Bar tablet automatic addressing assembly method, medium, computer device

Abstract

The present application relates to the technical field of battery, and specifically provides a method for automatically addressing and assembling a plate, a computer readable storage medium and a computer device, wherein the method for automatically addressing and assembling a plate is mainly used for realizing the assembly between the plate and the pole, and specifically, the plate is reliably assembled to the pole.In a possible implementation, the method for automatically addressing and assembling a plate comprises: determining position data of the plate; determining position data of the pole of the battery cell; determining assembly data according to the position data of the plate and the position data of the pole; determining whether the assembly precision meets the standard according to the assembly data; if yes, making the robot assemble the plate to the pole according to the assembly data.Through such a configuration, the assembly reliability and safety can be ensured by verifying the assembly precision corresponding to the assembly data before assembly.

Description

Technical Field

[0001] This invention relates to the field of battery technology, specifically providing a method for automatic addressing and assembly of battery cells, a computer-readable storage medium, and a computer device. Background Technology

[0002] As the primary power source for electric vehicles, batteries (packs) typically comprise multiple battery modules, which in turn typically consist of multiple individual battery cells. Specifically, series / parallel connections between these cells are achieved by welding (e.g., laser welding) busbars to the terminals of the individual cells. Besides their basic connection function, busbars also play other roles within the battery, such as current distribution to ensure a more rational current distribution among the multiple battery cells.

[0003] Taking a large cylindrical battery module as an example, common cylindrical battery models include 1865 (18mm diameter, 65mm height), 2170, and 4680. Taking the 4680 as an example, when using vision-guided automated assembly of the battery pack, the system typically only locates the outer contour or local features of the pack and then assembles it accordingly. However, due to the large size of the pack, the robot used for automated assembly often deforms it when grasping it, or is very prone to deformation. Therefore, current automated assembly solutions may have the following problems: positioning based on local features often leads to significant placement deviations after grasping; positioning based on the outer contour cannot confirm the internal positional deviations of the pack, thus the reliability of the pack positioning needs further improvement. The above problems all lead to certain safety hazards in the automated assembly solution of the battery pack, thereby affecting the reliability of the battery module.

[0004] Therefore, a new technical solution is needed in this field to solve the above-mentioned technical problems. Summary of the Invention

[0005] The present invention aims to solve at least part of the above-mentioned technical problems. Specifically, it aims to ensure the safety and reliability of the assembly while enabling the automated assembly of the electrode and the pole.

[0006] In a first aspect, the present invention provides an automatic addressing assembly method for battery cells, the method comprising: determining position data of the battery cells; determining position data of the terminals of the battery cells; determining assembly data based on the position data of the battery cells and the position data of the terminals; determining whether the assembly accuracy meets the standard based on the assembly data; and if so, having a robot assemble the battery cells to the terminals according to the assembly data.

[0007] This configuration allows for the verification of assembly accuracy corresponding to the assembly data before assembly, thereby ensuring the reliability and safety of the assembly.

[0008] It is understood that those skilled in the art can determine the specific form of the location data of the plaques / polar poles according to actual needs, such as based on data determined from a portion or all of the plaques / polar poles. For example, multiple typical plaques are selected from a plurality of plaques, and first data is determined based on these typical plaques.

[0009] It is understood that those skilled in the art can determine the type, number, and acquisition method of the data included in the assembly data according to actual needs. For example, it can be determined directly by calculating the position data of the electrode / pole.

[0010] Furthermore, it is understood that those skilled in the art can determine how to judge whether the assembly accuracy meets the standard based on the assembly data according to actual needs. For example, the judgment can be made solely based on the assembly data, or a combination of the assembly data and other factors. The judgment can be made based on one or multiple data points, and the judgment criterion can be flexibly determined according to the actual situation. For instance, for one data point in the assembly data, a certain threshold can be set; if the data is not greater than this threshold, it indicates that the accuracy meets the standard.

[0011] In one possible implementation of the above-mentioned automatic addressing assembly method for styloses, the assembly data includes first assembly data, and the step of "determining the assembly data based on the position data of the styloses and the position data of the poles" includes: grouping the styloses and the poles into at least one group of styloses and at least one group of poles; and determining the first assembly data based on the position data of the at least one group of styloses and the position data of the at least one group of poles.

[0012] With this configuration, it is possible to obtain the first assembly data by grouping the barium / pole.

[0013] It is understood that those skilled in the art can determine the specific method of group division and whether the group division applies to all or part of the sac (pole). In cases where multiple groups are formed, the groups may be the same or different.

[0014] In one possible implementation of the above-mentioned automatic addressing assembly method for styloses, the first assembly data includes assembly angle data. The step of "determining the first assembly data based on the position data of the at least one set of styloses and the position data of the at least one set of poles" includes: fitting at least one stylose assembly line based on the position data of the at least one set of styloses; fitting at least one pole assembly line based on the position data of the at least one set of poles; determining at least one assembly angle based on the at least one stylose assembly line and the at least one stylose assembly line; and determining the assembly angle data based on the at least one assembly angle.

[0015] With this configuration, it is possible to determine assembly angle data by incorporating data fitting.

[0016] In one possible implementation of the above-mentioned automatic addressing assembly method for bar sheets, in the step of "grouping the bar sheets and the poles to form at least one group of bar sheets and at least one group of poles", the bar sheets and poles are grouped in the following ways: the same row or the same column of the bar sheets is made into a group of bar sheets; and / or the same row or the same column of the poles is made into a group of poles.

[0017] This configuration provides a specific method for grouping barcodes / polar electrodes.

[0018] In one possible implementation of the above-mentioned automatic addressing and assembly method for the dipsticks, the assembly data includes second assembly data, and the "determining the assembly data based on the position data of the dipsticks and the position data of the poles" includes: determining multiple assembly offset data based on the position data of multiple dipsticks and the position data of multiple poles; and determining the second assembly data based on the multiple assembly offset data.

[0019] This configuration allows for the acquisition of second-order assembly data through individual analysis of the barium / pole. For example, offset data typically includes offsets in two dimensions.

[0020] Understandably, individual analysis can be performed on all or part of the barium / pole to determine the second assembly data.

[0021] In one possible implementation of the above-mentioned automatic addressing assembly method for battery cells, the "determining the position data of the battery cell's terminals" includes: selecting a marker point of the battery cell; having a first camera acquire the position data of the marker point; and determining the position data of the battery cell's terminals based on the position data of the marker point.

[0022] In one possible implementation of the above-mentioned automatic addressing assembly method for battery cells, the step of "determining the position data of the battery cell's terminals based on the position data of the marker points" includes: determining the position data of the marker points in the robot coordinate system based on the position data of the marker points in the first camera coordinate system; determining a transformation matrix based on the position data of the marker points in the robot coordinate system and the obtained position data of the marker points at the terminal addressing station; and determining the position data of the terminals in the robot coordinate system based on the transformation matrix and the obtained position data of the terminals at the terminal addressing station.

[0023] With this configuration, it is possible to obtain the position data of the battery cell's terminals in the robot coordinate system by utilizing the position data of the existing terminal addressing station.

[0024] In one possible implementation of the above-mentioned automatic addressing and assembly method for bar pieces, the "determining the position data of the bar pieces" includes: having the robot grasp the bar pieces to a position corresponding to the second camera; having the second camera acquire the position data of the bar pieces in the second camera coordinate system; and converting the position data of the bar pieces in the second camera coordinate system into the position data of the bar pieces in the robot coordinate system.

[0025] This structure provides a method for determining the location data of the basalt.

[0026] In a second aspect, the present invention provides a computer-readable storage medium including a memory adapted to store a plurality of program codes adapted to be loaded and executed by a processor to perform the automatic addressing and assembly method for the piconet as described in any of the preceding claims.

[0027] It is understood that the computer-readable storage medium has all the technical effects of the automatic addressing and assembly method for barcodes described in any of the foregoing, and will not be repeated here.

[0028] Those skilled in the art will understand that all or part of the processes in the automatic addressing and assembly method for barcodes of the present invention can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which includes, but is not limited to, program code for executing the aforementioned automatic addressing and assembly method for barcodes. For ease of explanation, only the parts relevant to the present invention are shown. The computer program code can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content contained in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0029] In a third aspect, the present invention provides a computer device including a memory and a processor, the memory being adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by the processor to perform the automatic addressing and assembly method for the tablets as described in any of the preceding claims.

[0030] It is understood that this device possesses all the technical effects of the aforementioned automatic addressing and assembly method for barcodes, which will not be elaborated upon here. This device can be a computer-controlled device comprising various electronic devices. Attached Figure Description

[0031] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings, in which:

[0032] Figure 1 A flowchart illustrating an embodiment of the automatic addressing and assembly method for barcodes according to the present invention is shown; and

[0033] Figure 2 This diagram illustrates the specific process of an automatic addressing and assembly method for barcodes according to an embodiment of the present invention. Detailed Implementation

[0034] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0035] It should be noted that in the description of this invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] Furthermore, to better illustrate the present invention, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that the present invention can be practiced even without certain specific details. In some instances, the principles of batteries, which are well-known to those skilled in the art, have not been described in detail in order to highlight the main points of the present invention.

[0038] Main reference Figure 1 , Figure 1 This diagram illustrates a flow chart of an embodiment of the automatic addressing and assembly method for barcode strips according to the present invention. Figure 1 As shown, in one possible implementation, the automatic addressing and assembly method for barcodes mainly includes the following steps:

[0039] S110: Determine the location data of the plaster;

[0040] S120: Determine the position data of the battery module's cell terminals;

[0041] S130: Determine the assembly data based on the position data of the electrode plate and the position data of the pole.

[0042] S140: Based on the assembly data, determine whether the assembly accuracy meets the standard; if yes, proceed to S150; if no, return to S130.

[0043] S150: If so, the robot will assemble the tablets to the poles according to the assembly data.

[0044] In one possible implementation, the assembly data includes first assembly data and second assembly data, wherein the first assembly data is the assembly angle and the second assembly data is the assembly offset data.

[0045] For example, the method for determining the first assembly data includes:

[0046] S13011. Group all the styloses (including multiple styloses) / all the poles (including multiple poles) into groups to form multiple groups of styloses and multiple groups of poles;

[0047] S13012. Based on the position data of multiple sets of brace pads and multiple sets of pole posts, determine multiple assembly angles;

[0048] S13013. Determine the optimal installation angle based on multiple assembly angles, denoted as θ.

[0049] For example, the method for determining the second assembly data includes:

[0050] S13021. Based on the position data of all the electrode plates and the position data of all the electrode plate poles, determine multiple assembly offset data;

[0051] S13022. Based on multiple assembly offset data, determine the optimal assembly offset data as the second assembly data, such as denoted as (Δx and Δy).

[0052] Based on the automatic addressing assembly method of the present invention, the assembly efficiency and assembly safety can be balanced in the process of automatically assembling the electrode posts of the battery cell and the battery cell.

[0053] The following example illustrates the specific implementation of the automatic addressing and assembly method for tablets according to the present invention.

[0054] Main reference Figure 2 , Figure 2 This diagram illustrates a detailed process of an embodiment of the automatic addressing and assembly method for barcode scanners according to the present invention. Figure 2 As shown, in one possible implementation, the automatic addressing and assembly method for barcodes mainly includes the following steps:

[0055] S21. Deliver the battery module to the welding station.

[0056] In one possible implementation, the battery module reaches the welding station by: after delivering the battery module to the target welding position (the projection of the target position in the horizontal plane) of the welding station in a horizontal plane, the battery module to be assembled is then delivered vertically to the target height corresponding to the target position. This is achieved by using a lifting device such as a lifting cylinder to deliver it to the target height; for example, the piston rod of the lifting cylinder extends, thereby allowing the battery module to reach the target height where welding operations can be performed.

[0057] Obviously, the delivery method to the target location is only an exemplary description. Those skilled in the art can determine the specific delivery path and the mechanism / device used to achieve the corresponding delivery path according to actual needs.

[0058] When the battery module reaches the target position at the welding station, the coordinates (position data) of the marker points of the battery module's cells in the first camera coordinate system are acquired by the camera mounted on the robot (first camera). Using the coordinates of the marker points in the first camera coordinate system and the acquired addressing coordinates of the cells and their terminals at the terminal addressing station, the addressing coordinates (position data) of the cells at the terminal addressing station are transformed into the robot's coordinate system (e.g., based on calibration). See S22-S25 for details.

[0059] S22. The image data of three marker points (X, Y, Z) of the battery module cell are captured by the upper camera of the robot. The coordinates of the three marker points (X, Y, Z) in the first camera coordinate system corresponding to the upper camera can be calculated by a circle search algorithm, etc., and can be denoted as WeldImagePoint1-3.

[0060] S23. Transform the coordinates of the marker point (X, Y, Z) in the first camera coordinate system to the robot coordinate system through calibration and other methods, which can be denoted as AbsWorldPoint1-3.

[0061] S24. Obtain the coordinates WorldPoint1-3 of the marker point at the polar addressing station. Map the coordinates AbsWorldPoint1-3 of the marker point in the robot coordinate system to its coordinates WorldPoint1-3 at the polar addressing station using a three-point mapping. Determine the transformation matrix Matrix according to the following formula:

[0062]

[0063] In formula (1), (WorldPointX1, WorldPointX2, WorldPointX3) are the coordinates of marker point X at the pole addressing station, (WorldPointY1, WorldPointY2, WorldPointY3) are the coordinates of marker point Y at the pole addressing station, (AbsWorldPointX1, AbsWorldPointX2, AbsWorldPointX3) are the coordinates of marker point X in the robot coordinate system, and (AbsWorldPointY1, AbsWorldPointY2, AbsWorldPointY3) are the coordinates of marker point Y in the robot coordinate system.

[0064] S25. Based on the matrix, convert the coordinates of each pole (32*8=256) of the obtained battery cell at the pole addressing station into its coordinates in the robot coordinate system, such as AbsWorldPoint4-259.

[0065] The robot picks up the tablets placed on the loading rack and places them on the secondary positioning stage (picking position). The lower camera (second camera) on the secondary positioning stage then performs addressing scanning on the tablets, thereby obtaining the addressing coordinates (addressing data) of the tablets in the second camera coordinate system. The addressing coordinates of all the tablets form a point matrix coordinate system. The robot then transforms the addressing coordinates of the tablets in the second camera coordinate system to the robot's coordinate system (e.g., based on calibration). See S26-S27 for details.

[0066] S26. The robot picks up the tablets from the loading rack and starts addressing them at the location corresponding to the lower camera (tablet scanning camera). It obtains the addressing coordinates of each tablet in the second camera coordinate system corresponding to the lower camera. For example, there are 256 tablets corresponding to 256 poles. The addressing coordinates of the 256 tablets in the second camera coordinate system can be denoted as BusbarImagePoint1-256.

[0067] S27. Transform the addressing coordinates of the 256 bars in the second camera coordinate system to the robot coordinate system using methods such as nine-point calibration. The addressing coordinates of the 256 bars in the robot coordinate system can be denoted as AbsBusbarPoint1-256.

[0068] S28. Determine the RT matrix (rotation and translation matrix) of the bar / pole grouped by rows / columns.

[0069] In one possible implementation, the RT matrix includes an optimal assembly angle θ and a set of optimal assembly translation deviations (Δx and Δy).

[0070] Taking a large cylindrical battery module as an example, if the terminals are typically arranged in rows / columns (e.g., 32*8=256), each row of terminals / terminals can be considered as a group of assembly feature points (each group of assembly feature points includes 32 terminals / terminals). For each group of terminals / terminals, an assembly feature is determined. For example, data fitting can be used to fit a straight line (containing 32 terminals / terminals) as an assembly feature (assembly feature line) for each row of terminals / terminals. This will result in eight terminal assembly feature lines corresponding to eight groups of terminals and eight terminal assembly feature lines corresponding to eight groups of terminals. Based on each pair of fitting results (which will generate one terminal assembly feature line and its corresponding terminal assembly feature line), an assembly angle is calculated, resulting in eight assembly angles (the angle between the terminal assembly feature line and the terminal assembly feature line). Based on the calculated eight assembly angles, the optimal assembly angle θ is determined using an optimization algorithm. Based on this, the coordinates of the plate can be mapped to the coordinates of the pole by rotating the coordinates by θ. For each pair of assembly feature points (one plate that will generate the assembly relationship and its corresponding pole), the translational deviation corresponding to each pair of assembly feature points can be calculated, resulting in 256 assembly translational deviations. Based on the calculated translational deviations for each pair of assembly feature points, the optimal assembly translational deviations (Δx and Δy) are determined using an optimization algorithm. The optimal assembly angle θ and the optimal assembly translational deviations (Δx and Δy) form the RT matrix.

[0071] In this example, the optimal assembly angle θ is determined as follows:

[0072] For each pair of bar / pole assembly feature lines with assembly relationship, an assembly angle is determined, thus a total of 8 assembly angles are determined;

[0073] Based on eight assembly angles, the optimal assembly angle θ was determined using methods such as direct averaging and weighted averaging. For example, each group of plates extends laterally, and each group of poles extends vertically; ideally, the assembly angle should be 90°. Of the eight assembly angles actually obtained, two are 90.642° and 90.656°.

[0074] In this example, the optimal assembly translational deviations (Δx and Δy) are determined as follows:

[0075] For each pair of bar plates / pole posts with an assembly relationship, an assembly translation deviation is determined, thus 256 assembly translation deviations are determined.

[0076] Based on 256 assembly translation deviations, the optimal assembly translation deviations (Δx and Δy) were determined using methods such as direct averaging.

[0077] The optimal assembly angle θ and the optimal assembly translation deviations (Δx and Δy) constitute the RT matrix.

[0078] Obviously, the above-described method of constructing the RT matrix is ​​only an exemplary description. Those skilled in the art can flexibly adjust it according to actual needs, such as including but not limited to: determining the assembly angle for each column of slices (and poles) / selecting several columns from multiple columns of slices (and poles) / selecting a portion of slices (and poles) from each row of slices (and poles); selecting some typical feature points from multiple slices (and poles) as assembly feature points; using a reasonable algorithm for line fitting and any reasonable optimization algorithm other than the mean to perform optimization calculations for θ, Δx, and Δy.

[0079] S29. Apply the determined RT matrix to the addressing coordinates of each piece to perform virtual assembly and confirm whether the expected assembly accuracy can be achieved. If the assembly accuracy meets the standard, the safety of the assembly can be guaranteed.

[0080] In this example, the method to confirm whether the assembly accuracy meets the standard is as follows:

[0081] Calculate the concentricity between the pan coordinates (after virtual assembly) and the polar coordinates;

[0082] Specifically, the determined RT matrix is ​​applied to the addressing coordinates of each piece of plaque, and the coordinates of each piece of plaque are rotated and translated, resulting in a set of virtually placed plaque coordinate points. The concentricity between the plaque coordinates and the polar coordinates is calculated using the virtually placed plaque coordinate points and the coordinates of the multiple polar poles already obtained.

[0083] Determine whether the deviation between the concentricity and the ideal concentricity meets the tolerance requirements (within the tolerance requirements, the safety indicators must be met);

[0084] If so, it means that the expected assembly accuracy can be achieved, and proceed to S29;

[0085] If not, return to S27. The RT matrix can be adjusted by changing the weights, changing the data fitting method, or changing the rules for selecting rows / columns.

[0086] It is understandable that the assembly accuracy can be determined based on one or more quantities, such as concentricity or translational deviation.

[0087] S210. When the assembly accuracy meets the standard, the RT matrix, i.e. the optimal θ, Δx and Δy, is sent to the robot. The robot assembles multiple chips onto multiple terminals of the battery cell by first rotating and then translating.

[0088] As can be seen, in the preferred embodiment of the automatic addressing and assembly method for battery cells, the present invention addresses the features of all battery cells, thus achieving better positioning of the battery cells compared to the method of positioning based on outer contours or local features during automated assembly. Based on this, by forming an RT matrix that includes data fitting and confirming the assembly accuracy by substituting the RT matrix into the addressing coordinates of the battery cells / terminals before assembly, it is expected to achieve reliable and safe automated assembly between the battery cells and the terminal posts of the battery cell.

[0089] Furthermore, when automating the assembly of bar sheets using a vision-guided method, welding is typically performed using the electrode post as a reference. Since the actual welding object during the assembly process is the bar sheet, current welding methods may lead to welding misalignment. In a preferred embodiment of the automatic bar sheet addressing assembly method of the present invention, because addressing is performed on all bar sheets themselves, the bar sheet data can be directly used for welding positioning at the welding station, thus improving welding accuracy.

[0090] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not necessarily have to be executed in such an order. They can be executed simultaneously or in other orders, and some steps can be added, replaced or omitted.

[0091] It should be noted that although the automatic addressing and assembly method for barcodes described above has been presented as an example, those skilled in the art will understand that the present invention is not limited thereto. In fact, users can flexibly adjust the relevant steps and parameters according to actual application scenarios and other factors.

[0092] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for automatic addressing and assembly of barplates, characterized in that, The method includes: Determine the location data of the plaque; Determine the position data of the battery cell's terminals; Based on the position data of the plate and the position data of the pole, the assembly data is determined; Based on the assembly data, determine whether the assembly accuracy meets the standards; If so, the robot will assemble the electrode into the pole according to the assembly data; The assembly data includes first assembly data, and the phrase "determining the assembly data based on the position data of the brace and the position data of the pole" includes: The brace and the electrode are grouped to form at least one group of brace and at least one group of electrode; The first assembly data is determined based on the position data of the at least one set of brace pieces and the position data of the at least one set of pole pieces; The first assembly data includes assembly angle data, and the phrase "determining the first assembly data based on the position data of the at least one set of electrode plates and the position data of the at least one set of pole pieces" includes: Based on the positional data of the at least one set of plasmids, at least one plasmid assembly line is fitted; Based on the position data of the at least one set of pole posts, at least one pole post assembly line is fitted; Based on the at least one tablet assembly line and the at least one pole assembly line, determine at least one assembly angle; The assembly angle data is determined based on the at least one assembly angle.

2. The automatic addressing and assembly method for barplates according to claim 1, characterized in that, In the step of "grouping the plasters and the electrodes to form at least one group of plasters and at least one group of electrodes", the method of grouping the plasters and the electrodes is as follows: Make the same row or the same column of the tablets a group of tablets; and / or Make the same row or the same column of the poles into a group of poles.

3. The automatic addressing and assembly method for barplates according to claim 1, characterized in that, The assembly data includes second assembly data, and the phrase "determining the assembly data based on the position data of the brace and the position data of the pole" includes: Based on the position data of the multiple braces and the position data of the multiple pole posts, multiple assembly offset data are determined; The second assembly data is determined based on the plurality of assembly offset data.

4. The automatic addressing and assembly method for barplates according to claim 1, characterized in that, The "determining the position data of the battery cell terminals" includes: Select the marker points for the battery cell; The first camera acquires the position data of the marker point; Based on the location data of the marked points, the position data of the terminals of the battery cell are determined.

5. The automatic addressing and assembly method for barplates according to claim 4, characterized in that, The phrase "determining the position data of the battery cell's terminals based on the position data of the marked points" includes: Based on the position data of the marker point in the first camera coordinate system, determine the position data of the marker point in the robot coordinate system; Based on the position data of the marker points in the robot coordinate system and the obtained position data of the marker points at the polar addressing station, the transformation matrix is ​​determined; Based on the transformation matrix and the obtained position data of the pole at the pole addressing station, the position data of the pole in the robot coordinate system is determined.

6. The automatic addressing and assembly method for barplates according to claim 1, characterized in that, The "data for determining the location of the plaque" includes: The robot will grasp the film and position it corresponding to the second camera. The second camera acquires the position data of the flap in the second camera coordinate system; The position data of the bar in the second camera coordinate system is converted into the position data of the bar in the robot coordinate system.

7. A computer-readable storage medium comprising a memory adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the automatic addressing and assembly method for barplates as described in any one of claims 1 to 6.

8. A computer device, the device comprising a memory and a processor, the memory being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the automatic addressing and assembly method for barplates as described in any one of claims 1 to 6.

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