WO2019148435A1 - Device and system for detecting battery electrode plate, electrode plate stacking machine and stacking method - Google Patents

Abstract

A device (10) for detecting a battery electrode plate, a system electrode plate stacking machine (20) and a stacking method. The device (10) for detecting a battery electrode plate comprises: a light source (104), for illuminating a battery electrode plate (201); an image capturing device (101), for capturing an image of the battery electrode plate (201) under the illumination of the light source (104); a detection circuit (102), coupled to the image capturing device (101), for processing the image of the battery electrode plate (201) and acquiring relative positions of two adjacent and stacked battery electrode plates (201); a feedback circuit (103), coupled to the detection circuit (102), for sending the relative positions of the two adjacent and stacked battery electrode plates (201) to the electrode plate stacking machine (20), such that the electrode plate stacking machine (20) adjusts the positions of the battery electrode plates (201) in real time according to the relative positions, thereby enabling real-time adjustment of positions of stacked battery electrode plates (201) during the process of stacking of the battery electrode plates (201) to improve the final testing pass rate of the battery.

Description

Battery pole piece detecting device, system, laminating machine and method

[Technical Field]

The present invention relates to the field of battery manufacturing, and in particular to a battery pole piece detecting device, system, laminating machine and method.

 【Background technique】

One of the core manufacturing processes of lithium batteries is a lamination process. In the process of production, negative (positive) pole pieces, diaphragms, positive (negative) pole pieces, diaphragms, negative (positive) are stacked from bottom to top. a pole piece, a diaphragm, a positive (negative) pole piece, etc., wherein there is a certain requirement for the relative positional relationship between the positive and negative electrode sheets disposed adjacent to each other, for example, the projection of the positive electrode sheet in the stacking direction is in the negative electrode sheet In the region, the projection of the negative electrode tab in the stacking direction is in the region of the separator. In the prior art, ordinary X-rays can be transmitted through each layer of pole pieces, and the illumination is imaged on a film to express the positional relationship of each layer of the pole pieces, or by CT (Computed) Tomography, computed tomography) uses the principle of computer image reconstruction to display the cross-section of each layer of pole pieces. However, both of these solutions are post-mortem inspections, and it is not possible to adjust the position of the battery pole pieces in real time, thereby reducing the battery pass rate.

 [Summary of the Invention]

The technical problem to be solved by the present invention is to provide a battery pole piece detecting device, system, laminating machine and method, which can solve the problem that the current pole piece detecting method cannot improve the battery pass rate due to post-mortem inspection.

In order to solve the above problems, a technical solution adopted by the present invention is to provide a battery pole piece detecting device, comprising: a light source for illuminating a battery pole piece; and an image acquiring device for acquiring the battery under the light source An image of the pole piece; a detection circuit coupled to the image acquisition device for processing the image of the battery pole piece, and obtaining the relative positions of the two battery pole pieces disposed adjacent to each other; the feedback circuit coupled to the detection circuit for phase separation The relative positions of the two battery pole pieces disposed adjacent to each other are fed back to the laminating machine, so that the laminating machine adjusts the position of the battery pole pieces in real time according to the relative position.

In order to solve the above problems, another technical solution adopted by the present invention is to provide a battery pole piece detecting system including at least the battery pole piece detecting device as described above.

In order to solve the above problems, another technical solution adopted by the present invention is to provide a laminating machine comprising at least the battery pole piece detecting device as described above.

In order to solve the above problems, another technical solution adopted by the present invention is to provide a battery pole piece detecting method, comprising: acquiring an image of a battery pole piece; processing an image of the battery pole piece, and acquiring two batteries arranged adjacent to each other; The relative position of the pole pieces; the relative positions of the two battery pole pieces arranged adjacent to each other are fed back to the laminating machine, so that the laminating machine adjusts the position of the battery pole pieces in real time according to the relative position.

The beneficial effects of the present invention are different from the prior art. In some embodiments of the present invention, by processing the acquired image of the battery pole piece, the relative positions of the two battery pole pieces disposed adjacent to each other can be obtained. And the relative position is fed back to the laminating machine, so that the laminating machine can adjust the position of the battery pole piece in real time according to the relative position, thereby realizing adjusting the stacked battery poles in real time during the stacking of the battery pole pieces. The position of the sheet can be such that the positional relationship between the adjacent stacked battery pole pieces conforms to the process requirements, and finally the battery yield can be improved.

 [Description of the Drawings]

1 is a schematic structural view of a first embodiment of a battery pole piece detecting device of the present invention;

2 is a schematic diagram of an application scenario of the battery pole piece detecting device shown in FIG. 1;

3 is a schematic diagram of another application scenario of the battery pole piece detecting device shown in FIG. 1;

4 is a schematic structural view of a second embodiment of a battery pole piece detecting device of the present invention;

FIG. 5 is a schematic diagram of an application scenario of the battery pole piece detecting device shown in FIG. 4; FIG.

6 is a schematic structural view of a third embodiment of a battery pole piece detecting device of the present invention;

7 is a schematic structural view of a first embodiment of a battery pole piece detecting system of the present invention;

Figure 8 is a schematic structural view of a second embodiment of the battery pole piece detecting system of the present invention;

9 is a schematic structural view of a third embodiment of a battery pole piece detecting system of the present invention;

Figure 10 is a schematic structural view of an embodiment of the lamination machine of the present invention;

11 is a schematic flow chart of an embodiment of a method for detecting a pole piece of a battery according to the present invention;

12 is a schematic flow chart of the first sub-step of step S102 in FIG. 11;

13 is a schematic flow chart of a sub-step before step S102 in FIG. 11;

FIG. 14 is a schematic flow chart of the second sub-step of step S102 and one sub-step of step S103 in FIG.

【Detailed ways】

The invention will now be described in detail in conjunction with the drawings and embodiments.

As shown in FIG. 1, the first embodiment 10 of the battery pole piece detecting device of the present invention comprises:

An image obtaining device 101, configured to acquire an image of a battery pole piece;

The image acquisition device 101 includes, but is not limited to, a camera (such as a 3D camera, an RGB-D camera, a laser camera, etc.).

Specifically, in an application example, as shown in FIG. 2, the image obtaining device 101 may be a depth camera, such as a 3D camera, capturing a three-dimensional image of the battery pole piece 201 every time a battery pole piece 201 is stacked, and The three-dimensional image is saved or directly uploaded to the detection circuit 102 for subsequent image processing. The battery pole piece 201 may be a positive electrode sheet unit 201a or a negative electrode sheet 201b. The positive electrode sheet unit 201a includes a positive electrode sheet and a separator. Alternatively, the battery pole piece 201 may also be a positive electrode sheet or a negative electrode sheet unit. The negative electrode sheet and the separator, that is, the positive/negative electrode sheet may be stacked in advance with the separator as a unit, and then stacked on the other negative/positive sheet, or the battery sheet 201 may be a positive electrode unit or a negative electrode unit. When the battery pole piece 201 is stacked, the negative electrode sheet, the separator, and the positive electrode sheet are left adjacent to each other, or the positive electrode sheet, the separator, and the negative electrode sheet are stacked adjacent to each other. Wherein, for an image acquisition device such as a camera, the image acquisition device may be periodically recalibrated to reduce the influence of the drift phenomenon during use on the accuracy.

Of course, in other applications, the image acquisition device may also include at least two cameras that capture battery pole pieces from different angles, such as one camera for panning the battery pole piece and the other camera for shooting. The side of the battery pole piece to obtain a three-dimensional image of the battery pole piece. When two or more cameras are used, it is necessary to unify the coordinates of the camera, for example, to associate the position data of each camera to the same world coordinates to avoid errors due to uncoordinated coordinates.

The light source 104 is configured to illuminate the battery pole piece such that the image acquiring device 101 acquires an image of the battery pole piece under the illumination of the light source 104, so that the outline of the battery pole piece is conspicuous, and the image recognition accuracy due to the battery pole piece stacking is avoided. decline.

The light source 104 may include at least one of a top light source, a backlight, and a side light source. The specific light source may be set according to actual needs, such as a white light or a monochromatic light, which is not specifically limited herein.

Specifically, in an application example, as shown in FIG. 2, a top light source 104a, a backlight 104b, and a side light source 104c are disposed on the periphery of the battery pole piece 201 placement area, wherein the top light source 104a is used in the opposite direction along the Z axis. Light is emitted to the battery pole piece 201, and the backlight 104b is for emitting light to the battery pole piece 201 in the Z-axis direction, and the side light source 104c is for emitting light to the battery pole piece 201 in a direction perpendicular to the Z-axis. The top light source 104a, the backlight 104b, and the side light source 104c are all coupled to the image acquiring device 101, and the image capturing device can be made by using the selective switch top light source 104a, the backlight 104b, and the side light source 104c, that is, matching different light effects. In the image acquired by 101, the outline of the battery pole piece 201 is clearer, thereby facilitating the recognition of the position of the battery pole piece 201 in subsequent image processing. The switching time of the top light source 104a, the backlight 104b, and the side light source 104c may be a preset fixed period, or there may be one control circuit (not shown), which is controlled according to the interval of the acquired image by the image acquiring device 101. The switch of the light source, the specific switching time depends on the actual needs, and is not specifically limited here.

The detecting circuit 102 is coupled to the image obtaining device 101 for processing an image of the battery pole piece and acquiring the relative positions of the two battery pole pieces disposed adjacent to each other;

Wherein the relative positions of the two stacked battery pole pieces disposed adjacently comprise the positional relationship of the two battery pole pieces disposed adjacent to each other in a horizontal plane (the XY plane in FIG. 2), and in a plane perpendicular to the horizontal plane. The positional relationship in the direction (the Z-axis direction in Fig. 2).

Specifically, in combination with FIG. 2, in the above application example, the detecting circuit 102 acquires an image of the currently placed battery pole piece 201 from the image acquiring device 101, that is, acquires a three-dimensional image of the battery pole piece 201, and uses image recognition. The technology recognizes two battery pole pieces 201 disposed adjacent to each other in the image, and calculates the two adjacent stacked layers by using the data of the identified battery pole pieces (such as pole piece width, thickness, center position coordinates, etc.) The relative positional relationship between the sheet pole pieces 201 (e.g., relative offset distance or angle). For example, in FIG. 2, the contours of the positive electrode sheet unit 201a and the negative electrode sheet 201b disposed adjacent to each other in the image are identified by edge detection, so that the relative positional relationship (such as the size difference) of the positive electrode sheet unit 201a and the negative electrode sheet in the XY plane can be obtained. , the center position coordinate offset distance and angle, etc., and using the depth data between the positive electrode sheet unit 201a and the negative electrode sheet 201b in the image, the positional relationship of the positive electrode sheet unit 201a and the negative electrode sheet 201b in the Z-axis direction is calculated. Such as the distance between the positive electrode sheet unit 201a and the negative electrode sheet 201b and the thickness of the pole piece. Of course, in other applications, the illumination angle and the image acquisition angle may be adjusted by adjusting the posture of the light source and/or the image acquisition device to obtain multiple images for processing, thereby facilitating more accurate identification of the contour and position of the battery pole piece.

Optionally, the detection circuit 102 is further configured to identify the contour of the battery pole piece 201 to determine the position of the battery pole piece 201 in the image.

The detecting circuit 102 is further configured to compare the positions of the two battery pole pieces 201 disposed adjacent to each other in the image to obtain the relative positions of the two battery pole pieces 201 disposed adjacent to each other.

Specifically, in an application example, after the detection circuit 102 acquires the image of the battery pole piece 201 under the illumination of the light source 104 from the image acquisition device 101, and performs image processing on the image, an edge detection algorithm such as a differential operator method may be utilized. , a template matching method, a wavelet detection method, a neural network method, etc., identifying the contour of the battery pole piece 201 in the image, thereby determining the position of the battery pole piece 201 in the image, for example, the range of the area surrounded by the outline as the battery The position of the pole piece 201 in the image. The position may be calibrated by using a coordinate set or the like, and the coordinate may be a coordinate in the coordinate system of the detection circuit 102 or the image acquisition device 101 itself, or may be a coordinate in a unified world coordinate system. limited.

In the above application example, the image of the battery pole piece 201 acquired by the detecting circuit 102 may be a three-dimensional image or a two-dimensional image.

When the detection circuit 102 acquires a three-dimensional image, the detection circuit 102 can directly perform image processing using the acquired three-dimensional image, such as image segmentation, edge detection, etc., to identify the edges of the two battery pole pieces 201 disposed adjacent to each other. The edges of the positive electrode sheet unit 201a and the negative electrode sheet 201b which are disposed adjacent to each other as shown in FIG. 2, thereby determining the positions of the positive electrode sheet unit 201a and the negative electrode sheet 201b in the image, respectively, and comparing the positions of the two, finally obtain The relative positional relationship between the two, for example, using the vertex coordinates of the positive electrode sheet unit 201a and the negative electrode sheet 201b, respectively, obtain the range of the region surrounded by the projection points of the vertices of the XY plane, and the vertices of the two are on the Z axis. The distance between the projected points.

When the detection circuit 102 acquires a two-dimensional image, the detection circuit 102 can determine the relative positions of the two battery pole pieces 201 disposed adjacent to each other by using a plurality of two-dimensional images, for example, the adjacent positions acquired by the image acquisition device 101 at the same time. A top view image and a side view image of the positive electrode sheet unit 201a and the negative electrode sheet 201b which are stacked and arranged, and the relative position of the positive electrode sheet unit 201a and the negative electrode sheet 201b in the XY plane can be obtained by using the plan view image, and the positive electrode can be obtained by using the side view image The relative positions of the sheet unit 201a and the negative electrode sheet 201b in the Z-axis direction, such as the distance between the two battery sheets described above and/or the thickness of the two battery sheets. When the negative electrode sheet 201b is obtained in the plan view image, the position of the negative electrode sheet 201b in the image can be determined by the plan view image, and the top view image of the positive electrode sheet unit 201a disposed adjacent to the stack can be used to acquire the The position of the positive electrode sheet unit 201a in the image, so that the positions of the positive electrode sheet unit 201a and the negative electrode sheet 201b in the image can be compared, and the relative positions of the two battery electrode sheets in the XY plane can be obtained. The above two top view images are taken at the same angle by the same image acquisition device.

In another application example, as shown in FIG. 3, a reference object 202 may be disposed on the operating platform of the lamination machine outside the area where the battery pole piece 201 is placed, and within the image acquisition range of the image capturing device. After the reference object 202 is used as a reference position, the detection circuit 102 can directly compare the position of the battery pole piece 201 and the reference object 202 in the image to obtain the battery pole piece 201 and each time the image of the battery pole piece 201 is acquired. The relative positions between the reference objects 202 are then compared, and the relative positions between the two battery pole pieces 201 and the reference object 202 disposed adjacent to each other are compared to obtain the relative positions of the two battery pole pieces 201 disposed adjacent to each other. In other applications, the initially placed battery pole piece can also be used as the reference, and the position of the initially placed battery pole piece can be used as the position of the reference object for subsequent position comparison. In this application example, by using the fixed reference material for position comparison, it is possible to avoid the influence of the positional variation of the image acquisition device and the light source on the position of the battery pole piece in the image.

For example, in FIG. 3, first, the positions of the positive electrode sheet unit 201a and the reference object 202 in the image, and the positions of the negative electrode sheet 201b and the reference object 202 in the image are respectively compared, and the positive electrode sheet unit 201a and the reference object 202 can be respectively obtained. The relative position, and the relative position between the negative electrode tab 201b and the reference material 202, and then comparing the two relative positions between the positive electrode sheet unit 201a and the negative electrode sheet 201b and the reference material 202, the adjacent stacked positions can be obtained. The relative positions of the positive electrode tab unit 201a and the negative electrode tab 201b. Wherein, the position and the relative position may be represented by a coordinate set and/or a vector.

The feedback circuit 103 is coupled to the detecting circuit 102 for feeding back the relative positions of the two stacked battery pole pieces disposed adjacent to each other to the laminating machine 20, so that the laminating machine 20 adjusts the pendulum of the battery pole piece in real time according to the relative position. Put the position.

Specifically, in the above application example, the feedback circuit 103 obtains the relative positional relationship between the two battery pole pieces 201 disposed adjacent to each other in the stacking circuit 102, and then feeds back to the laminator 20, and the laminator 20 determines the currently placed battery. Whether the position of the pole piece 201 meets the process requirement, that is, whether the relative position between the two battery pole pieces 201 disposed adjacent to each other is within a preset range, and the preset range is adjacent to the battery pole piece process requirement. The relative position between the stacked battery pole pieces, for example, the projection of the positive electrode sheet in the stacking direction is in the region of the negative electrode sheet, and the projection of the negative electrode sheet in the stacking direction is in the region of the separator, or the center of the positive electrode sheet and the negative electrode The center of the film and the center of the diaphragm are on the same line. The specific value of the preset range can be set by the user or automatically recognized by the battery type, which is not specifically limited herein. When the relative position between the two stacked battery pole pieces 201 disposed adjacent to each other exceeds a preset range, the position of the currently placed battery pole piece 201 can be adjusted in real time, so that adjacent stacking settings are made. The relative position between the two battery pole pieces 201 is within the preset range. The laminator 20 can adjust the position of the battery pole piece 201 according to the relative position each time the battery pole piece 201 is placed, and finally all the battery pole pieces in the entire battery can meet the process requirements, and further Improve the pass rate of the battery.

In another application example, the feedback circuit 103 can also directly determine whether the position of the currently placed battery pole piece 201 meets the process requirements, and set the adjacent stack when the position of the battery pole piece 201 does not meet the process requirements. The relative positional relationship of the two battery pole pieces 201 is fed back to the laminator 20, and the lamination machine 20 adjusts the position of the currently placed battery pole piece 201 in real time. In addition, the feedback circuit 103 can also feed back the unqualified battery pole piece 201 to the laminator 20, so that the laminator 20 discards the unqualified battery pole piece 201, thereby further improving the battery yield.

In other embodiments, the image acquisition device may employ a conventional camera to slap the battery pole piece and combine a distance measuring device to obtain a relative position between two battery pole pieces disposed adjacent to each other.

Specifically, as shown in FIG. 4, the second embodiment 40 of the battery pole piece detecting device of the present invention is similar to the first embodiment of the battery pole piece detecting device of the present invention in FIG. 1, except that the battery pole piece detecting device of the present invention is different. 40 further includes: a distance measuring device 105 coupled to the detecting circuit 102 for measuring a distance between at least two battery pole pieces placed adjacent to each other.

The ranging device 105 includes, but is not limited to, a laser, a grating, an infrared range finder, and an ultrasonic range finder. This embodiment is described by taking a laser as an example.

Specifically, in combination with FIG. 5, in an application example, the image acquisition device 101 employs a general industrial camera, and overtakes the battery pole piece 201, stacking one battery pole piece 201 at a time, and at least one image is taken and combined. The laser 105 emits laser light perpendicular to the battery pole piece 201 to the battery pole piece 201. Since the laser light can penetrate the battery pole piece 201 and reflect light, thereby measuring by laser ranging principle, such as laser triangulation, The distance between at least two battery pole pieces 201 placed adjacently stacked, as in the distance between the positive electrode sheet unit 201a and the negative electrode sheet 201b in FIG. Wherein, the distance may be the sum of the thicknesses of the positive electrode sheet unit 201a and the negative electrode sheet 201b, and may also include the thickness of the positive electrode sheet unit 201a and the thickness of the negative electrode sheet 201b, depending on the ranging accuracy of the laser 105 and actual needs. , there is no specific limit here. Of course, in other embodiments, the ranging device can also be integrated with the image acquisition device.

After the detecting circuit 102 acquires the image of the battery pole piece and the distance between the at least two battery pole pieces, the image of the battery pole piece is processed, and at least two battery pole pieces placed adjacent to each other are obtained on the first plane. a first relative position, wherein the first plane is perpendicular to a stacking direction of the battery pole pieces, such as a first relative position of the positive electrode sheet unit 201a and the negative electrode sheet 201b shown in FIG. 5 on the XY plane, and the at least two sheets are utilized a distance between the battery pole pieces, obtaining a second relative position of the at least two battery pole pieces in a direction perpendicular to the first plane, such as the second of the positive electrode sheet unit 201a and the negative electrode sheet 201b in the Z-axis direction in FIG. relative position. For the acquisition process of the first relative position and the second relative position, reference may be made to the content of the first embodiment of the battery pole piece detecting device of the present invention, which is not repeated here. Wherein, after the detecting circuit acquires the second relative position between the two adjacent battery pole pieces, the second relative position needs to be associated with the coordinates unified with the image acquiring device to avoid errors caused by the coordinate inconsistency. Of course, in other embodiments, the ranging device can also directly acquire second relative position data between two adjacent battery pole pieces.

In other embodiments, the battery pole piece detecting device may further establish a three-dimensional model according to the relative positional relationship of the at least two battery pole pieces disposed in the adjacent stack, and reconstruct the three-dimensional structure of the battery pole piece to more intuitively Determine if the stack of battery pole pieces meets the process requirements.

Specifically, as shown in FIG. 6, the third embodiment 50 of the battery pole piece detecting device of the present invention is similar to the second embodiment of the battery pole piece detecting device of the present invention in FIG. 4, except that the battery pole piece detecting device of the present invention is different. The method further includes: a three-dimensional modeling circuit 106 coupled to the detecting circuit 102, configured to establish a three-dimensional model of the at least two battery pole pieces by using a first relative position and a second relative position between the at least two battery pole pieces To obtain the relative position between the currently placed battery pole piece and the battery pole piece disposed adjacent to it.

Specifically, in one application, the three-dimensional modeling circuit 106 can obtain between the currently stacked battery pole pieces and the adjacent stacked battery pole pieces from the detecting circuit 102 each time a battery pole piece is stacked. a first relative position and a second relative position, and then the first relative position and the second relative position can be utilized to establish a three-dimensional model of the currently stacked battery pole piece and its adjacent stacked battery pole pieces, and can be utilized The color, shape and the like of the battery pole piece in the image render the three-dimensional model such that the three-dimensional model is closer to the real battery pole piece structure, and the three-dimensional model can more easily and intuitively acquire the currently placed battery pole piece and By repeating the above process by the relative positions between adjacently stacked battery pole pieces, the three-dimensional structure of the battery pole piece of the entire battery can be reconstructed. The three-dimensional modeling circuit 106 can also analyze the position deviation of the multi-layer battery pole piece projected onto the same plane in the three-dimensional model, draw a deviation curve, and also view the cross-section of the multi-layer battery pole piece in the three-dimensional model. In order to obtain the position data of the battery pole piece more intuitively.

The feedback circuit 103 is coupled to the detection circuit 102 through the three-dimensional modeling circuit 106. The feedback circuit 103 is further configured to feed back the relative position between the currently placed battery pole piece and the battery pole piece disposed adjacent to the laminated layer to the lamination machine. In order to make the laminator adjust the position of the currently placed battery pole piece in real time according to the relative position.

In other embodiments, the three-dimensional modeling circuit can also be used for a standard model established according to a user input process parameter, which is a model of a battery pole stack stacked in accordance with a battery lamination process requirement, and the three-dimensional modeling circuit can Comparing the three-dimensional model of the battery pole piece established in real time with the standard model, and obtaining the current relative position between the currently placed battery pole piece and the battery pole piece stacked adjacent thereto and two pieces of adjacent stacking in the standard model The deviation of the standard relative position between the battery pole pieces, and feedback the deviation to the feedback circuit, which is fed back to the laminator by the feedback circuit to adjust the position of the currently placed battery pole piece in real time. The three-dimensional modeling circuit can also be integrated in the detection circuit to implement the above functions using the modeling algorithm in the detection circuit.

As shown in FIG. 7, the first embodiment 60 of the battery pole piece detecting system of the present invention includes at least: a battery pole piece detecting device 601, and the structure of the battery pole piece detecting device 601 can refer to the first to the second battery detecting device of the present invention. The structure of any of the three embodiments is not repeated here.

In this embodiment, the image of the obtained battery pole piece is processed by the battery pole piece detecting device, and the relative positions of the two battery pole pieces disposed adjacent to each other are obtained, and the relative position is fed back to the laminating machine. The laminating machine adjusts the position of the battery pole piece in real time according to the relative position, thereby realizing adjusting the position of the stacked battery pole piece in real time during the process of stacking the battery pole piece, thereby enabling the adjacent stacked battery to be arranged. The positional relationship between the pole pieces meets the process requirements, and ultimately the battery yield can be improved.

As shown in FIG. 8, the second embodiment 70 of the battery pole piece detecting system of the present invention comprises: a battery pole piece detecting device 601 and a laminating machine 602. The structure of the battery pole piece detecting device 601 can refer to the battery pole piece detecting device of the present invention. The structure of any one of the first to third embodiments will not be repeated here.

The structure of the battery pole piece detecting device 601 in this embodiment is described by taking the structure of the first embodiment of the battery pole piece detecting device of the present invention as an example.

The laminating machine 602 is coupled to the feedback circuit 103 of the battery pole piece detecting device 601 for real-time adjustment of the currently placed battery pole piece according to the relative position between the two battery pole pieces disposed adjacent to the feedback circuit 103. The position is placed such that the currently placed battery pole piece is placed in a preset position.

The preset position is a preset position of the currently placed battery pole piece that meets the process requirements.

Specifically, in an application example, after the lamination machine 602 obtains the relative position between two battery pole pieces disposed adjacent to each other from the feedback circuit 103, it can be determined whether the relative position meets the process requirement, for example, whether the relative position is In a preset range, the preset range is a positional relationship between the two battery pole pieces arranged in an adjacent stack that meets the requirements of the battery pole stacking process. When the relative position does not meet the process requirements, if the relative position exceeds the When the range is preset, the laminator 602 adjusts the placement position of the currently placed battery pole piece in real time so that the currently placed battery pole piece is placed at the preset position.

In this embodiment, the laminating machine can repeat the above process each time a battery pole piece is stacked, so that the finally formed battery pole piece structure can meet the process requirements and improve the battery qualification rate.

As shown in FIG. 9, the third embodiment 80 of the battery pole piece detecting system of the present invention comprises: a battery pole piece detecting device 601 and a laminating machine 602. The structure of the battery pole piece detecting device 601 can refer to the battery pole piece detecting device of the present invention. The structure of any one of the first to third embodiments will not be repeated here.

The structure of the battery pole piece detecting device 601 in this embodiment is described by taking the structure of the first embodiment of the battery pole piece detecting device of the present invention as an example.

The laminating machine 602 includes a lamination control circuit 6021 coupled to the feedback circuit 103 for determining whether a relative position between the currently placed battery pole piece and the battery pole piece disposed adjacent to the battery pole is greater than a preset range. And when the relative position is greater than the preset range, the control lamination mechanism 6023 adjusts the placement position of the battery pole piece in real time, so that the currently placed battery pole piece is placed in the preset position; wherein the lamination mechanism 6023 is coupled The lamination control circuit 6021.

Wherein, the preset position is a preset position of the currently placed battery pole piece meeting the process requirement, and the preset range is the two battery pole pieces arranged in an adjacent stacking manner meeting the requirements of the battery pole piece stacking process. The positional relationship between.

Optionally, the lamination machine 602 further includes an operating platform 6022 for placing a battery pole piece.

Optionally, the laminator 602 further includes a lamination mechanism 6023 for acquiring the battery pole pieces and laminating the battery pole pieces on the operation platform 6022.

The lamination mechanism 6023 can be fixedly disposed on the operating platform 6022. The lamination mechanism 6023 can include a structure such as a mechanical gripper or a vacuum chuck for acquiring a battery pole piece and moving the battery pole piece to the stacking area. Place it.

Optionally, as shown in FIG. 3, a reference object 202 is fixedly disposed on the operating platform 6022. The reference object 202 is disposed in the image acquisition range of the image capturing device 101 and outside the placement area of the battery pole piece.

The process of processing the image of the battery pole piece by the detecting circuit 102 by using the reference object 202 can refer to the content of the first embodiment of the battery pole piece detecting device of the present invention, which is not repeated here.

In other implementations, the battery pole piece detection system can also include a transfer mechanism for transporting the battery pole piece. The battery pole piece detecting device can also be integrated in the laminator.

Specifically, as shown in FIG. 10, an embodiment 90 of the lamination machine of the present invention includes a battery pole piece detecting device 901. The structure of the battery pole piece detecting device 901 can refer to the structure of any one of the first to third embodiments of the battery pole piece detecting device of the present invention, and will not be repeated here.

In other embodiments, the laminator 90 may further include other components such as a transport mechanism, an operating platform, a reference, and a lamination mechanism, which are not specifically limited herein.

In this embodiment, the lamination machine processes the image of the obtained battery pole piece by using the battery pole piece detecting device, and can obtain the relative positions of the two battery pole pieces disposed adjacent to each other, and adjust the battery pole according to the relative position in real time. The position of the sheet, in the process of stacking the battery pole pieces, real-time adjustment of the position of the stacked battery pole pieces, so that the positional relationship between the adjacent stacked battery pole pieces can meet the process requirements, and finally Can improve the battery pass rate.

As shown in FIG. 11, an embodiment of the battery pole piece detecting method of the present invention includes:

S101: Obtain an image of a battery pole piece;

S102: processing an image of the battery pole piece, and acquiring a relative position of two battery pole pieces disposed adjacent to each other;

Wherein, when processing the image of the battery pole piece, the position of the battery pole piece in the image can be determined by identifying the contour of the battery pole piece, and then the position of the two battery pole pieces disposed adjacent to each other in the image can be used. The relative positions of the two battery pole pieces disposed adjacent to each other are determined.

S103: The relative positions of the two battery pole pieces disposed adjacent to each other are fed back to the laminating machine, so that the laminating machine adjusts the position of the battery pole pieces in real time according to the relative position.

Optionally, as shown in FIG. 12, step S102 further includes:

S1021: Compare the positions of the two battery pole pieces disposed adjacent to each other in the image, or compare the relative positions between the two battery pole pieces disposed adjacent to each other to the reference material to obtain two batteries arranged adjacent to each other. The relative position of the pole pieces.

Optionally, as shown in FIG. 13, before step S102, the method further includes:

S1011: Measure the distance between at least two battery pole pieces placed adjacent to each other.

Wherein, the distance between at least two battery pole pieces placed adjacent to each other can be measured by using a device such as a laser, an infrared range finder, an ultrasonic range finder or a grating. For example, a laser can be used to emit a laser perpendicular to the battery pole piece to the battery pole piece to measure the distance between at least two battery pole pieces placed adjacent to each other.

As shown in FIG. 14, step S102 further includes:

S1022: processing an image of the battery pole piece, acquiring a first relative position of at least two battery pole pieces placed adjacent to each other on a first plane, and obtaining at least two pieces by using a distance between at least two battery pole pieces a second relative position of the battery pole piece in a direction perpendicular to the first plane; wherein the first plane is perpendicular to the stacking direction of the battery pole piece.

Optionally, step S102 further includes:

S1023: Using the first relative position and the second relative position, establishing a three-dimensional model of at least two battery pole pieces to obtain a relative position between the currently placed battery pole piece and the battery pole piece disposed adjacent thereto.

Step S103 further includes:

S1031: feeding back the relative position between the currently placed battery pole piece and the battery pole piece disposed adjacent to the laminated layer to the laminating machine, so that the laminating machine adjusts the placement of the currently placed battery pole piece in real time according to the relative position. position.

For the specific implementation process of the foregoing steps, reference may be made to the contents of the first to third embodiments of the battery pole piece detecting device of the present invention, which are not repeated here.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (32)

1. A battery pole piece detecting device, comprising:

   a light source for illuminating the battery pole piece;

   An image acquiring device, configured to acquire an image of the battery pole piece under illumination by the light source;

   a detecting circuit, coupled to the image acquiring device, for processing the image of the battery pole piece, and acquiring relative positions of two pieces of the battery pole pieces disposed adjacent to each other;

   a feedback circuit, coupled to the detecting circuit, for feeding back the relative positions of the two stacked battery pole pieces disposed adjacent to each other to the laminating machine, so that the laminating machine adjusts in real time according to the relative position The placement position of the battery pole piece.
2. The battery pole piece detecting apparatus according to claim 1, wherein said detecting circuit is further configured to identify a contour of said battery pole piece to determine a position of said battery pole piece in said image.
3. The battery pole piece detecting apparatus according to claim 2, wherein the detecting circuit is further configured to compare positions of two pieces of the battery pole pieces disposed adjacent to each other in the image to obtain the phase The relative positions of the two sheets of the battery sheets disposed adjacent to each other.
4. The battery pole piece detecting apparatus according to claim 2, wherein said detecting circuit is further configured to compare positions of said battery pole piece and a reference in said image to obtain said battery pole piece and said The relative position between the references.
5. The battery pole piece detecting apparatus according to claim 4, wherein the detecting circuit is further configured to compare relative positions between the two battery pole pieces disposed adjacent to each other and the reference object to obtain The relative positions of the two sheets of the battery sheets disposed adjacent to each other.
6. The battery pole piece detecting apparatus according to claim 4, wherein the reference object is fixedly disposed on an operation platform of the lamination machine and within an image acquisition range of the image acquisition device, or is initially placed A battery pole piece was used as the reference.
7. The battery pole piece detecting apparatus according to claim 1, further comprising: a distance measuring device coupled to the detecting circuit, configured to measure at least two of the battery pole pieces placed adjacent to each other The distance between them.
8. The battery pole piece detecting apparatus according to claim 7, wherein said distance measuring means comprises at least one of a laser, a grating, an infrared range finder, and an ultrasonic range finder.
9. The battery pole piece detecting device according to claim 7, wherein the detecting circuit is further configured to process the image of the battery pole piece to obtain at least two of the battery poles disposed adjacent to each other a first relative position of the sheet on the first plane, and using the distance between the at least two sheets of the battery pole pieces, obtaining the at least two sheets of the battery pole piece in a direction perpendicular to the first plane Second relative position;

   Wherein the first plane is perpendicular to a stacking direction of the battery pole pieces.
10. The battery pole piece detecting apparatus according to claim 9, further comprising: a three-dimensional modeling circuit coupled to the detecting circuit, configured to establish by using the first relative position and the second relative position And a three-dimensional model of the at least two sheets of the battery pole pieces to obtain a relative position between the currently placed battery pole piece and the battery pole piece stacked adjacent thereto.
11. The battery pole piece detecting apparatus according to claim 10, wherein the feedback circuit is coupled to the detecting circuit through the three-dimensional modeling circuit, and the feedback circuit is further configured to use the battery pole currently placed And a relative position between the sheet and the battery pole piece disposed adjacent to the stack is fed back to the laminating machine, so that the laminator adjusts the pendulum of the currently placed battery pole piece in real time according to the relative position Put the position.
12. The battery pole piece detecting apparatus according to claim 1, wherein the battery pole piece comprises a positive electrode sheet unit and a negative electrode sheet, and each of the positive electrode sheet units and each of the negative electrode sheets are adjacently stacked; or The battery pole piece includes a negative electrode sheet unit and a positive electrode sheet, and each of the negative electrode sheet units and each of the positive electrode sheets are disposed adjacent to each other.
13. The battery sheet detecting apparatus according to claim 12, wherein the positive electrode sheet unit comprises a positive electrode sheet and a separator which are laminated, and when the positive electrode sheet unit and the negative electrode sheet are stacked, the separator and the separator The negative electrode sheets are adjacent to each other; the negative electrode sheet unit includes a negative electrode sheet and a separator which are laminated, and when the negative electrode sheet unit and the positive electrode sheet are stacked, the separator is adjacent to the positive electrode sheet.
14. A battery pole piece detecting system characterized by comprising at least the battery pole piece detecting device according to any one of claims 1-13.
15. The battery pole piece detecting system according to claim 14, further comprising: a laminating machine coupled to the feedback circuit, configured to adjust a position of the battery pole piece in real time according to the relative position, So that the battery pole piece is placed in a preset position.
16. The battery pole piece detecting system according to claim 15, wherein the laminating machine comprises: a lamination control circuit coupled to the feedback circuit for judging the currently placed battery pole piece and the same Whether the relative position between the battery pole pieces disposed adjacent to each other is greater than a preset range, and when the relative position is greater than the preset range, controlling the lamination mechanism to adjust the placement position of the battery pole piece in real time, so that The currently placed battery pole piece is placed at the preset position;

    The lamination mechanism is coupled to the lamination control circuit.
17. The battery pole piece detecting system according to claim 16, wherein the laminating machine further comprises: an operating platform for placing the battery pole piece.
18. The battery pole piece detecting system according to claim 17, wherein said lamination machine further comprises: said lamination mechanism, said lamination mechanism for acquiring said battery pole piece, and said battery The pole pieces are stacked on the operating platform.
19. The battery pole piece detecting system according to claim 17, wherein a reference object is fixedly disposed on the operating platform, and the reference object is disposed in an image acquisition range of the image acquiring device and at the battery pole Outside the placement area of the piece.
20. A laminating machine comprising: the battery pole piece detecting apparatus according to any one of claims 1 to 13.
21. A battery pole piece detecting method, comprising:

    Obtain an image of the battery pole piece;

    Processing the image of the battery pole piece to obtain a relative position of two pieces of the battery pole piece disposed adjacent to each other;

    The relative positions of the two battery pole pieces disposed adjacently stacked are fed back to the laminating machine, so that the laminating machine adjusts the position of the battery pole pieces in real time according to the relative position.
22. The battery pole piece detecting method according to claim 21, wherein the processing the image of the battery pole piece to obtain the relative positions of the two stacked battery pole pieces disposed adjacent to each other comprises:

    A profile of the battery pole piece is identified to determine the position of the battery pole piece in the image.
23. The battery pole piece detecting method according to claim 22, wherein the identifying the outline of the battery pole piece to determine the position of the battery pole piece in the image further comprises:

    Comparing the positions of the two sheets of the battery sheets arranged adjacent to each other in the image to obtain the relative positions of the two sheets of the battery sheets disposed adjacent to each other.
24. The battery pole piece detecting method according to claim 22, wherein the identifying the outline of the battery pole piece to determine the position of the battery pole piece in the image further comprises:

    Comparing the position of the battery pole piece and the reference in the image to obtain a relative position between the battery pole piece and the reference.
25. The battery pole piece detecting method according to claim 24, wherein said comparing a position of said battery pole piece and a reference in said image to obtain between said battery pole piece and said reference object After the relative position, further includes:

    Comparing the relative positions between the two pieces of the battery pole pieces disposed adjacent to each other and the reference material to obtain the relative positions of the two pieces of the battery pole pieces disposed adjacent to each other.
26. The battery pole piece detecting method according to claim 24, wherein the reference object is fixedly disposed on an operation platform of the lamination machine and within an image acquisition range of the image acquisition device, or is initially placed A battery pole piece was used as the reference.
27. The battery pole piece detecting method according to claim 21, wherein before the obtaining the relative positions of the two stacked battery sheets disposed adjacent to each other, the method further comprises:

    The distance between at least two of the battery pole pieces placed adjacent to each other is measured.
28. The battery pole piece detecting method according to claim 27, wherein the processing the image of the battery pole piece to obtain the relative positions of the two stacked battery pole pieces disposed adjacent to each other further comprises:

    Processing the image of the battery pole piece to obtain a first relative position of the at least two pieces of the battery pole piece placed adjacent to each other on a first plane, and using the at least two pieces of the battery pole piece a second relative position of the at least two pieces of the battery pole piece in a direction perpendicular to the first plane;

    Wherein the first plane is perpendicular to a stacking direction of the battery pole pieces.
29. The battery pole piece detecting method according to claim 28, wherein the processing the image of the battery pole piece to obtain the relative positions of the two stacked battery pole pieces disposed adjacent to each other further comprises:

    Using the first relative position and the second relative position, establishing a three-dimensional model of the at least two pieces of the battery pole piece to obtain the currently placed battery pole piece and the battery pole piece stacked adjacent thereto The relative position between.
30. The battery pole piece detecting method according to claim 29, wherein said opposing positions of said two battery pole pieces disposed adjacently stacked are fed back to the laminating machine so that the laminating machine is The relative position of the battery in real time to adjust the placement of the battery pole pieces includes:

    Returning the relative position between the currently placed battery pole piece and the battery pole piece disposed adjacent thereto to the lamination machine, so that the laminator adjusts the current placement in real time according to the relative position The position of the battery pole piece.
31. The battery pole piece detecting method according to claim 21, wherein the battery pole piece comprises a positive electrode sheet unit and a negative electrode sheet, and each of the positive electrode sheet units and each of the negative electrode sheets are adjacently stacked; or The battery pole piece includes a negative electrode sheet unit and a positive electrode sheet, and each of the negative electrode sheet units and each of the positive electrode sheets are disposed adjacent to each other.
32. The battery sheet detecting method according to claim 31, wherein the positive electrode sheet unit comprises a positive electrode sheet and a separator which are laminated, and when the positive electrode sheet unit and the negative electrode sheet are stacked, the separator and the separator The negative electrode sheets are adjacent to each other; the negative electrode sheet unit includes a negative electrode sheet and a separator which are laminated, and when the negative electrode sheet unit and the positive electrode sheet are stacked, the separator is adjacent to the positive electrode sheet.