A glue dropping method, device and electronic equipment of a battery cell

Abstract

The application provides a glue dropping method and device of an electric core and an electronic equipment, which are applied to a glue dropping mechanism and include the following steps: a mapping relationship between an image coordinate system of an image sensing mechanism and a mechanical coordinate system of the glue dropping mechanism is established; a side skirt image of the electric core is captured by the image sensing mechanism, and a plurality of target skirt positioning points and image coordinates corresponding to each target skirt positioning point are obtained by analysis; for each target skirt positioning point, a mechanical coordinate corresponding to the target skirt positioning point is determined according to the image coordinate corresponding to the target skirt positioning point and the mapping relationship, so as to complete a point glue operation on the target skirt positioning point. According to the application, the track of the electric core arc side is recognized, and the mapping relationship between the coordinate systems is combined, so that the point glue head can complete the point glue operation according to the position information of each point on the electric core arc track, and the point glue precision and the point glue efficiency of the electric core are improved.

Description

Technical Field

[0001] This application relates to the field of battery cell dispensing technology, and more particularly to a method, apparatus and electronic device for dispensing battery cells. Background Technology

[0002] The battery cell is arc-shaped, and during loading, it needs to be placed on a contour jig on a slide rail. However, the dispensing mechanism cannot know where to start the dispensing head to complete the dispensing operation of the battery cell. In other words, the dispensing position of the battery cell is unclear, which makes it impossible to complete the dispensing operation of the battery cell smoothly and accurately. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide at least one method, apparatus and electronic device for dispensing glue to a battery cell, which identifies the trajectory of the curved side of the battery cell and combines the mapping relationship between coordinate systems to control the dispensing head to complete the dispensing operation according to the position information of each point on the curved trajectory of the battery cell, thereby improving the dispensing accuracy and efficiency of the battery cell.

[0004] This application mainly includes the following aspects:

[0005] In a first aspect, embodiments of this application provide a method for dispensing adhesive onto a battery cell, applied to a system. The dispensing system includes a dispensing mechanism and an image sensing mechanism. The dispensing mechanism is used to carry the battery cell and perform the dispensing operation on the battery cell. The image sensing mechanism is used to acquire an image of the side skirt of the battery cell. The method includes:

[0006] Establish a mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism; capture images of the side skirt of the battery cell using the image sensing mechanism, and analyze multiple target skirt positioning points and the image coordinates corresponding to each target skirt positioning point; for each target skirt positioning point, determine the corresponding mechanical coordinates based on the image coordinates and mapping relationship to complete the dispensing operation for that target skirt positioning point.

[0007] In one possible implementation, the dispensing mechanism further includes a dispensing head, a calibration block, and a small rod. The image sensing mechanism includes a first image sensing mechanism for acquiring images of the side skirt of the battery cell. The calibration block and the small rod are used for calibrating the first image sensing mechanism. The calibration block is fixed to the small rod, and the small rod is attached to the dispensing head. The mapping relationship describes the mapping relationship between the image coordinate system of the first image sensing mechanism and the mechanical coordinate system of the dispensing mechanism. The step of establishing the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism includes: controlling the dispensing head to move to move the calibration block to an initial calibration position, generating a calibration start signal, wherein the initial calibration position is within the field of view of the first image sensing mechanism; sending the calibration start signal and the coordinates of the initial calibration position to the first image sensing mechanism; and using the first image... The sensing mechanism takes a picture to extract the image feature information corresponding to the calibration block at the initial calibration position. Simultaneously, based on the initial calibration position coordinates and a preset movement step size indicated by the preset calibration axis, it generates multiple coordinates for positions to be calibrated. For each coordinate to be calibrated, the dispensing head is controlled to move, causing the preset calibration axis to move to the position of that coordinate. A positioning signal is generated and sent to the first image sensing mechanism, which then takes a picture to extract the image feature information corresponding to the calibration block at that position. Based on the multiple calibration positions and the corresponding graphic feature information, calibration calculations are performed to obtain the mapping relationship between the image coordinate system of the first image sensing mechanism and the mechanical coordinate system of the dispensing mechanism. The multiple calibration positions include the initial calibration position and multiple positions to be calibrated.

[0008] In one possible implementation, the dispensing mechanism further includes a first measuring light source and a second measuring light source, which are disposed between the side skirt of the battery cell and the first image sensing mechanism, respectively located on both sides of the first image sensing mechanism, to assist the image sensing mechanism in acquiring side skirt images of different types of battery cells. Before capturing the side skirt image of the battery cell through the image sensing mechanism, the method further includes: activating the first measuring light source and the second measuring light source respectively; and determining and adjusting the brightness and exposure of the first measuring light source and the corresponding brightness and exposure of the second measuring light source according to the type of battery cell, so that the first image sensing mechanism can acquire a clear side skirt image of the battery cell.

[0009] In one possible implementation, the image coordinates of multiple target skirt edge positioning points are obtained by: preprocessing the acquired side skirt edge image to remove noise interference; extracting the skirt edge region using a blob threshold for the preprocessed side skirt edge image; finding the edge of the skirt edge region using a preset curve tool and extracting multiple skirt edge positioning points on the edge of the skirt edge region; filtering the multiple skirt edge positioning points using a preset filtering strategy to obtain multiple target skirt edge positioning points; and determining the image coordinates corresponding to each target skirt edge positioning point.

[0010] In one possible implementation, the step of using a preset curve tool to find the edge of the skirt area and extracting multiple skirt positioning points on the edge of the skirt area includes: determining the skirt start point and skirt end point corresponding to the battery cell based on the skirt size and preset fluctuation range using the preset curve tool; and identifying and extracting multiple skirt positioning points on the skirt of the battery cell based on the skirt start point and skirt end point using the preset curve tool.

[0011] In one possible implementation, the step of using a preset screening strategy to screen multiple skirt positioning points to obtain multiple target skirt positioning points includes: firstly, screening skirt positioning points outside a preset fluctuation range as outliers; secondly, performing circular arc fitting on the multiple skirt positioning points after the first screening to obtain a fitted skirt curve, thereby obtaining multiple fitted skirt positioning points, wherein the outliers removed in the first screening are replaced by skirt positioning points obtained through circular arc fitting; and thirdly, performing a second screening on the fitted skirt positioning points according to a preset adhesive application rule to obtain multiple target skirt positioning points.

[0012] In one possible implementation, the image sensing mechanism further includes a second image sensing mechanism disposed directly above the battery cell. The step of performing a second screening process on the fitted multiple skirt positioning points according to a preset adhesive application rule to obtain multiple target skirt positioning points includes: using the second image sensing mechanism to determine the adhesive application start point of the battery cell; and starting from the adhesive application start point, determining the skirt positioning points within a preset adhesive application range as multiple target skirt positioning points.

[0013] In one possible implementation, the dispensing operation for each target skirt positioning point is performed as follows: For each target skirt positioning point, the mechanical coordinates corresponding to the image coordinates of the target skirt positioning point are determined according to the mapping relationship, wherein the mechanical coordinates indicate the position of the dispensing head in the dispensing mechanism in the horizontal X direction and the position in the vertical Z direction; For each target skirt positioning point, the position in the vertical Z direction indicated by the mechanical coordinates is offset by a preset distance and then the thickness of the battery cell skirt is added to obtain the target mechanical coordinates corresponding to the target skirt positioning point; According to the target mechanical coordinates corresponding to each target skirt positioning point, the dispensing head is controlled to complete the dispensing operation for that skirt positioning point.

[0014] Secondly, embodiments of this application also provide a battery cell dispensing device, applied to a dispensing system. The dispensing system includes a dispensing mechanism and an image sensing mechanism. The dispensing mechanism is used to carry the battery cell and perform the dispensing operation on the battery cell. The image sensing mechanism is used to acquire an image of the side skirt of the battery cell. The device includes:

[0015] The calibration module is used to establish the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism; the analysis module is used to capture the side skirt image of the battery cell through the image sensing mechanism, and analyze it to obtain multiple target skirt positioning points and the image coordinates corresponding to each target skirt positioning point; the dispensing module is used to determine the mechanical coordinates corresponding to each target skirt positioning point based on the image coordinates of the target skirt positioning point and the mapping relationship, so as to complete the dispensing operation of the target skirt positioning point.

[0016] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. The machine-readable instructions are executed by the processor to perform the steps of the cell dispensing method described in the first aspect or any possible implementation of the first aspect.

[0017] This application provides a method, apparatus, and electronic device for dispensing adhesive onto a battery cell. Applied to a dispensing mechanism, the method includes: establishing a mapping relationship between the image coordinate system of an image sensing mechanism and the mechanical coordinate system of the dispensing mechanism; capturing an image of the side skirt of the battery cell using the image sensing mechanism, and analyzing it to obtain multiple target skirt positioning points and the image coordinates corresponding to each target skirt positioning point; for each target skirt positioning point, determining the corresponding mechanical coordinates based on the image coordinates and the mapping relationship, thereby completing the dispensing operation for that target skirt positioning point. This application improves the dispensing accuracy and efficiency of the battery cell by recognizing the trajectory of the curved side of the battery cell and combining the mapping relationship between coordinate systems, thereby controlling the dispensing head to complete the dispensing operation based on the position information of each point on the curved trajectory of the battery cell.

[0018] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of a dispensing method for a battery cell provided in an embodiment of this application is shown;

[0021] Figure 2 A schematic diagram of a calibration block provided in an embodiment of this application is shown;

[0022] Figure 3 A flowchart illustrating the steps of a five-step calibration method provided in an embodiment of this application is shown.

[0023] Figure 4 This illustration shows a schematic diagram of the position to be calibrated corresponding to a five-step calibration method provided in an embodiment of this application;

[0024] Figure 5 This paper shows a schematic diagram of the structure of a dispensing mechanism provided in an embodiment of this application;

[0025] Figure 6 This application provides an embodiment of an image data showing the skirt edge of a black battery cell.

[0026] Figure 7 This application provides an embodiment of an image of the skirt edge of a silver battery cell.

[0027] Figure 8 This illustration shows a schematic diagram of a dispensing device for a battery cell provided in an embodiment of this application;

[0028] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0030] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0031] The battery cell is arc-shaped, and during loading, it needs to be placed on a contour jig on a slide rail. However, the dispensing mechanism cannot know where to start the dispensing head to complete the dispensing operation of the battery cell. In other words, the dispensing position of the battery cell is unclear, which makes it impossible to complete the dispensing operation of the battery cell smoothly and accurately.

[0032] Based on this, embodiments of this application provide a dispensing method, apparatus, electronic device, and storage medium for battery cells. By identifying the trajectory of the curved side of the battery cell and combining the mapping relationship between coordinate systems, the dispensing head is controlled to complete the dispensing operation according to the position information of each point on the curved trajectory of the battery cell, thereby improving the dispensing accuracy and efficiency of the battery cell. Specifically, as follows:

[0033] Please see Figure 1 , Figure 1 A flowchart illustrating a dispensing method for a battery cell provided in an embodiment of this application is shown. Figure 1 As shown in the embodiments of this application, the method is applied to a dispensing system. The dispensing system includes a dispensing mechanism and an image sensor. The dispensing mechanism includes a dispensing stage, an arc-shaped material-bearing mold, a slide rail, a dispensing head, and an image sensing mechanism. The slide rail is set on the dispensing stage. The arc-shaped material-bearing mold is used to carry the battery cell. The arc-shaped material-bearing mold is set on the slide rail so that the slide rail drives the arc-shaped material-bearing mold to move. The image sensing mechanism is used to acquire images of the side skirt of the battery cell.

[0034] This application includes the following steps:

[0035] S100. Establish the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism.

[0036] The dispensing mechanism also includes a calibration block and a small rod. The image sensing mechanism includes a first image sensing mechanism for acquiring images of the side skirt of the battery cell. The calibration block and the small rod are used for calibrating the first image sensing mechanism. The calibration block is fixed on the small rod, and the small rod is attached to the dispensing head. The mapping relationship describes the mapping relationship between the image coordinate system of the first image sensing mechanism and the mechanical coordinate system of the dispensing mechanism.

[0037] Specifically, the first image sensing mechanism can be a camera; please refer to [link / reference]. Figure 2, Figure 2 A schematic diagram of a calibration block provided in an embodiment of this application is shown. Figure 2 As shown, the calibration block can be a standard cube block A. Figure 2 The document includes a front view 10, a left view 11, and a top view 12 of cube A. Cube A is used for camera calibration. When in use, cube A can be tied to a small rod, and the rod can be held in place by the glue dispensing head. Then, the cube can be extended into the field of view of the camera by the glue dispensing head.

[0038] In one specific embodiment, the side length of cube A can be 50mm. The face of cube A needs to be flush with the face of the side skirt of the battery cell, that is, the distance from one surface of cube A to the camera lens is equal to the distance from the surface of the side skirt of the battery cell to the camera lens.

[0039] In a preferred embodiment, please refer to Figure 3 , Figure 3 A flowchart illustrating the steps of a five-step calibration method provided in an embodiment of this application is shown. Figure 3 As shown, step 100 includes:

[0040] S110: Control the dispensing head to move so as to move the calibration block to the initial calibration position and generate a calibration start signal.

[0041] The initial calibration position is located within the field of view of the first image sensing mechanism. Multiple calibration positions are preset, and any position can be selected as the initial calibration position. In addition, the calibration axis attribute needs to be preset, that is, the calibration axis needs to be determined. For example, the calibration axis can be a straight line passing through the center of the calibration block and perpendicular to the upper surface of the calibration block. Controlling the calibration block to move to the initial calibration position means controlling the calibration axis to move to the initial calibration position.

[0042] Specifically, a calibration start signal is generated when the calibration block moves to the initial calibration position.

[0043] S120, Send the calibration start signal and the initial calibration position coordinates to the first image sensing mechanism.

[0044] S130. The first image sensing mechanism takes a picture to extract the image feature information corresponding to the calibration block at the initial calibration position. At the same time, based on the initial calibration position coordinates and the preset motion step length indicated by the preset calibration axis, multiple coordinates of the position to be calibrated are generated.

[0045] Among them, image feature information indicates the image positioning features of the calibration block, such as edge intersections, which can be predefined.

[0046] S140. For each coordinate to be calibrated, control the dispensing head to move so that the preset calibration axis moves to the position of the coordinate to be calibrated. At the same time, generate an arrival signal and send it to the first image sensing mechanism. The first image sensing mechanism takes a picture and extracts the image feature information corresponding to the calibration block at the position of the coordinate to be calibrated.

[0047] Specifically, the first image sensing mechanism will only determine that the preset calibration axis has moved to the position of the location to be positioned after receiving the positioning signal. At this time, the corresponding photo-taking operation can be performed. Otherwise, it will wait for the corresponding positioning signal. The image feature information obtained by the first image sensing mechanism will be stored in the preset array.

[0048] S150. Based on multiple calibration positions and the image feature information corresponding to each calibration position, calibration calculation is performed to obtain the mapping relationship between the image coordinate system of the first image sensing mechanism and the mechanical coordinate system of the dispensing mechanism.

[0049] The multiple calibration locations include the initial calibration location and multiple locations to be calibrated.

[0050] Please see Figure 4 , Figure 4 This diagram illustrates the location to be calibrated corresponding to a five-step calibration method provided in an embodiment of this application. For example... Figure 4 As shown, positions 1, 2, 3, and 4 refer to the imaging positions of the image features captured by the first image sensing mechanism in the image coordinate system, which are determined by the movement of the dispensing mechanism. Among them, 0 is the imaging position of the calibration block in the image coordinate system when the preset calibration axis moves to the initial calibration position. With the calibration axis and the movement step size determined, only the initial calibration position needs to be given to determine the coordinates corresponding to multiple positions to be calibrated. The movement step size can be designed according to the actual project requirements.

[0051] Specifically, assuming the mechanical coordinates XZ corresponding to position 0 are (0, 0), that is, the initial calibration position has a horizontal X coordinate of 0 and a vertical Z coordinate of 0, and the movement step size is 8mm. In the image coordinate system, the X-axis is positive to the right and the Y-axis is positive downward. The calculated calibration axis movement position coordinates correspond to the mechanical coordinates of position 0 (0, 0), position 1 (8, 8), position 2 (-8, -8), position 3 (-8, 8), and position 4 (8, -8). The calibration axis moves sequentially according to the above 5 positions. The calibration calculation is performed based on the mechanical coordinate information corresponding to the five movements and the pixel information of the feature positioning points obtained by taking pictures at the five movement positions, thereby obtaining the mapping relationship between the image coordinate system and the mechanical coordinate system.

[0052] S200: The image sensor captures an image of the side skirt of the battery cell, and analyzes it to obtain multiple target skirt positioning points and the image coordinates corresponding to each target skirt positioning point.

[0053] Please see Figure 5 , Figure 5 A schematic diagram of a dispensing mechanism provided in an embodiment of this application is shown. Figure 5 As shown, the dispensing mechanism also includes a first measuring light source L1 and a second measuring light source L2. The first measuring light source L1 and the second measuring light source L2 are disposed between the side skirt B of the battery cell and the first image sensing mechanism Camera, respectively located on both sides of the first image sensing mechanism Camera, to assist the first image sensing mechanism Camera in acquiring skirt images of different types of battery cells.

[0054] In one specific embodiment, such as Figure 5 As shown, the distance between the first image sensing mechanism Camera and the side skirt B of the battery cell can be 315±25mm, the distance between the first measuring light source L1 and the second measuring light source L2 can be 80±50mm, the distance between the first measuring light source L1 and the side skirt B of the battery cell can be 30±20mm, and the distance between the second measuring light source L2 and the side skirt B of the battery cell can be 30±20mm.

[0055] Before capturing the side skirt image of the battery cell using the image sensing mechanism, the method further includes:

[0056] The first and second light sources are activated respectively. Based on the type of battery cell, the brightness and exposure of the first and second light sources are determined and adjusted respectively, so that the first image sensing mechanism can acquire a clear side skirt image of the battery cell.

[0057] Among them, the types of battery cells can include black battery cells and silver battery cells. For different colored battery cells, in order to obtain a clear image, the first image sensing mechanism needs to adjust the brightness and exposure of the corresponding first and second light sources. The brightness and exposure of the light sources obtained by adjusting according to different types of battery cells can be saved, and different types of battery cells can be quickly recalled through open options.

[0058] In a preferred embodiment, the image coordinates of multiple target skirt positioning points are obtained in the following manner:

[0059] The acquired side skirt images are preprocessed to remove noise interference. The skirt region is then extracted from the preprocessed side skirt images using blob thresholding.

[0060] Please see Figure 6 , Figure 6 The image data of the skirt edge of a black battery cell provided in an embodiment of this application is shown. Please refer to... Figure 7 , Figure 7 This illustration shows edge image data of a silver battery cell according to an embodiment of this application. Based on different battery cell types, the acquired edge image data is preprocessed to extract the corresponding edge regions individually.

[0061] For the skirt edge area, a preset curve tool is used to find the edge and extract multiple skirt edge positioning points on the edge of the skirt edge area. A preset filtering strategy is used to filter the multiple skirt edge positioning points to obtain multiple target skirt edge positioning points; the image coordinates corresponding to each target skirt edge positioning point are determined.

[0062] In a preferred embodiment, the step of using a preset curve tool to find the edge of the skirt area and extracting multiple skirt positioning points on the edge of the skirt area includes:

[0063] Using the preset curve tool, the starting and ending points of the skirt corresponding to the battery cell are determined based on the skirt size and preset fluctuation range. According to the skirt starting and ending points, multiple skirt positioning points on the battery cell skirt are identified and extracted using the preset curve tool.

[0064] Specifically, the image at the battery cell tab will reflect light, which will interfere with data image processing. Therefore, the battery cell tab position is not used as the starting point of the skirt. Thus, for the obtained skirt area, the starting point of the skirt is usually determined from the non-tab side opposite to the battery cell tab side, at a distance of a first preset length from the non-tab side. Similarly, the ending point of the skirt is determined from a distance of a second preset length from the tab side.

[0065] Given the start and end points of the skirt hem, multiple skirt hem positioning points can be identified and extracted using a preset curve tool, which can be a circular arc caliper tool.

[0066] In another preferred embodiment, the step of using a preset filtering strategy to filter the plurality of skirt positioning points to obtain a plurality of target skirt positioning points includes:

[0067] Among multiple skirt positioning points, those that are outside the preset fluctuation range are treated as outliers and are filtered out for the first time.

[0068] Specifically, the purpose of the first screening process is to prevent uneven glue dripping trajectory and structural vibration caused by the up-and-down shaking of the motor.

[0069] After the first screening process, multiple skirt positioning points are subjected to circular arc fitting to obtain the fitted skirt curve, thus obtaining multiple fitted skirt positioning points. Among them, the abnormal points removed in the first screening process are replaced by the skirt positioning points obtained by the circular arc fitting process.

[0070] Specifically, this application can accurately locate the position of the battery cell skirt and eliminate interference points that are not smooth on the skirt. It also uses a fitted circle method to fill in the eliminated points to prevent the gap between points from being too large, which would cause abnormal noise from the motor and uneven track.

[0071] For the fitted multiple skirt edge positioning points, a second screening process is performed according to the preset glue application rules to obtain multiple target skirt edge positioning points.

[0072] In a preferred embodiment, the image sensing mechanism further includes a second image sensing mechanism disposed directly above the battery cell. The step of performing a second screening process on the fitted multiple skirt positioning points according to a preset adhesive application rule to obtain multiple target skirt positioning points includes:

[0073] The dispensing start point of the battery cell is determined using a second image sensing mechanism;

[0074] Starting from the dispensing start point, multiple target skirt positioning points are determined within the preset dispensing range.

[0075] S300. For each target skirt positioning point, determine the corresponding mechanical coordinates of the target skirt positioning point based on the image coordinates and mapping relationship, so as to complete the dispensing operation of the target skirt positioning point.

[0076] In practice, the mapping relationship between the image coordinate system and the machine coordinate system is actually the mapping between the X-axis in the image coordinate system and the X-axis in the machine coordinate system, as well as the mapping between the Y-axis in the image coordinate system and the Z-axis in the machine coordinate system. In addition, the dispensing head is equipped with an optical fiber device to locate the Y-direction position coordinate of the battery cell skirt in the machine coordinate system.

[0077] After image processing, the XY coordinates of a series of points on the edge of the battery cell are converted into the mechanical coordinates XZ of the dispensing head according to the calibrated mapping relationship. Combined with the Y coordinate determined by the fiber optic device, the dispensing trajectory points are formed to complete the dispensing operation through the determined dispensing trajectory points.

[0078] In a preferred embodiment, the adhesive application to the skirt edge positioning point is performed in the following manner:

[0079] For each target skirt positioning point, the mechanical coordinates corresponding to the image coordinates of the target skirt positioning point are determined according to the mapping relationship. The mechanical coordinates indicate the position of the dispensing head in the dispensing mechanism in the horizontal X direction and the vertical Z direction. For each target skirt positioning point, the position in the vertical Z direction indicated by the mechanical coordinates is offset by a preset distance and the thickness of the battery cell skirt is added to obtain the target mechanical coordinates corresponding to the target skirt positioning point. According to the target mechanical coordinates corresponding to each target skirt positioning point, the dispensing head is controlled to complete the dispensing operation for the skirt positioning point.

[0080] Based on the same application concept, this application also provides a battery cell dispensing device corresponding to the battery cell dispensing method provided in the above embodiments. Since the principle of the device in this application to solve the problem is similar to the battery cell dispensing method in the above embodiments of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0081] Please see Figure 8 , Figure 8 A schematic diagram of a dispensing device for a battery cell provided in an embodiment of this application is shown. Figure 8 As shown, the battery cell dispensing device includes:

[0082] The calibration module 210 is used to establish the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism;

[0083] The analysis module 220 is used to capture images of the side skirt of the battery cell through the image sensing mechanism, and analyze them to obtain multiple target skirt positioning points and the image coordinates corresponding to each target skirt positioning point.

[0084] The dispensing module 230 is used to determine the mechanical coordinates of each target skirt positioning point based on the image coordinates and mapping relationship of the target skirt positioning point, so as to complete the dispensing operation of the target skirt positioning point.

[0085] Based on the same application concept, please refer to Figure 9 , Figure 9 This illustration shows a schematic diagram of an electronic device provided in an embodiment of this application. The electronic device 400 includes a processor 410, a memory 420, and a bus 430. The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 and the memory 420 communicate through the bus 430. When the machine-readable instructions are executed by the processor 410, they perform the steps of the cell dispensing method as described in any of the above embodiments.

[0086] Based on the same concept, this application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the steps of the dispensing method for battery cells provided in the above embodiments.

[0087] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0088] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0090] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0091] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for dispensing adhesive onto a battery cell, applied to a dispensing system, the dispensing system comprising a dispensing mechanism and an image sensing mechanism, the dispensing mechanism being used to carry the battery cell and perform the dispensing operation onto the battery cell, the image sensing mechanism being used to acquire an image of the side skirt of the battery cell, characterized in that, The method includes: Establish the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism; The image sensor captures an image of the skirt of the battery cell, and analyzes it to obtain multiple target skirt positioning points and the image coordinates corresponding to each target skirt positioning point. Among them, the point at a distance of a first preset length from the non-tab side relative to the tab side of the battery cell is determined as the skirt starting point, and the point at a distance of a second preset length from the tab side is determined as the skirt ending point. For each target skirt positioning point, the mechanical coordinates corresponding to the target skirt positioning point are determined according to the image coordinates corresponding to the target skirt positioning point and the mapping relationship, so as to complete the glue dispensing operation for the target skirt positioning point. The dispensing mechanism further includes a first side light source and a second side light source, wherein, before capturing the side skirt image of the battery cell through the image sensing mechanism, the method further includes: Activate the first and second side light sources respectively; According to the type of battery cell, the brightness and exposure of the first side light source and the brightness and exposure of the second side light source are determined and adjusted respectively, so that the first image sensing mechanism can obtain a clear side skirt image of the battery cell. The image sensing mechanism includes a first image sensing mechanism for obtaining the side skirt image of the battery cell. The image coordinates of multiple target skirt positioning points are obtained using the following method: The acquired side skirt images are preprocessed to remove noise interference; For the preprocessed side skirt image, the skirt region is extracted using blob thresholding; For the skirt edge area, a preset curve tool is used to find the edge and extract multiple skirt edge positioning points on the edge of the skirt edge area; A preset filtering strategy is used to filter the multiple skirt edge positioning points to obtain multiple target skirt edge positioning points; Determine the image coordinates corresponding to the positioning points of each target skirt edge.

2. The method according to claim 1, characterized in that, The dispensing mechanism further includes a dispensing head, a calibration block, and a small rod. The calibration block and the small rod are used for calibrating the first image sensing mechanism. The calibration block is fixed to the small rod, and the small rod is attached to the dispensing head. The mapping relationship describes the mapping relationship between the image coordinate system of the first image sensing mechanism and the mechanical coordinate system of the dispensing mechanism. The step of establishing the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism includes: The dispensing head is controlled to move to move the calibration block to the initial calibration position, generating a calibration start signal. The initial calibration position is within the field of view of the first image sensing mechanism. The calibration start signal and the initial calibration position coordinates are sent to the first image sensing mechanism; The first image sensing mechanism takes a picture and extracts the image feature information corresponding to the calibration block at the initial calibration position. At the same time, based on the initial calibration position coordinates and according to the preset movement step size indicated by the preset calibration axis, multiple coordinates of the position to be calibrated are generated. For each coordinate of the position to be calibrated, the dispensing head is controlled to move so that the preset calibration axis moves to the position of the coordinate of the position to be calibrated. At the same time, an arrival signal is generated and sent to the first image sensing mechanism. The first image sensing mechanism takes a picture and extracts the image feature information corresponding to the calibration block at the position of the coordinate of the position to be calibrated. Based on multiple calibration positions and the image feature information corresponding to each calibration position, calibration calculations are performed to obtain the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism. The multiple calibration positions include an initial calibration position and multiple positions to be calibrated.

3. The method according to claim 2, characterized in that, The first and second light sources are disposed between the side skirt of the battery cell and the first image sensing mechanism, respectively located on both sides of the first image sensing mechanism, to assist the first image sensing mechanism in acquiring side skirt images of different types of battery cells.

4. The method according to claim 1, characterized in that, For the skirt edge area, the steps of using a preset curve tool to find the edge and extracting multiple skirt edge positioning points on the edge of the skirt edge area include: The starting and ending points of the skirt for the battery cell are determined by using the preset curve tool with the skirt size and preset fluctuation range. Based on the skirt start point and skirt end point, the preset curve tool is used to identify and extract multiple skirt positioning points on the battery cell skirt.

5. The method according to claim 1, characterized in that, The steps of filtering the multiple skirt edge positioning points using a preset filtering strategy to obtain multiple target skirt edge positioning points include: Among multiple skirt positioning points, those that are outside the preset fluctuation range are treated as outliers and are screened out for the first time. The multiple skirt positioning points after the first screening process are subjected to circular arc fitting to obtain the fitted skirt curve, thereby obtaining multiple fitted skirt positioning points. Among them, the abnormal points removed in the first screening process are replaced by the skirt positioning points obtained by the circular arc fitting process. For the fitted multiple skirt edge positioning points, a second screening process is performed according to the preset glue application rules to obtain multiple target skirt edge positioning points.

6. The method according to claim 5, characterized in that, The image sensing mechanism further includes a second image sensing mechanism, which is positioned directly above the battery cell. The step of performing a second screening process on the fitted multiple skirt edge positioning points according to a preset glue application rule to obtain multiple target skirt edge positioning points includes: The second image sensing mechanism is used to determine the dispensing start point of the battery cell; Starting from the dispensing start point, multiple target skirt positioning points are determined within the preset dispensing range.

7. The method according to claim 1, characterized in that, The glue application process for each target skirt positioning point is completed using the following method: For each target skirt positioning point, the mechanical coordinates corresponding to the image coordinates of the target skirt positioning point are determined according to the mapping relationship. The mechanical coordinates indicate the position of the dispensing head in the dispensing mechanism in the horizontal X direction and the position in the vertical Z direction. For each target skirt positioning point, the position indicated by the mechanical coordinate in the vertical Z direction is offset by a preset distance and then the thickness of the battery cell skirt is added to obtain the target mechanical coordinate corresponding to the target skirt positioning point; According to the target mechanical coordinates corresponding to each target skirt positioning point, the dispensing head is controlled to complete the dispensing operation for that skirt positioning point.

8. A dispensing device for a battery cell, applied to a dispensing system, the dispensing system comprising a dispensing mechanism and an image sensing mechanism, the dispensing mechanism being used to carry the battery cell and perform a dispensing operation on the battery cell, the image sensing mechanism being used to acquire an image of the side skirt of the battery cell, characterized in that, The device includes: The calibration module is used to establish the mapping relationship between the image coordinate system of the image sensing mechanism and the mechanical coordinate system of the dispensing mechanism; The analysis module is used to capture images of the side skirt of the battery cell through the image sensing mechanism, and analyze multiple target skirt positioning points and the image coordinates corresponding to each target skirt positioning point. The point at a distance of a first preset length from the non-tab side relative to the tab side of the battery cell is determined as the skirt starting point, and the point at a distance of a second preset length from the tab side is determined as the skirt ending point. The dispensing module is used to determine the mechanical coordinates of each target skirt positioning point based on the image coordinates of the target skirt positioning point and the mapping relationship, so as to complete the dispensing operation of the target skirt positioning point. The dispensing mechanism further includes a first side light source and a second side light source, and the device further includes an exposure and brightness adjustment module for: Activate the first and second side light sources respectively; According to the type of battery cell, the brightness and exposure of the first side light source and the brightness and exposure of the second side light source are determined and adjusted respectively, so that the first image sensing mechanism can obtain a clear side skirt image of the battery cell. The image sensing mechanism includes a first image sensing mechanism for obtaining the side skirt image of the battery cell. The parsing module is also used for: The acquired side skirt images are preprocessed to remove noise interference; For the preprocessed side skirt image, the skirt region is extracted using blob thresholding; For the skirt edge area, a preset curve tool is used to find the edge and extract multiple skirt edge positioning points on the edge of the skirt edge area; A preset filtering strategy is used to filter the multiple skirt edge positioning points to obtain multiple target skirt edge positioning points; Determine the image coordinates corresponding to the positioning points of each target skirt edge.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the dispensing method for the battery cell as described in any one of claims 1 to 7.

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