A method, system, device and storage medium for welding point positioning

Abstract

The present invention discloses a welding point positioning method, system, device, and storage medium. The welding point positioning method includes: obtaining a planar image of a target battery in response to battery location information, locating the coordinates of calibration points in the planar image, and calculating the welding point position of the target battery based on the calibration point coordinates; obtaining depth data of the target battery to determine the welding point depth, and generating welding parameters based on the welding point position and transmitting them to a welding device, so that the welding device performs corresponding welding operations on the target battery according to the welding parameters. The present invention calculates the welding point position and welding point depth in the target battery through a combination of two-dimensional and three-dimensional detection. Even if the welding point is obscured, the welding point can be accurately welded, avoiding the occurrence of cold welds during the welding process, and improving welding quality and accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of battery welding, and in particular to a welding point positioning method, system, device and computer-readable storage medium. Background Art

[0002] Currently, in the automated manufacturing process of lithium batteries, batteries are typically transported to the welding area via a conveyor line. Cameras are used to identify the battery's welding points, and then the welding device is controlled to weld the points to complete the automated welding process. However, because the welding device is often located directly opposite the welding points, it obscures the camera's image when the camera captures the welding points. This makes it impossible to identify the location of the welding points in the battery from the camera's image, affecting welding accuracy. Furthermore, traditional camera methods can only identify welding points on the battery's surface, not their depth. This makes it easy for cold welds to occur during the welding process, affecting welding quality. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a welding point positioning method that can improve welding accuracy and welding quality.

[0004] A second object of the present invention is to provide a welding point positioning system for executing the above method.

[0005] A third object of the present invention is to provide an electronic device.

[0006] A fourth object of the present invention is to provide a computer-readable storage medium.

[0007] One of the purposes of the present invention is achieved by the following technical solution:

[0008] A welding point positioning method, comprising:

[0009] Acquire a planar image of a target battery in response to the battery arrival information, locate coordinates of calibration points in the planar image, and calculate positions of welding points of the target battery according to the coordinates of the calibration points;

[0010] The depth data of the target battery is obtained to determine the depth of the welding point, and welding parameters are generated in combination with the position of the welding point and sent to the welding device, so that the welding device performs corresponding welding operations on the target battery according to the welding parameters.

[0011] Furthermore, the planar image is obtained by capturing it with a two-dimensional camera, which is facing the welding device and maintains a preset distance from the welding device, so that the two-dimensional camera captures a specific area of the target battery, and there is a calibration point in the specific area.

[0012] Furthermore, the specific area is a diagonal position of the target battery, and two designated diagonal positions are marked as calibration points.

[0013] Furthermore, before calculating the welding point position of the target battery, the method further includes:

[0014] The positional relationship between the calibration point and the welding point is tested. After the coordinates of the calibration point in the plane image are located, the position of the welding point of the target battery can be calculated based on the positional relationship between the calibration point and the welding point.

[0015] Furthermore, the battery arrival information is obtained through detection by a laser sensor; when the laser sensor detects that the target battery has arrived at the first position of the transport line, the transport line is controlled to continue moving forward and then stop for a preset time so that the target battery stays at the second position of the transport line, and the second position is opposite to the two-dimensional camera, and the target battery at the second position is photographed by the two-dimensional camera.

[0016] Furthermore, the depth data is obtained by capturing with a three-dimensional scanner, which is installed between the first position and the second position on the transport line. When the target battery moves to the second position, the three-dimensional scanner is controlled to scan the passing target battery to obtain the depth data of the target battery.

[0017] The second object of the present invention is achieved by adopting the following technical solution:

[0018] A welding point positioning system, which performs the welding point positioning method as described above, comprises:

[0019] A two-dimensional detection module is used to capture a planar image of a target battery, locate the coordinates of calibration points in the planar image, and calculate the positions of welding points of the target battery based on the coordinates of the calibration points;

[0020] A three-dimensional detection module, used to obtain depth data of the target battery to determine the depth of the welding point;

[0021] The welding control module is used to generate welding parameters according to the welding point depth and the welding point position and send them to the welding device, so that the welding device performs corresponding welding operations on the target battery according to the welding parameters.

[0022] The third object of the present invention is achieved by adopting the following technical solution:

[0023] An electronic device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the above-mentioned welding point positioning method when executing the computer program.

[0024] The fourth object of the present invention is achieved by adopting the following technical solution:

[0025] A computer-readable storage medium stores a computer program, which implements the above-mentioned welding point positioning method when executed.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention uses a two-dimensional camera to capture a planar image of a target battery, locates the coordinates of the calibration points in the image, and then accurately calculates the positions of the welding points in the target battery based on the positional relationship between the calibration points and the welding points. Even if the welding points are blocked, the welding points can be accurately welded. At the same time, the depth data of the target battery is measured by a three-dimensional detection device, and the depth data is used to determine the depth of the welding points, so that the occurrence of cold welding can be avoided during the welding process, thereby improving the welding quality and welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the process of the welding point positioning method of the present invention;

[0029] Figure 2 This is a schematic diagram of a planar image captured by a two-dimensional camera of the present invention;

[0030] Figure 3 Schematic diagram of the modules of the welding point positioning system of the present invention. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0032] Example 1

[0033] This embodiment provides a welding point positioning method, which positions and welds welding points on a battery by combining two-dimensional detection and three-dimensional detection, thereby improving battery production efficiency.

[0034] The welding point positioning method is mainly used in the transportation line. Several batteries are transported in sequence through the transportation line. When they are transported to the vicinity of the welding area, the batteries are inspected and welded. Figure 1 As shown, the method specifically includes the following steps:

[0035] Step S1: acquiring a planar image of a target battery in response to battery arrival information, locating coordinates of calibration points in the planar image, and calculating the positions of welding points of the target battery according to the coordinates of the calibration points;

[0036] There are at least two key positions marked on the transport line. The first position is the location of the detection device. The detection device can be a laser sensor or other distance sensor, which is used to detect whether the target battery to be welded is in place; when the sensor detects that the distance between the battery and the sensor is less than the preset value, the current battery is marked as the target battery, and the battery in place information is generated at the same time.

[0037] The second position on the transport line is the position directly opposite the welding device. When the laser sensor detects that the target battery has arrived at the first position of the transport line, the transport line is controlled to continue to move forward for a preset time and then stop so that the target battery stays at the second position of the transport line. The target battery is transported only after the welding operation is completed at the second position. The transport speed of the transport line is kept constant, and the preset time for the transport line to continue to move forward is determined by the transport speed of the transport line and the distance between the first position and the second position. The specific value of the preset time is not limited here.

[0038] In this embodiment, a welding device is provided opposite the second position. At the same time, a two-dimensional camera is provided opposite the second position. The two-dimensional camera faces the welding device and a preset distance is maintained between the two-dimensional camera and the welding device. The two-dimensional camera and the welding device are located in the same straight line, and the straight line between the two-dimensional camera and the welding device is perpendicular to the transportation line. Due to the preset distance between the two-dimensional camera and the welding device, the shooting range of the two-dimensional camera is larger than the length and width of the welding device, and the local image of the battery staying at the second position can also be captured. Figure 2 As shown, Figure 2 is the plane image captured by the two-dimensional camera, Figure 2 A in the figure refers to the target battery. The plane image captured by the two-dimensional camera will include the image B of the welding device and the specific area of the target battery A. Figure 2 D in the figure indicates a welding point, and the welding point D is blocked by the image B of the welding device.

[0039] In this embodiment, the specific area refers to the diagonal position of the target battery, and the diagonal position of the target battery is marked as a calibration point. Figure 2 As shown, the two-dimensional camera captures the diagonal position of the target battery that stays at the second position, wherein Figure 2 C in the figure refers to the calibration point at the diagonal position.

[0040] Before calculating the welding point position of the target battery, the positional relationship between the calibration point and the welding point is also pre-tested. Since the positional relationship between the calibration point and the welding point will not change much during the production process, when the diagonal position of the target battery is photographed, the coordinates of the calibration point in the plane image can be located, and then the welding point position of the target battery is calculated based on the positional relationship between the calibration point and the welding point. The welding point position is the two-dimensional coordinate of the plane where the target battery is located. According to the welding point position, the welding device can be controlled to move to the position facing the welding point, and then the welding point can be welded in combination with the welding point depth.

[0041] Step S2: Acquire the depth data of the target battery to determine the depth of the welding point, and generate welding parameters based on the position of the welding point and send them to the welding device, so that the welding device performs corresponding welding operations on the target battery according to the welding parameters.

[0042] In this embodiment, the depth data is obtained by capturing with a three-dimensional scanner, which is installed between the first position and the second position on the transport line; that is, when the target battery is detected in place by the sensor at the first position, the three-dimensional scanner is controlled to turn on and scan the target battery transported to the second position, thereby obtaining the depth data of the target battery.

[0043] The depth of the welding point can be determined based on the depth data. The depth of the welding point can be used to determine the distance that the welding head of the welding device moves to the welding point of the target battery. After the welding device moves this distance, its welding head is just aligned with the welding point and the welding point can be welded. This can avoid the problem of cold welding during the welding process due to insufficient distance, and improve the welding accuracy and quality.

[0044] Example 2

[0045] This embodiment provides a welding point positioning system, which executes the welding point positioning method as described in the first embodiment. Figure 3 Said system comprises:

[0046] A two-dimensional detection module is used to capture a planar image of a target battery, locate the coordinates of calibration points in the planar image, and calculate the positions of welding points of the target battery based on the coordinates of the calibration points;

[0047] A three-dimensional detection module, used to obtain depth data of the target battery to determine the depth of the welding point;

[0048] The welding control module is used to generate welding parameters according to the welding point depth and the welding point position and send them to the welding device, so that the welding device performs corresponding welding operations on the target battery according to the welding parameters.

[0049] The present invention uses a two-dimensional camera to capture a planar image of a target battery, locates the coordinates of the calibration points in the image, and then accurately calculates the positions of the welding points in the target battery based on the positional relationship between the calibration points and the welding points. Even if the welding points are blocked, the welding points can be accurately welded. At the same time, the depth data of the target battery is measured by a three-dimensional detection device, and the depth data is used to determine the depth of the welding points, so that the occurrence of cold welding can be avoided during the welding process, thereby improving the welding quality and welding accuracy.

[0050] In some embodiments, an electronic device is further provided, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the welding point locating method in the first embodiment when executing the computer program;

[0051] In some embodiments, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed, the above-mentioned welding point positioning method is implemented.

[0052] The above-mentioned systems, devices and storage media and the methods in the aforementioned embodiments are based on multiple aspects of the same inventive concept. The implementation process of the method has been described in detail above, so those skilled in the art can clearly understand the structure and implementation process of the system, device and storage medium in this embodiment based on the above description. For the sake of brevity of the specification, they will not be repeated here.

[0053] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A welding point positioning method, characterized in that: include: In response to the battery arrival information, a planar image of the target battery is acquired, the coordinates of the calibration points in the planar image are located, and the welding point positions of the target battery are calculated based on the coordinates of the calibration points; wherein, the battery arrival information is obtained by detection by a laser sensor; when the laser sensor detects that the target battery has arrived at a first position of the transport line, the transport line is controlled to continue to move forward for a preset time and then stop so that the target battery stops at a second position of the transport line, the second position is facing a two-dimensional camera, and the target battery at the second position is photographed by the two-dimensional camera; wherein, the planar image is obtained by photographing a two-dimensional camera, the two-dimensional camera is facing a welding device and a preset distance is retained between the two-dimensional camera and the welding device, so that the two-dimensional camera photographs a specific area of the target battery, and there is a calibration point in the specific area; the specific area is a diagonal position of the target battery, and two designated diagonal positions are marked as calibration points; Acquire the depth data of the target battery to determine the depth of the welding point, and generate welding parameters based on the position of the welding point and transmit them to the welding device, so that the welding device performs a corresponding welding operation on the target battery according to the welding parameters; wherein the depth data is obtained by capturing with a three-dimensional scanner, and the three-dimensional scanner is installed between the first position and the second position on the transport line, and when the target battery moves to the second position, the three-dimensional scanner is controlled to scan the target battery passing by to obtain the depth data of the target battery; Before calculating the welding point position of the target battery, the method further includes: The positional relationship between the calibration point and the welding point is tested. After the coordinates of the calibration point in the plane image are located, the position of the welding point of the target battery can be calculated based on the positional relationship between the calibration point and the welding point.

2. A welding point positioning system, characterized in that: The method for locating a welding point according to claim 1 is performed, wherein the system comprises: A two-dimensional detection module is used to capture a planar image of a target battery, locate the coordinates of calibration points in the planar image, and calculate the positions of welding points of the target battery based on the coordinates of the calibration points; A three-dimensional detection module, used to obtain depth data of the target battery to determine the depth of the welding point; The welding control module is used to generate welding parameters according to the welding point depth and the welding point position and send them to the welding device, so that the welding device performs corresponding welding operations on the target battery according to the welding parameters.

3. An electronic device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, the welding point positioning method according to claim 1 is implemented.

4. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed, the welding point positioning method according to claim 1 is implemented.

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