A glue dripping detection method, device, equipment and storage medium

Abstract

The present application discloses a glue drop detection method, device, equipment and storage medium, the method comprising: setting a reference point according to the starting position of a glue drop head; photographing the single-side skirt of a battery cell from above the battery cell by a camera to obtain an image of the single-side skirt of the battery cell; obtaining the glue drop starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the image of the single-side skirt of the battery cell; calculating the position offset between the glue drop starting position and the reference point, and if the position offset is greater than a preset offset threshold, moving a profiling jig according to the position offset so that the position offset between the glue drop starting position and the reference point is less than or equal to the preset offset threshold, thereby improving the technical problem that the glue drop head cannot accurately drop glue to the glue drop position due to the deviation of the moving position of the glue drop platform, affecting the glue drop result at the glue drop position, and thus affecting the quality of the battery cell.

Description

Technical Field

[0001] The present application relates to the field of glue dripping technology, and in particular to a glue dripping detection method, device, equipment and storage medium. Background Art

[0002] When dispensing glue on the battery cell on the dispensing platform, the battery cell moves from the dispensing track guide station to the dispensing position on the contoured fixture on the slide rail for dispensing glue. The movement position of the mechanism will have deviations, resulting in the dispensing head being unable to accurately dispense glue at the corresponding dispensing position, affecting the dispensing results at the dispensing position and thus affecting the quality of the battery cell. Summary of the Invention

[0003] The present application provides a glue drop detection method, device, equipment and storage medium, which are used to improve the technical problem that the glue drop head cannot accurately drop glue at the corresponding glue drop position due to the deviation of the moving position of the glue drop platform, affecting the glue drop result of the glue drop position, and thus affecting the quality of the battery cell.

[0004] In view of this, the first aspect of the present application provides a method for detecting glue dripping, comprising:

[0005] Set the reference point according to the starting position of the dispensing head;

[0006] The camera is used to shoot the single-side skirt of the battery cell from above the battery cell to obtain the image of the single-side skirt of the battery cell;

[0007] Obtaining a glue dripping starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the single-side skirt image;

[0008] The position offset between the glue drop starting position and the reference point is calculated. If the position offset is greater than a preset offset threshold, the profiling jig is moved according to the position offset so that the position offset between the glue drop starting position and the reference point is less than or equal to the preset offset threshold.

[0009] Optionally, photographing the single-side skirt of the battery cell from above the battery cell with a camera to obtain the image of the single-side skirt of the battery cell includes:

[0010] A strip light source is set under the battery cell, and the strip light source is turned on to illuminate the bottom of the battery cell;

[0011] The camera is used to shoot the single-side skirt of the battery cell under backlight from above the battery cell to obtain the image of the single-side skirt of the battery cell.

[0012] Optionally, the step of photographing the single-side skirt of the battery cell from above the battery cell to obtain the single-side skirt image of the battery cell may further include:

[0013] The image of the single-side skirt of the battery cell is preprocessed, and the preprocessing includes image enhancement processing and / or binarization processing.

[0014] Optionally, obtaining the glue dripping starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the single-side skirt image of the battery cell includes:

[0015] Extracting the long side edge line and the short side edge line of the single-side skirt of the battery cell from the single-side skirt image of the battery cell by using a line finding tool;

[0016] offsetting the long side edge line toward the inside of the battery cell by a preset distance to obtain a new long side edge line;

[0017] The pixel coordinates of the intersection of the new long side edge line and the short side edge line are obtained to obtain the glue dripping starting position.

[0018] Optionally, the calculating the position offset between the glue dripping starting position and the reference point includes:

[0019] Converting the pixel coordinates of the glue-dropping starting position into mechanical coordinates;

[0020] The coordinate offset between the glue-dropping starting position and the reference point in the mechanical coordinates is calculated to obtain the position offset between the glue-dropping starting position and the reference point.

[0021] Optionally, the method further includes:

[0022] The position of the camera and the profiling fixture is calibrated by the calibration block to obtain the mapping relationship between pixel coordinates and mechanical coordinates;

[0023] The step of converting the pixel coordinates of the glue drop starting position into mechanical coordinates includes:

[0024] The pixel coordinates of the glue-dropping starting position are converted into mechanical coordinates according to a mapping relationship between pixel coordinates and mechanical coordinates.

[0025] A second aspect of the present application provides a glue dripping detection device, comprising:

[0026] A setting unit, used to set a reference point according to the starting position of the dispensing head;

[0027] An image acquisition unit is used to photograph a single-side skirt of the battery cell from above the battery cell to obtain an image of the single-side skirt of the battery cell;

[0028] An image processing unit, configured to obtain a glue dripping starting position according to a long side edge and a short side edge of the single-side skirt of the battery cell in the single-side skirt image of the battery cell;

[0029] The correction unit is used to calculate the position offset between the starting position of the glue dripping and the reference point. If the position offset is greater than a preset offset threshold, the profiling jig is moved according to the position offset so that the position offset between the starting position of the glue dripping and the reference point is less than or equal to the preset offset threshold.

[0030] Optionally, the image processing unit is specifically configured to:

[0031] Extracting the long side edge line and the short side edge line of the single-side skirt of the battery cell from the single-side skirt image of the battery cell by using a line finding tool;

[0032] offsetting the long side edge line toward the inside of the battery cell by a preset distance to obtain a new long side edge line;

[0033] The pixel coordinates of the intersection of the new long side edge line and the short side edge line are obtained to obtain the glue dripping starting position.

[0034] A third aspect of the present application provides a glue dripping detection device, the device comprising a processor and a memory;

[0035] The memory is used to store program code and transmit the program code to the processor;

[0036] The processor is configured to execute any one of the glue dripping detection methods described in the first aspect according to instructions in the program code.

[0037] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store program code, and when the program code is executed by a processor, the glue drip detection method described in any one of the first aspects is implemented.

[0038] It can be seen from the above technical solutions that this application has the following advantages:

[0039] The present application provides a glue dripping detection method, including: setting a reference point according to the starting position of the glue dripping head; photographing the single-side skirt of the battery cell from above the battery cell by a camera to obtain an image of the single-side skirt of the battery cell; obtaining the glue dripping starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the image of the single-side skirt of the battery cell; calculating the position offset between the glue dripping starting position and the reference point, and if the position offset is greater than a preset offset threshold, moving the profiling jig according to the position offset so that the position offset between the glue dripping starting position and the reference point is less than or equal to the preset offset threshold.

[0040] In this application, a reference point is set according to the starting position of the glue dripping head, and the glue dripping starting position of the battery cell skirt during actual glue dripping is obtained according to the long side edge and short side edge of the single-side skirt of the battery cell in the collected single-side skirt image of the battery cell, and then the position offset of the glue dripping starting position and the reference point is calculated. When the position offset is greater than the preset offset threshold, the contour jig is moved according to the position offset for correction, so that when the glue dispensing trajectory guides the workstation to the glue dispensing position for glue dispensing, the movement position of the mechanism will not have a large deviation, thereby improving the glue dripping accuracy and improving the technical problem that the glue dripping head cannot accurately drip glue at the corresponding glue dripping position due to the deviation in the moving position of the glue dripping platform, affecting the glue dripping result of the glue dripping position, and thus affecting the quality of the battery cell. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 A schematic flow chart of a method for detecting glue dripping provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the installation of a camera above a battery cell for photographing the right side skirt of a battery cell provided in an embodiment of the present application;

[0044] Figure 3 This is an imaging effect diagram of a black battery cell provided in an embodiment of the present application under backlight;

[0045] Figure 4 This is an imaging effect diagram of a silver battery cell provided in an embodiment of the present application under backlight;

[0046] Figure 5 A schematic diagram of a long side edge line, a short side edge line extracted from a single-side skirt image of a battery cell and a new long side edge line obtained after offset, provided in an embodiment of the present application;

[0047] Figure 6 The front view, left view and right view of the calibration block provided in the embodiment of the present application;

[0048] Figure 7 A schematic diagram of the relationship between the calibration block and the battery cell provided in an embodiment of the present application;

[0049] Figure 8 A structural schematic diagram of a glue dripping detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0051] For easier understanding, see Figure 1 , the embodiment of the present application provides a method for detecting glue dripping, comprising:

[0052] Step 101: Set a reference point according to the starting position of the dispensing head.

[0053] In the embodiment of the present application, the starting position of the glue dispensing head is set as the reference point, and the mechanical coordinates (x0, y0) of the reference point in the contour jig coordinate system are saved. When dispensing glue, the glue dispensing head starts dispensing glue from the reference point each time.

[0054] Step 102 : Use a camera to photograph the single-side skirt of the battery cell from above the battery cell to obtain an image of the single-side skirt of the battery cell.

[0055] When shooting, the camera installation plane needs to be nearly absolutely parallel to the X-axis of the glue dispensing platform. In this embodiment of the application, the camera above the battery cell only shoots the edge of one side of the battery cell (it can be the head edge or the tail edge), and does not need to shoot the entire battery cell. Therefore, the mechanical positioning mechanism of the glue dispensing platform ensures that the skirt is parallel to the side of the fixture. Please refer to Figure 2 A schematic diagram of the installation of a camera above a battery cell to photograph the right side skirt of a battery cell is provided. The camera can be installed above the single-side skirt of the battery cell via a bracket, with the corner point of the single-side skirt of the battery cell at the center of the camera's field of view; a strip light source is set below the battery cell, and the strip light source is turned on to illuminate the bottom of the battery cell; the camera is used to photograph the single-side skirt of the battery cell under backlight from above the battery cell to obtain an image of the single-side skirt of the battery cell.

[0056] In the embodiment of the present application, a highly uniform strip light source is used as the backlight, and the imaging effects of the black battery cell and the silver battery cell are as follows: Figure 3 、 Figure 4 As shown in the figure, black cells have clear edges when imaged under backlight, while silver cells can achieve compatible effects by properly adjusting the light source brightness and exposure. The brightness and exposure adjusted for black and silver cells can be saved in the software, which opens options for quick image changeover.

[0057] Furthermore, after the image of the single-sided skirt of the battery cell is collected, the image of the single-sided skirt of the battery cell can be pre-processed, including image enhancement processing and / or binarization processing. The edge contour of the black battery cell is clear when imaged under backlight, and the silver battery cell can achieve compatible effects by appropriately adjusting the brightness and exposure of the light source. Because the skirt of the battery cell is uneven, there will be burrs, protrusions, depressions and other problems, which will affect the image acquisition effect when shooting. Therefore, the brightness and exposure of the image of the single-sided skirt of the battery cell can be adjusted, and the brightness can be adjusted to gray to achieve image enhancement, so that the edge line of the battery cell skirt can be better extracted later. By binarizing the image of the single-sided skirt of the battery cell, the outline of the battery cell skirt can be better highlighted, which helps to quickly extract the edge line of the battery cell skirt.

[0058] Step 103 : Obtain the glue dripping starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the single-side skirt image of the battery cell.

[0059] After obtaining the image of the single-sided skirt of the battery cell, the long side edge line and the short side edge line of the single-sided skirt of the battery cell can be extracted from the image of the single-sided skirt of the battery cell, and then the starting position of glue dripping can be obtained based on the long side edge line and the short side edge line. Specifically, a line finding tool can be used to find the edge in the image of the single-sided skirt of the battery cell to extract the long side edge line and the short side edge line of the single-sided skirt of the battery cell from the image of the single-sided skirt of the battery cell; the embodiment of the present application takes into account that in the actual glue dripping process, glue dripping starts from the edge of the battery cell skirt offset inward by a preset distance (usually 1mm inward), therefore, after extracting the two edge lines, the embodiment of the present application offsets the long side edge line to the inside of the battery cell by a preset distance (such as 1mm) to obtain a new long side edge line, such as Figure 5 As shown; then the pixel coordinates of the intersection of the new long side edge line and the short side edge line can be obtained through the intersection tool to obtain the pixel coordinates of the glue dripping starting position. The intersection of the new long side edge line and the short side edge line is the actual glue dripping starting position.

[0060] It is understandable that other image processing methods can also be used to extract the long side edge line and the short side edge line of the single-side skirt of the battery cell. For example, after locating the battery cell area, the edge contour information of the single-side skirt of the battery cell is extracted, and two edge lines are extracted based on the edge contour information of the single-side skirt of the battery cell. Then, the pixel coordinates of the intersection of the two edge lines are calculated to obtain the pixel coordinates of the starting position of the glue dripping.

[0061] Step 104 : Calculate the position offset between the glue dispensing start position and the reference point. If the position offset is greater than a preset offset threshold, move the profiling jig according to the position offset so that the position offset between the glue dispensing start position and the reference point is less than or equal to the preset offset threshold.

[0062] Since the coordinates of the pre-saved reference point are mechanical coordinates in the profiling jig coordinate system, and the coordinates of the glue starting position obtained are pixel coordinates in the image coordinate system, it is necessary to convert the pixel coordinates of the glue starting position into mechanical coordinates to facilitate the subsequent calculation of the coordinate offset. To convert the pixel coordinates into mechanical coordinates, it is necessary to obtain the mapping relationship between the pixel coordinates and the mechanical coordinates. The calibration block can be used to calibrate the position of the camera and the profiling jig to obtain the mapping relationship between the pixel coordinates and the mechanical coordinates.

[0063] In the embodiment of the present application, when using the calibration block, remove the battery clamp, install the calibration block on the base, and then install the battery clamp. The clarity of the image in the field of view of the upper camera can be adjusted by the calibration block. The structural diagram of the calibration block in the embodiment of the present application is as follows: Figure 6 As shown, the main view of the calibration block is a triangle, which fits the arc-shaped battery cell. The left and right views of the calibration block are both rectangular. The two hypotenuses of the triangle are the midlines of the line connecting the tangent of the battery cell skirt and the vertex of the battery cell skirt and the left and right corner points, as shown in Figure 7 As shown, the bottom side of the triangle is the contact surface between the battery fixture and the base below it; the length of the calibration block is the same as the width of the battery cell, and the left and right sides of the calibration block have laser engravings for reference. Figure 6 In the left and right views, the width of the laser engraved line is 0.1 mm, and the vertical line (i.e. Figure 6 Line 1) is the skirt offset 2mm inward, and the horizontal line (i.e. Figure 6 Line 2) is the centerline connecting the cell's skirt vertex and the left (right) corner. During laser engraving, the laser head centerline is perpendicular to the inclined surface. The two laser engraved lines can be used to confirm whether the camera's field of view is clear and focused, as well as to confirm the camera's field of view orientation. The vertical line of the calibration block must be centered in the camera's field of view. It should be noted that the specific process of calibration using the calibration block is state-of-the-art and will not be further elaborated here.

[0064] After calibrating the position of the camera and the profiling fixture through the calibration plate to obtain the mapping relationship between pixel coordinates and mechanical coordinates, the pixel coordinates of the glue dispensing starting position can be converted into mechanical coordinates according to the mapping relationship between pixel coordinates and mechanical coordinates.

[0065] After obtaining the mechanical coordinates of the glue starting position, the mechanical coordinates of the glue starting position and the mechanical coordinates of the reference point are compared to obtain the position offset. Specifically, the deviation of the horizontal coordinate value △x=|x0-x1| and the vertical coordinate value deviation △y=|y0-y1| between the mechanical coordinates (x1, y1) of the glue starting position and the mechanical coordinates (x0, y0) of the reference point are calculated to obtain the coordinate offset (△x, △y) of the glue starting position and the reference point in the mechanical coordinates, that is, the position offset of the glue starting position and the reference point is calculated. If the position offset is greater than the preset offset threshold, it means that the deviation between the current position of the battery cell and the glue dripping position is large. At this time, it can be corrected by moving the profiling fixture so that the position offset between the glue dripping starting position and the reference point of the battery cell skirt is less than or equal to the preset offset threshold, so that the glue dripping trajectory guides the workstation to move to the glue dripping position for glue dripping, ensuring that the movement position of the mechanism does not deviate significantly, thereby improving the glue dripping accuracy. It is understandable that the preset offset threshold can be set according to actual conditions. If a small deviation between the actual glue drop starting position and the reference point is allowed in actual requirements, such as the coordinate deviation between the glue drop starting position and the reference point is within 0.007, the preset offset threshold can be set to 0.007; if the product quality requirements are high and it is necessary to ensure that the actual glue drop starting position and the reference point are completely consistent, the preset offset threshold can be set to 0.

[0066] In an embodiment of the present application, a reference point is set according to the starting position of the glue dripping head, and the glue dripping starting position of the battery cell skirt during actual glue dripping is obtained according to the long side edge and the short side edge of the single-side skirt of the battery cell in the collected single-side skirt image of the battery cell, and then the position offset of the glue dripping starting position and the reference point is calculated. When the position offset is greater than the preset offset threshold, the contour jig is moved according to the position offset for correction, so that when the glue dispensing trajectory guides the workstation to move to the glue dispensing position for glue dispensing, the movement position of the mechanism will not have a large deviation, thereby improving the glue dripping accuracy and improving the technical problem that the glue dripping head cannot accurately drip glue at the corresponding glue dripping position due to the deviation in the moving position of the glue dripping platform, affecting the glue dripping result of the glue dripping position, and thus affecting the quality of the battery cell.

[0067] The above is an embodiment of a glue dripping detection method provided by the present application, and the following is an embodiment of a glue dripping detection device provided by the present application.

[0068] Please refer to Figure 8 , an embodiment of the present application provides a glue dripping detection device, comprising:

[0069] A setting unit, used to set a reference point according to the starting position of the dispensing head;

[0070] An image acquisition unit is used to photograph a single-side skirt of the battery cell from above the battery cell to obtain an image of the single-side skirt of the battery cell;

[0071] An image processing unit is used to obtain the pixel coordinates of the glue dripping starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the single-side skirt image of the battery cell;

[0072] The correction unit is used to calculate the position offset between the starting position of the glue dripping and the reference point. If the position offset is greater than the preset offset threshold, the profiling fixture is moved according to the position offset so that the position offset between the starting position of the glue dripping and the reference point is less than or equal to the preset offset threshold.

[0073] In the embodiment of the present application, the starting position of the glue dispensing head is set as the reference point, and the mechanical coordinates (x0, y0) of the reference point in the contour jig coordinate system are saved. When dispensing glue, the glue dispensing head starts dispensing glue from the reference point each time.

[0074] As a further improvement, the glue dripping detection device further includes: a bar-shaped light source;

[0075] The strip light source is arranged below the battery cell and is used to illuminate the bottom of the battery cell, so that the image acquisition unit captures the single-side skirt of the battery cell under the backlight to obtain an image of the single-side skirt of the battery cell.

[0076] The image acquisition unit in the embodiment of the present application can be a camera. When shooting, the camera installation plane needs to be nearly absolutely parallel to the X-axis of the glue-dropping platform. In the embodiment of the present application, the camera above the battery cell only shoots the single-side skirt of the battery cell (which can be the head edge or the tail edge), and does not need to shoot the entire battery cell. Therefore, the mechanical positioning mechanism of the glue-dropping platform ensures that the skirt is parallel to the side of the fixture. The camera can be installed 500±30mm above the single-side skirt of the battery cell through a bracket, and the corner point of the single-side skirt of the battery cell is located at the center of the camera's field of view; the strip light source can be set 40±30mm below the battery cell, and the strip light source is turned on to illuminate the bottom of the battery cell; the camera shoots the single-side skirt of the battery cell under backlight from above the battery cell to obtain an image of the single-side skirt of the battery cell.

[0077] As a further improvement, the glue dripping detection device further includes:

[0078] The preprocessing unit is used to preprocess the image of the single-side skirt of the battery cell, and the preprocessing includes image enhancement processing and / or binarization processing.

[0079] As a further improvement, the image processing unit is specifically configured to:

[0080] The long side edge line and the short side edge line of the cell's single-side skirt are extracted from the cell's single-side skirt image using a line finding tool;

[0081] Offset the long side edge line toward the inside of the cell by a preset distance to obtain a new long side edge line;

[0082] Get the pixel coordinates of the intersection of the new long edge line and the short edge line to get the glue dripping starting position.

[0083] As a further improvement, the glue dripping detection device further includes:

[0084] The calibration block is used to calibrate the position of the image acquisition unit and the profiling fixture to obtain the mapping relationship between pixel coordinates and mechanical coordinates;

[0085] The correction unit is specifically used to convert the pixel coordinates of the starting position of the glue dripping into mechanical coordinates according to the mapping relationship between the pixel coordinates and the mechanical coordinates, calculate the coordinate offset between the starting position of the glue dripping and the reference point in the mechanical coordinates, and obtain the position offset between the starting position of the glue dripping and the reference point. If the position offset is greater than the preset offset threshold, the profiling fixture is moved according to the position offset so that the position offset between the starting position of the glue dripping and the reference point is less than or equal to the preset offset threshold.

[0086] In the embodiment of the present application, when using the calibration block, remove the battery clamp, install the calibration block on the base, and then install the battery clamp. The clarity of the image in the field of view of the upper camera can be adjusted by the calibration block. The structural diagram of the calibration block in the embodiment of the present application is as follows: Figure 6 As shown, the main view of the calibration block is a triangle, which fits the arc-shaped battery cell. The left and right views of the calibration block are both rectangular. The two hypotenuses of the triangle are the midlines of the line connecting the tangent of the battery cell skirt and the vertex of the battery cell skirt and the left and right corner points, as shown in Figure 7 As shown, the bottom side of the triangle is the contact surface between the battery fixture and the base below it; the length of the calibration block is the same as the width of the battery cell, and the left and right sides of the calibration block have laser engravings for reference. Figure 6 In the left and right views, the width of the laser engraved line is 0.1 mm, and the vertical line (i.e. Figure 6 Line 1) is the skirt offset 2mm inward, and the horizontal line (i.e. Figure 6 Line 2) is the centerline connecting the cell's skirt vertex and the left (right) corner. During laser marking, the laser head centerline is perpendicular to the inclined surface. The two laser markings can be used to confirm the camera's field of view is clear and focused, as well as the camera's field of view orientation. The vertical line on the calibration block should be centered in the camera's field of view.

[0087] Calibration of the camera and profiling jig using a calibration plate yields a mapping relationship between pixel coordinates and mechanical coordinates. This mapping relationship can be stored in the correction unit, allowing the correction unit to convert the pixel coordinates of the glue dispensing starting position into mechanical coordinates based on the calibrated pixel coordinate-to-mechanical coordinate mapping relationship. The specific process of calibration using a calibration plate is well known in the art and will not be further described here.

[0088] After obtaining the mechanical coordinates of the glue starting position, the correction unit compares the mechanical coordinates of the glue starting position with the mechanical coordinates of the reference point to obtain the position offset. Specifically, the correction unit calculates the deviation of the horizontal coordinate value △x=|x0-x1| and the vertical coordinate value deviation △y=|y0-y1| between the mechanical coordinates (x1, y1) of the glue starting position and the mechanical coordinates (x0, y0) of the reference point, and obtains the coordinate offset (△x, △y) of the glue starting position and the reference point in the mechanical coordinates, that is, the position offset of the glue starting position and the reference point is calculated. If the position offset is greater than the preset offset threshold, it means that the deviation between the current position of the battery cell and the glue dripping position is large. At this time, the contour fixture can be moved to correct it so that the position offset between the glue dripping starting position and the reference point of the battery cell skirt is less than or equal to the preset offset threshold, so that the glue dripping trajectory guides the workstation to move to the glue dripping position for glue dripping, ensuring that the movement position of the mechanism will not deviate significantly, thereby improving the glue dripping accuracy.

[0089] In an embodiment of the present application, a reference point is set according to the starting position of the glue dripping head, and the glue dripping starting position of the battery cell skirt during actual glue dripping is obtained according to the long side edge and the short side edge of the single-side skirt of the battery cell in the collected single-side skirt image of the battery cell, and then the position offset of the glue dripping starting position and the reference point is calculated. When the position offset is greater than the preset offset threshold, the contour jig is moved according to the position offset for correction, so that when the glue dispensing trajectory guides the workstation to move to the glue dispensing position for glue dispensing, the movement position of the mechanism will not have a large deviation, thereby improving the glue dripping accuracy and improving the technical problem that the glue dripping head cannot accurately drip glue at the corresponding glue dripping position due to the deviation in the moving position of the glue dripping platform, affecting the glue dripping result of the glue dripping position, and thus affecting the quality of the battery cell.

[0090] The embodiment of the present application also provides a glue dripping detection device, the device including a processor and a memory;

[0091] The memory is used to store program codes and transmit the program codes to the processor;

[0092] The processor is configured to execute the glue drop detection method in the aforementioned method embodiment according to instructions in the program code.

[0093] The embodiment of the present application further provides a computer-readable storage medium, which is used to store program code. When the program code is executed by a processor, the glue dripping detection method in the aforementioned method embodiment is implemented.

[0094] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0096] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0099] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0100] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or 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 a number of instructions for executing all or part of the steps of the method described in each embodiment of the present application through a computer device (which can be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English full name: Read-Only Memory, English abbreviation: ROM), random access memory (English full name: Random Access Memory, English abbreviation: RAM), disk or optical disk and other media that can store program code.

[0101] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting glue dripping, characterized in that: include: Set the reference point according to the starting position of the dispensing head; The camera is used to shoot the single-side skirt of the battery cell from above the battery cell to obtain the image of the single-side skirt of the battery cell; Obtaining a glue dripping starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the single-side skirt image; The position offset between the glue drop starting position and the reference point is calculated. If the position offset is greater than a preset offset threshold, the profiling jig is moved according to the position offset so that the position offset between the glue drop starting position and the reference point is less than or equal to the preset offset threshold.

2. The method for detecting glue dripping according to claim 1, wherein: The method of photographing the single-side skirt of the battery cell from above the battery cell by a camera to obtain an image of the single-side skirt of the battery cell includes: A strip light source is set under the battery cell, and the strip light source is turned on to illuminate the bottom of the battery cell; The camera is used to shoot the single-side skirt of the battery cell under backlight from above the battery cell to obtain the image of the single-side skirt of the battery cell.

3. The glue dripping detection method according to claim 1, characterized in that: The method further includes: photographing the single-side skirt of the battery cell from above the battery cell to obtain an image of the single-side skirt of the battery cell; and then: The image of the single-side skirt of the battery cell is preprocessed, and the preprocessing includes image enhancement processing and / or binarization processing.

4. The method for detecting glue dripping according to claim 1, wherein: The obtaining of the glue dripping starting position according to the long side edge and the short side edge of the single-side skirt of the battery cell in the single-side skirt image includes: Extracting the long side edge line and the short side edge line of the single-side skirt of the battery cell from the single-side skirt image of the battery cell by using a line finding tool; offsetting the long side edge line toward the inside of the battery cell by a preset distance to obtain a new long side edge line; The pixel coordinates of the intersection of the new long side edge line and the short side edge line are obtained to obtain the glue dripping starting position.

5. The method for detecting glue dripping according to claim 1, wherein: The calculating of the position offset between the glue dripping starting position and the reference point includes: Converting the pixel coordinates of the glue-dropping starting position into mechanical coordinates; The coordinate offset between the glue-dropping starting position and the reference point in the mechanical coordinates is calculated to obtain the position offset between the glue-dropping starting position and the reference point.

6. The method for detecting glue dripping according to claim 5, characterized in that: The method further comprises: The position of the camera and the profiling fixture is calibrated by the calibration block to obtain the mapping relationship between pixel coordinates and mechanical coordinates; The step of converting the pixel coordinates of the glue drop starting position into mechanical coordinates includes: The pixel coordinates of the glue-dropping starting position are converted into mechanical coordinates according to a mapping relationship between pixel coordinates and mechanical coordinates.

7. A glue dripping detection device, characterized in that: include: A setting unit, used to set a reference point according to the starting position of the dispensing head; An image acquisition unit is used to photograph a single-side skirt of the battery cell from above the battery cell to obtain an image of the single-side skirt of the battery cell; An image processing unit, configured to obtain a glue dripping starting position according to a long side edge and a short side edge of the single-side skirt of the battery cell in the single-side skirt image of the battery cell; The correction unit is used to calculate the position offset between the starting position of the glue dripping and the reference point. If the position offset is greater than a preset offset threshold, the profiling jig is moved according to the position offset so that the position offset between the starting position of the glue dripping and the reference point is less than or equal to the preset offset threshold.

8. The glue dripping detection device according to claim 7, characterized in that: The image processing unit is specifically used for: Extracting the long side edge line and the short side edge line of the single-side skirt of the battery cell from the single-side skirt image of the battery cell by using a line finding tool; offsetting the long side edge line toward the inside of the battery cell by a preset distance to obtain a new long side edge line; The pixel coordinates of the intersection of the new long side edge line and the short side edge line are obtained to obtain the glue dripping starting position.

9. A glue dripping detection device, characterized in that: The device includes a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the glue drop detection method according to any one of claims 1 to 6 according to instructions in the program code.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store program codes, and when the program codes are executed by a processor, the method for detecting glue drops according to any one of claims 1 to 6 is implemented.

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