based on the tree node, and performing classification identification processing on the positive plate and the negative plate based on the classification decision tree.
Further, the classifying center for performing feature analysis based on the image feature set to obtain a feature value includes: carrying out normalization processing on each image feature in the image feature group to obtain a normalization feature value corresponding to each image feature; calculating a characteristic difference value between a normalized characteristic value corresponding to each image characteristic and a preset comparison value, and taking the minimum characteristic difference value as a classification center of the characteristic value.
Specifically, shooting real-time images of the waste lithium battery cells after hot cutting and separation by using a preset angle through camera equipment; preprocessing a real-time image, denoising the real-time image by using a median filtering method, replacing the value of a point in the image with the median of the point value in one field of the point, enabling surrounding pixel values to be close to a true value, eliminating isolated noise points, obtaining a denoised real-time image, performing image enhancement on the denoised real-time image, modulating the object field of the real-time image in the frequency domain, performing Fourier transformation on the modulated frequency domain, taking the imaginary part of the frequency domain after Fourier transformation, taking the absolute value of the frequency domain, summing the absolute value of the frequency domain according to the absolute value of the frequency domain, calculating the 1/n power, and respectively performing image enhancement along the vertical axis and the horizontal axis according to the calculation result to obtain the preprocessed real-time image; performing feature extraction processing on the preprocessed real-time image, performing pixel mapping on the preprocessed real-time image to obtain a corresponding pixel mapping coefficient, generating a corresponding pixel mapping image according to the corresponding pixel mapping coefficient, performing pooling processing on the pixel mapping image, extracting pooled features of the pixel mapping image, wherein the pixel mapping image corresponds to the dimensionality of the pooled features, performing dimensionality reduction on the pooled features, mapping the pooled features into a data space of a low-dimensional representation through transformation, wherein the data dimension reduction is performed on the pooled features without losing key feature information, and the purpose of dimensionality reduction is to effectively reduce redundant features and irrelevant feature information in the pooled features while dimension reduction is performed on the features, so that an image feature set is obtained; normalizing each image feature in the image feature group, unifying each image feature into the same data interval in order to eliminate the dimensional influence among the image features, mapping each image feature into a distribution interval with the mean value of 0 and the standard deviation of 1 to obtain a normalized feature value corresponding to each image feature, and normalizing the features to enable the features to have comparability; calculating a characteristic difference value of a normalized characteristic value corresponding to each image characteristic and a preset comparison value, reflecting the distance between the normalized characteristic value and the preset comparison value through the characteristic difference value, taking the minimum characteristic difference value as a classification center of the characteristic value, and constructing a classification group based on the classification center of the characteristic value; and constructing a classification decision tree based on the tree node by taking the classification group as a node of the classification decision tree, marking the characteristic value by the type in advance, storing the characteristic value in the corresponding node, training the identification model corresponding to the father node in the classification decision tree according to the corresponding node, carrying out step-by-step classification identification on the real-time image by the identification model of each node in the classification decision tree according to the father node and at least one child node, namely carrying out classification identification treatment on the positive plate and the negative plate by the classification decision tree, so as to distinguish the positive plate and the negative plate of the waste lithium battery cell after hot cutting and separating, determining the classification center by the characteristic difference value, constructing the classification decision tree by the classification center, carrying out classification identification treatment on the positive plate and the negative plate, and improving the classification identification speed and the accuracy of the positive plate and the negative plate.
Spatial model construction module 24: the method comprises the steps of obtaining ranging data of a positive plate and ranging data of a negative plate, and respectively constructing a space model of the positive plate and a space model of the negative plate by utilizing a space transformation matrix based on the ranging data of the positive plate and the ranging data of the negative plate;
in the implementation process of the invention, the space transformation matrix is utilized to respectively construct the space model of the positive plate and the space model of the negative plate based on the distance measurement data of the positive plate and the distance measurement data of the negative plate, and the method comprises the following steps: acquiring a first coordinate origin based on positioning equipment, establishing a first three-dimensional space coordinate system based on the first coordinate origin, and generating an initial model of the positive plate in the first three-dimensional space coordinate system based on the ranging data of the positive plate; acquiring side-looking three-dimensional point cloud data of a first calibration plate and overlooking three-dimensional point cloud data of the first calibration plate, which correspond to the positive plate; generating a first space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the first calibration plate and the overlooking three-dimensional point cloud data of the first calibration plate based on an ICP algorithm; registering the initial model of the positive plate based on the first space transformation matrix to obtain a space model of the positive plate; acquiring a second coordinate origin based on positioning equipment, establishing a second three-dimensional space coordinate system based on the second coordinate origin, and generating an initial model of the negative plate in the second three-dimensional space coordinate system based on the ranging data of the negative plate; acquiring side-looking three-dimensional point cloud data of a second calibration plate and overlooking three-dimensional point cloud data of the second calibration plate, which correspond to the negative plate; generating a second space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the second calibration plate and the overlooking three-dimensional point cloud data of the second calibration plate based on an ICP algorithm; and carrying out registration processing on the initial model of the negative plate based on the second space transformation matrix to obtain a space model of the negative plate.
Specifically, the ranging data of the positive plate and the ranging data of the negative plate are obtained through detection equipment; transmitting first origin position information through a fixed end of positioning equipment, namely acquiring a first coordinate origin, establishing a first three-dimensional space coordinate system for the positive plate by using the first coordinate origin, acquiring coordinate points in the first three-dimensional space coordinate system by using ranging data, calibrating position information of the coordinate points, acquiring a ranging path by using the position information of the coordinate points, generating a plurality of contour points in the first three-dimensional space coordinate system according to the ranging path, and sequentially connecting the contour points to form an initial model of the positive plate; acquiring side-looking three-dimensional point cloud data of a first calibration plate and overlooking three-dimensional point cloud data of the first calibration plate, which correspond to the positive plate, through a multi-eye depth camera, uniformly projecting infrared rays which are invisible to human eyes into a measurement space, recording original data of each speckle in the measurement space through an infrared camera, and generating an image with 3D depth information after calculating the acquired original data, so that the three-dimensional point cloud data can be better acquired through the multi-eye depth camera; generating a first space transformation matrix by utilizing the first calibration plate side view three-dimensional point cloud data and the first calibration plate overlook three-dimensional point cloud data based on a nearest point iteration (Iterative Closest Point, ICP) algorithm, wherein the ICP algorithm is a point cloud registration algorithm, performing preliminary rough registration on the first calibration plate side view three-dimensional point cloud data and the first calibration plate overlook three-dimensional point cloud data to obtain an initial transformation matrix, sampling the first calibration plate side view three-dimensional point cloud data and the first calibration plate overlook three-dimensional point cloud data to obtain a matching point set and nearest neighbor points, calculating a rotation matrix and a translation matrix according to the matching point set and the nearest neighbor points, performing rotation and translation transformation on the rotation matrix and the translation matrix to obtain a corresponding point set, calculating a transformation matrix according to the corresponding point set by utilizing perspective projection transformation vectors, calculating an error function, repeating the above processes to reach error minimization, and obtaining a first space transformation matrix, wherein the expression of the error function is as follows:
，
Wherein E is an error, R is a rotation matrix, T is a translation matrix, p is a perspective projection transformation vector, q is a corresponding point set, and n is the nearest point; registering the initial model of the positive plate based on the first space transformation matrix, namely carrying out coordinate alignment treatment on the initial model of the positive plate through the first space transformation matrix to obtain a space model of the positive plate; similarly, the spatial model of the negative plate is also generated according to the processing steps, and the spatial model of the positive plate and the spatial model of the negative plate are built by combining the spatial transformation matrix in the three-dimensional spatial coordinate system, so that the accuracy of spatial modeling can be improved, and the data calibration of the positive plate and the negative plate is more accurate.
Positive and negative pole piece split module 25: the method is used for selecting a corresponding splitting strategy based on the space model of the positive plate and the space model of the negative plate in combination with the battery cell type, and splitting the positive plate and the negative plate based on the corresponding splitting strategy.
In the specific implementation process of the invention, the space model based on the positive electrode plate and the space model based on the negative electrode plate are combined with the battery cell type to select corresponding splitting strategies, and the positive electrode plate and the negative electrode plate are split based on the corresponding splitting strategies, and the method comprises the following steps: respectively calibrating data of the positive plate and the negative plate based on the space model of the positive plate and the space model of the negative plate; and searching a corresponding splitting strategy in a database by combining the cell type based on the space model of the positive plate and the space model of the negative plate, and splitting the positive plate and the negative plate by utilizing a data calibration result based on the corresponding splitting strategy.
Specifically, the positive plate and the negative plate are respectively subjected to data calibration through a space model of the positive plate and a space model of the negative plate, and the actual position, the actual shape and the actual size of the positive plate in the lithium battery cell are determined; the method comprises the steps of searching a corresponding splitting strategy in a database by combining a space model of a positive plate and a space model of a negative plate with the battery cell type, separating the surface of the negative plate from a diaphragm according to the space model of the negative plate, transferring the negative plate, separating the surface of the positive plate from the diaphragm according to the space model of the positive plate by a second manipulator, transferring the positive plate, using different mechanical equipment by combining different battery cell types with the space model corresponding to the positive plate, determining splitting and transferring modes of equipment on the positive plate and the negative plate, determining a grabbing position, a separating angle and the like according to a data calibration result of the space model, and splitting the positive plate and the negative plate according to the splitting strategy searched by combining the battery cell type according to the actual space model, so as to finish battery cell disassembly of the waste lithium battery.
According to the embodiment of the invention, the hot-cut initial position is adjusted through the thickness of the waste lithium battery cells, so that the situation that the separator cannot be separated or the positive and negative plates are damaged due to excessive hot cutting caused by insufficient hot cutting due to different thicknesses of the battery cells is avoided, the classification center is determined through the characteristic difference value, the classification decision tree is constructed by the classification center to perform classification identification processing on the positive plates and the negative plates, the classification identification speed and the accuracy of the positive plates and the negative plates can be improved, the space model of the positive plates and the space model of the negative plates are constructed by combining a space transformation matrix in a three-dimensional space coordinate system, the space modeling precision can be improved, and the data calibration of the positive plates and the negative plates is more accurate, so that the efficiency and the reliability of battery cell disassembly are improved.
The embodiment of the invention provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the program is executed by a processor to realize the control method for disassembling the battery core of the waste lithium battery in any one of the above embodiments. The computer readable storage medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs (Read-Only memories), RAMs (Random AcceSS Memory, random access memories), EPROMs (EraSable Programmable Read-Only memories), EEPROMs (Electrically EraSable ProgrammableRead-Only memories), flash memories, magnetic cards, or optical cards. That is, a storage device includes any medium that stores or transmits information in a form readable by a device (e.g., computer, cell phone), and may be read-only memory, magnetic or optical disk, etc.
Example III
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the invention.
The embodiment of the invention also provides an electronic device comprising a memory 31, a processor 33 and a computer program 32 stored in the memory 31 and executable on the processor 33, as shown in fig. 3. Those skilled in the art will appreciate that the electronic device shown in fig. 3 does not constitute a limitation of all devices, and may include more or fewer components than shown, or may combine certain components. The memory 31 may be used to store a computer program 32 and functional modules, and the processor 33 runs the computer program 32 stored in the memory 31 to perform various functional applications of the device and data processing. The memory may be internal memory or external memory, or include both internal memory and external memory. The internal memory may include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, or random access memory. The external memory may include a hard disk, floppy disk, ZIP disk, U-disk, tape, etc. The processor 33 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor, a single-chip microcomputer or the processor 33 may be any conventional processor or the like. The processors and memories disclosed herein include, but are not limited to, these types of processors and memories. The processors and memories disclosed herein are by way of example only and not by way of limitation.
As one embodiment, the electronic device includes: the one or more processors 33, the memory 31, and the one or more computer programs 32, wherein the one or more computer programs 32 are stored in the memory 31 and configured to be executed by the one or more processors 33, and the one or more computer programs 32 are configured to execute the method for controlling disassembly of the battery core of the waste lithium battery in any of the foregoing embodiments, and a specific implementation process is referred to the foregoing embodiments and is not repeated herein.
According to the embodiment of the invention, the hot-cut initial position is adjusted through the thickness of the waste lithium battery cells, so that the situation that the separator cannot be separated or the positive and negative plates are damaged due to excessive hot cutting caused by insufficient hot cutting due to different thicknesses of the battery cells is avoided, the classification center is determined through the characteristic difference value, the classification decision tree is constructed by the classification center to perform classification identification processing on the positive plates and the negative plates, the classification identification speed and the accuracy of the positive plates and the negative plates can be improved, the space model of the positive plates and the space model of the negative plates are constructed by combining a space transformation matrix in a three-dimensional space coordinate system, the space modeling precision can be improved, and the data calibration of the positive plates and the negative plates is more accurate, so that the efficiency and the reliability of battery cell disassembly are improved.
In addition, the above description is provided for the method for controlling disassembly of the battery core of the waste lithium battery and the related device, and specific examples are adopted to illustrate the principle and the implementation of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims (10)

1. The battery core disassembly control method of the waste lithium battery is characterized by comprising the following steps of:
acquiring the thickness and the type of a battery cell of the waste lithium battery to be disassembled;
comparing the thickness of the battery cell with a preset theoretical thickness, adjusting an initial hot cutting position of hot cutting equipment based on a comparison result, and carrying out hot cutting separation on the battery cell of the waste lithium battery to be disassembled based on the adjusted initial hot cutting position to obtain the battery cell of the waste lithium battery after hot cutting separation;
acquiring a real-time image of the waste lithium battery cell after hot cutting and separation, and performing feature recognition processing based on the real-time image to determine a positive plate and a negative plate of the waste lithium battery cell after hot cutting and separation;
Acquiring the ranging data of the positive plate and the ranging data of the negative plate, and respectively constructing a space model of the positive plate and a space model of the negative plate by utilizing a space transformation matrix based on the ranging data of the positive plate and the ranging data of the negative plate;
and selecting a corresponding splitting strategy based on the space model of the positive plate and the space model of the negative plate in combination with the battery cell type, and splitting the positive plate and the negative plate based on the corresponding splitting strategy.
2. The method for controlling disassembly of the battery cells of the waste lithium battery according to claim 1, wherein the step of obtaining the thickness and the type of the battery cells of the waste lithium battery to be disassembled comprises the steps of:
acquiring the thickness of a battery cell of the waste lithium battery to be disassembled based on detection equipment;
and inquiring the cell type information of the waste lithium battery cell to be disassembled based on the specification parameter table.
3. The method for controlling disassembly of the battery cells of the waste lithium battery according to claim 1, wherein comparing the thickness of the battery cells with a preset theoretical thickness, and adjusting the initial hot-cutting position of the hot-cutting device based on the comparison result comprises:
if the thickness of the electric core is larger than the preset theoretical thickness, calculating a first difference value between the thickness of the electric core and the preset theoretical thickness, and moving the initial hot-cut position upwards by a distance of the first difference value based on the first difference value;
If the thickness of the battery cell is equal to the preset theoretical thickness, the initial hot cutting position does not need to be adjusted;
if the thickness of the battery cell is smaller than the preset theoretical thickness, a second difference value between the thickness of the battery cell and the preset theoretical thickness is calculated, and the initial hot-cut position is moved downwards by a distance of the second difference value based on the second difference value.
4. The method for controlling disassembly of the battery cells of the waste lithium battery according to claim 1, wherein the steps of obtaining a real-time image of the battery cells of the waste lithium battery after hot cutting and separation, performing feature recognition processing based on the real-time image, and determining positive electrode plates and negative electrode plates of the battery cells of the waste lithium battery after hot cutting and separation comprise:
acquiring a real-time image of the waste lithium battery cell after hot cutting separation by using a preset angle based on camera equipment;
performing image preprocessing on the real-time image to obtain a preprocessed real-time image;
performing feature extraction processing on the preprocessed real-time image to obtain an image feature group;
performing feature analysis based on the image feature group to obtain a classification center of the feature value, and constructing a classification group based on the classification center of the feature value;
and taking the classification group as a tree node, constructing a classification decision tree based on the tree node, and performing classification identification processing on the positive plate and the negative plate based on the classification decision tree.
5. The method for controlling disassembly of cells of waste lithium batteries according to claim 4, wherein the classifying center for obtaining the feature value based on the feature analysis of the image feature group comprises:
carrying out normalization processing on each image feature in the image feature group to obtain a normalization feature value corresponding to each image feature;
calculating a characteristic difference value between a normalized characteristic value corresponding to each image characteristic and a preset comparison value, and taking the minimum characteristic difference value as a classification center of the characteristic value.
6. The method for controlling disassembly of the battery cells of the waste lithium battery according to claim 1, wherein the constructing a spatial model of the positive electrode plate and a spatial model of the negative electrode plate by using the spatial transformation matrix based on the ranging data of the positive electrode plate and the ranging data of the negative electrode plate respectively comprises:
acquiring a first coordinate origin based on positioning equipment, establishing a first three-dimensional space coordinate system based on the first coordinate origin, and generating an initial model of the positive plate in the first three-dimensional space coordinate system based on the ranging data of the positive plate;
acquiring side-looking three-dimensional point cloud data of a first calibration plate and overlooking three-dimensional point cloud data of the first calibration plate, which correspond to the positive plate;
Generating a first space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the first calibration plate and the overlooking three-dimensional point cloud data of the first calibration plate based on an ICP algorithm;
registering the initial model of the positive plate based on the first space transformation matrix to obtain a space model of the positive plate;
acquiring a second coordinate origin based on positioning equipment, establishing a second three-dimensional space coordinate system based on the second coordinate origin, and generating an initial model of the negative plate in the second three-dimensional space coordinate system based on the ranging data of the negative plate;
acquiring side-looking three-dimensional point cloud data of a second calibration plate and overlooking three-dimensional point cloud data of the second calibration plate, which correspond to the negative plate;
generating a second space transformation matrix by utilizing the side-looking three-dimensional point cloud data of the second calibration plate and the overlooking three-dimensional point cloud data of the second calibration plate based on an ICP algorithm;
and carrying out registration processing on the initial model of the negative plate based on the second space transformation matrix to obtain a space model of the negative plate.
7. The method for controlling disassembly of the battery cells of the waste lithium battery according to claim 1, wherein the positive plate-based space model and the negative plate-based space model are combined with the battery cell type to select a corresponding disassembly strategy, and the positive plate and the negative plate are disassembled based on the corresponding disassembly strategy, and the method comprises the following steps:
Respectively calibrating data of the positive plate and the negative plate based on the space model of the positive plate and the space model of the negative plate;
and searching a corresponding splitting strategy in a database by combining the cell type based on the space model of the positive plate and the space model of the negative plate, and splitting the positive plate and the negative plate by utilizing a data calibration result based on the corresponding splitting strategy.
8. The utility model provides a control device is disassembled to electric core of old and useless lithium cell which characterized in that, the device includes:
and a data acquisition module: the method comprises the steps of obtaining the thickness and the type of a battery cell of a waste lithium battery to be disassembled;
and (3) a hot cutting separation module: the method comprises the steps of comparing the thickness of the battery cell with a preset theoretical thickness, adjusting an initial hot-cutting position of hot-cutting equipment based on a comparison result, and hot-cutting and separating the battery cell of the waste lithium battery to be disassembled based on the adjusted initial hot-cutting position to obtain the battery cell of the waste lithium battery after hot-cutting and separation;
positive and negative plate identification module: the method comprises the steps of acquiring a real-time image of a waste lithium battery cell after hot cutting and separation, and performing feature recognition processing based on the real-time image to determine a positive plate and a negative plate of the waste lithium battery cell after hot cutting and separation;
And a space model construction module: the method comprises the steps of obtaining ranging data of a positive plate and ranging data of a negative plate, and respectively constructing a space model of the positive plate and a space model of the negative plate by utilizing a space transformation matrix based on the ranging data of the positive plate and the ranging data of the negative plate;
positive and negative pole piece split module: the method is used for selecting a corresponding splitting strategy based on the space model of the positive plate and the space model of the negative plate in combination with the battery cell type, and splitting the positive plate and the negative plate based on the corresponding splitting strategy.
9. An electronic device comprising a processor and a memory, wherein the memory is configured to store instructions, and the processor is configured to invoke the instructions in the memory, so that the electronic device performs the method for controlling disassembly of a battery cell of a waste lithium battery according to any one of claims 1 to 7.
10. A computer-readable storage medium storing computer instructions that, when executed on an electronic device, cause the electronic device to perform the method of controlling cell disassembly of a spent lithium battery according to any one of claims 1 to 7.
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CN117810570A (en) * 2024-02-29 2024-04-02 佛山隆深机器人有限公司 Recycling discharge control method and related device for waste lithium batteries
CN117810570B (en) * 2024-02-29 2024-05-17 佛山隆深机器人有限公司 Recycling discharge control method and related device for waste lithium batteries

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