Tab detection system and method

Abstract

The invention discloses a tab detection system and method, and the system comprises at least one tab outer side detection station which is used for controlling an outer side prism to move according to the outer side displacement, so as to carry out the imaging of the outer side of a tab through the outer side prism, collect the image in the outer side prism, obtain the image of the outer side of the tab, and send the image to the outer side detection station; the tab outer side image is used for determining a tab outer side detection result, and the outer side displacement is the displacement of an outer side prism in the width direction determined based on tab outer side actual coordinates and tab outer side reference coordinates; the at least one tab inner side detection station is used for controlling the inner side prism to move according to the inner side displacement, so that the inner side of the tab is imaged through the inner side prism, an image in the inner side prism is collected, a tab inner side image is obtained, and the tab inner side image is used for determining a tab inner side detection result. The inner side displacement is the displacement of the inner side prism in the width direction determined based on the inner side actual coordinate of the tab and the inner side reference coordinate of the tab. Therefore, the appearance defects of the tabs can be detected.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the priority of Chinese Patent Application No. 202410146496.7, titled "Tab Detection System and Method", filed on February 1, 2024, the entire content of which is incorporated herein by reference. Technical Field

[0003] This application relates to the field of vision inspection, and particularly to a tab detection system and method. Background Art

[0004] During the production of batteries, a winding process is required to wind the cathode, anode, and separator together to form a bare battery cell. However, the bare battery cells produced in this process may have appearance defects such as tab folding, tab misalignment, tab missing, and tab cracking, which have a certain impact on the safety of the battery.

[0005] Therefore, a solution for detecting tab appearance defects is needed. Summary of the Invention

[0006] This application provides a tab detection system and method, which can achieve the detection of tab appearance defects.

[0007] In a first aspect, this application provides a tab detection system, which may include: at least one outer tab detection station, configured to control an outer prism to move according to an outer displacement when the battery cell assembly reaches the outer tab detection station, so as to image the outer side of the tab of the battery cell assembly through the outer prism, collect the image in the outer prism, and obtain an outer tab image, where the outer tab image is used to determine the outer tab detection result, and the outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab; at least one inner tab detection station, configured to control an inner prism to move according to an inner displacement when the battery cell assembly reaches the inner tab detection station, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collect the image in the inner prism, and obtain an inner tab image, where the inner tab image is used to determine the inner tab detection result, and the inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab.

[0008] Thus, when the battery cell assembly reaches the outer tab detection station, the outer prism can be controlled to move according to the outer displacement, so as to image the outer side of the tab of the battery cell assembly through the outer prism, collect the image in the outer prism, and obtain the outer tab image; when the battery cell assembly reaches the inner tab detection station, the inner prism can be controlled to move according to the inner displacement, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collect the image in the inner prism, and obtain the inner tab image. Among them, the outer tab image can be used to determine the outer tab detection result, and the inner tab image can be used to determine the inner tab detection result. Therefore, the detection of the appearance defects of the tab can be realized. In addition, the above-mentioned outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab. That is to say, the position of the outer prism can be dynamically adjusted according to the actual coordinates of the outer side of the tab and the reference coordinates of the outer side of the tab, so as to avoid the situation where the outer prism touches the outer side of the tab due to the fact that the outer prism can only extend to a fixed position when the tab is misaligned, resulting in potential safety hazards; similarly, the above-mentioned inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab. By dynamically adjusting the position of the inner prism according to the actual coordinates of the inner side of the tab and the reference coordinates of the inner side of the tab, it is possible to avoid the situation where the inner prism touches the inner side of the tab due to the fact that the inner prism can only extend to a fixed position when the tab is misaligned, resulting in potential safety hazards.

[0009] In some embodiments, the system may further include: a tab position detection station, located upstream of at least one outer tab detection station and at least one inner tab detection station, for collecting the tab image of the battery cell assembly when the battery cell assembly reaches the tab position detection station, and determining the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab of the battery cell assembly based on the tab image.

[0010] In this way, the tab image can be collected by the tab position detection station, and the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab can be determined quickly and accurately.

[0011] In some embodiments, the system may further include: the tab position detection station is further configured to collect the reference tab image of the reference battery cell assembly when the reference battery cell assembly reaches the tab position detection station, and determine the reference coordinates of the outer side of the tab and the reference coordinates of the inner side of the tab of the reference battery cell assembly based on the reference tab image.

[0012] In this way, the reference tab image can be collected by the tab position detection station, and the reference coordinates of the outer side of the tab and the reference coordinates of the inner side of the tab can be determined quickly and accurately.

[0013] In some embodiments, the system may further include: a host computer, configured to determine the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer tab and the reference coordinates of the outer tab, and determine the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner tab and the reference coordinates of the inner tab.

[0014] In this way, data processing can be performed by the host computer, so as to accurately determine the outer displacement of the outer prism and the inner displacement of the inner prism.

[0015] In some embodiments, the above-mentioned outer tab detection station may include: an outer lower computer, electrically connected to the host computer, the outer driving component, and the outer camera respectively, configured to receive the outer displacement sent by the host computer, generate an outer driving instruction based on the outer displacement, send the outer driving instruction to the outer driving component, and send an outer tab image acquisition instruction to the outer camera; an outer driving component, mechanically connected to the outer prism, configured to drive the outer prism to move based on the outer driving instruction; an outer prism, configured to image the outer tab; an outer camera, electrically connected to the host computer, configured to collect the image in the outer prism in response to the outer tab image acquisition instruction, obtain the outer tab image, and send the outer tab image to the host computer; the host computer is further configured to perform appearance defect detection on the outer tab based on the outer tab image to obtain an outer tab detection result.

[0016] In this way, by arranging the outer lower computer, the outer driving component, the outer prism, and the outer camera at the outer tab detection station, the collaborative detection of the appearance defects of the outer tab can be realized.

[0017] In some embodiments, the above-mentioned outer driving component may include: an outer motor, electrically connected to the outer lower computer and mechanically connected to the first end of the outer connecting rod, configured to drive the outer connecting rod to move based on the outer driving instruction sent by the outer lower computer; an outer connecting rod, the second end of the outer connecting rod is mechanically connected to the outer prism, and the outer connecting rod is configured to drive the outer prism to move.

[0018] In this way, by controlling the movement of the outer prism in the width direction and the height direction through the above process, the outer prism can be accurately moved to an appropriate position to facilitate the outer prism to image the outer tab.

[0019] In some embodiments, the second end of the above-mentioned outer connecting rod is also mechanically connected to the outer camera, and the outer connecting rod is also configured to drive the outer camera to move.

[0020] In this way, by mechanically connecting the second end of the outer connecting rod to the outer camera, the relative position between the outer camera and the outer prism can be ensured to remain unchanged, avoiding the situation that the outer camera cannot collect the image of the outer tab in the outer prism due to the movement of the outer prism in the width direction.

[0021] In some embodiments, an outer camera is provided with an outer liquid lens, and the outer liquid lens is electrically connected to an outer lower computer; the outer lower computer is further configured to send a plurality of outer voltage signals to the outer liquid lens; the outer liquid lens is configured to change its own focal length based on each outer voltage signal; the outer camera is further configured to, in response to an outer tab image acquisition instruction, after each zoom of the outer liquid lens, acquire an image in the outer prism, obtain a plurality of outer tab images, and send the plurality of outer tab images to an upper computer; the upper computer is further configured to fuse the plurality of outer tab images into a target outer tab image, and perform an appearance defect detection on the outer tab based on the target outer tab image to obtain an outer tab detection result.

[0022] In this way, by zooming the outer liquid lens, a plurality of outer tab images with different focal lengths can be acquired, fused into a clearer target outer tab image, and an appearance defect detection can be performed on the outer tab based on this clearer target outer tab image, which can improve the detection accuracy.

[0023] In some embodiments, the above-mentioned inner tab detection station may include: an inner lower computer, electrically connected to the upper computer, an inner driving component, and an inner camera respectively, configured to receive the inner displacement sent by the upper computer, generate an inner driving instruction based on the inner displacement, send the inner driving instruction to the inner driving component, and send an inner tab image acquisition instruction to the inner camera; the inner driving component, mechanically connected to the inner prism, configured to drive the inner prism to move based on the inner driving instruction; the inner prism, configured to image the inner tab; the inner camera, electrically connected to the upper computer, configured to, in response to the inner tab image acquisition instruction, acquire an image in the inner prism, obtain an inner tab image, and send the inner tab image to the upper computer; the upper computer is further configured to perform an appearance defect detection on the inner tab based on the inner tab image to obtain an inner tab detection result.

[0024] In this way, by providing an inner lower computer, an inner driving component, an inner prism, and an inner camera at the inner tab detection station, the collaborative implementation of the appearance defect detection of the inner tab can be achieved.

[0025] In some embodiments, the above-mentioned inner driving component may include: an inner motor, electrically connected to the inner lower computer and mechanically connected to the first end of the inner connecting rod, configured to drive the inner connecting rod to move based on the inner driving instruction sent by the inner lower computer; the inner connecting rod, the second end of the inner connecting rod is mechanically connected to the inner prism, and the inner connecting rod is configured to drive the inner prism to move.

[0026] In this way, the inner prism can be quickly and accurately moved according to the inner displacement through the inner motor and the inner connecting rod.

[0027] In some embodiments, the second end of the inner connecting rod is also mechanically connected to the inner camera, and the inner connecting rod is further configured to drive the inner camera to move.

[0028] In this way, by mechanically connecting the second end of the inner connecting rod to the inner camera, the relative position between the inner camera and the inner prism can be ensured to remain unchanged, avoiding the situation that the inner camera cannot capture the image of the inner side of the tab in the inner prism due to the movement of the inner prism in the width direction.

[0029] In some embodiments, the inner camera is provided with an inner liquid lens, and the inner liquid lens is electrically connected to the inner lower computer; the inner lower computer is further configured to send a plurality of inner voltage signals to the inner liquid lens; the inner liquid lens is configured to change its own focal length based on each inner voltage signal; the inner camera is further configured to, in response to the inner side of the tab image acquisition instruction, after each zooming of the inner liquid lens, capture the image in the inner prism, obtain a plurality of inner side of the tab images, and send the plurality of inner side of the tab images to the upper computer; the upper computer is further configured to fuse the plurality of inner side of the tab images into a target inner side of the tab image, and perform appearance defect detection on the inner side of the tab based on the target inner side of the tab image to obtain the inner side of the tab detection result.

[0030] In this way, by zooming the inner liquid lens, a plurality of inner side of the tab images with different focal lengths can be captured and fused into a clearer target inner side of the tab image. Performing appearance defect detection on the inner side of the tab based on this clearer target inner side of the tab image can improve the accuracy of the detection.

[0031] In some embodiments, the tab position detection station may include: a position detection camera, electrically connected to the upper computer, configured to capture the tab image of the battery cell assembly when the battery cell assembly reaches the tab position detection station, and send the tab image to the upper computer; the upper computer is further configured to determine the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly based on the tab image.

[0032] In this way, the actual outer coordinates and actual inner coordinates of the tab can be quickly and accurately determined based on the tab image captured by the position detection camera.

[0033] In some embodiments, the position detection camera is further configured to capture the reference tab image of the reference battery cell assembly when the reference battery cell assembly reaches the tab position detection station, and send the reference tab image to the upper computer; the upper computer is further configured to determine the reference outer coordinates and reference inner coordinates of the tab of the reference battery cell assembly based on the reference tab image.

[0034] In this way, the reference outer coordinates and reference inner coordinates of the tab can be quickly and accurately determined based on the tab image captured by the position detection camera.

[0035] In some embodiments, there are two at least one outer tab detection stations, and two at least one inner tab detection stations.

[0036] In this way, through one tab position detection station, two outer tab detection stations, and two inner tab detection stations, the detection of the appearance defects of the tabs of the battery cell assembly can be realized.

[0037] In a second aspect, the present application provides a tab detection method, which may include: through at least one outer tab detection station, when the battery cell assembly reaches the outer tab detection station, controlling the outer prism to move according to the outer displacement, so as to image the outer side of the tab of the battery cell assembly through the outer prism, collecting the image in the outer prism to obtain an outer tab image, the outer tab image is used to determine the outer tab detection result, and the outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab; through at least one inner tab detection station, when the battery cell assembly reaches the inner tab detection station, controlling the inner prism to move according to the inner displacement, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collecting the image in the inner prism to obtain an inner tab image, the inner tab image is used to determine the inner tab detection result, and the inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab.

[0038] Thus, when the battery cell assembly reaches the outer tab detection station, the outer prism can be controlled to move according to the outer displacement, so as to image the outer side of the tab of the battery cell assembly through the outer prism, collect the image in the outer prism, and obtain the outer tab image; when the battery cell assembly reaches the inner tab detection station, the inner prism can be controlled to move according to the inner displacement, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collect the image in the inner prism, and obtain the inner tab image. Among them, the outer tab image can be used to determine the outer tab detection result, and the inner tab image can be used to determine the inner tab detection result, so the detection of the appearance defects of the tab can be realized. In addition, the above-mentioned outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab. That is to say, the position of the outer prism can be dynamically adjusted according to the actual coordinates of the outer side of the tab and the reference coordinates of the outer side of the tab, so as to avoid the situation where the outer prism touches the outer side of the tab due to the fact that the outer prism can only extend to a fixed position when the tab is misaligned, resulting in potential safety hazards; similarly, the above-mentioned inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab. According to the actual coordinates of the inner side of the tab and the reference coordinates of the inner side of the tab, dynamically adjusting the position of the inner prism can avoid the situation where the inner prism touches the inner side of the tab due to the fact that the inner prism can only extend to a fixed position when the tab is misaligned, resulting in potential safety hazards.

[0039] In some embodiments, the method may further include: passing through the tab position detection station, when the battery cell assembly reaches the tab position detection station, collecting the tab image of the battery cell assembly, and determining the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab of the battery cell assembly based on the tab image. The tab position detection station is located upstream of at least one outer tab detection station and at least one inner tab detection station.

[0040] In this way, the tab image can be collected through the tab position detection station, and the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab can be quickly and accurately determined.

[0041] In some embodiments, the method may further include: passing through the tab position detection station, when the reference battery cell assembly reaches the tab position detection station, collecting the reference tab image of the reference battery cell assembly, and determining the reference coordinates of the outer side of the tab and the reference coordinates of the inner side of the tab of the reference battery cell assembly based on the reference tab image.

[0042] In this way, the reference tab image can be collected through the tab position detection station, and the reference coordinates of the outer side of the tab and the reference coordinates of the inner side of the tab can be quickly and accurately determined.

[0043] In some embodiments, the method may further include: through the host computer, based on the actual coordinates of the outer tab and the reference coordinates of the outer tab, determining the outer displacement of the outer prism in the width direction, and based on the actual coordinates of the inner tab and the reference coordinates of the inner tab, determining the inner displacement of the inner prism in the width direction.

[0044] In this way, data processing can be performed by the host computer to accurately determine the outer displacement of the outer prism and the inner displacement of the inner prism.

[0045] In some embodiments, the above-mentioned method of, at at least one outer tab detection station, when the battery cell assembly reaches the outer tab detection station, controlling the outer prism to move according to the outer displacement to image the outer tab of the battery cell assembly through the outer prism, collecting the image in the outer prism to obtain the outer tab image may include: through the outer lower computer, receiving the outer displacement sent by the host computer, generating an outer drive instruction based on the outer displacement, sending the outer drive instruction to the outer drive assembly, and sending an outer tab image acquisition instruction to the outer camera, where the outer drive assembly is mechanically connected to the outer prism; through the outer drive assembly, driving the outer prism to move based on the outer drive instruction; imaging the outer tab through the outer prism; through the outer camera, in response to the outer tab image acquisition instruction, collecting the image in the outer prism to obtain the outer tab image, and sending the outer tab image to the host computer; the method may further include: through the host computer, performing appearance defect detection on the outer tab based on the outer tab image to obtain the outer tab detection result.

[0046] In this way, by arranging the outer lower computer, the outer drive assembly, the outer prism and the outer camera at the outer tab detection station, collaborative implementation of appearance defect detection of the outer tab can be achieved.

[0047] In some embodiments, the above-mentioned method of, through the outer drive assembly, driving the outer prism to move based on the outer drive instruction may include: through the outer motor, driving the outer connecting rod to move based on the outer drive instruction sent by the outer lower computer, where the outer motor is mechanically connected to the first end of the outer connecting rod; driving the outer prism to move through the outer connecting rod, and the second end of the outer connecting rod is mechanically connected to the outer prism.

[0048] In this way, the outer prism can be quickly and accurately moved according to the outer displacement through the outer motor and the outer connecting rod.

[0049] In some embodiments, the second end of the above-mentioned outer connecting rod is also mechanically connected to the outer camera, and the method may further include: driving the outer camera to move through the outer connecting rod.

[0050] In this way, by mechanically connecting the second end of the outer connecting rod to the outer camera, the relative position between the outer camera and the outer prism can be ensured to remain unchanged, avoiding the situation where the outer camera fails to capture the imaging outside the tab in the outer prism due to the movement of the outer prism in the width direction.

[0051] In some embodiments, the above-mentioned outer camera is provided with an outer liquid lens, and the method may further include: sending a plurality of outer voltage signals to the outer liquid lens through the outer lower computer; changing the focal length of the outer liquid lens based on each outer voltage signal through the outer liquid lens; in response to the tab outer image acquisition instruction, the outer camera captures the imaging in the outer prism after each zoom of the outer liquid lens, obtains a plurality of tab outer images, and sends the plurality of tab outer images to the upper computer; the above-mentioned detecting the appearance defects of the tab outer side based on the tab outer images by the upper computer to obtain the tab outer side detection result may include: fusing the plurality of tab outer images into a target tab outer image by the upper computer, and detecting the appearance defects of the tab outer side based on the target tab outer image to obtain the tab outer side detection result.

[0052] In this way, multiple tab outer images with different focal lengths can be captured by zooming the outer liquid lens, fused into a clearer target tab outer image, and the appearance defects of the tab outer side are detected based on this clearer target tab outer image, which can improve the accuracy of detection.

[0053] In some embodiments, before sending a plurality of outer voltage signals to the outer liquid lens through the outer lower computer, the method may further include: determining the tab width based on the tab image by the upper computer, determining the reference tab width based on the reference tab image, determining the tab width difference based on the tab width and the reference tab width, determining the required number of tab outer images according to the tab width difference and the preset voltage change amount, generating a plurality of outer voltage signals according to the initial voltage, the preset voltage change amount and the required number of tab outer images, and sending the plurality of outer voltage signals to the outer lower computer.

[0054] In this way, the plurality of outer voltage signals generated based on the above process can more reasonably control the focal length of the outer liquid lens, so that the obtained plurality of tab outer images can be fused into a target tab outer image with higher overall clarity.

[0055] In some embodiments, in the above-mentioned method of detecting the inner side of the tab through at least one inner-side tab detection station, when the battery cell assembly reaches the inner-side tab detection station, the inner prism is controlled to move according to the inner displacement, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collect the image in the inner prism, and obtain the inner-side tab image, which may include: receiving, by the inner lower computer, the inner displacement sent by the upper computer, generating an inner driving instruction based on the inner displacement, sending the inner driving instruction to the inner driving assembly, and sending an inner-side tab image acquisition instruction to the inner camera, wherein the inner driving assembly is mechanically connected to the inner prism; driving, by the inner driving assembly, the inner prism to move based on the inner driving instruction; imaging the inner side of the tab through the inner prism; collecting, by the inner camera in response to the inner-side tab image acquisition instruction, the image in the inner prism, obtaining the inner-side tab image, and sending the inner-side tab image to the upper computer; the method may further include: performing an appearance defect detection on the inner side of the tab by the upper computer based on the inner-side tab image to obtain an inner-side tab detection result.

[0056] In this way, by arranging the inner lower computer, the inner driving assembly, the inner prism and the inner camera at the inner-side tab detection station, the collaborative detection of the appearance defects of the inner side of the tab can be achieved.

[0057] In some embodiments, in the above-mentioned method of driving the inner prism to move by the inner driving assembly based on the inner driving instruction, it may include: driving, by the inner motor, the inner connecting rod to move based on the inner driving instruction sent by the inner lower computer, wherein the inner motor is mechanically connected to the first end of the inner connecting rod; driving the inner prism to move by the inner connecting rod, and the second end of the inner connecting rod is mechanically connected to the inner prism.

[0058] In this way, the inner prism can be quickly and accurately moved according to the inner displacement by the inner motor and the inner connecting rod.

[0059] In some embodiments, the second end of the above-mentioned inner connecting rod is also mechanically connected to the inner camera, and the method may further include: driving the inner camera to move by the inner connecting rod.

[0060] In this way, by mechanically connecting the second end of the inner connecting rod to the inner camera, the relative position between the inner camera and the inner prism can be ensured to remain unchanged, avoiding the situation that the inner camera cannot collect the image of the inner side of the tab in the inner prism due to the movement of the inner prism in the width direction.

[0061] In some embodiments, the inner camera is provided with an inner liquid lens, and the method may further include: sending a plurality of inner voltage signals to the inner liquid lens through the inner lower computer; changing the focal length of the inner liquid lens based on each inner voltage signal; in response to the inner tab image acquisition instruction by the inner camera, after each zoom of the inner liquid lens, acquiring the imaging in the inner prism to obtain a plurality of inner tab images, and sending the plurality of inner tab images to the upper computer; the above-mentioned detecting the appearance defects of the inner side of the tab based on the inner tab images by the upper computer to obtain the inner tab detection result may include: fusing the plurality of inner tab images into a target inner tab image by the upper computer, and detecting the appearance defects of the inner side of the tab based on the target inner tab image to obtain the inner tab detection result.

[0062] In this way, by zooming the inner liquid lens, a plurality of inner tab images with different focal lengths can be acquired and fused into a clearer target inner tab image. Detecting the appearance defects of the inner side of the tab based on the clearer target inner tab image can improve the detection accuracy.

[0063] In some embodiments, before the above-mentioned sending a plurality of inner voltage signals to the inner liquid lens through the inner lower computer, the method may further include: determining the tab width based on the tab image by the upper computer, determining the reference tab width based on the reference tab image, determining the tab width difference based on the tab width and the reference tab width, determining the required number of inner tab images according to the tab width difference and the preset voltage change amount, generating a plurality of inner voltage signals according to the initial voltage, the preset voltage change amount and the required number of inner tab images, and sending the plurality of inner voltage signals to the inner lower computer. [[ID=⑧]]

[0064] In this way, the plurality of inner voltage signals generated based on the above process can more reasonably control the focal length of the inner liquid lens, so that the plurality of inner tab images obtained can be fused into a target inner tab image with higher overall clarity.

[0065] In some embodiments, the above-mentioned through the tab position detection station, when the battery cell assembly reaches the tab position detection station, acquiring the tab image of the battery cell assembly and determining the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly based on the tab image may include: through the position detection camera, when the battery cell assembly reaches the tab position detection station, acquiring the tab image of the battery cell assembly and sending the tab image to the upper computer; determining the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly by the upper computer based on the tab image.

[0066] In this way, the actual outer coordinates and actual inner coordinates of the tab can be quickly and accurately determined based on the tab image acquired by the position detection camera.

[0067] In some embodiments, in the above-mentioned ear position detection station, when the reference cell assembly reaches the ear position detection station, a reference ear image of the reference cell assembly is collected, and based on the reference ear image, the outer reference coordinates and inner reference coordinates of the ears of the reference cell assembly are determined, which may include: through a position detection camera, when the reference cell assembly reaches the ear position detection station, collecting a reference ear image of the reference cell assembly and sending the reference ear image to the host computer; through the host computer, determining the outer reference coordinates and inner reference coordinates of the ears of the reference cell assembly based on the reference ear image.

[0068] In this way, the outer reference coordinates and inner reference coordinates of the ears can be quickly and accurately determined based on the ear image collected by the position detection camera.

[0069] In a third aspect, the present application provides an ear detection method, which may include: when the cell assembly reaches the outer ear detection station, determining the outer displacement of the outer prism in the width direction based on the actual outer coordinates and the outer reference coordinates of the ears of the cell assembly; sending the outer displacement to the outer lower computer so that the outer lower computer controls the outer prism to move according to the outer displacement to image the outer ears of the cell assembly through the outer prism; receiving the outer ear image sent by the outer camera, where the outer ear image is obtained by the outer camera collecting the image in the outer prism; performing an appearance defect detection on the outer ears based on the outer ear image to obtain an outer ear detection result; when the cell assembly reaches the inner ear detection station, determining the inner displacement of the inner prism in the width direction based on the actual inner coordinates and the inner reference coordinates of the ears of the cell assembly; sending the inner displacement to the inner lower computer so that the inner lower computer controls the inner prism to move according to the inner displacement to image the inner ears of the cell assembly through the inner prism; receiving the inner ear image sent by the inner camera, where the inner ear image is obtained by the inner camera collecting the image in the inner prism; performing an appearance defect detection on the inner ears based on the inner ear image to obtain an inner ear detection result.

[0070] Thus, when the battery cell assembly reaches the outer tab detection station, based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab, the outer displacement of the outer prism in the width direction can be determined, and the outer displacement is sent to the lower-level outer controller, so that the lower-level outer controller controls the outer prism to move according to the outer displacement, to image the outer tab of the battery cell assembly through the outer prism, receive the outer tab image sent by the outer camera, where the outer tab image is obtained by the outer camera capturing the image in the outer prism, and then perform appearance defect detection on the outer tab based on the outer tab image to obtain the outer tab detection result; and when the battery cell assembly reaches the inner tab detection station, based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab, the inner displacement of the inner prism in the width direction can be determined, and the inner displacement is sent to the lower-level inner controller, so that the lower-level inner controller controls the inner prism to move according to the inner displacement, to image the inner tab of the battery cell assembly through the inner prism, receive the inner tab image sent by the inner camera, where the inner tab image is obtained by the inner camera capturing the image in the inner prism, and then perform appearance defect detection on the inner tab based on the inner tab image to obtain the inner tab detection result, thus realizing the detection of the appearance defects of the tabs. In addition, determining the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab can dynamically adjust the position of the outer prism according to the actual coordinates of the outer tab and the reference coordinates of the outer tab, so as to avoid the situation where the outer prism can only extend to a fixed position when the tab is misaligned, resulting in the outer prism hitting the outer tab and causing a safety hazard; similarly, determining the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab can dynamically adjust the position of the inner prism according to the actual coordinates of the inner tab and the reference coordinates of the inner tab, so as to avoid the situation where the inner prism can only extend to a fixed position when the tab is misaligned, resulting in the inner prism hitting the inner tab and causing a safety hazard.

[0071] In some embodiments, determining the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab may include: determining the misalignment amount of the outer tab of the battery cell assembly based on the actual coordinates of the outer tab and the reference coordinates of the outer tab; determining the outer displacement of the outer prism in the width direction based on the misalignment amount of the outer tab; determining the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab may include: determining the misalignment amount of the inner tab of the battery cell assembly based on the actual coordinates of the inner tab and the reference coordinates of the inner tab; determining the inner displacement of the inner prism in the width direction based on the misalignment amount of the inner tab.

[0072] In this way, by taking the outer dislocation amount of the tab as the outer displacement of the outer prism, the relative position between the outer side of the tab and the outer prism can be ensured to remain unchanged, avoiding the outer side of the tab being too close to or even contacting the outer prism due to tab dislocation, which may cause damage to the tab. Similarly, by taking the inner dislocation amount of the tab as the inner displacement of the inner prism, the relative position between the inner side of the tab and the inner prism can be ensured to remain unchanged, avoiding the inner side of the tab being too close to or even contacting the inner prism due to tab dislocation, which may cause damage to the tab.

[0073] In some embodiments, the determination of the outer displacement of the outer prism in the width direction based on the outer dislocation amount of the tab may include: obtaining the outer prism reference coordinates of the outer prism in the width direction; determining the outer displacement of the outer prism in the width direction based on the outer dislocation amount of the tab and the outer prism reference coordinates; the determination of the inner displacement of the inner prism in the width direction based on the inner dislocation amount of the tab may include: obtaining the inner prism reference coordinates of the inner prism in the width direction; determining the inner displacement of the inner prism in the width direction based on the inner dislocation amount of the tab and the inner prism reference coordinates.

[0074] In this way, the outer displacement of the outer prism can be accurately determined based on the outer dislocation amount of the tab and the outer prism reference coordinates, and the inner displacement of the inner prism can be accurately determined based on the inner dislocation amount of the tab and the inner prism reference coordinates.

[0075] In some embodiments, the obtaining of the outer prism reference coordinates of the outer prism in the width direction may include: determining the outer prism reference coordinates based on the outer tab reference coordinates and a preset distance; the obtaining of the inner prism reference coordinates of the inner prism in the width direction may include: determining the inner prism reference coordinates based on the inner tab reference coordinates and a preset distance.

[0076] In this way, by determining the outer prism reference coordinates based on the outer tab reference coordinates and the preset distance, the distance between the outer prism and the outer side of the tab can always be ensured to be the preset distance, ensuring the relative position between the outer prism and the tab remains unchanged. Thus, the position of the tab in the outer tab image collected can be relatively fixed, ensuring the consistency of imaging. By determining the inner prism reference coordinates based on the inner tab reference coordinates and the preset distance, the distance between the inner prism and the inner side of the tab can always be ensured to be the preset distance, ensuring the relative position between the inner prism and the tab remains unchanged. Thus, the position of the tab in the inner tab image collected can be relatively fixed, ensuring the consistency of imaging.

[0077] In some embodiments, the above-mentioned method for detecting appearance defects on the outer side of the tab based on the outer-side image of the tab to obtain the outer-side detection result of the tab may include: fusing multiple outer-side images of the tab into a target outer-side image of the tab; detecting appearance defects on the outer side of the tab based on the target outer-side image of the tab to obtain the outer-side detection result of the tab; the above-mentioned method for detecting appearance defects on the inner side of the tab based on the inner-side image of the tab to obtain the inner-side detection result of the tab may include: fusing multiple inner-side images of the tab into a target inner-side image of the tab; detecting appearance defects on the inner side of the tab based on the target inner-side image of the tab to obtain the inner-side detection result of the tab.

[0078] In this way, appearance defects on the outer side of the tab can be detected based on the clearer target outer-side image of the tab obtained by fusing multiple outer-side images of the tab, and appearance defects on the inner side of the tab can be detected based on the clearer target inner-side image of the tab obtained by fusing multiple inner-side images of the tab, thereby improving the accuracy of detection.

[0079] In some embodiments, the method may further include: receiving the tab image of the battery cell assembly sent by the position detection camera; determining the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab of the battery cell assembly based on the tab image.

[0080] In this way, the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab can be quickly and accurately determined based on the tab image collected by the position detection camera.

[0081] In some embodiments, the above-mentioned method for determining the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab of the battery cell assembly based on the tab image may include: determining the pixel coordinates of the outer side of the tab and the pixel coordinates of the inner side of the tab in the tab image; converting the pixel coordinates of the outer side of the tab into the coordinate system corresponding to the outer driving component of the outer prism to obtain the actual coordinates of the outer side of the tab, and converting the pixel coordinates of the inner side of the tab into the coordinate system corresponding to the inner driving component of the inner prism to obtain the actual coordinates of the inner side of the tab.

[0082] In this way, by converting the pixel coordinates of the outer side of the tab in the tab image into the coordinate system corresponding to the outer driving component, the actual coordinates of the outer side of the tab are obtained, and then the outer displacement is determined based on the actual coordinates of the outer side of the tab, so that the outer driving component can directly move the outer prism based on the outer displacement without performing coordinate conversion on the outer displacement, which is simple and efficient. By converting the pixel coordinates of the inner side of the tab in the tab image into the coordinate system corresponding to the inner driving component, the actual coordinates of the inner side of the tab are obtained, and then the inner displacement is determined based on the actual coordinates of the inner side of the tab, so that the inner driving component can directly move the inner prism based on the inner displacement without performing coordinate conversion on the inner displacement, which is simple and efficient. Moreover, during the cutting and changing of the mold, there is no need to reconfirm the reference position, thereby improving the efficiency of cutting and changing the mold.

[0083] In some embodiments, the method may further include: receiving a reference tab image of a reference battery cell assembly sent by a position detection camera; determining an outer reference coordinate and an inner reference coordinate of the tab of the reference battery cell assembly based on the reference tab image.

[0084] In this way, the outer reference coordinate and the inner reference coordinate of the tab can be quickly and accurately determined based on the tab image collected by the position detection camera.

[0085] In some embodiments, the determining the outer reference coordinate and the inner reference coordinate of the tab of the reference battery cell assembly based on the reference tab image may include: determining an outer reference pixel coordinate and an inner reference pixel coordinate of the outer tab of the reference battery cell assembly in the reference tab image; converting the outer reference pixel coordinate to the coordinate system corresponding to the outer driving component of the outer prism to obtain the outer reference coordinate, and converting the inner reference pixel coordinate to the coordinate system corresponding to the inner driving component of the inner prism to obtain the inner reference coordinate.

[0086] In this way, by converting the outer reference pixel coordinate of the outer tab of the reference tab in the reference tab image to the coordinate system corresponding to the outer driving component to obtain the outer reference coordinate, and then determining the outer displacement based on the outer reference coordinate, the outer driving component can directly move the outer prism based on the outer displacement without coordinate conversion of the outer displacement, which is simple and efficient. By converting the inner reference pixel coordinate of the inner tab of the reference tab in the reference tab image to the coordinate system corresponding to the inner driving component to obtain the inner reference coordinate, and then determining the inner displacement based on the inner reference coordinate, the inner driving component can directly move the inner prism based on the inner displacement without coordinate conversion of the inner displacement, which is simple and efficient. Moreover, during the pulling and changing of the mold, there is no need to reconfirm the reference position, improving the efficiency of the pulling and changing of the mold.

[0087] The above description is only an overview of the technical solution 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0089] Figure 1 is one of the schematic diagrams of an ear detection system provided by some embodiments of the present application;

[0090] Figure 2 Schematic diagram of an outer ear tab image provided for some embodiments of the present application;

[0091] Figure 3 Schematic diagram of a structure of an inner drive component provided for some embodiments of the present application;

[0092] Figure 4 Second schematic diagram of an ear tab detection system provided for some embodiments of the present application;

[0093] Figure 5 Schematic diagram of a battery cell component provided for some embodiments of the present application;

[0094] Figure 6 First flowchart of an ear tab detection method provided for some embodiments of the present application;

[0095] Figure 7 Second flowchart of an ear tab detection method provided for some embodiments of the present application;

[0096] Figure 8 Schematic diagram of a reference battery cell component provided for some embodiments of the present application.

[0097] In the drawings, the drawings are not necessarily drawn to actual scale. Detailed implementation manners

[0098] Hereinafter, embodiments of the technical solution of the present application will be described in detail with reference to the drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, and thus are only examples and cannot be used to limit the protection scope of the present application.

[0099] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0100] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0101] Reference to "embodiment" in this document means that the specific features, structures, or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears at various positions in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0102] In the description of the embodiments of the present application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after.

[0103] In the description of the embodiments of the present application, the term "plurality" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0104] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may also be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0105] As described in the background art, during the production of batteries, a winding process is required to wind the cathode, anode, and separator together to form a bare battery cell. However, the bare battery cells produced in this process may have appearance defects such as ear folding, ear misalignment, ear missing, and ear cracking, which have a certain impact on the safety of the battery. Therefore, a solution for detecting the appearance defects of the ears is needed.

[0106] In the related art, the appearance defects of the ears of the bare battery cell can be detected at the assembly stage of the battery. Specifically, a positioning camera can be used to backlight and photograph the overall size of the ears. If the amount of ear misalignment is within the control standard, the subsequent detection process can be carried out. After the battery cell reaches the detection station, the prism is controlled to extend to a certain fixed position, which is determined according to the maximum estimated amount of ear misalignment. Through this prism, the side image of the ear is folded back by 90° and transmitted to the camera for image acquisition.

[0107] However, the maximum value of the estimated tab misalignment amount may not be accurate. Therefore, when the tab misalignment amount is large, the prism extending to this fixed position may touch the tab, resulting in tab damage. Especially when detecting the inner side of the tab, since the distance between the two tabs is usually small, when the prism extends between the two tabs, even a slight deviation in position will touch the tab, which is very likely to cause tab damage and pose a safety hazard to the product.

[0108] To address the above technical problems, the present application provides a tab detection system and method. When the battery cell assembly reaches the outer tab detection station, the outer prism can be controlled to move according to the outer displacement, so as to image the outer side of the tab of the battery cell assembly through the outer prism, collect the image in the outer prism, and obtain the outer tab image; when the battery cell assembly reaches the inner tab detection station, the inner prism can be controlled to move according to the inner displacement, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collect the image in the inner prism, and obtain the inner tab image. Among them, the outer tab image can be used to determine the outer tab detection result, and the inner tab image can be used to determine the inner tab detection result. Therefore, the detection of tab appearance defects can be realized. In addition, the above outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab. That is to say, the position of the outer prism can be dynamically adjusted according to the actual coordinates of the outer side of the tab and the reference coordinates of the outer side of the tab, so as to avoid the situation where the outer prism can only extend to a fixed position when the tab is misaligned, resulting in the outer prism touching the outer side of the tab and causing a safety hazard; similarly, the above inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab. By dynamically adjusting the position of the inner prism according to the actual coordinates of the inner side of the tab and the reference coordinates of the inner side of the tab, it is possible to avoid the situation where the inner prism can only extend to a fixed position when the tab is misaligned, resulting in the inner prism touching the inner side of the tab and causing a safety hazard.

[0109] The tab detection system and method provided by the embodiments of the present application will be introduced in detail below.

[0110] Figure 1 It is a schematic diagram of a tab detection system provided for some embodiments of the present application.

[0111] As Figure 1 shown, the tab detection system 100 may include: at least one outer tab detection station 110 and at least one inner tab detection station 120.

[0112] Among them, at least one outer tab detection station 110 can be used to control the outer prism 111 to move according to the outer displacement when the battery cell assembly reaches the outer tab detection station 110, so as to image the outer side of the tab of the battery cell assembly through the outer prism 111, collect the image in the outer prism 111, and obtain the outer tab image.

[0113] The outer tab image can be used to determine the outer tab detection result. The outer tab detection result can characterize whether there are appearance defects on the outer side of the tab.

[0114] The outer displacement can be the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab. The actual coordinates of the outer side of the tab can be the coordinates of the outer side of the tab of the actually collected battery cell assembly, and the reference coordinates of the outer side of the tab can be the theoretical coordinates of the outer side of the tab when there is no tab misalignment.

[0115] After the outer prism 111 moves along the width direction according to the outer displacement and then moves along the height direction according to the preset displacement, it can reach the appropriate position, which can image the outer side of the tab without touching the tab.

[0116] At the outer tab detection station 110, the appearance defects of the outer side of the tab of the battery cell assembly can be detected.

[0117] At least one inner tab detection station 120 can be used to control the inner prism 121 to move according to the inner displacement when the battery cell assembly reaches the inner tab detection station 120, so as to image the inner side of the tab of the battery cell assembly through the inner prism 121, collect the image in the inner prism 121, and obtain the inner tab image.

[0118] The inner tab image can be used to determine the inner tab detection result. The inner tab detection result can characterize whether there are appearance defects on the inner side of the tab.

[0119] The inner displacement can be the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab. The actual coordinates of the inner side of the tab can be the coordinates of the inner side of the tab of the actually collected battery cell assembly, and the reference coordinates of the inner side of the tab can be the theoretical coordinates of the inner side of the tab when there is no tab misalignment.

[0120] After the inner prism 121 moves along the width direction according to the inner displacement and then moves along the height direction according to the preset displacement, it can reach the appropriate position, which can image the inner side of the tab without touching the tab.

[0121] At the inner tab detection station 110, the appearance defects of the inner side of the tab of the battery cell assembly can be detected.

[0122] The battery cell assembly can be a bare battery cell. The battery cell assembly can include a plurality of tabs, such as Figure 1 As shown, the battery cell assembly can include two tabs. When the two tabs are arranged side by side, the side where the two tabs face each other is the inner side of the tabs, and the side opposite to the inner side of the tabs is the outer side of the tabs. The two tabs can be a cathode tab and an anode tab.

[0123] Thus, when the battery cell assembly reaches the outer side detection station of the tab, the outer prism can be controlled to move according to the outer displacement, so as to image the outer side of the tab of the battery cell assembly through the outer prism, collect the image in the outer prism, and obtain the outer tab image; when the battery cell assembly reaches the inner side detection station of the tab, the inner prism can be controlled to move according to the inner displacement, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collect the image in the inner prism, and obtain the inner tab image. Among them, the outer tab image can be used to determine the outer tab detection result, and the inner tab image can be used to determine the inner tab detection result. Therefore, the detection of tab appearance defects can be realized. In addition, the above-mentioned outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab. That is to say, the position of the outer prism can be dynamically adjusted according to the actual coordinates of the outer side of the tab and the reference coordinates of the outer side of the tab, so as to avoid the situation where the outer prism touches the outer side of the tab due to the outer prism only being able to extend to a fixed position when the tab is misaligned, causing potential safety hazards; similarly, the above-mentioned inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab. By dynamically adjusting the position of the inner prism according to the actual coordinates of the inner side of the tab and the reference coordinates of the inner side of the tab, it is possible to avoid the situation where the inner prism touches the inner side of the tab due to the inner prism only being able to extend to a fixed position when the tab is misaligned, causing potential safety hazards.

[0124] In some embodiments of the present application, the tab detection system may further include: a host computer.

[0125] The host computer can be used to determine the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer side of the tab and the reference coordinates of the outer side of the tab, and determine the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner side of the tab and the reference coordinates of the inner side of the tab.

[0126] At least one outer side detection station of the tab and at least one inner side detection station of the tab can share a host computer.

[0127] In this way, data processing can be performed by the host computer, so as to accurately determine the outer displacement of the outer prism and the inner displacement of the inner prism.

[0128] In some embodiments of the present application, such as Figure 1As shown, the outer tab detection station 110 may include: a lower computer on the outer side ( Figure 1 not shown in the figure), an outer driving component ( Figure 1 not shown in the figure), an outer prism 111, and an outer camera 112.

[0129] Among them, the lower computer on the outer side may be electrically connected to the upper computer, the outer driving component, and the outer camera 112 respectively. The lower computer on the outer side may be used to receive the outer displacement sent by the upper computer, generate an outer driving instruction based on the outer displacement, send the outer driving instruction to the outer driving component, and send an outer tab image acquisition instruction to the outer camera 112.

[0130] The lower computer on the outer side may be a Programmable Logic Controller (PLC).

[0131] The outer driving component may be mechanically connected to the outer prism 111. The outer driving component may be used to drive the outer prism 111 to move based on the outer driving instruction. The outer driving instruction may be used to trigger the outer driving component to drive the outer prism 111 to move according to the outer displacement.

[0132] The outer prism 111 may be used to image the outer side of the tab.

[0133] The outer camera 112 may be electrically connected to the upper computer. The outer prism 111 and the outer camera 112 may be integrated in structure.

[0134] The outer camera 112 may be used to collect the image in the outer prism 111 in response to the outer tab image acquisition instruction, obtain the outer tab image, and send the outer tab image to the upper computer. The outer tab image acquisition instruction may be used to trigger the outer camera 112 to collect the image of the outer side of the tab in the outer prism 111. [[ID=2,4]]

[0135] The upper computer may also be used to perform appearance defect detection on the outer side of the tab based on the outer tab image to obtain the outer tab detection result.

[0136] Exemplarily, the outer tab image may be as shown in Figure 2 the figure.

[0137] Specifically, the host computer sends the outer displacement to the outer lower computer. The lower computer generates an outer driving instruction based on the outer displacement, sends the outer driving instruction to the outer driving assembly, and sends an outer ear outer image acquisition instruction to the outer camera 112. The outer driving assembly drives the outer prism 111 to move according to the outer displacement based on the outer driving instruction. Then, the outer prism can image the outer side of the ear tab. The outer camera 112 can respond to the outer ear outer image acquisition instruction, collect the image of the outer side of the ear tab in the outer prism 111, obtain the outer ear outer image, and send the outer ear outer image to the host computer. Then, the host computer can perform appearance defect detection on the outer side of the ear tab based on the outer ear outer image to obtain the outer ear outer detection result.

[0138] In this way, by setting an outer lower computer, an outer driving assembly, an outer prism, and an outer camera at the outer ear outer detection station, collaborative appearance defect detection of the outer side of the ear tab can be achieved.

[0139] In some embodiments of the present application, the outer driving assembly may include: an outer motor and an outer connecting rod.

[0140] Among them, the outer motor can be electrically connected to the outer lower computer and mechanically connected to the first end of the outer connecting rod. The outer motor can be used to drive the outer connecting rod to move based on the outer driving instruction sent by the outer lower computer. The outer driving instruction can be used to trigger the outer motor to drive the outer connecting rod to move.

[0141] The outer motor can be a servo motor with an absolute encoder.

[0142] The second end of the outer connecting rod can be mechanically connected to the outer prism. The outer connecting rod can be used to drive the outer prism to move. The outer connecting rod can drive the outer prism to move in the width direction.

[0143] The outer connecting rod can be a lead screw.

[0144] Specifically, the outer lower computer sends an outer driving instruction to the outer motor. The outer motor drives the outer connecting rod to move based on the outer driving instruction. The outer connecting rod drives the outer prism to move according to the outer displacement.

[0145] In this way, the outer prism can be quickly and accurately moved according to the outer displacement through the outer motor and the outer connecting rod.

[0146] In addition, the outer ear outer detection station may further include another outer driving assembly (hereinafter referred to as the "first outer driving assembly"). The first outer driving assembly can be electrically connected to the outer lower computer and mechanically connected to the outer prism, and is used to drive the outer prism to move based on the first outer driving instruction. The first outer driving instruction can be generated based on a preset displacement that the outer prism needs to move in the height direction.

[0147] The first outer driving assembly may include a first outer motor and a first outer connecting rod. The first outer motor may be electrically connected to the outer lower machine and mechanically connected to the first end of the first outer connecting rod. The first outer motor may be configured to drive the first outer connecting rod to move based on a first outer driving instruction sent by the outer lower machine.

[0148] The second end of the first outer connecting rod may be mechanically connected to the outer prism. The first outer connecting rod may be used to drive the outer prism to move. The first outer connecting rod may drive the outer prism to move in the height direction.

[0149] Specifically, the outer lower machine sends an outer driving instruction to the outer motor and a first outer driving instruction to the first outer motor. The outer motor first drives the outer connecting rod to move based on the outer driving instruction, and the outer connecting rod drives the outer prism to move in the width direction according to the outer displacement. Then, the first outer motor drives the first outer connecting rod to move based on the first outer driving instruction, and the first outer connecting rod drives the outer prism to move in the height direction according to the preset displacement.

[0150] In this way, by controlling the movement of the outer prism in the width direction and the height direction through the above process, the outer prism can be accurately moved to an appropriate position to facilitate imaging of the outer side of the tab by the outer prism.

[0151] In some embodiments of the present application, the second end of the outer connecting rod may also be mechanically connected to the outer camera, and the outer connecting rod may also be used to drive the outer camera to move.

[0152] To ensure that the outer camera can capture the image of the outer side of the tab in the outer prism, it is necessary to ensure that the distance between the outer camera and the outer prism is appropriate. The initial relative position of the outer camera and the outer prism can be preset. However, since the outer prism will move in the width direction, in order to ensure that the relative position between the outer camera and the outer prism remains unchanged, the second end of the outer connecting rod can be mechanically connected to the outer camera. In this way, when the outer connecting rod moves, it can drive the outer camera and the outer prism to move synchronously, thereby ensuring that the relative position between the outer camera and the outer prism remains unchanged.

[0153] In this way, by mechanically connecting the second end of the outer connecting rod to the outer camera, the relative position between the outer camera and the outer prism can be ensured to remain unchanged, avoiding the situation where the outer camera cannot capture the image of the outer side of the tab in the outer prism due to the movement of the outer prism in the width direction.

[0154] In some embodiments of the present application, the outer camera may be provided with an outer liquid lens, and the outer liquid lens may be electrically connected to the outer lower machine.

[0155] The focal length of the outer liquid lens can be related to the magnitude of the voltage input to the outer liquid lens. The greater the voltage input to the outer liquid lens, the closer the focal length of the outer liquid lens. That is to say, the focal length of the outer liquid lens can be negatively correlated with the voltage input to the outer liquid lens.

[0156] The outer lower computer can also be used to send multiple outer voltage signals to the outer liquid lens. The voltage values of the multiple outer voltage signals can be different.

[0157] The outer liquid lens can be used to change its own focal length based on each outer voltage signal.

[0158] The outer camera can also be used to respond to the outer tab image acquisition instruction, and after each zoom of the outer liquid lens, collect the imaging in the outer prism, obtain multiple outer tab images, and send the multiple outer tab images to the upper computer.

[0159] The upper computer can also be used to fuse multiple outer tab images into a target outer tab image, and perform appearance defect detection on the outer tab based on the target outer tab image to obtain an outer tab detection result.

[0160] The focal lengths of the multiple outer tab images can be different, and the focal lengths of the multiple outer tab images can correspond one by one to the multiple outer voltage signals.

[0161] The clarity of different image regions in the multiple outer tab images with different focal lengths can be different, and the upper computer can fuse the multiple outer tab images that are not completely clear into a target outer tab image with clear regions in each area.

[0162] Specifically, the outer lower computer sends multiple outer voltage signals to the outer liquid lens, the outer liquid lens changes its own focal length based on each outer voltage signal, the outer camera responds to the outer tab image acquisition instruction, and after each zoom of the outer liquid lens, collects the imaging in the outer prism, obtains multiple outer tab images, and sends the multiple outer tab images to the upper computer. The upper computer fuses the multiple outer tab images into a target outer tab image, and performs appearance defect detection on the outer tab based on the target outer tab image to obtain an outer tab detection result.

[0163] In this way, by zooming the outer liquid lens, multiple outer tab images with different focal lengths can be collected, fused into a clearer target outer tab image, and appearance defect detection can be performed on the outer tab based on this clearer target outer tab image, which can improve the accuracy of detection.

[0164] The above-mentioned outer drive component has the same structure as the following inner drive component, and can be referred to Figure 3 for understanding. The above-mentioned first outer drive component has the same structure as the following first inner drive component, and can be referred toFigure 3 Understand.

[0165] In some embodiments of the present application, as Figure 1 shown, the inner tab detection station 120 may include: an inner lower computer ( Figure 1 not shown in Figure 1 ), an inner driving component (

[0166] not shown in

[0167] ), an inner prism 121, and an inner camera 122.

[0168] Among them, the inner lower computer may be electrically connected to the upper computer, the inner driving component, and the inner camera 122 respectively. The inner lower computer may be configured to receive the inner displacement sent by the upper computer, generate an inner driving instruction based on the inner displacement, send the inner driving instruction to the inner driving component, and send an inner tab image acquisition instruction to the inner camera 122.

[0169] The inner prism 121 may be configured to image the inner side of the tab.

[0170] The inner camera 122 may be electrically connected to the upper computer. The inner prism 121 and the inner camera 122 may be integrated in structure.

[0171] The inner camera 122 may be configured to collect the image in the inner prism 121 in response to the inner tab image acquisition instruction, obtain the inner tab image, and send the inner tab image to the upper computer. The inner tab image acquisition instruction may be used to trigger the inner camera 122 to collect the image of the inner side of the tab in the inner prism 121.

[0172] The upper computer may also be configured to perform appearance defect detection on the inner side of the tab based on the inner tab image to obtain an inner tab detection result.

[0173] Specifically, the host computer sends the inner displacement to the inner lower computer. The lower computer generates an inner driving instruction based on the inner displacement, sends the inner driving instruction to the inner driving assembly, and sends an inner ear inner image acquisition instruction to the inner camera 122. The inner driving assembly drives the inner prism 121 to move according to the inner displacement based on the inner driving instruction. Then, the inner prism can image the inner ear. The inner camera 122 can respond to the inner ear inner image acquisition instruction, collect the image of the inner ear in the inner prism 121, obtain the inner ear inner image, and send the inner ear inner image to the host computer. Then, the host computer can perform appearance defect detection on the inner ear based on the inner ear inner image to obtain the inner ear inner detection result.

[0174] In this way, by arranging an inner lower computer, an inner driving assembly, an inner prism and an inner camera at the inner ear inner detection station, the collaborative implementation of the appearance defect detection of the inner ear can be achieved.

[0175] In some embodiments of the present application, as Figure 3 shown, the inner driving assembly may include: an inner motor 1231 and an inner connecting rod 1232.

[0176] Among them, the inner motor 1231 can be electrically connected to the inner lower computer and mechanically connected to the first end of the inner connecting rod 1232. The inner motor 1231 can be used to drive the inner connecting rod 1232 to move based on the inner driving instruction sent by the inner lower computer. The inner driving instruction can be used to trigger the inner motor to drive the inner connecting rod to move.

[0177] The inner motor 1231 can be a servo motor with an absolute encoder.

[0178] The second end of the inner connecting rod 1232 can be mechanically connected to the inner prism 121. The inner connecting rod 1232 can be used to drive the inner prism 121 to move.

[0179] The inner connecting rod 1232 can be a lead screw.

[0180] Specifically, the inner lower computer sends an inner driving instruction to the inner motor 1231. The inner motor drives the inner connecting rod 1232 to move based on the outer driving instruction. The inner connecting rod 1232 drives the inner prism 121 to move according to the inner displacement.

[0181] In this way, the inner prism can be quickly and accurately moved according to the inner displacement through the inner motor and the inner connecting rod.

[0182] In addition, the inner tab detection station may further include another inner driving component (hereinafter referred to as the "first inner driving component"), which can be electrically connected to the inner lower position machine and mechanically connected to the inner prism, and is used to drive the inner prism to move based on the first inner driving instruction. The first inner driving instruction may be generated based on a preset displacement required for the inner prism to move in the height direction.

[0183] As Figure 3 shown, the first inner driving component may include a first inner motor 1233 and a first inner connecting rod 1234. The first inner motor 1233 can be electrically connected to the inner lower position machine and mechanically connected to the first end of the first inner connecting rod 1234. The first inner motor 1233 can be used to drive the first inner connecting rod 1234 to move based on the first inner driving instruction sent by the inner lower position machine.

[0184] The second end of the first inner connecting rod 1234 can be mechanically connected to the inner prism 121. The first inner connecting rod 1234 can be used to drive the inner prism 121 to move. The first inner connecting rod 1234 can drive the inner prism 121 to move in the height direction.

[0185] Specifically, the inner lower position machine sends an inner driving instruction to the inner motor 1231 and a first inner driving instruction to the first inner motor 1233. The inner motor 1231 first drives the inner connecting rod 1232 to move based on the inner driving instruction, and the inner connecting rod 1232 drives the inner prism 121 to move in the width direction according to the inner displacement. Then, the first inner motor 1233 drives the first inner connecting rod 1234 to move based on the first inner driving instruction, and the first inner connecting rod 1234 drives the inner prism 121 to move in the height direction according to the preset displacement.

[0186] In this way, by controlling the movement of the inner prism in the width direction and the height direction through the above process, the inner prism can be accurately moved to an appropriate position to facilitate the inner prism to image the inner side of the tab.

[0187] In some embodiments of the present application, as Figure 3 shown, the second end of the inner connecting rod 1232 may also be mechanically connected to the inner camera 122. The inner connecting rod 1232 can also be used to drive the inner camera 122 to move.

[0188] To ensure that the inner camera 122 can capture the imaging outside the tab in the inner prism 121, it is necessary to ensure that the distance between the inner camera 122 and the inner prism 121 is appropriate. The initial relative positions of the inner camera 122 and the inner prism 121 can be preset. However, since the inner prism 121 will move in the width direction, in order to ensure that the relative position between the inner camera 122 and the inner prism 121 remains unchanged, the second end of the inner connecting rod 1232 can be mechanically connected to the inner camera 122. In this way, when the inner connecting rod 1232 moves, it can drive the inner camera 122 and the inner prism 121 to move synchronously, thereby ensuring that the relative position between the inner camera 122 and the inner prism 121 remains unchanged.

[0189] In this way, by mechanically connecting the second end of the inner connecting rod to the inner camera, the relative position between the inner camera and the inner prism can be ensured to remain unchanged, avoiding the situation where the inner camera cannot capture the imaging inside the tab in the inner prism due to the movement of the inner prism in the width direction.

[0190] In some embodiments of the present application, the inner camera may be provided with an inner liquid lens, and the inner liquid lens may be electrically connected to the inner lower computer.

[0191] The focal length of the inner liquid lens can be related to the magnitude of the voltage input to the inner liquid lens. The greater the voltage input to the inner liquid lens, the closer the focal length of the inner liquid lens. That is to say, the focal length of the inner liquid lens can be negatively correlated with the voltage input to the inner liquid lens.

[0192] The inner lower computer can also be used to send multiple inner voltage signals to the inner liquid lens. The voltage values of the multiple inner voltage signals can be different.

[0193] The inner liquid lens can be used to change its own focal length based on each inner voltage signal.

[0194] The inner camera can also be used to respond to the tab inner image acquisition instruction, and after each zoom of the inner liquid lens, capture the imaging in the inner prism to obtain multiple tab inner images, and send the multiple tab inner images to the upper computer.

[0195] The upper computer can also be used to fuse the multiple tab inner images into a target tab inner image, and perform appearance defect detection on the inner side of the tab based on the target tab inner image to obtain the tab inner detection result.

[0196] The focal lengths of the multiple tab inner images can be different, and the focal lengths of the multiple tab inner images can correspond one by one to the multiple inner voltage signals.

[0197] The clarity of different image regions in multiple inner ear tab images with different focal lengths can be different. The host computer can fuse multiple inner ear tab images that are not completely clear into a target inner ear tab image with clear regions in each area.

[0198] Specifically, the inner lower computer sends multiple inner voltage signals to the inner liquid lens. The inner liquid lens changes its own focal length based on each inner voltage signal. In response to the inner ear tab image acquisition instruction, the inner camera acquires the imaging in the inner prism after each zoom of the inner liquid lens, obtains multiple inner ear tab images, and sends the multiple inner ear tab images to the host computer. The host computer fuses the multiple inner ear tab images into a target inner ear tab image, and performs appearance defect detection on the inner ear tab based on the target inner ear tab image to obtain the inner ear tab detection result.

[0199] In this way, by zooming the inner liquid lens, multiple inner ear tab images with different focal lengths can be acquired and fused into a clearer target inner ear tab image. Appearance defect detection is performed on the inner ear tab based on this clearer target inner ear tab image, which can improve the accuracy of detection.

[0200] In some embodiments of the present application, as Figure 4 shown, the ear tab detection system 100 may further include: an ear tab position detection station 130.

[0201] The ear tab position detection station 130 may be located upstream of at least one outer ear tab detection station 110 and at least one inner ear tab detection station 130.

[0202] The ear tab position detection station 130 can be used to acquire the ear tab image of the battery cell assembly when the battery cell assembly reaches the ear tab position detection station 130, and determine the actual outer coordinates and actual inner coordinates of the ear tabs of the battery cell assembly based on the ear tab image.

[0203] The ear tab image can be an image including at least the ear tabs of the battery cell assembly.

[0204] The actual outer coordinates of the ear tabs can be the coordinates of the outer corner points of the ear tabs of the battery cell assembly, and the actual inner coordinates of the ear tabs can be the coordinates of the inner corner points of the ear tabs of the battery cell assembly.

[0205] Exemplarily, the ear tab image can be as Figure 5 shown. The actual outer coordinates of the ear tabs can be the coordinates of the outer corner point 510 of the ear tabs of the battery cell assembly, and the actual inner coordinates of the ear tabs can be the coordinates of the inner corner point 520 of the ear tabs of the battery cell assembly.

[0206] Both the actual outer coordinates and the actual inner coordinates of the ear tabs can be coordinates in the width direction.

[0207] In this way, the ear images can be collected at the ear position detection station, and the actual coordinates of the outer side of the ear and the actual coordinates of the inner side of the ear can be determined quickly and accurately.

[0208] In some embodiments of the present application, the ear position detection station 130 may include: a position detection camera 131.

[0209] The position detection camera 131 may be electrically connected to the host computer. The position detection camera 131 may be configured to collect the ear image of the battery cell assembly when the battery cell assembly reaches the ear position detection station 130 and send the ear image to the host computer.

[0210] The position detection camera 131 may be a positioning camera. A backlight may also be provided at the position detection camera 131 so that the position detection camera 131 can take backlit photos.

[0211] The host computer may also be configured to determine the actual coordinates of the outer side of the ear and the actual coordinates of the inner side of the ear of the battery cell assembly based on the ear image.

[0212] In this way, the actual coordinates of the outer side of the ear and the actual coordinates of the inner side of the ear can be determined quickly and accurately based on the ear image collected by the position detection camera.

[0213] In some embodiments of the present application, the ear position detection station 130 is further configured to collect the reference ear image of the reference battery cell assembly when the reference battery cell assembly reaches the ear position detection station 130, and determine the reference coordinates of the outer side of the ear and the reference coordinates of the inner side of the ear of the reference battery cell assembly based on the reference ear image.

[0214] The reference battery cell assembly may be a perfect battery cell, and its ears are almost free of misalignment. The reference battery cell assembly may be a bare battery cell of the same model as the battery cell assembly.

[0215] The reference coordinates of the outer side of the ear may be the coordinates of the outer corner point of the ear of the reference battery cell assembly, and the reference coordinates of the inner side of the ear may be the coordinates of the inner corner point of the ear of the reference battery cell assembly.

[0216] Both the reference coordinates of the outer side of the ear and the reference coordinates of the inner side of the ear may be coordinates in the width direction.

[0217] In this way, the reference ear image can be collected at the ear position detection station, and the reference coordinates of the outer side of the ear and the reference coordinates of the inner side of the ear can be determined quickly and accurately.

[0218] In some embodiments of the present application, the position detection camera 131 may also be configured to collect the reference ear image of the reference battery cell assembly when the reference battery cell assembly reaches the ear position detection station 130 and send the reference ear image to the host computer;

[0219] The host computer can also be used to determine the reference coordinates outside the tab and the reference coordinates inside the tab of the reference cell assembly based on the reference tab image.

[0220] In this way, the reference coordinates outside the tab and the reference coordinates inside the tab can be quickly and accurately determined based on the tab image collected by the position detection camera.

[0221] In some embodiments of the present application, at least one outside-tab detection station may include two, and at least one inside-tab detection station may include two.

[0222] As Figure 1 or Figure 4 shown, the tab detection system 100 may include two outside-tab detection stations 110 and two inside-tab detection stations 120, and may also include an tab position detection station 130. Exemplarily, the order in which the cell assembly passes through the above five stations may be the order from left to right as shown in Figure 1 or Figure 4 shown.

[0223] In this way, through one tab position detection station, two outside-tab detection stations and two inside-tab detection stations, the appearance defect detection of the tabs of the cell assembly can be realized.

[0224] The embodiments of the present application also provide a tab detection method. The execution subject of this tab detection method may be the tab detection system. The tab detection method provided by the embodiments of the present application will be introduced below.

[0225] Figure 6 is a schematic flowchart of the tab detection method provided by some embodiments of the present application.

[0226] As Figure 6 shown, the tab detection method may include the following steps:

[0227] S610, through at least one outside-tab detection station, when the cell assembly reaches the outside-tab detection station, control the outside prism to move according to the outside displacement, so as to image the outside of the tab of the cell assembly through the outside prism, collect the image in the outside prism, and obtain the outside-tab image;

[0228] S620, through at least one inside-tab detection station, when the cell assembly reaches the inside-tab detection station, control the inside prism to move according to the inside displacement, so as to image the inside of the tab of the cell assembly through the inside prism, collect the image in the inside prism, and obtain the inside-tab image.

[0229] Among them, the outer tab image can be used to determine the outer tab detection result. The outer displacement can be the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab.

[0230] The inner tab image can be used to determine the inner tab detection result. The inner displacement can be the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab.

[0231] For the specific processes of S610 - S620, reference can be made to the above - mentioned embodiments, which will not be elaborated here.

[0232] Thus, when the battery cell assembly reaches the outer tab detection station, the outer prism can be controlled to move according to the outer displacement, so as to image the outer tab of the battery cell assembly through the outer prism, collect the image in the outer prism, and obtain the outer tab image; when the battery cell assembly reaches the inner tab detection station, the inner prism can be controlled to move according to the inner displacement, so as to image the inner tab of the battery cell assembly through the inner prism, collect the image in the inner prism, and obtain the inner tab image. Among them, the outer tab image can be used to determine the outer tab detection result, and the inner tab image can be used to determine the inner tab detection result. Therefore, the detection of the appearance defects of the tabs can be realized. In addition, the above - mentioned outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab. That is to say, the position of the outer prism can be dynamically adjusted according to the actual coordinates of the outer tab and the reference coordinates of the outer tab, so as to avoid the situation where the outer prism touches the outer tab due to the fact that the outer prism can only extend to a fixed position when the tab is misaligned, resulting in potential safety hazards; similarly, the above - mentioned inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab. By dynamically adjusting the position of the inner prism according to the actual coordinates of the inner tab and the reference coordinates of the inner tab, it can be avoided that the inner prism touches the inner tab when the tab is misaligned, resulting in potential safety hazards.

[0233] In some embodiments of the present application, the method may further include:

[0234] Through the host computer, based on the actual coordinates of the outer tab and the reference coordinates of the outer tab, determine the outer displacement of the outer prism in the width direction, and based on the actual coordinates of the inner tab and the reference coordinates of the inner tab, determine the inner displacement of the inner prism in the width direction.

[0235] For the specific process, reference can be made to the above - mentioned embodiments, which will not be elaborated here.

[0236] In this way, data processing can be performed by the host computer to accurately determine the outer displacement of the outer prism and the inner displacement of the inner prism.

[0237] In some embodiments of the present application, S610 may include:

[0238] Through the outer slave computer, receive the outer displacement sent by the host computer, generate an outer drive instruction based on the outer displacement, send the outer drive instruction to the outer drive component, and send an outer ear outer image acquisition instruction to the outer camera;

[0239] Through the outer drive component, drive the outer prism to move based on the outer drive instruction;

[0240] Image the outer ear through the outer prism;

[0241] Through the outer camera, in response to the outer ear outer image acquisition instruction, collect the image in the outer prism, obtain the outer ear outer image, and send the outer ear outer image to the host computer;

[0242] Based on this, the method may further include:

[0243] Detect the appearance defects of the outer ear based on the outer ear outer image through the host computer to obtain the outer ear outer detection result.

[0244] Among them, the outer drive component can be mechanically connected to the outer prism.

[0245] For the specific process, reference can be made to the above embodiments and will not be elaborated here.

[0246] In this way, by setting an outer slave computer, an outer drive component, an outer prism, and an outer camera at the outer ear outer detection station, collaborative detection of the appearance defects of the outer ear can be achieved.

[0247] In some embodiments of the present application, the above-mentioned process of receiving the outer displacement sent by the host computer through the outer slave computer, generating an outer drive instruction based on the outer displacement, and sending the outer drive instruction to the outer drive component may include:

[0248] Through the outer slave computer, receive the outer displacement sent by the host computer. When the outer displacement does not exceed the preset range, generate an outer drive instruction based on the outer displacement and send the outer drive instruction to the outer drive component.

[0249] Here, the outer slave computer can determine whether the outer displacement exceeds the preset range. If the outer displacement does not exceed the preset range, the outer prism can be made to move according to the outer displacement; if the outer displacement exceeds the preset range, the outer prism cannot be made to move according to the outer displacement.

[0250] The preset range can be set according to actual needs.

[0251] In this way, by sending an outer driving instruction to the outer driving component based on the outer displacement only when the outer displacement does not exceed the preset range, it is possible to avoid the outer prism being moved to the wrong position due to inaccurate outer displacement, thus causing a safety hazard.

[0252] In some embodiments of the present application, the above-mentioned driving the outer prism to move based on the outer driving instruction through the outer driving component may include:

[0253] Driving the outer connecting rod to move through the outer motor based on the outer driving instruction sent by the lower computer on the outer side;

[0254] Driving the outer prism to move through the outer connecting rod, and the second end of the outer connecting rod is mechanically connected to the outer prism.

[0255] Wherein, the outer motor may be mechanically connected to the first end of the outer connecting rod.

[0256] For the specific process, reference may be made to the above-mentioned embodiments, and details will not be elaborated herein.

[0257] In this way, the outer prism can be quickly and accurately moved according to the outer displacement through the outer motor and the outer connecting rod.

[0258] In some embodiments of the present application, the second end of the above-mentioned outer connecting rod may also be mechanically connected to the outer camera, and the method may further include:

[0259] Driving the outer camera to move through the outer connecting rod.

[0260] For the specific process, reference may be made to the above-mentioned embodiments, and details will not be elaborated herein.

[0261] In this way, by mechanically connecting the second end of the outer connecting rod to the outer camera, it is possible to ensure that the relative position between the outer camera and the outer prism remains unchanged, and to avoid the outer camera being unable to collect the imaging of the outer side of the tab in the outer prism due to the movement of the outer prism in the width direction.

[0262] In some embodiments of the present application, the outer camera may be provided with an outer liquid lens, and the method may further include:

[0263] Sending a plurality of outer voltage signals to the outer liquid lens through the lower computer on the outer side;

[0264] Changing the focal length of the outer liquid lens based on each outer voltage signal through the outer liquid lens;

[0265] Responding to the tab outer image acquisition instruction through the outer camera, after each zoom of the outer liquid lens, collecting the imaging in the outer prism to obtain a plurality of tab outer images, and sending the plurality of tab outer images to the upper computer;

[0266] Based on this, the above-mentioned appearance defect detection of the outer side of the tab by the host computer based on the outer side image of the tab to obtain the detection result of the outer side of the tab may include:

[0267] The host computer fuses multiple outer side images of the tab into a target outer side image of the tab, and performs appearance defect detection on the outer side of the tab based on the target outer side image of the tab to obtain the detection result of the outer side of the tab.

[0268] For the specific process, reference can be made to the above-mentioned embodiments, which will not be elaborated here.

[0269] In this way, through the zoom of the outer liquid lens, multiple outer side images of the tab with different focal lengths can be collected and fused into a clearer target outer side image of the tab. Appearance defect detection is performed on the outer side of the tab based on this clearer target outer side image of the tab, which can improve the accuracy of detection.

[0270] In some embodiments of the present application, before the above-mentioned outer lower computer sends multiple outer voltage signals to the outer liquid lens, the method may further include:

[0271] The host computer determines the tab width based on the tab image, determines the reference tab width based on the reference tab image, determines the tab width difference based on the tab width and the reference tab width, determines the required number of outer side images of the tab according to the tab width difference and the preset voltage change amount, generates multiple outer voltage signals according to the initial voltage, the preset voltage change amount and the required number of outer side images of the tab, and sends the multiple outer voltage signals to the outer lower computer.

[0272] Here, the reference tab width may be the tab width of the reference tab without misalignment.

[0273] Tab misalignment will cause an increase in the tab width. The tab width difference is caused by tab misalignment. Therefore, the tab width difference can be determined based on the tab width and the reference tab width. The tab width difference may be the difference between the tab width and the reference tab width.

[0274] In order to accurately control the zoom of the outer liquid lens so as to collect outer side images of the tab with appropriate focal lengths, the required number of outer side images of the tab can be determined according to the tab width difference and the preset voltage change amount, and then multiple outer voltage signals are generated according to the initial voltage, the preset voltage change amount and the required number of outer side images of the tab, and then the multiple outer voltage signals are sent to the outer lower computer so that the outer lower computer controls the zoom of the outer liquid lens.

[0275] The preset voltage change amount can be set according to actual needs.

[0276] Specifically, the outer voltage signal can be a voltage value. The voltage value sent to the outer liquid lens can be adjusted so that the outer liquid lens focuses on the outside of the tab. Record the voltage value V. To better accommodate system errors, a preset voltage change ΔV for two image acquisitions can be default added, that is, the initial voltage can be V + 2*ΔV. The greater the voltage input to the outer liquid lens, the closer the focal length of the outer liquid lens. The preset voltage change ΔV can be set according to actual requirements. The preset voltage change ΔV can correspond to the spacing of image acquisition, and the spacing of image acquisition can be less than the depth of field of the outer liquid lens. This process can obtain corresponding data based on the reference battery cell assembly.

[0277] Then, according to the tab width difference and the preset voltage change ΔV, the required number N of images of the outside of the tab can be calculated, that is, the number of image acquisitions of the outer camera. There can be a corresponding relationship between the preset voltage change and the spacing of image acquisition. The spacing of image acquisition can be the object distance change. Therefore, based on the preset voltage change, the object distance change can be determined. The required number N of images of the outside of the tab can be the ratio of the tab width difference to the object distance change.

[0278] In addition, to better accommodate system errors, two more images of the outside of the tab can be acquired before and after N, that is, the required number of images of the outside of the tab can be N + 2. Based on this, the initial voltage can be: V + 2*ΔV, and the end voltage can be: (V + 2*ΔV) - 2*ΔV - N*ΔV - 2*ΔV.

[0279] Here, multiple outer voltage signals can be generated according to the initial voltage of the outer liquid lens, the preset voltage change, and the required number of images of the outside of the tab, or multiple outer voltage signals can be generated according to the initial voltage, end voltage, and zoom time of the outer liquid lens.

[0280] The lower computer can control the continuous zoom of the outer liquid lens based on multiple outer voltage signals and continuously trigger the outer camera to perform image acquisition at the same time.

[0281] In this way, multiple outer voltage signals generated based on the above process can more reasonably control the focal length of the outer liquid lens, so that multiple obtained images of the outside of the tab can be fused into a target image of the outside of the tab with higher overall clarity.

[0282] In some embodiments of the present application, S620 may include:

[0283] Through the inner lower computer, receive the inner displacement sent by the upper computer, generate an inner drive command based on the inner displacement, send the inner drive command to the inner drive assembly, and send an inner tab image acquisition command to the inner camera;

[0284] Through the inner drive assembly, drive the inner prism to move based on the inner drive command;

[0285] Image the inner side of the tab through the inner prism;

[0286] The inner camera acquires the image in the inner prism in response to the inner side image acquisition instruction of the tab, obtains the inner side image of the tab, and sends the inner side image of the tab to the host computer;

[0287] Based on this, the method may further include:

[0288] The host computer performs appearance defect detection on the inner side of the tab based on the inner side image of the tab, and obtains the inner side detection result of the tab.

[0289] Wherein, the inner driving component may be mechanically connected to the inner prism.

[0290] For the specific process, reference may be made to the above embodiments, which will not be elaborated herein.

[0291] In this way, by setting the inner lower computer, the inner driving component, the inner prism and the inner camera at the inner side detection station of the tab, the appearance defect detection of the inner side of the tab can be realized cooperatively.

[0292] In some embodiments of the present application, the above-mentioned process of the inner lower computer receiving the inner displacement sent by the host computer, generating an inner driving instruction based on the inner displacement, and sending the inner driving instruction to the inner driving component may include:

[0293] The inner lower computer receives the inner displacement sent by the host computer, and when the inner displacement does not exceed the preset range, generates an inner driving instruction based on the inner displacement, and sends the inner driving instruction to the inner driving component.

[0294] Here, the inner lower computer can judge whether the inner displacement exceeds the preset range. If the inner displacement does not exceed the preset range, the inner prism can be moved according to the inner displacement; if the inner displacement exceeds the preset range, the inner prism is not moved according to the inner displacement.

[0295] The preset range can be set according to actual needs.

[0296] In this way, by sending the inner driving instruction to the inner driving component based on the inner displacement only when the inner displacement does not exceed the preset range, it can be avoided that the inner prism is moved to the wrong position due to inaccurate inner displacement, resulting in potential safety hazards.

[0297] In some embodiments of the present application, the above-mentioned process of the inner driving component driving the inner prism to move based on the inner driving instruction may include:

[0298] The inner motor drives the inner connecting rod to move based on the inner driving instruction sent by the inner lower computer;

[0299] Drive the inner prism to move through the inner connecting rod.

[0300] Among them, the inner motor can be mechanically connected to the first end of the inner connecting rod. The second end of the inner connecting rod can be mechanically connected to the inner prism.

[0301] For the specific process, reference can be made to the above embodiments, which will not be elaborated here.

[0302] In this way, through the inner motor and the inner connecting rod, the inner prism can be quickly and accurately moved according to the inner displacement.

[0303] In some embodiments of the present application, the second end of the inner connecting rod can also be mechanically connected to the inner camera, and the method can further include:

[0304] Drive the inner camera to move through the inner connecting rod.

[0305] For the specific process, reference can be made to the above embodiments, which will not be elaborated here.

[0306] In this way, by mechanically connecting the second end of the inner connecting rod to the inner camera, the relative position between the inner camera and the inner prism can be ensured to remain unchanged, avoiding the situation that the inner camera cannot capture the imaging of the inner side of the tab in the inner prism due to the movement of the inner prism in the width direction.

[0307] In some embodiments of the present application, the inner camera can be provided with an inner liquid lens, and the method can further include:

[0308] Send a plurality of inner voltage signals to the inner liquid lens through the inner lower computer;

[0309] Change the focal length of the inner liquid lens itself based on each inner voltage signal;

[0310] Through the inner camera, in response to the inner tab image acquisition instruction, after each zoom of the inner liquid lens, capture the imaging in the inner prism to obtain multiple inner tab images, and send the multiple inner tab images to the upper computer;

[0311] Based on this, the above-mentioned process of detecting the appearance defects of the inner side of the tab by the upper computer based on the inner tab images to obtain the inner tab detection result can include:

[0312] Fuse the multiple inner tab images into a target inner tab image by the upper computer, and perform appearance defect detection on the inner side of the tab based on the target inner tab image to obtain the inner tab detection result.

[0313] For the specific process, reference can be made to the above embodiments, which will not be elaborated here.

[0314] In this way, by zooming the inner liquid lens, multiple inner images of the tab with different focal lengths can be collected and fused into a clearer inner image of the target tab. Based on this clearer inner image of the target tab, appearance defect detection can be performed on the inner side of the tab, which can improve the accuracy of detection.

[0315] In some embodiments of the present application, before sending multiple inner voltage signals to the inner liquid lens through the inner lower computer as described above, the method may further include:

[0316] The upper computer determines the width of the tab based on the tab image, determines the reference tab width based on the reference tab image, determines the tab width difference based on the tab width and the reference tab width, determines the required number of inner images of the tab according to the tab width difference and the preset voltage change amount, generates multiple inner voltage signals according to the initial voltage, the preset voltage change amount, and the required number of inner images of the tab, and sends the multiple inner voltage signals to the inner lower computer.

[0317] The process of generating multiple inner voltage signals is the same as the above process of generating multiple outer voltage signals, and will not be elaborated here.

[0318] In this way, the multiple inner voltage signals generated based on the above process can more reasonably control the focal length of the inner liquid lens, so that the multiple inner images of the tab obtained can be fused into a target inner image of the tab with higher overall clarity.

[0319] In some embodiments of the present application, the method may further include:

[0320] Through the tab position detection station, when the battery cell assembly reaches the tab position detection station, the tab image of the battery cell assembly is collected, and the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly are determined based on the tab image.

[0321] Among them, the tab position detection station may be located upstream of at least one outer tab detection station and at least one inner tab detection station.

[0322] For the specific process, reference may be made to the above embodiments, and details will not be elaborated here.

[0323] In this way, the tab image can be collected through the tab position detection station, and the actual outer coordinates and actual inner coordinates of the tab can be quickly and accurately determined.

[0324] In some embodiments of the present application, the above process of collecting the tab image of the battery cell assembly through the tab position detection station when the battery cell assembly reaches the tab position detection station and determining the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly based on the tab image may include:

[0325] Through the position detection camera, when the battery cell assembly reaches the tab position detection station, collect the tab image of the battery cell assembly and send the tab image to the host computer;

[0326] Based on the tab image, the host computer determines the actual outer coordinates and actual inner coordinates of the tabs of the battery cell assembly.

[0327] For the specific process, reference can be made to the above embodiments and will not be elaborated here.

[0328] In this way, the actual outer coordinates and actual inner coordinates of the tabs can be quickly and accurately determined based on the tab image collected by the position detection camera.

[0329] In some embodiments of the present application, the method may further include:

[0330] Through the tab position detection station, when the reference battery cell assembly reaches the tab position detection station, collect the reference tab image of the reference battery cell assembly, and based on the reference tab image, determine the reference outer coordinates and reference inner coordinates of the tabs of the reference battery cell assembly.

[0331] For the specific process, reference can be made to the above embodiments and will not be elaborated here.

[0332] In this way, the reference outer coordinates and reference inner coordinates of the tabs can be quickly and accurately determined by collecting the reference tab image through the tab position detection station.

[0333] In some embodiments of the present application, the above process of, through the tab position detection station, when the reference battery cell assembly reaches the tab position detection station, collecting the reference tab image of the reference battery cell assembly and based on the reference tab image determining the reference outer coordinates and reference inner coordinates of the tabs of the reference battery cell assembly may include:

[0334] Through the position detection camera, when the reference battery cell assembly reaches the tab position detection station, collect the reference tab image of the reference battery cell assembly and send the reference tab image to the host computer;

[0335] Based on the reference tab image, the host computer determines the reference outer coordinates and reference inner coordinates of the tabs of the reference battery cell assembly.

[0336] For the specific process, reference can be made to the above embodiments and will not be elaborated here.

[0337] In this way, the reference outer coordinates and reference inner coordinates of the tabs can be quickly and accurately determined based on the tab image collected by the position detection camera.

[0338] The embodiments of the present application also provide a tab detection method. The execution subject of this tab detection method can be the host computer. The tab detection method provided by the embodiments of the present application will be introduced below.

[0339] Figure 7 Schematic flow chart of the tab detection method provided for some embodiments of the present application.

[0340] As Figure 7 shown, the tab detection method may include the following steps:

[0341] S710. When the cell assembly reaches the outer tab detection station, based on the actual coordinates of the outer tab of the cell assembly and the reference coordinates of the outer tab, determine the outer displacement of the outer prism in the width direction; send the outer displacement to the outer lower computer, so that the outer lower computer controls the outer prism to move according to the outer displacement, so as to image the outer tab of the cell assembly through the outer prism; receive the outer tab image sent by the outer camera; perform appearance defect detection on the outer tab based on the outer tab image to obtain the outer tab detection result;

[0342] S720. When the cell assembly reaches the inner tab detection station, based on the actual coordinates of the inner tab of the cell assembly and the reference coordinates of the inner tab, determine the inner displacement of the inner prism in the width direction; send the inner displacement to the inner lower computer, so that the inner lower computer controls the inner prism to move according to the inner displacement, so as to image the inner tab of the cell assembly through the inner prism; receive the inner tab image sent by the inner camera; perform appearance defect detection on the inner tab based on the inner tab image to obtain the inner tab detection result.

[0343] Among them, the outer tab image may be obtained by the outer camera collecting the image in the outer prism. The inner tab image may be obtained by the inner camera collecting the image in the inner prism.

[0344] For the specific processes of S710 - S720, reference may be made to the above embodiments and will not be elaborated here.

[0345] Thus, when the battery cell assembly reaches the outer tab detection station, based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab, the outer displacement of the outer prism in the width direction can be determined, and the outer displacement is sent to the outer lower computer, so that the outer lower computer controls the outer prism to move according to the outer displacement, so as to image the outer tab of the battery cell assembly through the outer prism, receive the outer tab image sent by the outer camera, where the outer tab image is obtained by the outer camera collecting the image in the outer prism, and then perform appearance defect detection on the outer tab based on the outer tab image to obtain the outer tab detection result; and when the battery cell assembly reaches the inner tab detection station, based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab, the inner displacement of the inner prism in the width direction can be determined, and the inner displacement is sent to the inner lower computer, so that the inner lower computer controls the inner prism to move according to the inner displacement, so as to image the inner tab of the battery cell assembly through the inner prism, receive the inner tab image sent by the inner camera, where the inner tab image is obtained by the inner camera collecting the image in the inner prism, and then perform appearance defect detection on the inner tab based on the inner tab image to obtain the inner tab detection result, thus realizing the detection of the appearance defects of the tabs. In addition, determining the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab can dynamically adjust the position of the outer prism according to the actual coordinates of the outer tab and the reference coordinates of the outer tab, so as to avoid the situation where the outer prism can only extend to a fixed position when the tab is misaligned, resulting in the outer prism hitting the outer tab and causing potential safety hazards; similarly, determining the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab can dynamically adjust the position of the inner prism according to the actual coordinates of the inner tab and the reference coordinates of the inner tab, so as to avoid the situation where the inner prism can only extend to a fixed position when the tab is misaligned, resulting in the inner prism hitting the inner tab and causing potential safety hazards.

[0346] In some embodiments of the present application, determining the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab may include:

[0347] Based on the actual coordinates of the outer tab and the reference coordinates of the outer tab, determine the misalignment amount of the outer tab of the battery cell assembly;

[0348] Based on the misalignment amount of the outer tab, determine the outer displacement of the outer prism in the width direction;

[0349] Determining the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab may include:

[0350] Based on the actual coordinates of the inner tab and the reference coordinates of the inner tab, determine the misalignment amount of the inner tab of the battery cell assembly;

[0351] Based on the misalignment amount of the inner tab, determine the inner displacement of the inner prism in the width direction.

[0352] Here, the misalignment amount of the outer tab can be the difference between the actual coordinates of the outer tab and the reference coordinates of the outer tab. The outer displacement can be equal to the misalignment amount of the outer tab. That is to say, the outer displacement that the outer prism needs to move can be equal to the misalignment amount of the outer tab.

[0353] The misalignment amount of the inner tab can be the difference between the actual coordinates of the inner tab and the reference coordinates of the inner tab. The inner displacement can be equal to the misalignment amount of the inner tab. That is to say, the inner displacement that the inner prism needs to move can be equal to the misalignment amount of the inner tab.

[0354] In this way, by taking the misalignment amount of the outer tab as the outer displacement of the outer prism, the relative position between the outer tab and the outer prism can be ensured to remain unchanged, avoiding the outer tab and the outer prism being too close or even contacting due to tab misalignment, resulting in tab damage. Similarly, by taking the misalignment amount of the inner tab as the inner displacement of the inner prism, the relative position between the inner tab and the inner prism can be ensured to remain unchanged, avoiding the inner tab and the inner prism being too close or even contacting due to tab misalignment, resulting in tab damage.

[0355] In some embodiments of the present application, the above-mentioned determining the outer displacement of the outer prism in the width direction based on the misalignment amount of the outer tab may include:

[0356] Obtain the reference coordinates of the outer prism of the outer prism in the width direction;

[0357] Based on the misalignment amount of the outer tab and the reference coordinates of the outer prism, determine the outer displacement of the outer prism in the width direction;

[0358] The above-mentioned determining the inner displacement of the inner prism in the width direction based on the misalignment amount of the inner tab may include:

[0359] Obtain the reference coordinates of the inner prism of the inner prism in the width direction;

[0360] Based on the misalignment amount of the inner tab and the reference coordinates of the inner prism, determine the inner displacement of the inner prism in the width direction.

[0361] Here, the reference coordinates of the outer prism can be the position where the outer prism should be in the case of no tab misalignment. The position where the outer prism should be is a position that can image the outer tab and will not touch the tab.

[0362] In actual operation, the position where the outer prism should be can be dynamically determined according to the misalignment of the tab. To ensure the relative position between the outer prism and the outer side of the tab, the position where the outer prism should be can be determined according to the misalignment amount of the outer side of the tab and the reference coordinate of the outer prism. The position where the outer prism should be can be equal to the sum of the misalignment amount of the outer side of the tab and the reference coordinate of the outer prism. The outer displacement can be the displacement of the outer prism from the reference coordinate of the outer prism to the position where the outer prism should be. Specifically, the outer displacement can be equal to the difference between the position where the outer prism should be and the reference coordinate of the outer prism.

[0363] It should be noted that the misalignment amount of the outer side has positive and negative values.

[0364] The reference coordinate of the inner prism can be the position where the inner prism should be in the case of no misalignment of the tab. The position where the inner prism should be is a position that can image the inner side of the tab and will not touch the tab.

[0365] In actual operation, the position where the inner prism should be can be dynamically determined according to the misalignment of the tab. To ensure the relative position between the inner prism and the inner side of the tab, the position where the inner prism should be can be determined according to the misalignment amount of the inner side of the tab and the reference coordinate of the inner prism. The position where the inner prism should be can be equal to the sum of the misalignment amount of the inner side of the tab and the reference coordinate of the inner prism. The inner displacement can be the displacement of the inner prism from the reference coordinate of the inner prism to the position where the inner prism should be. Specifically, the inner displacement can be equal to the difference between the position where the inner prism should be and the reference coordinate of the inner prism.

[0366] It should be noted that the misalignment amount of the inner side has positive and negative values.

[0367] In this way, the outer displacement of the outer prism can be accurately determined based on the misalignment amount of the outer side of the tab and the reference coordinate of the outer prism, and the inner displacement of the inner prism can be accurately determined based on the misalignment amount of the inner side of the tab and the reference coordinate of the inner prism.

[0368] In the related art, the standard inclination angle of the prism to extend is usually 45°, but in order to better detect the information of the tab root (near the battery cell end), the actual inclination angle of the prism is generally increased by 2° to 3°. In this way, the distance from the prism to the tab is variable, and it is difficult to ensure the consistency of imaging. To ensure the consistency of imaging, in some embodiments of the present application, the above-mentioned obtaining of the reference coordinate of the outer prism in the width direction may include:

[0369] Determining the reference coordinate of the outer prism based on the reference coordinate of the outer side of the tab and a preset distance;

[0370] The above-mentioned obtaining of the reference coordinate of the inner prism in the width direction may include:

[0371] Determining the reference coordinate of the inner prism based on the reference coordinate of the inner side of the tab and a preset distance.

[0372] Here, if the outer prism is in the negative direction outside the tab, the reference coordinate of the outer prism can be the difference between the reference coordinate outside the tab and a preset distance; if the outer prism is in the positive direction outside the tab, the reference coordinate of the outer prism can be the sum of the reference coordinate outside the tab and the preset distance. The positive direction is the positive direction of the coordinate axis where the reference coordinate outside the tab is located, and the negative direction is the direction opposite to this positive direction.

[0373] The preset distance can be set according to actual requirements. When setting the preset distance, systematic errors can be considered, and it is ensured that the distance between the outer prism and the tab is not less than the safety distance.

[0374] Exemplarily, as Figure 8 shown, if the reference coordinate outside the tab is the coordinate of the first outer corner point 810 of the tab and the preset distance is a, the reference coordinate of the outer prism is the difference between the reference coordinate outside the tab and the preset distance, that is, the reference coordinate of the outer prism is the coordinate of point 820; if the reference coordinate outside the tab is the coordinate of the second outer corner point 830 of the tab and the preset distance is a, the reference coordinate of the outer prism is the sum of the reference coordinate outside the tab and the preset distance, that is, the reference coordinate of the outer prism is the coordinate of point 840.

[0375] If the inner prism is in the negative direction inside the tab, the reference coordinate of the inner prism can be the difference between the reference coordinate inside the tab and a preset distance; if the inner prism is in the positive direction inside the tab, the reference coordinate of the inner prism can be the sum of the reference coordinate inside the tab and the preset distance. The positive direction is the positive direction of the coordinate axis where the reference coordinate inside the tab is located, and the negative direction is the direction opposite to this positive direction.

[0376] The preset distance can be set according to actual requirements. When setting the preset distance, systematic errors can be considered, and it is ensured that the distance between the inner prism and the tab is not less than the safety distance.

[0377] The preset distance used to determine the reference coordinate of the outer prism and the preset distance used to determine the reference coordinate of the inner prism can be different.

[0378] Exemplarily, as Figure 8 shown, if the reference coordinate inside the tab is the coordinate of the first inner corner point 850 of the tab and the preset distance is b, the reference coordinate of the inner prism is the sum of the reference coordinate inside the tab and the preset distance, that is, the reference coordinate of the inner prism is the coordinate of point 860; if the reference coordinate inside the tab is the coordinate of the second inner corner point 870 of the tab and the preset distance is b, the reference coordinate of the inner prism is the difference between the reference coordinate inside the tab and the preset distance, that is, the reference coordinate of the inner prism is the coordinate of point 880.

[0379] Thus, by determining the outer prism reference coordinates based on the outer reference coordinates of the tab and the preset distance, the distance between the outer prism and the outer side of the tab can always be ensured to be the preset distance, ensuring the relative position between the outer prism and the tab remains unchanged. As a result, the position of the tab in the captured outer tab image can be relatively fixed, ensuring the consistency of imaging. By determining the inner prism reference coordinates based on the inner reference coordinates of the tab and the preset distance, the distance between the inner prism and the inner side of the tab can always be ensured to be the preset distance, ensuring the relative position between the inner prism and the tab remains unchanged. Thus, the position of the tab in the captured inner tab image can be relatively fixed, ensuring the consistency of imaging.

[0380] In some embodiments of the present application, the above-mentioned appearance defect detection of the outer side of the tab based on the outer tab image to obtain the outer tab detection result may include:

[0381] Fusing multiple outer tab images into a target outer tab image;

[0382] Performing appearance defect detection on the outer side of the tab based on the target outer tab image to obtain the outer tab detection result;

[0383] The above-mentioned appearance defect detection of the inner side of the tab based on the inner tab image to obtain the inner tab detection result may include:

[0384] Fusing multiple inner tab images into a target inner tab image;

[0385] Performing appearance defect detection on the inner side of the tab based on the target inner tab image to obtain the inner tab detection result.

[0386] For the specific process, reference can be made to the above-mentioned embodiments and will not be elaborated here.

[0387] In this way, appearance defect detection of the outer side of the tab can be performed based on the clearer target outer tab image obtained by fusing multiple outer tab images, and appearance defect detection of the inner side of the tab can be performed based on the clearer target inner tab image obtained by fusing multiple inner tab images, improving the accuracy of detection.

[0388] In some embodiments of the present application, before S710, the method may further include:

[0389] Receiving the tab image of the battery cell assembly sent by the position detection camera;

[0390] Determining the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly based on the tab image.

[0391] For the specific process, reference can be made to the above-mentioned embodiments and will not be elaborated here.

[0392] In this way, the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab can be quickly and accurately determined based on the tab images collected by the position detection camera.

[0393] In some embodiments of the present application, the above-mentioned determining the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab of the battery cell assembly based on the tab images may include:

[0394] Determine the pixel coordinates of the outer side of the tab and the pixel coordinates of the inner side of the tab in the tab image;

[0395] Convert the pixel coordinates of the outer side of the tab to the coordinate system corresponding to the outer driving component of the outer prism to obtain the actual coordinates of the outer side of the tab, and convert the pixel coordinates of the inner side of the tab to the coordinate system corresponding to the inner driving component of the inner prism to obtain the actual coordinates of the inner side of the tab.

[0396] Here, the coordinate system corresponding to the position detection camera is different from the coordinate system corresponding to the outer driving component, and the coordinate system corresponding to the position detection camera is also different from the coordinate system corresponding to the inner driving component. Therefore, it is necessary to unify the coordinate systems.

[0397] The coordinate system corresponding to the outer driving component and the coordinate system corresponding to the inner driving component can both be the world coordinate system.

[0398] In this way, by converting the pixel coordinates of the outer side of the tab in the tab image to the coordinate system corresponding to the outer driving component to obtain the actual coordinates of the outer side of the tab, and then determining the outer displacement based on the actual coordinates of the outer side of the tab, the outer driving component can directly move the outer prism based on the outer displacement without performing coordinate conversion on the outer displacement, which is simple and efficient. By converting the pixel coordinates of the inner side of the tab in the tab image to the coordinate system corresponding to the inner driving component to obtain the actual coordinates of the inner side of the tab, and then determining the inner displacement based on the actual coordinates of the inner side of the tab, the inner driving component can directly move the inner prism based on the inner displacement without performing coordinate conversion on the inner displacement, which is simple and efficient.

[0399] Moreover, during the die changeover, there is no need to reconfirm the reference position, which improves the efficiency of the die changeover.

[0400] In some embodiments of the present application, before S710, the method may further include:

[0401] Receive the reference tab image of the reference battery cell assembly sent by the position detection camera;

[0402] Determine the reference coordinates of the outer side of the tab and the reference coordinates of the inner side of the tab of the reference battery cell assembly based on the reference tab image.

[0403] For the specific process, reference may be made to the above embodiments, which will not be elaborated here.

[0404] In this way, the outer reference coordinates and inner reference coordinates of the tab can be quickly and accurately determined based on the tab image collected by the position detection camera.

[0405] In some embodiments of the present application, the above-mentioned determination of the outer reference coordinates and inner reference coordinates of the tab of the reference battery cell assembly based on the reference tab image may include:

[0406] Determine the outer reference pixel coordinates and inner reference pixel coordinates of the outer side of the reference tab of the reference battery cell assembly in the reference tab image;

[0407] Convert the outer reference pixel coordinates of the tab to the coordinate system corresponding to the outer driving component of the outer prism to obtain the outer reference coordinates of the tab, and convert the inner reference pixel coordinates of the tab to the coordinate system corresponding to the inner driving component of the inner prism to obtain the inner reference coordinates of the tab.

[0408] The process of obtaining the outer reference coordinates of the tab is the same as the process of obtaining the actual outer coordinates of the tab, and the process of obtaining the inner reference coordinates of the tab is the same as the process of obtaining the actual inner coordinates of the tab, which will not be elaborated here.

[0409] In this way, by converting the outer reference pixel coordinates of the outer side of the reference tab in the reference tab image to the coordinate system corresponding to the outer driving component, the outer reference coordinates of the tab are obtained, and then based on the outer reference coordinates, the outer displacement is determined, so that the outer driving component can directly move the outer prism based on the outer displacement without coordinate conversion of the outer displacement, which is simple and efficient. By converting the inner reference pixel coordinates of the inner side of the reference tab in the reference tab image to the coordinate system corresponding to the inner driving component, the inner reference coordinates of the tab are obtained, and then based on the inner reference coordinates, the inner displacement is determined, so that the inner driving component can directly move the inner prism based on the inner displacement without coordinate conversion of the inner displacement, which is simple and efficient.

[0410] Moreover, during the chipping and type conversion, there is no need to reconfirm the reference position, which improves the efficiency of chipping and type conversion.

[0411] Although the present application has been described with reference to the preferred embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. An ear tab detection system, characterized in that, Comprising: At least one outer tab detection station, configured to control an outer prism to move according to an outer displacement when the battery cell assembly reaches the outer tab detection station, so as to image the outer side of the tab of the battery cell assembly through the outer prism, collect the image in the outer prism, obtain an outer tab image, where the outer tab image is used to determine an outer tab detection result, and the outer displacement is the displacement of the outer prism in the width direction determined based on the actual coordinates of the outer side of the tab of the battery cell assembly and the reference coordinates of the outer side of the tab; At least one inner tab detection station, configured to control an inner prism to move according to an inner displacement when the battery cell assembly reaches the inner tab detection station, so as to image the inner side of the tab of the battery cell assembly through the inner prism, collect the image in the inner prism, obtain an inner tab image, where the inner tab image is used to determine an inner tab detection result, and the inner displacement is the displacement of the inner prism in the width direction determined based on the actual coordinates of the inner side of the tab of the battery cell assembly and the reference coordinates of the inner side of the tab.

2. The system according to claim 1, wherein The system further comprises: A tab position detection station, located upstream of the at least one outer tab detection station and the at least one inner tab detection station, configured to collect a tab image of the battery cell assembly when the battery cell assembly reaches the tab position detection station, and determine the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab of the battery cell assembly based on the tab image.

3. The system according to claim 2, wherein: The tab position detection station is further configured to collect a reference tab image of the reference battery cell assembly when the reference battery cell assembly reaches the tab position detection station, and determine the reference coordinates of the outer side of the tab and the reference coordinates of the inner side of the tab of the reference battery cell assembly based on the reference tab image.

4. The system according to claim 3, characterized in that, The system further comprises: A host computer, configured to determine the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer side of the tab and the reference coordinates of the outer side of the tab, and determine the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner side of the tab and the reference coordinates of the inner side of the tab.

5. The system according to claim 4, wherein The outer tab detection station comprises: An outer lower computer, electrically connected to the host computer, an outer driving assembly and an outer camera respectively, configured to receive the outer displacement sent by the host computer, generate an outer driving instruction based on the outer displacement, send the outer driving instruction to the outer driving assembly, and send an outer tab image acquisition instruction to the outer camera; The outer driving assembly, mechanically connected to the outer prism, configured to drive the outer prism to move based on the outer driving instruction; The outer prism, configured to image the outer side of the tab; The outer camera, electrically connected to the host computer, configured to collect the image in the outer prism in response to the outer tab image acquisition instruction, obtain the outer tab image, and send the outer tab image to the host computer; The host computer is further configured to perform an appearance defect detection on the outer side of the tab based on the outer side image of the tab, and obtain the outer side detection result of the tab.

6. The system according to claim 5, wherein The outer side driving assembly includes: An outer side motor, electrically connected to the outer side lower computer, mechanically connected to the first end of the outer side connecting rod, and configured to drive the outer side connecting rod to move based on the outer side driving instruction sent by the outer side lower computer; The outer side connecting rod, the second end of the outer side connecting rod is mechanically connected to the outer side prism, and the outer side connecting rod is configured to drive the outer side prism to move.

7. The system according to claim 6, characterized in that, The second end of the outer side connecting rod is further mechanically connected to the outer side camera, and the outer side connecting rod is further configured to drive the outer side camera to move.

8. The system according to any one of claims 5-7, characterized in that, The outer side camera is provided with an outer side liquid lens, and the outer side liquid lens is electrically connected to the outer side lower computer; The outer side lower computer is further configured to send a plurality of outer side voltage signals to the outer side liquid lens; The outer side liquid lens is configured to change its own focal length based on each of the outer side voltage signals; The outer side camera is further configured to respond to the outer side image acquisition instruction of the tab, and after each zoom of the outer side liquid lens, acquire the imaging in the outer side prism, obtain a plurality of outer side images of the tab, and send the plurality of outer side images of the tab to the host computer; The host computer is further configured to fuse the plurality of outer side images of the tab into a target outer side image of the tab, and perform an appearance defect detection on the outer side of the tab based on the target outer side image, and obtain the outer side detection result of the tab.

9. The system according to claim 4, characterized in that, The inner side detection station of the tab includes: An inner side lower computer, electrically connected to the host computer, the inner side driving assembly and the inner side camera respectively, configured to receive the inner side displacement sent by the host computer, generate an inner side driving instruction based on the inner side displacement, send the inner side driving instruction to the inner side driving assembly, and send an inner side image acquisition instruction of the tab to the inner side camera; The inner side driving assembly, mechanically connected to the inner side prism, and configured to drive the inner side prism to move based on the inner side driving instruction; The inner side prism, configured to image the inner side of the tab; The inner side camera, electrically connected to the host computer, and configured to respond to the inner side image acquisition instruction of the tab, acquire the imaging in the inner side prism, obtain an inner side image of the tab, and send the inner side image of the tab to the host computer; The host computer is further configured to perform an appearance defect detection on the inner side of the tab based on the inner side image of the tab, and obtain the inner side detection result of the tab.

10. The system according to claim 9, wherein The inner side driving assembly includes: An inner side motor, electrically connected to the inner side lower computer, mechanically connected to the first end of the inner side connecting rod, and configured to drive the inner side connecting rod to move based on the inner side driving instruction sent by the inner side lower computer; The inner side connecting rod, the second end of the inner side connecting rod is mechanically connected to the inner side prism, and the inner side connecting rod is configured to drive the inner side prism to move.

11. The system according to claim 10, wherein The second end of the inner side connecting rod is further mechanically connected to the inner side camera, and the inner side connecting rod is further configured to drive the inner side camera to move.

12. The system according to any one of claims 9-11, characterized in that, The inner side camera is provided with an inner side liquid lens, and the inner side liquid lens is electrically connected to the inner side lower computer; The inner lower computer is also configured to send a plurality of inner voltage signals to the inner liquid lens; The inner liquid lens is configured to change its own focal length based on each of the inner voltage signals; The inner camera is also configured to, in response to the inner ear image acquisition instruction, after each zoom of the inner liquid lens, acquire the imaging in the inner prism, obtain a plurality of inner ear images of the ear, and send the plurality of inner ear images to the upper computer; The upper computer is also configured to fuse the plurality of inner ear images of the ear into a target inner ear image of the ear, and perform appearance defect detection on the inner ear of the ear based on the target inner ear image of the ear to obtain the inner ear detection result of the ear.

13. The system according to any one of claims 4-12, characterized in that, The ear position detection station includes: A position detection camera, electrically connected to the upper computer, configured to, when the battery cell assembly reaches the ear position detection station, acquire an ear image of the battery cell assembly and send the ear image to the upper computer; The upper computer is also configured to determine the actual outer coordinates and the actual inner coordinates of the ear of the battery cell assembly based on the ear image.

14. The system according to claim 13, wherein The position detection camera is also configured to, when the reference battery cell assembly reaches the ear position detection station, acquire a reference ear image of the reference battery cell assembly and send the reference ear image to the upper computer; The upper computer is also configured to determine the reference outer coordinates and the reference inner coordinates of the ear of the reference battery cell assembly based on the reference ear image.

15. The system according to any one of claims 1-14, characterized in that, There are two of the at least one outer ear detection stations, and there are two of the at least one inner ear detection stations.

16. A tab detection method, characterized in that, including: Through at least one outer ear detection station, when the battery cell assembly reaches the outer ear detection station, controlling the outer prism to move according to an outer displacement, so as to image the outer ear of the battery cell assembly through the outer prism, acquire the imaging in the outer prism, obtain an outer ear image, the outer ear image is used to determine the outer ear detection result, and the outer displacement is the displacement of the outer prism in the width direction determined based on the actual outer coordinates and the reference outer coordinates of the outer ear of the battery cell assembly; Through at least one inner ear detection station, when the battery cell assembly reaches the inner ear detection station, controlling the inner prism to move according to an inner displacement, so as to image the inner ear of the battery cell assembly through the inner prism, acquire the imaging in the inner prism, obtain an inner ear image, the inner ear image is used to determine the inner ear detection result, and the inner displacement is the displacement of the inner prism in the width direction determined based on the actual inner coordinates and the reference inner coordinates of the inner ear of the battery cell assembly.

17. The method according to claim 16, wherein The method further includes: Through the tab position detection station, when the battery cell assembly reaches the tab position detection station, collect the tab image of the battery cell assembly, and determine the actual coordinates of the outer side of the tab and the actual coordinates of the inner side of the tab of the battery cell assembly based on the tab image. The tab position detection station is located upstream of the at least one outer tab detection station and the at least one inner tab detection station.

18. The method according to claim 17, wherein The method further includes: Through the tab position detection station, when the reference battery cell assembly reaches the tab position detection station, collect the reference tab image of the reference battery cell assembly, and determine the reference coordinates of the outer side of the tab and the reference coordinates of the inner side of the tab of the reference battery cell assembly based on the reference tab image.

19. The method according to claim 18, characterized in that, The method further includes: Through the host computer, based on the actual coordinates of the outer side of the tab and the reference coordinates of the outer side of the tab, determine the outer displacement of the outer prism in the width direction, and based on the actual coordinates of the inner side of the tab and the reference coordinates of the inner side of the tab, determine the inner displacement of the inner prism in the width direction.

20. The method according to claim 19, wherein The step of, through the at least one outer tab detection station, when the battery cell assembly reaches the outer tab detection station, controlling the outer prism to move according to the outer displacement to image the outer side of the tab of the battery cell assembly through the outer prism, and collecting the image in the outer prism to obtain the outer tab image, includes: Through the outer lower computer, receive the outer displacement sent by the host computer, generate an outer drive command based on the outer displacement, send the outer drive command to the outer drive assembly, and send an outer tab image acquisition command to the outer camera. The outer drive assembly is mechanically connected to the outer prism; Through the outer drive assembly, drive the outer prism to move based on the outer drive command; Image the outer side of the tab through the outer prism; Through the outer camera, in response to the outer tab image acquisition command, collect the image in the outer prism to obtain the outer tab image, and send the outer tab image to the host computer; The method further includes: Through the host computer, perform appearance defect detection on the outer side of the tab based on the outer tab image to obtain the outer tab detection result.

21. The method according to claim 20, wherein The step of, through the outer drive assembly, driving the outer prism to move based on the outer drive command, includes: Through the outer motor, drive the outer connecting rod to move based on the outer drive command sent by the outer lower computer. The outer motor is mechanically connected to the first end of the outer connecting rod; Drive the outer prism to move through the outer connecting rod. The second end of the outer connecting rod is mechanically connected to the outer prism.

22. The method according to claim 21, wherein The second end of the outer connecting rod is also mechanically connected to the outer camera. The method further includes: Drive the outer camera to move through the outer connecting rod.

23. The method according to any one of claims 20-22, characterized in that, The outer camera is provided with an outer liquid lens. The method further includes: Send a plurality of outer voltage signals to the outer liquid lens through the outer lower computer; The outer liquid lens changes its focal length based on each of the outer voltage signals; The outer camera responds to the outer tab image acquisition instruction, and after each zoom of the outer liquid lens, acquires the imaging in the outer prism, obtains multiple outer tab images, and sends the multiple outer tab images to the host computer; The host computer performs appearance defect detection on the outer side of the tab based on the outer tab image, and obtains the outer tab detection result, including: The host computer fuses the multiple outer tab images into a target outer tab image, and performs appearance defect detection on the outer side of the tab based on the target outer tab image, and obtains the outer tab detection result.

24. The method according to claim 23, wherein Before the outer lower computer sends multiple outer voltage signals to the outer liquid lens, the method further includes: The host computer determines the tab width based on the tab image, determines the reference tab width based on the reference tab image, determines the tab width difference based on the tab width and the reference tab width, determines the required number of outer tab images according to the tab width difference and the preset voltage change amount, generates multiple outer voltage signals according to the initial voltage, the preset voltage change amount and the required number of outer tab images, and sends the multiple outer voltage signals to the outer lower computer.

25. The method according to claim 19, characterized in that, The method for passing through at least one inner tab detection station, when the battery cell assembly reaches the inner tab detection station, controls the inner prism to move according to the inner displacement, so as to image the inner side of the tab of the battery cell assembly through the inner prism, and acquire the imaging in the inner prism to obtain the inner tab image, including: The inner lower computer receives the inner displacement sent by the host computer, generates an inner driving instruction based on the inner displacement, sends the inner driving instruction to the inner driving component, and sends an inner tab image acquisition instruction to the inner camera, and the inner driving component is mechanically connected to the inner prism; The inner driving component drives the inner prism to move based on the inner driving instruction; The inner prism images the inner side of the tab; The inner camera responds to the inner tab image acquisition instruction, acquires the imaging in the inner prism, obtains the inner tab image, and sends the inner tab image to the host computer; The method further includes: The host computer performs appearance defect detection on the inner side of the tab based on the inner tab image, and obtains the inner tab detection result.

26. The method according to claim 25, wherein The step of the inner driving component driving the inner prism to move based on the inner driving instruction includes: The inner motor drives the inner connecting rod to move based on the inner driving instruction sent by the inner lower computer, and the inner motor is mechanically connected to the first end of the inner connecting rod; The inner connecting rod drives the inner prism to move, and the second end of the inner connecting rod is mechanically connected to the inner prism.

27. The method according to claim 26, characterized in that, The second end of the inner connecting rod is further mechanically connected to the inner camera, and the method further includes: Drive the inner camera to move through the inner connecting rod.

28. The method according to any one of claims 25-27, characterized in that The inner camera is provided with an inner liquid lens, and the method further includes: Send a plurality of inner voltage signals to the inner liquid lens through the inner lower computer; Change its own focal length based on each of the inner voltage signals through the inner liquid lens; In response to the inner tab image acquisition instruction through the inner camera, after each zoom of the inner liquid lens, acquire the image in the inner prism, obtain a plurality of inner tab images, and send the plurality of inner tab images to the upper computer; The appearance defect detection of the inner tab through the upper computer based on the inner tab image to obtain the inner tab detection result includes: Fuse a plurality of inner tab images into a target inner tab image through the upper computer, and perform appearance defect detection on the inner tab based on the target inner tab image to obtain the inner tab detection result.

29. The method according to claim 28, wherein Before sending a plurality of inner voltage signals to the inner liquid lens through the inner lower computer, the method further includes: Determine the tab width based on the tab image through the upper computer, determine the reference tab width based on the reference tab image, determine the tab width difference based on the tab width and the reference tab width, determine the required number of inner tab images according to the tab width difference and the preset voltage change amount, generate a plurality of inner voltage signals according to the initial voltage, the preset voltage change amount and the required number of inner tab images, and send the plurality of inner voltage signals to the inner lower computer.

30. The method according to any one of claims 19-29, characterized in that, The tab position detection station, when the battery cell assembly reaches the tab position detection station, acquires the tab image of the battery cell assembly, and determines the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly based on the tab image, including: Through the position detection camera, when the battery cell assembly reaches the tab position detection station, acquire the tab image of the battery cell assembly, and send the tab image to the upper computer; Determine the actual outer coordinates and actual inner coordinates of the tab of the battery cell assembly based on the tab image through the upper computer.

31. The method according to claim 30, characterized in that, The tab position detection station, when the reference battery cell assembly reaches the tab position detection station, acquires the reference tab image of the reference battery cell assembly, and determines the reference outer coordinates and reference inner coordinates of the tab of the reference battery cell assembly based on the reference tab image, including: Through the position detection camera, when the reference battery cell assembly reaches the tab position detection station, acquire the reference tab image of the reference battery cell assembly, and send the reference tab image to the upper computer; Determine the reference outer coordinates and reference inner coordinates of the tab of the reference battery cell assembly based on the reference tab image through the upper computer.

32. A tab detection method, characterized in that Include: When the battery cell assembly reaches the outer tab detection station, based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab, determine the outer displacement of the outer prism in the width direction; send the outer displacement to the outer lower computer, so that the outer lower computer controls the outer prism to move according to the outer displacement, in order to image the outer tab of the battery cell assembly through the outer prism; receive the outer tab image sent by the outer camera, where the outer tab image is obtained by the outer camera collecting the image in the outer prism; perform appearance defect detection on the outer tab based on the outer tab image to obtain the outer tab detection result; When the battery cell assembly reaches the inner tab detection station, based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab, determine the inner displacement of the inner prism in the width direction; send the inner displacement to the inner lower computer, so that the inner lower computer controls the inner prism to move according to the inner displacement, in order to image the inner tab of the battery cell assembly through the inner prism; receive the inner tab image sent by the inner camera, where the inner tab image is obtained by the inner camera collecting the image in the inner prism; perform appearance defect detection on the inner tab based on the inner tab image to obtain the inner tab detection result.

33. The method according to claim 32, wherein The determining the outer displacement of the outer prism in the width direction based on the actual coordinates of the outer tab of the battery cell assembly and the reference coordinates of the outer tab includes: Based on the actual coordinates of the outer tab and the reference coordinates of the outer tab, determine the misalignment amount of the outer tab of the battery cell assembly; Based on the misalignment amount of the outer tab, determine the outer displacement of the outer prism in the width direction; The determining the inner displacement of the inner prism in the width direction based on the actual coordinates of the inner tab of the battery cell assembly and the reference coordinates of the inner tab includes: Based on the actual coordinates of the inner tab and the reference coordinates of the inner tab, determine the misalignment amount of the inner tab of the battery cell assembly; Based on the misalignment amount of the inner tab, determine the inner displacement of the inner prism in the width direction.

34. The method according to claim 33, wherein The determining the outer displacement of the outer prism in the width direction based on the misalignment amount of the outer tab includes: Obtain the reference coordinates of the outer prism in the width direction; Based on the misalignment amount of the outer tab and the reference coordinates of the outer prism, determine the outer displacement of the outer prism in the width direction; The determining the inner displacement of the inner prism in the width direction based on the misalignment amount of the inner tab includes: Obtain the reference coordinates of the inner prism in the width direction; Based on the misalignment amount of the inner tab and the reference coordinates of the inner prism, determine the inner displacement of the inner prism in the width direction.

35. The method according to claim 34, characterized in that, The obtaining the reference coordinates of the outer prism in the width direction includes: Based on the reference coordinates of the outer tab and a preset distance, determine the reference coordinates of the outer prism; Obtaining the inner prism reference coordinates of the inner prism in the width direction includes: Determining the inner prism reference coordinates based on the inner tab reference coordinates and a preset distance.

36. The method according to any one of claims 32-35, characterized in that, Based on the outer tab image, performing appearance defect detection on the outer tab to obtain the outer tab detection result, including: Fusing multiple outer tab images into a target outer tab image; Performing appearance defect detection on the outer tab based on the target outer tab image to obtain the outer tab detection result; Based on the inner tab image, performing appearance defect detection on the inner tab to obtain the inner tab detection result, including: Fusing multiple inner tab images into a target inner tab image; Performing appearance defect detection on the inner tab based on the target inner tab image to obtain the inner tab detection result.

37. The method according to any one of claims 32 - 36, characterized in that, The method further includes: Receiving the tab images of the battery cell assembly sent by the position detection camera; Determining the actual outer tab coordinates and the actual inner tab coordinates of the battery cell assembly based on the tab images.

38. The method according to claim 37, characterized in that Based on the tab images, determining the actual outer tab coordinates and the actual inner tab coordinates of the battery cell assembly includes: Determining the outer tab pixel coordinates and the inner tab pixel coordinates of the outer tab in the tab images; Converting the outer tab pixel coordinates to the coordinate system corresponding to the outer drive component of the outer prism to obtain the actual outer tab coordinates, and converting the inner tab pixel coordinates to the coordinate system corresponding to the inner drive component of the inner prism to obtain the actual inner tab coordinates.

39. The method according to any one of claims 32 - 38, characterized in that, The method further includes: Receiving the reference tab images of the reference battery cell assembly sent by the position detection camera; Determining the outer tab reference coordinates and the inner tab reference coordinates of the reference battery cell assembly based on the reference tab images.

40. The method according to claim 39, wherein Based on the reference tab images, determining the outer tab reference coordinates and the inner tab reference coordinates of the reference battery cell assembly includes: Determining the outer tab reference pixel coordinates and the inner tab reference pixel coordinates of the reference outer tab of the reference battery cell assembly in the reference tab images; Converting the outer tab reference pixel coordinates to the coordinate system corresponding to the outer drive component of the outer prism to obtain the outer tab reference coordinates, and converting the inner tab reference pixel coordinates to the coordinate system corresponding to the inner drive component of the inner prism to obtain the inner tab reference coordinates.

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