Battery cell gluing method and device, electronic equipment, storage medium and program product

Abstract

This application discloses a method, apparatus, electronic device, storage medium, and program product for applying adhesive to battery cells. It belongs to the fields of new energy industry and battery manufacturing. The method includes: acquiring an overall image of the battery pack and identifying the position information of the shoulder gaps of the battery cells based on the overall image; wherein the battery pack includes multiple rows of battery cells arranged along a first direction, and adjacent rows of battery cells form shoulder gaps extending along the first direction; comparing the position information of the shoulder gaps with a reference position to obtain a position offset, wherein the reference position is a pre-calibrated standard position; correcting the basic adhesive application path based on the position offset, and controlling an adhesive application robot to apply adhesive to the shoulder gaps of the battery cells according to the corrected path. This application solves the technical problem of misaligned adhesive application on the shoulder gaps of battery cells caused by the misalignment of the battery cell placement position in the new energy battery pack.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and more specifically, to a cell coating method, apparatus, electronic device, storage medium, and process product. Background Technology

[0002] In the manufacturing process of new energy battery packs, applying adhesive to the shoulder of the battery cells is a crucial step in ensuring the pack's sealing and structural strength. Traditional adhesive application typically involves a robot working with positioning pins. The process involves placing the battery pack on a placement mechanism, using two positioning pins for initial positioning, and then the robot directly applying adhesive according to a pre-programmed trajectory. This process ensures good adhesive quality when the incoming battery cells are neatly arranged, accurately positioned, and have uniform gaps. However, in actual production, human or mechanical errors during the handling, stacking, or loading of incoming battery cells often result in uneven cell placement.

[0003] Due to the misalignment of the incoming battery cells, the adhesive application on the shoulders of the cells is uneven. In severe cases, the adhesive is applied directly to the cell terminals, requiring manual cleaning and affecting the production line's cycle time. Furthermore, the excessive misalignment of the incoming cells increases the gaps between them, causing adhesive to drip into the gaps and fail to adhere effectively to the surface of the cell shoulders. This results in substandard adhesive application quality, necessitating additional manual cleaning or re-adhesion processes, which severely restricts production efficiency and increases production costs.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a method, apparatus, electronic device, storage medium, and program product for coating battery cells, in order to at least solve the technical problem of misaligned coating on the shoulder of the battery cells caused by the deviation in the placement of the incoming battery cells in the new energy battery pack.

[0006] According to one aspect of the embodiments of this application, a method for applying adhesive to battery cells is provided, comprising: acquiring an overall image of a battery pack, and identifying position information of a shoulder gap of a battery cell based on the overall image, wherein the battery pack includes multiple rows of battery cells arranged along a first direction, and a shoulder gap of a battery cell extending along the first direction is formed between two adjacent rows of battery cells; comparing the position information of the shoulder gap of the battery cell with a reference position to obtain a position offset, wherein the reference position is a pre-calibrated standard position; correcting a basic adhesive application path according to the position offset, and controlling an adhesive application robot to apply adhesive to the shoulder of the battery cell according to the corrected adhesive application path.

[0007] Optionally, the method further includes: based on the overall image, identifying two positioning pins on the support mechanism of the battery pack and positioning holes on the front and rear beams of the battery pack, wherein the two positioning pins are used to position the battery pack on the support mechanism; the front and rear beams are respectively located at both ends of the battery pack along the first direction; using the line connecting the two positioning pins as the y-axis axis, the line connecting the corresponding positioning holes on the front and rear beams as the x-axis axis, and the intersection of the x-axis axis and the y-axis axis as the origin, a target coordinate system is established, wherein the x-axis direction is consistent with the first direction.

[0008] Optionally, each row of cells contains multiple cells arranged along the x-axis. The location information of the shoulder gaps of the cells is identified based on the overall image, including: visual processing of the overall image to extract the shoulder edge features corresponding to each of the multiple cells in the battery pack, and determining the gap region between two adjacent rows of cells based on the shoulder edge features; determining the gap centerline corresponding to each gap region through geometric analysis; and determining the perpendicular distance between the gap centerline and the x-axis axis according to the target coordinate system, thus obtaining the position coordinates of the shoulder gaps of the multiple cells in the y-axis direction.

[0009] Optionally, comparing the position information of the shoulder gap of the battery cell with the reference position to obtain the position offset includes: performing difference calculation on the position coordinates of each shoulder gap of the battery cell in the y-axis direction with the standard y-axis coordinates of the reference position corresponding to each shoulder gap of the battery cell in the pre-calibrated direction to obtain the position offset of each shoulder gap of the battery cell in the y-axis direction; and correcting the basic adhesive application path based on the position offset includes: if the position offset is greater than a preset offset threshold, performing translation compensation correction on the path segment in the basic adhesive application path that is opposite to the shoulder gap of the battery cell in the y-axis direction based on the position offset to obtain the corrected adhesive application path.

[0010] Optionally, the method further includes: determining the gap size of each cell shoulder gap based on the overall image, and comparing each gap size with the corresponding preset reference gap size range, wherein the preset reference gap size range is pre-calibrated by the shoulder gaps of the normally positioned cells; if the gap size exceeds the preset reference gap size range, determining the glue application speed adjustment value based on the gap size, and controlling the glue application robot to adjust the glue application speed along the glue application path according to the glue application speed adjustment value when applying glue to the cells corresponding to the shoulder gaps, wherein the gap size and the glue application speed are negatively correlated; if the gap size does not exceed the preset reference gap size range, controlling the glue application robot to apply glue according to the preset glue application speed.

[0011] Optionally, the method further includes: controlling the glue-applying robot to apply glue to the shoulder of the battery cell according to the glue-applying path along the first direction in the order of row-by-row glue application; during the glue application process, if the gap size of the gap on the shoulder of the target battery cell is detected to be greater than a preset gap size threshold, the glue-applying robot is controlled to jump to the row where the associated glue-applying point is located after completing the glue application operation on the target glue-applying point in the current row, apply glue to the associated glue-applying point according to the correction parameters corresponding to the target glue-applying point, and return to continue executing the glue application operation of the current row after completing the glue application operation on the associated glue-applying point, wherein the target glue-applying point and the associated glue-applying point are different glue-applying points distributed on the same battery cell in the second direction, the second direction is the direction perpendicular to the first direction, and the correction parameters include at least one of the following: position offset, glue application speed adjustment value.

[0012] Optionally, the method further includes: after controlling the coating robot to apply adhesive to the shoulder of the battery cell according to the corrected coating path, acquiring a re-inspection image after coating; based on the re-inspection image, identifying the coating deviation between the actual coating trajectory and the corrected coating path; if the coating deviation is greater than a preset deviation threshold, updating the reference position based on the coating deviation for subsequent coating correction of the battery pack.

[0013] According to another aspect of the embodiments of this application, a battery cell adhesive coating device is also provided, comprising: a gap positioning module, used to acquire an overall image of a battery pack and identify the position information of the gap on the shoulder of the battery cell based on the overall image, wherein the battery pack includes multiple rows of battery cells arranged along a first direction, and a gap on the shoulder of the battery cell extending along the first direction is formed between two adjacent rows of battery cells; an offset comparison module, used to compare the position information of the gap on the shoulder of the battery cell with a reference position to obtain a position offset, wherein the reference position is a pre-calibrated standard position; and a correction adhesive coating module, used to correct the basic adhesive coating path according to the position offset, and control the adhesive coating robot to apply adhesive to the shoulder of the battery cell according to the corrected adhesive coating path.

[0014] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes a cell coating method during runtime.

[0015] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored computer program, wherein the device containing the non-volatile storage medium executes a cell coating method by running the computer program.

[0016] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the cell coating method.

[0017] In this embodiment, an overall image of the battery pack is acquired, and the position information of the shoulder gaps of the battery cells is identified based on the overall image. The battery pack includes multiple rows of battery cells arranged along a first direction, and a shoulder gap extending along the first direction is formed between two adjacent rows of battery cells. The position information of the shoulder gaps of the battery cells is compared with a reference position to obtain the position offset, where the reference position is a pre-calibrated standard position. Based on the position offset, the basic adhesive application path is corrected, and the adhesive application robot is controlled to apply adhesive to the shoulder gaps of the battery cells according to the corrected adhesive application path. By performing visual analysis on the overall image of the battery pack in advance to obtain the position offset of each shoulder gap of the battery cells relative to the reference position, and compensating and correcting the basic adhesive application path of the adhesive application robot based on the position offset, the adhesive application trajectory is adaptively adjusted according to the actual placement position of the battery cells, ensuring the accuracy of the adhesive application position and the adhesive application quality. This solves the technical problem of misaligned adhesive application on the shoulder gaps of the battery cells caused by the deviation of the placement position of the battery cells in the new energy battery pack. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a hardware structure block diagram of a computer terminal (or electronic device) for implementing a method of coating battery cells according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of a method for coating a battery cell according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of a method for correcting misaligned adhesive coating on the shoulder of a battery pack based on visual processing, according to an embodiment of this application.

[0022] Figure 4 This is a three-dimensional schematic diagram of a battery pack placement (carrying) mechanism according to an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of a battery pack according to an embodiment of this application;

[0024] Figure 6 This is a schematic diagram of a battery pack coordinate system provided according to an embodiment of this application;

[0025] Figure 7 This is a schematic diagram of a battery cell coating device provided according to an embodiment of this application. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] In related technologies, adhesive application on the shoulder of battery cells typically involves a robot photographing two positioning holes and then applying adhesive directly along a preset trajectory. However, this method is only suitable for incoming materials where the cells are neatly arranged. In actual production, the placement of the incoming cells often deviates from the intended position. For example, gaps between cells may be too large, preventing the adhesive from adhering to the cell shoulders, or the cells may not be level, causing adhesive to be applied to the cell terminals during application, necessitating manual cleaning and severely impacting production line efficiency. Therefore, there are problems such as misaligned adhesive application on the cell shoulders due to deviations in the placement of incoming battery cells, and adhesive dripping into the gaps and failing to adhere to the cell surface due to enlarged gaps between cells.

[0029] To address the aforementioned issues, this application provides a solution that employs visual processing to correct the robot's adhesive application trajectory. First, the battery pack is fixed in place, and the position between the two positioning pins is photographed to confirm the robot's user coordinates in the Y direction. Then, the studs between the front and rear crossbeams of the battery pack are photographed as reference lines in the X direction. Before applying adhesive to the shoulder area, an overall image is taken. The distance between each cell gap and the X-direction reference line is then obtained as an offset and sent to the robot. Simultaneously, the size of the gaps between the cells is acquired and compared with a set reference value. If the gap is larger than the reference value, the robot's speed is reduced. This allows the robot to optimize the adhesive application trajectory on the cell shoulder based on the offset and speed, thereby ensuring adhesive application quality while reducing the cycle time for manual adhesive removal or re-applying, thus improving production line efficiency. A detailed explanation follows.

[0030] According to an embodiment of this application, a method for coating a battery cell with adhesive is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0031] The methods and embodiments provided in this application can be executed on mobile terminals, computer terminals, or similar computing devices. Figure 1 A hardware block diagram of a computer terminal (or electronic device) for implementing a cell coating method is shown. Figure 1 As shown, the computer terminal 10 (or electronic device) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0032] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or electronic device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0033] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the cell coating method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned cell coating method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0034] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0035] The display may be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or electronic device).

[0036] Under the above operating environment, this application provides a method for coating battery cells with adhesive. Figure 2 This is a schematic diagram of a method for coating a battery cell according to an embodiment of this application, as shown below. Figure 2 As shown, the method includes the following steps:

[0037] Step S202: Obtain an overall image of the battery pack and identify the location information of the shoulder gap of the battery cell based on the overall image. The battery pack includes multiple rows of battery cells arranged along a first direction, and a shoulder gap of the battery cell extending along the first direction is formed between two adjacent rows of battery cells.

[0038] In this embodiment, the overall image described above can be obtained by taking a top-down view of the battery pack using an image acquisition device positioned above it.

[0039] Step S204: Compare the position information of the gap on the shoulder of the battery cell with the reference position to obtain the position offset, wherein the reference position is a pre-calibrated standard position;

[0040] In this embodiment, the aforementioned reference position is a standard position pre-calibrated by the battery cell in a normal placement position;

[0041] Step S206: Based on the position offset, the basic adhesive application path is corrected, and the adhesive application robot is controlled to apply adhesive to the shoulder of the battery cell according to the corrected adhesive application path.

[0042] In this embodiment, the above-mentioned basic adhesive application path is a standard adhesive application trajectory pre-calibrated based on the battery cells in normal placement positions. This standard adhesive application trajectory corresponds to the reference position and is used to characterize the standard motion path of the adhesive application robot when applying adhesive to the shoulder of each battery cell along the first direction under ideal material receiving conditions.

[0043] Through the above steps, by performing visual analysis on the overall image of the battery pack in advance, the positional offset of the shoulder gap of each cell relative to the reference position is obtained, and the basic glue application path of the glue application robot is compensated and corrected based on the positional offset. This achieves the goal of adaptively adjusting the glue application trajectory according to the actual placement position of the battery cells, ensuring the accuracy of the glue application position and the quality of the glue application, thereby solving the technical problem of glue application deviation on the shoulder of the battery cells caused by the deviation of the placement position of the battery cells in the new energy battery pack.

[0044] The method of applying adhesive to the battery cell in steps S202 to S206 of the embodiments of this application will be further described below.

[0045] Figure 3 This is a schematic diagram of a method for correcting misaligned adhesive coating on the shoulder of a battery pack based on visual processing, according to an embodiment of this application. Figure 3 As shown, the process includes: first, placing the battery pack on the placement mechanism (carrying mechanism) and positioning it; then, photographing the positions of the two positioning pins to confirm the Y direction, and photographing the studs (positioning holes on the front and rear beams) between the front and rear crossbeams of the battery pack as reference lines in the X direction, visually drawing an XY coordinate system (target coordinate system); next, taking a picture of the entire battery pack (overall image), obtaining the distance between each cell gap (cell shoulder gap) and the X direction reference line, as well as the distance between each cell gap (cell shoulder gap) (gap size), pre-analyzing the gap situation of the entire row of battery packs, planning a glue application trajectory and glue application speed, and finally, the robot performs glue application based on the offset value and speed feedback optimized glue application trajectory, thereby ensuring the quality of glue application on the cell shoulders; after completing the glue application, proceeding to the next process. The following provides a more detailed explanation of each step in the above process.

[0046] In order to establish a unified spatial reference for quantifying the position of the shoulder gap of the battery cell, the embodiments of this application can establish a target coordinate system based on the two positioning pins on the supporting mechanism of the battery pack and the positioning holes on the front and rear beams of the battery pack, as follows.

[0047] In some embodiments of this application, the method further includes: identifying two positioning pins on the support mechanism of the battery pack and positioning holes on the front and rear beams of the battery pack based on an overall image, wherein the two positioning pins are used to position the battery pack on the support mechanism; the front and rear beams are respectively located at both ends of the battery pack along a first direction; a target coordinate system is established with the line connecting the two positioning pins as the y-axis axis, the line connecting the corresponding positioning holes on the front and rear beams as the x-axis axis, and the intersection of the x-axis axis and the y-axis axis as the origin, wherein the x-axis direction is consistent with the first direction.

[0048] Specifically, the aforementioned support mechanism is used to support and secure the battery pack, such as... Figure 4 As shown, it is equipped with two positioning pins, which are spaced apart along a second direction perpendicular to the first direction, forming two fixing holes on the placement mechanism. During battery pack loading, these positioning pins cooperate with corresponding structures on the battery pack, thereby positioning the battery pack on the carrying mechanism, achieving coarse positioning and fixing of the battery pack. Simultaneously, the battery pack has a front beam and a rear beam, serving as an extension reference to the battery pack's main structure. The front beam and rear beam are located at opposite ends of the battery pack along the first direction, and both the front beam and rear beam have positioning holes. Figure 5 As shown, the positioning hole is used for installing and fixing the battery pack to external components.

[0049] When establishing the target coordinate system, an overall image including the aforementioned positioning pins and positioning holes can be acquired first using an image acquisition device. Based on visual processing, the two positioning pins and the corresponding positioning holes on the front and rear beams can be identified. Then, the line connecting the two positioning pins is taken as the y-axis of the target coordinate system, and the line connecting the corresponding positioning holes on the front and rear beams is taken as the x-axis of the target coordinate system. The intersection of the x-axis and y-axis is taken as the origin, thus establishing the aforementioned target coordinate system. Specifically, as follows... Figure 6 As shown, the x-axis direction is consistent with the first direction, that is, the x-axis axis extends along the cell arrangement and adhesive coating direction, while the y-axis axis extends along the second direction perpendicular to the adhesive coating direction.

[0050] The above process provides a unified and accurate spatial reference for subsequent position comparison. The positioning pins of the placement mechanism are fixed hardware references, while the positioning holes on the front and rear beams of the battery pack are structural features of the battery pack itself. Utilizing the inherent structural features of the battery pack and the positioning features of the supporting mechanism to establish a target coordinate system eliminates the need for additional dedicated calibration fixtures, simplifying the coordinate system establishment process. Furthermore, since the front and rear beams are fixed structures of the battery pack, and the positioning pins are fixed structures of the supporting mechanism, the coordinate system constructed using these two components can eliminate coordinate transformation errors caused by minor deviations in the initial placement of the battery pack or differences in shooting angles. This results in a coordinate system with good stability and repeatability, allowing the identified position information of the battery cell shoulder gap to be compared with the pre-calibrated reference position under the same standard, thereby accurately calculating the actual positional offset.

[0051] The following describes the specific steps for determining the location and offset of the gap on the shoulder of the battery cell.

[0052] In some embodiments of this application, each row of battery cells contains multiple battery cells arranged along the x-axis direction; the location information of the shoulder gaps of the battery cells based on the overall image identification includes: performing visual processing on the overall image, extracting the shoulder edge features corresponding to the multiple battery cells in the battery pack, and determining the gap region between two adjacent rows of battery cells based on the shoulder edge features; determining the gap center line corresponding to the shoulder gaps of the multiple battery cells by performing geometric analysis on each gap region; and determining the vertical distance between the gap center line and the x-axis axis according to the target coordinate system to obtain the position coordinates of the shoulder gaps of the multiple battery cells in the y-axis direction.

[0053] Specifically, in this embodiment, each row of cells contains multiple cells arranged sequentially, and a shoulder gap extending along a first direction is formed between adjacent rows of cells. This makes each shoulder gap an independent object to be detected and corrected in the overall image, laying a structural foundation for subsequent accurate position identification and trajectory correction of each gap. Based on this arrangement structure, after acquiring the overall image of the battery pack, the shoulder edge features corresponding to multiple cells in the battery pack can be extracted first. These shoulder edge features can be specifically represented as the contour lines of the cell side in the image. After the system identifies these contour lines through an edge detection algorithm, the area between two closely spaced and parallel contour lines between adjacent rows of cells is defined as the gap area. Thus, the gap location requiring adhesive application is accurately located in the complex battery pack structure image, effectively distinguishing the cell solid area from the gap area.

[0054] After determining the gap regions, further geometric analysis can be performed on each gap region to determine the gap centerlines corresponding to the multiple cell shoulder gaps. Specifically, the midpoint line connecting each gap region along the y-axis can be calculated, and this midpoint line can be used as the theoretical center position of the corresponding gap. By using the gap centerline as a positioning reference, positioning deviations caused by noise at the image edges can be effectively eliminated, thereby improving the stability and accuracy of gap position recognition. Subsequently, based on the target coordinate system established by the positioning pins and positioning holes, the perpendicular distance between each gap centerline and the x-axis can be determined, thus obtaining the position coordinates of the multiple cell shoulder gaps along the y-axis.

[0055] Since the target coordinate system is a rigid coordinate system established based on fixed mechanical references such as the positioning pins on the bearing mechanism and the positioning holes on the front and rear beams of the battery pack, the x-axis axis has good spatial stability as a transverse reference line. Therefore, by measuring the vertical distance from the center line of the gap to the x-axis axis, the pixel coordinates in the image can be transformed into mechanical coordinates with physical meaning, and the actual position coordinates of the shoulder gaps of each cell in the y-axis direction can be obtained.

[0056] Furthermore, in order to quantify the actual deviation of the placement position of the incoming battery cells, the position information of the shoulder gap of each battery cell can be compared with the reference position to determine the position offset, and the glue application path of the glue application robot can be visually compensated based on the position offset, as follows.

[0057] In some embodiments of this application, comparing the position information of the shoulder gap of the battery cell with the reference position to obtain the position offset includes: performing a difference calculation on the position coordinates of each shoulder gap of the battery cell in the y-axis direction with the standard y-axis coordinates of the reference position corresponding to each shoulder gap of the battery cell in the pre-calibrated direction to obtain the position offset of each shoulder gap of the battery cell in the y-axis direction; and correcting the basic adhesive application path based on the position offset includes: if the position offset is greater than a preset offset threshold, performing translation compensation correction on the path segment in the basic adhesive application path that is opposite to the shoulder gap of the battery cell in the y-axis direction based on the position offset to obtain the corrected adhesive application path.

[0058] Specifically, the actual position coordinates of each cell shoulder gap in the y-axis direction (i.e., the position information of the cell shoulder gap) can be calculated by subtracting them from the standard y-axis coordinates of the reference position of each cell shoulder gap, which are pre-calibrated. These standard y-axis coordinates are obtained by pre-calibrating the cells in the correct placement position. The actual deviation distance of each cell shoulder gap in the y-axis direction can be quantified by the above mathematical subtraction operation. This deviation distance is the position offset of the corresponding cell shoulder gap. This position offset is a key data point for measuring the placement accuracy of incoming cells and directly reflects the degree of deviation of the actual incoming material from the ideal placement state.

[0059] After obtaining the position offset, the basic adhesive application path can be further corrected based on the position offset. This includes comparing each position offset with a preset offset threshold, which is used to screen out cell positions with significant deviations that require intervention. When it is determined that the position offset corresponding to a certain cell shoulder gap is greater than the preset offset threshold, the control system determines that there is a significant adhesive application risk at that position. Then, it drives the adhesive application robot to perform translation compensation correction on the path segment in the basic adhesive application path corresponding to the cell shoulder gap in the y-axis direction based on the position offset. That is, the basic adhesive application path segment originally corresponding to the cell shoulder gap is moved along the y-axis by a distance equal to the position offset, thereby obtaining the corrected adhesive application path. Through the above translation compensation operation, the position deviation caused by the deviation of the cell placement position can be effectively offset.

[0060] By adopting the dynamic path compensation mechanism based on real-time detection data, the glue-applying robot does not need to make mechanical adjustments every time a small deviation is detected. Instead, the compensation program is only activated when the offset exceeds a preset threshold. This avoids frequent and ineffective adjustments caused by minor cell shaking or positioning errors. It also ensures that the glue can be accurately and continuously applied to the gaps on the shoulder of the cell when there is a significant deviation, preventing the glue path from deviating from the shoulder of the cell or even being applied to the cell terminal. This improves the consistency and yield of the glue-applying operation, while reducing the manual glue removal or re-glue processes caused by glue-applying deviations, effectively ensuring the production line cycle time.

[0061] Considering that the battery cells are fixed inside the battery pack and their physical position cannot be changed, when there is a deviation in the placement of the incoming battery cells, if only the position offset compensation of the adhesive application path is performed, although it can solve the problem of adhesive application position deviation caused by the overall displacement of the battery cells, that is, by adjusting the position of the adhesive application trajectory in the y-axis direction to prevent the adhesive from being applied to the battery cell terminals or other non-target areas, the impact of the actual gap size formed between the battery cells on the adhesive application quality cannot be solved by simple path correction. Therefore, it is necessary to further determine the gap size of the shoulder gap of each battery cell based on the overall image, and compare each gap size with the corresponding preset reference gap size range to achieve dynamic control of the adhesive application speed, as detailed below.

[0062] In some embodiments of this application, the method further includes: determining the gap size of each cell shoulder gap based on the overall image, and comparing each gap size with a corresponding preset reference gap size range, wherein the preset reference gap size range is pre-calibrated by the shoulder gaps of the normally positioned cells; if the gap size exceeds the preset reference gap size range, determining a glue application speed adjustment value based on the gap size, and controlling the glue application robot to adjust the glue application speed along the glue application path according to the glue application speed adjustment value when applying glue to the cells corresponding to the shoulder gaps, wherein the gap size and the glue application speed are negatively correlated; if the gap size does not exceed the preset reference gap size range, controlling the glue application robot to apply glue according to the preset glue application speed.

[0063] Specifically, the gap size refers to the physical width of the shoulder gap extending along the first direction between two adjacent rows of cells, that is, the opening size of the cell shoulder gap perpendicular to the first direction. The preset reference gap size range is obtained by pre-calibrating the shoulder gap of the cells in normal placement. This range represents the allowable error range of the cell shoulder gap under standard incoming material conditions, serving as a benchmark for judging whether the current gap is abnormal.

[0064] In this embodiment, when the comparison result shows that the gap size of a certain cell shoulder gap exceeds the preset reference gap size range, the glue application speed adjustment value can be determined based on the gap size. The glue application robot is then controlled to reduce the glue application speed along the glue application path according to this adjustment value when applying glue to the cell corresponding to the cell shoulder gap. Specifically, there is a negative correlation between the gap size and the glue application speed. From a physical perspective, since the amount of glue required to fill the cell shoulder gap is constant, assuming the amount of glue required to fill the gap is 'a', the glue application speed is 'v', and the gap size is 'b', then the three satisfy the relationship that 'a' equals 'v' multiplied by 'b'. When the gap size 'b' increases, if the original glue application speed is maintained... If the glue application speed v remains constant, the amount of glue distributed per unit length will be relatively insufficient, making it difficult to ensure that the gap is completely filled with glue. Therefore, it is necessary to reduce the glue application speed v to ensure that the amount of glue a can meet the filling requirements. At the same time, from the perspective of fluid dynamics, for gaps that are too large, the glue is more likely to fall vertically to the bottom of the gap under the action of gravity rather than adhering stably to the surface of the battery cell shoulder. By reducing the glue application speed, the residence time of the glue droplets on the glue application path can be effectively extended, and the impact kinetic energy of the glue fluid can be reduced. This allows the glue to have more time to spread and firmly adhere to the battery cell shoulder under the action of surface tension, avoiding the situation where the glue drips directly into the depth of the gap due to excessively fast application, thus failing to achieve effective bonding.

[0065] Conversely, when the gap size does not exceed the preset reference gap size range, it indicates that the current gap on the shoulder of the battery cell is in a normal state, and the glue can adhere stably at a normal speed and achieve the expected filling effect. At this time, the glue-applying robot is controlled to apply glue at the preset glue-applying speed, thereby maintaining a normal production cycle while ensuring the glue-applying quality.

[0066] The aforementioned dynamic speed adjustment mechanism based on visual feedback effectively compensates for the inability of path correction alone to cope with the fluctuations in adhesive coating quality caused by gap changes, improves the integrity, consistency and bonding reliability of adhesive coating, and prevents insufficient adhesive at gaps from affecting subsequent assembly processes, thereby comprehensively ensuring the adhesive coating quality of the battery pack and the production line efficiency.

[0067] In addition, as an optional implementation, in order to further improve the efficiency of the adhesive application process and reduce the repeated correction operations caused by multiple adhesive application points on the same battery cell, this application embodiment also provides an adhesive application path optimization method, as follows.

[0068] In some embodiments of this application, the method further includes: controlling a glue-applying robot to apply glue to the shoulder of the battery cell according to the glue-applying path along the first direction in the order of row-by-row glue application; during the glue application process, if it is detected that the gap size of the gap on the shoulder of the target battery cell is greater than a preset gap size threshold, the glue-applying robot is controlled to jump to the row where the associated glue-applying point is located after completing the glue application operation on the target glue-applying point in the current row, apply glue to the associated glue-applying point according to the correction parameters corresponding to the target glue-applying point, and return to continue executing the glue application operation of the current row after completing the glue application operation on the associated glue-applying point, wherein the target glue-applying point and the associated glue-applying point are different glue-applying points distributed on the same battery cell in the second direction, the second direction is the direction perpendicular to the first direction, and the correction parameters include at least one of the following: position offset, glue application speed adjustment value.

[0069] Specifically, during the row-by-row adhesive application process, when the gap size of the target battery cell's shoulder gap is detected to be larger than a preset gap size threshold, it indicates a significant incoming material deviation at the location of the target battery cell. In this case, the adhesive application robot does not mechanically continue moving to the next battery cell. Instead, after completing the adhesive application operation at the target adhesive application point in the current row, it immediately changes its trajectory, jumps to the row containing the associated adhesive application point, applies adhesive to the associated adhesive application point according to the correction parameters corresponding to the target adhesive application point, and returns after completing the adhesive application operation at the associated adhesive application point. Continue executing the current glue application operation; since the target glue application point and the associated glue application point belong to the same battery cell and are affected by the same battery cell shoulder gap offset, they share the same positional deviation data caused by the same battery cell offset. Therefore, the correction parameters calculated for the target glue application point can be directly applied to the associated glue application point. That is, the robot can use the positional offset or glue application speed adjustment value calculated for the target glue application point to directly apply to the glue application operation of the associated glue application point without re-performing visual inspection and parameter calculation.

[0070] Through the above-mentioned jump-point linkage regression adhesive application strategy, when the robot slows down to make corrections at the target adhesive application point due to excessive gaps, it can simultaneously use this correction stage to directly correct and apply adhesive to the associated adhesive application points on the same cell. This ensures that all adhesive application areas on the same cell affected by large gaps can obtain consistent compensation based on real-time visual feedback, thereby improving the continuity and consistency of the overall adhesive application of the cell.

[0071] To further improve the quality of adhesive application and achieve closed-loop control of the adhesive application process, this embodiment of the application, after controlling the adhesive application robot to complete the adhesive application on the shoulder of the battery cell according to the modified adhesive application path, can also acquire and analyze the re-inspection image after adhesive application, as detailed below.

[0072] In some embodiments of this application, the method further includes: after controlling the coating robot to apply adhesive to the shoulder of the battery cell according to the corrected coating path, acquiring a re-inspection image after coating; based on the re-inspection image, identifying the coating deviation between the actual coating trajectory and the corrected coating path; and if the coating deviation is greater than a preset deviation threshold, updating the reference position based on the coating deviation for subsequent coating correction of the battery pack.

[0073] The aforementioned re-inspection image can be acquired by an image acquisition device after the glue application operation is completed. It is used to capture and record the actual state of the cell shoulder after glue application, thus providing a visual basis for subsequent glue application quality assessment. Based on this re-inspection image, the system can identify the glue application deviation between the actual glue application trajectory and the corrected glue application path through visual processing. The actual glue application trajectory refers to the actual glue line position left on the cell shoulder after the glue application robot physically performs the glue application, while the corrected glue application path refers to the theoretical glue application path currently executed by the robot. The glue application deviation is the amount of positional deviation of the actual glue application trajectory relative to the corrected glue application path. By quantifying this deviation, the system can accurately assess the degree of conformity between the actual execution effect of this glue application operation and the expected target.

[0074] After obtaining the aforementioned coating deviation, the system further compares this deviation with a preset deviation threshold. When the coating deviation is determined to be greater than the preset deviation threshold, it indicates that the current coating operation has a systematic deviation that exceeds the allowable range. At this time, the coating deviation data can be used to dynamically update the reference position, which serves as the reference standard for subsequent coating. That is, the standard position, which was originally pre-calibrated based on the normal placement of the battery cells, is finely adjusted in the direction of deviation to compensate for possible inherent system errors or initial calibration drift. Through this reference position iterative update mechanism based on real-time coating feedback, the subsequent coating correction of the battery pack can be established on a more accurate reference, thereby effectively eliminating the problem of decreased coating accuracy caused by reference drift or accumulation of system errors. This achieves complete closed-loop control from visual inspection, path correction, coating execution to quality re-inspection, improving the overall coating accuracy and the stability of production line operation.

[0075] This application solution acquires an overall image of the battery pack and establishes a target coordinate system through a vision system. It can accurately identify the position coordinates and gap size of each cell's shoulder gap, thereby obtaining the position offset and adhesive application speed adjustment value. This allows the adhesive application robot to compensate and correct the basic adhesive application path based on the position offset and adaptively adjust the adhesive application speed according to the gap size. At the same time, it performs jump-point linkage correction on multiple adhesive application points on the same cell affected by the same gap. After adhesive application, it identifies the deviation between the actual trajectory and the corrected path through image re-inspection to dynamically update the reference position. This effectively solves the problems of adhesive application deviation caused by the misplacement of incoming cells, adhesive application to the terminal post, and adhesive failure to adhere to the cell shoulder due to excessively large gaps. It significantly improves the accuracy of adhesive application position and the consistency of adhesive application quality in new energy battery packs, reduces rework processing of manual adhesive removal or touch-up, and improves the automation level and overall production efficiency of new energy battery manufacturing equipment.

[0076] According to an embodiment of this application, an embodiment of a battery cell coating apparatus is also provided. Figure 7This is a schematic diagram of a battery cell coating device according to an embodiment of this application. Figure 7 As shown, the device includes:

[0077] The gap positioning module 70 is used to acquire an overall image of the battery pack and identify the position information of the gap on the shoulder of the battery cell based on the overall image. The battery pack includes multiple rows of battery cells arranged along a first direction, and a gap on the shoulder of the battery cell extending along the first direction is formed between two adjacent rows of battery cells.

[0078] The offset comparison module 72 is used to compare the position information of the shoulder gap of the battery cell with the reference position to obtain the position offset, wherein the reference position is a pre-calibrated standard position;

[0079] The correction adhesive application module 74 is used to correct the basic adhesive application path based on the position offset, and control the adhesive application robot to apply adhesive to the shoulder of the battery cell according to the corrected adhesive application path.

[0080] Optionally, the cell coating device is also used to: identify two positioning pins on the support mechanism of the battery pack and positioning holes on the front and rear beams of the battery pack based on the overall image, wherein the two positioning pins are used to position the battery pack on the support mechanism; the front and rear beams are located at both ends of the battery pack along the first direction; a target coordinate system is established with the line connecting the two positioning pins as the y-axis axis, the line connecting the corresponding positioning holes on the front and rear beams as the x-axis axis, and the intersection of the x-axis axis and the y-axis axis as the origin, wherein the x-axis direction is consistent with the first direction.

[0081] Optionally, each row of cells contains multiple cells arranged along the x-axis. The location information of the shoulder gaps of the cells is identified based on the overall image, including: visual processing of the overall image to extract the shoulder edge features corresponding to each of the multiple cells in the battery pack, and determining the gap region between two adjacent rows of cells based on the shoulder edge features; determining the gap centerline corresponding to each gap region through geometric analysis; and determining the perpendicular distance between the gap centerline and the x-axis axis according to the target coordinate system, thus obtaining the position coordinates of the shoulder gaps of the multiple cells in the y-axis direction.

[0082] Optionally, comparing the position information of the shoulder gap of the battery cell with the reference position to obtain the position offset includes: performing difference calculation on the position coordinates of each shoulder gap of the battery cell in the y-axis direction with the standard y-axis coordinates of the reference position corresponding to each shoulder gap of the battery cell in the pre-calibrated direction to obtain the position offset of each shoulder gap of the battery cell in the y-axis direction; and correcting the basic adhesive application path based on the position offset includes: if the position offset is greater than a preset offset threshold, performing translation compensation correction on the path segment in the basic adhesive application path that is opposite to the shoulder gap of the battery cell in the y-axis direction based on the position offset to obtain the corrected adhesive application path.

[0083] Optionally, the cell coating device is further configured to: determine the gap size of each cell shoulder gap based on the overall image, and compare each gap size with the corresponding preset reference gap size range, wherein the preset reference gap size range is pre-calibrated by the shoulder gaps of the normally positioned cells; if the gap size exceeds the preset reference gap size range, determine the coating speed adjustment value based on the gap size, and control the coating robot to adjust the coating speed along the coating path according to the coating speed adjustment value when coating the cells corresponding to the shoulder gaps, wherein the gap size and the coating speed are negatively correlated; if the gap size does not exceed the preset reference gap size range, control the coating robot to apply the coating at the preset coating speed.

[0084] Optionally, the cell coating device is further configured to: control the coating robot to apply adhesive to the shoulder of the cell according to the coating path along the first direction in the order of row-by-row coating; during the coating process, if the gap size of the gap on the shoulder of the target cell is detected to be greater than a preset gap size threshold, control the coating robot to jump to the row where the associated coating point is located after completing the coating operation of the target coating point in the current row, apply adhesive to the associated coating point according to the correction parameters corresponding to the target coating point, and return to continue the coating operation of the current row after completing the coating operation of the associated coating point. The target coating point and the associated coating point are different coating points distributed on the same cell in the second direction, the second direction is the direction perpendicular to the first direction, and the correction parameters include at least one of the following: position offset and coating speed adjustment value.

[0085] Optionally, the cell coating device is also used to: after controlling the coating robot to apply adhesive to the shoulder of the cell according to the corrected coating path, acquire a re-inspection image after coating; based on the re-inspection image, identify the coating deviation between the actual coating trajectory and the corrected coating path; and if the coating deviation is greater than a preset deviation threshold, update the reference position based on the coating deviation for subsequent coating correction of the battery pack.

[0086] It should be noted that each module in the above-mentioned cell coating device can be a program module (for example, a set of program instructions to implement a certain function) or a hardware module. For the latter, it can be manifested in the following forms, but is not limited to them: each of the above modules is manifested as a processor, or the functions of each of the above modules are implemented by a processor.

[0087] It should be noted that the cell coating device provided in this embodiment can be used to perform... Figure 2 The cell coating method shown above is also applicable to the embodiments of this application, and will not be repeated here.

[0088] This application embodiment also provides a non-volatile storage medium, which includes a stored computer program. The device containing the non-volatile storage medium executes the following cell coating method by running the computer program: acquiring an overall image of the battery pack and identifying the position information of the cell shoulder gap based on the overall image, wherein the battery pack includes multiple rows of cells arranged along a first direction, and a cell shoulder gap extending along the first direction is formed between two adjacent rows of cells; comparing the position information of the cell shoulder gap with a reference position to obtain a position offset, wherein the reference position is a pre-calibrated standard position; correcting the basic coating path according to the position offset, and controlling the coating robot to apply adhesive to the cell shoulder according to the corrected coating path.

[0089] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the cell adhesive coating method described in various embodiments of this application: acquiring an overall image of the battery pack and identifying the position information of the cell shoulder gap based on the overall image, wherein the battery pack includes multiple rows of cells arranged along a first direction, and a cell shoulder gap extending along the first direction is formed between two adjacent rows of cells; comparing the position information of the cell shoulder gap with a reference position to obtain a position offset, wherein the reference position is a pre-calibrated standard position; correcting the basic adhesive coating path according to the position offset, and controlling the adhesive coating robot to apply adhesive to the cell shoulder according to the corrected adhesive coating path.

[0090] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0091] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0093] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0095] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0096] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for coating a battery cell with adhesive, characterized in that, include: The overall image of the battery pack is acquired, and the location information and gap size of the cell shoulder gap are identified based on the overall image. The battery pack includes multiple rows of cells arranged along a first direction, and a cell shoulder gap extending along the first direction is formed between two adjacent rows of cells. The position information of the shoulder gap of the battery cell is compared with the reference position to obtain the position offset, wherein the reference position is a pre-calibrated standard position; Based on the gap size of the shoulder gap of the battery cell, a glue application speed adjustment value is determined, wherein the glue application speed adjustment value is used to reduce the glue application speed of the glue application robot when the gap size increases, so as to ensure effective glue adhesion. Based on the position offset, the basic adhesive application path is corrected, and based on the adhesive application speed adjustment value, the adhesive application speed of the adhesive application robot is adjusted, and the adhesive application robot is controlled to apply adhesive to the shoulder of the battery cell according to the corrected adhesive application path and the adjusted adhesive application speed.

2. The cell coating method according to claim 1, characterized in that, The method further includes: Based on the overall image, two positioning pins on the support mechanism of the battery pack and positioning holes on the front and rear beams of the battery pack are identified, wherein the two positioning pins are used to position the battery pack on the support mechanism; the front and rear beams are respectively located at both ends of the battery pack along the first direction; A target coordinate system is established with the line connecting the two positioning pins as the y-axis, the line connecting the corresponding positioning holes on the front and rear beams as the x-axis, and the intersection of the x-axis and the y-axis as the origin. The x-axis direction is consistent with the first direction.

3. The cell coating method according to claim 2, characterized in that, Each row of cells contains multiple cells arranged along the x-axis; the positional information of the cell shoulder gaps identified based on the overall image includes: Visual processing is performed on the overall image to extract the shoulder edge features corresponding to multiple cells in the battery pack, and the gap area between two adjacent rows of cells is determined based on the shoulder edge features. By performing geometric analysis on each of the aforementioned gap regions, the center lines of the gaps corresponding to the shoulder gaps of the multiple battery cells are determined. Based on the target coordinate system, the vertical distance between the center line of the gap and the x-axis is determined, and the position coordinates of the multiple cell shoulder gaps in the y-axis direction are obtained.

4. The cell coating method according to claim 3, characterized in that, The position information of the shoulder gap of the battery cell is compared with the reference position to obtain the position offset, including: The position coordinates of each of the battery cell shoulder gaps in the y-axis direction are respectively compared with the standard y-axis coordinates of the reference position corresponding to each of the battery cell shoulder gaps in the pre-calibrated manner to obtain the position offset of each of the battery cell shoulder gaps in the y-axis direction. Based on the aforementioned positional offset, the correction of the basic adhesive application path includes: If the position offset is greater than a preset offset threshold, the path segment in the basic adhesive application path that is opposite to the gap on the shoulder of the battery cell is translated and compensated in the y-axis direction according to the position offset to obtain the corrected adhesive application path.

5. The cell coating method according to claim 1, characterized in that, Adjusting the glue application speed of the glue application robot according to the aforementioned glue application speed adjustment value includes: Based on the overall image, the gap size of the shoulder gap of each cell is determined, and each gap size is compared with the corresponding preset reference gap size range, wherein the preset reference gap size range is pre-calibrated by the shoulder gap of the cell in a normal position; When the gap size exceeds the preset reference gap size range, the glue application speed adjustment value is determined based on the gap size, and the glue application robot is controlled to adjust the glue application speed along the glue application path according to the glue application speed adjustment value when applying glue to the battery cell corresponding to the gap on the battery cell shoulder. The gap size and the glue application speed are negatively correlated. If the gap size does not exceed the preset reference gap size range, the glue-applying robot is controlled to apply glue at a preset glue-applying speed.

6. The cell coating method according to claim 5, characterized in that, The method further includes: Following the order of applying glue row by row, the glue-applying robot is controlled to apply glue to the shoulder of the battery cell along the glue-applying path in the first direction. During the adhesive application process, if the gap size of the shoulder gap of the target battery cell is detected to be greater than a preset gap size threshold, the adhesive application robot is controlled to jump to the row containing the associated adhesive application point after completing the adhesive application operation on the target adhesive application point in the current row. The robot then applies adhesive to the associated adhesive application point according to the correction parameters corresponding to the target adhesive application point. After completing the adhesive application operation on the associated adhesive application point, the robot returns to continue the adhesive application operation in the current row. The target adhesive application point and the associated adhesive application point are different adhesive application points distributed on the same battery cell in a second direction, where the second direction is perpendicular to the first direction. The correction parameters include at least one of the following: position offset and adhesive application speed adjustment value.

7. The cell coating method according to claim 1, characterized in that, The method further includes: After controlling the glue-applying robot to apply glue to the shoulder of the battery cell according to the corrected glue-applying path, a re-inspection image of the glue-applying part is obtained. Based on the re-inspection image, identify the glue application deviation between the actual glue application trajectory and the corrected glue application path; If the adhesive coating deviation is greater than a preset deviation threshold, the reference position is updated based on the adhesive coating deviation for subsequent adhesive coating correction of the battery pack.

8. A battery cell coating apparatus, characterized in that, include: A gap positioning module is used to acquire an overall image of the battery pack and identify the position information and gap size of the cell shoulder gap based on the overall image. The battery pack includes multiple rows of cells arranged along a first direction, and a cell shoulder gap extending along the first direction is formed between two adjacent rows of cells. The offset comparison module is used to compare the position information of the shoulder gap of the battery cell with the reference position to obtain the position offset, wherein the reference position is a pre-calibrated standard position; The speed adjustment module is used to determine the glue application speed adjustment value based on the gap size of the shoulder gap of the battery cell. The glue application speed adjustment value is used to reduce the glue application speed of the glue application robot when the gap size increases, so as to ensure effective glue adhesion. The correction coating module is used to correct the basic coating path according to the position offset, and to adjust the coating speed of the coating robot according to the coating speed adjustment value, and to control the coating robot to apply adhesive to the shoulder of the battery cell according to the corrected coating path and the adjusted coating speed.

9. An electronic device, characterized in that, include: A memory and a processor, the processor being configured to run a program stored in the memory, wherein the program, when running, performs the cell coating method according to any one of claims 1 to 7.

10. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored computer program, wherein the device containing the non-volatile storage medium executes the cell coating method according to any one of claims 1 to 7 by running the computer program.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the cell coating method according to any one of claims 1 to 7.

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