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

Abstract

The present application provides a battery sealing method, system, device, electronic device, and storage medium, relating to the field of battery manufacturing technology. The battery sealing method includes: controlling an image acquisition device to capture an image of a vibrating disk containing sealing pins used to seal the battery; extracting sealing pin information from the vibrating disk image, the sealing pin information including graphical features and position information of the sealing pins; obtaining a first number of candidate pins based on similarity between the graphical features of the sealing pins and preset graphical features; sorting the first number of candidate pins according to preset pin selection conditions to obtain sorting information, and sequentially selecting target pins from the first number of candidate pins according to the sorting information; controlling a pin suction device to absorb the target pin based on the target pin's position information, and controlling the pin suction device to press the target pin into the liquid injection port of the battery to be sealed. The present application can improve the efficiency of battery sealing.

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, maintain the stability of the electrolyte, 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 jamming when removing nails, removing reverse nails, removing empty nails, and only being able to remove nails of one shape, resulting in low sealing efficiency.

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

[0005] In view of this, the purpose of this 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 vibrating state to a stationary state, controlling an image acquisition device to acquire an image of a vibration disk of the vibration device, wherein the vibration disk contains a sealing pin, and the sealing pin is used to seal the battery; extracting sealing pin information from the vibration disk image, wherein the sealing pin information includes graphic features and position information of the sealing pin; obtaining a first number of candidate pins based on a similarity condition between the graphic features of the sealing pin and preset graphic features; sorting the first number of candidate pins according to preset pin selection conditions to obtain sorting information, and selecting target pins from the first number of candidate pins in sequence according to the sorting information; controlling a pin suction device to absorb the target pin according to the position information of the target pin, and controlling the pin suction device to press the target pin into the liquid filling port of the battery to be sealed.

[0007] In the above embodiment, when the vibration device changes from a vibrating state to a stationary state, the image acquisition device captures the vibration disk image to extract the sealing nail information in the vibration disk image. The image acquisition timing is determined by the state of the vibration device. The vibration disk image captured at one time may include multiple sealing nails. Compared with the related art, this embodiment can improve image acquisition and thus improve the efficiency of battery sealing. The sealing nail information includes the graphical features and position information of the sealing nail, so that a first number of candidate nails can be obtained based on the similarity between the graphical features of the sealing nail and the preset graphical features. In this way, different graphical features corresponding to sealing nails of different shapes can be set according to actual sealing nail requirements, thereby achieving the absorption of sealing nails of different shapes. The similarity between the graphical features of the sealing nail and the preset graphical features can improve the recognition efficiency of positive nails, reduce the situation that the sealing efficiency is affected by reversed nails, empty nails, etc., and improve the battery sealing efficiency. According to the preset nail extraction conditions, the first number of candidate nails are sorted to obtain sorting information. The target nails are selected from the first number of candidate nails in accordance with the sorting information. This can improve the efficiency of target nail selection, reduce the randomness of 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 liquid injection port of the battery to be sealed, so that the sealing nail and the liquid injection port are pressed coaxially, thereby improving the accuracy of battery sealing.

[0008] In some embodiments, 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 meet 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; 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, a feature value difference is obtained; based on the feature value difference being within a preset range, the first number of alternative nails is obtained.

[0009] The above embodiment uses the shape and graphic features of sealing pins as criteria for selecting target pins. This allows the selection of those with the highest similarity to the pre-set features from all sealing pins. This improves target pin selection accuracy and reduces the occurrence of reversed pins, empty pins, and other such problems. Furthermore, a single graphic detection process can yield multiple candidate pins, significantly improving detection efficiency compared to related art methods that require graphic detection for each pin selection.

[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 order of the graphic feature value of each candidate nail in the first number of candidate nails from large to small to obtain first sorting information.

[0011] The above embodiment selects a target nail from a first number of candidate nails by presetting the nail selection conditions in descending order of the graphic characteristic values. The candidate nail closest to the standard nail can be preferentially pressed 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 alternative nails are sorted according to preset nail selection conditions to obtain sorting information, including: taking the center of the vibration disk as the reference point, calculating the distance between each alternative nail in the first number of alternative nails and the reference point; sorting the first number of alternative nails in order of the distance between each alternative 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, thereby reducing the movement distance of the nail suction device and improving 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 an image of the vibration disk of the vibration device includes: generating a vibration control signal when the first number of alternative 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 vibrating 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 vibrating 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.

[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 capture a battery image according to the second control signal; extracting liquid injection port information from 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 disk, and the vibration disk contains sealing nails; the image acquisition device is used to move to the top of the vibration disk under the control of the controller to collect images of the vibration disk; 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 nails in the vibration disk; 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 condition 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.

[0021] In a third aspect, a battery sealing device is also provided, including: a first control module, 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 vibrating state to a stationary state, wherein the vibration disk contains a sealing nail, and the sealing nail is used to seal the battery; an information extraction module, used to 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; a target screening module, used to obtain a first number of candidate nails based on the similarity condition between the graphic features of the sealing nail and the preset graphic features; a target determination module, used to sort the first number of candidate nails according to preset nail selection 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 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.

[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 further provided, on which a computer program is stored, and the program is executed by a processor to implement the battery sealing method according to 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, identical reference numerals throughout the multiple drawings represent identical or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed herein and should not be construed as limiting the scope of this application. Furthermore, identical reference numerals are used throughout the drawings to represent identical components.

[0026] Figure 1 A flowchart showing the steps of the battery sealing method provided in an embodiment of the present application is shown;

[0027] Figure 2 A schematic diagram showing an image of a vibration plate provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram showing a battery image provided by an embodiment of the present application;

[0029] Figure 4 A schematic structural diagram of a battery sealing system provided in an embodiment of the present application is shown;

[0030] Figure 5 A front view of a battery sealing system provided in an embodiment of the present application is shown;

[0031] Figure 6 A left side view of a battery sealing system provided by an embodiment of the present application is shown;

[0032] Figure 7 A schematic structural diagram of a battery sealing device provided in an embodiment of the present application is shown;

[0033] Figure 8 A schematic structural diagram of an electronic device provided in one embodiment of the present application is shown;

[0034] Figure 9 A schematic diagram of a storage medium provided in an embodiment of the present application is shown.

[0035] Reference numerals:

[0036] 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

[0037] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art 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" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0039] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0040] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0042] 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).

[0043] 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., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0044] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0045] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this 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.

[0046] Currently, market developments indicate that power batteries are becoming increasingly widely used. They are not only used in energy storage systems such as hydropower, thermal, wind, and solar power plants, but are also widely used in electric vehicles like electric bicycles, electric motorcycles, and electric vehicles, as well as in military equipment and aerospace. As power battery applications continue to expand, market demand is also growing.

[0047] During the battery manufacturing process, 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 prone to jamming. On the other hand, the posture of the nails in the tube cannot be controlled, which can easily cause reverse nails, empty nails, and horizontal nails out of the tube, resulting in a high failure rate. 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 liquid injection port during battery cell manufacturing, resulting in a low glue nail pressing rate. Other technologies use a clamp to clamp the sealing nails to achieve sealing, and 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.

[0048] Based on this, an embodiment of the present application provides a battery sealing method. When the 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 from 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 the 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 the preset graphic features meeting the similarity condition; 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 meeting the similarity condition 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 preset nail retrieval conditions, the first number of candidate nails are sorted to obtain sorting information. Target nails are then sequentially selected from the first number of candidate nails according to the sorting information. This improves the efficiency of target nail selection, reduces the randomness of nail retrieval, and further improves nail retrieval efficiency. Based on the target nail's position information, a nail suction device is controlled to absorb the target nail, thereby improving the positioning accuracy of the target nail. The nail suction device is then controlled to press the target nail into the liquid injection port of the battery to be sealed, achieving coaxial insertion of the sealing nail and the liquid injection port, thereby improving the accuracy of battery sealing.

[0049] 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 the battery production line as an example. For the convenience of explanation, the following embodiments are explained by taking an embodiment of the present application as an example of applying glue to seal the liquid injection port of a lithium battery.

[0050] Figure 1The embodiment of the present application provides a flowchart of the steps of the battery sealing method. The embodiment of the present application can be performed by an electronic device capable of performing the battery sealing method, and the electronic device can include but is not limited to a terminal or a server.

[0051] like Figure 1 As shown, in an embodiment of the present application, a battery sealing method includes the following steps S101 to S105:

[0052] S101 . When a vibration device changes from a vibrating state to a stationary state, controlling an image acquisition device to acquire an image of a vibration disk of the vibration device.

[0053] In one example, the vibration disk is a component of a vibration device, which 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 posture. 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 the 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, which can achieve an interference fit between the sealing pin and the battery filling port.

[0054] In this embodiment, the image acquisition device is installed above the vibration plate, so that the image acquisition device can capture images of the sealing pins in the vibration plate.

[0055] In this embodiment, the vibration state of the vibration device can be detected. When the vibration device changes from a vibrating state to a stationary 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.

[0056] The timing for controlling the image acquisition device to acquire the image of the vibration plate may also be when the manipulator drives the image acquisition device to move and returns to the initial position. The specific control timing and control frequency can be customized according to the actual working conditions.

[0057] 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.

[0058] 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 with different postures. 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 2Positive and negative nailing shown.

[0059] 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.

[0060] The characteristic pin information includes, but is not limited to, the shape of the sealing pin and its graphical characteristic values. The shape of the sealing pin can be, for example, circular, rectangular, or irregular to accommodate batteries with different structural design requirements. The graphical characteristic values ​​of the sealing pin include, for example, its size, area, circumference, and other characteristics.

[0061] S103: Obtain a first number of candidate nails based on whether the graphic features of the sealing nail and the preset graphic features meet a similarity condition.

[0062] 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.

[0063] The graphic features of the sealing nail and the preset graphic features meet the similarity condition, indicating that the sealing nail is in the upright state and can be sucked up by the nail removal device as an alternative nail. Therefore, based on the graphic features of the sealing nail and the preset graphic features meeting the similarity condition, a first number of alternative nails can be obtained.

[0064] 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.

[0065] Among them, since the first number of alternative nails is generally greater than or equal to 1, the nail suction device can only suck one sealing nail at a time to correspond to one liquid 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 the 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 liquid injection port.

[0066] In one example, the sorting information may be determined based on the degree of similarity between the graphic features of the sealing pins and the preset graphic features, or based on the positions of the sealing pins in the vibration plate.

[0067] S105 , controlling the nail suction device to suck 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 injection port of the battery to be sealed.

[0068] 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, thereby controlling the nail suction device to obtain the corresponding motion path and reach the position of the target nail to absorb the target nail.

[0069] 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 liquid injection port, so as to achieve coaxial pressing of the target nail and the liquid injection port.

[0070] In the above embodiment, when the vibration device changes from a vibrating state to a stationary state, the image acquisition device captures the vibration disk image to extract the sealing nail information in the vibration disk image. The image acquisition timing is determined by the state of the vibration device. The vibration disk image captured at one time may include multiple sealing nails. Compared with the related art, this embodiment can improve image acquisition and thus improve the efficiency of battery sealing. The sealing nail information includes the graphical features and position information of the sealing nail, so that a first number of candidate nails can be obtained based on the similarity between the graphical features of the sealing nail and the preset graphical features. In this way, different graphical features corresponding to sealing nails of different shapes can be set according to actual sealing nail requirements, thereby achieving the absorption of sealing nails of different shapes. The similarity between the graphical features of the sealing nail and the preset graphical features can improve the recognition efficiency of positive nails, reduce the situation that the sealing efficiency is affected by reversed nails, empty nails, etc., and improve the battery sealing efficiency. According to the preset nail extraction conditions, the first number of candidate nails are sorted to obtain sorting information. The target nails are selected from the first number of candidate nails in accordance with the sorting information. This can improve the efficiency of target nail selection, reduce the randomness of 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 liquid injection port of the battery to be sealed, so that the sealing nail and the liquid injection port are pressed coaxially, thereby improving the accuracy of battery sealing.

[0071] 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 meet 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; 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, a feature value difference is obtained; based on the feature value difference being within a preset range, the first number of alternative nails are obtained.

[0072] In this embodiment, the preset graphic feature value is based on the graphic features 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 in 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.

[0073] In one example, taking the shape of the sealing nail as a circle, the preset shape is also a circle, and the sealing nail with the same preset shape is obtained, for example, Figure 2 The shapes of the multiple sealing nails shown are compared Figure 2 Check whether the shapes of the multiple sealing pins shown in the figure are the same as the preset shapes, that is, Figure 2 Are the multiple sealing pins round?

[0074] Continuing 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, when the sealing nail is detected Figure 2 When there are multiple circular sealing nails, obtain the graphic feature values ​​of all circular sealing nails, compare the graphic feature values ​​of all circular sealing nails with the preset graphic feature values, and assume that there are 10 circular sealing nails, then subtract the graphic feature values ​​of these 10 circular sealing nails from the preset graphic feature values ​​to obtain 10 feature value differences.

[0075] The 10 characteristic value differences are each detected to see if they are within a preset range. Sealing nails corresponding to characteristic value differences within the preset range are selected as candidate nails, thereby obtaining 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. The specific value can be set according to the working conditions.

[0076] The above embodiment uses the shape and graphic features of sealing pins as criteria for selecting target pins. This allows the selection of those with the highest similarity to the pre-set features from all sealing pins. This improves target pin selection accuracy and reduces the occurrence of reversed pins, empty pins, and other such problems. Furthermore, a single graphic detection process can yield multiple candidate pins, significantly improving detection efficiency compared to related art methods that require graphic detection for each pin selection.

[0077] 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 descending order of the graphic feature value of each candidate nail in the first number of candidate nails to obtain first sorting information.

[0078] According to the ranking in the first ranking information, a first number of candidate pins are sequentially selected as target pins.

[0079] Continuing with the above example, assuming that the first quantity is 6, after the battery to be sealed reaches the sealing position, the system detects that the sealing pin needs to be sucked, then one can be selected from the 6 alternative pins as the target pin, and for these 6 alternative pins, their graphic feature values ​​are obtained respectively, and then these 6 alternative 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, alternative pin 1, alternative pin 2, alternative pin 3, alternative pin 4, alternative pin 5, alternative pin 6. Since the shape of the alternative pins is the same as the preset shape, the graphic feature values ​​of the alternative pins are also close to the preset graphic feature values. Therefore, the alternative 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 alternative pins are taken as target pins in turn, and the alternative pin closest to the standard pin can be preferentially pressed into the liquid filling port of the battery to be sealed as the target pin.

[0080] The above embodiment selects a target nail from a first number of candidate nails by presetting the nail selection conditions in descending order of the graphic characteristic values. The candidate nail closest to the standard nail can be preferentially pressed into the liquid filling port of the battery to be sealed as the target nail, thereby improving the accuracy of the battery sealing.

[0081] In an embodiment of the present application, a first number of alternative nails are sorted according to preset nail retrieval conditions to obtain sorting information, including: taking the center of the vibration disk as the reference point, calculating the distance between each alternative nail in the first number of alternative nails and the reference point; sorting the first number of alternative nails in order of the distance between each alternative nail and the reference point from near to far to obtain second sorting information.

[0082] In one example, all the sealing pins are contained in a vibrating disk. When the pin sucking device removes the pins, it also positions the sealing pins within the range of the vibrating disk. Therefore, in this embodiment, the center of the vibrating disk is used as a reference point, and the alternative pins that are close to the reference point are preferentially sucked, which can reduce the movement distance of the pin sucking device and improve the sealing efficiency.

[0083] 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 alternative pins as the target pin, and for these 6 alternative pins, the distance between them and the reference point is calculated respectively, and then the 6 alternative pins are sorted in order of the distance from the reference point to the farthest. 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.

[0084] The above embodiment can preferentially absorb the candidate nails that are close to the reference point, thereby reducing the movement distance of the nail suction device and improving the sealing efficiency.

[0085] In one example, after obtaining a first number of candidate nails, a target nail may be randomly selected from the first number of candidate nails.

[0086] 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 6 target pins are pressed into the injection port, the above steps S101 to S105 are repeated.

[0087] In an embodiment of the present application, 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.

[0088] Identifying the edge of the sealing nail and determining its shape can be achieved through computer vision and image processing algorithms such as edge detection, corner detection, and contour tracking. The shape of the sealing nail can be, for example, circular or rectangular.

[0089] Based on the shape of the sealing pin, the center position of the sealing pin can be determined using the center positioning method. For example, if the sealing pin is circular, any points on the edge of the circle can be connected by lines. The point where multiple line segments overlap is the center of the circle, which is the center position of the circular sealing pin. If the sealing pin is rectangular, 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 pin.

[0090] After the center position is obtained, the position information of the sealing pin can be obtained based on the positional relationship between the center position of the sealing pin and the center of the vibration plate through an image processing algorithm.

[0091] In the above embodiment, the center position of the sealing nail is determined by the shape of the sealing nail, and then 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.

[0092] After each target nail is pressed into the injection port, the nail suction device must return to its initial position to await the next nail pressing process. In one example, the controller can control the image acquisition device to capture images of the vibrating plate after each nail pressing process and at the next nail pressing process. Because the position of the vibrating plate remains unchanged, the sealing nails within the vibrating plate also maintain their original posture when the vibrating plate is in a static state. Therefore, the controller can also control the image acquisition device's acquisition frequency based on the vibration state of the vibrating plate.

[0093] In an embodiment of the present application, controlling the image acquisition device to acquire an image of the vibration disk includes: generating a vibration control signal when a first number of alternative 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.

[0094] When a first number of alternative pins are all pressed into the liquid filling port of the battery to be sealed as target pins, that is, after all the alternative pins obtained after a vibration disk image detection is 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 alternative pins.

[0095] At this point, the vibration state of the vibration device can be detected. If the vibration device changes from a vibrating state to a stationary state, it indicates that the sealing pins in the vibration plate are basically stationary and there are new candidate pins. A first control signal is then generated, and the image acquisition device is controlled according to the first control signal to capture an image of the vibration plate. Then, the above steps S101 to S105 are repeated.

[0096] In the above embodiment, the first number of candidate pins are absorbed as a trigger condition for generating a vibration control signal, so as to control the vibration device to be in a vibrating state, so that the sealing pins in the vibration disk change their postures, and then when the vibration device changes from a vibrating state to a stationary 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.

[0097] In an embodiment of the present application, controlling a nail suction device to press a target nail into a liquid filling 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 capture a battery image according to the second control signal; extracting liquid filling port information from the battery image, the liquid filling port information including position information of a center point of the liquid filling port; and controlling the nail suction device to press the target nail into the liquid filling port of the battery to be sealed based on the center point position information.

[0098] In one example, a movement path of the nail suction device can be generated based on 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 above the battery to be sealed according to the movement path. When the nail suction device moves above 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. Then, based on the center point position information, the nail suction device can be controlled to press the target nail into the liquid injection port of the battery to be sealed, thereby achieving alignment between the sealing nail and the center point of the liquid injection port, thereby improving the accuracy of battery sealing.

[0099] 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 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 pick any point 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 point of the injection port.

[0100] In one example, assuming that the liquid injection port is a rectangle, the four corners of the rectangle are detected through the corner points, and the intersection of the lines connecting the four corners is the center point of the liquid injection port.

[0101] In the above embodiment, when the nail suction device moves above the battery to be sealed, the image acquisition device is controlled to capture the battery image, and then the position information of the center point of the liquid filling 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 filling port of the battery to be sealed. This can achieve alignment between the sealing nail and the center point of the liquid filling port, thereby improving the accuracy of battery sealing.

[0102] The battery sealing method is described below by using the embodiment of the present application in a specific example.

[0103] 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.

[0104] 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 movement and can move between the vibration device and the nail pressing bracket 406 to remove nails from the vibration plate and press nails at the position of the nail pressing bracket 406.

[0105] In one example, the required nails can be placed into the vibration disk 404 manually, the battery sealing system starts the automatic operation mode, the battery enters the position to be pressed where the nail holder 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 order. The controller 400 controls the movement of the manipulator 405 to drive the image acquisition device 401 to move above the vibration disk to take pictures and collect images of the vibration disk.

[0106] The controller 400 extracts the glue nail information from the vibration plate image and performs glue nail recognition. Based on the similarity between the graphic features of the glue nail and the preset graphic features, multiple candidate nails are obtained, and the target nail is determined from the multiple candidate nails in sequence 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 robot drives the image acquisition device 401 to move to the position of the nail pressing bracket 406, takes pictures 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 robot 405 to carry the glue nail and move it to the top of the filling port. The robot 405 presses down to press the glue nail in. After the pressing is completed, the robot 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 embodiment of the present application collects the image of the vibration disk 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 alternative nails based on the similarity between the graphic features of the sealing nail and the preset graphic features; according to the preset nail selection conditions, the target nail is selected from the first number of alternative nails. In this way, different graphic features corresponding to sealing nails of different shapes can be set according to the actual sealing nail requirements, and then the absorption of sealing nails of different shapes can be achieved. Moreover, the graphic features of the sealing nails and the preset graphic features meet the similarity conditions, which 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 liquid injection port of the battery to be sealed, so as to achieve coaxial pressing of the sealing nail and the liquid injection port, thereby improving the accuracy of battery sealing.

[0109] 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 mounted on the nail suction device. The vibration device 402 includes a vibration plate that accommodates sealing nails.

[0110] The image acquisition device 401 is used to move above the vibration plate under the control of the controller 401 to acquire images of the vibration plate.

[0111] The vibration device 402 is configured 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.

[0112] The nail suction device 403 is used to suck the target nail under the control of the controller 400 and press the target nail into the liquid injection port of the battery to be sealed.

[0113] The controller 400 is used to control the image acquisition device to acquire an image of the vibration disk of the vibration device when the vibration device changes from a vibrating state to a stationary state; and to extract sealing nail information from the vibration disk image, wherein the sealing nail information includes 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 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.

[0114] 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 disk 404, and a manipulator 405. When the battery to be sealed is sealed, the battery is at the 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 disk and press the nails at the position of the nail pressing bracket 406.

[0115] 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 position to be pressed where the nail holder 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 order. The controller 400 controls the movement of the manipulator 405 to drive the image acquisition device 401 to move to the top of the vibration plate 404 to take pictures and collect images of the vibration plate 404.

[0116] 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 nail and the preset graphic features, and determines the target nail from the multiple candidate nails in turn according to the preset nail selection conditions.

[0117] The controller 400 controls the nail suction device 403 to move to the target nail position to remove the nail. After the removal, the robot drives the image acquisition device 401 to move to the position of the nail pressing bracket 406, takes pictures 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 robot 405 to carry the glue nail and move it to the top of the filling port. The robot 405 presses down to press the glue nail in. After the pressing is completed, the robot 405 moves to the initial position, waiting for the next group of batteries to be sealed to arrive, and repeats the operation in sequence.

[0118] 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.

[0119] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other and will not be repeated herein for the sake of brevity.

[0120] In one embodiment, reference Figure 7 , Figure 7 The following is a schematic structural diagram of a battery sealing device provided in an embodiment of the present application. The battery sealing device 600 includes:

[0121] A first control module 601 is configured 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 vibrating state to a stationary state, wherein the vibration disk contains sealing pins for sealing the battery;

[0122] An information extraction module 602 is configured to extract sealing pin information from the vibration plate image, wherein the sealing pin information includes graphic features and position information of the sealing pin;

[0123] A target screening module 603 is configured to obtain a first number of candidate nails based on whether the graphic features of the sealing nails and the preset graphic features satisfy a similarity condition;

[0124] A target determination module 604 is configured to sort the first number of candidate pins according to a preset pin selection condition to obtain sorting information, and sequentially select target pins from the first number of candidate pins according to the sorting information;

[0125] The second control module 605 is configured 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.

[0126] In one example, the graphic features include the shape of the sealing nail and the graphic feature value of the sealing nail. The target screening module 603 is also used to compare the shape of the sealing nail with a preset shape to obtain a sealing nail with the same shape as the preset shape; 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, a feature value difference is obtained; based on the feature value difference being within a preset range, a first number of alternative nails is obtained.

[0127] In one example, the target determination module 604 is further configured 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.

[0128] In one example, the target determination module 604 is also used to calculate the distance between each alternative nail in the first number of alternative nails and the reference point with the center of the vibration disk as the reference point; sort the first number of alternative nails in order of the distance between each alternative nail and the reference point from near to far to obtain second sorting information.

[0129] 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.

[0130] The first control module 601 is configured to generate a vibration control signal when all of the first number of candidate pins are pressed into the liquid filling port of the battery to be sealed as target pins; control the vibration device to be in a vibrating state based on the vibration control signal so that the sealing pins in the vibrating disk change their posture; generate a first control signal when the vibration device changes from a vibrating state to a stationary state; and control the image acquisition device to acquire an image of the vibrating disk according to the first control signal.

[0131] The second control module 605 is configured 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 capture a battery image based on the second control signal; extract liquid injection port information from the battery image, the liquid injection port information including 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.

[0132] 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.

[0133] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other and will not be repeated herein for the sake of brevity.

[0134] An embodiment of the present application further provides an electronic device, 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 as described above.

[0135] 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 when the processor 200 runs the computer program, it executes the method provided in any of the aforementioned embodiments of the present application.

[0136] Memory 201 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between the system network element and at least one other network element is achieved through at least one communication interface 203 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0137] The bus 202 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. The memory 201 is used to store programs, and the processor 200 executes the programs upon receiving execution instructions. The battery sealing method disclosed in any of the aforementioned embodiments of the present application may be applied to or implemented by the processor 200.

[0138] The processor 200 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 200 or by software instructions. The above processor 200 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, 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.

[0139] 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 by them.

[0140] The present application also provides a computer-readable storage medium corresponding to the battery sealing method provided in the above embodiment. Figure 9 , which shows a computer-readable storage medium 30, which can be an optical disc, on which a program product is stored. The program product can 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 the processor, it will execute the battery sealing method provided by any of the aforementioned embodiments.

[0141] 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.

[0142] The computer-readable storage medium 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 method adopted, run or implemented by the application program stored therein.

[0143] It should be noted that:

[0144] In the above text, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments 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 the opposite 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.

[0145] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of this application.

[0146] The embodiments of the present application are described above in conjunction with the accompanying drawings, which are only specific implementation methods of the present application. However, the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods 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 vibrating state to a stationary state, controlling the image acquisition device to acquire an image of a vibration disk of the vibration device, wherein the vibration disk contains a sealing pin, and the sealing pin is used to seal the battery; Extracting sealing pin information from the vibration plate image, the sealing pin information including graphic features and position information of the sealing pin; Obtaining a first number of candidate nails based on the similarity between the graphic features of the sealing nail and the preset graphic features; sorting the first number of candidate pins according to a preset pin selection condition to obtain sorting information, and selecting target pins from the first number of candidate pins in sequence according to the sorting information; the preset pin selection condition includes sorting the first number of candidate pins in descending order of a graphical feature value of each candidate pin; 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. Based on the graphic feature of the sealing nail and the preset graphic feature satisfying a similarity condition, obtaining a first number of candidate nails includes: 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, wherein: Sorting the first number of candidate nails according to a preset nail selection condition to obtain sorting information includes: 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 descending order of the distance between each candidate pin and the reference point to obtain second sorting information.

4. The battery sealing method according to claim 1, wherein: Extracting the position 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; determining a center position of the sealing pin based on the shape 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.

5. The battery sealing method according to any one of claims 2 to 3, characterized in that: Controlling the image acquisition device to acquire an image of the vibration disk of the vibration device includes: generating a vibration control signal when all of the first number of candidate nails are pressed into the liquid filling port of the battery to be sealed as target nails; controlling the vibration device to be in a vibrating state based on the vibration control signal so as to change the posture of the sealing pins in the vibration disk; generating a first control signal when the vibration device changes from a vibrating state to a stationary state; The image acquisition device is controlled to acquire an image of the vibration disk according to the first control signal.

6. The battery sealing method according to claim 1, wherein: 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-suctioning 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 liquid injection port information from the battery image, wherein the liquid injection port information includes position information of a center point 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.

7. A battery sealing system, characterized in that: include: Controller, image acquisition device, nail suction device and vibration device; The image acquisition device is mounted on the nail suction device, and the vibration device includes a vibration plate, in which the sealing nails are accommodated; 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 configured 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 configured to control the image acquisition device to acquire an image of the vibrating disk of the vibrating device when the vibrating device changes from a vibrating state to a stationary state; and extract sealing pin information from the vibrating disk image, the sealing pin information including graphic features and position information of the sealing pin; Based on a similarity condition between the graphical features of the sealing nail and a preset graphical feature, a first number of candidate nails are obtained; the first number of candidate nails are sorted according to a preset nail selection condition to obtain sorting information; and target nails are sequentially selected from the first number of candidate nails according to the sorting information, wherein the preset nail selection condition includes sorting the first number of candidate nails in descending order of the graphical feature value of each candidate nail; 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.

8. A battery sealing device, characterized in that: include: a first control module, configured 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 vibrating state to a stationary state, wherein the vibration disk contains sealing pins for sealing a battery; An information extraction module, configured to extract sealing pin information from the vibration plate image, wherein the sealing pin information includes graphic features and position information of the sealing pin; a target screening module, configured to obtain a first number of candidate nails based on a similarity condition between the graphic features of the sealing nail and a preset graphic feature; a target determination module configured to sort the first number of candidate pins according to a preset pin selection condition to obtain sorting information, and sequentially select target pins from the first number of candidate pins according to the sorting information; the preset pin selection condition comprising sorting the first number of candidate pins in descending order of a graphical feature value of each candidate pin; The second control module is used to 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 injection port of the battery to be sealed.

9. 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 6.

10. 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 6.

Images