Dispensing position determination method and device, battery dispensing system, electronic equipment and medium

Abstract

The invention discloses a dispensing position determination method and device, a battery dispensing system, electronic equipment and a medium. The dispensing position determination method comprises the following steps: receiving an image of a battery module; processing the image to obtain a contour feature image of at least one object on the battery module; and determining the dispensing position of the at least one object according to the contour feature image. The contour features of the bonding aluminum wire or the temperature sensing probe are visually recognized and compared with the feature template to obtain the contour features of the bonding aluminum wire or the temperature sensing probe so as to determine the dispensing positions of the bonding aluminum wire and the temperature sensing probe; and meanwhile, a needle calibration physical error is calculated by calibrating a glue outlet needle, so that a deviation value of a glue dispensing position is calculated, and the deviation value is compensated during glue dispensing. Therefore, the dispensing machine is accurate in dispensing, and the lean manufacturing process of the lithium battery module is ensured.

Description

Method and device for determining dispensing position, battery dispensing system, electronic device and medium Technical Field

[0001] The present application relates to the field of image processing and automatic control, and in particular to a method and device for determining a dispensing position, a battery dispensing system, an electronic device, and a medium. Background Art

[0002] After multiple components are connected by welding, glue can be dispensed on the connected components to fix the welding points and reduce the risk of disconnection of the connected components.

[0003] In the related art, after the components are welded, manual dispensing is usually used, which results in high production costs and low production efficiency.

[0004] Summary of the Invention

[0005] The present application provides a method and device for determining a dispensing position, a battery dispensing system, an electronic device, and a medium.

[0006] In a first aspect, the present application provides a method for determining a dispensing position, comprising: receiving an image of a battery module; processing the image to obtain a contour feature image of at least one object on the battery module; and determining a dispensing position of the at least one object based on the contour feature image.

[0007] In some embodiments, the dispensing position determination method further includes: obtaining addressing trajectory information of the at least one object based on the module code of the battery module; and obtaining a bonding aluminum wire image or a temperature probe image based on the addressing trajectory information.

[0008] In some embodiments, the method for determining the glue dispensing position also includes: detecting the endpoints of two aluminum wires parallel to each other on the contour feature image of the bonding aluminum wire, and detecting the edge intersecting the two aluminum wires as a reference line; calculating the spacing between the two aluminum wires parallel to each other; and determining the glue dispensing position of the bonding aluminum wire based on the midpoint of the straight line used to calculate the spacing between the two aluminum wires, the reference line, and the line connecting the endpoints of the two aluminum wires.

[0009] In some embodiments, the method for determining the dispensing position further includes: binarizing the bonding aluminum wire image to obtain a binarized image of the bonding aluminum wire image; and detecting outer contour features of the aluminum wire on the binarized image.

[0010] In some embodiments, the dispensing position determination method further includes: when the matching degree between the detected outer contour feature and the palladium sheet contour feature template is greater than or equal to a first predetermined threshold, using the detected outer contour feature as the contour feature image of the palladium sheet.

[0011] In some embodiments, the dispensing position determination method further includes: when the matching degree between the detected outer contour feature and the nickel plate contour feature template is greater than or equal to a second predetermined threshold, using the detected outer contour feature as the contour feature image of the nickel plate.

[0012] In some embodiments, the method for determining the dispensing position further includes: enhancing the grayscale of the bonding aluminum wire image to obtain a grayscale-enhanced image of the bonding aluminum wire image; and detecting the outer contour features of the aluminum wire on the grayscale-enhanced image of the bonding aluminum wire image.

[0013] In some embodiments, the dispensing position determination method further includes: when the matching degree between the detected outer contour feature and the palladium sheet contour feature template is greater than or equal to a first predetermined threshold, using the detected outer contour feature as the contour feature image of the palladium sheet.

[0014] In some embodiments, the dispensing position determination method further includes: when the matching degree between the detected outer contour feature and the nickel plate contour feature template is greater than or equal to a second predetermined threshold, using the detected outer contour feature as the contour feature image of the nickel plate.

[0015] In some embodiments, the method for determining the dispensing position further includes: calculating the center of gravity of the contour feature image of the temperature sensing probe, and determining the dispensing position of the temperature sensing probe according to the center of gravity.

[0016] In some embodiments, the method for determining the dispensing position further includes: binarizing the temperature sensing probe image to obtain a binarized image of the temperature sensing probe image; detecting the inner contour feature of the temperature sensing probe on the binarized image; and when the matching degree between the detected inner contour feature and the temperature sensing probe contour feature template is greater than or equal to a third predetermined threshold, using the detected inner contour feature as the contour feature image of the temperature sensing probe.

[0017] In some embodiments, the method for determining the dispensing position further includes: enhancing the grayscale of the temperature sensing probe image to obtain a grayscale-enhanced image of the temperature sensing probe image; detecting the outer contour feature of the temperature sensing probe on the grayscale-enhanced image of the temperature sensing probe image; and when the degree of matching between the detected outer contour feature and the temperature sensing probe contour feature template is greater than or equal to a fourth predetermined threshold, using the detected outer contour feature as the contour feature image of the temperature sensing probe.

[0018] In some embodiments, the dispensing position determination method further includes: determining the offset value of the dispensing position based on the physical error between the dispensing position and the needle calibration, wherein the offset value is sent to a robot that controls the dispensing operation to compensate for the offset position of the dispensing needle when performing the dispensing operation.

[0019] In some embodiments, the method for determining the dispensing position also includes: setting a calibration point; detecting the circular outline of the calibration point, and determining the center of the calibration point based on the center of the circular outline; dispensing the calibration point, and detecting the circular outline of the dispensing point to obtain the center of the dispensing point; determining the physical error based on the difference between the center of the calibration point and the center of the dispensing point; when the difference between the position of the robot at the calibration point and the position of the dispensing point is equal to the physical error, determining the physical error as the needle calibration physical error.

[0020] In the second aspect, the present application provides a battery dispensing system, comprising: a robot, configured to send a trigger signal for image acquisition after reaching a predetermined position; a camera, configured to receive the trigger signal, acquire an image of the battery module according to the trigger signal and send it to a visual host computer; a visual host computer, configured to execute the dispensing position determination method according to the embodiment of the present application, so as to obtain the dispensing position of at least one object on the battery module based on the image of the battery module, and send the dispensing position to the robot, and wherein the robot is further configured to receive the dispensing position and move to the dispensing position to control the glue barrel and the glue needle to perform the dispensing operation.

[0021] In some embodiments, the battery dispensing system further includes a programmable logic controller configured to: parse the module code of the battery module and send it to the visual host computer; and record the dispensing in real time.

[0022] In some embodiments, the visual host computer is further configured to: receive the module code of the battery module from the programmable logic controller; and based on the module code, obtain the addressing trajectory information of at least one object on the battery module and store the addressing trajectory information on the robot.

[0023] In some embodiments, the robot is further configured to: move to the photographing point of the object on the track according to the addressing track, and trigger the camera to obtain the image of the object at the point and send it to the visual host computer; receive the dispensing position and offset value of the object at the point from the visual host computer; and control the glue barrel and the glue needle to perform the dispensing operation at the point according to the received dispensing position and offset value of the object at the point.

[0024] In some embodiments, the visual host computer is further configured to: receive the module code of the battery module from the programmable logic controller; based on the module code, obtain the addressing trajectory information of at least one object on the battery module and store the addressing trajectory information on the visual host computer; and distribute the photographing points of all objects on the addressing trajectory to two robots at one time.

[0025] In some embodiments, each of the two robots is configured to: receive the photographed points of each object on the addressing trajectory distributed from the visual host computer; move to each received object point in turn, and trigger the camera to acquire the image of the object at the point and send it to the visual host computer; receive the dispensing position and offset value of each object point from the visual host computer; and control the glue barrel and glue outlet to perform dispensing operations for each point in turn according to the received dispensing position and offset value of each object point.

[0026] In a third aspect, the present application provides a device for determining a dispensing position, comprising: a receiving module configured to receive an image of a battery module; a processing module configured to process the image to obtain a contour feature image of at least one object on the battery module; and a determination module configured to determine the dispensing position of the at least one object based on the contour feature image.

[0027] In a fourth aspect, the present application provides an electronic device comprising a processor, a memory and a communication bus; wherein the communication bus is configured to implement connection and communication between the processor and the memory; and the processor is configured to execute one or more programs stored in the memory to implement the method for determining the dispensing position according to an embodiment of the present application.

[0028] In a fifth aspect, the present application provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the method for determining the dispensing position according to the embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without creative work.

[0030] FIG1 is a schematic diagram of a production scenario of a flexible circuit board bonding and dispensing method for a lithium-ion power battery disclosed in an embodiment of the present application;

[0031] FIG2 is a plan view of FIG1;

[0032] FIG3 is a schematic block diagram of a battery dispensing system disclosed in an embodiment of the present application;

[0033] FIG4 is a schematic flow chart of a dispensing operation in a single module with two robots according to an embodiment of the present application;

[0034] FIG5 is a schematic flow chart of a dispensing operation in a dual-module dual-robot situation disclosed in an embodiment of the present application;

[0035] FIG6 is a schematic flow chart of a method for determining a dispensing position disclosed in an embodiment of the present application;

[0036] 7A-7H are schematic diagrams of image processing, contour recognition, dispensing position determination, and dispensing for bonding a palladium sheet to an aluminum wire, respectively, according to an embodiment of the present application;

[0037] 8A-8H are schematic diagrams of performing image processing, contour recognition, glue dispensing position determination, and glue dispensing on a nickel plate bonded aluminum wire, respectively, according to an embodiment of the present application;

[0038] 9A-9J are schematic diagrams of image processing, contour recognition, and glue dispensing for a temperature sensing probe according to an embodiment of the present application;

[0039] FIG10 is a schematic logic flow chart of the needle calibration disclosed in an embodiment of the present application;

[0040] FIG11 is a schematic block diagram of a dispensing position determination device disclosed in an embodiment of the present application;

[0041] FIG12 is a schematic block diagram of an electronic device capable of implementing the method according to an embodiment of the present application;

[0042] FIG13 is a block diagram of an example structure of a computer system that may be used in an embodiment of the present application.

[0043] In the drawings, the drawings are not drawn to scale. DETAILED DESCRIPTION

[0044] The following detailed description of the embodiments of the present application is provided in conjunction with the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present application, but are not intended to limit the scope of the present application, i.e., the present application is not limited to the described embodiments.

[0045] In the description of this application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0046] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0047] The development of battery technology must consider many design factors at the same time, such as the production efficiency of the battery. The battery includes a battery cell, and the battery also includes a flexible circuit board and a connector. The connector realizes the electrical connection between the battery cell and the flexible circuit board. The connector is usually welded to the flexible circuit board. In order to reduce the risk of short circuit between the positive and negative poles, glue is usually dispensed at the welding points (solder points) to cover the solder points. At present, in the battery manufacturing process, when dispensing glue on the solder points of the flexible circuit board, it is usually a manual dispensing operation. There are many solder points on the flexible circuit board, which is not only labor-intensive, but also prone to errors, high production costs, and low production efficiency.

[0048] In view of this, in order to solve the problems of high production cost and low production efficiency of dispensing operations, the present application provides a battery dispensing system, which uses a visual host computer and a robot with a visual camera to perform image processing on the battery module to determine the dispensing position, and then uses the robot to control the glue barrel and glue needle to perform the dispensing operation, which can replace manual dispensing operations, improve production efficiency, reduce production costs, and increase the degree of automation.

[0049] FIG1 shows a production scenario of flexible circuit board bonding and dispensing based on lithium-ion power batteries according to some embodiments of the present application. This production scenario is not limited to single-module assembly lines and dual-module assembly lines. As shown in FIG1 , its hardware components include two (collaborative) robots 1, two sets of glue supply systems (non-stop glue change) 2, two sets of machine vision cameras 3, two sets of dispensing needle valves 4, an industrial computer (computer) 5, and a SIEMENS KTP900 touch screen 6. The plan view of FIG1 is shown in FIG2 .

[0050] The battery dispensing system and the method for determining the dispensing position according to some embodiments of the present application are described in detail below with reference to Figures 3-10.

[0051] FIG3 shows a schematic block diagram of a battery dispensing system 300 according to an embodiment of the present application. As shown in FIG3 , the battery dispensing system mainly consists of a visual host computer 301, a programmable logic controller (PLC: Programmable Logic Controller) 302, a glue supply system 303, and a robot 304 for controlling the dispensing operation. The visual camera used to capture images of the battery module (for example, the visual camera 3 in FIG1 ) and the dispensing needle for performing the dispensing operation (for example, the dispensing needle valve 4 in FIG1 ) are both provided on the robot 304.

[0052] According to an embodiment of the present application, after a product (i.e., a battery module) arrives at a location, the programmable logic controller 302 reads the product's information code through radio frequency identification (RFID), parses the information code to extract the product's operational code, i.e., the module code, and then sends the module code to the vision host computer 301. Based on the module code, the vision host computer 301 obtains the addressing trajectory information of each object on the battery module that needs to be dispensed and stores the addressing trajectory information on the vision host computer 301 or the robot 304.

[0053] FIG4 is a schematic flow chart illustrating a dispensing operation in a single-module dual-robot scenario. Specifically, in the case of a single-module dual-robot scenario, the addressing trajectory information (also known as recipe points, photo points, or photo positions) obtained based on the module code is stored on the visual host computer 301 (step S401). The visual host computer distributes the photo points of all objects to the two robots at once (step S402). The two robots arrive at their respective photo points, trigger the visual camera to take photos of the objects at each point, and send the captured images to the visual host computer for image processing (step S403). The visual host computer obtains the dispensing position and offset value of the object at each point through image processing (step S404). The visual host computer then packages the dispensing position and offset value of the object at the points to be sent to the two robots and sends them to the two robots (step S405). The two robots control the glue barrel and glue needle to perform the dispensing operation on each point in turn based on the dispensing position and offset value of the object at the photo points received (step S406).

[0054] The schematic flow chart of Figure 5 shows a schematic diagram of the dispensing operation in the case of a dual-module dual-robot system. Specifically, in the case of a dual-module dual-robot system, the addressing trajectory information (i.e., the recipe point, the photo point, or the photo position) obtained according to the module code is stored on the robot 304 (step S501). The robot moves to the photo point on the track according to the addressing trajectory, triggers the visual camera to take a photo of the object at that point, and sends the captured image to the visual host computer for image processing (step S502). The visual host computer obtains the dispensing position and offset value of the object at that point through image processing and sends the dispensing position and offset value of the object at that point to the robot (step S503). The robot controls the glue barrel and the glue needle according to the received dispensing position and offset value to perform the dispensing operation on the object at that point (step S504). Then, the robot moves to the next photo point on the addressing trajectory to take a photo, perform image processing, and perform the dispensing operation, and the cycle continues until the dispensing of all points is completed.

[0055] It should be understood that according to the embodiments of the present application, the various objects that need to be dispensed include bonding aluminum wires and temperature probes, wherein the bonding aluminum wires include palladium sheet bonding aluminum wires and nickel disk bonding aluminum wires.

[0056] The following is a detailed introduction to the solution of performing image processing on the visual host computer to obtain the dispensing position and offset value.

[0057] FIG6 shows a schematic flow chart of a method for determining a dispensing position according to an embodiment of the present application. Those skilled in the art should understand that the method for determining a dispensing position shown in FIG6 can be implemented by the visual host computer 301 in FIG3.

[0058] As shown in FIG6 , in step S601 , an image of a battery module is received.

[0059] As described above, the visual host computer 301 can obtain the addressing trajectory information (also called recipe point, photo point or photo position) of each object on the battery module that needs to be dispensed based on the module code of the battery module. After knowing the addressing trajectory information of each object on the battery module that needs to be dispensed, the robot can know whether the photo taken is a bonding aluminum wire or a temperature probe based on the photo point. Therefore, according to an embodiment of the present application, the receiving image of the battery module includes obtaining an image of the bonding aluminum wire or an image of the temperature probe.

[0060] In step S602 , the received image is processed to obtain a contour feature image of at least one object on the battery module.

[0061] According to an embodiment of the present application, the received image is processed by binarization and image enhancement, each of which is described in detail below.

[0062] According to one embodiment of the present application, when the received image of the battery module is an image of a bonding aluminum wire, step S602 further includes binarizing the image of the bonding aluminum wire to obtain a binarized image of the bonding aluminum wire, and detecting the outer contour features of the aluminum wire on the binarized image.

[0063] A binarized image is a black and white image obtained by compressing the RGB values ​​of a feature image (e.g., a grayscale image)—that is, segmenting the grayscale image using an image threshold. This facilitates the subsequent identification and calculation of image feature contours. The minimum segmentation threshold is 0 and the maximum is 255. Specific thresholds can be set based on the specific object. For example, when binarizing a palladium sheet image, the minimum threshold can be set to 90 and the maximum threshold to 255; when binarizing a nickel plate image, the minimum threshold can be set to 164 and the maximum threshold to 255.

[0064] According to another embodiment of the present application, when the received image of the battery module is an image of aluminum bonding wires, step S602 further includes enhancing the grayscale of the aluminum bonding wires to obtain an enhanced grayscale image of the aluminum bonding wires, and detecting the outer contour features of the aluminum bonding wires on the enhanced grayscale image. Enhancing the grayscale image to make it more realistic to the actual on-site environment is a method of image processing that adapts to changing environments.

[0065] According to an embodiment of the present application, when the matching degree between the detected outer contour feature and the palladium sheet contour feature template is greater than or equal to a first predetermined threshold, the detected outer contour feature is used as the contour feature image of the palladium sheet.

[0066] 7A-7B respectively show a physical image and a binary image of a palladium sheet bonded to an aluminum wire, wherein the minimum threshold of the binary image is 255 and the maximum threshold is 255. FIG7C shows a schematic diagram of matching the detected outer contour feature with the palladium sheet contour feature template. As shown in FIG7C , the box area is the palladium sheet contour feature template, and the contour feature template is set on the visual host computer. In this application, the threshold value (i.e., the minimum score parameter of the contour feature template on the visual host computer) is generally set to 70-85, but those skilled in the art will understand that the setting of the threshold value is not limited thereto. When the outer contour feature of the aluminum wire on the detected image matches the palladium sheet contour feature template greater than the set first threshold value (for example, the minimum score is 80), the detected outer contour feature is used as the contour feature image of the palladium sheet.

[0067] According to an embodiment of the present application, when the matching degree between the detected outer contour feature and the nickel plate contour feature template is greater than or equal to a second predetermined threshold, the detected outer contour feature is used as the contour feature image of the nickel plate.

[0068] Fig. 8 A-8B respectively show the physical diagram and the binary image of nickel plate bonding aluminum wire, and wherein the lowest threshold value of binary image is 164, and the highest threshold value is 255.Fig. 8 C and 8D respectively show the schematic diagram that the outer contour feature detected is matched with two different nickel plate outline feature templates.As shown in Fig. 8 C and 8D, the frame area is the nickel plate outline feature template set on the visual host computer, and the general setting threshold value (i.e. the minimum score parameter of outline feature template on the visual host computer) is 70-85 in the application, but those skilled in the art will understand that the setting of threshold value is not limited to this.When the outer contour feature of aluminum wire on the image detected and the matching degree of nickel plate outline feature template are greater than the second threshold value (such as, minimum score is 75) of setting, the described outer contour feature detected is used as the described outline feature image of nickel plate.

[0069] In step S603 , the glue dispensing position of the at least one object is determined according to the contour feature image.

[0070] According to an embodiment of the present application, based on determining the contour feature image of the palladium sheet bonding aluminum wire or the nickel disk bonding aluminum wire, step S603 includes: detecting the endpoints of two aluminum wires parallel to each other on the contour feature image of the bonding aluminum wire, and detecting the edge intersecting the two aluminum wires as a reference line, calculating the spacing between the two aluminum wires parallel to each other, and determining the dispensing position of the bonding aluminum wire based on the midpoint of the straight line used to calculate the spacing between the two aluminum wires, the reference line, and the line connecting the endpoints of the two aluminum wires.

[0071] Figures 7D and 7E are schematic diagrams of edge detection and endpoint detection of the aluminum wire bonded to the palladium sheet, respectively. Figure 7F shows a schematic diagram of detecting the two endpoints 1 and 3 of the aluminum wire bonded to the palladium sheet and the edge reference line 4 intersecting the two aluminum wires, wherein the dispensing position 2 of the bonding aluminum wire is determined based on the midpoint of the straight line used to calculate the distance between the two aluminum wires, the reference line, and the line connecting the endpoints of the two aluminum wires. Figure 7G shows a grayscale image of endpoint detection and actual dispensing point calculation for the palladium sheet of Figure 7A. Figure 7H shows a diagram of the dispensing effect of the aluminum wire bonded to the palladium sheet, wherein the aluminum wire pin (endpoint) is completely covered.

[0072] Figure 8E shows a schematic diagram of endpoint detection of aluminum wires bonded to a nickel plate. Figure 8F shows a schematic diagram of detecting the two endpoints of the nickel plate aluminum wires parallel to each other and the edge reference line intersecting the two aluminum wires, wherein the dispensing position of the bonding aluminum wire is determined based on the midpoint of the straight line used to calculate the distance between the two aluminum wires, the reference line, and the line connecting the endpoints of the two aluminum wires. Figure 8G shows a grayscale image of endpoint detection and actual dispensing point calculation for the palladium sheet of Figure 8A. Figure 8H shows a diagram of the dispensing effect of the palladium sheet aluminum wire, wherein the aluminum wire pin (endpoint) is completely covered.

[0073] According to one embodiment of the present application, when the received image of the battery module is a temperature sensor probe image, step S602 further includes binarizing the temperature sensor probe image to obtain a binarized image of the temperature sensor probe image, and detecting the inner contour features of the temperature sensor probe on the binarized image. According to one embodiment of the present application, when binarizing the temperature sensor probe image, the minimum threshold value can be set to 62 and the maximum threshold value can be set to 255. Those skilled in the art should understand that the outer contour features of the temperature sensor probe can also be detected on the binarized image of the temperature sensor probe image. The principle is similar and will not be repeated here.

[0074] According to another embodiment of the present application, when the received image of the battery module is a temperature probe image, step S602 further includes enhancing the grayscale of the temperature probe to obtain a grayscale-enhanced image of the temperature probe image, and detecting the outer contour features of the temperature probe on the grayscale-enhanced image. The enhancement ratio, gain, and compensation value of the image enhancement can be set as needed. According to an embodiment of the present invention, the enhancement ratio range is generally set to 80-99, the gain range is generally set to 80-99, and the compensation range is generally 1 / 3-2 / 3 of the enhancement ratio. Those skilled in the art should understand that the inner contour features of the temperature probe can also be detected on the grayscale-enhanced image of the temperature probe image. The principle is similar and will not be repeated here.

[0075] According to an embodiment of the present application, when the matching degree between the detected inner contour feature of the temperature sensing probe and the temperature sensing probe contour feature template is greater than or equal to a third predetermined threshold, the detected inner contour feature of the temperature sensing probe is used as the contour feature image of the temperature sensing probe.

[0076] According to an embodiment of the present application, when the matching degree between the detected outer contour feature of the temperature sensing probe and the temperature sensing probe contour feature template is greater than or equal to a fourth predetermined threshold, the detected outer contour feature of the temperature sensing probe is used as the contour feature image of the temperature sensing probe.

[0077] Figures 9A-9C respectively show a real-life image, a binarized image, and a grayscale enhanced image of the temperature sensor probe, wherein the minimum threshold of the binarized image is 62, the maximum threshold is 255, the enhancement ratio of the grayscale enhanced image is 99, the gain is 88, and the compensation is 47. Figures 9D-9G respectively show schematic diagrams of matching the detected contour features with different contour feature templates of the temperature sensor probe. Figure 9D shows the local processing of the temperature sensor probe, and the outer circular contour of the entire temperature sensor probe is obtained by enhancing the image contour processing; Figure 9E shows the local processing of the temperature sensor probe, and the inner circular contour of the binary image contour processing is obtained by binarizing the image contour processing; Figure 9F shows the recognition of the overall contour of the temperature sensor probe by enhancing the image contour processing; and Figure 8G shows the recognition of the overall contour of the temperature sensor probe by binarizing the image.

[0078] According to an embodiment of the present application, based on determining the contour feature image of the temperature sensing probe, step S603 includes: calculating the center of gravity of the contour feature image of the temperature sensing probe, and determining the dispensing position of the temperature sensing probe according to the center of gravity.

[0079] Figures 9H and 9I are schematic diagrams showing the detection effect of the temperature sensor probe in Figure 9A under the conditions of contour recognition results of the binary image and the enhanced image, respectively. Figure 9J shows the dispensing effect of the temperature sensor probe, in which the temperature sensor probe is completely covered.

[0080] After obtaining the dispensing positions for the aluminum bonding wire and temperature sensor through image processing, the robot controls the dispensing system and dispensing needle to perform the dispensing operation. Because there may be a deviation between the actual dispensing position of the dispensing needle and the obtained dispensing position, the needle must be calibrated before dispensing. This involves providing the robot with the offset value calculated by visual processing. This first requires resolving the physical errors between the structural hardware. Only by fixing the physical errors in the hardware and preventing subsequent human interference can needle calibration be effective.

[0081] According to an exemplary embodiment of the present application, the logical flow of needle calibration is described. As shown in FIG10 , at step S1001, a calibration point is set. It should be understood that needle calibration requires first finding a point on the calibration block, called a calibration point.

[0082] As shown in Figure 10, in step S1002, the circular outline of the calibration point is detected, and the center of the calibration point is determined based on the center of the circular outline. Image processing similar to the algorithm used for the temperature sensor is performed on the calibration point. Specifically, the circular outline of the calibration point is detected, and the center of the calibration point P1(x, y) is determined based on the center of the circular outline. The center of the calibration point P1(x, y) is the most ideal target point calculated by visual analysis.

[0083] As shown in Figure 10, in step S1003, glue is dispensed at the calibration point, and the circular contour of the glue point is detected to obtain the center of the glue point. Specifically, after determining the center of the calibration point P1(x, y), glue is dispensed at the calibration point, and the same image processing is performed on this glue point, that is, the circular contour of the glue point is detected, and the center of the glue point P2(x, y) is determined based on the circular contour of the glue point. It should be understood that the center of the calibration point P1(x, y) is the target point, and the center of the glue point P2(x, y) is the actual point where glue is dispensed.

[0084] As shown in Figure 10, at step S1004, the physical error is determined based on the difference between the center of the calibration point and the center of the dispensing point. The calculated difference between the center of the calibration point P1 (x, y) and the center of the dispensing point P2 (x, y) is the physical error value that needs to be bound. That is, the physical error △P (X, Y) = P1 (x, y) - P2 (x, y). According to a specific embodiment, △P (X, Y) = △P (Cam_BiaoDingX3, Cam_BiaoDingY3) = △P (0.236812, 1.284963). The calculated △P (X, Y) will be sent to the robot.

[0085] As shown in FIG. 10 , at step S1005 , when the difference between the position of the robot at the calibration point and the position of the dispensing point is equal to the physical error, the physical error is determined as the needle calibration physical error.

[0086] According to a specific embodiment, Cam_BiaoDingX1 and Cam_BiaoDingX2 as well as Cam_BiaoDingY1 and Cam_BiaoDingY2 are the positions of the robot at the calibration point and the dispensing point, which are displayed on the robot end, while P1(x, y) and P2(x, y) are displayed on the visual end. Regardless of which end displays it, the deviation value is fixed, that is, the deviation value of the visual calculation is equal to the deviation value of the robot movement, which means that the goal of the visual calculation is consistent with the goal actually implemented by the robot, and the offset value of the needle calibration compensation is correct.

[0087] The deviation of the robot end is calculated as follows: △P1(X,Y)=P(Cam_BiaoDingX1,Cam_BiaoDingY1) -P(Cam_BiaoDingX2,Cam_BiaoDingY2) =P[(Cam_BiaoDingX1-Cam_BiaoDingX2),(Cam_BiaoDingY1-Cam_BiaoDingY2)} =P[(-4.849381+5.086193),(67.8935379-66.6085849)} =P(0.236812,1.284953)

[0088] It can be seen that △P(X,Y)=△P1(X,Y)=P(0.236812,1.284953), so the physical error bound by the needle calibration is accurate.

[0089] After needle calibration, the calibration error is known as long as the needle is not replaced. In this case, the offset value of the dispensing position can be determined based on the obtained dispensing position and the calibration error. This offset value is sent to the robot controlling the dispensing operation, and the offset position of the dispensing needle can be compensated during the dispensing operation.

[0090] Compared with manual dispensing, robot dispensing not only improves production efficiency and reduces production costs, but also has better dispensing effects, more complete and more uniform coverage.

[0091] This application visually identifies the contour features of the bonding aluminum wire or temperature probe and compares them with the feature template to obtain the contour features of the bonding aluminum wire or temperature probe to determine the dispensing position of the bonding aluminum wire and temperature probe; at the same time, the physical error of the needle calibration is calculated by calibrating the glue needle to calculate the offset value of the dispensing position and compensate for the offset value during dispensing. This makes the dispensing machine dispensing accurately and ensures the lean manufacturing process of the lithium battery module.

[0092] In the case of a single-module dual-robot system, the two robots are staggered. For example, the two robots perform dispensing operations from a certain point to both sides to reduce the risk of mutual interference or collision.

[0093] FIG11 shows a block diagram of a dispensing position determining apparatus 1100 according to an exemplary embodiment of the present application.

[0094] As shown in FIG11 , the dispensing position determining device 1100 includes a receiving module 1101 configured to receive an image of a battery module.

[0095] As shown in FIG11 , the dispensing position determination device 1100 further includes a processing module 1102 configured to process the image to obtain a contour feature image of at least one object on the battery module.

[0096] As shown in FIG11 , the device 1100 for determining a dispensing position further includes a determining module 1103 configured to determine a dispensing position of the at least one object according to the contour feature image.

[0097] The dispensing position determination device provided in the embodiment of the present application can implement the dispensing position determination method provided in the above embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0098] The dispensing position determination device disclosed in the present application can be applied to various scenarios including but not limited to dispensing of flexible circuit boards of battery modules to improve dispensing efficiency and effects, and ensure the lean manufacturing process of lithium battery modules.

[0099] Some embodiments of the present application further provide an electronic device. Figure 12 shows a block diagram of some embodiments of an electronic device 12 of the present disclosure. The electronic device can be used to implement the method according to any embodiment of the present disclosure.

[0100] For example, in some embodiments, the electronic device 12 can be various types of devices, such as, but not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. For example, the electronic device 12 can include a display panel for displaying data and / or execution results used in the solutions of the present disclosure. For example, the display panel can be of various shapes, such as a rectangular panel, an elliptical panel, or a polygonal panel. In addition, the display panel can be not only a flat panel, but also a curved panel or even a spherical panel.

[0101] As shown in Figure 12, the electronic device 12 of this embodiment includes a memory 1201 and a processor 1202 coupled to the memory 1201. It should be noted that the components of the electronic device 12 shown in Figure 12 are merely exemplary and non-limiting. The electronic device 12 may also include other components as required by actual applications. The processor 1202 may control the other components in the electronic device 12 to perform desired functions.

[0102] In some embodiments, memory 1201 is configured to store one or more computer-readable instructions. When processor 1202 is configured to execute the computer-readable instructions, the computer-readable instructions are executed by processor 1202 to implement the method according to any of the above embodiments. The specific implementation and related explanations of each step of the method can be found in the above embodiments, and any repetitive details are omitted here.

[0103] For example, the processor 1202 and the memory 1201 may communicate with each other directly or indirectly. For example, the processor 1202 and the memory 1201 may communicate with each other via a network. The network may include a wireless network, a wired network, and / or any combination of wireless networks and wired networks. The processor 1202 and the memory 1201 may also communicate with each other via a system bus, which is not limited in this disclosure.

[0104] For example, the processor 1202 can be embodied as various appropriate processors, processing devices, etc., such as a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The central processing unit (CPU) can be an X86 or ARM architecture, etc. For example, the memory 1201 can include any combination of various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The memory 1201 can include, for example, a system memory, which stores, for example, an operating system, an application, a boot loader (Boot Loader), a database, and other programs. Various applications and various data can also be stored in the storage medium.

[0105] In addition, according to some embodiments of the present disclosure, when various operations / processes according to the present disclosure are implemented through software and / or firmware, the programs constituting the software can be installed from a storage medium or a network to a computer system having a dedicated hardware structure, such as the computer system 1300 shown in FIG13 . When the various programs are installed, the computer system can perform various functions, including those described above. FIG13 shows a block diagram of an example structure of a computer system that can be used in embodiments of the present disclosure.

[0106] In Figure 13, a central processing unit (CPU) 1301 performs various processes according to a program stored in a read-only memory (ROM) 1302 or a program loaded from a storage part 1308 to a random access memory (RAM) 1303. In RAM 1303, data required when CPU 1301 performs various processes, etc., is also stored as needed. The central processing unit is merely exemplary and may also be other types of processors, such as the various processors described above. ROM 1302, RAM 1303, and storage part 1308 may be various forms of computer-readable storage media, as described below. It should be noted that although ROM 1302, RAM 1303, and storage device 1308 are shown separately in Figure 13, one or more of them may be combined or located in the same or different memory or storage modules.

[0107] The CPU 1301, the ROM 1302, and the RAM 1303 are connected to one another via a bus 1304. An input / output interface 1305 is also connected to the bus 1304.

[0108] The following components are connected to the input / output interface 1305: an input portion 1306, such as a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output portion 1307, including a display, such as a cathode ray tube (CRT), liquid crystal display (LCD), speaker, vibrator, etc.; a storage portion 1308, including a hard disk, magnetic tape, etc.; and a communication portion 1309, including a network interface card, such as a LAN card, modem, etc. The communication portion 1309 allows communication processing to be performed via a network, such as the Internet. It will be readily understood that although the various devices or modules in the computer system 1300 shown in FIG13 communicate via the bus 1304, they may also communicate via a network or other means, where the network may include a wireless network, a wired network, and / or any combination of wireless and wired networks.

[0109] A drive 1310 is also connected to the input / output interface 1305 as needed. A removable medium 1311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive 1310 as needed so that a computer program read therefrom is installed in the storage section 1308 as needed.

[0110] In the case of realizing the above-described series of processing by software, a program constituting the software can be installed from a network such as the Internet or a storage medium such as the removable medium 1311 .

[0111] According to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication device 1309, or installed from the storage device 1308, or installed from the ROM 1302. When the computer program is executed by the CPU 1301, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0112] It should be noted that in the context of the present disclosure, a computer-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, 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), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that may be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-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. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0113] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0114] In some embodiments, a computer program is further provided, comprising: instructions, which, when executed by a processor, cause the processor to perform any of the methods of the above embodiments. For example, the instructions may be embodied as computer program codes.

[0115] In embodiments of the present disclosure, computer program code for performing the operation of the present disclosure can be written in one or more programming languages ​​or a combination thereof, and the above-mentioned programming languages ​​include but are not limited to object-oriented programming languages, such as Java, Smalltalk, C++, and also conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. In situations involving a remote computer, the remote computer can be connected to the user's computer through any type of network (including a local area network (LAN) or a wide area network (WAN)), or can be connected to an external computer (e.g., utilizing an Internet service provider to connect through the Internet).

[0116] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0117] The modules, components, or units described in the embodiments of the present disclosure may be implemented in software or hardware. The names of the modules, components, or units do not necessarily limit the modules, components, or units themselves.

[0118] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, and without limitation, exemplary hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0119] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be substituted with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A method for determining a dispensing position, comprising: receiving an image of a battery module; Processing the image to obtain a contour feature image of at least one object on the battery module; as well as The dispensing position of the at least one object is determined according to the contour feature image.

2. The method for determining a dispensing position according to claim 1, further comprising: Based on the module code of the battery module, obtaining addressing track information of the at least one object; as well as Based on the addressing track information, a bonding aluminum wire image or a temperature sensing probe image is obtained.

3. The method for determining a dispensing position according to claim 2, further comprising: Detecting the endpoints of two aluminum wires parallel to each other on the contour feature image of the bonding aluminum wire, and detecting the edge intersecting the two aluminum wires as a reference line; Calculating the distance between the two aluminum wires parallel to each other; as well as The dispensing position of the bonding aluminum wire is determined according to the midpoint of the straight line used to calculate the distance between the two aluminum wires, the reference line, and the connecting line of the end points of the two aluminum wires.

4. The method for determining the dispensing position according to claim 2 or 3, further comprising: Binarizing the aluminum bonding wire image to obtain a binary image of the aluminum bonding wire image; as well as The outer contour features of the aluminum wire are detected on the binary image.

5. The method for determining a dispensing position according to claim 4, further comprising: When the matching degree between the detected outer contour feature and the palladium sheet contour feature template is greater than or equal to a first predetermined threshold, the detected outer contour feature is used as the contour feature image of the palladium sheet.

6. The method for determining a dispensing position according to claim 4, further comprising: When the matching degree between the detected outer contour feature and the nickel plate contour feature template is greater than or equal to a second predetermined threshold, the detected outer contour feature is used as the contour feature image of the nickel plate.

7. The method for determining a dispensing position according to claim 2 or 3, further comprising: Performing grayscale enhancement processing on the bonding aluminum wire image to obtain an image of the bonding aluminum wire image after grayscale enhancement; as well as The outer contour features of the aluminum wire are detected on the grayscale enhanced image of the bonding aluminum wire image.

8. The method for determining a dispensing position according to claim 7, further comprising: When the matching degree between the detected outer contour feature and the palladium sheet contour feature template is greater than or equal to the first predetermined threshold, In this case, the detected outer contour feature is used as the contour feature image of the palladium sheet.

9. The method for determining a dispensing position according to claim 7, further comprising: When the matching degree between the detected outer contour feature and the nickel plate contour feature template is greater than or equal to a second predetermined threshold, the detected outer contour feature is used as the contour feature image of the nickel plate.

10. The method for determining a dispensing position according to claim 2, further comprising: The center of gravity of the contour feature image of the temperature sensing probe is calculated, and the dispensing position of the temperature sensing probe is determined according to the center of gravity.

11. The method for determining a dispensing position according to claim 2 or 10, further comprising: Binarizing the temperature sensing probe image to obtain a binary image of the temperature sensing probe image; Detecting the inner contour features of the temperature sensing probe on the binary image; as well as When the matching degree between the detected inner contour feature and the contour feature template of the temperature sensing probe is greater than or equal to a third predetermined threshold, the detected inner contour feature is used as the contour feature image of the temperature sensing probe.

12. The method for determining a dispensing position according to claim 2 or 10, further comprising: Performing grayscale enhancement processing on the temperature sensing probe image to obtain an image of the temperature sensing probe image after grayscale enhancement; Detecting the outer contour features of the temperature sensing probe on the grayscale enhanced image of the temperature sensing probe image; and When the matching degree between the detected outer contour feature and the contour feature template of the temperature sensing probe is greater than or equal to a fourth predetermined threshold, the detected outer contour feature is used as the contour feature image of the temperature sensing probe.

13. The method for determining a dispensing position according to any one of claims 1 to 12, further comprising: Determine the offset value of the dispensing position according to the physical error of the dispensing position and the needle calibration, The offset value is sent to a robot that controls the dispensing operation to compensate for the offset position of the glue needle when performing the dispensing operation.

14. The method for determining a dispensing position according to claim 13, further comprising: Set calibration points; Detecting the circular contour of the calibration point, and determining the center of the calibration point according to the center of the circular contour; Dispensing glue on the calibration point, and detecting the circular contour of the dispensing point to obtain the center of the dispensing point; Determining a physical error based on a difference between the center of the calibration point and the center of the dispensing point; and When the difference between the position of the robot at the calibration point and the position of the dispensing point is equal to the physical error, the physical error is determined as the needle calibration physical error.

15. A battery dispensing system, comprising: The robot is configured to send a trigger signal for image acquisition after reaching a predetermined position; A camera is configured to receive the trigger signal, acquire an image of the battery module according to the trigger signal, and send the image to a visual host computer; as well as A visual host computer is configured to execute the method for determining a dispensing position according to any one of claims 1 to 14, so as to obtain a dispensing position of at least one object on the battery module according to an image of the battery module, and send the dispensing position to the robot, and The robot is further configured to receive the glue dispensing position and move to the glue dispensing position to control the glue barrel and the glue dispensing needle to perform the glue dispensing operation.

16. The battery dispensing system according to claim 15, further comprising: Programmable logic controller, configured to: Parsing the module code of the battery module and sending it to the visual host computer; as well as Real-time recording of dispensing.

17. The battery dispensing system according to claim 16, wherein the visual host computer is further configured as: receiving a module code of the battery module from the programmable logic controller; and Based on the module code, addressing track information of at least one object on the battery module is obtained and the addressing track information is stored on the robot.

18. The battery dispensing system according to claim 17, wherein the robot is further configured to: According to the addressing track, move to the photographing point of the object on the track, and trigger the camera to obtain the image of the object at the point and send it to the visual host computer; Receive the dispensing position and offset value of the object at the point from the visual host computer; and According to the received dispensing position and offset value of the object at the point, the glue barrel and the glue discharge needle are controlled to perform the dispensing operation at the point.

19. The battery dispensing system according to claim 16, wherein the visual host computer is further configured as: receiving a module code of the battery module from the programmable logic controller; Based on the module code, obtaining addressing track information of at least one object on the battery module and storing the addressing track information on a visual host computer; and Distribute the photographed points of all objects on the addressing trajectory to two robots at a time.

20. The battery dispensing system of claim 19, wherein each of the two robots is configured as: Receiving the photographing points of each object on the addressing track distributed from the visual host computer; Move to each received object point in turn, and trigger the camera to obtain the image of the object at the point and send it to the visual host computer; Receive the dispensing position and offset value of each object point from the visual host computer; as well as According to the received dispensing positions and offset values ​​of each object point, the glue barrel and the glue outlet are controlled to perform dispensing operations on each point in sequence.

21. A device for determining a dispensing position, comprising: A receiving module configured to receive an image of the battery module; A processing module is configured to process the image to obtain a contour feature image of at least one object on the battery module; as well as The determination module is configured to determine the dispensing position of the at least one object according to the contour feature image.

22. An electronic device comprising a processor, a memory and a communication bus; wherein the communication bus is configured to achieve connection and communication between the processor and the memory; the processor is configured to execute one or more programs stored in the memory to implement the dispensing position determination method described in any one of claims 1-14.

23. A computer-readable storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the dispensing position determination method according to any one of claims 1 to 14.

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