A method, device, equipment and storage medium for correcting deviation of battery cell feeding

Abstract

The present application discloses a method, device, equipment and storage medium for correcting the loading of battery cells, the method comprising: when a battery cell is placed at a battery cell placement position corresponding to a photographing position of a first camera, the head position of a convex surface of the battery cell is photographed by the first camera to obtain a first battery cell image; the center point position of a cathode edge or an anode edge of the battery cell head is obtained through the first battery cell image, and the correction angle of the battery cell head is calculated according to the center point position and the standard point position; a correction rotating motor performs angle correction on the battery cell according to the correction angle; when the battery cell after angle correction is placed at a battery cell placement position corresponding to a photographing position of a second camera, the battery cell after angle correction is photographed by the second camera to obtain a second battery cell image; the current position of the battery cell is obtained through the second battery cell image; a manipulator clamps the battery cell according to the current position of the battery cell and loads it onto a welding jig, thereby realizing angle correction of the battery cell, effectively avoiding processing of offset battery cells, and improving the quality of the battery cell.

Description

Technical Field

[0001] The present application relates to the technical field of battery cell deviation correction, and in particular to a battery cell feeding deviation correction method, device, equipment and storage medium. Background Art

[0002] In the battery production line, bare batteries need to be loaded from the material tray to the work station for processing. Since the curved battery has an arc surface, the position of the curved battery will be offset due to mechanical vibration during loading. If the offset battery is processed, the quality of the battery will be affected. Summary of the invention

[0003] The present application provides a method, device, equipment and storage medium for correcting the deviation of battery cells, so as to avoid processing the offset battery cells and improve the quality of the battery cells.

[0004] In view of this, the first aspect of the present application provides a method for correcting the deviation of battery cell feeding, comprising:

[0005] When the battery cell is placed at the battery cell placement position corresponding to the photographing position of the first camera, the head position of the convex surface of the battery cell is photographed by the first camera to obtain a first battery cell image;

[0006] Obtaining the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image, and calculating the correction angle of the battery cell head according to the center point position and the standard point position;

[0007] The correction rotary motor corrects the angle of the battery cell according to the correction angle;

[0008] When the battery cell after angle correction is placed at the battery cell placement position corresponding to the photographing position of the second camera, the battery cell after angle correction is photographed by the second camera to obtain a second battery cell image;

[0009] Acquire the current position of the battery cell through the second battery cell image;

[0010] The robot grips the battery cell according to the current position of the battery cell and loads it onto the welding fixture.

[0011] Optionally, acquiring the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image includes:

[0012] Positioning the battery cells in the first battery cell image to obtain a battery cell area;

[0013] Extracting two arcs of the cathode side or the anode side in the battery cell area;

[0014] Performing first fitting circle processing on the two arcs of the cathode side or the anode side respectively, and outputting the center positions of the two first fitting circles of the cathode side or the anode side;

[0015] A line segment is generated by fitting the two center positions of the cathode side or the anode side, and the midpoint position of the line segment is output to obtain the center point position of the cathode side or the anode side of the battery cell head.

[0016] Optionally, the calculating the correction angle of the cell head according to the center point position and the standard point position includes:

[0017] Performing a second fitting circle processing according to the contour of the battery cell in the first battery cell image, and outputting the center position of the second fitting circle;

[0018] According to the center point position, the standard point position and the center position of the circle, respectively calculate a first distance between the center point position and the standard point position, a second distance between the center point position and the center point position, and a third distance between the center point position and the standard point position, wherein the standard point position is the center point position of the cathode side or the anode side of the battery cell head when the battery cell is in the template position;

[0019] The correction angle of the battery cell head is calculated according to the first distance, the second distance and the third distance.

[0020] Optionally, obtaining the current position of the battery cell through the second battery cell image includes:

[0021] Acquire the center point position of the cathode edge or the anode edge of the battery cell head and the corner point position of the single side edge of the battery cell through the second battery cell image;

[0022] The center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

[0023] Optionally, obtaining the corner point position of a single side of the battery cell through the second battery cell image includes:

[0024] Extracting a single-side edge line of the battery cell, a head edge line of the battery cell, and a tail edge line of the battery cell from the second battery cell image;

[0025] The first intersection position of the edge line of the single side of the battery cell and the edge line of the head of the battery cell, and the second intersection position of the edge line of the single side of the battery cell and the edge line of the tail of the battery cell are obtained to obtain the corner point position of the single side of the battery cell.

[0026] Optionally, the method further includes:

[0027] Calibrate the second camera to obtain a mapping relationship from an image coordinate system to a world coordinate system;

[0028] The step of converting the center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell from the image coordinate system to the world coordinate system to obtain the current position of the battery cell includes:

[0029] According to the mapping relationship between the image coordinate system and the world coordinate system, the center point position of the cathode side or the anode side of the battery cell head and the corner point position of the battery cell side are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

[0030] A second aspect of the present application provides a battery cell feeding and correcting device, comprising:

[0031] The first camera is used to photograph the head position of the convex surface of the battery cell when the battery cell is placed in the battery cell placement position corresponding to the photographing position of the first camera, so as to obtain a first battery cell image;

[0032] A first image processor is used to obtain the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image, and calculate the correction angle of the battery cell head according to the center point position and the standard point position;

[0033] A deviation correction rotary motor, used for performing angle correction on the battery cell according to the deviation correction angle;

[0034] The second camera is used to photograph the angle-corrected battery cell when the battery cell is placed in a battery cell placement position corresponding to the photographing position of the second camera, so as to obtain a second battery cell image;

[0035] A second image processor, used for acquiring the current position of the battery cell through the second battery cell image;

[0036] The robot is used to clamp the battery cell according to the current position of the battery cell and load it onto the welding fixture.

[0037] Optionally, the second image processor is specifically used for:

[0038] Acquire the center point position of the cathode edge or the anode edge of the battery cell head and the corner point position of the single side edge of the battery cell through the second battery cell image;

[0039] The center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

[0040] A third aspect of the present application provides a battery cell feeding and correction device, the device comprising a processor and a memory;

[0041] The memory is used to store program code and transmit the program code to the processor;

[0042] The processor is used to execute any one of the battery cell loading and deviation correction methods described in the first aspect according to the instructions in the program code.

[0043] A fourth aspect of the present application provides a computer-readable storage medium, which is used to store program code. When the program code is executed by a processor, it implements any one of the methods for correcting the loading of battery cells described in the first aspect.

[0044] It can be seen from the above technical solutions that this application has the following advantages:

[0045] The present application provides a method for correcting the loading of battery cells, comprising: when a battery cell is placed at a battery cell placement position corresponding to a photographing position of a first camera, the head position of a convex surface of the battery cell is photographed by the first camera to obtain a first battery cell image; the center point position of a cathode edge or an anode edge of a battery cell head is obtained by the first battery cell image, and a correction angle of the battery cell head is calculated according to the center point position and a standard point position; a correction rotating motor performs angle correction on the battery cell according to the correction angle; when the battery cell after angle correction is placed at a battery cell placement position corresponding to a photographing position of a second camera, the battery cell after correction is photographed by the second camera to obtain a second battery cell image; the current position of the battery cell is obtained by the second battery cell image; a robot clamps the battery cell according to the current position of the battery cell and loads it onto a welding jig.

[0046] In the present application, a first camera is used to photograph the head position of a convex surface of a battery cell placed at a battery cell placement position corresponding to a photographing position of the first camera to obtain a first battery cell image, and the center point position of the cathode edge or the anode edge of the battery cell head is located from the first battery cell image, and then the correction angle of the battery cell head is calculated through the center point position and the standard point position, and the battery cell is angle-corrected according to the correction angle by a correction rotating motor, thereby achieving correction of the battery cell, which helps to ensure that subsequent processes can be accurately positioned; when the battery cell after angle correction is placed at a battery cell placement position corresponding to a photographing position of a second camera, a second battery cell image is obtained by the second camera, and then the current position of the battery cell is obtained, and the current position of the battery cell is sent to a manipulator, and the manipulator clamps the battery cell according to the current position of the battery cell and loads it onto a welding jig to process the corrected battery cell, thereby effectively avoiding processing of offset battery cells and improving the quality of the battery cells. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative labor.

[0048] Figure 1 A schematic flow chart of a method for correcting deviation of battery cell feeding provided in an embodiment of the present application;

[0049] Figure 2 A structural schematic diagram of a battery cell feeding and correcting device provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the center point position of the cathode edge of the battery cell head obtained according to an embodiment of the present application;

[0051] Figure 4 A schematic diagram of the correction angle of the battery cell head provided in an embodiment of the present application;

[0052] Figure 5 Another structural schematic diagram of a battery cell feeding and correcting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] For easier understanding, see Figure 1 , the embodiment of the present application provides a method for correcting the deviation of battery cell feeding, comprising:

[0055] Step 101: When a battery cell is placed at a battery cell placement position corresponding to a photographing position of a first camera, the first camera is used to photograph the head position of a convex surface of the battery cell to obtain a first battery cell image.

[0056] When processing the battery cell, the four-axis robot controls the manipulator to take out the battery cell from the drawstring or tray. At this time, the battery cell is a bare battery cell, and the taken out battery cell is placed on the battery cell positioning platform for clamping. When the battery cell is placed in the battery cell placement position corresponding to the first camera's shooting position, the first camera shoots the battery cell on the upper battery cell positioning platform from obliquely downward to obliquely upward to obtain the first battery cell image, which can be referred to Figure 2 A battery cell feeding and correcting device ( Figure 2 The four-axis robot is not shown in the figure), Figure 2 The first camera in the figure shoots the head position of the convex surface of the battery cell from obliquely below.

[0057] Step 102: Obtain the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image, and calculate the correction angle of the battery cell head according to the center point position and the standard point position.

[0058] After the first cell image is acquired, the center point position of the cathode edge or the anode edge of the cell head is acquired from the first cell image. The specific process is as follows:

[0059] First, the battery cells in the first battery cell image are positioned to obtain a battery cell region. The battery cells in the first battery cell image can be positioned by a positioning tool or an image processing method to obtain a battery cell region.

[0060] Secondly, extract two arcs of the cathode edge or the anode edge in the cell area; perform first fitting circle processing on the two arcs of the cathode edge or the anode edge, and output the center positions of the two first fitting circles of the cathode edge or the anode edge. Considering the particularity of arc-shaped cells, two arcs of the cathode edge or the anode edge can be extracted in the cell area by using circle finding tools, etc., and the two arcs of the cathode edge or the anode edge can be processed by first fitting circle processing to obtain two first fitting circles of the cathode edge or the anode edge, and the center positions of the two first fitting circles of the cathode edge or the anode edge can be output.

[0061] Finally, a line segment is generated based on the center positions of the two circles of the cathode or anode side, and the midpoint position of the line segment is output to obtain the center point position of the cathode or anode side of the battery cell head. A line segment can be determined based on the center positions of the two first fitted circles of the cathode or anode side, and the midpoint position of the line segment is output to obtain the center point position of the cathode or anode side of the battery cell head. Figure 3 , Figure 3 The midpoint P of the fitting line segment determined by the two fitting circle centers of the cathode edge in the cell head image is the center point position of the cathode edge of the cell head.

[0062] After obtaining the center point position of the cathode side or the anode side of the cell head from the first cell image, the correction angle of the cell head can be calculated according to the center point position and the standard point position. The specific calculation process is as follows:

[0063] First, a second fitting circle is processed according to the contour of the battery cell in the first battery cell image, and the center position of the second fitting circle is output. Since the curved battery cell has an arc shape, a second fitting circle can be fitted according to the contour of the curved battery cell, and then the center position (u0, v0) of the second fitting circle can be obtained.

[0064] Secondly, the first distance between the center point and the standard point, the second distance between the center point and the center point, and the third distance between the center point and the standard point are calculated based on the center point, the standard point, and the center point. Figure 4According to the center point position C(u2,v2) and the standard point position B(u1,v1), the first distance a between the center point position C(u2,v2) and the standard point position B(u1,v1) can be calculated. According to the center point position C(u2,v2) and the center position O(u0,v0), the second distance b between the center position O(u0,v0) and the center point position C(u2,v2) can be calculated. According to the standard point position B(u1,v1) and the center position O(u0,v0), the third distance c between the center position O(u0,v0) and the standard point position B(u1,v1) can be calculated. Among them, the standard point position is the center point position of the cathode edge or anode edge of the head of the battery cell when the battery cell is in the template position. Specifically, the head position of the convex surface of the battery cell when the battery cell is in the template position (i.e., there is no offset) can be photographed by the first camera to obtain the battery cell template image, and then the center point position of the cathode edge or anode edge of the head of the battery cell is obtained from the battery cell template image by the above method to obtain the standard point position. When the standard point position is the center point position of the cathode edge of the head of the battery cell when the battery cell is in the template position, the center point position of the cathode edge of the head of the battery cell is obtained through the first battery cell image; when the standard point position is the center point position of the anode edge of the head of the battery cell when the battery cell is in the template position, the center point position of the anode edge of the head of the battery cell is obtained through the first battery cell image. It should be noted that when the battery cell is in the template position, the center position of the circle obtained by fitting the contour of the battery cell in the battery cell template image is basically consistent with the center position of the circle obtained by fitting the contour of the battery cell in the first battery cell image currently taken. Therefore, the calculated second distance b between the center of the circle and the center point is basically the same as the third distance c between the center of the circle and the standard point.

[0065] Finally, the correction angle of the cell head is calculated according to the first distance, the second distance and the third distance. The cosine value of the angle A corresponding to the first distance a can be calculated by the first distance a, the second distance b and the third distance c, that is, cosA=(b 2 +c 2 -a 2 ) / 2bc, and then the angle A, i.e. the correction angle of the cell head, can be calculated.

[0066] Step 103: The correction rotary motor corrects the angle of the battery cell according to the correction angle.

[0067] After the correction angle of the battery cell head is calculated, the correction angle is sent to the correction rotary motor, and the correction rotary motor corrects the angle of the battery cell according to the correction angle to correct the battery cell to a horizontal state.

[0068] Step 104: When the battery cell after angle correction is placed at the battery cell placement position corresponding to the photographing position of the second camera, the battery cell after angle correction is photographed by the second camera to obtain a second battery cell image.

[0069] After the correction rotary motor corrects the cell in the cell positioning platform, the cell positioning platform is separated to the second camera's shooting position, and the cell after angle correction is placed in the cell placement position corresponding to the second camera's shooting position. The cell can be separated between the two camera positions by setting a manipulator. When the cell after angle correction is placed in the cell placement position corresponding to the second camera's shooting position, the second camera captures the corrected cell to obtain a second cell image. Figure 2 When the battery cell after angle correction is placed at the battery cell placement position corresponding to the second camera's photographing position, the battery cell positioning platform is located above the second camera, and the second camera photographs the head position and side position of the battery cell convex surface from below to obtain a second battery cell image. The positions of the first camera and the second camera are fixed.

[0070] Step 105: Acquire the current position of the battery cell through the second battery cell image.

[0071] After acquiring the second cell image, the current position of the cell is acquired through the second cell image. The center point position of the cathode side or anode side of the cell head and the corner point position of the single side of the cell can be acquired through the second cell image; the center point position of the cathode side or anode side of the cell head and the corner point position of the single side of the cell are converted from the image coordinate system to the world coordinate system to obtain the current position of the cell.

[0072] Specifically, when obtaining the center point position of the cathode edge or the anode edge of the battery cell head, the battery cell in the second battery cell image can be positioned to obtain the battery cell area; two arcs of the cathode edge or the anode edge are extracted in the battery cell area; the two arcs of the cathode edge or the anode edge are respectively processed by the third fitting circle, and the center positions of the two third fitting circles of the cathode edge or the anode edge are output; a line segment is generated by fitting according to the two center positions of the cathode edge or the anode edge, and the midpoint position of the line segment is output to obtain the center point position of the cathode edge or the anode edge of the battery cell head.

[0073] When obtaining the corner point position of the single side of the battery cell, the single side edge line of the battery cell, the battery head edge line and the battery tail edge line can be extracted from the second battery cell image. Specifically, the single side edge line of the battery cell (which can be the edge line of the left side of the battery cell or the edge line of the right side of the battery cell), the battery head edge line and the battery tail edge line can be extracted from the battery cell area through a line finding tool; then obtain the first intersection position of the single side edge line of the battery cell and the battery head edge line, as well as the second intersection position of the single side edge line of the battery cell and the battery tail edge line, to obtain the corner point position of the single side of the battery cell.

[0074] The current position of the battery cell can be determined by the center point position of the cathode edge or anode edge of the battery cell head and the two corner point positions of the single side of the battery cell. Since the center point position and the two corner point positions obtained from the second battery cell image are pixel coordinates in the image coordinate system, they need to be converted to the world coordinate system to obtain the physical coordinates of the battery cell in the world coordinate system. Therefore, it is necessary to obtain the mapping relationship from the image coordinate system to the world coordinate system.

[0075] The second camera can be calibrated to obtain the mapping relationship between the image coordinate system and the world coordinate system; then, according to the mapping relationship between the image coordinate system and the world coordinate system, the center point position of the cathode side or the anode side of the battery cell head and the corner point position of the battery cell side are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell. Calibration of the camera to obtain the mapping relationship between the image coordinate system and the world coordinate system belongs to the prior art, and the specific process will not be described in detail here.

[0076] Step 106: The robot grips the battery cell according to the current position of the battery cell and loads it onto the welding fixture.

[0077] The current position of the battery cell is sent to the robot, which clamps the battery cell according to the current position of the battery cell and loads it onto the welding fixture. The embodiment of the present application uses two cameras to achieve angle correction of the curved battery cell. The correction method is simple and effective, and the correction efficiency is improved by setting the correction robot to cut between the two camera positions.

[0078] In an embodiment of the present application, a first camera is used to photograph the head position of a convex surface of a battery cell placed at a battery cell placement position corresponding to a photographing position of the first camera to obtain a first battery cell image, and the center point position of the cathode edge or the anode edge of the battery cell head is located from the first battery cell image, and then the correction angle of the battery cell head is calculated through the center point position and the standard point position, and the battery cell is angle-corrected according to the correction angle by a correction rotating motor, thereby achieving correction of the battery cell, which helps to ensure that subsequent processes can be accurately positioned; when the battery cell after angle correction is placed at a battery cell placement position corresponding to a photographing position of a second camera, a second battery cell image is obtained by the second camera, and then the current position of the battery cell is obtained, and the current position of the battery cell is sent to a manipulator, and the manipulator clamps the battery cell according to the current position of the battery cell and loads it onto a welding jig to process the corrected battery cell, thereby effectively avoiding processing of offset battery cells and improving the quality of the battery cells.

[0079] The above is an embodiment of a battery cell feeding and correcting method provided in the present application, and the following is an embodiment of a battery cell feeding and correcting device provided in the present application.

[0080] Please refer to Figure 5 , a battery cell feeding and correcting device provided in an embodiment of the present application includes:

[0081] The first camera is used to photograph the head position of the convex surface of the battery cell when the battery cell is placed in the battery cell placement position corresponding to the photographing position of the first camera, so as to obtain a first battery cell image;

[0082] A first image processor is used to obtain the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image, and calculate the correction angle of the battery cell head according to the center point position and the standard point position;

[0083] A correction rotary motor is used to correct the angle of the battery cell according to the correction angle;

[0084] The second camera is used to photograph the angle-corrected battery cell when the battery cell is placed in a battery cell placement position corresponding to the photographing position of the second camera, so as to obtain a second battery cell image;

[0085] A second image processor, used for acquiring the current position of the battery cell through the second battery cell image;

[0086] The robot is used to clamp the battery cells according to their current position and load them onto the welding fixture.

[0087] When processing the battery cell, the four-axis robot controls the manipulator to take out the battery cell from the drawstring tray. At this time, the battery cell is a bare battery cell, and the taken-out battery cell is placed on the battery cell positioning platform for clamping. When the battery cell is placed in the battery cell placement position corresponding to the shooting position of the first camera, the first camera shoots the head position of the convex surface of the battery cell from obliquely downward to obliquely upward to obtain the first battery cell image. The first camera transmits the acquired first battery cell image to the first image processor for processing. The first image processor obtains the center point position of the cathode edge or anode edge of the battery cell head through the first battery cell image, and calculates the correction angle of the battery cell head according to the center point position and the standard point position.

[0088] As a further improvement, the first image processor is specifically used for:

[0089] Positioning the battery cell in the first battery cell image to obtain a battery cell area;

[0090] Extract two arcs at the cathode or anode sides in the cell area;

[0091] Performing first fitting circle processing on the two arcs of the cathode side or the anode side respectively, and outputting the center positions of the two first fitting circles of the cathode side or the anode side;

[0092] A line segment is generated by fitting the two center positions of the cathode side or the anode side, and the midpoint position of the line segment is output to obtain the center point position of the cathode side or the anode side of the battery cell head;

[0093] Performing a second fitting circle processing according to the contour of the battery cell in the first battery cell image, and outputting the center position of the second fitting circle;

[0094] According to the center point position, the standard point position and the center position of the circle, a first distance between the center point position and the standard point position, a second distance between the center point position and the center point position, and a third distance between the center point position and the standard point position are calculated respectively;

[0095] The deviation correction angle of the battery cell head is calculated according to the first distance, the second distance and the third distance.

[0096] After the first image processor calculates the correction angle of the battery cell head, it sends the correction angle to the correction rotary motor. The correction rotary motor corrects the angle of the battery cell according to the correction angle and corrects the battery cell to a horizontal state. At this time, the battery cell positioning platform is cut away from the shooting position of the second camera, and the battery cell after angle correction is placed in the battery cell placement position corresponding to the shooting position of the second camera. The second camera shoots the head position and side edge position of the convex surface of the battery cell from below to obtain a second battery cell image. The second camera sends the acquired second battery cell image to the second image processor for processing, and the second image processor obtains the current position of the battery cell through the second battery cell image.

[0097] As a further improvement, the second image processor is specifically used for:

[0098] The center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell are obtained through the second battery cell image;

[0099] The center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

[0100] In an embodiment of the present application, the second image processing unit can locate the battery cell in the second battery cell image to obtain the battery cell area; extract two arcs of the cathode edge or the anode edge in the battery cell area; perform third fitting circle processing on the two arcs of the cathode edge or the anode edge, and output the center positions of the two third fitting circles of the cathode edge or the anode edge; generate a line segment by fitting according to the two center positions of the cathode edge or the anode edge, and output the midpoint position of the line segment to obtain the center point position of the cathode edge or the anode edge of the battery cell head; the battery cell single-side edge line, the battery cell head edge line and the battery cell tail edge line can be extracted from the second battery cell image, and specifically, the battery cell single-side edge line (which can be the edge line of the left side of the battery cell or the edge line of the right side of the battery cell), the battery cell head edge line and the battery cell tail edge line can be extracted from the battery cell area through a line finding tool; then obtain the first intersection position of the battery cell single-side edge line and the battery cell head edge line, and the second intersection position of the battery cell single-side edge line and the battery cell tail edge line to obtain the corner point position of the battery cell single-side edge.

[0101] As a further improvement, the device further comprises:

[0102] The camera calibration unit is used to calibrate the second camera and obtain a mapping relationship from the image coordinate system to the world coordinate system.

[0103] The second image processor converts the center point position of the cathode edge or the anode edge of the battery cell head and the corner point position of the battery cell side from the image coordinate system to the world coordinate system according to the mapping relationship from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

[0104] The second image processor sends the acquired current position of the battery cell to the robot, and the robot clamps the battery cell according to the current position of the battery cell and loads it onto the welding fixture.

[0105] In an embodiment of the present application, a first camera is used to photograph the head position of a convex surface of a battery cell placed at a battery cell placement position corresponding to a photographing position of the first camera to obtain a first battery cell image, and the center point position of the cathode edge or the anode edge of the battery cell head is located from the first battery cell image, and then the correction angle of the battery cell head is calculated through the center point position and the standard point position, and the battery cell is angle-corrected according to the correction angle by a correction rotating motor, thereby achieving correction of the battery cell, which helps to ensure that subsequent processes can be accurately positioned; when the battery cell after angle correction is placed at a battery cell placement position corresponding to a photographing position of a second camera, a second battery cell image is obtained by the second camera, and then the current position of the battery cell is obtained, and the current position of the battery cell is sent to a manipulator, and the manipulator clamps the battery cell according to the current position of the battery cell and loads it onto a welding jig to process the corrected battery cell, thereby effectively avoiding processing of offset battery cells and improving the quality of the battery cells.

[0106] The embodiment of the present application also provides a battery cell feeding and correction device, the device comprising a processor and a memory;

[0107] The memory is used to store the program code and transmit the program code to the processor;

[0108] The processor is used to execute the battery cell loading correction method in the aforementioned method embodiment according to the instructions in the program code.

[0109] An embodiment of the present application also provides a computer-readable storage medium, which is used to store program code. When the program code is executed by a processor, the battery cell loading and correction method in the aforementioned method embodiment is implemented.

[0110] Those skilled in the art can 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.

[0111] 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 sequence. 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 be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising 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.

[0112] It should be understood that in the present 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 objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single 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.

[0113] In the several embodiments provided in the present 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 only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, 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.

[0114] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0116] 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, and the computer software product is stored in a storage medium, including 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, a server, or a network device, etc.). The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (full name in English: Read-Only Memory, English abbreviation: ROM), random access memory (full name in English: Random Access Memory, English abbreviation: RAM), disk or optical disk and other media that can store program codes.

[0117] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned 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 correcting the deviation of battery cell feeding, characterized in that: include: When the battery cell is placed at the battery cell placement position corresponding to the photographing position of the first camera, the head position of the convex surface of the battery cell is photographed by the first camera to obtain a first battery cell image; Obtaining the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image, and calculating the correction angle of the battery cell head according to the center point position and the standard point position; The correction rotary motor corrects the angle of the battery cell according to the correction angle; When the battery cell after angle correction is placed in the battery cell placement position corresponding to the photographing position of the second camera, the battery cell after angle correction is photographed by the second camera to obtain a second battery cell image; Acquire the current position of the battery cell through the second battery cell image; The robot grips the battery cell according to the current position of the battery cell and loads it onto the welding fixture.

2. The method for correcting deviation of battery cell feeding according to claim 1, characterized in that: The acquiring the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image includes: Positioning the battery cells in the first battery cell image to obtain a battery cell area; Extracting two arcs of the cathode side or the anode side in the battery cell area; Performing first fitting circle processing on the two arcs of the cathode side or the anode side respectively, and outputting the center positions of the two first fitting circles of the cathode side or the anode side; A line segment is generated by fitting the two center positions of the cathode side or the anode side, and the midpoint position of the line segment is output to obtain the center point position of the cathode side or the anode side of the battery cell head.

3. The method for correcting deviation of battery cell feeding according to claim 1, characterized in that: The method of calculating the correction angle of the cell head according to the center point position and the standard point position includes: Performing a second fitting circle processing according to the contour of the battery cell in the first battery cell image, and outputting the center position of the second fitting circle; According to the center point position, the standard point position and the center position of the circle, respectively calculate a first distance between the center point position and the standard point position, a second distance between the center point position and the center point position, and a third distance between the center point position and the standard point position, wherein the standard point position is the center point position of the cathode side or the anode side of the battery cell head when the battery cell is in the template position; The correction angle of the battery cell head is calculated according to the first distance, the second distance and the third distance.

4. The method for correcting deviation of battery cell feeding according to claim 1, characterized in that: The obtaining the current position of the battery cell through the second battery cell image includes: Acquire the center point position of the cathode edge or the anode edge of the battery cell head and the corner point position of the single side edge of the battery cell through the second battery cell image; The center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

5. The method for correcting deviation of battery cell feeding according to claim 4, characterized in that: Obtaining the corner point position of a single side of the battery cell through the second battery cell image includes: Extracting a single-side edge line of the battery cell, a head edge line of the battery cell, and a tail edge line of the battery cell from the second battery cell image; The first intersection position of the edge line of the single side of the battery cell and the edge line of the head of the battery cell, and the second intersection position of the edge line of the single side of the battery cell and the edge line of the tail of the battery cell are obtained to obtain the corner point position of the single side of the battery cell.

6. The method for correcting the deviation of battery cell feeding according to claim 4, characterized in that: The method further comprises: Calibrate the second camera to obtain a mapping relationship from an image coordinate system to a world coordinate system; The step of converting the center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell from the image coordinate system to the world coordinate system to obtain the current position of the battery cell includes: According to the mapping relationship between the image coordinate system and the world coordinate system, the center point position of the cathode side or the anode side of the battery cell head and the corner point position of the battery cell side are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

7. A battery cell feeding and correcting device, characterized in that: include: The first camera is used to photograph the head position of the convex surface of the battery cell when the battery cell is placed in the battery cell placement position corresponding to the photographing position of the first camera, so as to obtain a first battery cell image; A first image processor is used to obtain the center point position of the cathode edge or the anode edge of the battery cell head through the first battery cell image, and calculate the correction angle of the battery cell head according to the center point position and the standard point position; A deviation correction rotary motor, used for performing angle correction on the battery cell according to the deviation correction angle; The second camera is used to photograph the angle-corrected battery cell when the battery cell is placed in a battery cell placement position corresponding to the photographing position of the second camera, so as to obtain a second battery cell image; A second image processor, used for acquiring the current position of the battery cell through the second battery cell image; The robot is used to clamp the battery cell according to the current position of the battery cell and load it onto the welding fixture.

8. The battery cell feeding and correcting device according to claim 7, characterized in that: The second image processor is specifically used for: Acquire the center point position of the cathode edge or the anode edge of the battery cell head and the corner point position of the single side edge of the battery cell through the second battery cell image; The center point position of the cathode side or the anode side of the battery cell head and the corner point position of the single side of the battery cell are converted from the image coordinate system to the world coordinate system to obtain the current position of the battery cell.

9. A battery cell feeding and correction device, characterized in that: The device comprises a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the battery cell loading and correction method described in any one of claims 1-6 according to the 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 correcting the loading of battery cells according to any one of claims 1 to 6 is implemented.

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