Battery sealing pin welding inspection system and method

Abstract

The present application relates to the technical field of visual inspection. Disclosed are a battery sealing pin welding inspection system and method. The battery sealing pin welding inspection system comprises: a first camera and a light source, which are used for cooperatively collecting a 2D image of a battery cell; a second camera, which is used for collecting a 3D image of the battery cell; and a processing apparatus, which is electrically connected to the first camera, the light source and the second camera and is used for completing battery sealing pin welding inspection requirements on the basis of the 2D image and 3D image corresponding to the same battery cell. By means of using a first camera to complete some inspection requirements of inspection requirements related to a 2D image and combining with a second camera completing the remaining inspection requirements of inspection requirements related to a 3D image, the present application achieving the full coverage of battery sealing pin welding inspection requirements by means of the first camera combined with the second camera, and thus the inspection range is expanded.

Description

Battery sealing nail welding detection system and method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 11, 2023, with application number 202311166743.1 and application name “Battery Sealing Nail Welding Detection System and Method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of visual inspection technology, and in particular to a battery sealing nail welding inspection system and method. Background Art

[0003] Currently, during the sealing process, welding is performed after the sealing pins seal the injection hole. After full welding, the sealing pins are visually inspected, and the battery cell is finally sealed. However, during the visual inspection of the battery cell, the inspection accuracy does not meet the inspection requirements.

[0004] Application Contents

[0005] In view of the above problems, the present application provides a battery sealing nail welding detection system and method, which aims to solve the problem that the inspection items in the existing battery cell visual inspection process cannot meet the inspection requirements.

[0006] In a first aspect, the present application provides a battery sealing nail welding detection system, comprising:

[0007] A first camera and a light source are used to cooperate in acquiring a 2D image of the battery cell;

[0008] A second camera is used to capture a 3D image of the battery cell; and

[0009] A processing device electrically connected to the first camera, the light source, and the second camera, for completing the battery sealing nail welding detection requirements based on the 2D image and 3D image corresponding to the same battery cell

[0010] In the technical solution of the embodiment of the present application, the first camera is used to complete part of the battery sealing nail welding detection requirements related to the 2D image, and the second camera is combined to complete the remaining detection requirements of the battery sealing nail welding detection requirements related to the 3D image, so that the first camera is combined with the 3D line scan camera and the second camera to achieve full coverage of the battery sealing nail welding detection requirements, thereby improving the detection range.

[0011] In some embodiments, the first camera includes an area array camera; and / or the second camera includes a line scan camera.

[0012] In the technical solution of the embodiments of this application, an area array camera uses continuous, planar scanning light to achieve detection, capable of acquiring a complete target image in one go and performing timely 2D image acquisition. An area array camera can acquire a complete 2D image of a battery cell in one go. A line scan camera scans a battery cell using a laser line and converts the reflected signal from the laser line into a digital signal, thereby obtaining the three-dimensional shape of the battery cell. A line scan camera can capture the details of a battery cell, allowing for quick and accurate acquisition of a 3D image of the battery cell.

[0013] In some embodiments, the first camera and the second camera are movably installed along a first direction; the first camera and the second camera are spaced a first preset distance apart along the first direction to capture 2D images and 3D images corresponding to two battery cells spaced a first preset number apart.

[0014] In the technical solution of the embodiment of the present application, the first camera and the second camera are movably installed along the first direction, so that the first camera and the second camera can move synchronously in the same direction, thereby improving the synchronization of the images taken by the first camera and the second camera and improving the accuracy of detection.

[0015] In some embodiments, the first camera, the light source, and the second camera are correspondingly configured as acquisition groups. There are at least two acquisition groups, which are spaced apart along the second direction and configured to acquire images of multiple columns of battery cells spaced apart along the second direction.

[0016] In the technical solution of the embodiment of the present application, when the incoming battery cells are in multiple rows, multiple groups can be used for simultaneous testing, making the combination method flexible and changeable, compatible with more incoming material methods, and helping to improve CT. The acquisition groups can be used in combination according to the number and arrangement of battery cells to improve the flexibility of detection.

[0017] In some embodiments, two adjacent acquisition groups are spaced apart by a second preset distance along the second direction, so as to acquire images corresponding to two columns of battery cells spaced apart by a second preset number.

[0018] In the technical solution of the embodiment of the present application, the collection groups can be used in combination according to the number and arrangement of battery cells to improve the flexibility of detection.

[0019] In some embodiments, in the same acquisition group, the first camera, the light source and the second camera move in the same direction; and / or,

[0020] The two first cameras and the two light sources in at least two of the acquisition groups move in the same direction; and / or,

[0021] The two second cameras in at least two of the acquisition groups move in the same direction.

[0022] In the technical solution of the embodiment of the present application, by moving the first camera, the two light sources and the second camera in the same direction, the first camera and the second camera can move in the same direction, thereby improving the synchronization of the images taken by the first camera and the second camera and improving the accuracy of detection.

[0023] In some embodiments, the first camera, the light source, and the second camera move in the same direction.

[0024] In the technical solution of the embodiment of the present application, the first camera and the second camera can move synchronously in the same direction, thereby improving the synchronization of images captured by the first camera and the second camera and improving the accuracy of detection.

[0025] In some embodiments, the battery sealing nail welding detection system further includes:

[0026] A mounting bracket, wherein the first camera, the light source, and the second camera are all mounted on the mounting bracket; and

[0027] A driving device is connected to the mounting bracket to drive the mounting bracket to move, and the driving device is electrically connected to the processing device.

[0028] In the technical solution of the embodiment of the present application, the first camera and the second camera are connected by a mounting bracket, and the mounting bracket is driven by a driving device, so that the first camera and the second camera move synchronously in the same direction, thereby improving the synchronization of the images taken by the first camera and the second camera and improving the accuracy of detection.

[0029] In some embodiments, the first camera, the light source, and the second camera are correspondingly configured as a collection group, and at least two collection groups are provided;

[0030] At least two of the collection groups are arranged on the mounting bracket.

[0031] In the technical solution of the embodiment of the present application, when the incoming battery cells are in multiple rows, multiple groups can be used for simultaneous testing, making the combination method flexible and changeable, compatible with more incoming material methods, and helping to improve CT. The acquisition groups can be used in combination according to the number and arrangement of battery cells to improve the flexibility of detection.

[0032] In some embodiments, the light source comprises:

[0033] a planar coaxial light source, provided on the collecting light path of the first camera; and

[0034] The annular light source is provided on the collection light path of the first camera and is located on a side of the planar coaxial light source facing away from the first camera.

[0035] In the technical solution of the embodiment of the present application, the first camera 10 is supplemented with light by a planar coaxial light source and an annular light source, so that the image captured by the first camera 10 is clearer, thereby improving the accuracy of detection.

[0036] In some embodiments, the first camera and the second camera are movably mounted along a first direction;

[0037] Along the first direction, the first camera is located in front of the second camera and is configured to first capture a 2D image of the same battery cell and then capture a 3D image of the same battery cell.

[0038] In the technical solution of the embodiment of the present application, the first camera is placed in front and the second camera is placed in the back. The first camera is used to shoot first, and then the second camera is used to perform a fly scan. The shooting range of the first camera is larger than that of the second camera. After the preliminary detection by the first camera, the second camera is used for further detection, thereby improving the efficiency of detection.

[0039] In a second aspect, the present application provides a battery sealing nail welding detection method, the battery sealing nail welding detection method comprising:

[0040] Controlling the first camera and the light source to cooperate in acquiring a 2D image of the battery cell;

[0041] Controlling the second camera to acquire a 3D image of the battery cell;

[0042] Complete battery sealing pin welding inspection requirements based on the 2D and 3D images corresponding to the same battery cell.

[0043] In the technical solution of the embodiment of the present application, the first camera is used to complete part of the battery sealing nail welding detection requirements related to the 2D image, and the second camera is combined to complete the remaining detection requirements of the battery sealing nail welding detection requirements related to the 3D image, so that the first camera is combined with the second camera to achieve full coverage of the battery sealing nail welding detection requirements, thereby improving the detection range.

[0044] In some embodiments, the battery sealing nail welding detection method further includes: controlling the first camera and the second camera to move along a first direction when detecting that the battery cell moves to a preset area;

[0045] When it is detected that the first camera, the light source, and the battery cell are concentric in a third direction, the first camera and the light source cooperate to capture a 2D image of the battery cell;

[0046] The second camera is controlled to sweep the battery cell along the first direction at a uniform speed to collect a 3D image of the battery cell.

[0047] In the technical solution of the embodiment of the present application, the precise control of detection is improved by controlling the first camera and the second camera to move to a preset photographing position, receiving a trigger signal, triggering photographing, completing photographing, and detecting an image.

[0048] In some embodiments, acquiring the 3D image of the battery cell by the second camera includes:

[0049] The second camera is controlled to sweep the battery cell along the first direction at a uniform speed to collect a 3D image of the battery cell.

[0050] In the technical solution of the embodiment of the present application, the second camera is a line scan camera, which generates a 3D image by uniform horizontal scanning without the aid of an external light source, thereby improving the efficiency of detection.

[0051] In some embodiments, the battery sealing nail welding detection method further includes:

[0052] In the case where there are multiple battery cells arranged along a first direction, the first camera is controlled to move along the first direction to sequentially capture 2D images of the battery cells arranged in the first direction, and the second camera is controlled to move along the first direction to sequentially capture 3D images of the battery cells arranged in the first direction.

[0053] In the technical solution of the embodiment of the present application, when there are multiple rows of battery cells, the entire process of battery sealing nail welding detection is controlled, and the effective control of the detection process is improved by controlling the work flow of the first camera and the second camera.

[0054] In some embodiments, the battery sealing nail welding detection method further includes:

[0055] Statistically collect 2D and 3D images;

[0056] When the number of the collected 2D images and 3D images reaches a preset number, the first camera, the light source and the second camera are controlled to return to preset positions.

[0057] In the technical solution of the embodiment of the present application, the 2D camera, 3D line scan camera and light source are simultaneously moved to the position of the first step to form a closed loop to wait for the next group of battery cells to arrive for cyclic detection, thereby improving the precise control of the detection.

[0058] In some embodiments, the trigger conditions for controlling the first camera and light source to cooperate in capturing a 2D image of the battery cell include at least one of the following: the battery cell reaches a preset detection position; a first trigger signal is received; and it is detected that the first camera, the light source, and the center of the battery cell coincide with each other, wherein the light source provides light for the first camera and is coaxial with the first camera.

[0059] In the technical solution of the embodiment of the present application, the first camera is triggered to take photos in multiple ways, thereby improving the flexibility of controlling the first camera.

[0060] In some embodiments, detecting that the centers of the first camera, the light source, and the battery cell coincide with each other includes:

[0061] If the current battery cell image captured by the first camera matches a pre-stored image coinciding with the center of the battery cell, it is determined that the first camera, the light source, and the center of the battery cell coincide with each other.

[0062] In the technical solution of the embodiment of the present application, the coincidence of the first camera, the light source and the center of the battery cell is determined by image matching of the coincidence of the centers of the battery cells, thereby improving the accuracy of the control of the first camera.

[0063] In some embodiments, the triggering condition for controlling the second camera to capture a 3D image of a battery cell includes at least one of the following: receiving a second trigger signal; the second camera detecting a battery cell; the first camera moving to a detection position corresponding to a battery cell with a preset number.

[0064] In the technical solution of the embodiment of the present application, the second camera is triggered to take pictures in a variety of ways, thereby improving the flexibility of controlling the second camera.

[0065] In some embodiments, it further includes:

[0066] performing feature extraction on the first image of the battery cell to obtain extracted features;

[0067] Comparing the extracted features with preset defect features to determine the defect location;

[0068] Extracting a defect image corresponding to the defect position in the second image of the battery cell;

[0069] Image recognition is performed on the defect image to obtain a sealing pin welding detection result of the battery cell.

[0070] In the technical solution of the embodiment of the present application, the defect location is first determined by the first image and preliminary screening is performed, and then the second image is used for verification to obtain the sealing pin welding detection result of the battery cell, thereby improving the accuracy of the detection.

[0071] In some embodiments, performing image recognition on the defect image to obtain a sealing pin welding inspection result of the battery cell includes:

[0072] performing image recognition on the defect image to obtain defect information;

[0073] Classifying the defect information to obtain a defect type;

[0074] The sealing pin welding inspection result of the battery cell is obtained based on the defect type.

[0075] In the technical solution of the embodiment of the present application, the defect type is further located based on the defect information, and automated sealing pin welding detection is realized to improve the efficiency of detection.

[0076] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] FIG1 is a schematic structural diagram of a battery sealing nail welding detection system according to some embodiments of the present application;

[0078] FIG2 is a schematic diagram of the numbering method of battery cells in some embodiments of the present application;

[0079] FIG3 is a schematic diagram of the overall structure of a battery sealing nail welding detection system according to some embodiments of the present application;

[0080] FIG4 is a schematic structural diagram of a battery sealing nail welding detection system in a multi-group situation according to some embodiments of the present application;

[0081] FIG5 is a flow chart of a battery sealing pin welding detection method proposed in some embodiments of the present application;

[0082] 6a-6i are schematic diagrams of the overall detection process of the battery sealing nail welding detection method proposed in some embodiments of the present application.

[0083] The reference numerals in the detailed description are as follows: Battery sealing nail welding detection system 100 includes a first camera 10 , a second camera 20 , a light source 30 , a mounting bracket 40 , a telecentric lens 50 , and a processing device 60 . DETAILED DESCRIPTION

[0084] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0085] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0086] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0087] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0088] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0089] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0090] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0091] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

[0092] Currently, during the sealing process, welding is performed after the sealing pins seal the injection hole. After full welding, the sealing pins are visually inspected, completing the final sealing of the battery cell. However, during the visual inspection of the sealing pins, the inspection accuracy does not meet the inspection requirements.

[0093] In order to solve the problem that the inspection items in the existing sealing nail visual inspection process cannot meet the inspection requirements, the embodiment of the present application uses the first camera to complete part of the inspection requirements of the battery sealing nail welding inspection related to the 2D image and combines the second camera to complete the remaining inspection requirements of the battery sealing nail welding inspection related to the 3D image, thereby achieving full coverage of the battery sealing nail welding inspection requirements through the combination of the first camera and the second camera, thereby improving the inspection range.

[0094] The battery cells disclosed in the embodiments of the present application can be used in electrical devices that use batteries as power sources or various energy storage systems that use batteries as energy storage elements. Electrical devices can include, but are not limited to, mobile phones, tablets, laptops, electric toys, power tools, battery-powered vehicles, electric vehicles, ships, spacecraft, and the like. Electric toys can include fixed or mobile electric toys, such as game consoles, electric car toys, electric ship toys, and electric airplane toys, and spacecraft can include airplanes, rockets, space shuttles, and spacecraft, among others.

[0095] Currently, during the sealing process, welding is performed after the sealant seals the injection hole. After full welding, the sealant 40 is visually inspected, completing the final sealing of the battery cell. However, during the visual inspection of the sealant 40, the inspection accuracy does not meet the inspection requirements of the inspection items.

[0096] This application addresses the problem that the inspection items in the existing visual inspection process for sealing nails cannot meet the inspection requirements. A battery sealing nail welding inspection system 100 is proposed. Referring to FIG1 , in this example, the battery sealing nail welding inspection system 100 includes: a first camera 10 and a light source 30 for cooperating to capture a 2D image of a battery cell;

[0097] A second camera 20 is used to capture a 3D image of the battery cell; and

[0098] The processing device 60 is electrically connected to the first camera, the light source and the second camera, and is used to complete the battery sealing nail welding detection requirements based on the 2D image and 3D image corresponding to the same battery cell.

[0099] The first camera 10 uses continuous, planar scanning light to achieve detection, can obtain a complete target image at one time, and can perform 2D image acquisition in a timely manner. The first camera 10 can obtain a complete 2D image of a battery cell at one time.

[0100] The second camera 20 scans the battery cell with a laser line and converts the reflected signal from the laser line into a digital signal to obtain the three-dimensional shape of the battery cell. The second camera 20 can capture the details of the battery cell, thereby quickly and accurately obtaining a 3D image of the battery cell.

[0101] The processing device 60 is used to complete the first detection requirement of the battery sealing nail welding detection requirement according to the first image, and complete the second detection requirement of the battery sealing nail welding detection requirement according to the second image.

[0102] The first detection requirement may be a test item related to the first image in the test items of the battery cell, that is, a partial test in the test item. The second detection requirement may be a test item related to the second image in the test items of the battery cell, that is, a test of the remaining items in the test item. The test requirements of the entire test item can be met through the first detection requirement and the second detection requirement.

[0103] The processing device 60 may be a server, or a microprocessor or an industrial control center. Each collecting component transmits the collected information to the processing device, which performs calculation and control.

[0104] The battery cells can be supplied in a disposable double row of 2*6 = 12 battery cells, or in other forms. This embodiment does not limit this. In this embodiment, 2*6 = 12 battery cells are used as an example for illustration. The center-to-center spacing of the battery cells can be determined based on the actual situation of the battery cell material. This embodiment does not limit this. In this embodiment, a center-to-center spacing of 70mm * 240mm is used as an example for illustration.

[0105] In some embodiments, identification marks are set for the battery cells in each row and column in sequence according to the arrangement of the battery cells. The identification marks are unique and correspond one-to-one to the battery cells. The battery cells can be effectively located through the identification marks. The identification marks can be in the form of numbers or other forms. This embodiment does not limit this. In this embodiment, the numbering identification method is used as an example for explanation. For example, the numbering method of the battery cells shown in Figure 2 can also be other numbering methods. The battery cells in the first row are numbered 1 / 2 / 3 / 4 / 5 / 6, and the battery cells in the second row are numbered 7 / 8 / 9 / 10 / 11 / 12.

[0106] The first camera 10 and the second camera 20 move synchronously to inspect the battery cells. The image captured when the first camera 10 is triggered to take a photo facing the battery cell is the first image, and the image captured when the 3D area array camera 10 is triggered to take a photo facing the battery cell is the second image. At the same time, the first image of the battery cell captured by the first camera 10 and the second image of the battery cell captured by the 3D area array camera 10 are not images of the same battery cell, because the first camera 10 may be capturing the image of battery cell No. 3, but the first camera 10 has just started capturing the image of battery cell No. 1. Within a period of time, the first image of the battery cell captured by the first camera 10 and the second image of the battery cell captured by the 3D area array camera 10 may be images of the same battery cell. For example, the first camera 10 captures images of the first row of 6 battery cells, and the 3D area array camera 10 also captures images of the first row of 6 battery cells. The first image and the second image can accommodate more inspection requirements.

[0107] Under normal circumstances, by using a 3D line scanning laser, a single-station dual-channel total of two 3D line scanning lasers, and dual-channel simultaneous detection to complete the battery sealing nail welding detection requirements, but some battery sealing nail welding detection requirements need to be detected by the first camera 10, resulting in the inability to complete the battery sealing nail welding detection requirements. Therefore, this embodiment uses the first camera 10 in combination with the second camera 20 to complete the battery sealing nail welding detection requirements.

[0108] In this embodiment, part of the battery sealing nail welding detection requirements related to the 2D image is completed by the first camera 10, and the remaining detection requirements of the battery sealing nail welding detection requirements related to the 3D image are completed in combination with the second camera 20, so that the full coverage of the battery sealing nail welding detection requirements is achieved by the first camera 10 combined with the second camera 20, thereby improving the detection range.

[0109] According to the detection accuracy requirement of the current detection item, the devices are selected: the first camera 10 includes an area array camera; and / or the second camera 20 includes a line scan camera.

[0110] The XY direction accuracy of the first camera 10 is 0.003mm, and the height direction accuracy of the second camera 20 is less than 0.001mm. At the same time, in order to meet the production line CT: 75PPM, a combination of area array camera + 3D line scan laser is adopted. When 2*6=12pcs of battery cells are incoming, a single-station dual-channel system with two area array cameras and two 3D line scan lasers is used for simultaneous detection. The detection accuracy meets the requirements of height ≥ 0.1mm and area ≥ 0.25mm. 2 This combination has an XY accuracy of 0.003mm and a Z accuracy of 0.001mm. For post-weld inspection of sealing pins, the production line CT requirement is 75ppm. This combination has a CT of 86ppm, thus achieving a wide range of accuracy compatibility, a wide range of field of view compatibility, a wide range of combination compatibility, and higher CT compatibility requirements.

[0111] Area scan cameras use continuous, planar scanning light to perform inspections, capturing a complete target image in one go and enabling timely 2D image acquisition. Area scan cameras can capture a complete 2D image of a battery cell in one go. Line scan cameras scan a battery cell with a laser line and convert the reflected signal into a digital signal, thereby capturing the cell's 3D shape. Line scan cameras can capture details of the battery cell, allowing for quick and accurate 3D image acquisition.

[0112] According to some embodiments of the present application, optionally, referring to FIG. 3 , the first camera 10 and the second camera 20 are spaced apart by a preset distance, wherein the preset distance is determined according to the center distance between battery cells.

[0113] The first camera 10 and the second camera 20 are movably installed along the first direction; the first camera 10 and the second camera 20 are spaced apart by a first preset distance along the first direction to simultaneously capture 2D images and 3D images corresponding to two battery cells spaced apart by a first preset number.

[0114] In this embodiment, the first direction may be a horizontal direction, and the first camera and the second camera are movably installed along the first direction, so that the first camera and the second camera can move synchronously in the same direction, thereby improving the synchronization of the images taken by the first camera and the second camera and improving the accuracy of detection.

[0115] The first preset distance is the distance d between the centers of the first camera 10 and the second camera 20. Since the first camera 10 and the second camera 20 operate differently, the first preset distance is set between the first camera 10 and the second camera 20 to ensure the accuracy of the images captured by the first camera 10 and the second camera 20.

[0116] The first preset distance is not an arbitrary distance but is determined based on the center-to-center distance between battery cells. For example, if the center-to-center distance of the battery is 70 mm by 240 mm, the center-to-center distance between the first camera 10 and the second camera 20 is 175 mm. That is, when the first camera 10 is directly above the third battery cell, the scanning line of the second camera 20 can be located at the edge of the first battery cell and start scanning. This allows for a complete image of the first battery cell, avoiding incomplete scanning. This allows for accurate triggering of the second camera 20 to start shooting, thereby improving the integrity of the second camera 20's capture.

[0117] In some embodiments, in the same acquisition group, the first camera 10 , the light source 30 , and the second camera 20 move in the same direction.

[0118] Optionally, in the same acquisition group, the first camera 10, the light source 30 and the second camera 20 move synchronously in the same direction. Continuing with FIG4 , there are two acquisition groups, each acquisition group includes a 2D camera, a light source used in conjunction with the 2D camera and a 3D camera. For each acquisition group, the first camera 10, the light source 30 and the second camera 20 are controlled to move synchronously, thereby improving the accuracy of detection.

[0119] The two first cameras 10 and the two light sources 30 in at least two acquisition groups move in the same direction.

[0120] Optionally, the two first cameras 10 and the two light sources 30 in at least two acquisition groups move synchronously in the same direction.

[0121] In this embodiment, the first camera 10 in the first acquisition group is controlled, and the two light sources move synchronously, so that the two acquisition groups run synchronously, which improves the efficiency of detection. The corresponding acquisition group can also be set according to the arrangement of the battery cells.

[0122] The two second cameras in at least two acquisition groups move in the same direction.

[0123] In this embodiment, the second cameras in the two acquisition groups are controlled to move synchronously to achieve multi-channel detection, thereby improving detection efficiency.

[0124] In the technical solution of the embodiment of the present application, by synchronously moving the first camera 10, the two light sources, and the second camera, the first camera 10 and the second camera can move synchronously in the same direction, thereby improving the synchronization of the images captured by the first camera 10 and the second camera and improving the accuracy of detection.

[0125] In some embodiments, the first camera 10 , the light source 30 , and the second camera 20 move in the same direction.

[0126] In the technical solution of the embodiment of the present application, the first camera 10, the light source 30 and the second camera 20 can move synchronously in the same direction, thereby improving the synchronization of images captured by the first camera 10 and the second camera 20 and improving the accuracy of detection.

[0127] In some embodiments, the first camera 10, the light source 30 and the second camera 20 can also move relative to each other. For example, the first camera 10 and the light source 30 move from left to back to capture a 2D image. After the first camera completes capturing the same battery cell, the second camera moves from right to left to capture a 3D image of the same battery cell.

[0128] In some embodiments, the first camera 10, the light source 30, and the second camera 20 can also move relative to each other simultaneously. For example, the first camera 10 and the light source 30 move from left to back to capture a 2D image, and the second camera 20 simultaneously moves from right to left to capture a 3D image of the same battery cell. In the event of interference between the first camera 10 and the second camera 20, the first camera 10 or the second camera 20 is adjusted using an avoidance device.

[0129] According to some embodiments of the present application, optionally, referring to FIG3 , the battery sealing nail welding detection system further includes: a mounting bracket 40 and a driving device (not shown);

[0130] A mounting bracket 40 is provided on which the first camera 10 , the light source 30 and the second camera 20 are all mounted; and

[0131] The driving device is connected to the mounting bracket 40 to drive the mounting bracket to move. The driving device is electrically connected to the processing device 60.

[0132] In the technical solution of the embodiment of the present application, the first camera 10 and the second camera 20 are connected by a mounting bracket, and the mounting bracket 40 is driven by a driving device, so that the first camera 10 and the second camera 20 move synchronously in the same direction, thereby improving the synchronization of the images taken by the first camera 10 and the second camera 20 and improving the accuracy of detection.

[0133] The mounting bracket 40 is used to fix the first camera 10 and the second camera 20 , and the driving device is used to drive the mounting bracket 40 to make the first camera 10 and the second camera 20 move synchronously in the same direction.

[0134] The first camera 10 and the second camera 20 are fixed on the same bracket and installed parallel to each other. On the same bracket, they can move forward synchronously to detect battery cells 1 / 2 / 3 / 4 / 5 / 6. When the first camera 10 and the second camera 20 are two groups, they detect battery cells 1 / 2 / 3 / 4 / 5 / 6 and battery cells 7 / 8 / 9 / 10 / 11 / 12 respectively.

[0135] The driving device can be a motor or other forms of driving devices, and this embodiment is not limited thereto. This embodiment is illustrated by taking a motor as an example. The motor drives the mounting bracket 40 to drive the first camera 10 and the second camera 20 to move synchronously in the same direction, thereby improving the synchronization of the images taken by the first camera 10 and the second camera 20 and improving the accuracy of detection.

[0136] According to some embodiments of the present application, optionally, a driving device is used to drive the first camera 10 and the second camera 20 respectively, so that the first camera and the second camera move synchronously in the same direction.

[0137] In this embodiment, there is no need to drive the mounting bracket 40 through a driving device to drive the first camera 10 and the second camera 20 to move in the same direction synchronously. Instead, the first camera 10 and the second camera 20 are directly driven simultaneously with the first camera 10 and the second camera 20. This embodiment is explained using a motor as an example. When a double row of 2*6=12pcs of battery cells are supplied, one inspection station, two area array 2D cameras and two second cameras 20, two sets of image detection combinations are driven by a motor and move synchronously. The 2D area array is fixed and the second camera 20 is flying. The movement speed of the linear motor can be set to 300mm / s, thereby improving the photographic effect. In addition, the first camera 10 and the second camera 20 are made to move in the same direction synchronously through the driving device, thereby improving the detection efficiency.

[0138] According to some embodiments of the present application, optionally, referring to FIG3 , the battery sealing nail welding detection system further includes: a light source 30 ;

[0139] The light source 30 is fixed to the mounting bracket 40 and is located between the first camera 10 and the battery cell, and coincides with the center of the first camera 10 and is coaxial;

[0140] The light source 30 is used to provide light source 30 for the first camera 10. Since generating a 2D image requires the help of an external light source 30 - a planar coaxial light source and a ring light source, the second camera 20 generates a 3D image by scanning horizontally at a uniform speed without the help of an external light source 30. The light source 30 is used to supplement the light for the first camera 10, making the image taken by the first camera 10 clearer and improving the accuracy of detection.

[0141] According to some embodiments of the present application, optionally, and continuing with reference to FIG. 3 , the light source 30 includes a planar coaxial light source, which is disposed in the light collection path of the first camera 10, and an annular light source, which is disposed in the light collection path of the first camera 10 and is located opposite the planar coaxial light source. The planar coaxial light source and the annular light source are sequentially arranged along the axis of the first camera 10, with the planar coaxial light source being close to the first camera 10. The planar coaxial light source and the annular light source provide fill light for the first camera 10, making the image captured by the first camera 10 clearer and improving the accuracy of detection.

[0142] According to some embodiments of the present application, optionally, referring to Figure 3, when the first camera 10 and the second camera 20 are moved to be positioned opposite the battery cell, the first camera and the second camera respectively take pictures of the battery cell, and when the second camera 20 is moved to be positioned opposite the battery cell, the second camera takes pictures of the battery cell.

[0143] The first camera 10 and the second camera 20 can be movably arranged. The first camera 10 and the second camera 20 can move in a preset direction. When the first camera 10 is facing the battery cell, it starts to take pictures of the battery cell. When the scanning line of the second camera 20 encounters the boundary of the battery cell, it starts to take pictures. By setting shooting stations, at each shooting station, the first camera 10 and the second camera 20 are used to take pictures of each battery cell set facing each other.

[0144] For a one-time double-row 2*6=12 pcs battery cell material, the center spacing of the battery cells is 70mm*240mm. For smaller battery cells, the single-station battery cell material feeding method reserves limited space for visual device inspection, so the first camera 10 and the second camera 20 both adopt a vertical downward shooting method. The area array camera 10 and the line scan camera are small in size, which meets the space requirements and improves the convenience of image acquisition.

[0145] According to some embodiments of the present application, optionally, referring to FIG. 3 , the first camera 10 and the second camera 20 are movably installed along a first direction;

[0146] Along the first direction, the first camera 10 is located in front of the second camera 20 and is configured to first capture a 2D image of the same battery cell and then capture a 3D image of the same battery cell.

[0147] In one embodiment, the first camera 10 and the second camera 20 move synchronously in the same direction. In the moving detection direction of the first camera 10 and the second camera 20 , the first camera 10 is located at the front side and the second camera 20 is located at the rear side.

[0148] In this embodiment, after the battery cell reaches the inspection station, it stops moving, and the first camera 10 and the second camera 20 move synchronously in the same direction according to the instruction to inspect the battery cell located below. The first camera 10 and the second camera 20 can also move synchronously in the same direction, and the battery cell continues to move along the conveyor line, and the battery cell is inspected after reaching the inspection area of ​​the first camera 10 and the second camera 20. The battery cell can also continue to move along the conveyor line, and the first camera 10 and the second camera 20 are fixed, and the battery cell is inspected after moving to the inspection area of ​​the first camera 10 and the second camera 20. The first camera 10 and the second camera 20 can be directly above the battery cell for inspection, or the first camera 10 and the second camera 20 can be located on one side in the vertical direction, and the battery cell is located on the other side in the vertical direction, and the battery cell is inspected after moving to the inspection area of ​​the first camera 10 and the second camera 20.

[0149] Taking the example of the battery cell stopping after arriving at the inspection station, and the first camera 10 and the second camera 20 moving synchronously in the same direction according to the instruction to inspect the battery cell located below, the first camera 10 is in front and the second camera 20 is in the back. The first camera 10 is used to shoot first, and then the second camera 20 is used to perform a flying scan. The shooting range of the first camera 10 is larger than that of the second camera 20. After the preliminary inspection taken by the first camera 10, the second camera 20 is used for further inspection, which improves the efficiency of the inspection.

[0150] According to some embodiments of the present application, optionally, referring to FIG. 3 , the first camera 10 includes a telecentric lens 50 . Since the telecentric lens 50 has high measurement accuracy, the accuracy of image acquisition is improved.

[0151] According to some embodiments of the present application, optionally, referring to FIG. 4 , the first camera 10 , the light source 30 , and the second camera 20 are correspondingly configured as acquisition groups, and at least two acquisition groups are provided; at least two of the acquisition groups are provided on the mounting bracket 40 .

[0152] When a double row of 2*6=12 battery cells is received at one time, two image detection groups can be used to simultaneously detect battery cells 1 / 2 / 3 / 4 / 5 / 6 in the first row and battery cells 7 / 8 / 9 / 10 / 11 / 12 in the second row. When the battery cells are received in multiple rows, multiple groups can be used for simultaneous detection, making the combination flexible and compatible with more incoming material methods, which helps to improve CT. The image detection groups can be combined and used according to the number and arrangement of battery cells to improve detection flexibility.

[0153] According to some embodiments of the present application, optionally, please refer to Figure 4, the battery cells include at least two rows, and the multiple battery cells in each row are arranged in sequence; an image detection group is set corresponding to the arrangement direction of the battery cells in each row, and the image detection group can be arranged according to the arrangement method of the battery cells to avoid missed detection and improve the accuracy of detection.

[0154] According to some embodiments of the present application, referring to FIG. 5 , FIG. 5 is a flow chart of a battery sealing nail welding detection method proposed according to some embodiments of the present application.

[0155] In this embodiment, the battery sealing nail welding detection method includes:

[0156] Step S10: controlling the first camera and the light source to cooperate to capture a 2D image of the battery cell.

[0157] Step S20: controlling the second camera to capture a 3D image of the battery cell.

[0158] Step S30: completing the battery sealing pin welding inspection requirements based on the 2D image and 3D image corresponding to the same battery cell.

[0159] The battery sealing nail welding detection system includes a first camera and a second camera, which are connected by the same bracket. As shown in Figure 4, the first camera and the second camera move synchronously above the battery cell to take pictures of the battery cell below for detection. The battery cells are numbered according to the arrangement of the battery cells. For example, 2*6=12pcs of battery cells are numbered as 1 / 2 / 3 / 4 / 5 / 6 in the first row and 7 / 8 / 9 / 10 / 11 / 12 in the second row. The first camera is in front and the second camera is in the back. This combination is used as an image detection combination. The two sets of image detection combinations are installed in parallel with each other and can move forward synchronously to detect battery cells 1 / 2 / 3 / 4 / 5 / 6 and batteries 7 / 8 / 9 / 10 / 11 / 12 respectively.

[0160] The first camera is used to complete some of the battery sealing nail welding detection requirements related to 2D images, and the second camera is used to complete the remaining detection requirements of the battery sealing nail welding detection requirements related to 3D images. For example, when the 2D image of battery No. 1 is completed, the battery 2D algorithm processes some detection items. After the 3D image of battery No. 1 is completed, the battery 3D algorithm processes the remaining detection items. After the algorithm detection is completed, the detection result of battery No. 1 is output, thereby achieving full coverage of the battery sealing nail welding detection requirements through the combination of the first camera and the second camera, thereby improving the detection range.

[0161] According to some embodiments of the present application, optionally, the battery sealing nail welding detection method further includes: controlling the first camera and the second camera to move synchronously along the first direction when it is detected that the battery cell moves to a preset area.

[0162] When it is detected that the first camera, the light source, and the battery cell are concentric in the third direction, a 2D image of the battery cell is collected by the first camera and the light source in cooperation.

[0163] The second camera is controlled to sweep the battery cell along the first direction at a uniform speed to collect a 3D image of the battery cell.

[0164] In this embodiment, the preset area may be a detection area, the detection area may be a fixed detection position where the movement of the battery cell is terminated, the first direction may be a horizontal direction, and when it is detected that the battery cell has moved to the detection position, the first camera and the second camera are controlled to move synchronously in the horizontal direction. When the first camera and the second camera are located directly above the battery cell, the corresponding 2D image and 3D image of the battery cell are used.

[0165] The third direction may be a vertical direction coaxial with the first camera, the light source, and the battery cell. A complete imaging effect may be achieved by using a fixed-shot method with a 2D camera and a flying-shot method with a 3D camera.

[0166] In the technical solution of the embodiment of the present application, the precise control of detection is improved by controlling the first camera and the second camera to move to a preset photographing position, receiving a trigger signal, triggering photographing, completing photographing, and detecting an image.

[0167] In some embodiments, acquiring the 3D image of the battery cell by the second camera includes:

[0168] The second camera is controlled to sweep the battery cell along the first direction at a uniform speed to collect a 3D image of the battery cell.

[0169] In the technical solution of the embodiment of the present application, the second camera is a line scan camera, which generates a 3D image by uniform horizontal scanning without the aid of an external light source, thereby improving the efficiency of detection.

[0170] In some embodiments, the battery sealing nail welding detection method further includes:

[0171] In the case where there are multiple battery cells arranged along a first direction, the first camera is controlled to move along the first direction to sequentially capture 2D images of the battery cells arranged in the first direction, and the second camera is controlled to move along the first direction to sequentially capture 3D images of the battery cells arranged in the first direction.

[0172] In the technical solution of the embodiment of the present application, when there are multiple rows of battery cells, as shown in Figure 4, the entire process of battery sealing nail welding detection is controlled, and the effective control of the detection process is improved by controlling the work flow of the first camera and the second camera.

[0173] In some embodiments, the battery sealing nail welding detection method further includes:

[0174] Counting the collected 2D images and 3D images; and when the number of collected 2D images and 3D images reaches a preset number, controlling the first camera, the light source, and the second camera to return to a preset position.

[0175] The preset number is the number of battery cells. In the case of multiple rows of battery cells, after collecting 2D and 3D images of all battery cells, the 2D camera, 3D line scan camera and light source are controlled to return to the initial detection position.

[0176] In the technical solution of the embodiment of the present application, the 2D camera, 3D line scan camera and light source are simultaneously moved to the position of the first step to form a closed loop to wait for the next group of battery cells to arrive for cyclic detection, thereby improving the precise control of the detection.

[0177] The battery sealing pin welding inspection method further includes: controlling the order in which the first camera and the second camera take photos, respectively, according to a control sequence. The control sequence is a control signal during the first and second camera shooting processes, which is used to control the entire battery sealing pin welding inspection process. By controlling the workflow of the first and second cameras through the control sequence, effective control of the inspection process is improved.

[0178] According to some embodiments of the present application, optionally, the workflow includes at least moving the first camera and the second camera to a preset photographing position, receiving a trigger signal, triggering photographing, completing photographing, and image detection.

[0179] As shown in Figures 6a-6i, Figure 6a shows a 2D photo of a No. 1 battery, Figure 6b shows a 2D photo of a No. 2 battery, Figure 6c shows a 2D photo of a No. 3 battery, Figure 6d shows a 2D photo of a No. 4 battery and a 3D photo of a No. 1 battery, Figure 6e shows a 2D photo of a No. 5 battery and a 3D photo of a No. 2 battery, Figure 6f shows a 2D photo of a No. 6 battery and a 3D photo of a No. 3 battery, Figure 6g shows a 3D photo of a No. 4 battery, Figure 6h shows a 3D photo of a No. 5 battery, and Figure 6i shows a 3D photo of a No. 6 battery. The overall steps of the inspection process are as follows:

[0180] 1. When the battery cell moves to the inspection station, the first camera, light source, and the center of the No. 1 battery cell coincide in the Z-axis direction and a 2D photo of the battery is taken.

[0181] 2. Take a 2D photo with 2 batteries when the centers of the first camera, light source, and battery No. 2 coincide in the Z-axis direction.

[0182] 3. 3-battery 2D photography when the centers of the first camera, light source, and No. 3 battery cell coincide in the Z-axis direction

[0183] 4. When the centers of the first camera, light source, and No. 4 battery cell coincide in the Z-axis direction, a 2D image of the four batteries is taken. Before the 2D image of the four batteries is taken, the second camera moves horizontally across the battery at a constant speed to capture a 3D image of the battery.

[0184] 5. When the centers of the first camera, light source, and No. 5 battery cell coincide in the Z-axis direction, a 2D photo of the 5 batteries is taken. Before the 2D photo of the 5 batteries is taken, the 3D camera moves horizontally at a uniform speed to scan the 2 batteries, and the 3D image of the 2 batteries is collected.

[0185] 6. When the centers of the first camera, light source, and No. 6 battery cell coincide in the Z-axis direction, a 2D photo of the 6 batteries is taken. Before the 2D photo of the 6 batteries is taken, the 3D camera moves horizontally at a uniform speed to scan the 3 batteries, and the 3D image of the 3 batteries is collected.

[0186] 7. The 3D camera moves horizontally at a constant speed to scan the 4 batteries and collect 3D images of the 4 batteries.

[0187] 8. The 3D camera moves horizontally at a constant speed to scan 5 batteries and collect 3D images of the 5 batteries.

[0188] 9. The 3D camera moves horizontally at a constant speed to scan 6 batteries and collect 3D images of the 6 batteries.

[0189] After the above steps are completed, the 2D camera, the second camera and the light source move to the position of the first step at the same time to form a closed loop and wait for the next group of battery cells to arrive for cyclic detection, thereby controlling the first camera and the second camera to move to the preset photo position, receive the trigger signal, trigger the photo, complete the photo taking and image detection, thereby improving the precise control of the detection.

[0190] According to some embodiments of the present application, optionally, the battery sealing nail welding detection system also includes a light source, and the situations in which the first camera is triggered to take pictures include at least: the battery cell reaches a preset detection position; a first trigger signal is received; the centers of the first camera, the light source and the battery cell coincide, wherein the light source provides light for the first camera and is coaxial with the first camera.

[0191] The battery cell reaches the preset detection position, which triggers the first camera to take a photo when the battery cell is detected to have reached the preset detection position. A sensor may be provided at the preset detection position to detect whether the battery cell has reached the preset detection position.

[0192] The received first trigger signal may be a PLC-CCD trigger signal or other forms of trigger signals, which are not limited in this embodiment. The PLC-CCD trigger signal may generate a PLC-CCD trigger signal to trigger the first camera to take a photo when the battery cell reaches a preset detection position, or may generate a PLC-CCD trigger signal when a set time is reached.

[0193] The detection of the coincidence of the first camera, the light source and the center of the battery cell can be that the current battery cell image taken by the first camera is matched with a pre-stored image that coincides with the center of the battery cell, then it is determined that the first camera, the light source and the center of the battery cell coincide, and the first camera is triggered to take pictures in a variety of ways, thereby improving the flexibility of controlling the first camera.

[0194] According to some embodiments of the present application, optionally, the detection of the coincidence of the first camera, the light source and the center of the battery cell can be that the current battery cell image taken by the first camera is matched with a pre-stored image that coincides with the center of the battery cell, then it is determined that the first camera, the light source and the center of the battery cell coincide.

[0195] Before determining whether the centers of the first camera, the light source, and the battery cell coincide, the first camera and the battery cell can be first coincided, and then an image of the battery cell when the centers of the first camera and the battery cell coincide is captured, and the battery cell image is stored in a preset location. When determining whether the first camera is triggered to take a photo, the preset stored battery cell image is compared with the currently captured battery cell image. If the preset stored battery cell image is consistent with the currently captured battery cell image, it is determined that the centers of the first camera, the light source, and the battery cell coincide. If the preset stored battery cell image is inconsistent with the currently captured battery cell image, it is determined that the centers of the first camera, the light source, and the battery cell do not coincide. Therefore, the coincidence of the centers of the first camera, the light source, and the battery cell is determined by image matching of the coincidence of the centers of the battery cells, thereby improving the accuracy of the control of the first camera.

[0196] According to some embodiments of the present application, optionally, the second camera triggering the photo taking at least includes: receiving a second trigger signal; the second camera detecting a battery cell; and the first camera moving to a detection position corresponding to a battery cell with a preset number.

[0197] The received second trigger signal may be a PLC-CCD trigger signal or a trigger signal in other forms. This embodiment does not limit this. The PLC-CCD trigger signal may generate a PLC-CCD trigger signal when the set time is reached, or may generate a PLC-CCD trigger signal when a preset number of battery cells is reached.

[0198] The second camera may detect the battery cell when the second camera is scanning. When the scanning line initially scans the battery cell, the second camera may be triggered to start taking pictures.

[0199] Since the battery cells are numbered, when the first camera reaches a battery cell with a preset number, the second camera can be triggered to start taking pictures. For example, when the first camera takes a picture of battery cell No. 3, the second camera is triggered to start taking pictures. In this way, the second camera can be triggered to take pictures in multiple ways, thereby improving the flexibility of controlling the second camera.

[0200] According to some embodiments of the present application, optionally, the center distance between adjacent battery cells is not an arbitrary distance, but is determined based on the center distance between the battery cells. For example, if the center distance of the battery is 70mm*240mm, the center distance between the first camera and the second camera is 175mm. That is, when the first camera is located directly above the third battery cell, the scanning line of the second camera can be located at the edge of the first battery cell and start scanning, so as to obtain a complete image of the first battery cell, avoid incomplete scanning, and accurately trigger the second camera to start shooting, thereby improving the integrity of the second camera shooting.

[0201] The second camera is triggered to take photos according to the center distance between adjacent battery cells. When the second camera takes photos, a complete image of the battery cell can be taken, thereby improving the accuracy of the second camera's photos.

[0202] According to some embodiments of the present application, optionally, the battery sealing nail welding detection method further includes:

[0203] The battery cells are numbered in sequence; when the first camera moves to a battery cell with a preset number, the second camera is triggered to take a photo, thereby numbering the battery cells in sequence and achieving precise control of the detection process according to the number of the currently photographed battery cell.

[0204] According to some embodiments of the present application, optionally, the method further includes:

[0205] Perform feature extraction on the first image of the battery cell to obtain extracted features; compare the extracted features with preset defect features to determine the defect location; extract the defect image corresponding to the defect location in the second image of the battery cell; perform image recognition on the defect image to obtain the sealing nail welding detection result of the battery cell.

[0206] Feature extraction can be performed through image recognition extraction or gradient extraction.

[0207] In the technical solution of the embodiment of the present application, the defect location is first determined by the first image and preliminary screening is performed, and then the second image is used for verification to obtain the sealing pin welding detection result of the battery cell, thereby improving the accuracy of the detection.

[0208] According to some embodiments of the present application, optionally, performing image recognition on the defect image to obtain a sealing pin welding inspection result of the battery cell includes:

[0209] Perform image recognition on the defect image to obtain defect information; classify the defect information to obtain the defect type; and obtain the sealing nail welding detection result of the battery cell based on the defect type.

[0210] In the technical solution of the embodiment of the present application, the defect type is further located based on the defect information, and automated sealing pin welding detection is realized to improve the efficiency of detection.

[0211] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A battery sealing nail welding detection system, wherein: include: A first camera and a light source are used to cooperate in acquiring a 2D image of a battery cell; A second camera is used to collect 3D images of the battery cells; as well as, A processing device is electrically connected to the first camera, the light source and the second camera, and is used to complete the battery sealing nail welding detection requirements according to the 2D image and the 3D image corresponding to the same battery cell.

2. The battery sealing nail welding detection system according to claim 1, wherein: The first camera comprises an area array camera; and / or, The second camera includes a line scan camera.

3. The battery sealing nail welding detection system according to claim 1, wherein: The first camera and the second camera are movably installed along a first direction; The first camera and the second camera are spaced apart by a first preset distance along a first direction, so as to collect 2D images and 3D images corresponding to two battery cells spaced apart by a first preset number.

4. The battery sealing nail welding detection system as claimed in claim 3, wherein: The first preset distance is determined according to the center distance between the battery cells.

5. The battery sealing nail welding detection system according to claim 1, wherein: The first camera, the light source and the second camera are correspondingly arranged as a collection group. At least two of the collection groups are arranged at intervals along the second direction for collecting images of multiple columns of battery cells arranged at intervals along the second direction.

6. The battery sealing nail welding detection system as claimed in claim 5, wherein: Two adjacent acquisition groups are spaced apart by a second preset distance along a second direction, so as to acquire images corresponding to two columns of battery cells spaced apart by a second preset number.

7. The battery sealing nail welding detection system according to claim 5, wherein: In the same acquisition group, the first camera, the light source and the second camera move in the same direction; and / or, At least two of the first cameras in two of the acquisition groups and the two light sources move in the same direction; and / or, The two second cameras in at least two of the acquisition groups move in the same direction.

8. The battery sealing nail welding detection system according to claim 1, wherein: The first camera, the light source and the second camera move in the same direction.

9. The battery sealing nail welding detection system as claimed in claim 8, wherein: The battery sealing nail welding detection system also includes: A mounting bracket, wherein the first camera, the light source, and the second camera are all mounted on the mounting bracket; and A driving device is drivingly connected to the mounting bracket to drive the mounting bracket to move, and the driving device is electrically connected to the processing device.

10. The battery sealing nail welding detection system according to claim 9, wherein: The first camera, the light source and the second camera are correspondingly arranged as a collection group, and at least two of the collection groups are arranged; At least two of the collection groups are arranged on the mounting bracket.

11. The battery sealing nail welding detection system according to any one of claims 1 to 10, wherein: The light source comprises: A planar coaxial light source, arranged on the light collecting path of the first camera; and The annular light source is arranged on the collecting light path of the first camera and is located on the side of the planar coaxial light source facing away from the first camera.

12. The battery sealing nail welding detection system according to any one of claims 1 to 11, wherein: The first camera and the second camera are movably installed along a first direction; Along the first direction, the first camera is located in front of the second camera, and is used to first collect the 2D image of the same battery cell and then collect the 3D image of the same battery cell.

13. The battery sealing nail welding detection system according to any one of claims 1 to 12, wherein: The battery cells are sequentially provided with identification marks for each row and column of the battery cells according to the arrangement mode, and the identification marks correspond to the battery cells one by one, and the battery cells are positioned by the identification marks.

14. The battery sealing nail welding detection system according to any one of claims 1 to 13, wherein: Using a combination of area array cameras and 3D line scan lasers, when battery cells are incoming, a single-station dual-channel system with two area array cameras and two 3D line scan lasers is used for dual-channel inspection at the same time.

15. A battery sealing nail welding detection method, wherein: The battery sealing nail welding detection method comprises: Control the first camera and the light source to cooperate in collecting a 2D image of the battery cell; Controlling the second camera to collect a 3D image of the battery cell; Complete battery sealing pin welding inspection requirements based on the 2D and 3D images corresponding to the same battery cell.

16. The battery sealing nail welding detection method according to claim 15, wherein: The battery sealing nail welding detection method also includes: When it is detected that the battery cell moves to a preset area, controlling the first camera and the second camera to move along a first direction; When it is detected that the first camera, the light source, and the battery cell are concentric in a third direction, the first camera and the light source cooperate to collect a 2D image of the battery cell; The second camera is controlled to sweep the battery cell along the first direction at a uniform speed to collect a 3D image of the battery cell.

17. The battery sealing nail welding detection method according to claim 15, wherein: The battery sealing nail welding detection method also includes: In the case where there are multiple battery cells arranged along a first direction, the first camera is controlled to move along the first direction to sequentially capture 2D images of the battery cells arranged in the first direction, and the second camera is controlled to move along the first direction to sequentially capture 3D images of the battery cells arranged in the first direction.

18. The battery sealing nail welding detection method according to claim 15, wherein: The battery sealing nail welding detection method also includes: Statistically collect 2D and 3D images; When the number of the collected 2D images and 3D images reaches a preset number, the first camera, the light source and the second camera are controlled to return to preset positions.

19. The battery sealing nail welding detection method according to claim 15, wherein: The triggering condition for controlling the first camera and the light source to cooperate in collecting the 2D image of the battery cell includes at least one of the following: The battery cell reaches the preset detection position; receiving a first trigger signal; It is detected that the centers of the first camera, the light source, and the battery cell coincide with each other, wherein the light source provides light for the first camera and is coaxial with the first camera.

20. The battery sealing nail welding detection method according to claim 19, wherein: The detecting that the centers of the first camera, the light source, and the battery cell coincide with each other includes: If the current battery cell image captured by the first camera matches a pre-stored image that coincides with the center of the battery cell, it is determined that the first camera, the light source, and the center of the battery cell coincide.

21. The battery sealing nail welding detection method according to claim 19, wherein: Also includes; Before determining whether the centers of the first camera, the light source, and the battery cell coincide, the first camera is controlled to coincide with the center of the battery cell, then an image of the battery cell is captured when the centers of the first camera and the battery cell coincide, and the image of the battery cell is stored in a preset position; when determining whether the first camera is triggered to take a photo, the preset stored battery cell image is compared with the currently captured battery cell image; if the preset stored battery cell image is consistent with the currently captured battery cell image, it is determined that the centers of the first camera, the light source, and the battery cell coincide; if the preset stored battery cell image is inconsistent with the currently captured battery cell image, it is determined that the first camera, the light source, and the battery cell do not coincide with the centers.

22. The battery sealing nail welding detection method according to any one of claims 15 to 21, wherein: The triggering condition for controlling the second camera to collect the 3D image of the battery cell includes at least one of the following: receiving a second trigger signal; The second camera detects a battery cell; The first camera moves to a detection position corresponding to a battery cell with a preset number.

23. The battery sealing nail welding detection method according to any one of claims 15 to 22, wherein: Also includes: Extracting features from the first image of the battery cell to obtain extracted features; Comparing the extracted features with preset defect features to determine the defect location; Extracting a defect image corresponding to the defect position in the second image of the battery cell; Image recognition is performed on the defect image to obtain a sealing pin welding detection result of the battery cell.

24. The battery sealing nail welding detection method according to claim 23, wherein: The performing image recognition on the defect image to obtain the sealing pin welding detection result of the battery cell includes: Performing image recognition on the defect image to obtain defect information; Classifying the defect information to obtain a defect type; The sealing pin welding detection result of the battery cell is obtained according to the defect type.

25. The battery sealing nail welding detection method according to any one of claims 15 to 24, wherein: Also includes: The photographing order of the first camera and the second camera is controlled respectively according to the control timing. The control timing is a control signal in the photographing process of the first camera and the second camera, which is used to control the entire process of battery sealing nail welding detection.

26. The battery sealing nail welding detection method according to claim 25, wherein: The workflow at least includes moving the first camera and the second camera to a preset photographing position, receiving a trigger signal, triggering photographing, photographing completion, and image detection; the detection process includes: The battery cell moves to the inspection station and the first camera, light source, and the center of the No. 1 battery cell coincide with each other in the Z-axis direction, and a 2D photo of the battery cell is taken. When the first camera, the light source, and the center of the No. 2 battery cell coincide in the Z-axis direction, take a 2D photo with 2 batteries; 3-battery 2D photo when the first camera, light source, and No. 3 battery cell centers coincide in the Z-axis direction; When the first camera, light source, and No. 4 battery cell center coincide in the Z-axis direction, 4 batteries are photographed in 2D; before 4 batteries are photographed in 2D, the second camera moves horizontally at a uniform speed to scan 1 battery, and 1 battery 3D image is collected; When the centers of the first camera, light source, and No. 5 battery cell coincide in the Z-axis direction, 2D photos of 5 batteries are taken. Before 2D photos of 5 batteries are taken, the 3D camera moves horizontally at a uniform speed to scan 2 batteries, and 3D images of 2 batteries are collected; When the centers of the first camera, light source, and No. 6 battery cell coincide in the Z-axis direction, 2D photos of 6 batteries are taken. Before 2D photos of 6 batteries are taken, the 3D camera moves horizontally at a uniform speed to scan 3 batteries, and 3D images of 3 batteries are collected; The 3D camera moves horizontally at a uniform speed to scan the 4 batteries, and the 3D images of the 4 batteries are collected; The 3D camera moves horizontally at a uniform speed to scan 5 batteries, and 3D images of the 5 batteries are collected; The 3D camera moves horizontally at a uniform speed to scan 6 batteries, and 3D images of the 6 batteries are collected; After the step is completed, the 2D camera, the second camera and the light source are controlled to move to the position of the first step at the same time and wait for the next group of battery cells to arrive for cycle detection.

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