Battery sealing method, system and device, electronic equipment and storage medium

Abstract

The invention provides a battery sealing method, system and device, electronic equipment and a storage medium, and relates to the technical field of battery manufacturing, the battery sealing method comprises the steps that an image acquisition device is controlled to acquire a vibration disc image, a sealing nail is contained in a vibration disc, and the sealing nail is used for sealing a battery; extracting sealing nail information in the vibration disc image, wherein the sealing nail information comprises graphic features and position information of the sealing nail; on the basis that the graphic features of the sealing nails and preset graphic features meet similar conditions, a first number of alternative nails are obtained; according to a preset nail taking condition, sorting the first number of alternative nails to obtain sorting information, and sequentially selecting target nails from the first number of alternative nails according to the sorting information; according to the position information of the target nail, a nail suction device is controlled to suck the target nail, and the nail suction device is controlled to press the target nail into a liquid injection opening of the battery to be sealed. The battery sealing efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of battery manufacturing technology, and in particular to a battery sealing method, system, device, electronic device and storage medium. Background Art

[0002] With the rapid development of the lithium battery industry, the production efficiency requirements of power batteries are getting higher and higher. The filling port of the power battery is an opening used to inject electrolyte into the battery. After the electrolyte is injected, in order to prevent the electrolyte from leaking, keep the electrolyte stable, maintain battery performance and other reasons, it is necessary to insert a sealing nail into the filling port to seal the filling port.

[0003] However, the battery filling port sealing method in the related art has problems such as stuck nail removal, reverse nail removal, empty nail removal, and only one shape of nail can be removed, resulting in low sealing efficiency.

[0004] It should be noted that the above statements are only used to provide background technical information related to the present application and do not necessarily constitute prior art. Summary of the invention

[0005] In view of this, the purpose of the present application is to propose a battery sealing method, system, device, electronic device and storage medium, which can specifically solve the problem of low sealing efficiency of existing batteries.

[0006] Based on the above-mentioned purpose, in a first aspect, the present application proposes a battery sealing method, comprising: when a vibration device changes from a vibration state to a static state, controlling an image acquisition device to acquire an image of a vibration disk of the vibration device, wherein the vibration disk contains sealing nails, and the sealing nails are used to seal the battery; extracting sealing nail information in the vibration disk image, wherein the sealing nail information includes graphic features and position information of the sealing nails; obtaining a first number of candidate nails based on that the graphic features of the sealing nails and preset graphic features meet similarity conditions; sorting the first number of candidate nails according to preset nail extraction conditions to obtain sorting information, and selecting target nails from the first number of candidate nails in sequence according to the sorting information; controlling a nail suction device to absorb the target nail according to the position information of the target nail, and controlling the nail suction device to press the target nail into the liquid filling port of the battery to be sealed.

[0007] In the above embodiment, when the vibration device changes from a vibration state to a static state, the image acquisition device acquires the vibration disk image to extract the sealing nail information in the vibration disk image, and the image acquisition timing is determined by the state of the vibration device. The vibration disk image acquired at one time may include multiple sealing nails. Compared with the related art, this embodiment can improve the image acquisition and thus provide the efficiency of battery sealing; and the sealing nail information includes the graphic features and position information of the sealing nail, so as to obtain the first number of candidate nails based on the similarity condition between the graphic features of the sealing nail and the preset graphic features; in this way, different graphic features corresponding to sealing nails of different shapes can be set according to the actual sealing nail requirements, so as to realize the absorption of sealing nails of different shapes, and the graphic features of the sealing nails meet the similarity condition to improve the recognition efficiency of positive nails, reduce the conditions that affect the sealing efficiency such as reverse nails and empty nails, and improve the battery sealing efficiency. According to the preset nail extraction condition, the first number of candidate nails are sorted to obtain sorting information, and the target nails are selected from the first number of candidate nails in sequence according to the sorting information, which can improve the selection efficiency of the target nails, reduce the randomness of the nail extraction, and further improve the nail extraction efficiency. According to the position information of the target nail, the nail suction device is controlled to absorb the target nail, which can improve the positioning accuracy of the target nail. The nail suction device is then controlled to press the target nail into the injection port of the battery to be sealed, so that the sealing nail and the injection port are coaxially pressed into each other, thereby improving the accuracy of battery sealing.

[0008] In some embodiments, the graphic features include the shape of the sealing pin and the graphic feature value of the sealing pin, and based on the graphic features of the sealing pin and the preset graphic features satisfying similarity conditions, a first number of alternative pins are obtained, including: comparing the shape of the sealing pin with the preset shape to obtain a sealing pin with the same shape as the preset shape; obtaining a feature value difference based on the graphic feature value corresponding to the sealing pin with the same shape as the preset shape and the preset graphic feature value, and obtaining the first number of alternative pins based on the feature value difference being within a preset range.

[0009] The above embodiment uses the shape and graphic feature value of the sealing nail as the condition for selecting the target nail, and then can select the sealing nail with greater similarity to the preset feature from all the sealing nails as the target nail, which can improve the accuracy of selecting the target nail and reduce the occurrence of reverse nails, empty nails, etc. Moreover, a plurality of candidate nails can be obtained by one graphic detection, which greatly improves the detection efficiency compared with the method in the related art that detects the graphic every time the nail is taken.

[0010] In some embodiments, the first number of candidate nails are sorted according to preset nail selection conditions to obtain sorting information, including: sorting the first number of candidate nails in the first number of candidate nails in descending order of the graphic feature value of each candidate nail in the first number of candidate nails to obtain first sorting information.

[0011] The above embodiment selects the target nail from the first number of candidate nails by presetting the nail selection conditions in the order of the graphic characteristic values ​​from large to small, and can preferentially press the candidate nail closest to the standard nail into the liquid filling port of the battery to be sealed as the target nail, thereby improving the accuracy of the battery sealing.

[0012] In some embodiments, the first number of candidate nails are sorted according to preset nail picking conditions to obtain sorting information, including: taking the center of the vibration disk as a reference point, calculating the distance between each candidate nail in the first number of candidate nails and the reference point; sorting the first number of candidate nails in order of the distance between each candidate nail and the reference point from near to far, to obtain second sorting information.

[0013] The above embodiment can preferentially absorb the candidate nails that are close to the reference point, so as to reduce the movement distance of the nail suction device and improve the sealing efficiency.

[0014] In some embodiments, extracting the position information of the sealing pin in the vibration disk image includes: identifying the edge of the sealing pin to determine the shape of the sealing pin; determining the center position of the sealing pin based on the shape of the sealing pin; and obtaining the position information of the sealing pin based on the positional relationship between the center position of the sealing pin and the center of the vibration disk.

[0015] The positioning accuracy of the center position can be greatly improved, thereby improving the accuracy of the nail removal device in removing nails and improving the nail removal efficiency.

[0016] In some embodiments, controlling the image acquisition device to acquire the image of the vibration disk of the vibration device includes: generating a vibration control signal when the first number of candidate pins are all pressed into the liquid filling port of the battery to be sealed as target pins; controlling the vibration device to be in a vibration state based on the vibration control signal so that the sealing pins in the vibration disk change their posture; generating a first control signal when the vibration device changes from a vibration state to a stationary state; and controlling the image acquisition device to acquire the image of the vibration disk according to the first control signal.

[0017] The number of image acquisitions can be reduced, and the effect of obtaining multiple candidate nails in one image acquisition can be achieved, thereby further improving the battery sealing efficiency.

[0018] In some embodiments, controlling the nail suction device to press the target nail into the liquid injection port of the battery to be sealed includes: generating a second control signal when controlling the nail suction device to move above the battery to be sealed; controlling the image acquisition device to acquire a battery image according to the second control signal; extracting the liquid injection port information in the battery image, the liquid injection port information including the center point position information of the liquid injection port; and controlling the nail suction device to press the target nail into the liquid injection port of the battery to be sealed based on the center point position information.

[0019] The sealing pin and the center point of the liquid filling port can be aligned to improve the accuracy of battery sealing.

[0020] In a second aspect, a battery sealing system is also provided, comprising: a controller, an image acquisition device, a nail suction device and a vibration device; the image acquisition device is installed on the nail suction device, the vibration device comprises a vibration plate, and the sealing nails are accommodated in the vibration plate; the image acquisition device is used to move to the top of the vibration plate under the control of the controller to collect the image of the vibration plate; the vibration device is used to be in a vibrating state under the control of the controller so that the sealing nails in the vibration plate change their posture; the nail suction device is used to absorb the target nail under the control of the controller and press the target nail into the liquid filling port of the battery to be sealed; the controller is used to change the state of the vibration device from the vibration state to the liquid filling port of the battery to be sealed; When the vibration device is in a stationary state, the image acquisition device is controlled to acquire an image of the vibration disk of the vibration device; and the sealing nail information in the vibration disk image is extracted, the sealing nail information including the graphic features and position information of the sealing nail; based on the similarity between the graphic features of the sealing nail and the preset graphic features, a first number of candidate nails are obtained; according to the preset nail extraction conditions, the first number of candidate nails are sorted to obtain sorting information, and target nails are selected from the first number of candidate nails in sequence according to the sorting information; according to the position information of the target nail, the nail suction device is controlled to absorb the target nail, and the nail suction device is controlled to press the target nail into the liquid filling port of the battery to be sealed.

[0021] In a third aspect, a battery sealing device is also provided, comprising: a first control module, used to control an image acquisition device to acquire an image of a vibration disk of the vibration device when the vibration device changes from a vibration state to a static state, wherein the vibration disk contains sealing nails, and the sealing nails are used to seal the battery; an information extraction module, used to extract sealing nail information in the vibration disk image, wherein the sealing nail information includes graphic features and position information of the sealing nails; a target screening module, used to obtain a first number of candidate nails based on the similarity between the graphic features of the sealing nails and preset graphic features; a target determination module, used to sort the first number of candidate nails according to preset nail picking conditions to obtain sorting information, and select target nails from the first number of candidate nails in sequence according to the sorting information; a second control module, used to control a nail suction device to absorb the target nail according to the position information of the target nail, and control the nail suction device to press the target nail into the liquid filling port of the battery to be sealed.

[0022] In a fourth aspect, an electronic device is also provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the battery sealing method described in the first aspect.

[0023] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the program is executed by a processor to implement the battery sealing method described in any one of the first aspects.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application. In addition, the same reference numerals are used to represent the same parts in all the drawings.

[0026] Figure 1 A flowchart showing the steps of the battery sealing method provided by an embodiment of the present application is shown; Figure 2 A schematic diagram showing an image of a vibration plate provided in an embodiment of the present application; Figure 3 A schematic diagram showing a battery image provided by an embodiment of the present application; Figure 4 A schematic structural diagram of a battery sealing system provided in an embodiment of the present application is shown; Figure 5 A front view of a battery sealing system provided by an embodiment of the present application is shown; Figure 6 A left side view of a battery sealing system provided by an embodiment of the present application is shown; Figure 7 A schematic diagram showing the structure of a battery sealing device provided in an embodiment of the present application is shown; Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present application is shown; Fig. 9 A schematic diagram of a storage medium provided in an embodiment of the present application is shown.

[0027] Reference numerals: Controller 400, image acquisition device 401, vibration device 402, nail suction device 403, vibration plate 404, manipulator 405, nail pressing bracket 406, battery sealing device 600, first control module 601, information extraction module 602, target determination module 603, second control module 604, electronic device 20, processor 200, memory 201, bus 202, communication interface 203. DETAILED DESCRIPTION

[0028] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0030] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0031] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0033] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0034] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0035] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like 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 a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] At present, from the perspective of market development, the application of power batteries is becoming more and more extensive. Power batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but also widely used in electric vehicles such as electric bicycles, electric motorcycles, electric cars, as well as military equipment and aerospace and other fields. With the continuous expansion of the application field of power batteries, the market demand is also constantly expanding.

[0038] In the process of making batteries, it is necessary to inject electrolyte into the battery and seal the battery after the injection is completed. However, the nail suction equipment in some technologies generally uses a nail guide tube, which is generally made of Teflon and has no precision in the inner diameter. The nails in the tube are sucked and blown by positive and negative air pressure, which is easy to get stuck on the one hand, and the posture of the nails in the tube cannot be controlled on the other hand, which is easy to cause the phenomenon of reverse nails, empty nails and horizontal nails out of the tube, and the failure rate is relatively high. The nail pressing mechanism relies on mechanical components to position the battery cell. The position of the pressing nail is fixed and cannot cover the position tolerance of the injection port during battery cell manufacturing, resulting in a low glue nail pressing rate. In other technologies, a gripper is used to clamp the sealing nails to achieve sealing, and it cannot be used for sealing nails of different shapes. There are problems such as low recognition accuracy of sealing nails, jamming of nail removal, reverse nail removal, empty nail removal, and only one shape of nail can be removed, resulting in low sealing efficiency.

[0039] Based on this, an embodiment of the present application provides a battery sealing method. When a vibration device changes from a vibrating state to a stationary state, an image acquisition device is used to acquire a vibration disk image to extract sealing nail information in the vibration disk image. The image acquisition timing is determined by the state of the vibration device. A vibration disk image acquired at one time may include multiple sealing nails. Compared with the related art, this embodiment can improve image acquisition and thus provide battery sealing efficiency; and the sealing nail information includes graphic features and position information of the sealing nails, so as to obtain a first number of alternative nails based on the graphic features of the sealing nails and preset graphic features satisfying similar conditions; in this way, different graphic features corresponding to sealing nails of different shapes can be set according to actual sealing nail requirements, thereby realizing the absorption of sealing nails of different shapes, and the graphic features of the sealing nails satisfying similar conditions with the preset graphic features can improve the recognition efficiency of positive nails, reduce the conditions that affect the sealing efficiency such as reverse nails and empty nails, and improve the battery sealing efficiency. According to the preset nail picking conditions, the first number of candidate nails are sorted to obtain sorting information, and the target nails are selected from the first number of candidate nails in sequence according to the sorting information, which can improve the selection efficiency of the target nails, reduce the randomness of nail picking, and further improve the nail picking efficiency. According to the position information of the target nail, the nail suction device is controlled to absorb the target nail, which can improve the positioning accuracy of the target nail, and then the nail suction device is controlled to press the target nail into the injection port of the battery to be sealed, so as to achieve coaxial pressing of the sealing nail and the injection port, thereby improving the accuracy of battery sealing.

[0040] Among them, the battery can be a battery product such as a battery module, a battery pack or a battery cell. The embodiment of the present application takes a battery production line as an example. For the convenience of explanation, the following embodiments are explained by taking an embodiment of the present application applied to a scenario where a glue is inserted and sealed on a liquid injection port of a lithium battery.

[0041] Figure 1 The flowchart of the battery sealing method provided by the embodiment of the present application is shown. The execution subject of the embodiment of the present application may be an electronic device capable of executing the battery sealing method, and the electronic device may include but is not limited to a terminal or a server.

[0042] like Figure 1 As shown, in an embodiment of the present application, a battery sealing method includes the following steps S101 to S105: S101 . When a vibration device changes from a vibration state to a static state, controlling an image acquisition device to acquire an image of a vibration disk of the vibration device.

[0043] In one example, the vibration disk is a component of a vibration device, and the vibration disk is mounted on the vibration device. The vibration disk contains sealing pins. When the vibration disk vibrates under the control of a controller, the sealing pins in the vibration disk vibrate to change their postures. After one or more vibrations, the sealing pins are finally in a straight pin posture. When the sealing pin is in a straight pin state, it means that its area facing upward relative to the vibration disk is larger, and it can be absorbed by a pin removal device. In order to reduce the friction of the sealing pin, the vibration disk of this embodiment is, for example, a flexible vibration disk. Among them, the sealing pin includes a rubber pin, so that an interference fit between the sealing pin and the battery filling port can be achieved.

[0044] In this embodiment, the image acquisition device is installed above the vibration plate, so that the image acquisition device can acquire images of the sealing nails in the vibration plate.

[0045] In this embodiment, the vibration state of the vibration device can be detected. When the vibration device changes from a vibrating state to a static state, it means that the sealing pins in the vibration disk are basically stationary and there are new alternative pins. Then, the image acquisition device is controlled to acquire an image of the vibration disk of the vibration device.

[0046] The timing of controlling the image acquisition device to acquire the image of the vibration plate may also be the moment when the image acquisition device returns to the initial position after being driven by the manipulator. The specific control timing and control frequency may be customized according to the actual working conditions.

[0047] S102: extracting sealing pin information from the vibration plate image, where the sealing pin information includes graphic features and position information of the sealing pin.

[0048] Figure 2 Schematic diagram showing the image of the vibration disk provided by the embodiment of the present application. Figure 2 As shown, Figure 2 The vibration plate in the figure includes multiple sealing pins, and the postures of the sealing pins are different. Among them, the projection area of ​​the positive pin on the vibration plate is larger, and the images of the sealing pins in other postures have unclear boundaries, different shapes, or tilts. For example, Figure 2 Positive and negative nailing shown.

[0049] To extract the sealing nail information from the vibration plate image, computer vision and image processing algorithms such as edge detection, corner detection, and contour tracking can be used to extract feature information from the vibration plate image, and then identify the feature nails to obtain the sealing nail information.

[0050] The characteristic pin information includes but is not limited to the shape of the sealing pin and the graphical characteristic value of the sealing pin. The shape of the sealing pin is, for example, circular, rectangular, or anisotropic to adapt to batteries with different structural design requirements. The graphical characteristic value of the sealing pin is, for example, the size, area, perimeter, and other characteristics of the sealing pin.

[0051] S103: Obtain a first number of candidate nails based on the fact that the graphic features of the sealing nails and the preset graphic features satisfy a similarity condition.

[0052] The preset graphic features may be shape features and graphic feature values ​​describing the size of the graphic. For example, the preset graphic features include the preset graphic being a circle, a rectangle, or an ellipse, and the preset graphic feature values ​​include the area of ​​the preset graphic being A, the perimeter of the preset graphic being B, and the like.

[0053] The graphic features of the sealing nail and the preset graphic features satisfy the similarity condition, indicating that the sealing nail is in a positive nail state and can be absorbed by the nail removal device as an alternative nail. Therefore, based on the graphic features of the sealing nail and the preset graphic features satisfying the similarity condition, a first number of alternative nails can be obtained.

[0054] S104: sort the first number of candidate pins according to a preset pin selection condition to obtain sorting information, and select target pins from the first number of candidate pins in sequence according to the sorting information.

[0055] Among them, since the first number of alternative nails is generally greater than or equal to 1, the nail suction device can only absorb one sealing nail at a time to correspond to one injection port. When the first number is greater than or equal to 2, there is a problem of nail retrieval priority. Therefore, after obtaining the first number of alternative nails, the first number of alternative nails are sorted according to preset nail retrieval conditions to obtain sorting information, and the target nails are selected from the first number of alternative nails in turn according to the sorting information, and then the target nail is pressed into the injection port.

[0056] In one example, the sorting information may be determined according to the similarity between the graphic features of the sealing pins and the preset graphic features, or according to the positions of the sealing pins in the vibration plate.

[0057] S105 , according to the position information of the target nail, controlling the nail suction device to suck the target nail, and controlling the nail suction device to press the target nail into the liquid injection port of the battery to be sealed.

[0058] After determining the target nail, the position information of the target nail can be obtained, and then a motion path can be generated with the current position of the nail suction device as the starting point and the position of the target nail as the end point, so as to control the nail suction device to obtain the corresponding motion path and reach the position of the target nail to absorb the target nail.

[0059] After the nail suction device absorbs the target nail, the controller can also control the nail suction device to move to the position of the battery to be sealed, and then press the target nail down when the target nail is coaxial with the injection port, so as to achieve coaxial pressing of the target nail and the injection port.

[0060] In the above embodiment, when the vibration device changes from a vibration state to a static state, the image acquisition device acquires the vibration disk image to extract the sealing nail information in the vibration disk image, and the image acquisition timing is determined by the state of the vibration device. The vibration disk image acquired at one time may include multiple sealing nails. Compared with the related art, this embodiment can improve the image acquisition and thus provide the efficiency of battery sealing; and the sealing nail information includes the graphic features and position information of the sealing nail, so as to obtain the first number of candidate nails based on the similarity condition between the graphic features of the sealing nail and the preset graphic features; in this way, different graphic features corresponding to sealing nails of different shapes can be set according to the actual sealing nail requirements, so as to realize the absorption of sealing nails of different shapes, and the graphic features of the sealing nails meet the similarity condition to improve the recognition efficiency of positive nails, reduce the conditions that affect the sealing efficiency such as reverse nails and empty nails, and improve the battery sealing efficiency. According to the preset nail extraction condition, the first number of candidate nails are sorted to obtain sorting information, and the target nails are selected from the first number of candidate nails in sequence according to the sorting information, which can improve the selection efficiency of the target nails, reduce the randomness of the nail extraction, and further improve the nail extraction efficiency. According to the position information of the target nail, the nail suction device is controlled to absorb the target nail, which can improve the positioning accuracy of the target nail. The nail suction device is then controlled to press the target nail into the injection port of the battery to be sealed, so that the sealing nail and the injection port are coaxially pressed into each other, thereby improving the accuracy of battery sealing.

[0061] In an embodiment of the present application, the graphic features include the shape of the sealing nail and the graphic feature value of the sealing nail. Based on the fact that the graphic features of the sealing nail and the preset graphic features satisfy similarity conditions, a first number of alternative nails are obtained, including: comparing the shape of the sealing nail with the preset shape to obtain a sealing nail with the same shape as the preset shape; obtaining a feature value difference based on the graphic feature value corresponding to the sealing nail with the same shape as the preset shape and the preset graphic feature value; and obtaining the first number of alternative nails based on the feature value difference being within a preset range.

[0062] In this embodiment, the preset graphic feature value is based on the graphic feature of the sealing nail under standard conditions. For example, if the shape of the sealing nail is a perfect circle and the area of ​​the sealing nail under the orthographic projection state is D, then the corresponding preset feature value is a perfect circle with an area of ​​D. The sealing nail corresponding to the preset graphic feature is also a standard nail.

[0063] In one example, taking the shape of the sealing pin as a circle, the preset shape is also a circle, and obtaining a sealing pin with the same shape as the preset shape is, for example, obtaining Figure 2 The shapes of the multiple sealing pins shown are compared Figure 2 Whether the shapes of the multiple sealing pins shown in the figure are the same as the preset shapes, that is, whether the shapes of the ... Figure 2 Are the multiple sealing pins round?

[0064] Continuing with the above example, based on the graphic feature value corresponding to the sealing nail with the same preset shape and the preset graphic feature value, the feature value difference is obtained. That is, after detecting Figure 2 When there are multiple circular sealing pins, obtain the graphic feature values ​​of all circular sealing pins, compare the graphic feature values ​​of all circular sealing pins with the preset graphic feature values, and assume that there are 10 circular sealing pins, subtract the graphic feature values ​​of these 10 circular sealing pins from the preset graphic feature values ​​to obtain 10 feature value differences.

[0065] The 10 characteristic value differences are respectively detected to see whether they are within a preset range, and the sealing nails corresponding to the characteristic value differences within the preset range are selected as candidate nails to obtain a first number of candidate nails, for example, the first number is any one of 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10. The preset range represents the allowable error range between the image characteristic value of the sealing nail and the preset graphic characteristic value, and the specific value can be set according to the working conditions.

[0066] The above embodiment uses the shape and graphic feature value of the sealing nail as the condition for selecting the target nail, and then can select the sealing nail with greater similarity to the preset feature from all the sealing nails as the target nail, which can improve the accuracy of selecting the target nail and reduce the occurrence of reverse nails, empty nails, etc. Moreover, a plurality of candidate nails can be obtained by one graphic detection, which greatly improves the detection efficiency compared with the method in the related art that detects the graphic every time the nail is taken.

[0067] In an embodiment of the present application, a first number of candidate nails are sorted according to preset nail selection conditions to obtain sorting information, including: sorting the first number of candidate nails in the first number of candidate nails in descending order of the graphic feature value of each candidate nail in the first number of candidate nails to obtain first sorting information.

[0068] According to the ranking in the first ranking information, a first number of candidate pins are sequentially selected as target pins.

[0069] Continuing with the above example, assuming that the first number is 6, after the battery to be sealed reaches the sealing position, the system detects that the sealing pin needs to be sucked in, then one can be selected from the 6 candidate pins as the target pin, and for each of the 6 candidate pins, their graphic feature values ​​are obtained respectively, and then the 6 candidate pins are sorted in order from large to small according to the graphic feature values. At this time, the first sorting information is, for example, candidate pin 1, candidate pin 2, candidate pin 3, candidate pin 4, candidate pin 5, and candidate pin 6. Since the shape of the candidate pins is the same as the preset shape, the graphic feature values ​​of the candidate pins are also close to the preset graphic feature values. Therefore, the candidate pin with the largest graphic feature value can be regarded as the one closest to the preset graphic feature. According to the sorting in the first sorting information, the first number of candidate pins are taken as target pins in turn, and the candidate pin closest to the standard pin can be preferentially taken as the target nail and pressed into the liquid filling port of the battery to be sealed.

[0070] The above embodiment selects the target nail from the first number of candidate nails by presetting the nail selection conditions in the order of the graphic characteristic values ​​from large to small, and can preferentially press the candidate nail closest to the standard nail into the liquid filling port of the battery to be sealed as the target nail, thereby improving the accuracy of the battery sealing.

[0071] In an embodiment of the present application, a first number of candidate nails are sorted according to preset nail retrieval conditions to obtain sorting information, including: taking the center of the vibration disk as a reference point, calculating the distance between each candidate nail in the first number of candidate nails and the reference point; sorting the first number of candidate nails in order of the distance between each candidate nail and the reference point from near to far, to obtain second sorting information.

[0072] In one example, the sealing pins are all contained in the vibration disk. When the nail suction device takes out the pins, it also positions the sealing pins within the range of the vibration disk. Therefore, in this embodiment, the center of the vibration disk is used as the reference point, and the alternative pins that are close to the reference point are preferentially sucked, which can reduce the movement distance of the nail suction device and improve the sealing efficiency.

[0073] Continuing with the above example, assuming that the first number is 6, after the battery to be sealed reaches the sealing position, the system detects that the sealing pin needs to be sucked in, then one of the 6 candidate pins can be selected as the target pin, and for these 6 candidate pins, the distance between them and the reference point is calculated respectively, and then the 6 candidate pins are sorted in order of the distance between them and the reference point from near to far. At this time, the second sorting information is, for example, alternative pin 1, alternative pin 2, alternative pin 3, alternative pin 4, alternative pin 5, alternative pin 6. According to the sorting in the second sorting information, the first number of alternative pins are taken as target pins in turn.

[0074] The above embodiment can preferentially absorb the candidate nails that are close to the reference point, so as to reduce the movement distance of the nail suction device and improve the sealing efficiency.

[0075] In one example, after obtaining a first number of candidate nails, a target nail may also be randomly selected from the first number of candidate nails.

[0076] Continuing with the above example, if the number of candidate pins is 6, after each candidate pin is used as a target pin, if all the 6 target pins are pressed into the injection port, the above steps S101 to S105 are repeated.

[0077] In an embodiment of the present application, the position information of the sealing pin in the vibration disk image is extracted, including: identifying the edge of the sealing pin to determine the shape of the sealing pin; determining the center position of the sealing pin based on the shape of the sealing pin; and obtaining the position information of the sealing pin based on the positional relationship between the center position of the sealing pin and the center of the vibration disk.

[0078] The edge of the sealing nail is identified, and the shape of the sealing nail is determined by computer vision and image processing algorithms such as edge detection, corner point detection, and contour tracking. The shape of the sealing nail is, for example, circular, rectangular, and the like.

[0079] Based on the shape of the sealing nail, the center position of the sealing nail can be determined by the center positioning method. For example, if the sealing nail is a circle, you can randomly select points on the edge of the circle to connect the lines. The point where multiple line segments overlap is the center of the circle, and the center of the circle is the center position of the circular sealing nail. Assuming the sealing nail is a rectangle, the corner points detect the four corners of the rectangle, and the intersection of the lines connecting the four corners is the center position of the sealing nail.

[0080] After the center position is obtained, the position information of the sealing pin can be obtained according to the positional relationship between the center position of the sealing pin and the center of the vibration plate through an image processing algorithm.

[0081] In the above embodiment, the center position of the sealing nail is determined by the shape of the sealing nail, and the position information of the sealing nail is obtained based on the positional relationship between the center position of the sealing nail and the center of the vibration disk. This can greatly improve the positioning accuracy of the center position, thereby improving the accuracy of the nail removal device in removing nails and improving the nail removal efficiency.

[0082] After each target nail is pressed into the injection port, the nail suction device needs to return to the initial position to wait for the next nail pressing process. In one example, the controller can control the image acquisition device to collect images of the vibration plate after each nail pressing process and when the next nail pressing process is brought. Since the position of the vibration plate is unchanged, when the vibration plate is in a static state, the sealing nails in the vibration plate also maintain their original posture. Therefore, the controller can also control the acquisition frequency of the image acquisition device according to the vibration state of the vibration plate.

[0083] In an embodiment of the present application, controlling an image acquisition device to acquire an image of the vibration disk includes: generating a vibration control signal when a first number of candidate pins are all pressed into the liquid filling port of the battery to be sealed as target pins; controlling the vibration device to be in a vibration state based on the vibration control signal to change the posture of the sealing pins in the vibration disk; generating a first control signal when the vibration device changes from a vibration state to a stationary state; and controlling the image acquisition device to acquire an image of the vibration disk according to the first control signal.

[0084] When the first number of candidate pins are all pressed into the liquid filling port of the battery to be sealed as target pins, that is, after the candidate pins obtained after a vibration disk image detection are completed are absorbed, the remaining sealing pins on the vibration disk do not meet the similarity conditions. At this time, a vibration control signal is generated, and then the vibration device is controlled to be in a vibrating state based on the vibration control signal, so that the vibration disk changes its posture in the vibrating state to obtain new candidate pins.

[0085] At this time, the vibration state of the vibration device can be detected. When the vibration device changes from the vibration state to the static state, it means that the sealing pins in the vibration disk are basically static and there are new candidate pins. Then, a first control signal is generated, and the image acquisition device is controlled to acquire the vibration disk image according to the first control signal. Then, the above steps S101 to S105 are repeatedly executed.

[0086] In the above-mentioned embodiment, the first number of candidate pins are sucked as the trigger condition for generating a vibration control signal, so as to control the vibration device to be in a vibration state, so that the sealing pins in the vibration disk change their postures, and then when the vibration device changes from a vibration state to a static state, a first control signal is generated to control the image acquisition device to acquire an image of the vibration disk, which can reduce the number of image acquisitions and the effect of acquiring multiple candidate pins in one image acquisition, thereby further improving the battery sealing efficiency.

[0087] In an embodiment of the present application, controlling a nail suction device to press a target nail into a liquid injection port of a battery to be sealed includes: generating a second control signal when controlling the nail suction device to move above the battery to be sealed; controlling an image acquisition device to acquire a battery image according to the second control signal; extracting liquid injection port information in the battery image, the liquid injection port information including center point position information of the liquid injection port; and controlling the nail suction device to press a target nail into the liquid injection port of the battery to be sealed based on the center point position information.

[0088] In one example, a movement path of the nail suction device can be generated according to the current position of the nail suction device and the position of the battery to be sealed. The controller controls the nail suction device to move to the top of the battery to be sealed according to the movement path. When the nail suction device moves to the top of the battery to be sealed, a second control signal is generated. The second control signal is used to control the image acquisition device to acquire an image of the battery to be sealed, thereby obtaining a battery image. The battery image includes a liquid injection port, and the liquid injection port information in the battery image can be extracted. The liquid injection port information includes the center point position information of the liquid injection port, and then the nail suction device can be controlled to press the target nail into the liquid injection port of the battery to be sealed according to the center point position information, so as to achieve alignment between the sealing nail and the center point of the liquid injection port, thereby improving the accuracy of battery sealing.

[0089] In this embodiment, the extraction of the filling port information in the battery image can also be achieved by using the center positioning method. Figure 3 A schematic diagram of a battery image provided by an embodiment of the present application is shown. Figure 3 As shown, taking the injection port as a circle as an example, you can randomly select points on the edge of the circle to connect the lines, and the point where multiple line segments overlap is the center of the circle, and the center of the circle is the center point of the injection port.

[0090] In one example, assuming that the liquid injection port is a rectangle, the four vertices of the rectangle are detected through the corner points, and the intersection of the lines connecting the four vertices is the center point of the liquid injection port.

[0091] In the above embodiment, when the nail suction device moves to the top of the battery to be sealed, the image acquisition device is controlled to acquire the battery image, and then the position information of the center point of the liquid injection port in the battery image is extracted. Based on the center point position information, the nail suction device is controlled to press the target nail into the liquid injection port of the battery to be sealed, so that the sealing nail and the center point of the liquid injection port can be aligned, thereby improving the accuracy of battery sealing.

[0092] The battery sealing method is described below by using the application of the embodiment of the present application in a specific example.

[0093] Figure 5 A front view of a battery sealing system provided in an embodiment of the present application is shown. Figure 6 A left side view of a battery sealing system provided in an embodiment of the present application is shown.

[0094] like Figure 5 As shown, the battery sealing system includes a controller 400, an image acquisition device 401, a vibration device 402, a nail suction device 403, a vibration plate 404, and a manipulator 405. When the battery to be sealed is sealed, the battery is in the following state: Figure 6 At the position of the nail pressing bracket 406 shown, the manipulator moves within the range of motion and can move between the vibration device and the nail pressing bracket 406 to achieve taking nails out of the vibration plate and pressing nails at the position of the nail pressing bracket 406.

[0095] In one example, the required nails can be manually placed into the vibration disk 404, the battery sealing system starts the automated operation mode, the battery enters the nail pressing position where the nail pressing bracket 406 is located and stops, the controller 400 controls the vibration device 402 to be in a vibrating state, and stops after the nails are vibrated in sequence, and the controller 400 controls the robot 405 to drive the image acquisition device 401 to move above the vibration disk to take pictures and collect images of the vibration disk.

[0096] The controller 400 extracts the glue nail information in the vibration plate image, performs glue nail recognition, obtains multiple candidate nails based on the similarity between the graphic features of the glue nails and the preset graphic features, and determines the target nail from the multiple candidate nails in turn according to the preset nail selection conditions.

[0097] The controller 400 controls the nail suction device 403 to move to the target nail position to remove the nail. After the removal, the manipulator drives the image acquisition device 401 to move to the position of the nail pressing bracket 406, takes a picture of the battery to be sealed, and identifies the center point position of the battery filling port to be pressed. Based on the center point position, the controller 400 controls the manipulator 405 to carry the glue nail and move it to the top of the filling port. The manipulator 405 presses down to press the glue nail in. After the pressing is completed, the manipulator 405 moves to the initial position, waiting for the next group of batteries to be sealed to arrive, and repeats the operation in sequence.

[0098] The embodiment of the present application collects the vibration disk image through the image acquisition device to extract the sealing nail information in the vibration disk image. The sealing nail information includes the graphic features and position information of the sealing nail, so as to obtain a first number of candidate nails based on the graphic features of the sealing nail and the preset graphic features satisfying the similarity condition; the target nail is selected from the first number of candidate nails according to the preset nail selection condition. In this way, different graphic features corresponding to sealing nails of different shapes can be set according to the actual sealing nail requirements, so as to realize the absorption of sealing nails of different shapes, and the graphic features of the sealing nails and the preset graphic features satisfying the similarity condition can improve the recognition efficiency of positive nails, reduce the conditions that affect the sealing efficiency such as reverse nails and empty nails, and improve the battery sealing efficiency. According to the position information of the target nail, the nail suction device is controlled to absorb the target nail, which can improve the positioning accuracy of the target nail, and then the nail suction device is controlled to press the target nail into the injection port of the battery to be sealed, so as to realize the coaxial pressing of the sealing nail and the injection port, and improve the accuracy of battery sealing.

[0099] refer to Figure 4 As shown, Figure 4 A schematic diagram of the structure of a battery sealing system provided by an embodiment of the present application is shown. A battery sealing system 400 includes: a controller 400, an image acquisition device 401, a nail suction device 403 and a vibration device 402; the image acquisition device 401 is installed on the nail suction device, and the vibration device 402 includes a vibration plate, and the vibration plate contains sealing nails.

[0100] The image acquisition device 401 is used to move above the vibration plate under the control of the controller 401 to acquire an image of the vibration plate.

[0101] The vibration device 402 is used to be in a vibration state under the control of the controller 400 so as to change the posture of the sealing pins in the vibration plate.

[0102] The nail suction device 403 is used to suck the target nail and press the target nail into the liquid injection port of the battery to be sealed under the control of the controller 400.

[0103] The controller 400 is used to control the image acquisition device to acquire a vibration disk image of the vibration device when the vibration device changes from a vibration state to a static state; and extract the sealing nail information in the vibration disk image, wherein the sealing nail information includes the graphic features and position information of the sealing nail; obtain a first number of candidate nails based on the similarity between the graphic features of the sealing nail and the preset graphic features; sort the first number of candidate nails according to the preset nail extraction conditions to obtain sorting information, and select target nails from the first number of candidate nails in sequence according to the sorting information; control the nail suction device to absorb the target nail according to the position information of the target nail, and control the nail suction device to press the target nail into the liquid filling port of the battery to be sealed.

[0104] The installation diagram of the battery sealing system of this embodiment is as follows Figure 5 As shown, the battery sealing system includes a controller 400, an image acquisition device 401, a vibration device 402, a nail suction device 403, a vibration plate 404, and a manipulator 405. When the battery to be sealed is sealed, the battery is at a nail pressing bracket 406. The manipulator moves within the range of movement and can move between the vibration device and the nail pressing bracket 406 to remove the nails in the vibration plate and press the nails at the position of the nail pressing bracket 406.

[0105] In one example, the required nails can be placed into the vibration plate manually, the battery sealing system starts the automatic operation mode, the battery enters the waiting nail pressing position where the nail pressing bracket 406 is located and stops, the controller 400 controls the vibration device 402 to be in a vibrating state, and stops after the nails are vibrated in sequence, and the controller 400 controls the robot 405 to drive the image acquisition device 401 to move above the vibration plate 404 to take pictures and collect images of the vibration plate 404.

[0106] The controller 400 extracts the glue nail information in the vibration plate image 404, performs glue nail recognition, obtains multiple candidate nails based on the similarity between the graphic features of the glue nails and the preset graphic features, and determines the target nail from the multiple candidate nails in turn according to the preset nail selection conditions.

[0107] The controller 400 controls the nail suction device 403 to move to the target nail position to remove the nail. After the removal, the manipulator drives the image acquisition device 401 to move to the position of the nail pressing bracket 406, takes a picture of the battery to be sealed, and identifies the center point position of the battery filling port to be pressed. Based on the center point position, the controller 400 controls the manipulator 405 to carry the glue nail and move it to the top of the filling port. The manipulator 405 presses down to press the glue nail in. After the pressing is completed, the manipulator 405 moves to the initial position, waiting for the next group of batteries to be sealed to arrive, and repeats the operation in sequence.

[0108] The battery sealing system provided in the above-mentioned embodiment of the present application and the battery sealing method provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0109] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0110] In one embodiment, reference Figure 7 , Figure 7 The schematic diagram of the structure of the battery sealing device provided in the embodiment of the present application is shown, and the battery sealing device 600 includes: The first control module 601 is used to control the image acquisition device to acquire an image of a vibration disk of the vibration device when the vibration device changes from a vibration state to a static state, wherein the vibration disk contains sealing pins, and the sealing pins are used to seal the battery; An information extraction module 602 is used to extract the sealing pin information in the vibration plate image, wherein the sealing pin information includes the graphic features and position information of the sealing pin; A target screening module 603 is used to obtain a first number of candidate nails based on the similarity between the graphic features of the sealing nail and the preset graphic features; The target determination module 604 is used to sort the first number of candidate nails according to a preset nail selection condition to obtain sorting information, and select target nails from the first number of candidate nails in sequence according to the sorting information; The second control module 605 is used to control the nail suction device to suck the target nail according to the position information of the target nail, and control the nail suction device to press the target nail into the liquid injection port of the battery to be sealed.

[0111] In one example, the graphic features include the shape of the sealing pin and the graphic feature value of the sealing pin. The target screening module 603 is further used to compare the shape of the sealing pin with a preset shape to obtain a sealing pin with the same shape as the preset shape; obtain a feature value difference based on the graphic feature value corresponding to the sealing pin with the same shape as the preset shape and the preset graphic feature value; and obtain a first number of candidate pins based on the feature value difference being within a preset range.

[0112] In one example, the target determination module 604 is further used to sort the first number of candidate nails in descending order of the graphic feature value of each candidate nail in the first number of candidate nails to obtain first sorting information.

[0113] In one example, the target determination module 604 is also used to calculate the distance between each candidate nail in the first number of candidate nails and the reference point with the center of the vibration disk as the reference point; sort the first number of candidate nails in order of the distance between each candidate nail and the reference point from near to far, to obtain second sorting information.

[0114] The information extraction module 602 is used to identify the edge of the sealing pin and determine the shape of the sealing pin; determine the center position of the sealing pin based on the shape of the sealing pin; and obtain the position information of the sealing pin based on the positional relationship between the center position of the sealing pin and the center of the vibration plate.

[0115] The first control module 601 is used to generate a vibration control signal when the first number of candidate pins are all pressed into the liquid filling port of the battery to be sealed as target pins; control the vibration device to be in a vibration state based on the vibration control signal so that the sealing pins in the vibration disk change their posture; generate a first control signal when the vibration device changes from a vibration state to a static state; and control the image acquisition device to acquire an image of the vibration disk according to the first control signal.

[0116] The second control module 605 is used to generate a second control signal when controlling the nail suction device to move above the battery to be sealed; control the image acquisition device to acquire a battery image according to the second control signal; extract the liquid injection port information in the battery image, wherein the liquid injection port information includes the center point position information of the liquid injection port; and control the nail suction device to press the target nail into the liquid injection port of the battery to be sealed based on the center point position information.

[0117] The battery sealing device provided in the above-mentioned embodiment of the present application and the battery sealing method provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0118] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0119] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the battery sealing method as described above.

[0120] Please refer to Figure 8 , which shows a schematic diagram of an electronic device provided by some embodiments of the present application. Figure 8 As shown, the electronic device 20 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, and the processor 200, the communication interface 203 and the memory 201 are connected via the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and the processor 200 executes the method provided in any of the aforementioned embodiments of the present application when running the computer program.

[0121] The memory 201 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0122] The bus 202 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 201 is used to store programs, and the processor 200 executes the programs after receiving execution instructions. The battery sealing method disclosed in any implementation of the aforementioned embodiment of the present application may be applied to the processor 200, or implemented by the processor 200.

[0123] The processor 200 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 200. The above processor 200 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the above method in combination with its hardware.

[0124] The electronic device provided in the embodiment of the present application and the battery sealing method provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0125] The present application also provides a computer-readable storage medium corresponding to the battery sealing method provided in the above embodiment. Fig. 9 , which shows a computer-readable storage medium 30, which may be a CD, on which a program product is stored, which may be an operating system, application software, game, tool software, etc. The program product includes a computer program, which usually exists in source code or compiled binary form. When the computer program is run by a processor, it will execute the battery sealing method provided by any of the aforementioned embodiments.

[0126] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0127] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the battery sealing method provided in the embodiments of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0128] It should be noted that: In the above text, the term "comprises", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0129] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0130] The embodiments of the present application are described above in conjunction with the accompanying drawings, which are only specific implementation modes of the present application. However, the present application is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A battery sealing method, characterized in that: include: When the vibration device changes from a vibration state to a static state, controlling the image acquisition device to acquire an image of a vibration disk of the vibration device, wherein a sealing pin is contained in the vibration disk, and the sealing pin is used to seal the battery; Extracting sealing pin information from the vibration plate image, wherein the sealing pin information includes graphic features and position information of the sealing pin; Based on the fact that the graphic features of the sealing nails and the preset graphic features meet a similarity condition, a first number of candidate nails are obtained; According to a preset nail selection condition, the first number of candidate nails are sorted to obtain sorting information, and target nails are selected from the first number of candidate nails in sequence according to the sorting information; According to the position information of the target nail, the nail suction device is controlled to suck the target nail, and the nail suction device is controlled to press the target nail into the liquid injection port of the battery to be sealed.

2. The battery sealing method according to claim 1, characterized in that: The graphic feature includes the shape of the sealing nail and the graphic feature value of the sealing nail, and based on the graphic feature of the sealing nail and the preset graphic feature satisfying a similarity condition, a first number of candidate nails are obtained, including: Comparing the shape of the sealing pin with a preset shape to obtain a sealing pin having the same shape as the preset shape; Based on the graphic characteristic value corresponding to the sealing nail with the same preset shape and the preset graphic characteristic value, a characteristic value difference is obtained, and based on the characteristic value difference being within a preset range, the first number of candidate nails is obtained.

3. The battery sealing method according to claim 1, characterized in that: According to the preset nail selection condition, the first number of candidate nails are sorted to obtain sorting information, including: The first number of candidate nails are sorted in descending order according to the graphic feature value of each candidate nail in the first number of candidate nails to obtain first sorting information.

4. The battery sealing method according to claim 1, characterized in that: According to the preset nail selection condition, the first number of candidate nails are sorted to obtain sorting information, including: Taking the center of the vibration plate as a reference point, calculating the distance between each candidate nail of the first number of candidate nails and the reference point; The first number of candidate pins are sorted in order of the distance between each candidate pin and the reference point from near to far, to obtain second sorting information.

5. The battery sealing method according to claim 1, characterized in that: Extracting the location information of the sealing pins in the vibration plate image includes: Identifying the edge of the sealing pin and determining the shape of the sealing pin; Based on the shape of the sealing pin, determining the center position of the sealing pin; The position information of the sealing pin is obtained according to the positional relationship between the center position of the sealing pin and the center of the vibration plate.

6. The battery sealing method according to any one of claims 2 to 4, characterized in that: Controlling the image acquisition device to acquire the image of the vibration disk of the vibration device comprises: generating a vibration control signal when all of the first number of candidate nails are pressed into the liquid injection port of the battery to be sealed as target nails; Based on the vibration control signal, the vibration device is controlled to be in a vibration state so that the sealing pins in the vibration plate change their posture; When the vibration device changes from a vibrating state to a stationary state, generating a first control signal; The image acquisition device is controlled to acquire the image of the vibration disk according to the first control signal.

7. The battery sealing method according to claim 1, characterized in that: Controlling the nail suction device to press the target nail into the liquid injection port of the battery to be sealed includes: In the case of controlling the nail suction device to move above the battery to be sealed, generating a second control signal; controlling the image acquisition device to acquire a battery image according to the second control signal; Extracting liquid injection port information in the battery image, wherein the liquid injection port information includes central point position information of the liquid injection port; Based on the center point position information, the nail suction device is controlled to press the target nail into the liquid injection port of the battery to be sealed.

8. A battery sealing system, characterized in that: include: Controller, image acquisition device, nail suction device and vibration device; The image acquisition device is installed on the nail suction device, and the vibration device includes a vibration plate, and the sealing nails are accommodated in the vibration plate; The image acquisition device is used to move above the vibration plate under the control of the controller to acquire an image of the vibration plate; The vibration device is used to be in a vibrating state under the control of the controller so as to change the posture of the sealing pins in the vibration plate; The nail suction device is used to suck the target nail under the control of the controller and press the target nail into the liquid injection port of the battery to be sealed; The controller is used to control the image acquisition device to acquire an image of a vibration disk of the vibration device when the vibration device changes from a vibration state to a static state; and extract the sealing pin information in the vibration disk image, wherein the sealing pin information includes the graphic features and position information of the sealing pin; Based on the similarity between the graphic features of the sealing nail and the preset graphic features, a first number of candidate nails are obtained; according to the preset nail selection conditions, the first number of candidate nails are sorted to obtain sorting information, and target nails are selected from the first number of candidate nails in sequence according to the sorting information; according to the position information of the target nail, the nail suction device is controlled to absorb the target nail, and the nail suction device is controlled to press the target nail into the liquid filling port of the battery to be sealed.

9. A battery sealing device, characterized in that: include: A first control module is used to control the image acquisition device to acquire an image of a vibration disk of the vibration device when the vibration device changes from a vibration state to a static state, wherein a sealing nail is contained in the vibration disk, and the sealing nail is used to seal the battery; An information extraction module, used to extract the sealing pin information in the vibration plate image, wherein the sealing pin information includes the graphic features and position information of the sealing pin; A target screening module, configured to obtain a first number of candidate nails based on the similarity between the graphic features of the sealing nail and the preset graphic features; a target determination module, configured to sort the first number of candidate nails according to a preset nail selection condition, obtain sorting information, and select target nails from the first number of candidate nails in sequence according to the sorting information; The second control module is used to control the nail suction device to suck the target nail according to the position information of the target nail, and control the nail suction device to press the target nail into the liquid injection port of the battery to be sealed.

10. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the battery sealing method according to any one of claims 1 to 7.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the battery sealing method according to any one of claims 1 to 7.

Images