A device and method for three-dimensional synchronous detection of laser fly machining of a power battery

Abstract

The application discloses a kind of power battery laser fly machining three-dimensional synchronous detection device and method, belong to laser welding technical field, including three-dimensional synchronous detection module and 3D galvanometer welding module;Three-dimensional synchronous detection module includes 2D linear array camera, 3D profilograph and image processing unit, 2D linear array camera is used to obtain the linear array image of power battery in real time, 3D profilograph is used to obtain the profile image of power battery in real time, image processing unit is electrically connected with 2D linear array camera, 3D profilograph and 3D galvanometer welding module respectively, image processing unit is used to process multiple linear array images and multiple profile images after real-time extraction the three-dimensional coordinates of the center of each pole of power battery;3D galvanometer welding module and three-dimensional synchronous detection module fixed connection.The three-dimensional synchronous detection device of power battery laser fly machining provided in the embodiment of the application can realize the synchronization scheme of scanning and processing simultaneously to ensure the welding accuracy of each pole, and improve production efficiency.

Description

Technical Field

[0001] This invention belongs to the field of laser welding technology, specifically relating to a three-dimensional synchronous detection device and method for laser flight processing of power batteries. Background Technology

[0002] Power batteries are widely used in new energy vehicles, mobile devices and other fields due to their lightweight and long lifespan. Power battery welding technology has also become one of the important technologies in the development of power batteries. However, the application of traditional spot welding technology to power battery welding is prone to problems such as low welding strength, low welding quality and low welding efficiency. Therefore, it is of great significance to improve the welding strength, welding quality and welding efficiency of power batteries.

[0003] Currently, in-flight welding technology effectively avoids the shortcomings of traditional spot welding technology, while also resulting in a better appearance and welding quality for the welded power battery. The welding process for most in-flight welding technologies primarily involves first obtaining the coordinate information of all terminals through pre-scanning and analysis using multiple sensors, and then performing in-flight welding based on this coordinate information.

[0004] However, in the above-mentioned flying welding method, the detection process and the welding process are two independent modules arranged separately and carried out sequentially. The overall structure is complex, which makes the debugging process of the corresponding two modules complicated and the entire processing cycle is long, resulting in low production efficiency. Summary of the Invention

[0005] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a three-dimensional synchronous detection device and method for laser flight processing of power batteries. Its purpose is to ensure the welding accuracy of each pole when realizing a synchronous scheme of scanning and processing, with a short overall processing cycle, simple structure, no need for separate debugging, and greatly improve production efficiency.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a three-dimensional synchronous detection device for laser flight processing of power batteries, the three-dimensional synchronous detection device comprising a three-dimensional synchronous detection module and a 3D galvanometer welding module;

[0007] The three-dimensional synchronous detection module includes a 2D linear array camera, a 3D profilometer, and an image processing unit. The 2D linear array camera is used to acquire linear array images of the power battery in real time, and the 3D profilometer is used to acquire contour images of the power battery in real time. The image processing unit is electrically connected to the 2D linear array camera, the 3D profilometer, and the 3D galvanometer welding module, respectively. The image processing unit is used to process multiple linear array images and multiple contour images and then extract the three-dimensional coordinates of the center of each electrode post of the power battery in real time.

[0008] The 3D galvanometer welding module and the three-dimensional synchronous detection module are fixedly connected. The 3D galvanometer welding module is used to weld each terminal of the power battery according to the three-dimensional coordinates of the center of each terminal of the power battery.

[0009] Secondly, the present invention provides a three-dimensional synchronous detection method for laser flight processing of power batteries, the three-dimensional synchronous detection method being based on the three-dimensional synchronous detection device for laser flight processing of power batteries described in the first aspect, the three-dimensional synchronous detection method comprising:

[0010] According to the arrangement direction of multiple terminals of the power battery, the 3D galvanometer welding module is driven to move by a linear displacement mechanism. During the movement of the 3D galvanometer welding module, the 2D linear array camera acquires the linear array image of the power battery in real time, and the 3D profilometer acquires the contour image of the power battery in real time. The three-dimensional synchronous detection module is located in front of the 3D galvanometer welding module.

[0011] The image processing unit processes multiple linear array images and multiple contour images and then extracts the three-dimensional coordinates of the center of each pole of the power battery in real time.

[0012] The 3D galvanometer welding module welds each terminal of the power battery according to the three-dimensional coordinates of the center of each terminal.

[0013] Optionally, the image processing unit processes multiple linear array images and multiple contour images to extract the three-dimensional coordinates of the centers of each pole of the power battery in real time, including:

[0014] Multiple linear array images are sampled and stitched together to obtain complete polar column plane images. Feature localization is performed on each stitched complete polar column plane image to obtain the plane image coordinates of the center of each polar column.

[0015] The correspondence between the linear array image, the contour image, and the linear flight position of the 3D galvanometer welding module is determined. Based on the center plane image coordinates of each pole post and the correspondence, the corresponding Z-axis image coordinates are extracted from the contour image corresponding to the center plane image coordinates of each pole post. Thus, the three-dimensional image coordinates of the center of each pole post are finally obtained, and the three-dimensional image coordinates of the center of each pole post are converted into the galvanometer three-dimensional coordinates corresponding to the 3D galvanometer welding module.

[0016] Optionally, multiple linear array images are sampled and stitched together to obtain complete polar plane images, including:

[0017] The number of linear array images corresponding to each pole is determined based on the width of each linear array image and the center-to-center distance between two adjacent poles.

[0018] The linear array images are sampled and stitched together based on the number of linear array images corresponding to each pole to obtain a complete planar image of each pole.

[0019] Optionally, the number of linear array images corresponding to each pole piece is determined based on the width of the linear array image and the center-to-center distance between two adjacent pole pieces, and is calculated using the following formula:

[0020]

[0021] Where N is the number of linear array images corresponding to each pole; D is the center-to-center distance between two adjacent poles; H1 is the width of each linear array image; and ρ1 is the image precision of the linear array image.

[0022] Optionally, the number N of linear array images corresponding to each pole satisfies: 1≤N≤10.

[0023] Optionally, feature localization is performed on each stitched complete polar image to obtain the planar image coordinates of the center of each polar, including:

[0024] Smooth the stitched complete polar plane images;

[0025] Thresholding segmentation is performed on the smoothed polar plane image to separate the foreground color from the background color;

[0026] Connectivity processing is performed on the segmented polar plane image, and the polar center region is selected by the roundness and aspect ratio features of each region image;

[0027] The center position of the pole is determined by measuring the central area of ​​the pole with a circular caliper, thereby obtaining the planar image coordinates of the center of each pole.

[0028] Optionally, based on the center plane image coordinates of each pole piece and the corresponding relationship, the corresponding Z-axis image coordinates are extracted from the contour image corresponding to the center plane image coordinates of each pole piece, including:

[0029] The linear flight position of the 3D galvanometer welding module is determined based on the center plane image coordinates of each pole;

[0030] The corresponding contour image is determined based on the linear flight position and corresponding relationship of the 3D galvanometer welding module.

[0031] Extract the corresponding Z-axis image coordinates from the corresponding contour image.

[0032] Optionally, the corresponding contour image is determined based on the linear flight position and correspondence of the 3D galvanometer welding module, using the following formula:

[0033]

[0034] Among them, L t H2 represents the linear flight position of the 3D galvanometer welding module; H2 represents the width of each contour image; ρ2 represents the image precision of the contour image; and j represents the j-th contour image acquired by the 3D contour instrument.

[0035] Optionally, the three-dimensional image coordinates of the center of each pole post can be converted into the three-dimensional coordinates of the galvanometer corresponding to the 3D galvanometer welding module, which is achieved through a nine-point calibration method.

[0036] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0037] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include:

[0038] In the three-dimensional synchronous detection device for laser flight processing of power batteries provided in this embodiment of the invention, when performing flight welding on the terminals of the power battery, firstly, according to the arrangement direction of the multiple terminals of the power battery, the 3D galvanometer welding module is driven to move by a linear displacement mechanism. During the movement of the 3D galvanometer welding module, a 2D linear array camera acquires the linear array image of the power battery in real time, and a 3D profilometer acquires the contour image of the power battery in real time. The three-dimensional synchronous detection module is located in front of the 3D galvanometer welding module, so that during the movement of the 3D galvanometer welding module and the three-dimensional synchronous detection module, the 2D linear array camera acquires the linear array image of the power battery in real time. The machine acquires multiple linear array images of the power battery in advance, while the 3D profilometer acquires multiple contour images of the power battery in advance. This allows for real-time acquisition of electrode images during flight, extraction of the three-dimensional coordinates of the center of each electrode, and real-time transmission to the 3D galvanometer welding module. The 3D galvanometer welding module can then dynamically adjust the laser focus position in real time, thereby ensuring the welding accuracy of each electrode while implementing a simultaneous scanning, inspection, and processing scheme. The overall processing cycle is short, and because the three-dimensional synchronous inspection module and the 3D galvanometer welding module are fixedly connected, the structure is simple and does not require separate debugging, further improving production efficiency.

[0039] Then, the image processing unit processes multiple linear array images and multiple contour images to extract the three-dimensional coordinates of the center of each terminal post of the power battery in real time. This allows for real-time and accurate acquisition of the three-dimensional coordinates of each terminal post center, which can guide the 3D galvanometer welding module in welding. Finally, the 3D galvanometer welding module welds each terminal post of the power battery based on the three-dimensional coordinates of the center of each terminal post.

[0040] In other words, the three-dimensional synchronous detection device for laser flight processing of power batteries provided in this embodiment of the invention can ensure the welding accuracy of each pole when implementing a synchronous scheme of scanning, detection and processing at the same time. The overall processing cycle is short, and the structure is simple, requiring no separate debugging, which greatly improves production efficiency. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of a three-dimensional synchronous detection device for laser flight processing of power batteries provided in an embodiment of the present invention;

[0042] Figure 2 This is a flowchart of a three-dimensional synchronous detection method for laser flight processing of power batteries provided in an embodiment of the present invention;

[0043] Figure 3 These are multiple consecutive linear array images corresponding to a single pole piece provided in the embodiments of the present invention;

[0044] Figure 4 This is a planar image of a single pole piece stitched together according to an embodiment of the present invention;

[0045] Figure 5 This is a flowchart of the image processing unit for processing image data provided in an embodiment of the present invention;

[0046] Figure 6 This is a flowchart of a method for feature localization analysis of a complete polar plane image provided by an embodiment of the present invention.

[0047] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0048] 1. Three-dimensional synchronous detection module; 2. 3D galvanometer welding module; 3. Linear array image; 4. Power battery. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] Example:

[0055] Figure 1 This is a schematic diagram of the structure of a three-dimensional synchronous detection device for laser flight processing of power batteries provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the three-dimensional synchronous detection device includes a three-dimensional synchronous detection module 1 and a 3D galvanometer welding module 2.

[0056] The three-dimensional synchronous detection module 1 includes a 2D linear array camera, a 3D profilometer, and an image processing unit. The 2D linear array camera is used to acquire the linear array image 3 of the power battery 4 in real time, and the 3D profilometer is used to acquire the contour image of the power battery 4 in real time. The image processing unit is electrically connected to the 2D linear array camera, the 3D profilometer, and the 3D galvanometer welding module 2, respectively. The image processing unit is used to process multiple linear array images 3 and multiple contour images and then extract the three-dimensional coordinates of the center of each pole of the power battery 4 in real time.

[0057] The 3D galvanometer welding module 2 and the three-dimensional synchronous detection module 1 are fixedly connected. The 3D galvanometer welding module 2 is used to weld each electrode of the power battery 4 according to the three-dimensional coordinates of the center of each electrode of the power battery 4.

[0058] In the embodiment of this invention, a three-dimensional synchronous detection device for laser flight processing of power batteries is provided. When performing flight welding on the terminals of the power battery 4, firstly, according to the arrangement direction of the multiple terminals of the power battery 4, a linear displacement mechanism drives the 3D galvanometer welding module 2 to move. During the movement of the 3D galvanometer welding module 2, a 2D linear array camera acquires the linear array image 3 of the power battery 4 in real time, and a 3D profilometer acquires the contour image of the power battery 4 in real time. The three-dimensional synchronous detection module 1 is located in front of the 3D galvanometer welding module 2, thus, during the movement of the 3D galvanometer welding module 2 and the three-dimensional synchronous detection module 1, the 2D... The linear array camera acquires multiple linear array images 3 of the power battery 4 in advance, while the 3D profilometer acquires multiple contour images of the power battery 4 in advance. This allows for real-time acquisition of pole images during flight, extraction of the three-dimensional coordinates of the center of each pole, and real-time transmission to the 3D galvanometer welding module 2. The 3D galvanometer welding module 2 can dynamically adjust the laser focus position in real time, thereby ensuring the welding accuracy of each pole when implementing a simultaneous scanning and processing scheme. The overall processing cycle is short, and since the three-dimensional synchronous detection module 1 and the 3D galvanometer welding module 2 are fixedly connected, the structure is simple and does not require separate debugging, further improving production efficiency.

[0059] Then, the image processing unit processes multiple linear array images 3 and multiple contour images to extract the three-dimensional coordinates of the center of each terminal post of the power battery 4 in real time, thereby obtaining the three-dimensional coordinates of the center of each terminal post in real time and accurately, and guiding the 3D galvanometer welding module 2 to perform welding. Finally, the 3D galvanometer welding module 2 welds each terminal post of the power battery 4 according to the three-dimensional coordinates of the center of each terminal post of the power battery 4.

[0060] In other words, the three-dimensional synchronous detection device for laser flight processing of power batteries provided in this embodiment of the invention can ensure the welding accuracy of each pole when implementing a synchronous scheme of scanning and processing simultaneously. The overall processing cycle is short, and the structure is simple, requiring no separate debugging, which greatly improves production efficiency.

[0061] It should be noted that the corresponding linear displacement mechanism can be a robotic arm or a linear module, and this embodiment does not limit this.

[0062] In this embodiment, the three-dimensional synchronous detection device further includes a positioning module, which is located below the three-dimensional synchronous detection module 1 and the 3D galvanometer welding module 2. The positioning module is used to position the power battery 4. The positioning module can position the power battery 4 during the in-flight welding process, preventing the power battery 4 from moving during welding.

[0063] In addition, the 3D galvanometer welding module 2 is also equipped with an air blowing module, which can blow air onto the welding position to ensure the cleanliness of the power battery 4.

[0064] Figure 2 This is a flowchart of a three-dimensional synchronous detection method for laser flight processing of power batteries provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the three-dimensional synchronous detection method is based on the aforementioned three-dimensional synchronous detection device for laser flight processing of power batteries. This three-dimensional synchronous detection method includes:

[0065] S1. Based on the arrangement direction of multiple poles of the power battery 4, the 3D galvanometer welding module 2 is driven to move by a linear displacement mechanism. During the movement of the 3D galvanometer welding module 2, the 2D linear array camera acquires the linear array image 3 of the power battery 4 in real time, and the 3D profilometer acquires the contour image of the power battery 4 in real time.

[0066] During the movement of the 3D galvanometer welding module 2, the three-dimensional synchronous detection module 1 is located in front of the 3D galvanometer welding module 2.

[0067] S2. The image processing unit processes multiple linear array images 3 and multiple contour images and then extracts the three-dimensional coordinates of the center of each pole of the power battery 4 in real time.

[0068] S3 and 3D galvanometer welding module 2 then weld each terminal of the power battery 4 according to the three-dimensional coordinates of the center of each terminal of the power battery 4.

[0069] The present invention provides a three-dimensional synchronous detection method for laser flight processing of power batteries, which can ensure the welding accuracy of each electrode post when performing a synchronous scheme of scanning and processing simultaneously. The overall processing cycle is short, and the structure is simple, requiring no separate debugging, which greatly improves production efficiency.

[0070] Further, step S2 includes:

[0071] S21. Sampling and stitching together multiple linear array images 3 yields complete polar plane images (see...). Figure 3 and Figure 4 The spliced ​​complete polar column plane images are then used to locate features to obtain the plane image coordinates of the center of each polar column.

[0072] S22. Determine the correspondence between the linear array image 3, the contour image, and the linear flight position of the 3D galvanometer welding module 2. Based on the center plane image coordinates and correspondence of each pole piece, extract the corresponding Z-axis image coordinates from the contour image corresponding to the center plane image coordinates of each pole piece, thereby finally obtaining the three-dimensional image coordinates of the center of each pole piece. Then, convert the three-dimensional image coordinates of the center of each pole piece into the three-dimensional coordinates of the galvanometer corresponding to the 3D galvanometer welding module 2 (see...). Figure 5 ).

[0073] In the above embodiment, the planar image coordinates of the center of each pole post can be obtained through step S21, and the straight-line flight position (i.e., the straight-line flight position L of the 3D galvanometer welding module 2) can be determined from the planar image coordinates of the center of each pole post. t Furthermore, due to the flight process, the linear array image 3Image i Contour image Z j And 3D galvanometer welding module 2 linear flight position L t The three have a corresponding relationship [L] t Image i Z j That is, a straight-line flight position corresponds to a linear array image 3 and a contour image simultaneously, thus the corresponding linear array image 3 can be determined. i and contour image Z j (The two correspond one-to-one), so it is possible to obtain the contour image Z j The Z-axis image coordinates corresponding to the center of each pole post can be extracted and combined with the planar image coordinates of each pole post center to determine the three-dimensional image coordinates of each pole post center. After transformation, the three-dimensional coordinates of the galvanometer corresponding to each pole post center are finally obtained.

[0074] It should be noted that in step S22, the conversion is achieved through the nine-point calibration method (or the N-point method). That is, the relationship between the three-dimensional image coordinates and the three-dimensional coordinates of the galvanometer can be established based on the nine-point calibration method, so that the three-dimensional image coordinates of each pole center can be converted into the corresponding three-dimensional coordinates of the galvanometer.

[0075] In step S21, multiple linear array images 3 are sampled and stitched together to obtain complete polar plane images, including:

[0076] S211. Determine the number of linear array images 3 corresponding to each pole based on the width of each linear array image 3 and the center interval between two adjacent poles.

[0077] Step 211 is calculated using the following formula:

[0078] (1)

[0079] Where N is the number of linear array images 3 corresponding to each pole; D is the center-to-center distance between two adjacent poles; H1 is the width of each linear array image 3; and ρ1 is the image precision of the linear array image 3.

[0080] It is easy to understand that for multiple consecutive linear array images 3, when the image number corresponding to linear array image 3 is i start When i is reached, no splicing is performed, and the result is discarded directly. start Then, the subsequent N images can be stitched together to form a complete polar image.

[0081] S212. Based on the number of linear array images 3 corresponding to each pole, sample and stitch the linear array images 3 to obtain complete planar images of each pole.

[0082] Furthermore, the number N of linear array images 3 corresponding to each pole satisfies: 1≤N≤10.

[0083] It is easy to understand that by controlling the number N of the linear array images 3 corresponding to each pole to 1≤N≤10, we can avoid the number of linear array images 3 corresponding to each pole being too large, which would result in an excessive number of images to be stitched together. This can reduce the amount of computation and also ensure accuracy.

[0084] It should be noted that the number N of linear array images 3 corresponding to each pole can be adjusted by adjusting the width H1 of the linear array image 3 corresponding to the 2D linear array camera.

[0085] It is easy to understand that the dimensions (e.g., length and width) of a single polar image are known, and the coordinates of the stitched polar image in the direction of flight can be obtained by calculation.

[0086] Specifically, the straight-line flight position corresponding to a single linear array image 3 satisfies:

[0087] (2)

[0088] Where H1 is the width of each linear array image 3; ρ1 is the image precision of the linear array image 3; i is the i-th linear array image 3 acquired by the 2D linear array camera; the straight-line flight position of each linear array image 3 in the polar plane image can be determined by formula (2), and the corresponding image coordinates can be determined at the same time as obtaining the stitched polar plane image.

[0089] In step S21, feature localization is performed on each complete polar plane image after stitching (see...). Figure 6 ), to obtain the planar image coordinates of the centers of each pole, including:

[0090] S213. Smooth the stitched complete polar plane images.

[0091] S214. Perform thresholding on the smoothed polar plane image to separate the foreground color from the background color.

[0092] S215. Perform connected component processing on the segmented polar plane image, and filter out the polar center region by the roundness and aspect ratio features of each region image.

[0093] S216. Use a circular caliper to measure the center area of ​​the pole post to determine the position of the pole post center, thereby obtaining the planar image coordinates of each pole post center.

[0094] It's easy to understand that because the stitched image features are relatively clear and concise, and it only contains information from one pole figure, the image size is also significantly reduced. Therefore, using the sampled and stitched single pole figure image for feature localization can greatly reduce analysis time and improve localization accuracy. Furthermore, image smoothing makes the boundaries of each region more gradual, facilitating subsequent segmentation; then, thresholding is performed to separate the foreground and background colors; connected component processing further isolates each region; and then, the pole figure center region is selected based on region roundness and aspect ratio features to obtain a coarse localization result; finally, using circular calipers to precisely measure the pole figure center position yields very high localization accuracy.

[0095] It should be noted that, in addition to the above-mentioned method (Blob analysis), feature localization analysis of each complete polar column plane image after stitching can also be performed through template matching or morphological processing methods to accurately locate the center of the polar column.

[0096] In step S22, based on the center plane image coordinates and corresponding relationships of each pole piece, the corresponding Z-axis image coordinates are extracted from the contour image corresponding to the center plane image coordinates of each pole piece, including:

[0097] S221. Determine the linear flight position of the corresponding 3D galvanometer welding module based on the coordinates of the center plane image of each pole.

[0098] S222. Determine the corresponding contour image based on the linear flight position and corresponding relationship of the 3D galvanometer welding module.

[0099] S223. Extract the corresponding Z-axis image coordinates from the corresponding contour image.

[0100] In step S222, the corresponding contour image is determined based on the linear flight position and corresponding relationship of the 3D galvanometer welding module, using the following formula:

[0101] (3)

[0102] Among them, L tH2 represents the linear flight position of the 3D galvanometer welding module 2; H2 represents the width of each contour image; ρ2 represents the image accuracy of the contour image; and j represents the j-th contour image acquired by the 3D contour analyzer.

[0103] In the above embodiment, the linear flight position L of the corresponding 3D galvanometer welding module 2 can be determined by the center plane image coordinates of each pole. t Then, by using formula (3), the corresponding j can be determined, which is the j-th contour image obtained by the 3D contour instrument. Based on this, the Z-axis image coordinates of the pole center can be finally obtained by step S223.

[0104] It should be noted that, in order to improve the accuracy of the Z-axis image coordinates of the pole center, multiple consecutive contour images (including the j-th contour image) can be stitched together and then thresholded, so that the accuracy of the Z-axis image coordinates of the pole center obtained from multiple contour images is higher.

[0105] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A three-dimensional synchronous inspection device for laser flight processing of power batteries, characterized in that, The three-dimensional synchronous detection device includes a three-dimensional synchronous detection module and a 3D galvanometer welding module; The three-dimensional synchronous detection module includes a 2D linear array camera, a 3D profilometer, and an image processing unit. The 2D linear array camera is used to acquire linear array images of the power battery in real time, and the 3D profilometer is used to acquire contour images of the power battery in real time. The image processing unit is electrically connected to the 2D linear array camera, the 3D profilometer, and the 3D galvanometer welding module, respectively. The image processing unit is used to process multiple linear array images and multiple contour images and extract the three-dimensional coordinates of the center of each pole of the power battery in real time. A straight flight position corresponds to one linear array image and one contour image at the same time. The 3D galvanometer welding module and the three-dimensional synchronous detection module are fixedly connected. The 3D galvanometer welding module is used to weld each electrode of the power battery according to the three-dimensional coordinates of the center of each electrode of the power battery. During the movement of the 3D galvanometer welding module, the three-dimensional synchronous detection module is located in front of the 3D galvanometer welding module.

2. A method for three-dimensional synchronous detection of laser-processed power batteries, characterized in that, The three-dimensional synchronous detection method is based on the three-dimensional synchronous detection device for laser flight processing of power batteries as described in claim 1, and the three-dimensional synchronous detection method includes: According to the arrangement direction of multiple terminals of the power battery, the 3D galvanometer welding module is driven to move by a linear displacement mechanism. During the movement of the 3D galvanometer welding module, the 2D linear array camera acquires the linear array image of the power battery in real time, and the 3D profilometer acquires the contour image of the power battery in real time. The three-dimensional synchronous detection module is located in front of the 3D galvanometer welding module. The image processing unit processes multiple linear array images and multiple contour images and extracts the three-dimensional coordinates of the center of each pole of the power battery in real time. A straight flight position corresponds to a linear array image and a contour image at the same time. The 3D galvanometer welding module welds each terminal of the power battery according to the three-dimensional coordinates of the center of each terminal.

3. The method for three-dimensional synchronous detection of power battery laser flight processing according to claim 2, characterized in that, The image processing unit processes multiple linear array images and multiple contour images to extract the three-dimensional coordinates of the centers of each electrode post of the power battery in real time, including: Multiple linear array images are sampled and stitched together to obtain complete polar column plane images. Feature localization is performed on each stitched complete polar column plane image to obtain the plane image coordinates of the center of each polar column. The correspondence between the linear array image, the contour image, and the linear flight position of the 3D galvanometer welding module is determined. Based on the center plane image coordinates of each pole post and the correspondence, the corresponding Z-axis image coordinates are extracted from the contour image corresponding to the center plane image coordinates of each pole post. Thus, the three-dimensional image coordinates of the center of each pole post are finally obtained, and the three-dimensional image coordinates of the center of each pole post are converted into the galvanometer three-dimensional coordinates corresponding to the 3D galvanometer welding module.

4. The three-dimensional synchronous detection method for laser flight processing of power batteries according to claim 3, characterized in that, Multiple linear array images are sampled and stitched together to obtain complete polar plane images, including: The number of linear array images corresponding to each pole is determined based on the width of each linear array image and the center-to-center distance between two adjacent poles. The linear array images are sampled and stitched together based on the number of linear array images corresponding to each pole to obtain a complete planar image of each pole.

5. The method for three-dimensional synchronous detection of power battery laser flight processing according to claim 4, characterized in that, The number of linear array images corresponding to each pole is determined based on the width of the linear array image and the center-to-center distance between two adjacent poles, and is calculated using the following formula: Where N is the number of linear array images corresponding to each pole; D is the center-to-center distance between two adjacent poles; H1 is the width of each linear array image; and ρ1 is the image precision of the linear array image.

6. The method for three-dimensional synchronous detection of power battery laser flight processing according to claim 5, characterized in that, The number N of linear array images corresponding to each pole satisfies: 1≤N≤10.

7. The three-dimensional synchronous detection method for laser flight processing of power batteries according to claim 3, characterized in that, Feature localization is performed on each complete polar image after stitching to obtain the planar image coordinates of the center of each polar image, including: Smooth the stitched complete polar plane images; Thresholding segmentation is performed on the smoothed polar plane image to separate the foreground color from the background color; Connectivity processing is performed on the segmented polar plane image, and the polar center region is selected by the roundness and aspect ratio features of each region image; The center position of the pole is determined by measuring the central area of ​​the pole with a circular caliper, thereby obtaining the planar image coordinates of the center of each pole.

8. The method for three-dimensional synchronous detection of power battery laser flight processing according to claim 3, characterized in that, Based on the center plane image coordinates of each pole piece and the corresponding relationship, the corresponding Z-axis image coordinates are extracted from the contour image corresponding to the center plane image coordinates of each pole piece, including: The linear flight position of the 3D galvanometer welding module is determined based on the center plane image coordinates of each pole; The corresponding contour image is determined based on the linear flight position and corresponding relationship of the 3D galvanometer welding module. Extract the corresponding Z-axis image coordinates from the corresponding contour image.

9. A three-dimensional synchronous detection method for laser flight processing of power batteries according to claim 8, characterized in that, The corresponding contour image is determined based on the linear flight position and corresponding relationship of the 3D galvanometer welding module, using the following formula: Among them, L t H2 represents the linear flight position of the 3D galvanometer welding module; H2 represents the width of each contour image; ρ2 represents the image precision of the contour image; and j represents the j-th contour image acquired by the 3D contour instrument.

10. A three-dimensional synchronous detection method for laser flight processing of power batteries according to claim 3, characterized in that, The three-dimensional image coordinates of the center of each pole post are converted into the three-dimensional coordinates of the galvanometer corresponding to the 3D galvanometer welding module, which is achieved through the nine-point calibration method.

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