Welding seam height detection method and device, electronic equipment and readable storage medium

Abstract

The invention discloses a weld height detection method and device, electronic equipment and a readable storage medium. The welding seam height detection method comprises the steps that a target depth image of a welding seam in a single battery is obtained, the single battery comprises a top cover and a shell which are adjacent, and the welding seam is located between the top cover and the shell; according to the target depth image, determining position information of the shell corresponding to a target plane in a preset three-dimensional coordinate system; and according to the position information of each first target pixel point in the target depth image in the preset three-dimensional coordinate system and the position information of the target plane, the height of the welding seam is determined, and the first target pixel points are pixel points corresponding to the welding seam area in the target depth image. In this way, the height of the weld joint can be determined rapidly and accurately in combination with the depth image.

Description

Technical Field

[0001] This application belongs to the technical field of visual inspection, and particularly relates to a method, device, electronic device, and readable storage medium for detecting the height of a weld seam. Background Art

[0002] During the processing of battery cells, it is often necessary to weld two components. For example, the housing and the top cover are welded by laser to closely combine the housing and the top cover. During the welding process, if the top cover and the housing do not fully meet, the shape of the weld bead bulges, forming a flange. Among them, the flange value is the height of the bulge. After the welding process, the quality of the welding can be detected. In the related art, image detection is often used to detect the welding quality. By collecting the image of the weld seam, identifying the height of the weld seam in the image, that is, the flange value, and then combining the height information to judge the quality of the weld seam.

[0003] However, during the image acquisition process, there are often influencing factors that are likely to cause errors in the depth image, such as the deviation of the camera position and the ambient light. The existence of these errors will affect the accuracy of determining the height of the weld seam. Summary of the Invention

[0004] The embodiments of this application provide a method, device, electronic device, and readable storage medium for detecting the height of a weld seam, which can quickly and accurately determine the height of the weld seam in combination with the depth image.

[0005] In a first aspect, the embodiments of this application provide a method for detecting the height of a weld seam, including:

[0006] Obtain a target depth image of the weld seam in the battery cell, where the battery cell includes an adjacent top cover and a housing, and the weld seam is located between the top cover and the housing;

[0007] According to the target depth image, determine the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system;

[0008] According to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane in the target depth image, determine the height of the weld seam, where the first target pixel point is the pixel point corresponding to the weld seam area in the target depth image.

[0009] In the embodiments of this application, after obtaining the target depth image of the weld seam in the battery cell, according to the target depth image, determine the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system. Thus, the position information of the housing in the preset three-dimensional coordinate system can be accurately determined. Next, taking the target plane as the reference plane, according to the distance between each pixel point corresponding to the weld seam area in the target depth image and the target plane, determine the height of the weld seam, thereby effectively improving the accuracy of measuring the height of the weld seam and reducing the detection error.

[0010] In a possible implementation, according to the target depth image, determining the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system includes:

[0011] Obtaining the preset angle between the top cover and the housing, the position information of the weld seam corresponding to the target straight line in the preset three-dimensional coordinate system in the target depth image, and the position information of each pixel point in the target depth image corresponding to the preset three-dimensional coordinate system;

[0012] According to the preset angle, the position information of the target straight line, and the position information corresponding to each pixel, determining the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system.

[0013] According to the embodiments of the present application, by using the corrected target plane as the reference plane to assist in determining the weld height, it is beneficial to improve the accuracy of determining the weld height.

[0014] In a possible implementation, according to the preset angle, the position information of the target straight line, and the position information corresponding to each pixel, determining the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system includes:

[0015] According to the position information corresponding to each first pixel in the target depth image, determining the first plane corresponding to the top cover in the preset three-dimensional coordinate system and the position information of the first plane, where the first pixel point is the pixel point corresponding to the housing area in the target depth image;

[0016] According to the preset angle and the position information of the first plane, generating the position information of the second plane, where the included angle between the first plane and the second plane is the preset angle;

[0017] According to the position information corresponding to each second pixel in the target depth image and the position information of the second plane, determining the position information of the target plane of the housing in the preset three-dimensional coordinate system.

[0018] According to the embodiments of the present application, after determining the first plane corresponding to one of the top covers, combining the geometric position relationship between the top cover and the housing, for example, the included angle between the top cover and the housing, and then determining the target plane of the housing in the preset three-dimensional coordinate system can effectively reduce the error between the position information of the target plane and the actual position of the housing, providing a reliable data basis for the accurate measurement of the weld height.

[0019] In a possible implementation, according to the position information corresponding to each second pixel in the target depth image and the position information of the second plane, determining the position information of the target plane of the housing in the preset three-dimensional coordinate system includes:

[0020] Move the second plane and determine the average distance between the second pixel points and the moved second plane, where the average distance is the average value of the second distances between each second pixel point and the moved plane;

[0021] Determine the position information of the target plane according to the average distance between the second pixel points and the moved second plane, where the target plane is the moved second plane corresponding to the minimum average distance.

[0022] According to the embodiments of the present application, by referring to the distance between the second pixel points and the second plane and moving the second plane, it is beneficial to accurately find the target plane with the highest matching degree with the second surface.

[0023] In a possible implementation manner, according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane, determine the height of the weld, including:

[0024] Determine the first distance between each first target pixel point and the target plane corresponding to the housing according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane;

[0025] Determine the height of the weld according to the multiple first distances.

[0026] According to the embodiments of the present application, taking the target plane as the reference plane, the first distances between each first pixel point corresponding to the weld area and the target plane respectively are used to determine the height of the weld, so that the accuracy of measuring the height of the weld can be effectively improved and the detection error can be reduced.

[0027] In a possible implementation manner, according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane, determine the first distance between each first target pixel point and the target plane corresponding to the housing, including:

[0028] Obtain the position information of the target line corresponding to the weld in the preset three-dimensional coordinate system in the target depth image;

[0029] Determine the weld area according to the position information of the target plane and the position information of the target line corresponding to the weld system, where the weld area and the target line are on the same side of the target plane;

[0030] Determine the first distance between each first target pixel point and the target plane corresponding to the housing according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane.

[0031] Based on this, the accuracy of measuring the height of the weld can be effectively improved and the detection error can be reduced.

[0032] In a possible implementation manner, determining the height of the weld seam according to a plurality of first distances includes:

[0033] Determine the maximum value of the first distances among the plurality of first distances, and determine the maximum value of the first distances as the height of the weld seam.

[0034] Based on this, the accuracy of determining the height of the weld seam can be effectively improved, and the detection error can be reduced.

[0035] In a possible implementation manner, obtaining the target depth image of the weld seam in the battery cell includes:

[0036] Obtain the first depth image of the weld seam in the battery cell, where the first depth image includes the depth value of each initial pixel point;

[0037] According to the depth value of each initial pixel point, determine the initial fitting line of the weld seam in the first depth image in the preset three-dimensional coordinate system;

[0038] According to the positional relationship between the initial fitting line and the preset coordinate axes in the preset three-dimensional coordinate system, adjust the first depth image to the target position in the preset three-dimensional coordinate system to obtain the target depth image. The target depth image includes the target line corresponding to the weld seam, and the target line is parallel to the preset coordinate axes.

[0039] According to the embodiments of the present application, by combining the positional relationship between the initial fitting line and the coordinate axes, the position of the first depth image is adjusted to obtain the target depth image at the target position, so that the position and direction of the weld seam in the target depth image are standardized, providing an accurate data basis for subsequent weld seam height detection.

[0040] In a possible implementation manner, the first depth image includes a plurality of pixel rows, and the arrangement direction of the plurality of pixel rows is consistent with the extension direction of the weld seam;

[0041] According to the depth value of each initial pixel point, determining the initial fitting line of the weld seam in the first depth image in the preset three-dimensional coordinate system includes:

[0042] According to the depth value of each initial pixel point, determine the second target pixel point in each pixel row, where the second target pixel point is the initial pixel point corresponding to the maximum depth value in the pixel row;

[0043] According to the position information of each second target pixel point in the preset three-dimensional coordinate system, generate the initial fitting line of the weld seam in the first depth image in the preset three-dimensional coordinate system.

[0044] In the embodiments of the present application, the initial fitting line is a preliminary representation of the weld seam in three-dimensional space, which can conveniently represent the approximate direction and position of the weld seam in the first depth image, facilitating improving the adjustment accuracy in the subsequent step of adjusting the first depth image and enhancing the accuracy of the weld seam height measurement.

[0045] In one possible implementation manner, obtaining the first depth image of the weld seam in the battery cell includes:

[0046] Obtaining a second depth image of the depth value of the weld seam in the battery cell;

[0047] Performing noise reduction processing on the second depth image according to a preset image noise reduction algorithm to obtain the first depth image of the weld seam in the battery cell.

[0048] According to the embodiments of the present application, image noise can be suppressed and the smoothness of the image can be improved.

[0049] In a second aspect, an apparatus for detecting the height of a weld seam provided by the embodiments of the present application is characterized in that the apparatus includes:

[0050] An acquisition module for acquiring a target depth image of the weld seam in the battery cell, where the battery cell includes an adjacent top cover and a housing, and the weld seam is located between the top cover and the housing;

[0051] A processing module for determining the position information of the housing corresponding to the target plane in a preset three-dimensional coordinate system according to the target depth image;

[0052] The processing module is further configured to determine the height of the weld seam according to the position information of each first target pixel point in the target depth image in the preset three-dimensional coordinate system and the position information of the target plane, where the first target pixel point is a pixel point corresponding to the weld seam area in the target depth image.

[0053] In a third aspect, an electronic device provided by the embodiments of the present application includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps for detecting the height of the weld seam as in the first aspect are implemented.

[0054] In a fourth aspect, a readable storage medium provided by the embodiments of the present application stores a program or instruction. When the program or instruction is executed by the processor, the steps for detecting the height of the weld seam as in the first aspect are implemented.

[0055] The above description is only an overview of the technical solutions of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically exemplified below. Description of the Drawings

[0056] By reading the detailed description of the following embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only for the purpose of showing the embodiments and are not considered to be a limitation of the present application. In the accompanying drawings:

[0057] Figure 1 is a schematic flowchart of a method for detecting the weld height provided by an embodiment of the present application;

[0058] Figure 2 is a schematic structural diagram of a battery cell provided by some embodiments of the present application;

[0059] Figure 3 is a schematic diagram of an image acquisition provided by an embodiment of the present application;

[0060] Figure 4 is a two-dimensional schematic diagram of a target depth image provided by an embodiment of the present application;

[0061] Figure 5 is a three-dimensional schematic diagram of a target depth image provided by an embodiment of the present application;

[0062] Figure 6 is a schematic diagram of a surface position relationship provided by an embodiment of the present application;

[0063] Figure 7 is a schematic flowchart of another method for detecting the weld height provided by an embodiment of the present application;

[0064] Figure 8 is a schematic structural diagram of a device for detecting the weld height provided by an embodiment of the present application;

[0065] Figure 9 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0066] In the accompanying drawings, the drawings are not necessarily drawn to actual scale. Detailed Embodiments

[0067] The features and exemplary embodiments of various aspects of the present application will be described in detail below. To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0068] It should be noted that in this article, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0069] During the process of processing battery cells, it is often necessary to weld two components. For example, the housing and the top cover are welded by laser to make the housing and the top cover closely combined. During the welding process, the incomplete connection between the top cover and the housing results in a raised bead shape, forming a flange. Among them, the flange value is the height of the raised part. After the welding process, the quality of the welding can be detected. In the related art, image detection is often used to detect the welding quality. By collecting the image of the weld seam, identifying the height of the weld seam in the image, that is, the flange value, and then combining the height information to judge the quality of the weld seam.

[0070] In the welding process, when the extra metal is generated on both sides of the weld seam and the extra metal exceeds the required weld width, welding quality problems will occur. When flange quality problems occur, it may lead to derivative problems such as reduced weld strength, poor sealing performance, and crack generation. Therefore, detecting the welding quality can facilitate the control of the ex-factory quality of welded products.

[0071] Based on this, after the flange welding process, the quality of the welding can be detected. In the related art, image detection is often used to detect the welding quality. By collecting the image of the weld seam, identifying the height of the weld seam in the image, that is, the height of the flange, and then combining the height information to judge the quality of the weld seam.

[0072] However, during the image acquisition process, there are often influencing factors such as the deviation of the camera position and ambient light that are likely to cause errors in the depth image. The existence of these errors will affect the accuracy of determining the height of the weld seam.

[0073] In the technical solutions related to detection quality, there is also a method of visually observing the shape and edges of the weld to determine whether there is a problem of weld flanging. Although the detection method is simple, the detection accuracy and the consistency of detection standards are lacking. In addition, sensors are used, for example, in combination with laser sensors, cameras, ultrasonic sensors, etc., to scan and detect the weld, so as to obtain the shape, geometric features and surface quality of the weld, and then determine whether there are quality problems in the weld by detecting the weld height. However, in the detection solutions using sensors, there are many detection devices involved and the calculation process is complex. There are still problems of large errors and low accuracy in the detected weld height.

[0074] Based on the above considerations, in order to solve the problems of low accuracy and large errors in the detection results of weld height, the embodiments of the present application provide a method, device, electronic device and readable storage medium for detecting weld height. For a battery cell that needs to detect the weld height, after obtaining the target depth image of the weld in the battery cell, according to the target depth image, determine the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system. Thus, the position information of the housing in the preset three-dimensional coordinate system can be accurately determined. Next, taking the target plane as the reference plane, according to the distance between each pixel point corresponding to the weld area in the target depth image and the target plane, determine the height of the weld, thereby effectively improving the accuracy of measuring the weld height and reducing the detection error.

[0075] The technical solutions described in the embodiments of the present application are applicable to detecting products produced based on entity processes such as manufacturing batteries and vehicles.

[0076] Figure 1 For the flow diagram of the method for detecting the weld height provided by the embodiments of the present application, as Figure 1 shown, the method includes steps 101 to 103.

[0077] Step 101, obtain the target depth image of the weld in the battery cell, where the battery cell includes an adjacent top cover and a housing, and the weld is located between the top cover and the housing;

[0078] Step 102, according to the target depth image, determine the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system;

[0079] Step 103, according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane in the target depth image, determine the height of the weld, where the first target pixel point is the pixel point corresponding to the weld area in the target depth image.

[0080] The above steps will be described in detail below, as specifically shown below.

[0081] The battery mentioned in the embodiments of the present application refers to a single physical module including one or more battery cells to provide higher voltage and capacity. In some embodiments, the battery may be a battery module. When there are multiple battery cells, the multiple battery cells are arranged and fixed to form a battery module. In some embodiments, the battery may be a battery pack, which may include a box body and battery cells, and the battery cells or battery modules are accommodated in the box body.

[0082] Specifically, regarding step 101 above, for each of the one or more battery cells included in the battery, each battery cell may include a housing assembly and a cell assembly located within the housing assembly.

[0083] Among them, the housing assembly of the battery cell may include two parts: a housing and a top cover. Among them, the housing and the top cover need to be joined by welding, and the housing may include multiple sides. Among them, the housing is welded to each side respectively.

[0084] The battery cells disclosed in the embodiments of the present application can be but are not limited to being used in electrical devices such as vehicles, ships, or aircraft. The power system of the electrical device can be composed of the battery cells, batteries, etc. disclosed in the present application. In this way, it is beneficial to avoid safety problems caused by poor welding of the top cover of the battery cell and improve the stability of battery performance and battery life.

[0085] Figure 2 It is a schematic structural diagram of a battery cell provided in some embodiments of the present application. In combination with Figure 2 as shown, as Figure 2 shown, the housing assembly may include a top cover 21 and a housing 22 joined by welding. Figure 2 The housing assembly shown is prismatic. Specifically, the housing assembly may include a top surface, a bottom surface, and multiple side surfaces. The top surface is the surface where the top cover 21 is located, and the housing 22 includes multiple side surfaces. Intersection lines are respectively formed between the top surface and the multiple side surfaces, and the multiple intersection lines surround the top surface.

[0086] Multiple weld seams are formed by welding between the top cover 21 and the housing 22. As Figure 2 shown, taking the outer shell as a rectangle as an example, the top cover forms four intersection lines 201a, 201b, 201c, and 201d with the four side surfaces respectively. Four weld seams 202a, 202b, 202c, and 202d are formed by welding between the housing 32 and the top cover 31. Each weld seam is close to and substantially parallel to one intersection line of the housing assembly. For example, the intersection line 201a is close to and substantially parallel to the weld seam 202a, the intersection line 201b is close to and substantially parallel to the weld seam 202b, the intersection line 201c is close to and substantially parallel to the weld seam 202c, and the intersection line 201d is close to and substantially parallel to the weld seam 202d.

[0087] When performing welding inspection on the housing assembly, a depth camera can be used to capture each weld seam separately. Based on the images captured by the depth camera, a target depth image can be obtained. Optionally, the depth image captured by the depth camera can be directly used as the target depth image, or the depth image captured by the depth camera can be denoised and corrected, and then the processed depth image can be used as the target depth image.

[0088] Optionally, the depth camera can be a CCD line scan camera or other cameras that can obtain the distance between the object being photographed and the camera. Figure 3 It is a schematic diagram of image acquisition provided by an embodiment of the present application. Figure 4 It is a schematic diagram of the target depth image provided by an embodiment of the present application. As shown in Figure 3 Exemplarily, the CCD line scan camera 31 can scan along an intersection line 301 of the housing assembly 30 to obtain a target depth image. The target depth image of the housing assembly 30 obtained after scanning includes the intersection line 301 and two surfaces adjacent to the intersection line 301. These two surfaces are, for example, Figure 2 the top surface and a side surface shown. Among them, the target depth image including the weld seam can be as shown in Figure 4 (b).

[0089] After obtaining the target depth image, next, steps 102 and 103 are involved. According to the target depth image, determine the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system.

[0090] Specifically, the depth value of each pixel point in the target depth image is determined according to the distance between each point in the object being photographed and the depth camera. That is, the depth value of each pixel point included in the image information of the target depth image. Thus, in the target depth image, the spatial position relationship between each pixel point can be known, and the position information corresponding to each pixel point in the preset three-dimensional coordinate system can be determined. Among them, the position information corresponding to each pixel point can specifically be the coordinates of the pixel point.

[0091] Exemplarily, continuing to combine with Figure 4 shown, the depth camera scans along the extension direction of the weld seam to obtain a depth image. Optionally, during the scanning process, the weld seam is parallel to the scanning direction, the weld seam is perpendicular to the row direction of the pixels, and each pixel row of the target depth image is parallel to the X axis.

[0092] In the target depth image, the pixel points corresponding to the housing are located on one side of the weld region, and the pixel points corresponding to the top cover are located on the other side of the weld region. Thus, according to the positional relationship between the depth camera and the weld, the image regions corresponding to the housing and the top cover in the target depth image can be determined. Thus, according to the coordinates of each pixel point included in the housing region, the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system can be determined.

[0093] In the embodiment of the present application, the pixel points corresponding to the weld region in the target depth image are the first target pixel points. Next, according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane, the height of the weld can be determined. Specifically, for example, the distance between each first pixel point and the target plane is obtained, and then statistical calculations are performed based on multiple distances to obtain the height of the weld. Optionally, the statistical calculations are, for example, finding the maximum value, mean value, etc.

[0094] In the embodiment of the present application, after obtaining the target depth image of the weld in the battery cell, according to the target depth image, the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system is determined. Thus, the position information of the housing in the preset three-dimensional coordinate system can be accurately determined. Next, taking the target plane as the reference plane, according to the distance between each pixel point corresponding to the weld region in the target depth image and the target plane, the height of the weld is determined, thereby effectively improving the accuracy of measuring the height of the weld and reducing the detection error.

[0095] In some embodiments of the present application, in order to improve the accuracy of determining the target plane, the above step of determining the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system according to the target depth image may specifically refer to the following steps 201 and 202.

[0096] Step 201, obtain the preset angle between the top cover and the housing, the position information of the weld corresponding to the target line in the preset three-dimensional coordinate system in the target depth image, and the position information of each pixel point in the target depth image corresponding to the preset three-dimensional coordinate system;

[0097] Step 202, according to the preset angle, the position information of the target line, and the position information corresponding to each pixel point, determine the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system.

[0098] Specifically, the preset angle between the top cover and the housing can be determined according to the design information of the battery cell. Optionally, the angle between the top cover and the housing can be designed to be 90 degrees. Based on this, when welding the top cover and the housing, the welding process will be carried out with reference to this angle, so that the included angle between the top cover and the housing is 90 degrees. It can be understood that the above specific values are only for facilitating the understanding of the technical solution of the present application, rather than a specific limitation on the embodiments of the present application.

[0099] The target straight line is the straight line corresponding to the weld seam in the target depth image in a preset three-dimensional coordinate system. Combining with Figure 4 the two-dimensional depth image shown in Figure 5 and the three-dimensional depth image shown in

[0100] it can be known that the pixel points corresponding to the top cover and the pixel points corresponding to the shell can be conveniently found. Based on the position information of the pixel points corresponding to the top cover, a plane of the top cover in the preset three-dimensional coordinate system can be fitted; based on the position information of the pixel points corresponding to the shell, a plane of the shell in the preset three-dimensional coordinate system can be fitted. Since the preset angle between the top cover and the shell is known, after obtaining the plane corresponding to the top cover, the plane of the shell in the preset three-dimensional coordinate system, that is, the target plane, can be determined by combining with the preset angle.

[0101] According to the embodiments of the present application, by using the corrected target plane as the reference plane to assist in determining the weld height, it is beneficial to improve the accuracy of determining the weld height.

[0102] In some embodiments, according to the preset angle, the position information of the target straight line, and the position information corresponding to each pixel, determining the position information of the target plane corresponding to the shell in the preset three-dimensional coordinate system may include the following steps 301 to step 303.

[0103] Step 301, according to the position information corresponding to each first pixel point in the target depth image, determine the first plane corresponding to the top cover in the preset three-dimensional coordinate system and the position information of the first plane, where the first pixel point is the pixel point corresponding to the top cover area in the target depth image;

[0104] Step 302, generate the position information of the second plane according to the preset angle and the position information of the first plane, where the included angle between the first plane and the second plane is the preset angle, and the target straight line is located in the second plane;

[0105] Step 303, according to the position information corresponding to each second pixel in the target depth image and the position information of the second plane, determine the position information of the target plane of the shell in the preset three-dimensional coordinate system.

[0106] Specifically, the first pixel point is the pixel point corresponding to the top cover area in the target depth image, and the second pixel point is the pixel point corresponding to the shell area in the target depth image.

[0107] In some embodiments, the plane corresponding to the top cover in the preset three-dimensional coordinate system, that is, the first plane, can be generated first according to the position information of the pixel points corresponding to the top cover, so as to obtain the first plane and the position information of the first plane. Among them, the position information of the first plane can be represented by a plane equation.

[0108] After obtaining the position information of the first plane, the position information of the second plane can be determined by combining the preset angle, the position of the target line, and the plane equation of the first plane. Among them, the position information of the second plane can be represented by the plane equation.

[0109] Exemplarily, taking the angle between the top cover and the housing as 90 degrees as an example, after determining the first plane, the normal vector of the first plane can be obtained, and the first plane can be rotated 90 degrees around the target line to obtain the second plane. At this time, the included angle between the second plane and the first plane is the preset angle, and the target line is located in the second plane. Specifically, Figure 6 is a schematic diagram of a surface position relationship provided by an embodiment of the present application. Combining Figure 6 as shown, the first plane 601, the second plane 602, and the included angle a between the first plane 601 and the second plane 602 is the preset angle. The target line is located in the second plane 602, where the target line coincides with the second plane 602 at point 604. Among them, the height of the weld can be represented by the distance 605.

[0110] Next, the position of the second plane is adjusted by combining the position information of each second pixel point, so as to determine the target plane.

[0111] According to the embodiment of the present application, after determining the first plane corresponding to one of the top covers, by combining the geometric position relationship between the top cover and the housing, for example, the included angle between the top cover and the housing, and then determining the target plane of the housing in the preset three-dimensional coordinate system, the error between the position information of the target plane and the actual position of the housing can be effectively reduced, providing a reliable data basis for the accurate measurement of the weld height.

[0112] In some optional embodiments, according to the position information corresponding to each second pixel in the target depth image and the position information of the second plane, the position information of the target plane of the housing in the preset three-dimensional coordinate system is determined. Specifically, the following steps can be referred to: move the second plane, and determine the average distance between the second pixel point and the moved second plane, where the average distance is the average value of the second distances between each second pixel point and the moved plane; according to the average distance between the second pixel point and the moved second plane, determine the position information of the target plane, where the target plane is the moved second plane corresponding to the minimum average distance.

[0113] Specifically, the second distance is the distance between each second pixel point and the moved second plane.

[0114] The second plane is moved once, and the distance between each second pixel point and the moved second plane, that is, the second distance, is calculated. Thus, for each movement, multiple second distances can be obtained, and by calculating the average value of the second distances, the average distance between the second pixel point and the moved second plane can be obtained.

[0115] Based on this, during the process of moving the second plane, find the minimum average distance and determine the moved second plane corresponding to the minimum average distance as the target plane.

[0116] According to the embodiments of the present application, by referring to the distance between the second pixel points and the second plane and moving the second plane, it is beneficial to accurately find the target plane with the highest matching degree with the second surface.

[0117] In some embodiments of the present application, after determining the target plane, the height of the weld can be determined according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane in the target depth image. Specifically, the following steps can be referred to: according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane, determine the first distance between each first target pixel point and the target plane corresponding to the housing; according to the multiple first distances, determine the height of the weld.

[0118] Specifically, the first target pixel points are the pixel points corresponding to the weld area in the target depth image. Due to the process of flanging welding, the weld will protrude from the welding surface. Therefore, in the preset three-dimensional coordinate system, the target line does not lie in the target plane but on one side of the target plane.

[0119] In some optional embodiments, the step of determining the first distance between each first target pixel point and the target plane corresponding to the housing according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane may specifically refer to the following steps 401 to 403.

[0120] Step 401, obtain the position information of the target line corresponding to the weld in the preset three-dimensional coordinate system in the target depth image;

[0121] Step 402, determine the weld area according to the position information of the target plane and the position information of the target line corresponding to the weld system, where the weld area and the target line are on the same side of the target plane;

[0122] Step 403, determine the first distance between each first target pixel point and the target plane corresponding to the housing according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane.

[0123] Specifically, the position information of the target line corresponding to the weld in the preset three-dimensional coordinate system can be represented by a straight line equation.

[0124] Exemplarily, the image area on the same side of the target plane as the target line in the target depth image can be determined as the weld area, and the pixel points in the weld area are the first target pixel points.

[0125] Next, according to the position information of each first target pixel point, the first distance from each first target pixel point to the target plane equation can be determined. After that, according to multiple first distances, the height of the weld can be determined.

[0126] According to the embodiments of the present application, taking the target plane as the reference plane, the first distance between each first pixel point corresponding to the weld area and the target plane is used to determine the height of the weld, thereby effectively improving the accuracy of measuring the weld height and reducing the detection error.

[0127] In some optional embodiments, to determine the height of the weld according to multiple first distances, specifically, the maximum value of the first distances is determined among the multiple first distances, and the maximum value of the first distances is determined as the height of the weld. Thereby, the accuracy of determining the weld height can be effectively improved and the detection error can be reduced.

[0128] In some embodiments of the present application, in order to further improve the accuracy of the weld height and reduce the error of the detection result based on the actual weld height, in the process of obtaining the target depth image of the weld in the battery cell, steps 501 to 503 may be specifically referred to.

[0129] Step 501, obtain a first depth image of the weld in the battery cell, where the first depth image includes initial pixel points and the depth value of each initial pixel point;

[0130] Step 502, according to the depth value of each initial pixel point, determine the initial fitting line of the weld in the first depth image in the preset three-dimensional coordinate system;

[0131] Step 503, according to the positional relationship between the initial fitting line and the preset coordinate axes in the preset three-dimensional coordinate system, adjust the first depth image to the target position in the preset three-dimensional coordinate system to obtain the target depth image, where the target depth image includes the target line corresponding to the weld, and the target line is parallel to the preset coordinate axes.

[0132] Specifically, a depth camera can be used to scan the weld, so that a scanned image of the weld can be obtained. Optionally, the scanned image output by the depth camera can be directly obtained and used as the first depth image of the weld.

[0133] In some optional embodiments, the first depth image can be obtained specifically by referring to the following steps: obtain a second depth image of the depth value of the weld in the battery cell; perform noise reduction processing on the second depth image according to the preset image noise reduction algorithm to obtain the first depth image of the weld in the battery cell.

[0134] Optionally, the preset image denoising algorithm can be, for example, a filtering algorithm such as a Gaussian filtering algorithm. During the execution of the preset image denoising algorithm, image noise can be suppressed through convolution calculation, thereby improving the smoothness of the image. In the embodiments of the present application, the specific preset denoising algorithm can be selected according to the image denoising requirements.

[0135] The first depth image includes initial pixel points and the depth values of each initial pixel point. By combining the depth values of each initial pixel point, the initial fitting line of the weld seam in the preset three-dimensional coordinate system can be determined in the first depth image.

[0136] Among them, the initial fitting line is a preliminary representation of the weld seam in three-dimensional space, which can conveniently represent the approximate direction and position of the weld seam in the first depth image, and can facilitate improving the adjustment accuracy and the measurement accuracy of the weld seam height in the subsequent steps of adjusting the first depth image.

[0137] Next, according to the positional relationship between the initial fitting line and the preset coordinate axes in the preset three-dimensional coordinate system, the first depth image can be adjusted to the target position in the preset three-dimensional coordinate system.

[0138] Exemplarily, the positional relationship can be the angular relationship between the initial fitting line and the preset coordinate axes. When the first depth image is adjusted to the target position, the line corresponding to the weld seam in the adjusted first depth image is parallel to the preset coordinate axes. At this time, the angular relationship between the initial fitting line and the preset coordinate axes is 0 degrees.

[0139] Adjust the first depth image to the target position in the preset three-dimensional coordinate system. Optionally, the adjustment methods include but are not limited to rotation, translation, etc. The target position refers to the position where the line corresponding to the weld seam in the adjusted first depth image is parallel to the preset coordinate axes. Exemplarily, the first depth image can be as Figure 4 (a) shown, and the adjusted first depth image, that is, the target depth image, can be as Figure 4 (b) shown.

[0140] As a specific example, Figure 5 is a three-dimensional schematic diagram of a target depth image provided by the embodiments of the present application. As shown in combination with Figure 5 , in the preset three-dimensional coordinate system, including the mutually perpendicular X-axis, Y-axis, and Z-axis, the preset coordinate axes can be any one axis in the preset three-dimensional coordinate system. The positional relationship between the first plane 501, the second plane 502, and the weld seam 503 in the target depth image can be as Figure 5 shown.

[0141] Exemplarily, taking the preset coordinate axis as the Y-axis as an example, the position of the first depth image is adjusted according to the angle between the initial fitting line and the Y-axis. After adjustment, the angle between the second straight-line equation and the Y-axis is 0, that is, the straight line corresponding to the weld in the adjusted first depth image is parallel to the Y-axis. At this time, the straight line corresponding to the weld is the target straight line.

[0142] According to the embodiments of the present application, by combining the positional relationship between the initial fitting line and the coordinate axis, the position of the first depth image is adjusted to obtain a target depth image at the target position, so that the position and direction of the weld in the target depth image are standardized, providing an accurate data basis for subsequent weld height detection.

[0143] In some embodiments, the first depth image includes a plurality of pixel rows, and the arrangement direction of the plurality of pixel rows is consistent with the extension direction of the weld. According to the depth value of each initial pixel point, the initial fitting line of the weld in the first depth image in the preset three-dimensional coordinate system is determined. Specifically, reference may be made to the following steps 601 and 602.

[0144] Step 601: According to the depth value of each initial pixel point, determine the second target pixel point in each pixel row, where the second target pixel point is the initial pixel point corresponding to the maximum depth value in the pixel row;

[0145] Step 602: According to the position information of each second target pixel point in the preset three-dimensional coordinate system, generate the initial fitting line of the weld in the first depth image in the preset three-dimensional coordinate system.

[0146] Specifically, by obtaining the depth value of each initial pixel point, the initial pixel point corresponding to the maximum depth value in each pixel row can be determined. Next, the initial pixel point corresponding to the maximum depth value in each pixel row can be determined as the second target pixel point.

[0147] In the first depth image, there are a plurality of pixel rows, and the arrangement direction of the plurality of pixel rows is consistent with the extension direction of the weld. Among the pixel points included in each pixel row, there are pixel points corresponding to the weld, and the depth values of the pixel points corresponding to the weld are generally greater than the depth values of other points in the pixel row. Optionally, for the first depth image, the coordinates of the pixel point corresponding to the maximum depth value in each pixel row can be found, where the initial pixel point corresponding to the maximum depth value is the second target pixel point.

[0148] Next, fitting can be performed according to the coordinates of each second target pixel point, so that the initial fitting line can be obtained, where the initial fitting line is the straight line corresponding to the weld in the preset three-dimensional coordinate system.

[0149] In the embodiments of the present application, the initial fitting line is a preliminary representation of the weld seam in three-dimensional space, which can conveniently represent the approximate direction and position of the weld seam in the first depth image, facilitating improving the adjustment accuracy in the subsequent step of adjusting the first depth image and enhancing the measurement accuracy of the weld height.

[0150] For a clearer introduction of the technical solution of the present application, Figure 7 FIG. is a schematic flowchart of another method for detecting the weld height provided by the embodiments of the present application. As shown in Figure 7 the method for detecting the weld height may include steps 701 to 711.

[0151] Step 701: Obtain the first depth image of the weld seam in the battery cell.

[0152] Wherein, the first depth image includes the depth value of each initial pixel point.

[0153] Step 702: Determine the second target pixel point in each pixel row according to the depth value of each initial pixel point in the first depth image.

[0154] Wherein, the second target pixel point is the initial pixel point corresponding to the maximum depth value in the pixel row. The first depth image includes multiple pixel rows, and the arrangement direction of the multiple pixel rows is consistent with the extension direction of the weld seam.

[0155] Step 703: Generate the initial fitting line of the weld seam in the first depth image in the preset three-dimensional coordinate system according to the position information of each second target pixel point in the first depth image in the preset three-dimensional coordinate system.

[0156] Step 704: Adjust the first depth image to the target position in the preset three-dimensional coordinate system according to the position relationship between the initial fitting line and the preset coordinate axes in the preset three-dimensional coordinate system to obtain the target depth image.

[0157] Wherein, the target depth image includes the target line corresponding to the weld seam, and the target line is parallel to the preset coordinate axes.

[0158] Step 705: Obtain the preset angle between the top cover and the housing, the position information of the target line corresponding to the weld seam in the preset three-dimensional coordinate system in the target depth image, and the position information of each pixel point in the target depth image corresponding to the preset three-dimensional coordinate system.

[0159] Step 706: Determine the first plane corresponding to the top cover in the preset three-dimensional coordinate system and the position information of the first plane according to the position information corresponding to each first pixel point in the target depth image.

[0160] Wherein, the first pixel point is the pixel point corresponding to the housing area in the target depth image.

[0161] Step 707: Generate the position information of the second plane according to the preset angle and the position information of the first plane.

[0162] Wherein, the included angle between the first plane and the second plane is the preset angle.

[0163] Step 708: Move the second plane and determine the average distance between the second pixel points and the moved second plane.

[0164] Wherein, the average distance is the average value of the second distances between each second pixel point and the moved plane.

[0165] Step 709: Determine the position information of the target plane according to the average distance between the second pixel points and the moved second plane.

[0166] Wherein, the target plane is the moved second plane corresponding to the minimum average distance.

[0167] Step 710: Obtain the position information of the weld seam corresponding to the target line in the preset three-dimensional coordinate system in the target depth image.

[0168] Step 711: Determine the weld seam area according to the position information of the target plane and the position information of the target line corresponding to the weld seam system.

[0169] Wherein, the weld seam area and the target line are on the same side of the target plane, and the first target pixel points are the pixel points corresponding to the weld seam area in the target depth image.

[0170] Step 712: Determine the first distance between each first target pixel point and the target plane corresponding to the housing according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane.

[0171] Step 713: Determine the maximum value of the first distances among the multiple first distances, and determine the maximum value of the first distances as the height of the weld seam.

[0172] In the embodiment of the present application, after obtaining the target depth image of the weld seam in the battery cell, according to the target depth image, the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system is determined. Thus, the position information of the housing in the preset three-dimensional coordinate system can be accurately determined. Next, taking the target plane as the reference plane, according to the distances between each pixel point corresponding to the weld seam area in the target depth image and the target plane, the height of the weld seam is determined, thereby effectively improving the accuracy of measuring the height of the weld seam and reducing the detection error.

[0173] Based on the same inventive concept, the present application also provides a detection device for the weld seam height corresponding to the above-mentioned weld seam height detection method. Specifically combined with Figure 8A detailed description will be given. Figure 8 It is a schematic structural diagram of a welding seam height detection device provided by an embodiment of the present application. As Figure 8 shown, the welding seam height detection device 800 may include: an acquisition module 801 and a processing module 802.

[0174] The acquisition module 801 is configured to acquire a target depth image of a welding seam in a battery cell, where the battery cell includes an adjacent top cover and a housing, and the welding seam is located between the top cover and the housing;

[0175] The processing module 802 is further configured to determine position information of the housing corresponding to a target plane in a preset three-dimensional coordinate system according to the target depth image;

[0176] The processing module 802 is further configured to determine the height of the welding seam according to the position information of each first target pixel point in the target depth image in the preset three-dimensional coordinate system and the position information of the target plane, where the first target pixel point is a pixel point corresponding to the welding seam area in the target depth image.

[0177] In some embodiments, the acquisition module 801 is further configured to acquire a preset angle between the top cover and the housing, position information of a target straight line corresponding to the welding seam in the preset three-dimensional coordinate system in the target depth image, and position information of each pixel point in the target depth image corresponding to the preset three-dimensional coordinate system;

[0178] The processing module 802 is further configured to determine the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system according to the preset angle, the position information of the target straight line, and the position information of each pixel corresponding thereto.

[0179] In some embodiments, the processing module 802 is further configured to determine a first plane corresponding to the top cover in the preset three-dimensional coordinate system and position information of the first plane according to the position information of each first pixel in the target depth image, where the first pixel point is a pixel point corresponding to the housing area in the target depth image;

[0180] The processing module 802 is further configured to generate position information of a second plane according to the preset angle and the position information of the first plane, where an included angle between the first plane and the second plane is the preset angle;

[0181] The processing module 802 is further configured to determine the position information of the target plane of the housing in the preset three-dimensional coordinate system according to the position information of each second pixel in the target depth image and the position information of the second plane.

[0182] In some embodiments, the processing module 802 is further configured to move the second plane and determine the average distance between the second pixel points and the moved second plane, where the average distance is the average of the second distances between each second pixel point and the moved plane;

[0183] The processing module 802 is further configured to determine the position information of the target plane according to the average distance between the second pixel points and the moved second plane, where the target plane is the moved second plane corresponding to the minimum average distance.

[0184] In some embodiments, the processing module 802 is further configured to determine the first distance between each of the first target pixel points and the target plane corresponding to the housing according to the position information of each of the first target pixel points in the preset three-dimensional coordinate system and the position information of the target plane;

[0185] The processing module 802 is further configured to determine the height of the weld seam according to the plurality of first distances.

[0186] In some embodiments, the acquisition module 801 is further configured to acquire the position information of the target straight line corresponding to the weld seam in the preset three-dimensional coordinate system in the target depth image;

[0187] The processing module 802 is further configured to determine the weld seam region according to the position information of the target plane and the position information of the target straight line corresponding to the weld seam system, where the weld seam region and the target straight line are on the same side of the target plane;

[0188] The processing module 802 is further configured to determine the first distance between each of the first target pixel points and the target plane corresponding to the housing according to the position information of each of the first target pixel points in the preset three-dimensional coordinate system and the position information of the target plane.

[0189] In some embodiments, the processing module 802 is further configured to determine the maximum value of the first distances among the plurality of first distances and determine the maximum value of the first distances as the height of the weld seam.

[0190] In some embodiments, the acquisition module 801 is further configured to acquire a first depth image of the weld seam in the battery cell, where the first depth image includes the depth value of each initial pixel point;

[0191] The processing module 802 is further configured to determine an initial fitting straight line of the weld seam in the preset three-dimensional coordinate system according to the depth value of each initial pixel point;

[0192] The processing module 802 is further configured to adjust the first depth image to a target position in the preset three-dimensional coordinate system according to the positional relationship between the initial fitting line and a preset coordinate axis in the preset three-dimensional coordinate system, so as to obtain the target depth image, where the target depth image includes a target line corresponding to the weld seam, and the target line is parallel to the preset coordinate axis.

[0193] In some embodiments, the first depth image includes a plurality of pixel rows, and the arrangement direction of the plurality of pixel rows is consistent with the extension direction of the weld seam;

[0194] The processing module 802 is further configured to determine a second target pixel point in each of the pixel rows according to the depth value of each initial pixel point, where the second target pixel point is the initial pixel point corresponding to the maximum depth value in the pixel row;

[0195] The processing module 802 is further configured to generate an initial fitting line of the weld seam in the first depth image in the preset three-dimensional coordinate system according to the position information of each second target pixel point in the preset three-dimensional coordinate system.

[0196] In some embodiments, the obtaining module 801 is further configured to obtain a second depth image of the depth value of the weld seam in the battery cell;

[0197] The processing module 802 is further configured to perform noise reduction processing on the second depth image according to a preset image noise reduction algorithm to obtain the first depth image of the weld seam in the battery cell.

[0198] It can be understood that the weld height detection device in the embodiments of the present application can correspond to the execution subject of the weld height detection method provided in the embodiments of the present application. For specific details of the operations and / or functions of each module / unit of the weld height detection device, reference can be made to the corresponding parts in the above-mentioned weld height detection method in the embodiments of the present application. For the sake of brevity, it will not be described in detail here.

[0199] Figure 9 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 9 shown, the device may include a processor 901 and a memory 902 storing computer program instructions.

[0200] Specifically, the above-mentioned processor 901 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0201] Memory 902 may include a mass storage for information or instructions. By way of example and not limitation, memory 902 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In one example, memory 902 may include removable or non-removable (or fixed) media, or memory 902 is a non-volatile solid-state memory. Memory 902 may be internal or external to the electronic device.

[0202] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present disclosure.

[0203] Processor 901 reads and executes the computer program instructions stored in memory 902 to implement the method described in the embodiments of the present application and achieve the corresponding technical effects achieved by the method executed by the embodiments of the present application. For the sake of brevity of description, it will not be elaborated here.

[0204] In one example, the electronic device may further include a communication interface 903 and a bus 904. Among them, as Figure 9 shown, processor 901, memory 902, and communication interface 903 are connected through bus 904 and complete communication with each other.

[0205] Communication interface 903 is mainly used to implement communication between various modules, devices, units, and / or devices in the embodiments of the present application.

[0206] The bus 904 includes hardware, software, or both, and couples the components of the online information flow metering device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 904 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0207] The electronic device can execute the weld height detection method in the embodiments of the present application, thereby achieving the corresponding technical effects of the weld height detection method described in the embodiments of the present application.

[0208] In addition, in combination with the weld height detection method in the above embodiments, the embodiments of the present application can be implemented by providing a readable storage medium. Computer program instructions are stored on the readable storage medium; when the computer program instructions are executed by a processor, any one of the weld height detection methods in the above embodiments is implemented. Examples of the readable storage medium may be non-transitory machine-readable media, such as electronic circuits, semiconductor memory devices, read-only memory (ROM), floppy disks, compact disc read-only memory (CD-ROM), optical discs, hard disks, etc.

[0209] It should be clear that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the embodiments of the present application is not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0210] The functional blocks shown in the above-described structural block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments for performing the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted over a transmission medium or communication link via a data signal carried in a carrier wave. A "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0211] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, can be different from the order in the embodiments, or several steps can be executed simultaneously.

[0212] The embodiments of the present application also provide a computer-readable storage medium, on which computer program instructions are stored; when the computer program instructions are executed by a processor, the method for detecting the weld height provided by the embodiments of the present application is implemented.

[0213] In addition, in combination with the method and device for detecting the weld height in the above embodiments, and the readable storage medium, the embodiments of the present application can be implemented by providing a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is caused to execute any one of the methods for detecting the weld height in the above embodiments.

[0214] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus enable the implementation of the functions / operations specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It should also be understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0215] As described above, the foregoing is only a specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and these modifications or substitutions should all be covered by the protection scope of the present application.

Claims

1. A method for detecting the height of a weld, characterized in that, The method includes: Obtaining a target depth image of a weld in a battery cell, where the battery cell includes an adjacent top cover and a housing, and the weld is located between the top cover and the housing; Determining position information of the housing corresponding to a target plane in a preset three-dimensional coordinate system according to the target depth image; Determining the height of the weld according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane in the target depth image, where the first target pixel point is a pixel point corresponding to the weld area in the target depth image.

2. The method according to claim 1, wherein The determining the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system according to the target depth image includes: Obtaining a preset angle between the top cover and the housing, position information of a target line corresponding to the weld in the preset three-dimensional coordinate system in the target depth image, and position information of each pixel point in the target depth image corresponding to the preset three-dimensional coordinate system; Determining the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system according to the preset angle, the position information of the target line, and the position information of each pixel point.

3. The method according to claim 2, characterized in that, The determining the position information of the housing corresponding to the target plane in the preset three-dimensional coordinate system according to the preset angle, the position information of the target line, and the position information of each pixel point includes: Determining a first plane corresponding to the top cover in the preset three-dimensional coordinate system and the position information of the first plane according to the position information of each first pixel point corresponding to the target depth image, where the first pixel point is a pixel point corresponding to the top cover area in the target depth image; Generating position information of a second plane according to the preset angle and the position information of the first plane, where an included angle between the first plane and the second plane is the preset angle, and the target line is located in the second plane; Determining the position information of the target plane of the housing in the preset three-dimensional coordinate system according to the position information of each second pixel point corresponding to the target depth image and the position information of the second plane.

4. The method according to claim 3, wherein The determining the position information of the target plane of the housing in the preset three-dimensional coordinate system according to the position information of each second pixel point corresponding to the target depth image and the position information of the second plane includes: Moving the second plane and determining an average distance between the second pixel point and the moved second plane, where the average distance is an average value of second distances between each second pixel point and the moved plane; Determining the position information of the target plane according to the average distance between the second pixel point and the moved second plane, where the target plane is the moved second plane corresponding to the minimum average distance.

5. The method according to claim 1, wherein The determining the height of the weld according to the position information of each first target pixel point in the preset three-dimensional coordinate system and the position information of the target plane includes: Determine the first distance between each of the first target pixel points and the target plane corresponding to the housing according to the position information of each of the first target pixel points in the preset three-dimensional coordinate system and the position information of the target plane; Determine the height of the weld seam according to the multiple first distances.

6. The method according to claim 5, characterized in that, The determining the first distance between each of the first target pixel points and the target plane corresponding to the housing according to the position information of each of the first target pixel points in the preset three-dimensional coordinate system and the position information of the target plane includes: Obtain the position information of the target straight line corresponding to the weld seam in the preset three-dimensional coordinate system in the target depth image; Determine the weld seam area according to the position information of the target plane and the position information of the target straight line corresponding to the weld seam system, wherein the weld seam area and the target straight line are on the same side of the target plane; Determine the first distance between each of the first target pixel points and the target plane corresponding to the housing according to the position information of each of the first target pixel points in the preset three-dimensional coordinate system and the position information of the target plane.

7. The method according to claim 6, characterized in that, The determining the height of the weld seam according to the multiple first distances includes: Determine the maximum value of the first distances among the multiple first distances, and determine the maximum value of the first distances as the height of the weld seam.

8. The method according to claim 1, characterized in that The obtaining the target depth image of the weld seam in the battery cell includes: Obtain the first depth image of the weld seam in the battery cell, where the first depth image includes initial pixel points and the depth value of each initial pixel point; Determine the initial fitting straight line of the weld seam in the preset three-dimensional coordinate system in the first depth image according to the depth value of each initial pixel point; According to the positional relationship between the initial fitting straight line and the preset coordinate axes in the preset three-dimensional coordinate system, adjust the first depth image to a target position in the preset three-dimensional coordinate system to obtain the target depth image, where the target depth image includes the target straight line corresponding to the weld seam, and the target straight line is parallel to the preset coordinate axes.

9. The method according to claim 8, wherein The first depth image includes multiple pixel rows, and the arrangement direction of the multiple pixel rows is consistent with the extension direction of the weld seam; The determining the initial fitting straight line of the weld seam in the preset three-dimensional coordinate system in the first depth image according to the depth value of each initial pixel point includes: Determine the second target pixel points in each of the pixel rows according to the depth value of each initial pixel point, where the second target pixel point is the initial pixel point corresponding to the maximum depth value in the pixel row; Generate the initial fitting straight line of the weld seam in the preset three-dimensional coordinate system in the first depth image according to the position information of each of the second target pixel points in the preset three-dimensional coordinate system.

10. The method according to claim 8, wherein The obtaining the first depth image of the weld seam in the battery cell includes: Obtain the second depth image of the weld seam in the battery cell, where the second depth image is obtained by scanning the depth value of the weld seam; Perform noise reduction processing on the second depth image according to a preset image noise reduction algorithm to obtain the first depth image of the weld seam in the battery cell.

11. A detection device for weld height, characterized in that, The device includes: An acquisition module, configured to acquire a target depth image of a weld in a battery cell, where the battery cell includes an adjacent top cover and a housing, and the weld is located between the top cover and the housing; A processing module, configured to determine position information of the housing corresponding to a target plane in a preset three-dimensional coordinate system according to the target depth image; The processing module is further configured to determine the height of the weld according to the position information of each first target pixel point in the target depth image in the preset three-dimensional coordinate system and the position information of the target plane, where the first target pixel point is a pixel point corresponding to the weld area in the target depth image.

12. An electronic device, characterized in that, The device includes: a processor, and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the method for detecting the height of a weld according to any one of claims 1-5.

13. A readable storage medium, characterized in that, Computer program instructions are stored on the readable storage medium, and when the computer program instructions are executed by a processor, the method for detecting the height of a weld according to any one of claims 1-5 is implemented.

Images