A lithium battery automatic disassembly method, system and readable storage medium

Abstract

The present invention provides a method, system and readable storage medium for automatic disassembly of lithium batteries, the method comprising: grabbing a lithium battery to be tested to a detection area; when the lithium battery to be tested is located in the detection area, obtaining image information of the lithium battery to be tested, segmenting the image information to obtain a segmentation result, and determining the center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result; comparing the multiple contour coordinate information with the center coordinate information, and selecting the target contour coordinate information farthest from the center coordinate information from the multiple contour coordinate information; combining the target contour coordinate information with the center coordinate information, calculating the deviation state of the core; and executing a corresponding disassembly strategy according to the deviation state. This solves the technical problem that the automatic disassembly equipment in the prior art cannot identify the winding direction of the lithium battery core, and most of the disassembly relies on manual labor, resulting in a reduced degree of automated disassembly.

Description

Technical Field

[0001] The present invention relates to the technical field of battery recycling, and in particular to a method and system for automatically disassembling lithium batteries and a readable storage medium. Background Art

[0002] Currently, there are three main types of lithium battery packaging: cylindrical, prismatic, and soft-pack. For example, soft-pack lithium batteries are manufactured by wrapping a polymer shell around a liquid lithium-ion battery, with the positive and negative electrodes wound around a separator using a winding process.

[0003] With the booming development of the new energy vehicle industry, the use of lithium batteries is becoming increasingly widespread. However, the production and use of lithium batteries inevitably leads to scrapped and retired lithium batteries. To facilitate resource recycling, the lithium battery recycling industry has emerged. Generally speaking, the battery core (positive electrode sheet, negative electrode sheet, and tabs) of lithium batteries is a high-value-added recyclable item. However, due to the presence of graphite powder between the positive electrode, separator, and negative electrode, dust pollution is serious during disassembly, which is harmful to human health and affects the surrounding environment.

[0004] In the existing technology, automatic disassembly equipment is usually used to disassemble the battery core. However, for the disassembly and recycling of lithium batteries at the cell level, the current equipment cannot identify the winding direction of the lithium battery core. Most of the disassembly is done manually, which reduces the degree of automated disassembly. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a lithium battery automatic disassembly method, system and readable storage medium to solve the technical problem that the automatic disassembly equipment in the prior art cannot identify the winding direction of the lithium battery core, and most of the disassembly relies on manual labor, resulting in a reduced degree of automated disassembly.

[0006] In one aspect, the present invention provides a method for automatically disassembling a lithium battery, for disassembling a core wound on a lithium battery, the method comprising:

[0007] Grab the lithium battery to be tested and bring it to the testing area;

[0008] When the lithium battery to be tested is located in the detection area, image information of the lithium battery to be tested is obtained, and the image information is segmented to obtain a segmentation result, and center coordinate information and multiple contour coordinate information of the lithium battery to be tested are determined based on the segmentation result;

[0009] Comparing the plurality of contour coordinate information with the center coordinate information, and selecting the target contour coordinate information farthest from the center coordinate information from the plurality of contour coordinate information;

[0010] Calculating the deviation state of the winding core by combining the target contour coordinate information and the center coordinate information;

[0011] A corresponding disassembly strategy is executed according to the deviation state.

[0012] Furthermore, the method for automatically disassembling a lithium battery, wherein, before the step of grabbing the lithium battery to be tested to the testing area, the method further comprises:

[0013] The core of the lithium battery to be tested is pre-cut so that after the lithium battery to be tested is grabbed, the core can sag naturally under the action of gravity.

[0014] Furthermore, in the lithium battery automatic disassembly method, the step of determining the center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result specifically includes:

[0015] Calculating the geometric center of the segmentation result to obtain the center coordinate information, and establishing a plane rectangular coordinate system with the center coordinate information as the origin;

[0016] The origin of the plane rectangular coordinate system is used as a reference point to determine multiple contour coordinate information of the segmentation result.

[0017] Furthermore, in the lithium battery automatic disassembly method, the step of calculating the deviation state of the winding core by combining the target contour coordinate information and the center coordinate information specifically includes:

[0018] Calculating a vector from the target contour coordinate information to the center coordinate information, and determining whether the vector is positive;

[0019] If the vector is positive, it is determined that the winding core is wound clockwise;

[0020] If the vector is negative, it is determined that the winding core is wound counterclockwise.

[0021] Furthermore, in the lithium battery automatic disassembly method, the step of executing a corresponding disassembly strategy according to the deviation state specifically includes:

[0022] The end of the winding core is clamped, and the lithium battery to be tested is rotated in the opposite direction of the winding core to separate the winding core and the lithium battery.

[0023] Another aspect of the present invention further provides a lithium battery automatic disassembly system, comprising:

[0024] Grabbing module, used to grab the lithium battery to be tested and bring it to the testing area;

[0025] a visual acquisition module, configured to obtain image information of the lithium battery to be tested when the lithium battery to be tested is located in a detection area, segment the image information to obtain a segmentation result, and determine center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result;

[0026] a selection module, configured to compare a plurality of contour coordinate information with the center coordinate information, and select the target contour coordinate information farthest from the center coordinate information from the plurality of contour coordinate information;

[0027] a detection module, configured to calculate a deviation state of the winding core by combining the target contour coordinate information and the center coordinate information;

[0028] An execution module is used to execute a corresponding disassembly strategy according to the deviation state.

[0029] Furthermore, the lithium battery automatic disassembly system further comprises:

[0030] The pre-cutting module is used to pre-cut the core of the lithium battery to be tested so that after the lithium battery to be tested is grabbed, the core can droop naturally under the action of gravity.

[0031] Furthermore, in the lithium battery automatic disassembly system, the visual acquisition module includes:

[0032] A first visual acquisition unit is used to calculate the geometric center of the segmentation result, obtain the center coordinate information, and establish a plane rectangular coordinate system with the center coordinate information as the origin;

[0033] The second visual acquisition unit is used to determine multiple contour coordinate information of the segmentation result by taking the origin of the plane rectangular coordinate system as a reference point.

[0034] Furthermore, in the lithium battery automatic disassembly system, the detection module includes:

[0035] a detection unit, configured to calculate a vector from the target outline coordinate information to the center coordinate information, and determine whether the vector is positive;

[0036] a first judging unit, configured to judge that the winding core is wound clockwise if the vector is positive;

[0037] The second judgment unit is configured to determine that the winding core is wound counterclockwise if the vector is negative.

[0038] On the other hand, the present invention further provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the automatic disassembly method of a lithium battery as described in the above technical solution.

[0039] The above-mentioned automatic disassembly method, system and readable storage medium of lithium batteries provide auxiliary determination of the winding direction of the relevant core. After identifying the winding direction, the winding layers can be separated by rotating in the opposite direction of the winding, so as to quickly and finely disassemble the battery core. At the same time, it can also be extended to the auxiliary winding direction determination of other product recycling processes produced based on the winding process, helping the disassembly machine to select the appropriate disassembly strategy. Under effective visual perception, it is convenient for the entire production line to carry out disassembly accurately and efficiently, ensuring the smooth progress of the entire disassembly process, and solving the technical problem that the automatic disassembly equipment in the existing technology cannot identify the winding direction of the lithium battery core, and most of the disassembly relies on manual labor, resulting in a reduced degree of automated disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a flow chart of the automatic disassembly method for lithium batteries according to the first embodiment of the present invention;

[0041] Figure 2 This is a structural block diagram of a lithium battery automatic disassembly system according to a third embodiment of the present invention;

[0042] Figure 3 A perspective view of a lithium battery automatic disassembly system according to a third embodiment of the present invention;

[0043] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0044] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0045] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0047] Example 1

[0048] See also Figure 1 , which is a flow chart of a method for automatically disassembling a lithium battery in a first embodiment of the present invention, the method comprises the following steps:

[0049] Step S101, grab the lithium battery to be tested and place it in the testing area;

[0050] Specifically, in this embodiment, a robotic arm may be used to grab the lithium battery to be tested, and the lithium battery to be tested may be transported to a specific testing area for testing through a pre-set script program.

[0051] Step S102, when the lithium battery to be tested is located in the detection area, obtaining image information of the lithium battery to be tested, performing segmentation processing on the image information to obtain a segmentation result, and determining center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result;

[0052] Specifically, when the robot places the lithium battery in the position to be inspected, the camera is triggered to capture images, and the captured images are sent to the image processor for segmentation of the lithium battery target. Typically, the mask-rcnn network based on deep learning can complete the instance segmentation of the lithium battery target (realizing the separation of the lithium battery from the background). Its network structure consists of two parts. One part is the backbone network, which can use the ResNet deep residual network to extract features, and the other part is the head (detection head) used to classify each ROI, perform box regression and mask prediction.

[0053] It needs to be explained that the image information initially captured by the camera includes not only the image of the lithium battery, but also the image of the background plate. Through segmentation processing, the image of the lithium battery can be separated from the background plate, which is convenient for subsequent image recognition of the lithium battery and the center coordinate information and multiple contour coordinate information of the lithium battery can be obtained. Among them, the background plate can use a color with a large contrast to the color of the lithium battery to improve the camera's recognition accuracy of the edge contour of the lithium battery.

[0054] Step S103 : comparing the plurality of contour coordinate information with the center coordinate information, and selecting the target contour coordinate information farthest from the center coordinate information from the plurality of contour coordinate information.

[0055] Step S104, combining the target outline coordinate information and the center coordinate information to calculate the deviation state of the winding core;

[0056] Specifically, the target contour coordinate information is used as the endpoint coordinates of the winding core of the lithium battery to be tested, and the target contour coordinate information is used to determine whether the winding core is located on the right side or the left side of the lithium battery. When the winding core is located on the right side of the lithium battery, it is determined to be wound clockwise. Conversely, when the winding core is located on the left side of the lithium battery, it is determined to be wound counterclockwise.

[0057] Step S105: executing a corresponding disassembly strategy according to the deviation state.

[0058] Specifically, when the core is wound clockwise, the first disassembly plan is executed, and when the core is wound counterclockwise, the second disassembly plan is executed. By pre-identifying the winding direction of the battery cell, the accuracy and automation of subsequent lithium battery cell disassembly and recycling are improved.

[0059] In summary, the automatic disassembly method of lithium batteries in the above-mentioned embodiment of the present invention provides auxiliary determination of the winding direction of the relevant core. After identifying the winding direction, it can rotate in the opposite direction of winding to separate the winding layers, so as to quickly and finely disassemble the battery core. At the same time, it can also be extended to other auxiliary winding direction determination in the recycling process of products produced based on the winding process, helping the disassembly machine to select a suitable disassembly strategy. Under effective visual perception, it is convenient for the entire production line to carry out disassembly accurately and efficiently, ensuring the smooth progress of the entire disassembly process, and solving the technical problem that the automatic disassembly equipment in the existing technology cannot identify the winding direction of the lithium battery core, and most of the disassembly relies on manual labor, resulting in a reduced degree of automated disassembly.

[0060] Example 2

[0061] The automatic disassembly method of a lithium battery in the second embodiment of the present invention comprises the following steps:

[0062] Step S11, grab the lithium battery to be tested to the testing area;

[0063] Specifically, in this embodiment, a robotic arm may be used to grab the lithium battery to be tested, and the lithium battery to be tested may be transported to a specific testing area for testing through a pre-set script program.

[0064] Step S12, when the lithium battery to be tested is located in the detection area, obtaining image information of the lithium battery to be tested, segmenting the image information to obtain a segmentation result, and determining center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result;

[0065] Specifically, when the robot places the lithium battery in the position to be inspected, the camera is triggered to capture images, and the captured images are sent to the image processor for segmentation of the lithium battery target. Typically, the mask-rcnn network based on deep learning can complete the instance segmentation of the lithium battery target (realizing the separation of the lithium battery from the background). Its network structure consists of two parts. One part is the backbone network, which can use the ResNet deep residual network to extract features, and the other part is the head (detection head) used to classify each ROI, perform box regression and mask prediction.

[0066] It needs to be explained that the image information initially captured by the camera includes not only the image of the lithium battery, but also the image of the background plate. The segmentation result is obtained through segmentation processing, that is, the image of the lithium battery is separated from the background plate, which is convenient for subsequent image recognition of the lithium battery, and the center coordinate information and multiple contour coordinate information of the lithium battery are obtained. Among them, the background plate can use a color with a large contrast with the color of the lithium battery to improve the camera's recognition accuracy of the edge contour of the lithium battery.

[0067] Step S13 : comparing the plurality of contour coordinate information with the center coordinate information, and selecting the target contour coordinate information farthest from the center coordinate information from the plurality of contour coordinate information.

[0068] Step S14, combining the target outline coordinate information and the center coordinate information to calculate the deviation state of the winding core;

[0069] Specifically, the target contour coordinate information is used as the endpoint coordinates of the winding core of the lithium battery to be tested, and the target contour coordinate information is used to determine whether the winding core is located on the right side or the left side of the lithium battery. When the winding core is located on the right side of the lithium battery, it is determined to be wound clockwise. Conversely, when the winding core is located on the left side of the lithium battery, it is determined to be wound counterclockwise.

[0070] Step S15: executing a corresponding disassembly strategy according to the deviation state.

[0071] Specifically, when the core is wound clockwise, the first disassembly plan is executed, and when the core is wound counterclockwise, the second disassembly plan is executed. By pre-identifying the winding direction of the battery cell, the accuracy and automation of subsequent lithium battery cell disassembly and recycling are improved.

[0072] Furthermore, before the step of grabbing the lithium battery to be tested to the testing area, the method further includes:

[0073] The core of the lithium battery to be tested is pre-cut so that after the lithium battery to be tested is grabbed, the core can sag naturally under the action of gravity.

[0074] Specifically, laser cutting can be used to cut the core along the width direction of the lithium battery. After the cutting process, the core of the lithium battery is in a natural drooping state, in which the drooping side is approximately a thin arc.

[0075] Furthermore, the step of determining the center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result specifically includes:

[0076] Calculating the geometric center of the segmentation result to obtain the center coordinate information, and establishing a plane rectangular coordinate system with the center coordinate information as the origin;

[0077] The origin of the plane rectangular coordinate system is used as a reference point to determine multiple contour coordinate information of the segmentation result.

[0078] It can be understood that after obtaining the segmentation result of the lithium battery, the geometric center of the result is calculated to obtain the reference center point (x0, y0) of the lithium battery body, that is, the center coordinate information. Then, based on the center coordinate information, the edge contour of the lithium battery is identified, and the multiple coordinate points on the edge contour of the lithium battery are determined according to the distance from the point on the edge contour to (x0, y0), that is, the contour coordinate information.

[0079] In this embodiment, the edge arc of the lithium battery can be obtained by Hough transform arc detection. After all candidate arcs are found, the sagging edge is actually determined.

[0080] It should be explained that the Hough circle transform is the process of converting a circle in a two-dimensional image space into a point in a three-dimensional parameter space determined by the circle's radius and the horizontal and vertical coordinates of its center. Therefore, the circle defined by any three points on the circumference should correspond to a point in the three-dimensional parameter space after the Hough transform. This process is similar to the voting process in an election. Any three points on the circumference are a voter, and the circle defined by these three points is a candidate (hereinafter referred to as the candidate circle). All points on the circumference are traversed, and the candidate circles defined by any three points are voted. After the traversal is completed, the circle defined by the point with the highest number of votes (theoretically, the circle defined by any three points on the circumference corresponds to the same point in the three-dimensional parameter space after the Hough transform) is the circle defined by the vast majority of points on the circumference (hereinafter referred to as the elected circle). That is, the vast majority of points are on the circumference of the elected circle, and this is how the circle is determined.

[0081] Furthermore, the step of calculating the deviation state of the winding core by combining the target contour coordinate information and the center coordinate information specifically includes:

[0082] Calculating a vector from the target contour coordinate information to the center coordinate information, and determining whether the vector is positive;

[0083] If the vector is positive, it is determined that the winding core is wound clockwise;

[0084] If the vector is negative, it is determined that the winding core is wound counterclockwise.

[0085] Specifically, the endpoints (xe, ye) (the points farthest from the reference center) are obtained on each arc segment of the obtained drooping edge. The xy directions are compared with the reference center of the main body in pixel coordinates to obtain the vector directions (x0, xe) and (y0, ye) from the drooping endpoint to the reference center point. The winding direction of the lithium battery is related to this vector direction. When the vector direction is positive, the winding direction is clockwise, and when the vector direction is negative, the winding direction is counterclockwise.

[0086] Furthermore, the step of executing a corresponding disassembly strategy according to the deviation state specifically includes:

[0087] The end of the winding core is clamped, and the lithium battery to be tested is rotated in the opposite direction of the winding core to separate the winding core and the lithium battery.

[0088] Specifically, in this embodiment, the clamping end of the manipulator can drive the lithium battery to rotate forward or reverse. After identifying the winding direction of the core, it is fed back to the lower-level executive mechanism through the corresponding protocol. The manipulator can transfer the lithium battery to the clamping mechanism position through a pre-set script program, clamp the end of the core through the clamping mechanism, and then control the lithium battery to rotate in the opposite direction of winding to separate the winding layers by the clamping end of the manipulator, so as to quickly perform fine disassembly of the battery core. At the same time, it can also be extended to the auxiliary winding direction determination of other product recycling processes based on the winding process. The above algorithm can realize the winding direction judgment of the lithium battery in a contactless manner, provide a priori conditions for the subsequent disassembly of the positive and negative poles of the lithium battery, and improve the efficiency of the entire disassembly process.

[0089] In summary, the automatic disassembly method of lithium batteries in the above-mentioned embodiment of the present invention provides auxiliary determination of the winding direction of the relevant core. After identifying the winding direction, it can rotate in the opposite direction of winding to separate the winding layers, so as to quickly and finely disassemble the battery core. At the same time, it can also be extended to other auxiliary winding direction determination in the recycling process of products produced based on the winding process, helping the disassembly machine to select a suitable disassembly strategy. Under effective visual perception, it is convenient for the entire production line to carry out disassembly accurately and efficiently, ensuring the smooth progress of the entire disassembly process, and solving the technical problem that the automatic disassembly equipment in the existing technology cannot identify the winding direction of the lithium battery core, and most of the disassembly relies on manual labor, resulting in a reduced degree of automated disassembly.

[0090] Example 3

[0091] Please combine Figures 2 to 3The present invention also provides a lithium battery automatic disassembly system for disassembling a core 62 wound on a lithium battery 61, the system comprising:

[0092] The grabbing module 10 is used to grab the lithium battery to be tested and bring it to the testing area;

[0093] a visual acquisition module 20 for acquiring image information of the lithium battery to be tested when the lithium battery to be tested is located in a detection area, performing segmentation processing on the image information to obtain a segmentation result, and determining center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result;

[0094] A selection module 30 is configured to compare the plurality of contour coordinate information with the center coordinate information, and select the target contour coordinate information farthest from the center coordinate information from the plurality of contour coordinate information;

[0095] A detection module 40 is configured to calculate the deviation state of the winding core by combining the target contour coordinate information and the center coordinate information;

[0096] The execution module 50 is configured to execute a corresponding disassembly strategy according to the deviation state.

[0097] Furthermore, the system further comprises:

[0098] The pre-cutting module is used to pre-cut the core of the lithium battery to be tested so that after the lithium battery to be tested is grabbed, the core can droop naturally under the action of gravity.

[0099] Furthermore, the visual acquisition module 20 includes:

[0100] A first visual acquisition unit is used to calculate the geometric center of the segmentation result, obtain the center coordinate information, and establish a plane rectangular coordinate system with the center coordinate information as the origin;

[0101] The second visual acquisition unit is used to determine multiple contour coordinate information of the segmentation result by taking the origin of the plane rectangular coordinate system as a reference point.

[0102] Furthermore, the detection module 40 includes:

[0103] a detection unit, configured to calculate a vector from the target outline coordinate information to the center coordinate information, and determine whether the vector is positive;

[0104] a first judging unit, configured to judge that the winding core is wound clockwise if the vector is positive;

[0105] The second judgment unit is configured to determine that the winding core is wound counterclockwise if the vector is negative.

[0106] Furthermore, the execution module 50 includes:

[0107] The execution unit is used to clamp the end of the core and simultaneously rotate the lithium battery to be tested in the opposite direction of the winding of the core to separate the core and the lithium battery.

[0108] In summary, the lithium battery automatic disassembly system in the above-mentioned embodiment of the present invention provides auxiliary determination of the winding direction of the relevant core. After identifying the winding direction, it can rotate in the opposite direction of winding to separate the winding layers, so as to quickly perform fine disassembly of the battery core. At the same time, it can also be extended to other auxiliary winding direction determination in the recycling process of products produced based on the winding process, helping the disassembly machine to select a suitable disassembly strategy. Under effective visual perception, it is convenient for the entire production line to carry out accurate and efficient disassembly, ensuring the smooth progress of the entire disassembly process, and solving the technical problem that the automatic disassembly equipment in the existing technology cannot identify the winding direction of the lithium battery core, and most of the disassembly relies on manual labor, resulting in a reduced degree of automated disassembly.

[0109] Example 4

[0110] The present invention also provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned automatic disassembly method for lithium batteries.

[0111] The present invention also provides a server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned automatic disassembly method for lithium batteries is implemented.

[0112] Those skilled in the art will appreciate that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0113] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0114] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement the hardware: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0115] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A lithium battery automatic disassembly method for disassembling a core wound on a lithium battery, characterized in that: The method comprises: Grab the lithium battery to be tested and bring it to the testing area; When the lithium battery to be tested is located in the detection area, image information of the lithium battery to be tested is obtained, and the image information is segmented to obtain a segmentation result, and center coordinate information and multiple contour coordinate information of the lithium battery to be tested are determined based on the segmentation result; Comparing the plurality of contour coordinate information with the center coordinate information, and selecting the target contour coordinate information farthest from the center coordinate information from the plurality of contour coordinate information; Calculating the deviation state of the winding core by combining the target contour coordinate information and the center coordinate information; executing a corresponding disassembly strategy according to the deviation state; The step of calculating the deviation state of the winding core by combining the target contour coordinate information and the center coordinate information specifically includes: Calculating a vector from the target contour coordinate information to the center coordinate information, and determining whether the vector is positive; If the vector is positive, it is determined that the winding core is wound clockwise; If the vector is negative, it is determined that the winding core is wound counterclockwise; The step of executing a corresponding disassembly strategy according to the deviation state specifically includes: The end of the winding core is clamped, and the lithium battery to be tested is rotated in the opposite direction of the winding core to separate the winding core and the lithium battery.

2. The automatic disassembly method of lithium batteries according to claim 1, characterized in that: Before the step of grabbing the lithium battery to be tested to the testing area, the method further includes: The core of the lithium battery to be tested is pre-cut so that after the lithium battery to be tested is grabbed, the core can sag naturally under the action of gravity.

3. The automatic disassembly method of lithium batteries according to claim 1, characterized in that: The step of determining the center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result specifically includes: Calculating the geometric center of the segmentation result to obtain the center coordinate information, and establishing a plane rectangular coordinate system with the center coordinate information as the origin; The origin of the plane rectangular coordinate system is used as a reference point to determine multiple contour coordinate information of the segmentation result.

4. A lithium battery automatic disassembly system, characterized in that: include: Grabbing module, used to grab the lithium battery to be tested and bring it to the testing area; a visual acquisition module, configured to obtain image information of the lithium battery to be tested when the lithium battery to be tested is located in a detection area, segment the image information to obtain a segmentation result, and determine center coordinate information and multiple contour coordinate information of the lithium battery to be tested based on the segmentation result; a selection module, configured to compare a plurality of contour coordinate information with the center coordinate information, and select the target contour coordinate information farthest from the center coordinate information from the plurality of contour coordinate information; a detection module, configured to calculate a deviation state of the winding core by combining the target contour coordinate information and the center coordinate information; An execution module, configured to execute a corresponding disassembly strategy according to the deviation state; The detection module includes: a detection unit, configured to calculate a vector from the target outline coordinate information to the center coordinate information, and determine whether the vector is positive; a first judging unit, configured to judge that the winding core is wound clockwise if the vector is positive; a second judging unit, configured to judge that the winding core is wound counterclockwise if the vector is negative; The execution module includes: The execution unit is used to clamp the end of the core and simultaneously rotate the lithium battery to be tested in the opposite direction of the winding of the core to separate the core and the lithium battery.

5. The automatic disassembly system for lithium batteries according to claim 4, characterized in that: The system further comprises: The pre-cutting module is used to pre-cut the core of the lithium battery to be tested so that after the lithium battery to be tested is grabbed, the core can droop naturally under the action of gravity.

6. The automatic disassembly system for lithium batteries according to claim 4, characterized in that: The visual acquisition module includes: A first visual acquisition unit is used to calculate the geometric center of the segmentation result, obtain the center coordinate information, and establish a plane rectangular coordinate system with the center coordinate information as the origin; The second visual acquisition unit is used to determine multiple contour coordinate information of the segmentation result by taking the origin of the plane rectangular coordinate system as a reference point.

7. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the automatic disassembly method for a lithium battery as claimed in any one of claims 1 to 3 is implemented.

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