A fully automatic helium inspection machine with spot inspection function

Abstract

The present invention discloses a fully automatic helium inspection machine with spot inspection function, comprising: a gripping module for gripping and placing lithium battery cover plates to package lithium batteries; a first airtightness detection module for performing a first airtightness test on the packaged lithium batteries to obtain a first test result; a second airtightness detection module for performing a second airtightness test on the packaged lithium batteries if the first test result is qualified to obtain a second test result; a data processing module for processing the second test result to obtain a test report; and a display module for visually displaying the test report. This machine can efficiently and accurately detect the airtightness of lithium battery cover plate structural components, improving spot inspection efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of helium detectors, and in particular to a fully automatic helium detector with a spot inspection function. Background Art

[0002] At present, with the rapid development of lithium battery technology, the application scope of lithium batteries continues to expand, especially in electric vehicles and energy storage equipment. The airtightness of lithium batteries directly affects their safety and service life. At present, there are some helium detection equipment on the market, but most of the equipment relies on manual inspection, and there are the following problems: 1. Low efficiency of manual inspection: Manual inspection is not only time-consuming, but also easily affected by the operator's experience and skills, resulting in inconsistent test results. Relying on manual inspection cannot meet the needs of large-scale production. 2. High misjudgment rate: Due to human factors, misjudgment of airtightness may occur, affecting product quality and the product's pass rate. 3. Lack of systematicity: Traditional equipment usually lacks systematic inspection functions, cannot regularly and automatically monitor the equipment status, and cannot achieve self-monitoring and maintenance of the equipment. Summary of the Invention

[0003] The present invention aims to at least partially address one of the technical problems encountered in the aforementioned technologies. To this end, the present invention provides a fully automatic helium inspection machine with a spot inspection function that can efficiently and accurately detect the airtightness of lithium battery cover components, thereby improving spot inspection efficiency and accuracy.

[0004] To achieve the above objectives, the present invention provides a fully automatic helium detector with a spot inspection function, comprising:

[0005] The grabbing module is used to grab and place the lithium battery cover and package the lithium battery;

[0006] A first airtightness detection module, used to perform a first airtightness detection on the packaged lithium battery and obtain a first detection result;

[0007] A second airtightness detection module is used to perform a second airtightness test on the packaged lithium battery to obtain a second test result when the first test result is qualified;

[0008] A data processing module, configured to process the second detection result to obtain a detection report;

[0009] The display module is used to visually display the test report.

[0010] According to some embodiments of the present invention, the capture module includes:

[0011] Acquisition module, used to collect point cloud information and scene images of lithium battery cover;

[0012] A first determination module is used to determine a gripping method for the lithium battery cover according to the point cloud information and the scene image;

[0013] A construction module, used to construct a grasping path based on the grasping method of the lithium battery cover;

[0014] The execution module is used to execute the control instructions for grabbing the lithium battery cover based on the grabbing method and grabbing path.

[0015] According to some embodiments of the present invention, the first determining module includes:

[0016] The matching module is used to determine the model of the lithium battery cover based on the point cloud information, match it in the database, and determine the grabbing template;

[0017] A preprocessing module, used for preprocessing the scene image to obtain a preprocessed scene image;

[0018] Positioning and identification module for:

[0019] Preprocess the lithium battery cover image in the scene image for positioning and identification, summarize the coordinates of all data points in the lithium battery cover image, and calculate the average coordinates of all data points in the lithium battery cover image as the center of mass of the lithium battery cover;

[0020] Setting constraints; the constraints include a maximum distance from the centroid, a minimum distance, and a range of coordinate values;

[0021] Traverse all data points, check whether they meet the set constraints, and take the data points that meet the conditions as the data point set;

[0022] Calculate the normalized value of the dot product between every two data points in the data point set;

[0023] Select the data point pair with the smallest normalized dot product value as the grasping point for the lithium battery cover;

[0024] The first adjustment module is used to adjust the grabbing template according to the grabbing points to determine the grabbing method for the lithium battery cover.

[0025] According to some embodiments of the present invention, the preprocessing module includes:

[0026] An enhancement module, used to enhance edge features of scene images through color space conversion;

[0027] The denoising module is used to perform denoising on the scene image to obtain a preprocessed scene image.

[0028] According to some embodiments of the present invention, the second air tightness detection module exchanges information with the host computer through the data transmission module; the data transmission module is one or more of 5GNB-I0T, Ethernet and 485 communication.

[0029] According to some embodiments of the present invention, the system further includes: a second adjustment module configured to:

[0030] During the execution of the control instruction by the execution module, the current grasping node of the execution module is determined, and the reliability factor k of the execution module at the current grasping node is calculated. ε :

[0031]

[0032] Where T is the grasping safety of the grasping path before the execution module moves to the current grasping node; L i is the safe distance between the grasping node i and the obstacle before the execution module moves to the current grasping node; d i is the width of the safe grasping path at grasping node i before the execution module moves to the current grasping node;

[0033] According to the reliability factor k of the execution module at the current capture node ε , adjust the crawling path of the execution module and send the adjusted crawling path to the execution module;

[0034]

[0035] Among them, F(x') is the adjusted grasping path; x ε is the grasping node where the execution module is currently located; x' is the grasping node that the execution module has not reached; w(x) is the cost function from the initial grasping node to the target grasping node; g(x ε ) is the cost function from the current grasping node to the target grasping node; x m is the horizontal coordinate of the current grab node; x n is the horizontal coordinate of the grasping node that has not been reached; m is the vertical coordinate of the current grab node; y n is the vertical coordinate of the unreached grab node.

[0036] According to some embodiments of the present invention, the first airtightness detection module includes:

[0037] A preliminary pressure charging detection module is used to perform preliminary pressure charging on the packaged lithium battery, fill the internal space of the battery with an inert gas at a preset pressure, and record the initial pressure value to preliminarily check whether there is leakage inside the lithium battery, thereby obtaining first recorded information;

[0038] A negative pressure detection and tracer gas injection module is used to inject tracer gas outside the lithium battery while maintaining a positive pressure inside the lithium battery, placing the lithium battery in a negative pressure detection environment, and observing and recording whether the tracer gas enters the detection environment through a leakage point inside the lithium battery to obtain second recorded information;

[0039] The second determining module is used to determine the first detection result according to the first record information and the second record information.

[0040] According to some embodiments of the present invention, the second airtightness detection module includes at least one of a high-precision helium mass spectrometer leak detector, an infrared thermal imager, a sound intensity meter, an accelerometer, and a standing wave tube.

[0041] According to some embodiments of the present invention, the data processing module includes:

[0042] The storage module stores a detection database containing p pieces of data, each piece of data having n indicators of the lithium battery, including gas flow rate, concentration, pressure, and cavity space within the lithium battery; digitizing the n indicators and recording the corresponding values ​​indicating whether there is a leak, which are represented by a vector Y;

[0043] Y=(y1,y2,y3…y p )

[0044] Each value in Y is represented by 0, 1, 0 means no leakage, 1 means leakage, y i The value indicating whether the i-th piece of data is leaked; i = 1, 2, 3, ... p;

[0045] Define judgment rules;

[0046]

[0047] Among them, g(x) is the judgment rule, that is, the probability of judging whether there is leakage; x i is the value of the i-th indicator, is x i The coefficient of is the square value of the i-th index, β i for The coefficient of , i = 1, 2, 3 ... n;

[0048] calculate and β i , obtain the target judgment rule based on the solution result;

[0049]

[0050]

[0051] Among them, ln L(x) is the intermediate expression, y i is the value of whether the i-th data in vector Y is leaked, X i To detect the value of the i-th data in the database, substitute the expression in g(x). is ln L(x) Find the partial derivative, i = 1, 2, 3, ... j;

[0052] Obtain the second test result and input the target judgment rule to obtain the test report.

[0053] According to some embodiments of the present invention, it further includes: a spot inspection module, which is used to automatically detect the status of each module within a set time interval; each module includes a grabbing module, a first air tightness detection module, a second air tightness detection module, a data processing module and a display module.

[0054] This invention proposes a fully automatic helium inspection machine with spot inspection functionality. Its beneficial effects include: 1. Improved inspection efficiency: Fully automated spot inspection significantly increases inspection speed and reduces manual intervention. 2. Reduced false positives: Human error is effectively minimized. 3. Automatic spot inspection: This function ensures the long-term stability and reliability of the equipment, eliminating the shortcomings of manual spot inspection. 4. Wide adaptability: The system can accommodate a variety of lithium battery cover models and sizes, enhancing its flexibility.

[0055] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0056] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0058] Figure 1 This is a block diagram of a fully automatic helium inspection machine with spot inspection function according to one embodiment of the present invention;

[0059] Figure 2 This is an overall schematic diagram of a fully automatic helium inspection machine with spot inspection function according to one embodiment of the present invention;

[0060] Figure 3 This is a schematic diagram of the interior of a fully automatic helium inspection machine with a spot inspection function according to one embodiment of the present invention;

[0061] Figure 4 1 is a diagram of a helium detection function program interface according to one embodiment of the present invention. DETAILED DESCRIPTION

[0062] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0063] like Figure 1-Figure 4 As shown, the embodiment of the present invention provides a fully automatic helium inspection machine with a spot inspection function, including:

[0064] The grabbing module is used to grab and place the lithium battery cover and package the lithium battery;

[0065] A first airtightness detection module, used to perform a first airtightness detection on the packaged lithium battery and obtain a first detection result;

[0066] A second airtightness detection module is used to perform a second airtightness test on the packaged lithium battery to obtain a second test result when the first test result is qualified;

[0067] A data processing module, configured to process the second detection result to obtain a detection report;

[0068] The display module is used to visually display the test report.

[0069] The working principle of the above technical solution: Accurately grasping and placing the lithium battery cover is a key step in the lithium battery packaging process. The advanced robotic arm ensures that the cover can be accurately grasped and placed in the designated position. Based on the first airtightness detection module, a preliminary test is performed. After the preliminary test is qualified, a more accurate test is performed based on the second airtightness detection module. Compared with the first detection module, the second detection module has higher detection accuracy and stricter detection standards. The data processing module is used to process the data of the second test results to obtain a test report. The test report is used as the final conclusion to determine whether there is a leak and whether the airtightness is good. The display module visually displays the test report.

[0070] The beneficial effects of this technical solution include ensuring that lithium batteries meet airtightness standards and providing operators with comprehensive and accurate test results and reports through precise data processing and visual display. Fully automated inspections significantly speed up inspections, reduce manual intervention, and effectively minimize human error.

[0071] According to some embodiments of the present invention, the capture module includes:

[0072] Acquisition module, used to collect point cloud information and scene images of lithium battery cover;

[0073] A first determination module is used to determine a gripping method for the lithium battery cover according to the point cloud information and the scene image;

[0074] A construction module, used to construct a grasping path based on the grasping method of the lithium battery cover;

[0075] The execution module is used to execute the control instructions for grabbing the lithium battery cover based on the grabbing method and grabbing path.

[0076] The working principle of this technical solution is as follows: 3D coordinate data of the lithium battery cover is acquired through technologies such as 3D scanning or laser ranging. These data points form a point cloud that accurately reflects the shape, size, and position of the cover. A high-definition camera captures images of the scene containing the lithium battery cover, providing rich visual information that helps identify the cover and its surroundings. The point cloud data is analyzed to identify the cover model and determine the corresponding grasping template. This grasping template is then adjusted based on the scene image to determine the grasping method for the lithium battery cover. Based on the determined grasping method, the movement trajectory from the initial position to the grasping position is calculated. Path planning is optimized, taking into account factors such as the kinematic constraints of the robot arm, obstacle avoidance requirements, and grasping efficiency. Detailed path instructions are output, including parameters such as position, velocity, and acceleration. The execution module receives the path instructions and detailed grasping method information from the construction module. This information is converted into specific movement instructions for the robot arm or gripper. The grasping process is monitored in real time to ensure accurate execution and make adjustments as necessary.

[0077] The beneficial effects of the above technical solution: The grasping module realizes the precise grasping of lithium battery covers through highly integrated acquisition, determination, construction and execution modules, which not only improves the grasping efficiency and accuracy, but also ensures the safety and stability of the grasping process.

[0078] According to some embodiments of the present invention, the first determining module includes:

[0079] The matching module is used to determine the model of the lithium battery cover based on the point cloud information, match it in the database, and determine the grabbing template;

[0080] A preprocessing module, used for preprocessing the scene image to obtain a preprocessed scene image;

[0081] Positioning and identification module for:

[0082] Preprocess the lithium battery cover image in the scene image for positioning and identification, summarize the coordinates of all data points in the lithium battery cover image, and calculate the average coordinates of all data points in the lithium battery cover image as the center of mass of the lithium battery cover;

[0083] Setting constraints; the constraints include a maximum distance from the centroid, a minimum distance, and a range of coordinate values;

[0084] Traverse all data points, check whether they meet the set constraints, and take the data points that meet the conditions as the data point set;

[0085] Calculate the normalized value of the dot product between every two data points in the data point set;

[0086] Select the data point pair with the smallest normalized dot product value as the grasping point for the lithium battery cover;

[0087] The first adjustment module is used to adjust the grabbing template according to the grabbing points to determine the grabbing method for the lithium battery cover.

[0088] The working principle of the above technical solution is: extract key features from the point cloud information, such as shape, size, etc. Search for lithium battery cover models that match these features in the preset database. Once a match is found, extract the corresponding grab template, which contains information such as the location of the grab point, the type and configuration of the grab tool. Preprocess the collected scene image to improve image quality and recognition accuracy. Use image recognition algorithms (such as edge detection, template matching, etc.) to locate the lithium battery cover image. Summarize the coordinates of all data points in the lithium battery cover image and calculate the average coordinate as the center of mass. Set constraints, including the maximum distance, minimum distance from the center of mass, and the range of coordinate values ​​to filter out data points that meet the conditions. Traverse all data points, check whether the constraints are met, and construct a set of data points. Calculate the normalized value of the dot product between each two data points in the data point set to evaluate the similarity and directionality between the data points. Specifically: the dot product (also called the inner product) is the sum of the products of the corresponding elements of two vectors. Normalization refers to adjusting the length of the vector to 1, that is, the unit vector. Example:

[0089]

[0090] Among them, V ′ is a normalized vector. Where ∥V∥ is the length (or norm) of vector V. For each data point in the data point set, calculate its normalized vector. Calculate the dot product between each two normalized vectors. Select the data point pair with the smallest dot product normalization value as the grasping point. This pair of points usually represents two relatively stable feature points on the lithium battery cover. Analyze the positional relationship between the grasping point pair and the preset grasping points in the grasping template. According to the positional relationship, adjust the grasping template by translation, rotation or scaling to ensure that the grasping tool can grasp the lithium battery cover accurately and stably. Output the adjusted grasping method, including detailed information such as the position of the grasping point, the type and configuration of the grasping tool.

[0091] The beneficial effects of the above technical solution: The first determination module realizes the precise determination of the grasping method of the lithium battery cover through a highly intelligent matching, preprocessing, positioning, identification and adjustment process, which not only improves the grasping accuracy and efficiency, but also ensures the safety and stability of the grasping process.

[0092] According to some embodiments of the present invention, the preprocessing module includes:

[0093] An enhancement module, used to enhance edge features of scene images through color space conversion;

[0094] The denoising module is used to perform denoising on the scene image to obtain a preprocessed scene image.

[0095] The above technical solution works by converting the original image from the RGB color space to a color space more suitable for edge detection, such as HSV (hue, saturation, value) or Lab (brightness, a and b color channels). In the converted color space, the module uses specific algorithms (such as Sobel and Canny edge detection operators) to highlight edge features in the image. These edge features are crucial for subsequent positioning and recognition, as they clearly outline the contours of the lithium battery cover. The noise reduction module uses median filtering to replace the pixel value with the median value of the pixels in the surrounding neighborhood.

[0096] The beneficial effect of this technical solution is that the preprocessing module optimizes the scene image through color space conversion and noise reduction, providing higher-quality input for the positioning and recognition modules. This optimization process not only improves image processing efficiency but also significantly enhances the accuracy of determining the gripping method for lithium battery cover panels.

[0097] According to some embodiments of the present invention, the second air tightness detection module exchanges information with the host computer through the data transmission module; the data transmission module is one or more of 5GNB-I0T, Ethernet and 485 communication.

[0098] The working principle of the above technical solution is as follows: After the second airtightness detection module completes the detection, it encapsulates the test result data into a specific data packet format. The data packet is sent to the host computer through the selected communication protocol and technology (such as 5G NB-IoT, Ethernet or 485 communication). After receiving the data packet, the host computer parses it to extract the test result data. The host computer processes and analyzes the received test result data, generates a corresponding report, or takes other necessary actions. Based on the analysis results, the host computer can send control instructions to the second airtightness detection module, such as adjusting detection parameters, starting or stopping detection, etc.

[0099] Beneficial effects of the above technical solution: The data transmission module provides a variety of efficient and reliable communication methods for information exchange between the second airtightness detection module and the host computer, which can ensure efficient, accurate and reliable data transmission on the lithium battery production line.

[0100] According to some embodiments of the present invention, the system further includes: a second adjustment module configured to:

[0101] During the execution of the control instruction by the execution module, the current grasping node of the execution module is determined, and the reliability factor k of the execution module at the current grasping node is calculated. ε :

[0102]

[0103] Where T is the grasping safety of the grasping path before the execution module moves to the current grasping node; L i is the safe distance between the grasping node i and the obstacle before the execution module moves to the current grasping node; d i is the width of the safe grasping path at grasping node i before the execution module moves to the current grasping node;

[0104] According to the reliability factor k of the execution module at the current capture node ε , adjust the crawling path of the execution module and send the adjusted crawling path to the execution module;

[0105]

[0106] Among them, F(x') is the adjusted grasping path; x ε is the grasping node where the execution module is currently located; x' is the grasping node that the execution module has not reached; w(x) is the cost function from the initial grasping node to the target grasping node; g(x ε ) is the cost function from the current grasping node to the target grasping node; x m is the horizontal coordinate of the current grab node; x n is the horizontal coordinate of the grasping node that has not been reached; m is the vertical coordinate of the current grab node; y n is the vertical coordinate of the unreached grab node.

[0107] The working principle of the above technical solution is as follows: During the execution of control instructions by the execution module, the second adjustment module first determines the current grasping node of the execution module. The reliability factor of the execution module at the current grasping node is calculated. The reliability factor is a comprehensive evaluation indicator that takes into account the safe distance between the execution module and obstacles, the width of the safe grasping path, and the grasping safety of the previous grasping path. Based on the calculated reliability factor, the second adjustment module adjusts the grasping path of the execution module. The adjusted grasping path is sent to the execution module, and the execution module continues to execute the grasping task according to the new path.

[0108] The beneficial effects of this technical solution are: By evaluating and adjusting the grasping path in real time, the second adjustment module ensures that the execution module always remains on a safe and stable path during the grasping process. This takes into account the safe distance between the execution module and obstacles and the width of the safe grasping path, effectively avoiding potential collision risks. By adjusting the grasping path, the module can reduce unnecessary movement and waiting time, thereby improving grasping efficiency.

[0109] According to some embodiments of the present invention, the first airtightness detection module includes:

[0110] A preliminary pressure charging detection module is used to perform preliminary pressure charging on the packaged lithium battery, fill the internal space of the battery with an inert gas at a preset pressure, and record the initial pressure value to preliminarily check whether there is leakage inside the lithium battery, thereby obtaining first recorded information;

[0111] A negative pressure detection and tracer gas injection module is used to inject tracer gas outside the lithium battery while maintaining a positive pressure inside the lithium battery, placing the lithium battery in a negative pressure detection environment, and observing and recording whether the tracer gas enters the detection environment through a leakage point inside the lithium battery to obtain second recorded information;

[0112] The second determining module is used to determine the first detection result according to the first record information and the second record information.

[0113] The working principle of the above technical solution is as follows: The packaged lithium battery undergoes a preliminary pressure charge, filling the battery's internal space with an inert gas (such as argon or nitrogen) at a preset pressure. The lithium battery is placed in a testing device, and the testing environment is sealed. The inert gas is injected into the battery through the pressure charging device until the preset pressure is reached. The initial pressure is recorded and the pressure is observed to decrease over time to preliminarily detect whether there is a leak within the lithium battery. A first record is output, including the initial pressure value and a pressure change curve. The negative pressure detection and tracer gas injection module: After the preliminary pressure charge test, the battery maintains a positive internal pressure. A tracer gas (such as Freon or other easily detectable gases) is injected into the battery's exterior through an injection device. The battery is placed in a negative pressure testing environment, created using a vacuum pump or other device. A highly sensitive gas detector is used to observe and record whether the tracer gas enters the testing environment through potential leak points within the battery. A second record is output, including the tracer gas detection results and the location of the leak (if detected). The pressure change curve in the first record is analyzed to determine whether there is a significant pressure drop within the battery. Analyze the tracer gas test results in the second record information to determine whether tracer gas from outside the battery has entered the test environment. Combined with the two pieces of information, determine whether the lithium battery has passed the airtightness test.

[0114] The beneficial effects of the above technical solution are as follows: through the steps of preliminary charging pressure detection, negative pressure detection and tracer gas injection and comprehensive determination, it is possible to ensure that the packaged lithium battery has good air tightness, thereby improving the safety of the battery and product quality.

[0115] According to some embodiments of the present invention, the second airtightness detection module includes at least one of a high-precision helium mass spectrometer leak detector, an infrared thermal imager, a sound intensity meter, an accelerometer, and a standing wave tube.

[0116] The working principle of the above technical solution is as follows: A high-precision helium mass spectrometer leak detector uses helium as a leak-trace gas and determines leaks in the inspected object by measuring the radius of the deflection trajectory of ions of different masses in a magnetic field. An infrared thermal imager captures infrared radiation from the surface of an object to generate a thermal image, displaying the temperature distribution in different areas and enabling rapid location of severe leaks. A sound intensity meter measures the sound intensity at a specific point in the sound field—the energy flow per unit area per unit time—helping detect weak sounds produced by gas leaks. An accelerometer measures the acceleration of an object in a specific direction. A standing wave tube measures the normal incidence sound absorption coefficient of sound-absorbing materials and can also be used in certain situations to detect gas leaks (e.g., by measuring the change in sound waves caused by a leak). When using a high-precision helium mass spectrometer leak detector, it works in conjunction with a cavity vacuum pump to evacuate the cavity. It can also work in conjunction with a lithium battery vacuum pump to evacuate the batteries within the cavity. The pressures within the cavity and the lithium battery can be measured separately. Helium is then injected into the lithium battery within the cavity of the high-precision helium mass spectrometer leak detector, and the cavity is then tested for helium.

[0117] Beneficial effects of the above technical solution: The second airtightness detection module includes one or more of the above-mentioned devices, depending on factors such as the type of object to be tested, detection requirements, and cost. For example, for high-precision and high-requirement airtightness testing of lithium batteries, a high-precision helium mass spectrometer leak detector will be used as the main detection equipment, combined with an infrared thermal imager for auxiliary detection. For some airtightness detection scenarios with lower requirements, only simpler detection equipment such as infrared thermal imagers or sound intensity meters may be used. The second airtightness detection module is a system that integrates a variety of high-precision detection equipment to ensure accurate and comprehensive detection of the airtightness of lithium batteries or other objects to be tested.

[0118] According to some embodiments of the present invention, the data processing module includes:

[0119] The storage module stores a detection database containing p pieces of data, each piece of data having n indicators of the lithium battery, including gas flow rate, concentration, pressure, and cavity space within the lithium battery; digitizing the n indicators and recording the corresponding values ​​indicating whether there is a leak, which are represented by a vector Y;

[0120] Y=(y1,y2,y3…y p )

[0121] Each value in Y is represented by 0, 1, 0 means no leakage, 1 means leakage, y i The value indicating whether the i-th piece of data is leaked; i = 1, 2, 3, ... p;

[0122] Define judgment rules;

[0123]

[0124] Among them, g(x) is the judgment rule, that is, the probability of judging whether there is leakage; x i is the value of the i-th indicator, is x i The coefficient of is the square value of the i-th index, β i for The coefficient of , i = 1, 2, 3 ... n;

[0125] calculate and β i , obtain the target judgment rule based on the solution result;

[0126]

[0127] Among them, ln L(x) is the intermediate expression, y i is the value of whether the i-th data in vector Y is leaked, X i To detect the value of the i-th data in the database, substitute the expression in g(x). is ln L(x) Find the partial derivative, i = 1, 2, 3, ... j;

[0128] Obtain the second test result and input the target judgment rule to obtain the test report.

[0129] The working principle of the above technical solution: The storage module includes a storage detection database, which contains p pieces of data, each of which covers n key indicators of the lithium battery. These indicators include the gas flow rate, concentration, pressure and cavity space inside the lithium battery. They are all digitized and accompanied by corresponding leakage status (0 for no leakage, 1 for leakage). All leakage status values ​​constitute a vector Y. Construct a complex mathematical model g(x) to predict the leakage probability of the lithium battery based on its indicator data. g(x) combines linear combinations and nonlinear transformations, and the output value is between 0 and 1, representing the probability of lithium battery leakage. Coefficient solution: Calculate and β i The specific value of is convenient for constructing accurate target judgment rules. Using the maximum likelihood estimation method, by solving the intermediate expression ln L(x) to maximize and β i . For ln L(x) respectively and β i Find the partial derivative and set it to 0 to solve and β iThe optimal value of is obtained by inputting new lithium battery test data into the established judgment rule g(x) to obtain the leakage probability, and a test report is generated based on this. If the leakage probability is determined to be greater than the preset probability threshold, it indicates that a leak has occurred; otherwise, it indicates that no leak has occurred.

[0130] The beneficial effect of this technical solution: By integrating multiple indicators and constructing a complex mathematical model, the data processing module can more accurately determine the leakage status of lithium batteries. The generated test report provides an important basis for lithium battery production, quality inspection, and subsequent processing, helping to optimize production processes and improve product quality.

[0131] According to some embodiments of the present invention, it further includes: a spot inspection module, which is used to automatically detect the status of each module within a set time interval; each module includes a grabbing module, a first air tightness detection module, a second air tightness detection module, a data processing module and a display module.

[0132] The working principle and beneficial effects of the above technical solution are as follows: The inspection module automatically and periodically checks the operating status of each functional module to ensure normal operation. Through regular inspections, the inspection module can promptly identify and resolve potential problems, thereby avoiding production interruptions or quality degradation. The inspection module integrates sensors, timers, and a logic judgment unit to monitor the status of each module and respond accordingly. The gripping module: detects whether its gripping action is accurate and stable, and whether there are any mechanical failures. The first airtightness testing module: checks whether its charging, testing, and recording functions are functioning properly, ensuring accurate determination of the airtightness of lithium batteries. The second airtightness testing module: verifies the accuracy of its high-precision testing equipment, including helium mass spectrometer leak detectors and infrared thermal imagers. The data processing module: checks its data processing and storage functions to ensure data integrity, accuracy, and security. The display module: verifies whether its display functions properly and accurately reflects test results and system status. Reasonable inspection intervals are set based on the importance of each module, its failure rate, and production requirements. A combination of online monitoring and offline testing ensures that inspection tasks are completed without disrupting normal production. When an abnormal condition is detected, the inspection module immediately triggers an alarm and notifies relevant personnel for action. The inspection module plays a crucial role in automated production lines, ensuring the stable operation of each functional module, thereby improving production efficiency and product quality. Through regular testing and maintenance, the inspection module can also extend equipment life and reduce operating costs.

[0133] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A fully automatic helium inspection machine with spot inspection function, characterized in that: include: The grabbing module is used to grab and place the lithium battery cover and package the lithium battery; A first airtightness detection module, used to perform a first airtightness detection on the packaged lithium battery and obtain a first detection result; A second airtightness detection module is used to perform a second airtightness test on the packaged lithium battery to obtain a second test result when the first test result is qualified; A data processing module, configured to process the second detection result to obtain a detection report; Display module, used for visually displaying the test report; The crawling module includes: Acquisition module, used to collect point cloud information and scene images of lithium battery cover; A first determination module is used to determine a gripping method for the lithium battery cover according to the point cloud information and the scene image; A construction module, used to construct a grasping path based on the grasping method of the lithium battery cover; An execution module, used to execute control instructions for grabbing the lithium battery cover based on the grabbing method and grabbing path; The first determination module includes: The matching module is used to determine the model of the lithium battery cover based on the point cloud information, match it in the database, and determine the grabbing template; A preprocessing module, used for preprocessing the scene image to obtain a preprocessed scene image; Positioning and identification module for: Preprocess the lithium battery cover image in the scene image for positioning and identification, summarize the coordinates of all data points in the lithium battery cover image, and calculate the average coordinates of all data points in the lithium battery cover image as the center of mass of the lithium battery cover; Setting constraints; the constraints include a maximum distance from the centroid, a minimum distance, and a range of coordinate values; Traverse all data points, check whether they meet the set constraints, and take the data points that meet the conditions as the data point set; Calculate the normalized value of the dot product between every two data points in the data point set; Select the data point pair with the smallest normalized dot product value as the grasping point for the lithium battery cover; The first adjustment module is used to adjust the grabbing template according to the grabbing points to determine the grabbing method for the lithium battery cover.

2. The fully automatic helium inspection machine with spot inspection function according to claim 1, characterized in that: The preprocessing module includes: An enhancement module, used to enhance edge features of scene images through color space conversion; The denoising module is used to perform denoising on the scene image to obtain a preprocessed scene image.

3. The fully automatic helium inspection machine with spot inspection function according to claim 1, characterized in that: The second air tightness detection module exchanges information with the host computer through the data transmission module; the data transmission module is one or more of 5GNB-I0T, Ethernet and 485 communication.

4. The fully automatic helium inspection machine with spot inspection function according to claim 1, characterized in that: Also includes: The second adjustment module is used to: During the execution of the control instruction by the execution module, the current grasping node of the execution module is determined, and the reliability factor k of the execution module at the current grasping node is calculated. ε : Where T is the grasping safety of the grasping path before the execution module moves to the current grasping node; L i is the safe distance between the grasping node i and the obstacle before the execution module moves to the current grasping node; d i is the width of the safe grasping path at grasping node i before the execution module moves to the current grasping node; According to the reliability factor k of the execution module at the current capture node ε , adjust the crawling path of the execution module and send the adjusted crawling path to the execution module; Among them, F(x') is the adjusted grasping path; x ε is the grasping node where the execution module is currently located; x' is the grasping node that the execution module has not reached; w(x) is the cost function from the initial grasping node to the target grasping node; g(x ε ) is the cost function from the current grasping node to the target grasping node; x m is the horizontal coordinate of the current grab node; x n is the horizontal coordinate of the grasping node that has not been reached; y m is the vertical coordinate of the current grab node; y n is the vertical coordinate of the unreached grab node.

5. The fully automatic helium inspection machine with spot inspection function according to claim 1, characterized in that: The first air tightness detection module includes: A preliminary pressure charging detection module is used to perform preliminary pressure charging on the packaged lithium battery, fill the internal space of the battery with an inert gas at a preset pressure, and record the initial pressure value to preliminarily check whether there is leakage inside the lithium battery, thereby obtaining first recorded information; A negative pressure detection and tracer gas injection module is used to inject tracer gas outside the lithium battery while maintaining a positive pressure inside the lithium battery, placing the lithium battery in a negative pressure detection environment, and observing and recording whether the tracer gas enters the detection environment through a leakage point inside the lithium battery to obtain second recorded information; The second determining module is used to determine the first detection result according to the first record information and the second record information.

6. The fully automatic helium inspection machine with spot inspection function according to claim 1, characterized in that: The second air tightness detection module includes at least one of a high-precision helium mass spectrometer leak detector, an infrared thermal imager, a sound intensity meter, an accelerometer, and a standing wave tube.

7. The fully automatic helium inspection machine with spot inspection function according to claim 6, characterized in that: The data processing module includes: The storage module stores a detection database containing p pieces of data, each piece of data having n indicators of the lithium battery, including gas flow rate, concentration, pressure, and cavity space within the lithium battery; digitizing the n indicators and recording the corresponding values ​​indicating whether there is a leak, which are represented by a vector Y; <h2 style=";text-align:left;direction:ltr">Y = (y1,y2,y3…y)<h2 style=";text-align:left;direction:ltr"> p <h2 style=";text-align:left;direction:ltr"> ) Each value in Y is represented by 0, 1, 0 means no leakage, 1 means leakage, y i The value indicating whether the i-th piece of data is leaked; i = 1, 2, 3, ... p; Define judgment rules; Among them, g(x) is the judgment rule, that is, the probability of judging whether there is leakage; x i is the value of the i-th indicator, is x i The coefficient of is the square value of the i-th index, β i for The coefficient of , i = 1, 2, 3 ... n; calculate and β i , obtain the target judgment rule based on the solution result; Among them, ln L(x) is the intermediate expression, y i is the value of whether the i-th data in vector Y is leaked, X i To detect the value of the i-th data in the database, substitute the expression in g(x). is ln L(x) Find the partial derivative, i = 1, 2, 3, ... j; Obtain the second test result and input the target judgment rule to obtain the test report.

8. The fully automatic helium inspection machine with spot inspection function according to claim 1, characterized in that: Also includes: The inspection module is used to automatically detect the status of each module within a set time interval; each module includes a grabbing module, a first air tightness detection module, a second air tightness detection module, a data processing module and a display module.

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