Battery cell sealing nail assembling method and related equipment

Abstract

The invention provides a battery cell sealing nail assembly method and related equipment, and relates to the technical field of battery cell generation. The method comprises the following steps: acquiring an image of a station; the image of the station is recognized, a feature graph and a reference graph in the image are determined, and the reference graph is the outer contour of the cleaned drawing file; determining a feature parameter of a feature pattern in the image and a reference parameter of a reference pattern, and calculating a first parameter relative quantity between the feature image and the reference pattern; according to a second parameter relative quantity and the first parameter relative quantity between the benchmark graph and the reference graph, the offset of the feature graph and the benchmark graph is calculated, and the second parameter relative quantity is determined according to the benchmark parameter of the benchmark graph and the reference parameter of the reference graph; and an assembly control instruction is sent to assembly equipment according to the offset, so that the assembly equipment assembles the sealing nail according to the assembly control instruction.

Description

Background Art

[0002] Square power battery cells are one of the most widely used types of battery cells. After the electrolyte is injected into the battery cell, a sealing nail needs to be covered on the injection hole, and then the sealing nail and the top cover are welded together to ensure the sealing of the entire battery cell. The sealing of the battery cell determines the final quality of the entire battery cell.

[0003] In the related art, the concentricity between the sealing pin and the injection hole is often identified by visual capture during the battery cell assembly process. However, the offset calculated by the above visual capture method has a deviation, resulting in low sealing pin assembly accuracy, which affects the sealing performance of the battery cell. Summary of the invention

[0004] The present disclosure provides a battery cell sealing nail assembly method and related equipment, which at least to a certain extent overcomes the problem of low sealing nail assembly accuracy caused by deviation in offset calculation in the battery cell sealing nail assembly method in the related art.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0006] According to one aspect of the present disclosure, a method for assembling a sealing nail for a battery cell is provided, comprising: acquiring an image of a workstation; identifying the image of the workstation, and determining a characteristic pattern and a reference pattern in the image, wherein the reference pattern is the outer contour of a cleaning drawing; determining characteristic parameters of the characteristic pattern in the image and reference parameters of the reference pattern, and calculating a first parameter relative amount between the characteristic pattern and the reference pattern; calculating an offset between the characteristic pattern and the reference pattern according to a second parameter relative amount between the reference pattern and the reference pattern and the first parameter relative amount, wherein the second parameter relative amount is determined according to a reference parameter of the reference pattern and a reference parameter of the reference pattern; and sending an assembly control instruction to an assembly device according to the offset, so that the assembly device assembles the sealing nail according to the assembly control instruction.

[0007] In one embodiment of the present disclosure, the characteristic figure is a circle, and the characteristic parameters of the characteristic figure are circle characteristic parameters; the reference figure includes an identification angle and an arc connected to the identification angle, and the reference parameters of the reference figure are the characteristic point coordinates on the first side and the characteristic point coordinates on the second side of the identification angle.

[0008] In one embodiment of the present disclosure, before identifying the image of the workstation and determining the characteristic pattern and the reference pattern in the image, the method further includes: determining the assembly type of the sealing pin, the assembly type including sealing pin installation and sealing pin welding.

[0009] In one embodiment of the present disclosure, when the assembly type of the sealing pin is sealing pin installation, the characteristic parameters of the characteristic pattern are the circumferential contour coordinates of the injection hole to be assembled with the sealing pin.

[0010] In one embodiment of the present disclosure, the second parameter relative quantity includes a first reference value and a second reference value; wherein, the calculation of the first parameter relative quantity between the characteristic pattern and the reference pattern includes: calculating the first distance between the circumferential contour coordinates of the injection hole and the characteristic point coordinates on the first side, calculating the second distance between the circumferential contour coordinates of the injection hole and the characteristic point coordinates on the second side, and determining the minimum value of the first distance and the minimum value of the second distance as the first parameter relative quantity; wherein, the calculation of the offset of the characteristic pattern and the reference pattern based on the first parameter relative quantity and the second parameter relative quantity between the reference pattern includes: calculating the first difference between the minimum value of the first distance and the first reference value, and calculating the second difference between the minimum value of the second distance and the second reference value; and determining the offset in the first direction and the offset in the second direction when the sealing nail is installed based on the first difference and the second difference.

[0011] In one embodiment of the present disclosure, the offset in the first direction and the offset in the second direction when the sealing nail is installed are determined based on the first difference and the second difference, including: when the identification angle is a right angle, and the first edge is along the first direction, and the second edge is along the second direction, the first difference is used as the offset in the second direction when the sealing nail is installed, and the second difference is used as the offset in the first direction when the sealing nail is installed.

[0012] In one embodiment of the present disclosure, when the assembly type of the sealing pin is sealing pin welding, the circle feature parameter is the coordinate of the circumferential contour of the sealing pin.

[0013] In one embodiment of the present disclosure, the second parameter relative quantity includes a third reference value and a fourth reference value; wherein, the calculation of the first parameter relative quantity between the characteristic pattern and the reference pattern includes: calculating the third distance between the circular contour coordinates of the sealing pin and the feature point coordinates on the first side, calculating the fourth distance between the circular contour coordinates of the sealing pin and the feature point coordinates on the second side, and determining the minimum value of the third distance and the minimum value of the second distance as the first parameter relative quantity; wherein, the calculation of the offset of the characteristic pattern and the reference pattern based on the second parameter relative quantity and the first parameter relative quantity between the reference pattern and the reference pattern includes: calculating the third difference between the minimum value of the third distance and the third reference value; calculating the fourth difference between the minimum value of the fourth distance and the fourth reference value; and determining the offset in the first direction and the offset in the second direction when the sealing pin is welded based on the third difference and the fourth difference.

[0014] In one embodiment of the present disclosure, the offset in the first direction and the offset in the second direction when the sealing pin is welded are determined based on the third difference and the fourth difference, including: when the identification angle is a right angle, and the first edge is along the first direction, and the second edge is along the second direction, the third difference is used as the offset in the second direction when the sealing pin is welded, and the fourth difference is used as the offset in the first direction when the sealing pin is welded.

[0015] In one embodiment of the present disclosure, before acquiring the image of the workstation, the method further includes: acquiring a reference image of the workstation, wherein the reference image is an image taken when the assembly equipment is located at a reference position; identifying the reference image of the workstation to obtain reference parameters of a reference graphic in the reference image and reference parameters of the reference graphic; and determining a relative amount of the second parameter based on the reference parameters of the reference graphic in the reference image and the reference parameters of the reference graphic.

[0016] According to another aspect of the present disclosure, there is provided a battery cell sealing nail assembly device, comprising: an image acquisition module, for acquiring an image of a workstation; an image recognition module, for recognizing the image of the workstation, and determining a characteristic pattern and a reference pattern in the image, wherein the reference pattern is the outer contour of a cleaning drawing; a relative quantity determination module, for determining a characteristic parameter of the characteristic pattern in the image and a reference parameter of the reference pattern, and calculating a first parameter relative quantity between the characteristic pattern and the reference pattern; an offset calculation module, for calculating an offset between the characteristic pattern and the reference pattern according to a second parameter relative quantity between the reference pattern and the reference pattern and the first parameter relative quantity, wherein the second parameter relative quantity is determined according to a reference parameter of the reference pattern and a reference parameter of the reference pattern; and an assembly control module, for sending an assembly control instruction to an assembly device according to the offset, so that the assembly device assembles the sealing nail according to the assembly control instruction.

[0017] According to another aspect of the present disclosure, an electronic device is also provided, which includes: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute any one of the above-mentioned battery cell sealing nail assembly methods by executing the executable instructions.

[0018] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the battery cell sealing nail assembly method described in any one of the above is implemented.

[0019] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, any one of the above-mentioned methods for assembling a battery cell sealing nail is implemented.

[0020] In an embodiment of the present disclosure, an image of a workstation is acquired; the image of the workstation is recognized to determine a characteristic pattern and a reference pattern in the image, wherein the reference pattern is the outer contour of a cleaning image file; characteristic parameters of the characteristic pattern in the image and reference parameters of the reference pattern are determined, and a relative amount of a first parameter between the characteristic pattern and the reference pattern is calculated; an offset of the characteristic parameter and the reference pattern is calculated based on a relative amount of a second parameter and a relative amount of the first parameter between the base pattern and the reference pattern, wherein the relative amount of the second parameter is determined based on the base parameters of the base pattern and the reference parameters of the reference pattern; an assembly control instruction is sent to an assembly device based on the offset, so that the assembly device assembles the sealing nail according to the assembly control instruction. The present disclosure can effectively reduce the influence of laser cleaning on visual judgment, and the reference pattern not only provides a capture direction for visual shooting, but can also be used to calculate the offset, thereby improving the capture accuracy, reducing the influence of cleaning quality, and improving the assembly accuracy and efficiency of the battery cell sealing nails, thereby improving the sealing of the battery cells.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0023] Figure 1 A schematic structural diagram of an energy storage system in an embodiment of the present disclosure is shown.

[0024] Figure 2 A structural schematic diagram showing the relative positions of the injection hole, the sealing pin and the cleaning pattern in the related art.

[0025] Figure 3 A flow chart of a method for assembling a battery cell sealing nail in an embodiment of the present disclosure is shown.

[0026] Figure 4 A schematic structural diagram of a cleaning pattern in an embodiment of the present disclosure is shown.

[0027] Figure 5 A schematic structural diagram of another cleaning pattern in an embodiment of the present disclosure is shown.

[0028] Figure 6 A schematic structural diagram of another cleaning pattern in an embodiment of the present disclosure is shown.

[0029] Figure 7 A flow chart of a method for determining an offset when installing a sealing nail in an embodiment of the present disclosure is shown.

[0030] Figure 8 A flow chart of another method for determining the offset when installing a sealing nail in an embodiment of the present disclosure is shown.

[0031] Fig. 9 Show Figure 4 Schematic diagram of the offset calculation in the cleaning drawing.

[0032] Fig.10 A flow chart of a method for determining an offset during welding of a sealing pin in an embodiment of the present disclosure is shown.

[0033] Fig.11 A flow chart of another method for determining offset during sealing pin packaging in an embodiment of the present disclosure is shown.

[0034] Fig.12A flow chart of another method for assembling a battery cell sealing nail in an embodiment of the present disclosure is shown.

[0035] Fig.13 A reference image of a workstation after sealing pins are placed in an embodiment of the present disclosure is shown.

[0036] Fig.14 A schematic diagram of a battery cell sealing nail assembly device in an embodiment of the present disclosure is shown.

[0037] Fig.15 A structural block diagram of an electronic device in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0039] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0040] Since the energy people need is highly temporal and spatial, in order to rationally use energy and improve energy utilization, it is necessary to use a medium or device to store one form of energy in the same form or convert it into another form of energy, and then release it in a specific form based on future application needs. At present, the main way to generate green electricity is to develop green energy such as photovoltaics and wind power to replace fossil energy.

[0041] At present, the generation of green electricity generally relies on photovoltaics, wind power, and hydropower, etc. However, wind and solar energy generally have problems of strong intermittency and large volatility, which will cause instability in the power grid, insufficient electricity during peak hours, and too much electricity during valley hours. Unstable voltage will also cause damage to electricity. Therefore, insufficient electricity demand or insufficient grid acceptance capacity may cause the problem of "abandoning wind and solar power". To solve these problems, we must rely on energy storage. That is, converting electrical energy into other forms of energy through physical or chemical means and storing it, and converting energy into electrical energy and releasing it when needed. In simple terms, energy storage is like a large "power bank". When photovoltaic and wind energy are sufficient, electrical energy is stored and the stored electricity is released when needed.

[0042] Taking electrochemical energy storage as an example, the present disclosure provides an energy storage device, which has a group of chemical batteries in it. The chemical elements in the batteries are mainly used as energy storage media. The charging and discharging process is accompanied by chemical reactions or changes in the energy storage media. In simple terms, the electricity generated by wind and solar energy is stored in chemical batteries. When the use of external electricity reaches a peak, the stored electricity is released for use, or transferred to places where electricity is scarce for use.

[0043] At present, energy storage (i.e. energy storage) has a wide range of application scenarios, including energy storage on the power generation side, energy storage on the grid side, and energy storage on the power consumption side. The corresponding types of energy storage devices include:

[0044] (1) Large-scale energy storage power stations applied to wind power and photovoltaic power stations can help renewable energy generation meet grid connection requirements and improve the utilization rate of renewable energy. As a high-quality active / reactive regulating power source on the power supply side, energy storage power stations can achieve load matching of electric energy in time and space, enhance the ability to absorb renewable energy, reduce instantaneous power changes, reduce the impact on the power grid, improve the absorption of new energy generation, and are of great significance in power grid system backup, relieving peak load power supply pressure, and peak and frequency regulation.

[0045] (2) Energy storage containers used on the grid side mainly perform peak load regulation, frequency regulation, and grid congestion relief. They can achieve peak load shaving and valley filling of power loads, that is, charging the energy storage batteries when the power load is low and releasing the stored power during the peak load period, thereby achieving a balance between power production and consumption;

[0046] (3) Small energy storage cabinets used on the power consumption side, mainly for self-generation and self-use of electricity, peak-valley price difference arbitrage, capacity cost management and improving power supply reliability. According to different application scenarios, energy storage on the power consumption side can be divided into industrial and commercial energy storage cabinets, household energy storage devices, energy storage charging piles, etc., which are generally used in conjunction with distributed photovoltaics. Industrial and commercial users can use energy storage for valley-peak price difference arbitrage and capacity cost management. In the power market that implements peak-valley electricity prices, by charging the energy storage system at low electricity prices and discharging the energy storage system at high electricity prices, peak-valley electricity price difference arbitrage is achieved to reduce electricity costs. In addition, industrial enterprises that are subject to two-part electricity prices can use energy storage systems to store energy during low electricity consumption and discharge at peak loads, thereby reducing peak power and the maximum demand reported, and achieving the purpose of reducing capacity electricity charges. Household photovoltaic storage can improve the level of self-generation and self-use of electricity. Due to high electricity prices and poor power supply stability, the demand for household photovoltaic installations has been driven. Considering that photovoltaic power is generated during the day, and users generally have higher loads at night, energy storage can be configured to better utilize photovoltaic power, improve the level of self-generation and self-use, and reduce electricity costs. In addition, communication base stations, data centers and other fields need to configure energy storage for backup power.

[0047] See also Figure 1 , Figure 1 is a schematic diagram of the structure of an energy storage system according to an embodiment of the present disclosure, and Figure 1 The embodiment is described by taking the shared energy storage scenario on the generation / distribution side as an example, but the energy storage system 100 disclosed in the present invention is not limited to the energy storage scenario on the generation / distribution side.

[0048] The present disclosure provides an energy storage system, which includes: an energy storage device 110, a high-voltage cable 120, a first electric energy conversion device 130, and a second electric energy conversion device 140. In the case of power generation, the first electric energy conversion device 130 and the second electric energy conversion device 140 are used to convert other forms of energy into electric energy, which is connected to the high-voltage cable 120 and supplied to the power distribution network for use. When the power load is low and the first conversion device 130 and the second electric energy conversion device 140 generate excess power, the excess power is stored in the energy storage device 110, thereby reducing the wind and solar power abandonment rates and improving the problem of new energy power generation and consumption. When the power load is high, the power grid issues an instruction to transmit the power stored in the energy storage device 110 in conjunction with the high-voltage cable 120 in a grid-connected mode to the power consumption side, thereby providing peak load regulation, frequency regulation, standby and other services for the operation of the power grid, giving full play to the peak load regulation of the power grid, promoting peak load shaving and valley filling of the power grid, and alleviating the power supply pressure of the power grid.

[0049] Optionally, the first electric energy conversion device 130 and the second electric energy conversion device 140 can convert at least one of solar energy, light energy, wind energy, thermal energy, tidal energy, biomass energy and mechanical energy into electric energy.

[0050] The number of energy storage devices 110 can be multiple, and multiple energy storage devices 110 are connected in series or in parallel. Multiple energy storage devices 110 are supported and electrically connected by isolation plates (not shown). In this embodiment, "multiple" refers to two or more. An energy storage box can also be provided outside the energy storage device 110 to accommodate the energy storage device 110.

[0051] Optionally, the energy storage device 110 may include but is not limited to a battery cell, a battery module, a battery pack, a battery system, etc. The actual application form of the energy storage device 110 provided in the embodiment of the present disclosure may be but is not limited to the listed products, and may also be other application forms. The embodiment of the present disclosure does not strictly limit the application form of the energy storage device 110. The embodiment of the present disclosure is only described by taking the energy storage device 110 as a battery cell as an example. When the energy storage device 110 is a battery cell, the energy storage device 110 may be at least one of a cylindrical battery, a square battery, etc.

[0052] In the related art, the battery cell sealing nail assembly includes a sealing nail installation process and a sealing nail welding process, wherein the sealing nail installation process is a process of placing the sealing nail in the injection hole by a robot or other device after the electrolyte is injected, and the sealing nail welding process is a process of welding the sealing nail placed in the injection hole to the top cover by a welding machine.

[0053] In order to ensure the cleanliness of the sealing pin welding area, it is necessary to laser clean the cover within a certain range of the injection hole before the sealing pin is installed and welded. Laser cleaning technology refers to the use of a high-energy laser beam to irradiate dirt, rust or unnecessary coatings on the surface of the workpiece, causing the coating to evaporate or peel off instantly, effectively removing the surface layer or coating of the workpiece, thereby obtaining a cleaner surface. A cleaning pattern will be formed around the injection hole on the cover after laser cleaning. Due to the different dirt on the surface of the cover, different parameters are used for laser cleaning, such as laser cleaning time, laser intensity, etc., resulting in different shades of color for the cleaning pattern, so that after laser cleaning, the contrast between the edge of the injection hole or the edge of the sealing pin and the cleaning pattern is different for different batteries.

[0054] When assembling the sealing pin, in order to ensure that the sealing pin is correctly placed in the injection hole, or the sealing pin is welded according to the welding trajectory, it is necessary to perform a visual capture before installing the sealing pin or welding the sealing pin to identify the concentricity of the sealing pin and the injection hole, thereby ensuring that there is no abnormality in the installation of the sealing pin or the welding of the sealing pin.

[0055] Figure 2 The structural schematic diagram shows the relative positions of the injection hole, the sealing pin and the cleaning pattern in the related art. Figure 2As shown, for the top cover after laser cleaning, from the outside to the inside, it includes a cleaning pattern 210, a liquid injection hole 220 and a sealing pin 230. For the top cover that meets the process requirements, the outer contours of the cleaning pattern 210, the liquid injection hole 220 and the sealing pin 230 are concentric circles.

[0056] When visual capture is performed at the installation station or the welding station and the offset is calculated, visual capture is performed with the edge of the sealing pin 230 and the edge of the injection hole 220 respectively. In the captured image, the edge of the injection hole 220 appears black, and the cleaning pattern 210 is also black. The color depth of the cleaning pattern 210 affects the visual judgment.

[0057] Affected by the thickness of electrolyte contamination, the color depth of the cleaning pattern 210 is inconsistent, resulting in inaccurate visual capture of the edge of the injection hole 220, which affects the calculation of the offset. The deviation in the offset leads to low assembly accuracy of the sealing nail, causing visual problems such as over-killing and under-killing, affecting the sealing performance of the battery cell.

[0058] In order to solve at least some of the above-mentioned technical problems, the present invention provides a method for assembling a cell sealing nail, which comprises the following steps: acquiring an image of a workstation; identifying the image of the workstation, determining a characteristic pattern and a reference pattern in the image, wherein the reference pattern is the outer contour of a cleaning image file; determining a characteristic parameter of the characteristic pattern in the image and a reference parameter of the reference pattern, and calculating a relative amount of a first parameter between the characteristic pattern and the reference pattern; calculating an offset of the characteristic parameter and the reference pattern according to a relative amount of a second parameter and a relative amount of the first parameter between the reference pattern and the reference pattern, wherein the relative amount of the second parameter is determined according to the reference parameters of the reference pattern and the reference parameters of the reference pattern; sending an assembly control instruction to an assembly device according to the offset, so that the assembly device assembles the sealing nail according to the assembly control instruction. The present invention can effectively reduce the influence of laser cleaning on visual judgment, and the reference pattern not only provides a capture direction for visual shooting, but can also be used to calculate the offset, thereby improving the capture accuracy, reducing the influence of cleaning quality, and improving the assembly accuracy and efficiency of the cell sealing nail, thereby improving the sealing of the cell.

[0059] Under the above system architecture, the disclosed embodiment provides a method for assembling a sealing nail for a battery cell, which can be performed by any electronic device with computing and processing capabilities, such as a control device, which can be a programmable logic controller (PLC) or a single-chip microcomputer, as long as it can achieve the corresponding functions.

[0060] Figure 3 A flow chart of a method for assembling a sealing nail of a battery cell according to an embodiment of the present disclosure is shown. Figure 3 As shown, the battery core sealing nail assembly method provided in the embodiment of the present disclosure includes the following steps:

[0061] S302, acquiring an image of the workstation.

[0062] In one embodiment, the image of the workstation can be captured by an image capture device. The production stage of the battery includes multiple workstations, and the sealing nails are assembled on the workstations. For example, the workstations include a nail placement station, a welding station, and the like. When the battery cell is placed at the nail placement station, the captured image of the workstation includes the empty injection hole on the top cover of the battery cell. At the nail placement station, the sealing nail installation operation can be performed, that is, the sealing nail is installed in the injection hole. When the battery cell is placed at the welding station, the captured image of the workstation includes the sealing nail installed in the injection hole on the top cover of the battery cell. At the welding station, the sealing nail welding operation can be performed.

[0063] The image acquisition device can be selected according to actual needs, and the image acquisition device can take a picture of the workstation after obtaining the image acquisition instruction. In a feasible implementation, the image acquisition device can be a CCD camera, which takes a picture of the workstation and sends the captured image to the control device for processing. In other feasible implementations, the image acquisition device can also be an ultrasonic scanner, a camera, or other device for image acquisition, which is not specifically limited in the present disclosure.

[0064] S304, identifying the image of the workstation, determining the characteristic pattern and the reference pattern in the image, where the reference pattern is the outer contour of the cleaning image.

[0065] In one embodiment, before the image of the workstation is identified in S304, and the characteristic graphics and reference graphics in the image are determined, and the reference graphics are the outer contour of the cleaning drawing, the method also includes: determining the assembly type of the sealing pin, and the assembly type includes sealing pin installation and sealing pin welding. The assembly type of the sealing pin includes sealing pin installation and sealing pin welding, etc., and the assembly type of the sealing pin is determined by identifying whether the battery cell top cover in the workstation image includes sealing pins. When it is identified that the battery cell top cover in the workstation image does not include sealing pins, the assembly type of the sealing pin is determined to be sealing pin installation, and the sealing pin needs to be accurately installed in the injection hole; when it is identified that the battery cell top cover in the workstation image includes sealing pins, the assembly type of the sealing pin is determined to be sealing pin welding; and the seal needs to be welded to the battery cell top cover.

[0066] In another embodiment, the assembly type of the sealing pin may be predetermined, that is, the assembly type of the station image taken at the pin placement station is sealing pin installation, and the assembly type of the station image taken at the welding station is sealing pin welding.

[0067] In one embodiment, by performing image recognition on the image of the workstation, a characteristic graphic in the image under the assembly type can be obtained, and the characteristic graphic corresponds to the assembly type. When the assembly type is sealing pin installation, the characteristic graphic is the inner contour of the injection hole, and the characteristic graphic is a circle, thereby guiding the sealing pin installation process according to the injection hole; when the assembly type is sealing pin welding, the characteristic graphic is the outer contour of the sealing pin, and the characteristic graphic is a circle, thereby guiding the sealing pin welding process according to the position of the sealing pin.

[0068] In one embodiment, by performing image recognition on the image of the workstation, a reference pattern in the image can be obtained. After laser cleaning, a cleaning pattern is formed on the top cover of the battery cell. The cleaning pattern is obtained before the sealing pin installation and sealing pin welding process. The reference pattern is not affected by the sealing pin assembly type and can be used as a reference to guide the sealing pin installation and welding assembly process. Figure 4-Figure 6 As shown, the reference pattern is the outer contour of the cleaning pattern 210 , and the reference pattern includes an identification angle, and the identification angle includes a first side 211 and a second side 212 . The size of the identification angle can be determined according to actual needs.

[0069] In one embodiment, the identification angle may be at least one angle of a regular polygon, and the regular polygon may be a regular quadrilateral, a regular hexagon, a regular octagon, etc., so as to simplify the calculation of the offset. The angle between the first side 211 and the second side 212 may be 90°, 120°, etc., and the present disclosure does not specifically limit this.

[0070] The reference figure also includes an arc 213 connected to the identification angle, the center of the arc 213 is the same as the center of the regular polygon, that is, the regular polygon is a circumscribed regular polygon corresponding to the arc 213, and the two ends of the arc 213 are respectively connected to the first side 211 and the second side 212 of the identification angle, so that the outer contour of the cleaning file forms a closed figure. The length from the first side 211 to the connection point of the arc 213 can support the minimum value of the distance from the circumferential contour of the injection hole to the first side 211, and the length from the second side 212 to the connection point of the arc 213 can support the minimum value of the distance from the circumferential contour of the injection hole to the second side 212.

[0071] exist Figure 4 In the figure, the marked angle is an angle in a regular hexagon, and the marked angle is 120°. In order to facilitate the subsequent calculation of the offset, the first side 211 can be set along the first direction (i.e., the x direction in the figure), or the second side 212 can be set along the second direction (such as the y direction) (not shown in the figure). The length of the line segment corresponding to the first side 211 and the length of the line segment corresponding to the second side 212 are greater than or equal to 1 / 2 of the length of the side of the regular hexagon.

[0072] exist Figure 5In the figure, the identification angle is an angle in a regular quadrilateral, and the identification angle is 90°. The first side 211 of the identification angle is set along the first direction x, and the second side 212 is set along the second direction y to simplify the calculation of the offset. The length of the line segment corresponding to the first side 211 and the length of the line segment corresponding to the second side 212 are greater than or equal to 1 / 2 of the length of the side of the regular quadrilateral.

[0073] In one embodiment, the reference pattern may also include multiple identification angles, such as Figure 6 As shown, the reference figure includes two identification angles, which are arranged opposite to each other. The first side 211 and the second side 212 of one identification angle (the lower right corner of the reference figure) are arranged along the first direction x and the second direction y respectively. The two sides of the other identification angle (the upper left corner of the reference figure) can be used to determine the specific position of the other identification angle according to the coordinate value in the coordinate system to simplify the calculation of the offset. Figure 6 The identification angle at the lower right corner of the reference figure is used to calculate the offset, and the identification angle at the upper left corner of the reference figure is used as an alternative identification angle for calculating the offset.

[0074] S306: Determine a feature parameter of a feature pattern in the image and a reference parameter of a reference pattern, and calculate a relative amount of a first parameter between the feature pattern and the reference pattern.

[0075] In one embodiment, after the characteristic pattern is identified, the characteristic parameters of the characteristic pattern can be determined, and the characteristic parameters of the characteristic pattern are different for different assembly types. In a feasible implementation, the characteristic pattern is a circle, and the characteristic parameters of the characteristic pattern are circle characteristic parameters.

[0076] Taking the assembly types including sealing pin installation and sealing pin welding as an example, the circle feature parameter can be the center of the circle or the circumferential contour. When the assembly type is sealing pin installation, the sealing pin needs to be accurately installed in the injection hole, and the corresponding circle feature parameter is the center position of the injection hole. After the center position of the injection hole is determined, the installation position of the sealing pin can be accurately located. In a feasible implementation method, when the assembly type is sealing pin installation, the circle feature parameter can also be the circumferential contour of the injection hole. After the circumferential contour of the injection hole is determined, the installation position of the sealing pin can also be accurately located.

[0077] When the assembly type is sealing pin welding, the seal needs to be welded to the top cover of the battery cell, and the corresponding circular characteristic parameter is the circumferential contour of the sealing pin. After the circumferential contour of the sealing pin is determined, the center coordinates of the sealing pin can be calculated according to the circumferential contour, and the welding position and welding path of the sealing pin can be accurately located based on the center coordinates of the sealing pin. In addition, other parameters such as the circumferential arc can also be used, and this disclosure does not specifically limit this.

[0078] In one embodiment, after the characteristic pattern and the reference pattern are identified, the characteristic parameters of the reference pattern can be determined. The reference pattern is the outer contour of the cleaning image, and the reference parameters of the reference pattern are the characteristic point coordinates on the first side of the identification angle and the characteristic point coordinates on the second side. After the reference pattern is determined, a two-dimensional plane coordinate system is constructed, and the coordinates of multiple characteristic points on the first side and the second side are respectively collected, so as to provide a data basis for calculating the offset. Compared with the method of collecting the circular contour to calculate the offset in the related art, the straight line edge is used to calculate the offset, which not only provides the capture direction for visual shooting, but also has higher capture accuracy of the straight line edge, and the cleaning quality (such as burrs, corrugated plates, etc.) has less influence on the offset calculation, which effectively improves the assembly accuracy of the sealing nail.

[0079] The relative quantity of the first parameter between the characteristic pattern and the reference pattern in the above S306 can characterize the relative position relationship between the characteristic pattern and the reference pattern. The relative quantity of the first parameter can include the distance from the characteristic pattern to the first side and the distance from the characteristic pattern to the second side. The above distances all refer to the minimum distance from the characteristic pattern to the corresponding side.

[0080] S308, calculating the offset between the characteristic pattern and the reference pattern according to the second parameter relative amount and the first parameter relative amount between the reference pattern and the reference pattern, wherein the second parameter relative amount is determined according to the reference parameter of the reference pattern and the reference parameter of the reference pattern.

[0081] In one embodiment, after determining the first parameter relative amount according to the characteristic parameters of the characteristic pattern and the reference parameters of the reference pattern, the first parameter relative amount is compared with the second parameter relative amount to obtain the offset between the characteristic pattern and the reference pattern.

[0082] The second parameter relative quantity is the difference between the reference figure and the reference figure in the image of the workstation when the assembly equipment is in the reference position. For example, when the reference parameter of the reference figure is a circular contour, the second parameter relative quantity includes the minimum distance between the circular contour of the reference figure and the first side and the second side of the reference figure. By comparing the first parameter relative quantity with the second parameter relative quantity, the offset between the characteristic figure and the reference figure is determined, and the obtained offset can characterize the position difference between the center or circular contour of the characteristic figure and the center or circular contour of the reference figure.

[0083] The reference graphic can be obtained by identifying an image captured when the assembly device is located at the reference position.

[0084] S310, sending an assembly control instruction to an assembly device according to the offset, so that the assembly device assembles the sealing nail according to the assembly control instruction.

[0085] The assembly equipment is used to assemble the sealing pin according to the assembly control quality. The assembly equipment can be determined according to the assembly type of the sealing pin. In a feasible embodiment, when the assembly type of the sealing pin is sealing pin installation, the assembly equipment can be a sealing pin installation equipment, for example, a manipulator for clamping the sealing pin. In another feasible embodiment, when the assembly type of the sealing pin is sealing pin welding, the assembly equipment can be a laser welding equipment.

[0086] When the offset between the characteristic pattern and the reference pattern is calculated, the control device sends an assembly control instruction to the assembly equipment corresponding to the assembly type, and adjusts the parameters of the assembly equipment according to the parameters and offset of the reference pattern. When the assembly type is sealing nail installation, the offset is the offset between the circular contour of the injection hole and the circular contour of the reference pattern. The above offset is sent to the sealing nail installation equipment through the assembly control instruction. After the sealing nail installation equipment moves a corresponding distance according to the offset, it installs the sealing nail into the injection hole to complete the sealing nail installation. When the assembly type is sealing nail welding, the offset is the offset between the circular contour of the sealing nail and the circular contour of the reference pattern. The above offset is sent to the laser welding equipment through the assembly control instruction. After the laser welding equipment moves a corresponding distance according to the offset, it welds the sealing nail and the top cover of the battery cell together using the circular contour of the sealing nail as the welding path to complete the sealing nail welding.

[0087] In an embodiment of the present disclosure, an image of a workstation is acquired; the image of the workstation is recognized to determine a characteristic pattern and a reference pattern in the image, wherein the reference pattern is the outer contour of a cleaning image file; characteristic parameters of the characteristic pattern in the image and reference parameters of the reference pattern are determined, and a relative amount of a first parameter between the characteristic pattern and the reference pattern is calculated; an offset of the characteristic parameter and the reference pattern is calculated based on a relative amount of a second parameter and a relative amount of the first parameter between the base pattern and the reference pattern, wherein the relative amount of the second parameter is determined based on the base parameters of the base pattern and the reference parameters of the reference pattern; an assembly control instruction is sent to an assembly device based on the offset, so that the assembly device assembles the sealing nail according to the assembly control instruction. The present disclosure can effectively reduce the influence of laser cleaning on visual judgment, and the reference pattern not only provides a capture direction for visual shooting, but can also be used to calculate the offset, thereby improving the capture accuracy, reducing the influence of cleaning quality, and improving the assembly accuracy and efficiency of the battery cell sealing nails, thereby improving the sealing of the battery cells.

[0088] In one embodiment, when the sealing pin assembly type is sealing pin installation, the characteristic parameter of the characteristic pattern is the circumferential contour coordinate of the injection hole of the sealing pin to be assembled; the second parameter relative value includes a first reference value and a second reference value.

[0089] When the sealing pin is installed, multiple circular contour coordinates of the injection hole are extracted from the characteristic figure. Combined with the coordinates of multiple characteristic points on the first side and the second side in the reference figure, the distance between the circular contour of the injection hole and the first side and the second side can be calculated. The first reference value is the reference value of the minimum distance from the circular contour of the reference figure to the first side, and the second reference value is the reference value of the minimum distance from the circular contour of the reference figure to the second side.

[0090] It should be noted that the first reference value and the second reference value are obtained by taking an image when the sealing nail installation device is at the reference position through image recognition, calculation and other processes.

[0091] Figure 7 A flow chart of a method for determining the offset when installing a sealing nail according to an embodiment of the present disclosure is shown. Figure 7 As shown, in one embodiment, the above S308 calculates the relative amount of the first parameter between the characteristic pattern and the reference pattern, including:

[0092] S702, calculating a first distance between the circumferential contour coordinates of the injection hole and the coordinates of the feature point on the first side, calculating a second distance between the circumferential contour coordinates of the injection hole and the coordinates of the feature point on the second side, and determining the minimum value of the first distance and the minimum value of the second distance as the first parameter relative amount;

[0093] The above S310 calculates the offset between the characteristic pattern and the reference pattern according to the relative amount of the second parameter and the relative amount of the first parameter between the reference pattern and the reference pattern, including:

[0094] S704, calculating a first difference between the minimum value of the first distance and the first reference value, and calculating a second difference between the minimum value of the second distance and the second reference value;

[0095] S706: Determine, according to the first difference and the second difference, an offset in the first direction and an offset in the second direction when the sealing nail is installed.

[0096] In one embodiment, in a two-dimensional coordinate system, assuming that the coordinates of point A and point B are (x1, y1) and (x2, y2) respectively, the distance d between point A and point B can be calculated using the following formula:

[0097]

[0098] According to the distance formula between two points in the two-dimensional coordinate system, the first distance between the circumferential contour coordinates of the injection hole and the feature point coordinates on the first side and the second distance between the circumferential contour coordinates of the injection hole and the feature point coordinates on the second side can be calculated.

[0099] Multiple data points can be extracted from the circular contour of the injection hole, and multiple feature point coordinates can be extracted from the first side and the second side, and the first distance and the second distance between the circular contour of the injection hole and the first side and the second side can be calculated respectively, so as to determine the minimum value of the first distance and the second distance, thereby improving the accuracy of the offset calculation.

[0100] After the reference figure and the characteristic figure are determined, the positions of the characteristic points of the first side and the second side, and the positions of the data points of the circular contour are basically determined. In order to calculate the minimum value of the first distance, the characteristic points can be the points where the first side and the arc are connected, and the points where the second side and the arc are connected. By extracting data points within a smaller range of the circular contour, the minimum value of the first distance and the minimum value of the second distance can be determined.

[0101] In one embodiment, for the position of the identification angle in the two-dimensional plane coordinate system, the first side of the identification angle can be set along the first direction. Since the angle value of the identification angle is determined, the angle between the second side and the second direction can be determined. At this time, the component of the first difference in the first direction is 0. According to the second difference and the angle between the second side and the second direction, the components of the second difference in the first direction and the second direction can be determined, and the sum of the components of the first difference and the second difference in the second direction is determined as the offset in the second direction when the sealing nail is assembled, and the component of the second difference in the first direction is determined as the offset in the first direction when the sealing nail is assembled.

[0102] like Figure 8 As shown, the identification angle is one of the angles of a regular hexagon, the identification angle is 120°, the first side 211 of the identification angle is set along the first direction x, the angle between the first side 211 and the first direction x is 0°, and the angle between the first side 211 and the second direction y is 90°; the angle between the second side 212 of the identification angle and the second direction y is α=30°, and the angle between the second side 212 and the first direction x is 90°+α.

[0103] The minimum value of the first distance from the circumferential contour of the injection hole to the first side 211 is the length of the line segment GH, where G and H are the circumferential contour of the injection hole and a point on the first side 211, respectively. If the first reference value is the length of KH, then the first difference Δd1=GK=GH-KH. Accordingly, the component of the first difference in the first direction x is 0, and the component of the second difference in the second direction y is GK=Δd1.

[0104] The minimum value of the second distance from the circumferential contour of the injection hole to the second side 212 is the length of the line segment CD, where C is a point on the circumferential contour of the injection hole, and D is a point on the second side 212. If the length of DE is the second reference value, the second difference Δd2=CE=CD-DE. Accordingly, the component EF of the second difference in the first direction x=Δd2×cosα, and the component CF of the second difference in the second direction y=Δd2×sinα.

[0105] In summary, when the sealing nail is installed, the offset Δx in the first direction and the offset Δy in the second direction are respectively:

[0106] Δx=Δd2×cosα;

[0107] Δy=Δd1+Δd2×sinα(Formula 2).

[0108] In one embodiment, for the position of the identification angle in the two-dimensional plane coordinate system, the first side and the second side can also be set arbitrarily, and the angles of the first side and the second side relative to the first direction and the second direction can be calculated respectively. According to the above angles, the angles of the straight line corresponding to the first distance and the first direction and the second direction, and the angles of the straight line corresponding to the second distance and the first direction and the second direction can be determined. According to the first difference and the angles of the straight line corresponding to the first distance and the first direction and the second direction, the offset components in the first direction and the second direction are determined; according to the angles of the straight line corresponding to the second difference and the first direction and the second direction, the offset components of the second difference in the first direction and the second direction are determined. The offset components of the first difference in the first direction and the second difference in the first direction are added to obtain the offset of the sealing nail in the first direction when the sealing nail is installed, and the offset components of the second difference in the second direction and the second difference in the second direction are added to obtain the offset of the sealing nail in the second direction when the sealing nail is installed. This embodiment can refer to the above calculation method, which will not be repeated here.

[0109] It should be noted that, for the angle values ​​of other regular polygons or other identified angles, it is only necessary to replace the above α with the corresponding value.

[0110] In the embodiment of the present disclosure, by calculating the first distance and the second distance between the circular contour coordinates of the injection hole and the feature points on the first side and the second side, as well as the first difference between the minimum value of the first distance and the first reference value, and the second difference between the minimum value of the second distance and the second reference value, and based on the first difference and the second difference, the offset in the first direction and the offset in the second direction when the sealing nail is installed are determined, the influence of cleaning on visual judgment is reduced, and the calculation accuracy of the offset when the sealing nail is installed can be improved.

[0111] Fig. 9 Another flow chart of a method for determining the offset when installing a sealing nail according to an embodiment of the present disclosure is shown. Figure 7 Based on the embodiment, S706 is further defined as S7062 to simplify the offset calculation. Fig. 9 As shown, in one embodiment, the above S706 determines the offset in the first direction and the offset in the second direction when the sealing nail is installed according to the first difference and the second difference, including:

[0112] S7062. When the identification angle is a right angle, and the first edge is in the first direction and the second edge is in the second direction, the first difference is used as the offset in the second direction when the sealing nail is installed, and the second difference is used as the offset in the first direction when the sealing nail is installed.

[0113] In one embodiment, when the identification angle is a right angle, the first side is along the first direction, and the second side is along the second direction, continue to refer to Figure 8 , the angle between the first side 211 and the first direction x is 0°, and the angle between the first side 211 and the second direction y is 90°; the angle between the second side 212 of the marking angle and the first direction x is 90°, and the angle between the second side 212 and the second direction y is α=0°. Substituting α=0° into the above formula 2, the offset Δx=Δd2 in the first direction and the offset Δy=Δd1 in the second direction when the sealing nail is installed can be obtained.

[0114] In the embodiment of the present disclosure, by determining the positions of the special identification angle and the first and second sides of the identification angle in a two-dimensional rectangular coordinate system, the calculation of the offset during installation of the sealing nail can be greatly simplified, thereby improving the assembly efficiency of the sealing nail installation.

[0115] In one embodiment, when the assembly type of the sealing pin is sealing pin welding, the circle characteristic parameter is the coordinate of the circumferential contour of the sealing pin; and the second parameter relative value includes a third reference value and a fourth reference value.

[0116] When welding the sealing pin, multiple circular contour coordinates of the sealing pin are extracted from the characteristic figure. Combined with the coordinates of multiple characteristic points on the first side and the second side in the reference figure, the distance from the circular contour of the sealing pin to the first side and the second side can be calculated. The third reference value is the reference value of the minimum distance from the circular contour of the reference figure to the first side, and the fourth reference value is the reference value of the minimum distance from the circular contour of the reference figure to the second side.

[0117] It should be noted that the third reference value and the fourth reference value are obtained by taking images when the welding equipment is at the reference position through processes such as image recognition and calculation.

[0118] Fig.10 A flow chart of a method for determining the offset of a sealing pin during welding according to an embodiment of the present disclosure is shown. Fig.10 As shown, in one embodiment, the above S308 calculates the relative amount of the first parameter between the characteristic pattern and the reference pattern, including:

[0119] S1002, calculating a third distance between the circumferential contour coordinates of the sealing nail and the coordinates of the feature point on the first side, calculating a fourth distance between the circumferential contour coordinates of the sealing nail and the coordinates of the feature point on the second side, and determining the minimum value of the third distance and the minimum value of the fourth distance as the first parameter relative amount;

[0120] The above S310 calculates the offset between the characteristic pattern and the reference pattern according to the relative amount of the second parameter and the relative amount of the first parameter between the reference pattern and the reference pattern, including:

[0121] S1004, calculating a third difference between the minimum value of the third distance and the third reference value, and calculating a fourth difference between the minimum value of the fourth distance and the fourth reference value;

[0122] S1006. Determine the offset in the first direction and the offset in the second direction when the sealing pin is welded according to the third difference and the fourth difference.

[0123] According to Formula 1, the third distance between the circumferential contour coordinates of the sealing nail and the coordinates of the feature point on the first side and the fourth distance between the circumferential contour coordinates of the sealing nail and the coordinates of the feature point on the second side can be calculated.

[0124] Multiple data points can be extracted from the circular contour of the sealing pin, and multiple feature point coordinates can be extracted from the first side and the second side, and the third distance and the fourth distance between the circular contour of the sealing pin and the first side and the second side can be calculated respectively, so as to determine the minimum value of the third distance and the fourth distance, obtain the relative amount of the first parameter, and improve the accuracy of the offset calculation.

[0125] After the reference figure and the feature figure are determined, the positions of the feature points of the first side and the second side, and the positions of the data points of the circular contour are basically determined. In order to calculate the minimum value of the third distance, the feature points can be the points where the first side and the arc are connected, and the points where the second side and the arc are connected. By extracting data points within a smaller range of the circular contour, the minimum value of the third distance and the minimum value of the fourth distance can be determined.

[0126] In one embodiment, for the position of the identification angle in the two-dimensional plane coordinate system, the first side of the identification angle can be set in the first direction. Since the angle value of the identification angle is determined, the angle between the second side and the second direction can be determined. At this time, the component of the third difference in the first direction is 0. According to the fourth difference and the angle between the second side and the second direction, the components of the fourth difference in the first direction and the second direction can be determined, and the sum of the components of the third difference and the fourth difference in the second direction is determined as the offset in the second direction when the sealing nail is assembled, and the component of the fourth difference in the first direction is determined as the offset in the first direction when the sealing nail is assembled.

[0127] In one embodiment, for the position of the identification angle in the two-dimensional plane coordinate system, the first side and the second side can also be arbitrarily set, and the angles between the first side and the second side relative to the first direction and the second direction are calculated respectively. According to the above angles, the angles between the third distance corresponding straight line and the first direction and the second direction, and the angles between the fourth distance corresponding straight line and the first direction and the second direction can be determined. The offset components in the first direction and the second direction are determined according to the third difference and the angle between the third distance corresponding straight line and the first direction and the second direction; the offset components of the fourth difference in the first direction and the second direction are determined according to the fourth difference and the angle between the fourth distance corresponding straight line and the first direction and the second direction. The offset component of the third difference in the first direction and the offset component of the fourth difference in the first direction can be added to obtain the offset in the first direction when the sealing pin is welded. The offset component of the fourth difference in the second direction and the offset component of the fourth difference in the second direction can be added to obtain the offset in the second direction when the sealing pin is welded.

[0128] It should be noted that the calculation method of the offset in the first direction and the offset in the second direction when the sealing pin is welded is the same as the calculation method of the offset in the first direction and the offset in the second direction when the sealing pin is installed, and the similarities are not repeated here.

[0129] In the embodiment of the present disclosure, by calculating the third distance and the fourth distance between the circular contour coordinates of the sealing pin and the feature points on the first side and the second side, as well as the third difference between the minimum value of the third distance and the third reference value, and the fourth difference between the minimum value of the fourth distance and the fourth reference value, and based on the third difference and the fourth difference, the offset in the first direction and the offset in the second direction when the sealing pin is welded are determined, the influence of cleaning on visual judgment is reduced, and the calculation accuracy of the offset when the sealing pin is welded can be improved.

[0130] Fig.11 Another flow chart of a method for determining the offset of a sealing pin package in an embodiment of the present disclosure is shown. Fig.10 Based on the embodiment, S1006 is further defined as S10062 to simplify the offset calculation. Fig.11 As shown, in one embodiment, the above S1006 determines the offset in the first direction and the offset in the second direction when the sealing pin is welded according to the third difference and the fourth difference, including:

[0131] S10062. When the identification angle is a right angle, and the first edge is in the first direction and the second edge is in the second direction, the third difference is used as the offset in the second direction when the sealing pin is welded, and the fourth difference is used as the offset in the first direction when the sealing pin is welded.

[0132] It should be noted that the situation in which the marking angle is a right angle and the first edge is in the first direction and the second edge is in the second direction when the sealing pin is welded is the same as the situation in which the marking angle is a right angle and the first edge is in the first direction and the second edge is in the second direction when the sealing pin is installed, and will not be repeated here.

[0133] In the embodiment of the present disclosure, by determining the positions of the special identification angle and the first and second sides of the identification angle in a two-dimensional rectangular coordinate system, the calculation of the offset during sealing pin welding can be greatly simplified, thereby improving the assembly efficiency of sealing pin installation.

[0134] Fig.12 FIG. 2 is a flow chart of another method for assembling a sealing nail of a battery cell according to an embodiment of the present disclosure. Fig.12 As shown, before acquiring the image of the workstation in S302, the method provided by the embodiment of the present disclosure further includes:

[0135] S1202, obtaining a reference image of the workstation, wherein the reference image is an image taken when the assembly equipment is located at a reference position;

[0136] S1204, identifying the reference image of the workstation, and obtaining reference parameters of the reference pattern in the reference image and reference parameters of the reference pattern;

[0137] S1206: Determine a relative amount of a second parameter according to a reference parameter of a reference graphic in the reference image and a reference parameter of a reference graphic.

[0138] In one embodiment, in S1202, the reference position refers to the position of the assembly equipment when the sealing nail is not assembled. When the sealing nail is assembled multiple times at the workstation, the reference position can be the position of the assembly equipment at the end of the last sealing nail assembly. Before assembling the sealing nails of the battery cell, an image acquisition calibration instruction is sent to the image acquisition device so that the image acquisition device obtains the image of the workstation at this time as the reference image according to the image acquisition calibration instruction, which can be used as the basis for the subsequent control of the movement range of the assembly equipment to complete the accurate positioning of the sealing nail.

[0139] In S1204, if Fig.13 As shown, by performing image recognition on the reference image of the workstation, the reference graphic and the reference graphic in the reference image can be obtained, wherein the reference graphic is the assembly equipment ( Fig.13 The figure in the figure is the corresponding figure of the welding equipment), and the reference figure is the figure corresponding to the cleaning drawing file, and the reference figure includes the identification angle.

[0140] In S1206, after obtaining the benchmark figure and the reference figure, the benchmark parameters of the benchmark figure can be determined. The number of benchmark parameter types is not unique. When the benchmark figure is a circle, the benchmark parameters may include a benchmark center, a benchmark circumference contour, a benchmark circumference arc, a benchmark circle area, etc. After obtaining the relative amount of the second parameter, the relative amount of the second parameter can be stored in a cloud server or a local database and can be directly called when used.

[0141] It should be noted that the reference graph in S302 and the reference graph in S1204 may be subjected to coordinate transformation so that the first sides and the second sides of the two may overlap in the two-dimensional rectangular coordinate system.

[0142] The calculation method of the relative amount of the second parameter is similar to the calculation method of the relative amount of the first parameter, and will not be repeated here.

[0143] Using the first and second sides of the identified angle in the reference figure as a reference, the position of the reference figure in the two-dimensional rectangular coordinate system can be determined, and then, using the reference figure as an intermediate medium, the offset between the characteristic figure and the reference figure can be determined.

[0144] It should be noted that the image recognition in the present disclosure may be based on image binarization, neural network recognition, etc., and the present disclosure does not make any specific limitation on this.

[0145] Based on the same inventive concept, the present disclosure also provides a battery core sealing nail assembly device, as described in the following embodiments. Since the principle of solving the problem in the device embodiment is similar to that in the above method embodiment, the implementation of the device embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0146] Fig.14 A schematic diagram of a battery core sealing nail assembly device according to an embodiment of the present disclosure is shown. Fig.14 As shown, the apparatus includes an image acquisition module 1410 , an image recognition module 1420 , a relative quantity determination module 1430 , an offset calculation module 1440 and an assembly control module 1450 .

[0147] The image acquisition module 1410 is used to acquire an image of the workstation;

[0148] The image recognition module 1420 is used to recognize the image of the workstation and determine the characteristic pattern and the reference pattern in the image, where the reference pattern is the outer contour of the cleaning image file;

[0149] A relative quantity determination module 1430 is used to determine a characteristic parameter of a characteristic pattern in an image and a reference parameter of a reference pattern, and calculate a relative quantity of a first parameter between the characteristic pattern and the reference pattern;

[0150] An offset calculation module 1440, configured to calculate an offset between the characteristic pattern and the reference pattern according to a second parameter relative amount and a first parameter relative amount between the reference pattern and the reference pattern, wherein the second parameter relative amount is determined according to a reference parameter of the reference pattern and a reference parameter of the reference pattern;

[0151] The assembly control module 1450 is used to send an assembly control instruction to the assembly equipment according to the offset, so that the assembly equipment assembles the sealing nail according to the assembly control instruction.

[0152] It should be noted that the above-mentioned image acquisition module 1410, image recognition module 1420, relative amount determination module 1430, offset determination module 1440 and assembly control module 1450 correspond to S302 to S310 in the method embodiment, and the examples and application scenarios implemented by the above-mentioned modules and corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned method embodiment. It should be noted that the above-mentioned modules as part of the device can be executed in a computer system such as a set of computer executable instructions.

[0153] It should be noted that the characteristic figure is a circle, and the characteristic parameters of the characteristic figure are circle characteristic parameters; the outer contour of the reference figure includes an identification angle and an arc connected to the identification angle, and the reference parameters of the reference figure are the coordinates of the characteristic points on the first side of the identification angle and the coordinates of the characteristic points on the second side.

[0154] In one embodiment, the device also includes a type determination module not shown in the accompanying drawings, which is used to determine the assembly type of the sealing pin before identifying the image of the workstation and determining the characteristic graphics and reference graphics in the image, and the assembly types include sealing pin installation and sealing pin welding.

[0155] It should be noted that, when the assembly type of the sealing pin is sealing pin installation, the characteristic parameters of the characteristic pattern are the circumferential contour coordinates of the injection hole of the sealing pin to be assembled.

[0156] In one embodiment, the relative quantity of the second parameter includes a first reference value and a second reference value; a relative quantity calculation module 1430 is used to calculate the first distance between the circular contour coordinates of the injection hole and the feature point coordinates on the first side, calculate the second distance between the circular contour coordinates of the injection hole and the feature point coordinates on the second side, and determine the minimum value of the first distance and the minimum value of the second distance as the relative quantity of the first parameter; an offset calculation module 1440 is used to calculate the second difference between the minimum value of the second distance and the second reference value, and calculate the first difference between the minimum value of the first distance and the first reference value; based on the first difference and the second difference, determine the offset in the first direction and the offset in the second direction when the sealing nail is installed.

[0157] In one embodiment, the offset calculation module 1440 is used to use the first difference as the offset in the second direction when the sealing nail is installed, and use the second difference as the offset in the first direction when the sealing nail is installed when the identification angle is a right angle, and the first edge is along the first direction and the second edge is along the second direction.

[0158] It should be noted that, when the assembly type of the sealing pin is sealing pin welding, the circle feature parameter is the coordinate of the circumferential contour of the sealing pin.

[0159] In one embodiment, the relative quantity of the second parameter includes a third reference value and a fourth reference value; wherein the relative quantity calculation module 1430 is used to calculate the third distance between the circular contour coordinates of the sealing pin and the feature point coordinates on the first side, and calculate the fourth distance between the circular contour coordinates of the sealing pin and the feature point coordinates on the second side, and determine the minimum value of the third distance and the minimum value of the fourth distance as the relative quantity of the first parameter; the offset calculation module 1440 is used to calculate the third difference between the minimum value of the third distance and the third reference value, and calculate the fourth difference between the minimum value of the fourth distance and the fourth reference value; according to the third difference and the fourth difference, determine the offset in the first direction and the offset in the second direction when the sealing pin is welded.

[0160] In one embodiment, the offset calculation module 1440 is used to use the third difference as the offset in the second direction when the sealing pin is welded, and use the fourth difference as the offset in the first direction when the sealing pin is welded when the identification angle is a right angle, and the first edge is in the first direction and the second edge is in the second direction.

[0161] In one embodiment, the device also includes a reference calibration module not shown in the accompanying drawings, and the reference calibration module is used to obtain a reference image of the workstation before obtaining the image of the workstation, wherein the reference image is an image taken when the assembly equipment is located at a reference position; identify the reference image of the workstation to obtain reference parameters of a reference graphic in the reference image and reference parameters of a reference graphic; determine the relative amount of the second parameter based on the reference parameters of the reference graphic in the reference image and the reference parameters of the reference graphic.

[0162] In an embodiment of the present disclosure, an image of a workstation is acquired; the image of the workstation is recognized to determine a characteristic graphic and a reference graphic in the image, wherein the reference graphic is the outer contour of a cleaning image file; characteristic parameters of the characteristic graphic in the image and reference parameters of the reference graphic are determined, and a relative amount of a first parameter between the characteristic graphic and the reference graphic is calculated; an offset of the characteristic parameter and the reference graphic is calculated based on a relative amount of a second parameter between the base graphic and the reference graphic, wherein the relative amount of the second parameter is determined based on the base parameters of the base graphic and the reference parameters of the reference graphic; an assembly control instruction is sent to an assembly device based on the offset, so that the assembly device assembles the sealing nail according to the assembly control instruction. The present disclosure can effectively reduce the influence of laser cleaning on visual judgment, and the reference graphic not only provides a capture direction for visual shooting, but can also be used to calculate the offset, thereby improving the capture accuracy, reducing the influence of cleaning quality, and improving the assembly accuracy and efficiency of the battery cell sealing nails, thereby improving the sealing of the battery cells.

[0163] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0164] Refer to the following Fig.15 15 to describe the electronic device 1500 according to this embodiment of the present disclosure. Fig.15 The electronic device 1500 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0165] like Fig.15 As shown, the electronic device 1500 is in the form of a general computing device. The components of the electronic device 1500 may include but are not limited to: at least one processing unit 1510, at least one storage unit 1520, and a bus 1530 connecting different system components (including the storage unit 1520 and the processing unit 1510).

[0166] The storage unit stores a program code, and the program code can be executed by the processing unit 1510, so that the processing unit 1510 executes the steps described in the above "Exemplary Method" section of this specification according to various exemplary embodiments of the present disclosure. For example, the processing unit 1510 can execute the following steps of the above method embodiment: acquiring an image of the workstation; identifying the image of the workstation, determining a characteristic pattern and a reference pattern in the image, the reference pattern being the outer contour of the cleaning image; determining a characteristic parameter of the characteristic pattern in the image and a reference parameter of the reference pattern, and calculating a first parameter relative amount between the characteristic pattern and the reference pattern; calculating an offset of the characteristic parameter and the reference pattern according to the first parameter relative amount and the second parameter relative amount between the reference pattern and the reference pattern, the second parameter relative amount being determined according to the reference parameter of the reference pattern and the reference parameter of the reference pattern; sending an assembly control instruction to the assembly equipment according to the offset, so that the assembly equipment assembles the sealing nail according to the assembly control instruction.

[0167] The storage unit 1520 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 15201 and / or a cache storage unit 15202 , and may further include a read-only storage unit (ROM) 15203 .

[0168] The storage unit 1520 may also include a program / utility 15204 having a set (at least one) of program modules 15205, such program modules 15205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0169] Bus 1530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0170] The electronic device 1500 may also communicate with one or more external devices 1540 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1500, and / or communicate with any device that enables the electronic device 1500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 1550. Furthermore, the electronic device 1500 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 1560. As shown, the network adapter 1560 communicates with other modules of the electronic device 1500 via a bus 1530. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0171] In particular, according to an embodiment of the present disclosure, the process described in the above reference flow chart may be implemented as a computer program product, which includes: a computer program, which implements the above-mentioned battery cell capacity calibration method when executed by a processor.

[0172] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, which may be a readable signal medium or a readable storage medium. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above “Exemplary Method” section of this specification.

[0173] More specific examples of computer-readable storage media in the present disclosure may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0174] In the present disclosure, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0175] Alternatively, the program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0176] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0177] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0178] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0179] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A method for assembling a battery core sealing nail, characterized in that: include: Acquire an image of the workstation; Recognize the image of the workstation, determine the characteristic pattern and the reference pattern in the image, the reference pattern is the outer contour of the cleaning image; Determine a characteristic parameter of a characteristic pattern in the image and a reference parameter of the reference pattern, and calculate a relative amount of a first parameter between the characteristic pattern and the reference pattern; Calculating the offset between the characteristic pattern and the reference pattern according to the relative amount of the second parameter between the reference pattern and the reference pattern and the relative amount of the first parameter, wherein the relative amount of the second parameter is determined according to the reference parameter of the reference pattern and the reference parameter of the reference pattern; An assembly control instruction is sent to an assembly device according to the offset, so that the assembly device assembles the sealing pin according to the assembly control instruction.

2. The method for assembling a battery core sealing nail according to claim 1, characterized in that: The characteristic pattern is a circle, and the characteristic parameter of the characteristic pattern is a circle characteristic parameter; The reference figure includes an identification corner and an arc connected to the identification corner, and reference parameters of the reference figure are feature point coordinates on a first side and feature point coordinates on a second side of the identification corner.

3. The method for assembling a battery core sealing nail according to claim 2, characterized in that: Before identifying the image of the workstation and determining the characteristic pattern and the reference pattern in the image, the method further includes: Determine the assembly type of the sealing pin, which includes sealing pin installation and sealing pin welding.

4. The method for assembling a battery core sealing nail according to claim 3, characterized in that: When the assembly type of the sealing pin is sealing pin installation, the characteristic parameters of the characteristic pattern are the circumferential contour coordinates of the injection hole to be assembled with the sealing pin.

5. The method for assembling a sealing nail of a battery cell according to claim 4, characterized in that: The second parameter relative amount includes a first reference value and a second reference value; The step of calculating the relative amount of the first parameter between the characteristic pattern and the reference pattern comprises: Calculating a first distance between the circumferential contour coordinates of the injection hole and the coordinates of the feature point on the first side, calculating a second distance between the circumferential contour coordinates of the injection hole and the coordinates of the feature point on the second side, and determining the minimum value of the first distance and the minimum value of the second distance as the first parameter relative amount; The step of calculating the offset between the characteristic pattern and the reference pattern according to the relative amount of the second parameter between the reference pattern and the reference pattern and the relative amount of the first parameter comprises: Calculating a first difference between the minimum value of the first distance and the first reference value, and calculating a second difference between the minimum value of the second distance and the second reference value; The offset in the first direction and the offset in the second direction when the sealing nail is installed are determined according to the first difference and the second difference.

6. The method for assembling a battery core sealing nail according to claim 5, characterized in that: The step of determining the offset in the first direction and the offset in the second direction when the sealing nail is installed according to the first difference and the second difference includes: When the identification angle is a right angle, and the first edge is along the first direction and the second edge is along the second direction, the first difference is used as the offset in the second direction when the sealing nail is installed, and the second difference is used as the offset in the first direction when the sealing nail is installed.

7. The method for assembling a battery core sealing nail according to claim 3, characterized in that: When the assembly type of the sealing pin is sealing pin welding, the circle feature parameter is the coordinate of the circumferential contour of the sealing pin.

8. The method for assembling a battery core sealing nail according to claim 7, characterized in that: The second parameter relative amount includes a third reference value and a fourth reference value; The step of calculating the relative amount of the first parameter between the characteristic pattern and the reference pattern comprises: Calculating a third distance between the coordinates of the circumferential contour of the sealing nail and the coordinates of the feature point on the first side, calculating a fourth distance between the coordinates of the circumferential contour of the sealing nail and the coordinates of the feature point on the second side, and determining the minimum value of the third distance and the minimum value of the fourth distance as the first parameter relative amount; The step of calculating the offset between the characteristic pattern and the reference pattern according to the relative amount of the second parameter between the reference pattern and the reference pattern and the relative amount of the first parameter comprises: calculating a third difference between the minimum value of the third distance and the third reference value, and calculating a fourth difference between the minimum value of the fourth distance and the fourth reference value; The offset in the first direction and the offset in the second direction when the sealing pin is welded are determined according to the third difference and the fourth difference.

9. The method for assembling a battery core sealing nail according to claim 8, characterized in that: The step of determining the offset in the first direction and the offset in the second direction when the sealing pin is welded according to the third difference and the fourth difference comprises: When the identification angle is a right angle, and the first edge is along the first direction, and the second edge is along the second direction, the third difference is used as the offset in the second direction when the sealing pin is welded, and the fourth difference is used as the offset in the first direction when the sealing pin is welded.

10. The method for assembling a sealing nail of a battery cell according to claim 1, characterized in that: Before acquiring the image of the workstation, the method further includes: Acquire a reference image of the workstation, wherein the reference image is an image taken when the assembly equipment is located at a reference position; Identifying the reference image of the workstation to obtain reference parameters of the reference pattern in the reference image and reference parameters of the reference pattern; The second parameter relative amount is determined according to the reference parameter of the reference pattern in the reference image and the reference parameter of the reference pattern.

11. A battery core sealing nail assembly device, characterized in that: include: An image acquisition module, used to acquire images of the workstation; An image recognition module, used to recognize the image of the workstation and determine a characteristic pattern and a reference pattern in the image, wherein the reference pattern is the outer contour of the cleaning image file; A relative quantity determination module, used to determine a characteristic parameter of a characteristic pattern in the image and a reference parameter of the reference pattern, and calculate a relative quantity of a first parameter between the characteristic pattern and the reference pattern; an offset calculation module, configured to calculate an offset between the characteristic pattern and the reference pattern according to a second parameter relative amount between the reference pattern and the reference pattern and the first parameter relative amount, wherein the second parameter relative amount is determined according to a reference parameter of the reference pattern and a reference parameter of the reference pattern; An assembly control module is used to send an assembly control instruction to an assembly device according to the offset, so that the assembly device assembles the sealing pin according to the assembly control instruction.

12. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the battery cell sealing nail assembly method according to any one of claims 1 to 10 by executing the executable instructions.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the battery core sealing nail assembly method according to any one of claims 1 to 10 is implemented.

14. A computer program product, characterized in that The computer program product includes a computer program or computer instructions, and the computer program or computer instructions are loaded and executed by a processor to enable a computer to implement the battery core sealing nail assembly method as described in any one of claims 1-10.

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