Laser vision positioning system and positioning method

Abstract

The present invention provides a laser vision positioning method. When laser scribing is performed, the main grid line of a cell is used as a reference point for positioning the cell, and the method includes the following steps: obtaining the positions of at least two main grid lines, and the multiple main grid lines are symmetrically arranged along the center line of the main grid line direction of the cell; setting at least two positioning areas on each main grid line of the determined position, and the multiple positioning areas are symmetrically arranged along the center line of the fine grid line direction of the cell; at each positioning area, obtaining multiple coordinate points where the main grid line and the fine grid line intersect, and calculating the center point of a positioning area based on the multiple coordinate points; and calculating the center point of the cell based on the center point of each positioning area. The present invention has the beneficial effects of simple and clear logic design, higher positioning accuracy, and reduced cell loss or cutting offset caused by MARK point errors of the cell.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic technology, and in particular relates to a laser vision positioning system and a positioning method. Background Art

[0002] In the battery assembly production process, the battery cells are laser cut and then welded. The existing welding machine visual positioning uses the mark point as the logic for positioning the battery cell. This cannot avoid the problem of large errors in the battery cell mark points, resulting in inaccurate battery cell positioning and causing cutting offsets or alarms. Summary of the invention

[0003] In view of the above problems, the present invention provides a laser vision positioning system and a positioning method to solve the above or other former problems existing in the prior art.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a laser vision positioning method, when laser scribing, the main grid line of the battery cell is used as the reference point for positioning the battery cell, comprising the following steps:

[0005] Obtaining positions of at least two main grid lines, wherein the plurality of main grid lines are symmetrically arranged along a center line of the main grid line direction of the battery cell;

[0006] At least two positioning areas are set on each main grid line of the determined position, and the plurality of positioning areas are symmetrically arranged along the center line of the thin grid line direction of the battery sheet;

[0007] At each positioning area, a plurality of coordinate points where the main grid line and the fine grid line intersect are obtained, and a center point of a positioning area is calculated based on the plurality of coordinate points;

[0008] The center point of the battery cell is calculated based on the center point of each positioning area.

[0009] Furthermore, the multiple positioning areas of each main grid line are symmetrically arranged at two ends of the main grid line.

[0010] Furthermore, the plurality of main grid lines are arranged into two groups, which are respectively located on both sides of the center line of the battery cell along the direction of the main grid lines, and the two groups of main grid lines are symmetrically arranged one by one.

[0011] Furthermore, there are two main grid lines, which are symmetrically arranged on both sides of the center line of the battery cell along the direction of the main grid lines and are located near the edges of both sides of the battery cell.

[0012] Furthermore, the plurality of coordinate points are intersections of the main grid line and a plurality of adjacent fine grids, and the plurality of coordinate points are arranged on both sides of the main grid line.

[0013] Furthermore, the number of coordinate points is six.

[0014] A laser vision positioning system includes a grid line acquisition device and a control device, wherein the grid line acquisition device is connected to the control device, and the grid line acquisition device transmits acquired information to the control device;

[0015] There are multiple gate line acquisition devices, and the multiple gate line acquisition devices correspond to the main gate line positions symmetrically arranged on both sides of the center line of the battery cell along the main gate line direction, and are used to acquire at least two main gate line positions.

[0016] Furthermore, the grid line acquisition device is a visual camera.

[0017] Furthermore, multiple gate line acquisition devices are arranged into two groups, corresponding to the positions of the main gate lines symmetrically arranged on both sides of the center line of the battery cell along the main gate line direction, and the gate line acquisition devices in each group are symmetrically arranged on both sides of the center line of the battery cell along the fine gate line direction.

[0018] Furthermore, the control device includes a memory and a processor, the memory is used to store an executable program, and the processor is configured to run the executable program.

[0019] Due to the adoption of the above technical scheme, a visual camera is used to obtain the position of the main grid line, and the main grid line is symmetrically arranged on both sides of the center line of the battery cell along the direction of the main grid line, and positioning areas are set at both ends of the main grid line. The positioning areas on each main grid line are symmetrically arranged on both sides of the center line of the battery cell along the direction of the fine grid line. A visual camera is used to obtain multiple coordinate points of the positioning area to calculate the position of the center point of the positioning area, and the center point of the battery cell is calculated according to the positions of each positioning area to position the battery cell, thereby avoiding cutting offset or alarm caused by mark errors. The logic design is simple and clear, and the positioning accuracy is higher, which reduces the loss of the battery cell or cutting offset caused by the MARK point error. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0021] Figure 2 It is an enlarged schematic diagram of a positioning area according to an embodiment of the present invention.

[0022] In the figure:

[0023] 1. Main grid line 2. Fine grid line 3. Coordinate point

[0024] A. Positioning area DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0026] Figure 1A structural schematic diagram of an embodiment of the present invention is shown. This embodiment relates to a laser vision positioning system and a positioning method, which are used to position a battery cell before laser scribing. When the battery cell is laser scribing, the grid lines of the battery cell are used as reference points for positioning the battery cell. The positioning accuracy is high, which reduces the loss of the cell or the cutting offset caused by the MARK point error of the battery cell.

[0027] A laser vision positioning method, when performing laser scribing, the main grid line 1 of the battery cell is used as the reference point for positioning the battery cell, such as Figure 1 and 2 As shown, the following steps are included:

[0028] The positions of at least two main grid lines 1 are obtained, and the multiple main grid lines 1 are symmetrically arranged on both sides of the center line of the battery cell along the direction of the main grid lines 1: the battery cell has multiple main grid lines 1 and thin grid lines 2, the main grid lines 1 and the thin grid lines 2 are arranged vertically, and the multiple main grid lines 1 are arranged parallel to the sides of the battery cell. Above the battery cell, multiple groups of grid line acquisition devices are arranged to obtain the positions of at least two main grid lines 1. In order to make the measured center of the battery cell closest to the actual center position of the battery cell, when obtaining the positions of the multiple main grid lines 1, the multiple main grid lines 1 are symmetrically arranged, and the multiple main grid lines 1 are symmetrically arranged along the center line of the battery cell in the direction of the main grid lines, so as to facilitate the measurement and calculation of the center position of the battery cell.

[0029] In this embodiment, multiple main bus lines 1 are arranged into two groups, which are respectively located on both sides of the center line of the battery cell along the direction of the main bus lines, and the two groups of main bus lines 1 are symmetrically arranged. The number of main bus lines 1 in each group can be one or more, which is selected according to actual needs. The main bus lines 1 in the two groups of main bus lines 1 are symmetrically arranged one by one, so that the measured and calculated center position of the battery cell is accurate.

[0030] In this embodiment, preferably, the number of main bus lines 1 in each group is one, then there are two main bus lines 1, which are symmetrically arranged on both sides of the center line of the battery cell along the direction of the main bus lines, and are located near the edges on both sides of the battery cell, that is, the two main bus lines 1 are located near both sides of the battery cell, and are the two outermost main bus lines 1 close to the battery edge among the multiple main bus lines 1 of the battery cell. The positions of these two main bus lines 1 are obtained to cover most of the area of ​​the battery cell, so that the result of the measured and calculated center position of the battery cell is closest to the actual center position of the battery cell.

[0031] At least two positioning areas A are set on each main grid line 1 of a determined position, and the multiple positioning areas A are symmetrically arranged on both sides of the center line of the battery cell along the direction of the thin grid line 2. Since the battery cell is square, in order to accurately obtain the center point position of the battery cell, the multiple positioning areas A on each main grid line 1 are symmetrically arranged along the center line of the battery cell along the direction of the thin grid line 2. The number of positioning areas A is at least two, and can be multiple, and the multiple positioning areas A are symmetrically arranged one by one along the center line of the battery cell along the direction of the thin grid line 2. Preferably, the multiple positioning areas A of each main grid line 1 are symmetrically arranged at both ends of the main grid line 1, and the symmetrical positions of the two ends of each main grid line 1 of a determined position are set as positioning areas A. Preferably, in this embodiment, each main grid line 1 has two positioning areas A, which are respectively located at the two ends of the main grid line 1.

[0032] Taking the direction of the main grid line 1 of the cell as the longitudinal axis and the direction of the thin grid line 2 of the cell as the horizontal axis, the longitudinal center line of the cell is set perpendicular to the transverse center line, and the longitudinal center line and the transverse center line intersect at one point, which is the center point of the cell. Then, the two main grid lines 1 of the acquired position are symmetrically arranged on both sides of the longitudinal center line of the cell, respectively close to the edge of the cell, and a positioning area A is set at both ends of each main grid line 1, then there are four positioning areas A, and the four positioning areas A are respectively symmetrically arranged along the intersection of the longitudinal center line and the transverse center line. The calculation result of the center point of the cell is accurate according to the coordinates of the four positioning areas A.

[0033] At each positioning area A, a plurality of coordinate points 3 where the main grid line 1 and the fine grid line 2 intersect are obtained, and a center point of a positioning area A is calculated based on the plurality of coordinate points 3. The plurality of coordinate points 3 may be the intersection points of the main grid line 1 and the adjacent fine grid lines 2, or the intersection points of the main grid line 1 and the non-adjacent fine grid lines 2, and are selected according to actual needs. Preferably, in the present embodiment, the plurality of coordinate points 3 are the intersection points of the main grid line 1 and the plurality of adjacent fine grids, and the plurality of coordinate points 3 are arranged on both sides of the main grid line 1. The main grid line 1 has a certain width, and then there are two points where a main grid line 1 intersects with a fine grid line 2, which are located on both sides of the main grid line 1. Then, the number of intersection points between the main grid line 1 and the plurality of adjacent fine grid lines 2 is a multiple of 2. In the present embodiment, the number of coordinate points 3 is six, which are the intersection points where a main grid line 1 intersects with three adjacent fine grid lines 2. Then, the six coordinate points 3 are arranged in a rectangular shape, and the center point of the positioning area A is calculated based on the six coordinate points 3.

[0034] When calculating the center point of the positioning area A, the six coordinate points 3 are connected in pairs to form three intersecting straight lines. The intersection of the three straight lines is the center point of the positioning area A.

[0035] The center point of the cell is calculated based on the center point of each positioning area A. In this embodiment, there are four positioning areas A, and the center point of the cell is calculated based on the coordinates of the center points of the four positioning areas A. When calculating the center point of the cell, the four positioning areas A are connected in pairs to form two intersecting straight lines, and the intersection of the two straight lines is the center point of the cell.

[0036] After the center point of the cell is determined, the value of this center point is fed back to the laser scribing system. The laser head of the laser scribing system is adjusted according to the position of the center point of the cell to perform scribing. The above-mentioned laser vision positioning method is used to locate the center point of the cell, with high positioning accuracy, reducing the loss of the cell or cutting offset caused by the MARK point error of the cell.

[0037] A laser vision positioning system, such as Figure 1 and 2 As shown, it includes a grid line acquisition device and a control device, the grid line acquisition device is connected to the control device, and the grid line acquisition device transmits the acquired information to the control device;

[0038] Among them, there are multiple gate line acquisition devices, and the multiple gate line acquisition devices correspond to the positions of the main gate lines 1 symmetrically arranged on both sides of the center line of the battery cell along the main gate line direction, and are used to obtain the positions of at least two main gate lines 1. The multiple gate line acquisition devices are symmetrically arranged on both sides of the center line of the battery cell along the main gate line 1 direction, and are symmetrically arranged one by one.

[0039] The grid line acquisition device is a visual camera. In this embodiment, preferably, the visual camera is a CCD camera.

[0040] A plurality of gate line acquisition devices are arranged into two groups, respectively corresponding to the main gate lines 1 symmetrically arranged on both sides of the center line of the battery cell along the main gate line direction, and the two groups of gate line acquisition devices are symmetrically arranged on both sides of the center line of the battery cell along the main gate line 1 direction, and the gate line acquisition devices in each group are symmetrically arranged on both sides of the center line of the battery cell along the fine gate line 2 direction, and the gate line acquisition devices in each group are symmetrically arranged one by one along the center line of the battery cell in the direction of the fine gate line 2.

[0041] In this embodiment, preferably, the number of gate line acquisition devices is four, and they form a group of two. The two groups of gate line acquisition devices are symmetrically arranged along the center line of the main gate line 1 of the battery cell, and the two groups of gate line acquisition devices respectively correspond to the two symmetrical main gate lines 1 positions close to the edge of the battery cell, to acquire the positions of the two main gate lines 1; the two gate line acquisition devices in each group are symmetrically arranged along the center line of the thin gate line 2 of the battery cell, and the two gate line acquisition devices are respectively located at both ends of the main gate line 1, so that the area covered by the four gate line acquisition devices is as large as possible for most of the battery cell area, so that the measurement calculation result of the center point of the battery cell is accurate.

[0042] The control device includes a memory and a processor, the memory is used to store an executable program, and the processor is configured to run the executable program, and the executable program is:

[0043] The positions of at least two main grid lines 1 are obtained, and the multiple main grid lines 1 are symmetrically arranged on both sides of the center line of the battery cell along the direction of the main grid lines 1: the battery cell has multiple main grid lines 1 and thin grid lines 2, the main grid lines 1 and the thin grid lines 2 are arranged vertically, and the multiple main grid lines 1 are arranged parallel to the sides of the battery cell. Above the battery cell, multiple groups of grid line acquisition devices are arranged to obtain the positions of at least two main grid lines 1. In order to make the measured center of the battery cell closest to the actual center position of the battery cell, when obtaining the positions of the multiple main grid lines 1, the multiple main grid lines 1 are symmetrically arranged, and the multiple main grid lines 1 are symmetrically arranged along the center line of the battery cell in the direction of the main grid lines, so as to facilitate the measurement and calculation of the center position of the battery cell.

[0044] At least two positioning areas A are set on each main grid line 1 of a determined position, and the multiple positioning areas A are symmetrically arranged on both sides of the center line of the battery cell along the direction of the thin grid line 2. Since the battery cell is square, in order to accurately obtain the center point position of the battery cell, the multiple positioning areas A on each main grid line 1 are symmetrically arranged along the center line of the battery cell along the direction of the thin grid line 2. The number of positioning areas A is at least two, and can be multiple, and the multiple positioning areas A are symmetrically arranged one by one along the center line of the battery cell along the direction of the thin grid line 2. Preferably, the multiple positioning areas A of each main grid line 1 are symmetrically arranged at both ends of the main grid line 1, and the symmetrical positions of the two ends of each main grid line 1 of a determined position are set as positioning areas A. Preferably, in this embodiment, each main grid line 1 has two positioning areas A, which are respectively located at the two ends of the main grid line 1.

[0045] At each positioning area A, multiple coordinate points 3 where the main grid line 1 and the fine grid line 2 intersect are obtained, and a center point of the positioning area A is calculated based on the multiple coordinate points 3. The multiple coordinate points 3 can be the intersection points of the main grid line 1 and the adjacent fine grid line 2, or the intersection points of the main grid line 1 and non-adjacent fine grid lines 2, and can be selected according to actual needs.

[0046] When calculating the center point of the positioning area A, the six coordinate points 3 are connected in pairs to form three intersecting straight lines. The intersection of the three straight lines is the center point of the positioning area A.

[0047] After the center point of the battery cell is determined, the value of this center point is fed back to the laser marking system. The laser head of the laser marking system is adjusted according to the position of the center point of the battery cell to perform marking.

[0048] Due to the adoption of the above technical scheme, a visual camera is used to obtain the position of the main grid line, and the main grid line is symmetrically arranged on both sides of the center line of the battery cell along the direction of the main grid line, and positioning areas are set at both ends of the main grid line. The positioning areas on each main grid line are symmetrically arranged on both sides of the center line of the battery cell along the direction of the fine grid line. A visual camera is used to obtain multiple coordinate points of the positioning area to calculate the position of the center point of the positioning area, and the center point of the battery cell is calculated according to the positions of each positioning area to position the battery cell, thereby avoiding cutting offset or alarm caused by mark errors. The logic design is simple and clear, and the positioning accuracy is higher, which reduces the loss of the battery cell or cutting offset caused by the MARK point error.

[0049] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A laser vision positioning method, characterized in that: When laser scribing is performed, the main grid line of the cell is used as the reference point for positioning the cell, including the following steps: Acquire positions of at least two main grid lines, wherein the plurality of main grid lines are symmetrically arranged along a center line of the main grid line direction of the battery cell; At least two positioning areas are set on each main grid line of the determined position, and the plurality of positioning areas are symmetrically arranged along the center line of the thin grid line direction of the battery sheet; At each positioning area, a plurality of coordinate points where the main grid line and the fine grid line intersect are obtained, and a center point of a positioning area is calculated based on the plurality of coordinate points; the plurality of coordinate points are intersection points of the main grid line and a plurality of adjacent fine grids, and the plurality of coordinate points are arranged on both sides of the main grid line; The center point of the battery cell is calculated according to the center points of each positioning area.

2. The laser vision positioning method according to claim 1, characterized in that: The multiple positioning areas of each main grid line are symmetrically arranged at two ends of the main grid line.

3. The laser vision positioning method according to claim 1 or 2, characterized in that: The plurality of main grid lines are arranged into two groups, which are respectively located on both sides of the center line of the battery cell along the direction of the main grid lines, and the two groups of main grid lines are symmetrically arranged one by one.

4. The laser vision positioning method according to claim 3, characterized in that: There are two main grid lines, which are symmetrically arranged on both sides of the center line of the battery cell along the direction of the main grid lines and are located near the edges of both sides of the battery cell.

5. The laser vision positioning method according to claim 1, characterized in that: The number of the coordinate points is six.

6. A laser vision positioning system, characterized in that: It includes a grid line acquisition device and a control device, wherein the grid line acquisition device is connected to the control device, and the grid line acquisition device transmits the acquired information to the control device; There are multiple gate line acquisition devices, and the multiple gate line acquisition devices correspond to the main gate line positions symmetrically arranged on both sides of the center line of the battery sheet along the main gate line direction, respectively, for acquiring at least two main gate line positions; The control device includes a memory and a processor, the memory is used to store an executable program, and the processor is configured to run the executable program, and the executable program is: Acquire positions of at least two main grid lines, wherein the plurality of main grid lines are symmetrically arranged along a center line of the main grid line direction of the battery cell; At least two positioning areas are set on each main grid line of the determined position, and the plurality of positioning areas are symmetrically arranged along the center line of the thin grid line direction of the battery sheet; At each positioning area, a plurality of coordinate points where the main grid line and the fine grid line intersect are obtained, and a center point of a positioning area is calculated based on the plurality of coordinate points; the plurality of coordinate points are intersection points of the main grid line and a plurality of adjacent fine grids, and the plurality of coordinate points are arranged on both sides of the main grid line; The center point of the battery cell is calculated according to the center points of each positioning area.

7. The laser vision positioning system according to claim 6, characterized in that: The grid line acquisition device is a visual camera.

8. The laser vision positioning system according to claim 6 or 7, characterized in that: The plurality of gate line acquisition devices are arranged into two groups, corresponding to the positions of the main gate lines symmetrically arranged on both sides of the center line of the battery cell along the main gate line direction. The gate line acquisition devices in each group are symmetrically arranged on both sides of the center line of the battery cell along the fine gate line direction.

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