A method and device for dual-camera positioning welding

Abstract

Embodiments of the present invention provide a dual-camera positioning welding method and device, relating to the field of welding. This method calculates the welding coordinates of a first feature point using the coordinates of a first photographic point and a first compensation value acquired by a first camera. The welding coordinates of a second feature point are calculated using the coordinates of a second photographic point, a second compensation value, and a second camera error value acquired by a second camera. The simultaneous acquisition of parameters by both the first and second cameras reduces time consumption and improves efficiency. Furthermore, by taking into account the compensation value and error value, errors are reduced, resulting in more accurate welding coordinates.

Description

Technical Field

[0001] The present invention relates to the field of welding, and in particular to a method and device for dual-camera positioning welding. Background Art

[0002] The battery module includes multiple battery cells. Before welding the battery cells, the welding points of the battery cells need to be positioned.

[0003] In the prior art, a camera is usually used to sample and photograph the welding points of the battery cells to complete positioning. However, a single camera needs to sample and photograph the welding points of all the battery cells in the battery module one by one, which is time-consuming. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a dual-camera positioning welding method and device to solve the problem that a single camera takes a long time to sample and photograph the welding points of all battery cells in a battery module one by one.

[0005] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect, the present invention provides a dual-camera positioning welding method, which is applied to a controller, the controller being electrically connected to a first camera and a second camera, respectively, and the positions of the first camera and the second camera being relatively fixed; the controller storing the reference coordinates of a first feature point in a battery module, the reference coordinates of a second feature point, the coordinates of a first photographing point of each battery cell by the first camera, the coordinates of a second photographing point of each battery cell by the second camera, and a second camera error value; wherein the coordinates of the first photographing point correspond to the first feature point, and the coordinates of the second photographing point correspond to the second feature point; the method comprising:

[0007] Controlling the first camera to move to the first photographing point coordinates to take a picture, so as to obtain the actual coordinates of the first feature point;

[0008] Comparing the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value;

[0009] Controlling the second camera to move to the coordinates of the second photographing point to take a picture, so as to obtain the actual coordinates of the second feature point;

[0010] Comparing the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value;

[0011] Calculating the welding coordinates of the first feature point according to the coordinates of the first photographing point and the first compensation value;

[0012] The welding coordinates of the second feature point are calculated according to the second photographing point coordinates, the second compensation value, and the second camera error value.

[0013] In an optional embodiment, the reference coordinates of the first feature point and the coordinates of the first photographing point of each battery cell by the first camera are obtained by the following steps:

[0014] Controlling the first camera to photograph a first characteristic point of a first battery cell of the battery module so that the first characteristic point of the first battery cell is within the field of view of the first camera. At this time, the initial coordinates of the first characteristic point of the first battery cell in the field of view of the first camera are the reference coordinates of the first characteristic point; recording the current position of the first camera to obtain the coordinates of the first photographing point of the first battery cell;

[0015] For each target battery cell in the battery module except the first battery cell, control the first camera to take a picture of the first feature point of the target battery cell, so that the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point; record the current position of the first camera to obtain the coordinates of the first photographing point of the target battery cell by the first camera.

[0016] In an optional embodiment, the reference coordinates of the second feature point, the coordinates of the second photographing point of each battery cell by the second camera, and the error value of the second camera are obtained by the following steps:

[0017] When controlling the first camera to take a picture of a first characteristic point of a first battery cell of the battery module, controlling the second camera to take a picture of a second characteristic point of the first battery cell to obtain initial coordinates of the second characteristic point of the first battery cell in the field of view of the second camera;

[0018] Using the initial coordinates of the second feature point of the first battery cell in the field of view of the second camera as the reference coordinates of the second feature point, and recording the current position of the second camera to obtain the coordinates of the second photographing point of the first battery cell by the second camera;

[0019] For each target battery cell except the first battery cell in the battery module, when the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point, the initial coordinates of the second feature point of the target battery cell in the field of view of the second camera are obtained, and compared with the reference coordinates of the second feature point to obtain the second camera error value corresponding to the target battery cell; the current position of the second camera is recorded to obtain the coordinates of the second photographing point of the second camera in the target battery cell.

[0020] In an optional embodiment, calculating the welding coordinates of the first feature point according to the coordinates of the first photographing point and the first compensation value specifically includes:

[0021] The coordinates of the first photographing point are added to the first compensation value of the corresponding battery cell to obtain the welding coordinates of the first feature point of the corresponding battery cell.

[0022] In an optional embodiment, calculating the welding coordinates of the second feature point according to the coordinates of the second photographing point, the second compensation value, and the second camera error value specifically includes:

[0023] The second photographing point coordinates, the second compensation value of the corresponding battery cell, and the second camera error value of the corresponding battery cell are added together to obtain the welding coordinates of the second feature point of the corresponding battery cell.

[0024] In a second aspect, the present invention provides a dual-camera positioning welding device, which is used to implement the dual-camera positioning welding method described in any of the aforementioned embodiments, and is applied to a controller, the controller being electrically connected to a first camera and a second camera, respectively, and the positions of the first camera and the second camera being relatively fixed; the controller storing the reference coordinates of a first feature point, the reference coordinates of a second feature point, the coordinates of a first photographing point of each battery cell by the first camera, the coordinates of a second photographing point of each battery cell by the second camera, and a second camera error value; wherein the coordinates of the first photographing point correspond to the first feature point, and the coordinates of the second photographing point correspond to the second feature point; the device includes:

[0025] a control module, configured to control the first camera to move to the first photographing point coordinates to take a photograph to obtain the actual coordinates of the first feature point, and to control the second camera to move to the second photographing point coordinates to take a photograph to obtain the actual coordinates of the second feature point;

[0026] an acquisition module, configured to compare the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value, and to compare the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value;

[0027] A calculation module is used to calculate the welding coordinates of the first feature point according to the first photographing point coordinates and the first compensation value, and to calculate the welding coordinates of the second feature point according to the second photographing point coordinates, the second compensation value and the second camera error value.

[0028] In an optional embodiment, the control module is further configured to:

[0029] Controlling the first camera to photograph a first characteristic point of a first battery cell of the battery module so that the first characteristic point of the first battery cell is within the field of view of the first camera. At this time, the initial coordinates of the first characteristic point of the first battery cell in the field of view of the first camera are the reference coordinates of the first characteristic point; recording the current position of the first camera to obtain the coordinates of the first photographing point of the first battery cell;

[0030] For each target battery cell in the battery module except the first battery cell, control the first camera to take a picture of the first feature point of the target battery cell, so that the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point; record the current position of the first camera to obtain the coordinates of the first photographing point of the target battery cell by the first camera.

[0031] In an optional embodiment, the control module is further configured to:

[0032] When controlling the first camera to take a picture of a first characteristic point of a first battery cell of the battery module, controlling the second camera to take a picture of a second characteristic point of the first battery cell to obtain initial coordinates of the second characteristic point of the first battery cell in the field of view of the second camera;

[0033] Using the initial coordinates of the second feature point of the first battery cell in the field of view of the second camera as the reference coordinates of the second feature point, and recording the current position of the second camera to obtain the coordinates of the second photographing point of the first battery cell by the second camera;

[0034] For each target battery cell except the first battery cell in the battery module, when the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point, the initial coordinates of the second feature point of the target battery cell in the field of view of the second camera are obtained, and compared with the reference coordinates of the second feature point to obtain the second camera error value corresponding to the target battery cell; the current position of the second camera is recorded to obtain the coordinates of the second photographing point of the second camera in the target battery cell.

[0035] In an optional embodiment, the calculation module is further configured to:

[0036] The first photographing point coordinates are added to the first compensation value to obtain the welding coordinates of the first feature point.

[0037] In an optional embodiment, the calculation module is further configured to:

[0038] The second photographing point coordinates, the second compensation value, and the second camera error value are added to obtain the welding coordinates of the second feature point.

[0039] Embodiments of the present invention provide a dual-camera positioning welding method and device. The method controls a first camera to move to a first photographing point coordinate to take a photograph, thereby obtaining the actual coordinates of a first feature point; compares the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value; controls a second camera to move to a second photographing point coordinate to take a photograph, thereby obtaining the actual coordinates of a second feature point; and compares the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value. The welding coordinates of the first feature point are calculated using the first photographing point coordinates and the first compensation value obtained by the first camera; the welding coordinates of the second feature point are calculated using the second photographing point coordinates, the second compensation value, and the second camera error value obtained by the second camera. The first and second cameras simultaneously acquire parameters, which shortens the time consumption and improves efficiency. Furthermore, by taking into account the compensation value and error value, errors are reduced, resulting in more accurate welding coordinates.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A schematic diagram showing an application environment of the dual-camera positioning welding method provided by an embodiment of the present invention is shown;

[0043] Figure 2 A block diagram of a controller provided by an embodiment of the present invention is shown;

[0044] Figure 3 A schematic flow chart of a dual-camera positioning welding method provided by an embodiment of the present invention is shown;

[0045] Figure 4 A functional module diagram of a dual-camera positioning welding device provided by an embodiment of the present invention is shown.

[0046] Icons: 10 - controller; 20 - first camera; 30 - second camera; 210 - memory; 220 - processor; 401 - control module; 402 - acquisition module; 403 - calculation module. DETAILED DESCRIPTION

[0047] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0049] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0050] See also Figure 1 , Figure 1 A schematic diagram of an application environment of the dual-camera positioning welding method provided by an embodiment of the present invention. Figure 1 As shown, the controller 10, the first camera 20 and the second camera 30 are arranged in the welding equipment, the positions of the first camera 20 and the second camera 30 are relatively fixed, and the controller 10 is communicatively connected with the first camera 20 and the second camera 30 respectively.

[0051] In this embodiment, the controller 10 controls the movement of the first camera 20 and the second camera 30 to collect the coordinates of the battery cell poles in the battery module, and obtain the position coordinates of the first camera 20 and the second camera 30. The controller 10 calculates the welding coordinates required for welding, thereby realizing the welding of the battery module.

[0052] See also Figure 2 , Figure 2This is a block diagram of a controller provided in an embodiment of the present invention. The controller 10 includes a memory 210 and a processor 220. The memory 210 and processor 220 are electrically connected, directly or indirectly, to each other to enable data transmission or interaction. For example, these components may be electrically connected via one or more communication buses or signal lines.

[0053] The memory 210 is used to store programs or data. The memory 210 can be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0054] The processor 220 may be an integrated circuit chip with signal processing capabilities. The processor 220 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor.

[0055] The processor is used to read and write data or programs stored in the memory 210 and execute corresponding functions. For example, when the processor 220 executes the computer program stored in the memory 210, the dual-camera tack welding method disclosed in various embodiments of the present invention can be implemented.

[0056] It should be understood that Figure 2 The structure shown is only a schematic diagram of the structure of the controller 10, and the controller 10 may also include Figure 2 More or fewer components than shown, or with Figure 2 Different configurations shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0057] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for dual-camera positioning welding disclosed in an embodiment of the present invention can be implemented.

[0058] In the prior art, a camera is usually used to sample and photograph the welding points of the battery cells to complete positioning. However, a single camera needs to sample and photograph the welding points of all the battery cells in the battery module one by one, which is time-consuming.

[0059] To address the above issues and improve efficiency, an embodiment of the present invention provides a dual-camera tack welding method. This dual-camera tack welding method can be applied to the aforementioned controller 10, wherein the controller 10 stores the reference coordinates of a first feature point in the battery module, the reference coordinates of a second feature point, the coordinates of a first camera 20 at each battery cell, the coordinates of a second camera 30 at each battery cell, and a second camera error value; wherein the coordinates of the first camera point correspond to the first feature point, and the coordinates of the second camera point correspond to the second feature point.

[0060] In this embodiment, it is divided into two stages, namely the standard parts photographing stage and the actual battery module production stage. Among them, the parameters stored in the controller 10 are all obtained in the standard parts photographing stage.

[0061] Each battery cell in the battery module has two poles, namely a positive pole and a negative pole. In this embodiment, the positive pole of the battery cell is used as the first characteristic point, and the negative pole is used as the second characteristic point.

[0062] The reference coordinates of the first characteristic point are obtained by the first camera 20 when photographing the first characteristic point of a cell in the standard component of the battery module; the reference coordinates of the second characteristic point are obtained by the second camera 30 when photographing the second characteristic point of a cell in the standard component of the battery module. The positions of the first camera 20 and the second camera 30 are relatively fixed. In one example, when the first camera 20 photographs the first cell in the battery module, the reference coordinates of the first characteristic point of the first cell are determined, and the reference coordinates of the second characteristic point of the first cell obtained by the second camera 30 are also determined accordingly.

[0063] When the first camera 20 takes a picture of the first characteristic point of the battery cell in the standard part of the battery module, the first camera 20 will be fixed at a specific position, and the controller 10 will record the position to obtain the coordinates of the first photographing point. For example, when the first camera 20 takes a picture of the first characteristic point of the first battery cell in the standard part of the battery module, the fixed position of the first camera 20 is (1, 2), and the coordinates of the first photographing point can also be (1, 2); for the first characteristic point of each battery cell, the first camera 20 has corresponding first photographing point coordinates. Similarly, since the positions of the first camera 20 and the second camera 30 are relatively fixed, when the second camera 30 takes a picture of the second characteristic point of the battery cell in the standard part of the battery module, the second camera 30 will also be fixed at a specific position, and the controller 10 records the position to obtain the coordinates of the second photographing point. For example, when the second camera 30 takes a picture of the second characteristic point of the first battery cell in the standard part of the battery module, the fixed position of the second camera 30 is (3, 2), and the coordinates of the first photographing point can also be (3, 2); for the second characteristic point of each battery cell, the second camera 30 has corresponding second photographing point coordinates.

[0064] In this embodiment, during the standard parts photography phase, the positions of the two poles of different cells in the standard parts of the battery module are not completely consistent. When the first camera 20 obtains the reference coordinates of the first characteristic point of the first cell in the standard parts of the battery module, this reference coordinate is used as the positioning reference point of the first camera 20's field of view, and a photograph is taken of the first characteristic point of each cell after the first cell. When the first camera 20 takes a photograph, since the positions of the first camera 20 and the second camera 30 are relatively fixed, the coordinates obtained by the second camera 30 when photographing the second characteristic point of the current cell will differ from the coordinates obtained by the second camera 30 when photographing the second characteristic point of the first cell. This difference is the second camera error value. It should be noted that when photographing the first cell, the second camera error value is zero.

[0065] For example, the reference coordinates of the first characteristic point of the first cell in the standard part of the battery module are (0, 0), and the reference coordinates of the second characteristic point are also (0, 0). When the first camera 20 and the second camera 30 respectively take pictures of the first characteristic point and the second characteristic point of the second cell, since the reference coordinates of the first characteristic point of the first cell are used as the positioning reference point of the field of view of the first camera 20, the reference coordinates of the first characteristic point of the second cell are also (0, 0). However, the positions of the two characteristic points of the second cell may be inconsistent with those of the first cell. The reference coordinates of the second characteristic point of the second cell may be (0, 2), which is different from the reference coordinates (0, 0) of the second characteristic point of the first cell. This difference is the second camera error value. It can be understood that for other cells in the standard part of the battery module, the second camera error value is also obtained in the same way as in the example.

[0066] See also Figure 3 , Figure 3 A schematic flow chart of a dual-camera tack welding method provided in an embodiment of the present invention. The dual-camera tack welding method includes:

[0067] Step S301: Control the first camera to move to the coordinates of the first photographing point to take a photo, so as to obtain the actual coordinates of the first feature point.

[0068] For a specific cell in a battery module, when photographing the battery module to calculate welding coordinates, the first camera 20 is controlled to move to the coordinates of the first photographing point to take a picture, so that the first characteristic point of the cell is within the field of view of the first camera 20. The first camera 20 can then obtain the coordinates of the first characteristic point of the cell within the field of view of the first camera 20. It can be understood that during the actual production of the battery module, this coordinate is used as the actual coordinate of the first characteristic point, and the controller 10 stores the actual coordinates of the first characteristic point. It can be understood that the actual coordinates of the first characteristic point corresponding to each cell can be obtained in this way.

[0069] In this embodiment, the controller 10 may be a PLC (Programmable Logic Controller). Of course, it may also be other types of controllers, such as an MCU (Micro Control Unit), which is not limited in the embodiment of the present invention.

[0070] Step S302 : Compare the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value.

[0071] Optionally, the reference coordinates of the first characteristic point are obtained by photographing standard parts of the battery module before actually photographing the battery module to calculate the welding coordinates, that is, before actually producing the battery module.

[0072] In one example, during the standard parts photographing stage, since the reference coordinates of the first feature point of the first battery cell are used as the positioning reference point of the field of view of the first camera 20 , the reference coordinates of the first feature point in the battery module may be (0, 0).

[0073] In this embodiment, it is divided into two stages, namely the standard parts photographing stage and the actual battery module production stage. The reference coordinates of the first feature point are obtained in the standard parts photographing stage, and the actual coordinates of the first feature point are obtained in the actual battery module production stage. It can be understood that the positions of the battery modules in the standard parts photographing stage and the actual battery module production stage may be inconsistent, which makes the reference coordinates of the first feature point and the actual coordinates of the first feature point different. The reference coordinates of the first feature point are compared with the actual coordinates of the first feature point to obtain the difference between the reference coordinates of the first feature point and the actual coordinates of the first feature point, that is, the first compensation value.

[0074] Step S303: Control the second camera to move to the coordinates of the second photographing point to take a photo, so as to obtain the actual coordinates of the second feature point.

[0075] Optionally, the second camera 30 is controlled to move to the second photographing point coordinates to take a photograph, so that the second characteristic point of the battery cell is within the field of view of the second camera 30. The second camera 30 can then obtain the actual coordinates of the second characteristic point of the battery cell, and the controller 10 stores the actual coordinates of the second characteristic point. It is understood that the actual coordinates of the second characteristic point corresponding to each battery cell can be obtained in this manner.

[0076] The positions of the first camera 20 and the second camera 30 are relatively fixed. When the first camera 20 moves, the second camera 30 will also move accordingly.

[0077] Step S304 : Compare the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value.

[0078] Optionally, similar to step S302, the position of the battery module in the standard parts photographing stage and the actual battery module production stage may be inconsistent, resulting in a difference between the reference coordinates of the second feature point and the actual coordinates of the second feature point. The reference coordinates of the second feature point are compared with the actual coordinates of the second feature point to obtain the difference between the reference coordinates of the second feature point and the actual coordinates of the second feature point, that is, the second compensation value.

[0079] Step S305 : Calculating the welding coordinates of the first feature point according to the coordinates of the first photographing point and the first compensation value.

[0080] Optionally, since the relevant information of the first characteristic point of the battery cell is obtained by the first camera 20, the welding coordinates of the first characteristic point can be calculated according to the coordinates of the first photographing point and the first compensation value.

[0081] Step S306 , calculating the welding coordinates of the second feature point according to the coordinates of the second photographing point, the second compensation value, and the second camera error value.

[0082] Optionally, since the relevant information of the second characteristic point of the battery cell is obtained by the second camera 30, the welding coordinates of the second characteristic point can be calculated according to the coordinates of the second photographing point, the second compensation value and the second camera error value.

[0083] An embodiment of the present invention provides a dual-camera positioning welding method, which controls a first camera to move to a first photographing point coordinate to take a photograph, thereby obtaining the actual coordinates of a first feature point; compares the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value; controls a second camera to move to a second photographing point coordinate to take a photograph, thereby obtaining the actual coordinates of a second feature point; and compares the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value. The welding coordinates of the first feature point are calculated using the first photographing point coordinates and the first compensation value obtained by the first camera; and the welding coordinates of the second feature point are calculated using the second photographing point coordinates, the second compensation value, and the second camera error value obtained by the second camera. The first and second cameras simultaneously acquire parameters, which shortens the time consumption and improves efficiency. Furthermore, the compensation value and error value are taken into account, reducing errors and making the obtained welding coordinates more accurate.

[0084] Optionally, before actually photographing the battery module to calculate the welding coordinates, it is necessary to photograph the standard parts of the battery module to obtain the reference coordinates of the first feature point and the coordinates of the first photographing point of each battery cell by the first camera. In an optional embodiment, the coordinates can be obtained in the following manner:

[0085] Control the first camera to take a picture of the first characteristic point of the first battery cell of the battery module so that the first characteristic point of the first battery cell is within the field of view of the first camera. At this time, the initial coordinates of the first characteristic point of the first battery cell in the field of view of the first camera are the reference coordinates of the first characteristic point; record the current position of the first camera to obtain the coordinates of the first photographing point of the first battery cell by the first camera.

[0086] Optionally, a coordinate system is established based on the field of view of the first camera 20. When the first feature point of the first battery cell is within the field of view of the first camera 20, the initial coordinates of the first feature point of the first battery cell can be automatically obtained in the field of view of the first camera 20. In this embodiment, the controller 10 uses the initial coordinates as the zero point of the coordinate system, with coordinates (0, 0), and uses the zero point as the reference coordinate of the first feature point.

[0087] It can be understood that when the first camera 20 takes a picture of the first characteristic point of the first battery cell, the first camera 20 will be fixed at a certain position on the servo axis of the welding equipment. At this time, the controller 10 will record the current position of the first camera 20, wherein the servo axis includes axes in two directions, and each axis is provided with a scale. When the first camera 20 is fixed at a certain position, the controller 10 can obtain the coordinates of the first photographing point of the first camera 20 in the first battery cell through the servo axis.

[0088] For each target battery cell except the first battery cell in the battery module, control the first camera to take a picture of the first feature point of the target battery cell, so that the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point; record the current position of the first camera to obtain the coordinates of the first photographing point of the target battery cell by the first camera.

[0089] Optionally, since the battery module includes multiple battery cells, it is necessary to control the movement of the first camera 20 to take a picture of the first feature point of each battery cell in the battery module. For example, when taking a picture of the second battery cell, when the initial coordinates of the first feature point of the second battery cell appearing in the field of view of the first camera are consistent with the reference coordinates of the first feature point, that is, the coordinates are (0, 0), stop moving the first camera 20 and record the current position of the first camera 20 to obtain the coordinates of the first photographing point of the second battery cell of the first camera 20.

[0090] It can be understood that through the above method, the coordinates of the first photographing point of each battery cell in the battery module can be obtained.

[0091] Similarly, it is necessary to use standard parts of the battery module to take pictures to obtain the reference coordinates of the second feature point, the coordinates of the second photographing point of each battery cell by the second camera, and the second camera error value. In an optional embodiment, the coordinates can be obtained in the following way:

[0092] When controlling the first camera to take a picture of a first characteristic point of a first battery cell of the battery module, controlling the second camera to take a picture of a second characteristic point of the first battery cell, and obtaining the initial coordinates of the second characteristic point of the first battery cell in the field of view of the second camera.

[0093] Optionally, since the positions of the first camera 20 and the second camera 30 are relatively fixed, while controlling the first camera 20 to take a picture of the first characteristic point of the first battery cell of the battery module, the second camera 30 is also controlled to take a picture of the second characteristic point of the first battery cell.

[0094] A coordinate system is also established based on the field of view of the second camera 30. When the second feature point of the first battery cell is within the field of view of the second camera 30, the initial coordinates of the second feature point of the first battery cell can be automatically obtained in the field of view of the second camera 30.

[0095] The initial coordinates of the second feature point of the first battery cell in the field of view of the second camera are used as the reference coordinates of the second feature point, and the current position of the second camera is recorded to obtain the coordinates of the second photographing point of the second camera on the first battery cell.

[0096] In this embodiment, the controller 10 uses the initial coordinates as the zero point of the coordinate system, which is (0, 0), and uses the zero point as the reference coordinates of the second feature point.

[0097] It can be understood that the controller 10 also records the position of the second camera 30 on the servo axis at this time to obtain the coordinates of the second photographing point of the second camera 30 at the first battery cell.

[0098] For each target battery cell except the first battery cell in the battery module, when the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point, the initial coordinates of the second feature point of the target battery cell in the field of view of the second camera are obtained, and compared with the reference coordinates of the second feature point to obtain the second camera error value corresponding to the target battery cell; the current position of the second camera is recorded to obtain the coordinates of the second photographing point of the second camera in the target battery cell.

[0099] Optionally, in this embodiment, since each battery cell is not completely consistent, there is a certain difference in the positions of the two poles of the two battery cells. When the position of the second camera 30 is determined by determining the position of the first camera 20, since only the initial coordinates of the first feature point of the battery cell in the field of view of the first camera 20 are equal to the reference coordinates of the first feature point, that is, both are (0, 0), there is a difference between the initial coordinates of the second feature point of the battery cell in the field of view of the second camera 30 and the reference coordinates of the second feature point, that is, the initial coordinates of the second feature point of the battery cell in the field of view of the second camera 30 are not (0, 0), and this difference is the second camera error value of the battery cell.

[0100] In order to accurately calculate the welding coordinates of the first characteristic point and the welding coordinates of the second characteristic point, the above step S305 specifically includes:

[0101] The coordinates of the first photographing point are added to the first compensation value of the corresponding battery cell to obtain the welding coordinates of the first characteristic point of the corresponding battery cell.

[0102] Optionally, the welding coordinates of the first characteristic point of the battery cell can be calculated using the following formula:

[0103] X1(n)=Xa(n)+δa(n)

[0104] Y1(n)=Ya(n)+βa(n)

[0105] Among them, X1(n) represents the horizontal coordinate of the welding coordinate of the first feature point; Xa(n) represents the horizontal coordinate of the coordinate of the first photographing point; δa(n) represents the horizontal axis compensation value in the first compensation value; Y1(n) represents the vertical coordinate of the welding coordinate of the first feature point; Ya(n) represents the vertical coordinate of the coordinate of the first photographing point; βa(n) represents the vertical axis compensation value in the first compensation value.

[0106] The above step S306 specifically includes:

[0107] The coordinates of the second photographing point, the second compensation value of the corresponding battery cell, and the second camera error value of the corresponding battery cell are added to obtain the welding coordinates of the second feature point of the corresponding battery cell.

[0108] Optionally, the welding coordinates of the second characteristic point of the battery cell can be calculated using the following formula:

[0109] X2(n)=Xb(n)+δb(n)+Xθ(n)

[0110] Y2(n)=Yb(n)+βb(n)+Yθ(n)

[0111] Among them, X2(n) represents the horizontal coordinate of the welding coordinate of the second feature point; Xb(n) represents the horizontal coordinate of the coordinate of the second photographing point; δb(n) represents the horizontal axis compensation value in the second compensation value; Xθ(n) represents the horizontal axis error value in the second camera error value; Y2(n) represents the vertical coordinate of the welding coordinate of the second feature point; Yb(n) represents the vertical coordinate of the coordinate of the second photographing point; βb(n) represents the vertical axis compensation value in the second compensation value; Yθ(n) represents the vertical axis error value in the second camera error value.

[0112] In order to perform the corresponding steps in the above embodiments and various possible methods, a method for implementing a dual-camera positioning welding device is given below. Figure 4 , Figure 4 A functional module diagram of a dual-camera tack welding device provided in an embodiment of the present invention. It should be noted that the basic principles and technical effects of the dual-camera tack welding device provided in this embodiment are the same as those in the above-mentioned embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding contents in the above-mentioned embodiments.

[0113] The dual-camera positioning welding device is applied to a controller, which is electrically connected to the first camera and the second camera respectively, and the positions of the first camera and the second camera are relatively fixed; the controller stores the reference coordinates of the first feature point, the reference coordinates of the second feature point, the first photographing point coordinates of the first camera in each battery cell, the second photographing point coordinates of the second camera in each battery cell, and the second camera error value; wherein the first photographing point coordinates correspond to the first feature point, and the second photographing point coordinates correspond to the second feature point.

[0114] The dual-camera positioning welding device includes: a control module 401 , an acquisition module 402 , and a calculation module 403 .

[0115] Optionally, the above modules can be stored in the form of software or firmware. Figure 2 The memory shown in FIG. 1 is stored in the controller 10 and can be used by Figure 2 Meanwhile, the data, program codes, etc. required to execute the above modules may be stored in the memory 210.

[0116] The control module 401 is used to control the first camera to move to the first photographing point coordinates to take a picture to obtain the actual coordinates of the first feature point, and control the second camera to move to the second photographing point coordinates to take a picture to obtain the actual coordinates of the second feature point.

[0117] It can be understood that the control module 401 can execute the above steps S301 and S303.

[0118] The acquisition module 402 is configured to compare the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value, and to compare the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value.

[0119] It can be understood that the acquisition module 402 can execute the above steps S302 and S304.

[0120] The calculation module 403 is used to calculate the welding coordinates of the first feature point according to the first photographing point coordinates and the first compensation value, and to calculate the welding coordinates of the second feature point according to the second photographing point coordinates, the second compensation value and the second camera error value.

[0121] It can be understood that the calculation module 403 can execute the above steps S305 and S306.

[0122] Optionally, the control module 401 is also used to control the first camera to take a picture of the first characteristic point of the first battery cell of the battery module, so that the first characteristic point of the first battery cell is in the field of view of the first camera. At this time, the initial coordinates of the first characteristic point of the first battery cell in the field of view of the first camera are the reference coordinates of the first characteristic point; record the current position of the first camera to obtain the coordinates of the first photographing point of the first battery cell by the first camera; for each target battery cell except the first battery cell in the battery module, control the first camera to take a picture of the first characteristic point of the target battery cell, so that the initial coordinates of the first characteristic point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first characteristic point; record the current position of the first camera to obtain the coordinates of the first photographing point of the first camera at the target battery cell.

[0123] The control module 401 is also used to control the second camera to take a picture of the second feature point of the first battery cell of the battery module while controlling the first camera to take a picture of the first feature point of the first battery cell, and obtain the initial coordinates of the second feature point of the first battery cell in the field of view of the second camera; use the initial coordinates of the second feature point of the first battery cell in the field of view of the second camera as the reference coordinates of the second feature point, and record the current position of the second camera to obtain the coordinates of the second photographing point of the first battery cell by the second camera; for each target battery cell except the first battery cell in the battery module, when the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point, obtain the initial coordinates of the second feature point of the target battery cell in the field of view of the second camera, and compare them with the reference coordinates of the second feature point to obtain the second camera error value corresponding to the target battery cell; record the current position of the second camera to obtain the coordinates of the second photographing point of the second camera at the target battery cell.

[0124] Optionally, the calculation module 403 is further configured to add the coordinates of the first photographing point to the first compensation value to obtain the welding coordinates of the first feature point.

[0125] The calculation module 403 is further configured to add the coordinates of the second photographing point, the second compensation value, and the second camera error value to obtain the welding coordinates of the second feature point.

[0126] An embodiment of the present invention provides a dual-camera positioning welding device. A control module controls a first camera to move to a first photographing point coordinate to take a photograph, thereby acquiring the actual coordinates of a first feature point; a second camera to move to a second photographing point coordinate to acquire the actual coordinates of a second feature point; an acquisition module compares the reference coordinates of the first feature point with the actual coordinates of the first feature point to acquire a first compensation value; and a calculation module compares the reference coordinates of the second feature point with the actual coordinates of the second feature point to acquire a second compensation value. A calculation module calculates the welding coordinates of the first feature point using the first photographing point coordinates and the first compensation value acquired by the first camera; and calculates the welding coordinates of the second feature point using the second photographing point coordinates, the second compensation value, and the second camera error value acquired by the second camera. The first and second cameras acquire parameters simultaneously, which shortens the time consumption and improves efficiency. Furthermore, by taking into account the compensation value and error value, errors are reduced, resulting in more accurate welding coordinates.

[0127] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a portion of code, and the module, program segment or a portion of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0128] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0129] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0130] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A dual-camera positioning welding method, characterized in that: The method is applied to a controller, the controller being electrically connected to a first camera and a second camera, respectively, and the positions of the first camera and the second camera being relatively fixed; the controller storing reference coordinates of a first feature point in a battery module, reference coordinates of a second feature point, coordinates of a first photographing point of each battery cell by the first camera, coordinates of a second photographing point of each battery cell by the second camera, and a second camera error value; wherein the coordinates of the first photographing point correspond to the first feature point, and the coordinates of the second photographing point correspond to the second feature point; and the method comprising: Controlling the first camera to move to the first photographing point coordinates to take a picture, so as to obtain the actual coordinates of the first feature point; Comparing the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value; Controlling the second camera to move to the coordinates of the second photographing point to take a picture, so as to obtain the actual coordinates of the second feature point; Comparing the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value; Calculating the welding coordinates of the first feature point according to the coordinates of the first photographing point and the first compensation value; The welding coordinates of the second feature point are calculated according to the second photographing point coordinates, the second compensation value, and the second camera error value.

2. The dual-camera positioning welding method according to claim 1, characterized in that: The reference coordinates of the first feature point and the coordinates of the first photographing point of each battery cell by the first camera are obtained by the following steps: Controlling the first camera to photograph a first characteristic point of a first battery cell of the battery module so that the first characteristic point of the first battery cell is within the field of view of the first camera. At this time, the initial coordinates of the first characteristic point of the first battery cell in the field of view of the first camera are the reference coordinates of the first characteristic point; recording the current position of the first camera to obtain the coordinates of the first photographing point of the first battery cell; For each target battery cell in the battery module except the first battery cell, control the first camera to take a picture of the first feature point of the target battery cell, so that the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point; record the current position of the first camera to obtain the coordinates of the first photographing point of the target battery cell by the first camera.

3. The dual-camera positioning welding method according to claim 2, characterized in that: The reference coordinates of the second feature point, the coordinates of the second photographing point of each battery cell by the second camera, and the error value of the second camera are obtained by the following steps: When controlling the first camera to take a picture of a first characteristic point of a first battery cell of the battery module, controlling the second camera to take a picture of a second characteristic point of the first battery cell to obtain initial coordinates of the second characteristic point of the first battery cell in the field of view of the second camera; Using the initial coordinates of the second feature point of the first battery cell in the field of view of the second camera as the reference coordinates of the second feature point, and recording the current position of the second camera to obtain the coordinates of the second photographing point of the first battery cell by the second camera; For each target cell other than the first cell in the battery module, when the initial coordinates of a first feature point of the target cell in the field of view of the first camera are equal to the reference coordinates of the first feature point, obtaining the initial coordinates of a second feature point of the target cell in the field of view of the second camera, and comparing the initial coordinates with the reference coordinates of the second feature point to obtain the second camera error value corresponding to the target cell; The current position of the second camera is recorded to obtain the coordinates of a second photographing point of the second camera at the target battery cell.

4. The dual-camera positioning welding method according to claim 1, characterized in that: Calculating the welding coordinates of the first feature point according to the first photographing point coordinates and the first compensation value specifically includes: The coordinates of the first photographing point are added to the first compensation value of the corresponding battery cell to obtain the welding coordinates of the first feature point of the corresponding battery cell.

5. The dual-camera positioning welding method according to claim 1, characterized in that: Calculating the welding coordinates of the second feature point according to the second photographing point coordinates, the second compensation value, and the second camera error value specifically includes: The second photographing point coordinates, the second compensation value of the corresponding battery cell, and the second camera error value of the corresponding battery cell are added together to obtain the welding coordinates of the second feature point of the corresponding battery cell.

6. A dual-camera positioning welding device, characterized in that: The method for implementing dual-camera positioning welding according to any one of claims 1 to 5 is applied to a controller, the controller being electrically connected to a first camera and a second camera, respectively, and the positions of the first camera and the second camera being relatively fixed; the controller storing reference coordinates of a first feature point, reference coordinates of a second feature point, coordinates of a first photographing point of each battery cell by the first camera, coordinates of a second photographing point of each battery cell by the second camera, and a second camera error value; wherein the coordinates of the first photographing point correspond to the first feature point, and the coordinates of the second photographing point correspond to the second feature point; the device comprising: a control module, configured to control the first camera to move to the first photographing point coordinates to take a photograph to obtain the actual coordinates of the first feature point, and to control the second camera to move to the second photographing point coordinates to take a photograph to obtain the actual coordinates of the second feature point; an acquisition module, configured to compare the reference coordinates of the first feature point with the actual coordinates of the first feature point to obtain a first compensation value, and to compare the reference coordinates of the second feature point with the actual coordinates of the second feature point to obtain a second compensation value; A calculation module is used to calculate the welding coordinates of the first feature point according to the first photographing point coordinates and the first compensation value, and to calculate the welding coordinates of the second feature point according to the second photographing point coordinates, the second compensation value and the second camera error value.

7. The dual-camera positioning welding device according to claim 6, characterized in that: The control module is further configured to: Controlling the first camera to photograph a first characteristic point of a first battery cell of the battery module so that the first characteristic point of the first battery cell is within the field of view of the first camera. At this time, the initial coordinates of the first characteristic point of the first battery cell in the field of view of the first camera are the reference coordinates of the first characteristic point; recording the current position of the first camera to obtain the coordinates of the first photographing point of the first battery cell; For each target battery cell in the battery module except the first battery cell, control the first camera to take a picture of the first feature point of the target battery cell, so that the initial coordinates of the first feature point of the target battery cell in the field of view of the first camera are equal to the reference coordinates of the first feature point; record the current position of the first camera to obtain the coordinates of the first photographing point of the target battery cell by the first camera.

8. The dual-camera positioning welding device according to claim 7, characterized in that: The control module is further configured to: When controlling the first camera to take a picture of a first characteristic point of a first battery cell of the battery module, controlling the second camera to take a picture of a second characteristic point of the first battery cell to obtain initial coordinates of the second characteristic point of the first battery cell in the field of view of the second camera; Using the initial coordinates of the second feature point of the first battery cell in the field of view of the second camera as the reference coordinates of the second feature point, and recording the current position of the second camera to obtain the coordinates of the second photographing point of the first battery cell by the second camera; For each target cell other than the first cell in the battery module, when the initial coordinates of a first feature point of the target cell in the field of view of the first camera are equal to the reference coordinates of the first feature point, obtaining the initial coordinates of a second feature point of the target cell in the field of view of the second camera, and comparing the initial coordinates with the reference coordinates of the second feature point to obtain the second camera error value corresponding to the target cell; The current position of the second camera is recorded to obtain the coordinates of a second photographing point of the second camera at the target battery cell.

9. The dual-camera positioning welding device according to claim 6, characterized in that: The computing module is further configured to: The first photographing point coordinates are added to the first compensation value to obtain the welding coordinates of the first feature point.

10. The dual-camera positioning welding device according to claim 6, characterized in that: The computing module is further configured to: The second photographing point coordinates, the second compensation value, and the second camera error value are added to obtain the welding coordinates of the second feature point.

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