A method and system for flight addressing and ranging

Abstract

A flying addressing and ranging method and system belongs to the field of battery technology. The system includes a three-axis servo module, a detection module, and a control module. The detection module is arranged on the three-axis servo module, and the control module is signal-connected to the three-axis servo module and the detection module. The method includes controlling the three-axis servo module to drive the detection module to move from the starting position coordinate to the end position coordinate at a preset movement trajectory and preset movement speed, continuously monitoring the coordinate information of the detection module during the movement process, comparing the current coordinate value with the preset target coordinate value to obtain a comparison result, and controlling the detection module to address the target battery cell pole on the battery module according to the comparison result, and measuring the distance to the last target battery cell pole that has been passed. The present invention realizes flying addressing and ranging, thereby improving the addressing and ranging efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery detection, and in particular relates to a flying addressing and ranging method and system. Background Art

[0002] The battery module is composed of multiple single cells assembled in series and parallel. Generally, the busbars placed on the cells are welded to the cells to realize the series and parallel connection between the cells. Before the battery module is welded, it is necessary to determine the pole welding coordinates and pole welding height through the addressing device and the distance measuring device, so as to guide the welding equipment later and ensure high welding accuracy. The existing addressing and distance measuring device generally uses a fixed-point method, that is, a three-axis servo mechanism is used to drive the addressing device and the distance measuring device to the set photo taking point / distance measuring point in turn, and start taking pictures / distance measuring after the fixed point is in place. The existing technology has the following problems:

[0003] 1. During the addressing and ranging process, the servo axis of the three-axis servo mechanism needs to continuously start and stop fixed-point motion. The fixed-point motion will have an acceleration and deceleration process, which greatly limits the working efficiency of the equipment. Moreover, during the start and stop process, the three-axis servo mechanism will produce jitter, which will also have a certain impact on the photography and measurement results, thereby reducing the subsequent welding accuracy.

[0004] 2. Addressing and ranging are carried out separately, and it is necessary to visit all the photo taking points and all the ranging points separately, which makes the whole addressing and ranging process take a long time. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for flying addressing and ranging that improves the efficiency of addressing and ranging in order to solve the above problems in the prior art.

[0006] To achieve the above objectives, the technical solutions of the present invention are as follows:

[0007] In a first aspect, the present invention provides a method for on-the-fly addressing and ranging, which is applied to a on-the-fly addressing and ranging system. The on-the-fly addressing and ranging system includes a three-axis servo mobile module and a detection module disposed on the three-axis servo mobile module. The detection module is used to address and measure the distance of a battery module. The method includes:

[0008] Acquire servo start data, wherein the servo start data includes the starting position coordinates and the ending position coordinates of the detection module;

[0009] According to the preset servo start data, the three-axis servo module is controlled to drive the detection module to move from the starting position coordinate to the end position coordinate at a preset movement trajectory and a preset movement speed;

[0010] Obtaining the current coordinate value of the detection module fed back by the three-axis servo module;

[0011] Comparing the current coordinate value with a preset target coordinate value to obtain a comparison result;

[0012] According to the comparison result, the detection module is controlled to address the target cell pole on the battery module and to measure the distance of the last cell pole passed by.

[0013] According to the comparison result, controlling the detection module to address the target cell pole on the battery module and measuring the distance to the last passed target cell pole includes:

[0014] Determine whether the comparison result meets the starting condition. If so, control the detection module to address the target battery cell pole on the battery module and measure the distance to the last battery cell pole passed by. The starting condition is that the difference between the monitored current coordinate value and the preset target coordinate value is less than or equal to a preset threshold.

[0015] The flight addressing and ranging method further comprises:

[0016] Acquire multiple ranging values ​​fed back by the ranging device;

[0017] Calculating a distance measurement average of the plurality of distance measurement values;

[0018] The average value of the distance measurements is taken as the final welding height value.

[0019] In a second aspect, the present invention provides a flight addressing and ranging system, the system comprising a three-axis servo module, a detection module, and a control module, wherein the detection module is disposed on the three-axis servo module, and the control module is communicatively connected to the three-axis servo module and the detection module;

[0020] The three-axis servo module is used to drive the detection module to move from the starting position coordinate to the end position coordinate at a preset movement trajectory and a preset movement speed;

[0021] The control module is used to execute the aforementioned flight addressing and ranging method;

[0022] The detection module is used to address and measure the distance of the battery module.

[0023] The detection module includes a distance measuring device and an addressing device, and the distance measuring device is a multi-point laser distance measuring sensor.

[0024] The addressing device is a CCD camera.

[0025] The three-axis servo module further includes an X-axis servo motor and a Y-axis servo motor, and the X-axis servo motor and the Y-axis servo motor are respectively provided with a first encoder module and a second encoder module;

[0026] The control module is connected to the X-axis servo motor signal through the first encoder module, and the control module is connected to the Y-axis servo motor signal through the second encoder module.

[0027] The X-direction distance between the distance measuring center of the distance measuring device and the visual center of the addressing device is equal to the spacing between the cell rows of the battery module.

[0028] The signal output end of the control module is communicatively connected to the signal input end of the addressing device through the high-speed output module, and the signal input end of the control module is communicatively connected to the signal output end of the addressing device.

[0029] The signal output end of the control module is also communicatively connected to the signal input end of the distance measuring device, and the signal input end of the control module is also communicatively connected to the signal output end of the distance measuring device.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention discloses a method and system for flying addressing and ranging, the system includes a three-axis servo mobile module and a detection module arranged on the three-axis servo mobile module. The method includes obtaining servo start-up data, the servo start-up data including the starting position coordinates and the end position coordinates of the detection module; according to the preset servo start-up data, controlling the three-axis servo module to drive the detection module to move from the starting position coordinates to the end position coordinates at a preset moving trajectory and a preset moving speed; obtaining the current coordinate value of the detection module fed back by the three-axis servo module; comparing the current coordinate value with the preset target coordinate value to obtain a comparison result; according to the comparison result, controlling the detection module to adjust the battery The target battery pole on the module is addressed, and the distance to the last target battery pole passed is measured; until the end of the moving path is reached, the addressing and distance measurement of all battery poles are completed; compared with the exposure and photography after the fixed point is in place, this method not only realizes on-the-fly addressing and ranging, avoids low equipment working efficiency and structural vibration due to frequent start and stop, ensures the accuracy of addressing and ranging data, and thus ensures welding accuracy, but also compares the current coordinate value with the preset target coordinate value to obtain a comparison result, and controls the addressing device to expose in advance according to the comparison result. Since the camera exposure does not take up additional time, the speed of visual addressing and ranging is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a control principle diagram of the system of the present invention.

[0033] Figure 2 Schematic diagram of the structure of the three-axis servo module in the system of the present invention.

[0034] Figure 3 This is a top view of the three-axis servo module in the system of the present invention.

[0035] Figure 4 for Figure 2 Enlarged schematic diagram of part A in the middle.

[0036] Figure 5 The present invention is a flowchart of the method.

[0037] Figure 6 The moving path is designed by the method of the present invention.

[0038] Figure 7 This is a schematic diagram of the mounting base moving at a preset speed in the method of the present invention.

[0039] Figure 8 The following is a comparison of the photographic effects of the method described in the present invention and the traditional fixed-point photographic method.

[0040] In the above figure, 1. Three-axis servo module; 11. X-axis servo motor; 12. Y-axis servo motor; 13. Mounting seat; 14. X-axis slide; 15. Y-axis slide; 16. Z-axis slide; 17. Z-axis drive motor; 2. Addressing device; 3. Distance measuring device; 4. Control module; 5. First encoder module; 6. Second encoder module; 7. High-speed output module. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. It is apparent that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0042] See also Figures 1 to 4, a flight addressing and ranging system, including a three-axis servo module 1, a detection module, and a control module 4. The three-axis servo module 1 includes an X-axis slide 14, a Y-axis slide 15, and a Z-axis slide 16. The X-axis slide 14 is arranged on a slider of the Y-axis slide 15. The Y-axis slide 15 is provided with a Y-axis drive motor 12 for driving its slider to move, thereby realizing Y-direction movement. The Z-axis slide 16 is arranged on the slider of the X-axis slide 14. The X-axis slide 14 is provided with an X-axis drive motor 11 for driving its slider to move, thereby realizing X-direction movement. The Z-axis slide 16 is provided with a Z-axis drive motor 17 for driving its slider to move, thereby realizing Z-direction movement. A mounting plate 13 is installed on the slider of the Z-axis slide 16, and the detection module is arranged on the mounting seat 13. The control module 4 is communicatively connected with the X-axis drive motor 11, the Y-axis drive motor 12, the Z-axis drive motor 17, and the detection module; the Z-axis slide 16 is used to adjust the height of the detection module;

[0043] During detection, the three-axis servo module 1 drives the detection module to move from the starting position coordinate to the end position coordinate with a preset moving trajectory and a preset moving speed. During the movement, the control module 4 obtains the current coordinate value of the detection module fed back by the three-axis servo module in real time, and the control module 4 compares the current coordinate value with the preset target coordinate value to obtain a comparison result. If the comparison result meets the starting condition, the control module 4 controls the detection module to address the target battery cell pole on the battery module to obtain the welding coordinate of the target battery cell pole, and measures the distance of the last battery cell pole passed to obtain the welding height of the last battery cell pole passed;

[0044] The starting condition is that the difference between the monitored coordinate value of the mounting seat 13 and the initial coordinate value of the next battery cell pole to be reached is less than or equal to a preset threshold value. This preset threshold value can be set by the operator in the control module 4 based on operating experience, and is generally set to (0.10, 0.05);

[0045] For example, if the initial coordinate value of the target cell pole (measurement point 3) is (650.85, 9.90), and the coordinate value of the detection module monitored in real time is (650.75, 9.89), then the difference is (0.10, 0.01), which is less than the preset threshold value (0.10, 0.05). Then the control module 4 controls the detection module to perform addressing and ranging.

[0046] Furthermore, the detection module includes a mounting base 13, an addressing device 2 and a ranging device 3. The addressing device 2 and the ranging device 3 are integrated on the mounting base 13, and can perform addressing and ranging at the same time. Addressing and ranging can be completed in one trip, thereby achieving the effect of shortening the overall time; and the addressing device 2 is in front (the front refers to the direction of movement toward the detection module), and the ranging device 3 is in the back, and addressing and ranging do not interfere with each other.

[0047] Furthermore, the ranging device 3 is a multi-point laser ranging sensor. The ranging range of the multi-point laser ranging sensor is a measuring surface composed of multiple measuring points. The measuring surface can be a rectangular measuring surface, a circular measuring surface, a triangular measuring surface, or an irregular measuring surface. In this embodiment, a rectangular measuring surface composed of two rows of measuring points is preferred, with each row having at least two measuring points.

[0048] Calculate the average distance measurement results of the entire measuring surface of the battery cell pole and use the average distance measurement results as the final welding height. The welding height obtained at this time is closer to the actual height of the battery cell pole, thereby further ensuring the accuracy of subsequent welding;

[0049] The addressing device 2 may be a CCD camera; however, the distance measuring device is not limited to a multi-point laser distance measuring sensor, and the addressing device is not limited to a CCD camera.

[0050] Furthermore, the X-axis servo motor 11 and the Y-axis servo motor 12 are respectively provided with a first encoder module 5 and a second encoder module 6; the control module 4 is connected to the X-axis servo motor 11 through the first encoder module 5, and the control module 4 is connected to the Y-axis servo motor 12 through the second encoder module 6; the first encoder module 5 and the second encoder module 6 provide real-time feedback of position information to the Y-axis servo motor 12, thereby ensuring control accuracy;

[0051] Both the first encoder module 5 and the second encoder module 6 can be photoelectric incremental encoders. Photoelectric incremental encoders measure the rotation angle of the servo motor rotor, convert the position signal into an optical signal, and transmit it to the control module 4, thereby achieving precise control of the servo motor. Photoelectric incremental encoders have the characteristics of high precision, fast response speed, and strong anti-interference ability. However, the first encoder module 5 and the second encoder module 6 of the present invention are not limited to photoelectric incremental encoders.

[0052] Furthermore, the X-direction distance between the ranging center of the ranging device 3 and the visual center of the addressing device 2 is equal to the spacing between the cell columns of the battery module. When the ranging device 3 is a multi-point laser ranging sensor, the ranging center of the ranging device 3 is obtained by calculating the average position of multiple ranging points.

[0053] For example, the average position coordinates of multiple ranging points of the multi-point laser ranging sensor are calculated to be (650.85, 9.90), the coordinates of the visual center of the addressing device 2 are (648.40, 9.90), the X-axis distance between the two is 2.45 mm, and the cell row spacing of the battery module is 2.45 mm;

[0054] Since the cell column spacings of different types of battery modules are different, the X-direction distance between the distance measurement center of the distance measurement device 3 and the visual center of the addressing device 2 can be adjusted according to the actual cell column spacings.

[0055] Furthermore, the signal output end of the control module 4 is communicatively connected to the signal input end of the addressing device 2 through the high-speed output module 7. The high-speed output module 7 can be a pulse high-speed output module, but the high-speed output module 7 is not limited to a pulse high-speed output module; the control module 4 uses the high-speed output module 7 as a hardware IO method to control the addressing device 2 to trigger taking pictures, thereby improving the interaction rate.

[0056] The signal input end of the control module 4 is connected to the signal output end of the addressing device 2 via the Ethernet communication protocol (Ethernet / IP); the signal output end of the control module 4 is also connected to the signal input end of the ranging device 3, and the signal input end of the control module 4 is also connected to the signal output end of the ranging device 3 via the communication transmission protocol (EtherCAT, a real-time industrial field bus communication protocol based on the development framework of Ethernet).

[0057] In another embodiment of the present application, see Figure 5 The present invention also provides a method for flying addressing and ranging, which is based on the aforementioned flying addressing and ranging system. The specific steps of the method are as follows:

[0058] S10, obtaining servo start data, wherein the servo start data includes the starting position coordinates and the end position coordinates of the detection module;

[0059] Furthermore, the operator determines the coordinates of each target cell pole in the battery module based on the battery module parameters (number of rows and columns, cell row spacing, cell column spacing, etc.), designs the moving path of the detection module based on the coordinates of all target cell poles in the battery module, and determines the starting position coordinates and the end position coordinates of the detection module;

[0060] The coordinates of the cell poles refer to the X and Y coordinates. In this embodiment, the number of rows and columns of the battery module, the spacing between cell rows, and the spacing between cell columns are two rows and six columns, 3.15 mm, and 2.45 mm, respectively.

[0061] S20, the control module 4 controls the three-axis servo module to drive the detection module to move from the starting position coordinate to the end position coordinate at a preset moving trajectory and preset moving speed according to the preset servo start data;

[0062] Furthermore, the moving path is Figure 6As shown, the path moves from the starting position coordinate to the end position coordinate, and the first to sixth battery cell poles in the first row of the moving path are detected in sequence. After all battery cell poles in a row are detected, the path moves to the next row, and the first battery cell pole on the left of the next row is detected. Since different types of battery modules have different battery cell arrangements, the present invention is not limited to moving in accordance with the specific moving method described in this embodiment. As long as all target battery cell poles in the battery module can be moved, the use requirements can be met.

[0063] Movement speed Figure 7 As shown, during the movement from the starting position to the end position of the path, the mounting base 13 on the three-axis servo module 1 is always in a motion state of 25 mm / s, without decelerating while ensuring accuracy.

[0064] S30, the control module 4 obtains the current coordinate value of the detection module fed back by the three-axis servo module in real time;

[0065] Furthermore, the current coordinate value of the detection module is the current coordinate value of the mounting base 13;

[0066] S40, the control module 4 compares the coordinate value of the detection module with the preset target coordinate value to obtain a comparison result;

[0067] S50, the control module 4 controls the detection module to address the target cell pole on the battery module according to the comparison result, and to measure the distance to the last target cell pole that has been passed;

[0068] Further, the control module 4 determines whether the comparison result meets the starting condition; the starting condition is that the difference between the monitored coordinate value of the mounting base 13 and the preset target coordinate value is less than or equal to a preset threshold value, and the preset threshold value can be set according to experience to meet the accuracy requirements of photographing and ranging; the target battery pole is the next battery pole to be reached, and the target coordinate value is the coordinate value of the next battery pole to be reached;

[0069] For example, if the preset threshold is set to (0.10, 0.05), the initial coordinate value of the next battery cell pole (measurement point 3) is (650.85, 9.90), and the coordinate value of the mounting base 13 monitored at a certain moment is (650.75, 9.89), then the difference at this time is (0.10, 0.01), which is less than the preset threshold (0.10, 0.05), indicating that the start condition has been met;

[0070] When the start condition is met, the control module 4 controls the addressing device 2 to expose, and the addressing device 2 takes a picture of the next battery cell pole to obtain the welding coordinates of the next battery cell pole; the control module 4 controls the distance measuring device 3 to start the distance measurement, and the distance measuring device 3 measures the distance of the previous battery cell pole to obtain the welding height of the previous battery cell pole; since the distance measuring device 3 is a multi-point laser distance measuring sensor, the distance measuring range of the multi-point laser distance measuring sensor is a measuring surface composed of multiple measuring points, and the measuring surface is as follows: Figure 6 As shown, there are 24 measuring points on the measuring surface. The distance measurement results of the 24 measuring points on the measuring surface are respectively height values ​​H1 to H24. The average distance measurement result H of the entire measuring surface is calculated and used as the final welding height of the battery cell pole, which is closer to the actual height of the battery cell pole.

[0071] Furthermore, the control module 4 counts once each time the addressing and ranging of a battery cell pole is completed, and determines whether the addressing and ranging of all battery cell poles have been completed based on whether the counting result reaches the number of all battery cell poles in the battery module; if not completed, return to step S2 to continue measuring, if completed, end the operation.

[0072] The measurement results and repeatability errors of the measurement results obtained after 13 repeated runs are shown in Tables 1 and 2. The repeatability error is the maximum difference between the results of multiple single tests under the same conditions, which can reflect the stability and consistency of the measurement results. As can be seen from Table 2, the maximum repeatability error is only 0.08, indicating that the addressing and ranging method of the present invention has good repeatability and can be used for actual measurement work of manufacturers.

[0073] Table 1 Measurement results of 13 measurements

[0074]

[0075] Table 2 Repeatability error of measurement results

[0076]

[0077]

[0078] The photos obtained by the addressing and ranging system of the present invention are compared with the photos obtained by the traditional fixed-point photography method. The comparison of the photos is as follows: Figure 8 As shown, it can be seen that the addressing and ranging system of the present invention has a photographic effect comparable to that of the traditional fixed-point photographic method.

Claims

1. A method for flying addressing and ranging, characterized in that: Applied to a flying addressing and ranging system, the flying addressing and ranging system includes a three-axis servo mobile module and a detection module provided on the three-axis servo mobile module, the detection module is used to address and measure the distance of the battery module, and the method includes: Acquire servo start data, wherein the servo start data includes the starting position coordinates and the ending position coordinates of the detection module; According to the preset servo start data, the three-axis servo module is controlled to drive the detection module to move from the starting position coordinate to the end position coordinate at a preset movement trajectory and a preset movement speed; Obtaining the current coordinate value of the detection module fed back by the three-axis servo module; Comparing the current coordinate value with a preset target coordinate value to obtain a comparison result; According to the comparison result, the detection module is controlled to address the target battery cell pole on the battery module and to measure the distance of the last target battery cell pole passed by.

2. A flying addressing and ranging method according to claim 1, characterized in that: According to the comparison result, controlling the detection module to address the target cell pole on the battery module and measuring the distance to the last passed target cell pole includes: Determine whether the comparison result meets the start condition, and if so, control the detection module to address the target cell pole on the battery module and measure the distance to the last cell pole passed by; The start condition is that the difference between the monitored current coordinate value and the preset target coordinate value is less than or equal to a preset threshold.

3. A flying addressing and ranging method according to claim 1, characterized in that: The flight addressing and ranging method further comprises: Obtain multiple ranging values ​​fed back by the ranging device; Calculating a distance measurement average of the plurality of distance measurement values; The average value of the distance measurements is taken as the final welding height value.

4. A flying addressing and ranging system, characterized in that: The system comprises a three-axis servo module (1), a detection module, and a control module (4); the detection module is arranged on the three-axis servo module (1); and the control module (4) is communicatively connected to the three-axis servo module (1) and the detection module; The three-axis servo module (1) is used to drive the detection module to move from the starting position coordinate to the end position coordinate at a preset moving trajectory and a preset moving speed; The control module (4) is used to execute a flying addressing and ranging method according to any one of claims 1 to 3; The detection module is used to address and measure the distance of the battery module.

5. A flying addressing and ranging system according to claim 4, characterized in that: The detection module comprises a distance measuring device (3) and an addressing device (2), and the distance measuring device (3) is a multi-point laser distance measuring sensor.

6. A flying addressing and ranging system according to claim 5, characterized in that: The addressing device (2) is a CCD camera.

7. A flying addressing and ranging system according to claim 4 or 5, characterized in that: The three-axis servo module (1) further comprises an X-axis servo motor (11) and a Y-axis servo motor (12), wherein the X-axis servo motor (11) and the Y-axis servo motor (12) are respectively provided with a first encoder module (5) and a second encoder module (6); The control module (4) is connected to the X-axis servo motor (11) via the first encoder module (5), and the control module (4) is connected to the Y-axis servo motor (12) via the second encoder module (6).

8. A flying addressing and ranging system according to claim 5, characterized in that: The X-direction distance between the distance measurement center of the distance measurement device (3) and the visual center of the addressing device (2) is equal to the spacing between the cell rows of the battery module.

9. A flying addressing and ranging system according to claim 5, characterized in that: The signal output end of the control module (4) is communicatively connected to the signal input end of the addressing device (2) via a high-speed output module (7), and the signal input end of the control module (4) is communicatively connected to the signal output end of the addressing device (2).

10. A flying addressing and ranging system according to claim 9, characterized in that: The signal output end of the control module (4) is also communicatively connected to the signal input end of the distance measuring device (3), and the signal input end of the control module (4) is also communicatively connected to the signal output end of the distance measuring device (3).

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