Battery sealing pin welding inspection system and method

Abstract

The present application relates to the technical field of vision inspection. Disclosed in the present application are a battery sealing pin welding inspection system and method. The system comprises a structured light camera, a light source, a first driving device configured to drive the structured light camera, and a second driving device configured to drive the light source; the first driving device drives the structured light camera and the second driving device drives the light source to make same be located at a preset collection position for a battery cell; the structured light camera acquires a first sealing pin image; the second driving device drives the light source to leave the preset collection position for the battery cell; and the structured light camera acquires a second sealing pin image. The present application uses the structured light camera to acquire the first sealing pin image and the second sealing pin image of the battery cell, so as to ensure the image integrity, thus avoiding the phenomenon of image defects of blind zones of vision, and using the structured light camera to generate both the first sealing pin image and the second sealing pin image avoids the technical problem of alignment of coordinate systems of images, thus widening the inspection range.

Description

Battery sealing nail welding detection system and method

[0001] Priority information

[0002] This application claims priority to Chinese patent application No. 202311174724.3 filed on September 13, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] 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

[0004] 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 sealing pins, the inspection accuracy does not meet the inspection requirements.

[0005] Application Contents

[0006] 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 existing sealing nail visual inspection process cannot meet the inspection item requirements.

[0007] In a first aspect, the present application provides a battery sealing nail welding detection system, comprising:

[0008] Structured light camera;

[0009] light source;

[0010] a first driving device, configured to drive the structured light camera;

[0011] a second driving device, configured to drive the light source;

[0012] The first driving device drives the structured light camera and the second driving device drives the light source to be located at a preset collection position of the battery cell, and the structured light camera collects a first sealing nail image; the second driving device drives the light source to leave the preset collection position of the battery cell, and the structured light camera collects a second sealing nail image.

[0013] In the technical solution of the embodiment of the present application, the first sealing nail image and the second sealing nail image of the battery cell are collected, and the structured light camera can capture the image of the battery cell from multiple angles, thereby ensuring the integrity of the image and avoiding image defects in the blind area of ​​the field of view. The first sealing nail image and the second sealing nail image are generated simultaneously by the structured light camera, thereby avoiding the technical problem of image coordinate system alignment and improving the detection range.

[0014] In some embodiments, the light source has a first mating position and a second mating position relative to the structured light camera;

[0015] At the first matching position, the second driving device drives the light source to be on the collection light path of the structured light camera;

[0016] At the second matching position, the second driving device drives the light source to stagger the collection light path setting of the structured light camera.

[0017] In the technical solution of the embodiment of the present application, the structured light camera captures different images when the light source is at different matching positions, which can ensure that the light source fills the structured light camera with light to make the image taken by the structured light camera clearer, improve the accuracy of detection, and meet different image acquisition requirements.

[0018] In some embodiments, the battery cells are a plurality of battery cells arranged along a preset direction, and the preset direction includes a first direction and a second direction perpendicular to each other;

[0019] The structured light camera and the light source are correspondingly configured as a collection group. At least two of the collection groups are provided and arranged at intervals along a preset direction for collecting images of sealing nails of a plurality of battery cells arranged along the preset direction.

[0020] In the technical solution of the embodiment of the present application, the number of acquisition groups is combined and used according to the number and arrangement of battery cells to improve shooting efficiency and detection flexibility.

[0021] In some embodiments, the structured light camera includes a plurality of projectors spaced circumferentially apart;

[0022] In the two acquisition groups arranged along the second direction, a projector of the structured light camera in one of the acquisition groups is arranged at an interval position corresponding to two adjacent projectors of the structured light camera in the other acquisition group.

[0023] In the technical solution of the embodiment of the present application, multiple projectors are arranged around the structured light camera, so that the structured light camera can capture images of sealing nails from multiple angles, ensuring the integrity of the image and avoiding image defects in the blind area of ​​the field of view.

[0024] In some embodiments, a projector of a structured light camera in one of the acquisition groups is arranged to avoid a projector of a structured light camera in another of the acquisition groups.

[0025] In the technical solution of the embodiment of the present application, for smaller battery cells, when space is limited, avoidance is performed between the structured light cameras in each acquisition group during setting, thereby reducing the size occupied by the structured light camera during setting and improving the convenience of image acquisition.

[0026] In some embodiments, at least two of the acquisition groups move synchronously.

[0027] In the technical solution of the embodiment of the present application, each acquisition group moves synchronously in the same direction when moving, so that when the acquisition group acquires images, it can move in one direction at a uniform and stable speed, meeting the detection rhythm requirements of the battery cell and avoiding the phenomenon of reduced accuracy due to unstable mechanism during acquisition.

[0028] In some embodiments, the battery sealing nail welding detection system further includes: a collection bracket, and the structured light camera is arranged on the collection bracket.

[0029] In the technical solution of the embodiment of the present application, the structured light camera is arranged on the acquisition bracket, so that during acquisition, the structured light camera is fixed by the acquisition bracket to improve the stability of shooting.

[0030] In some embodiments, the battery sealing nail welding detection system further includes: a fixed bracket, and the collection bracket is movably mounted on the fixed bracket.

[0031] In the technical solution of the embodiment of the present application, the acquisition bracket is fixed by a fixed bracket to ensure the stability of the structured light camera when moving, improve the stability of the acquired image, and avoid the phenomenon of reduced accuracy caused by instability of the structured light camera when acquiring images.

[0032] In some embodiments, the structured light camera includes:

[0033] A camera body, the camera body being arranged on the acquisition bracket;

[0034] A plurality of projectors are arranged on the acquisition bracket along the circumference of the acquisition bracket, each of the projectors is located on the acquisition light path of the camera body, and the plurality of projectors are used to correspond to different positions of the battery cells.

[0035] In the technical solution of the embodiment of the present application, the structured light camera is formed by a camera body and a plurality of projectors, so that images can be captured from multiple angles during image acquisition, thereby improving the accuracy of the shooting.

[0036] In some embodiments, it further includes:

[0037] control device, and

[0038] processing device;

[0039] The control device is electrically connected to the first driving device and the second driving device, and is used to control the first driving device and the second driving device to drive the structured light camera and the light source to capture images of the sealing nails of the battery cell;

[0040] The processing device is electrically connected to the control device, and is used to obtain a sealing nail welding detection result of the battery cell according to the sealing nail image.

[0041] In the technical solution of the embodiment of the present application, the movement of the first driving device and the second driving device is controlled by a control device to meet the detection rhythm requirements and shooting type requirements of the battery cell, improve the accuracy of the detection, and the collected sealing nail image is processed by a processing device to obtain the detection result, which can quickly determine the welding condition of the sealing nail.

[0042] In a second aspect, the present application provides a battery sealing nail welding detection method. The battery sealing nail welding detection system includes: a structured light camera, a light source, a first driving device, a second driving device, a control device, and a processing device. The method includes:

[0043] The control device controls the first driving device to drive the structured light camera to move to a preset collection position of the battery cell;

[0044] The control device controls the second driving device to drive the light source to move to different matching positions;

[0045] The structured light camera is triggered to capture a first sealing nail image and a second sealing nail image of the battery cell at the preset capture position according to the different matching positions of the light source;

[0046] The processing device obtains a sealing nail welding detection result of the battery cell according to the first sealing nail image and the second sealing nail image.

[0047] In the technical solution of the embodiment of the present application, the control device controls the first driving device to drive the structured light camera to move to the preset collection position of the battery cell, thereby facilitating image collection of the battery cell, and controls the second driving device to drive the light source to move to different matching positions, thereby satisfying the collection of different types of sealing nail images, and the processing device obtains the sealing nail welding detection results of the battery cell according to the collected images. The structured light camera can capture images of the battery cell from multiple angles, ensuring the integrity of the image and avoiding image defects in the blind area of ​​the field of view. The first sealing nail image and the second sealing nail image are generated simultaneously by the structured light camera, avoiding the technical problem of image coordinate system alignment and improving the detection range.

[0048] In some embodiments, the light source has a first mating position and a second mating position relative to the structured light camera;

[0049] The structured light camera is triggered to collect a first sealing nail image and a second sealing nail image of the battery cell at the preset collection position according to the light source being at different matching positions, including:

[0050] At the first matching position, the light source is in the collection light path of the structured light camera, and the structured light camera triggers the collection of the first sealing nail image of the battery cell at the preset collection position;

[0051] At the second matching position, the light source staggers the collection light path of the structured light camera, and the structured light camera triggers collection of the second sealing nail image of the battery cell at the preset collection position.

[0052] In the technical solution of the embodiment of the present application, by controlling the light source to be set at different positions, the structured light camera can capture and generate the first sealing nail image and the second sealing nail image, which meets the detection accuracy requirements and is compatible with a larger field of view, thereby improving the shooting effect.

[0053] In some embodiments, the processing device obtains the sealing nail welding detection result of the battery cell according to the first sealing nail image and the second sealing nail image, including:

[0054] The processing device performs feature extraction on the first sealing nail image to obtain extracted features;

[0055] Comparing the extracted features with preset defect features to determine the defect location;

[0056] extracting a defect image corresponding to the defect position in the second sealing nail image;

[0057] Image recognition is performed on the defect image to obtain a sealing pin welding detection result of the battery cell.

[0058] In the technical solution of the embodiment of the present application, the defect location is first determined by the first sealing nail image and preliminary screening is performed, and then the second sealing nail image is used for verification to obtain the sealing nail welding detection result of the battery cell, thereby improving the accuracy of the detection.

[0059] In some embodiments, performing image recognition on the defect image to obtain the sealing pin welding detection result of the battery cell includes:

[0060] performing image recognition on the defect image to obtain defect information;

[0061] Classifying the defect information to obtain a defect type;

[0062] The sealing pin welding inspection result of the battery cell is obtained according to the defect type.

[0063] 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.

[0064] 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

[0065] FIG1 is a schematic structural diagram of a battery sealing nail welding detection system according to some embodiments of the present application;

[0066] FIG2 is a schematic diagram of the numbering method of battery cells in some embodiments of the present application;

[0067] FIG3 is a schematic diagram of an arrangement between a collection group and a battery cell according to some embodiments of the present application;

[0068] FIG4 is another schematic diagram of the arrangement between the collection group and the battery cells in some embodiments of the present application;

[0069] FIG5 is another structural schematic diagram of a battery sealing nail welding detection system according to some embodiments of the present application;

[0070] FIG6 is a schematic diagram of the structure of the arrangement between collection groups in some embodiments of the present application;

[0071] FIG7 is another schematic diagram of the arrangement between collection groups in some embodiments of the present application;

[0072] FIG8 is another structural schematic diagram of a battery sealing nail welding detection system according to some embodiments of the present application;

[0073] FIG9 is a flow chart of a battery sealing nail welding detection method proposed in some embodiments of the present application;

[0074] FIG10 is a schematic diagram of the overall detection process of a battery sealing nail welding detection method according to some embodiments of the present application;

[0075] FIG11 is a schematic diagram of another overall detection process of a battery sealing nail welding detection method according to some embodiments of the present application;

[0076] FIG12 is a schematic diagram of another overall detection process of a battery sealing nail welding detection method according to some embodiments of the present application;

[0077] FIG13 is a schematic diagram of another overall detection process of a battery sealing nail welding detection method according to some embodiments of the present application;

[0078] FIG14 is a schematic diagram of another overall detection process of a battery sealing nail welding detection method according to some embodiments of the present application;

[0079] FIG15 is another schematic diagram of the overall detection process of the battery sealing nail welding detection method in some embodiments of the present application.

[0080] The figure numbers in the specific implementation manner are as follows: Battery sealing nail welding detection system 1; Structured light camera 10, projector 101, third structured light camera 102, fourth structured light camera 103; Light source 20, third light source 201, fourth light source 202, first driving device 30, second driving device 40, acquisition group 50, first acquisition group 501, second acquisition group 502, third acquisition group 503, fourth acquisition group 504, acquisition bracket 60, fixed bracket 70; Battery cell 2. DETAILED DESCRIPTION

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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).

[0087] 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.

[0088] 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.

[0089] Currently, market developments indicate that power batteries are becoming increasingly widespread. They are used not only in energy storage systems such as hydropower, thermal, wind, and solar power plants, but also in electric vehicles like electric bicycles, electric motorcycles, and electric vehicles, as well as in military equipment and aerospace. As the application of power batteries continues to expand, market demand is also increasing, and safety requirements for power battery production are also increasing. Prior to packaging, the battery cells must be sealed with sealing pins. After the sealing pins seal the injection holes, welding is performed, and welding inspection is performed after welding is completed.

[0090] It has been discovered that during the current welding inspection of battery cells, a grating is projected onto the surface of the object being tested, and then a camera is used to photograph the grating on the surface of the object. The grating is projected onto the camera's optical path to form a triangle at a specific angle. The cross-section of the battery sealing nail is concave and convex, so the triangular imaging angle of the optical path is fixed, resulting in information loss in specific areas at specific angles in the imaging.

[0091] Based on this, after in-depth research, a battery sealing nail welding detection system was designed. It uses a structured light camera to capture images and simultaneously generate 2D images and 3D images, thereby achieving full coverage of battery cell sealing detection needs and improving the detection range.

[0092] 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.

[0093] 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.

[0094] In response to the problem that the inspection items in the existing visual inspection process of sealing nails cannot meet the inspection requirements, the present application proposes a battery sealing nail welding detection system 1. Please refer to Figure 1. In this example, the battery sealing nail welding detection system 1 includes: a structured light camera 10, a light source 20, a first driving device 30, which is configured to drive the structured light camera 10, and a second driving device 40, which is configured to drive the light source 20. The first driving device 30 drives the structured light camera 10 and the second driving device 40 drives the light source 20 to be located at a preset collection position of the battery cell 2. The structured light camera 10 collects the first sealing nail image, and the second driving device 40 drives the light source 20 to leave the preset collection position of the battery cell 2, and the structured light camera 40 collects the second sealing nail image.

[0095] The number of structured light cameras 10 can be set as needed, and can also be set according to the number or arrangement of battery cells 2. The number of structured light cameras 10 can be one, two, four, etc. By photographing the battery cells 2 with the structured light cameras 10, both 2D and 3D images can be generated simultaneously, meeting the needs of more inspection items.

[0096] The preset acquisition position is a position directly opposite to the battery cell 2 and coincides with the center of the battery cell 2. Specifically, the center of the structured light camera 10 coincides with the center of the battery cell 2. The structured light camera 10 uses a vertical downward shooting method to shoot the battery cell 2 to improve the shooting effect.

[0097] The first driving device 30 and the second driving device 40 can be a driving motor, a driving motor, or other devices that can drive the structured light camera 10 and the light source 20 to move, or other power-driven devices, which is not limited in this embodiment.

[0098] The direction of movement of the structured light camera 10 and the light source 20 can be leftward, rightward, upward, or downward. The specific moving direction can be selected according to the incoming material method of the battery cells 2.

[0099] The first driving device 30 is connected to the structured light camera 10 to drive the structured light camera 10 to move, and the second driving device 40 is connected to the light source 20 to drive the light source 20 to move.

[0100] The first sealing nail image and the second sealing nail image are of different types. The first sealing nail image is a 2D sealing nail image, and the second sealing nail image is a 3D sealing nail image.

[0101] Generating a 2D image requires the help of an external light source, that is, when the structured light camera 10 captures the first sealing nail image, the light source 20 is required for fill light. The light source 20 is located below the structured light camera 10. When the structured light camera 10 captures the first sealing nail image of the battery cell, the second driving device 30 drives the light source 20 to be located directly below the structured light camera 10, and the center of the light source 20 coincides with the center of the structured light camera 10 and the center of the captured battery cell 2.

[0102] The light source 20 is a planar coaxial light. When generating a 3D image, the light source 20 needs to be moved away so that the captured battery cell 2 can be photographed again by the structured light camera 10 to generate a 3D image. Therefore, when the structured light camera 10 captures the second sealing nail image, the second driving device 40 drives the light source 20 to leave the preset collection position of the battery cell 2.

[0103] Optionally, the second driving device 30 can drive the light source 20 to the next battery cell 2 to be collected, so that when the structured light camera 10 needs to collect the next battery cell 2, the first driving device 30 drives the structured light camera 10 to move from the preset collection position to the next battery cell 2.

[0104] In a specific implementation, the battery cells 2 can be supplied in a disposable double-row format of 2*6 = 12 cells, or in other formats, and this embodiment does not limit this. This embodiment uses 2*6 = 12 cells as an example for illustration. The center-to-center spacing of the battery cells 2 can be determined based on the actual conditions of the incoming battery cells, and this embodiment does not limit this. This embodiment uses a center-to-center spacing of 70mm * 240mm for illustration.

[0105] In the technical solution of the embodiment of the present application, the first sealing nail image and the second sealing nail image of the battery cell are collected, and the structured light camera can capture the image of the battery cell from multiple angles, thereby ensuring the integrity of the image and avoiding image defects in the blind area of ​​the field of view. The first sealing nail image and the second sealing nail image are generated simultaneously by the structured light camera, thereby avoiding the technical problem of image coordinate system alignment and improving the detection range.

[0106] In some embodiments, the light source 20 has a first mating position and a second mating position relative to the structured light camera 10;

[0107] At the first matching position, the second driving device 40 drives the light source to be on the collection light path of the structured light camera 10;

[0108] At the second matching position, the second driving device 40 drives the light source to stagger the collection light path setting of the structured light camera 10 .

[0109] It should be noted that the first matching position is the position where the center of the light source 20 and the structured light camera 10 coincide with the center of the currently collected battery cell 2 in the Z-axis direction, and the second matching position is the position where the light source 20 and the structured light camera 10 are staggered.

[0110] When the structured light camera 10 captures the first sealing nail image, the structured light camera 10 requires a light source for fill light, and the second driving device 40 drives the light source to be in the collection light path of the structured light camera 10. When the structured light camera 10 captures the second sealing nail image, the light source 20 is not required for fill light, and the second driving device 40 drives the light source 20 to stagger the collection light path of the structured light camera 10, and the second sealing nail image is directly captured by the structured light camera 10.

[0111] In the technical solution of the embodiment of the present application, the structured light camera captures different images when the light source is at different matching positions, which can ensure that the light source fills the structured light camera with light to make the image taken by the structured light camera clearer, improve the accuracy of detection, and meet different image acquisition requirements.

[0112] In some embodiments, the battery cells 2 are multiple battery cells 2 arranged along a preset direction, and the preset direction includes a first direction and a second direction perpendicular to each other;

[0113] The structured light camera 10 and the light source 20 are correspondingly configured as a collection group 50 . There are at least two collection groups 50 arranged at intervals along a preset direction for collecting images of sealing nails of a plurality of battery cells 2 arranged along the preset direction.

[0114] It should be noted that the first direction and the second direction can be the horizontal direction and the vertical direction respectively. The battery cells 2 are sequentially provided with identification marks for the battery cells 2 in each row and column according to the arrangement. The identification marks are unique and correspond one-to-one with the battery cells. The battery cells can be effectively located by 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 2 shown in FIG. 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 / That is, the arrangement direction of the first row of battery cells 2 is the first direction, and the arrangement direction of battery cells No. ① and No. ⑦ is the second direction.

[0115] At least two collection groups 50 are provided in a preset direction, as shown in FIG3 , which is a schematic diagram of an arrangement between the collection groups 50 and the battery cells 2. There are two collection groups 50 , each including a first collection group 501 and a second collection group 502 . A certain distance d is spaced between the first collection group 501 and the second collection group 502 . The distance d between the first collection group 501 and the second collection group 502 can be adjusted according to the spacing between adjacent battery cells 2 in the battery cells 2 .

[0116] For example, if the battery cells 2 are arranged in two rows (2*6 = 12 cells), and the horizontal center distance between adjacent battery cells in the battery cells 2 is 70 mm and the vertical center distance is 240 mm, then the spacing between the first collection group 501 and the second collection group 502 can be set to 70*3 = 210 mm. As shown in Figure 4, Figure 4 is another schematic diagram of the arrangement between the collection groups 50 and the battery cells 2. There are two collection groups, including a third collection group 503 and a fourth collection group 504. The third collection group 503 and the fourth collection group 504 are arranged along the second direction, adjacent to each other, and the spacing between the third collection group 503 and the fourth collection group 504 is 240 mm.

[0117] In the technical solution of the embodiment of the present application, the number of acquisition groups is combined and used according to the number and arrangement of battery cells to improve shooting efficiency and detection flexibility.

[0118] In some embodiments, as shown in FIG5 , the structured light camera 10 includes a plurality of projectors 101 spaced apart along the circumference;

[0119] In the two acquisition groups 50 arranged along the second direction, a projector No. A 101 of the structured light camera 10 in one acquisition group 503 is arranged corresponding to the interval position of the adjacent projectors No. B and No. C 101 of the structured light camera 10 in the other acquisition group 504 .

[0120] It should be noted that when projector 101 (number A) of the structured light camera 10 in acquisition group 503 corresponds to the space between adjacent projectors 101 (numbers B and C) of the structured light camera 10 in acquisition group 504, the two structured light cameras 10 can be staggered. Since the vertical spacing between battery cells 2 is fixed, if the size of the structured light camera 10 is less than or equal to the center-to-center distance between adjacent rows of battery cells 2, the third acquisition group 503 and the fourth acquisition group 504 can be arranged in a "cross configuration," as shown in Figure 6, which is a schematic diagram of the arrangement between the acquisition groups.

[0121] In the technical solution of the embodiment of the present application, multiple projectors are arranged around the structured light camera, so that the structured light camera can capture images of sealing nails from multiple angles, ensuring the integrity of the image and avoiding image defects in the blind area of ​​the field of view.

[0122] In some embodiments, as shown in FIG. 7 , the projector 101 of the structured light camera 10 in one acquisition group 503 and the projector 101 of the structured light camera 10 in another acquisition group 504 are arranged to avoid each other.

[0123] When the size of the structured light camera 10 is larger than the center distance between adjacent rows of battery cells 2, the projectors 101 in the corresponding structured light cameras 10 in the adjacent rows need to be staggered to avoid collision between the two acquisition groups 50 when acquiring images of the corresponding battery cells 2, thereby affecting the acquisition effect.

[0124] In the technical solution of the embodiment of the present application, for smaller battery cells, when space is limited, avoidance is performed between the structured light cameras in each acquisition group during setting, thereby reducing the size occupied by the structured light camera during setting and improving the convenience of image acquisition.

[0125] In some embodiments, at least two acquisition groups 50 move synchronously.

[0126] It should be noted that when collecting images of the battery cells 2 , the multiple collection groups 50 move synchronously, so that images of different battery cells 2 can be collected simultaneously, meeting the detection rhythm requirement of the battery cells.

[0127] In the technical solution of the embodiment of the present application, each acquisition group moves synchronously in the same direction when moving, so that when the acquisition group acquires images, it can move in one direction at a uniform and stable speed, meeting the detection rhythm requirements of the battery cell and avoiding the phenomenon of reduced accuracy due to unstable mechanism during acquisition.

[0128] In some embodiments, as shown in FIG8 , the battery sealing nail welding detection system further includes: a collection bracket 60 , and the structured light camera 10 is disposed on the collection bracket 60 .

[0129] It should be noted that the acquisition bracket 60 can fix the structured light camera 10 , so that when the structured light camera 10 is acquiring data, the acquisition bracket 60 drives the structured light camera 10 to move.

[0130] In the technical solution of the embodiment of the present application, the structured light camera is arranged on the acquisition bracket 60 , so that during acquisition, the structured light camera 10 is fixed by the acquisition bracket 60 , thereby improving the stability of shooting.

[0131] In some embodiments, the battery sealing nail welding detection system further includes: a fixed bracket 70 , and the collection bracket 60 is movably mounted on the fixed bracket 70 .

[0132] It should be understood that the fixing bracket 70 is used to fix the acquisition bracket 60 , so that the acquisition bracket 60 can be fixed by the fixing bracket 70 when the structured light camera 10 acquires images.

[0133] In the technical solution of the embodiment of the present application, the acquisition bracket 60 is fixed by the fixing bracket 70 to ensure the stability of the structured light camera when moving, improve the stability of the acquired image, and avoid the phenomenon of reduced accuracy caused by the instability of the structured light camera when acquiring images.

[0134] In some embodiments, the structured light camera 10 includes:

[0135] The camera body is arranged on the acquisition bracket 60;

[0136] A plurality of projectors are provided on the acquisition bracket 60 along the circumference of the acquisition bracket 60 . Each projector is located on the acquisition light path of the camera body. The plurality of projectors are used to correspond to different positions of the battery cell 2 .

[0137] It should be noted that the structured light camera 10 includes a camera body and multiple projectors. The camera body can be a camera that can capture images, such as a SLR camera. The multiple projectors are arranged on the acquisition bracket 60 along the circumference of the acquisition bracket 60. The multiple projectors are located below the camera body, and the center of the multiple projectors is located on the same Z axis as the camera body.

[0138] When the structured light camera 10 needs to capture a 3D image, the camera body works together with multiple projectors to project active structural information onto the surface of the battery cell 2 through the projector. Then, the camera body shoots the surface of the battery cell 2 to obtain a 3D second sealing nail image.

[0139] In the technical solution of the embodiment of the present application, the structured light camera is formed by a camera body and a plurality of projectors, so that images can be captured from multiple angles during image acquisition, thereby improving the accuracy of the shooting.

[0140] In some embodiments, it further includes:

[0141] control means, and, processing means;

[0142] The control device is electrically connected to the first driving device and the second driving device, and is used to control the first driving device and the second driving device to drive the structured light camera and the light source to capture images of the sealing nails of the battery cell;

[0143] The processing device is electrically connected to the control device and is used to obtain a sealing nail welding detection result of the battery cell according to the sealing nail image.

[0144] It should be noted that the control device may be a lower computer, and the first driving device 30 and the second driving device 40 may be controlled by the control device.

[0145] When image capture is required, the control device controls the movement of the first drive device 30 and the second drive device 40, thereby driving the structured light camera 10 and the light source 20 to move. For example, when the structured light camera 10 needs to capture a 2D image of the first sealing nail of the battery cell 2, the control device controls the first drive device 30 to drive the structured light camera 10 to be located directly above the battery cell 2, and controls the second drive device 40 to drive the light source 20 to be located between the structured light camera 10 and the battery cell 2, and concentric with the battery cell 2 and the structured light camera 10.

[0146] When the structured light camera 10 needs to capture the 3D image of the second sealing nail of the battery cell 2, the control device controls the second driving device 40 to drive the light source 20 away from directly above the battery cell 2, and can drive the light source 20 to move directly above the next battery cell 2, so as to facilitate the subsequent image capture of the next battery cell 2.

[0147] It should be understood that the processing device can be a host computer, and the processing device is electrically connected to the control device, so as to receive the first sealing nail image and the second sealing nail image captured by the structured light camera 10 sent by the control device, and process the first sealing nail image and the second sealing nail image to obtain the sealing nail welding detection result of the battery cell.

[0148] In the technical solution of the embodiment of the present application, the movement of the first driving device and the second driving device is controlled by a control device to meet the detection rhythm requirements and shooting type requirements of the battery cell, improve the accuracy of the detection, and the collected sealing nail image is processed by a processing device to obtain the detection result, which can quickly determine the welding condition of the sealing nail.

[0149] According to some embodiments of the present application, referring to FIG9 , FIG9 is a battery sealing nail welding detection method proposed according to some embodiments of the present application. The battery sealing nail welding detection system includes: a structured light camera, a light source, a first driving device, a second driving device, a control device, and a processing device. The method includes:

[0150] Step S10: the control device controls the first driving device to drive the structured light camera to move to a preset acquisition position of the battery cell.

[0151] It should be noted that the acquisition station of the battery cell can be set in advance, so that the preset acquisition position of the battery cell can be determined. When acquiring images of the battery cell, the control device starts working, and the control device controls the first drive device to drive the structured light camera to move to the preset acquisition position of the battery cell. The structured light camera acquires 2D images and 3D images of the battery cell. When acquiring 2D images and 3D images of the battery cell, the structured light camera is located at the preset acquisition position of the battery cell.

[0152] Step S20: the control device controls the second driving device to drive the light source to move to a different matching position.

[0153] When the structured light camera captures a 2D image of a battery cell, it requires the aid of an external light source. When the structured light camera captures a 3D image of a battery cell, the external light source needs to be removed. Therefore, the control device needs to control the second drive device to drive the light source to different positions, so that the structured light camera can simultaneously generate a 2D image of the battery cell and a 3D image of the sealing nail of the battery cell. For example, at a first mating position, the control device controls the second drive device to drive the light source to be concentric with the battery cell and the structured light camera. At a second mating position, the control device controls the second drive device to drive the light source away from the preset acquisition position of the battery cell or away from the acquisition optical path of the structured light camera.

[0154] Step S30: The structured light camera is triggered to capture a first sealing nail image and a second sealing nail image of the battery cell at a preset capture position according to the light source being at different matching positions.

[0155] In a specific implementation, after the structured light camera moves to the preset collection position of the battery cell, it can trigger the collection of the first sealing nail image and the second sealing nail image of the battery cell at different matching positions according to the light source. For example, when the light source is at the first matching position, the structured light camera triggers the collection of the 2D first sealing nail image of the battery cell at the preset collection position. For example, when the light source is at the second matching position, the structured light camera triggers the collection of the 3D second sealing nail image of the battery cell at the preset collection position.

[0156] Step S40: The processing device obtains a sealing nail welding detection result of the battery cell according to the first sealing nail image and the second sealing nail image.

[0157] It should be noted that after the structured light camera captures the first sealing nail image and the second sealing nail image, the processing device can analyze the first sealing nail image and the second sealing nail image to detect whether the corresponding battery cell has defects and obtain the sealing nail welding detection result of the battery cell.

[0158] In the technical solution of the embodiment of the present application, the control device controls the first driving device to drive the structured light camera to move to the preset collection position of the battery cell, thereby facilitating image collection of the battery cell, and controls the second driving device to drive the light source to move to different matching positions, thereby satisfying the collection of different types of sealing nail images, and the processing device obtains the sealing nail welding detection results of the battery cell according to the collected images. The structured light camera can capture images of the battery cell from multiple angles, ensuring the integrity of the image and avoiding image defects in the blind area of ​​the field of view. The first sealing nail image and the second sealing nail image are generated simultaneously by the structured light camera, avoiding the technical problem of image coordinate system alignment and improving the detection range.

[0159] In some embodiments, the light source has a first mating position and a second mating position relative to the structured light camera;

[0160] Step S30 of the battery sealing nail welding detection method includes:

[0161] Step S301: At a first matching position, the light source is located on a collection light path of a structured light camera, and the structured light camera is triggered to collect an image of a first sealing nail of a battery cell at a preset collection position.

[0162] It should be noted that the first matching position is the position where the battery cell is concentric with the light source and the structured light camera, and the second matching position is the position where the light source is away from the collection light path of the structured light camera.

[0163] At the first matching position, the structured light camera needs to capture a 2D sealing nail image of the battery cell at a preset capture position. The light source is in the capture light path of the structured light camera to provide fill light for the structured light camera, thereby generating a 2D sealing nail image of the battery cell.

[0164] Step S302: At the second matching position, the light source staggers the collection light path of the structured light camera, and the structured light camera is triggered to collect an image of the second sealing nail of the battery cell at a preset collection position.

[0165] When the structured light camera needs to capture the 3D sealing nail image of a battery cell, no external light source is required for fill light. Therefore, the light source needs to be staggered from the collection light path of the structured light camera. The light source can be located at the collection position of the next battery cell. After the light source is staggered from the collection light path of the structured light camera, the structured light camera triggers the collection of the 3D sealing nail image of the battery cell at the preset collection position.

[0166] As shown in Figures 10 to 15, Figures 10 to 15 are schematic diagrams of the overall steps of the inspection process. Figure 10 shows that four acquisition groups are used to take 2D photos of battery cells No. 1, No. 4, No. 7, and No. 10 respectively. The first acquisition group and the second acquisition group (not shown in the figure) take 2D photos of battery cells No. 1 and No. 4 respectively. The third acquisition group 503 and the fourth acquisition group 504 take 2D photos of battery cells No. 7 and No. 10 respectively. Figure 11 shows that four structured light cameras are used to take 3D photos of battery cells No. 1, No. 4, No. 7, and No. 10 respectively. The first light source and the second light source (not shown in the figure) are moved to battery cells No. 2 and No. 5 respectively. The first structured light camera and the second structured light camera (not shown in the figure) take 3D photos of battery cells No. 1 and No. 4 respectively. The third structured light camera 102 and the fourth structured light camera 103 take 3D photos of battery cells No. 7 and No. 10 respectively. The third light source 201 and the fourth light source 202 are moved to battery cells No. 8 and No. 9 respectively. Figure 12 shows that the four collection groups collect data on the battery cells No. ②, No. ⑧, No. ⑤, and No. The first acquisition group and the second acquisition group (not shown in the figure) take pictures of the battery cells ② and ⑤ respectively. The third acquisition group 503 and the fourth acquisition group 504 take pictures of the battery cells ⑧ and ⑤ respectively. Figure 13 shows that four structured light cameras are used to take 2D photos of battery cells No. ②, No. ⑧, No. ⑤, and No. 9. The first light source and the second light source (not shown in the figure) are respectively moved to the battery cell ③ and the battery cell 9, the first structured light camera and the second structured light camera (not shown in the figure) are respectively taken 3D photos of the battery cell ② and the battery cell ⑤, the third light source 201 and the fourth light source 202 are respectively moved to the battery cell 9 and The third structured light camera 102 and the fourth structured light camera 103 respectively focus on the battery cells No. ⑧ and Figure 14 shows that the four acquisition groups take 3D photos of battery cells ③, 9, 6, and The first acquisition group and the second acquisition group (not shown in the figure) take pictures of the battery cells ③ and ⑥ respectively. The third acquisition group 503 and the fourth acquisition group 504 take pictures of the battery cells 9 and Figure 15 shows that four structured light cameras are used to take 2D photos of battery cells ③, 9, 6, and The first light source and the second light source (not shown in the figure) are respectively moved to the preset collection positions of the next group of battery cells to be collected, that is, the positions of battery cells ① and ④. The first structured light camera and the second structured light camera (not shown in the figure) are respectively taken 3D pictures of battery cells ③ and ⑥. The third light source 201 and the fourth light source 202 are respectively moved to battery cells ⑦ and 10. The third structured light camera 102 and the fourth structured light camera 103 are respectively taken 3D pictures of battery cells 9 and 10. 3D photo of the battery cell.

[0167] In the technical solution of the embodiment of the present application, by controlling the light source to be set at different positions, the structured light camera can capture and generate the first sealing nail image and the second sealing nail image, which meets the detection accuracy requirements and is compatible with a larger field of view, thereby improving the shooting effect.

[0168] In some embodiments, since the structured light camera simultaneously generates 2D and 3D sealing nail images of the battery cell, the 2D and 3D sealing nail images of the battery cell can be processed by a processing device to determine whether there is a defect in the sealing nail welding of the battery cell. Therefore, step S40 includes:

[0169] Step S401: The processing device extracts features from the first sealing staple image to obtain extracted features.

[0170] It should be noted that feature extraction can be performed by image recognition extraction or gradient extraction.

[0171] Step S402: Compare the extracted features with the preset defect features to determine the defect location.

[0172] The preset defect features are image features of defects in the sealing pin welding of the battery cell collected in advance. By comparing the extracted features with the preset defect features, the defect location can be preliminarily determined.

[0173] Step S403: extracting the defect image corresponding to the defect position in the second sealing nail image.

[0174] In a specific implementation, feature extraction may be performed on a 3D image of the battery cell according to the defect location to obtain a 3D defect image corresponding to the defect location.

[0175] Step S404: performing image recognition on the defect image to obtain the sealing pin welding detection result of the battery cell.

[0176] It should be noted that image recognition can be performed on the defect image to further determine whether there are defects in the defect image. Since the first sealing nail image and the second sealing nail image are taken at the same position, there is no need to align the coordinate systems. The corresponding defect image in the 2D first sealing nail image can be directly extracted from the 3D second sealing nail image, thereby completing defect detection.

[0177] In the technical solution of the embodiment of the present application, the defect location is first determined by the first sealing nail image and preliminary screening is performed, and then the second sealing nail image is used for verification to obtain the sealing nail welding detection result of the battery cell, thereby improving the accuracy of the detection.

[0178] In some embodiments, performing image recognition on the defect image to obtain the sealing pin welding detection result of the battery cell includes:

[0179] Perform image recognition on the defect image to obtain defect information;

[0180] Classify the defect information and obtain the defect type;

[0181] The sealing pin welding inspection results of the battery cell are obtained by defect type.

[0182] After obtaining the defect information in the defect image, it can be classified according to different types of defect information to determine the defect type of the sealing pin welding of the battery cell, such as welding slag defects, blown weld defects, leaking weld defects, pinhole defects, offset weld defects and other defects, thereby determining the results of the sealing pin welding inspection of the battery cell to be inspected according to the defect type.

[0183] 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.

[0184] 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: Structured light camera; light source; A first driving device, configured to drive the structured light camera; a second driving device, configured to drive the light source; wherein the first driving device drives the structured light camera and the second driving device drives the light source to be located at a preset acquisition position of the battery cell, the structured light camera acquires a first sealing nail image, the second driving device drives the light source to leave the preset acquisition position of the battery cell, and the structured light camera acquires a second sealing nail image, wherein the first sealing nail image and the second sealing nail image are of different types, the first sealing nail image is a 2D sealing nail image, and the second sealing nail image is a 3D sealing nail image; The light source has a first matching position and a second matching position relative to the structured light camera; At the first matching position, the second driving device drives the light source to be on the collection light path of the structured light camera; At the second matching position, the second driving device drives the light source to stagger the collection light path setting of the structured light camera.

2. The battery sealing nail welding detection system according to claim 1, wherein: The battery cells are multiple battery cells arranged along a preset direction, and the preset direction includes a first direction and a second direction perpendicular to each other; The structured light camera and the light source are correspondingly arranged as a collection group, at least two of the collection groups are arranged at intervals along a preset direction, and are used to collect images of sealing nails of a plurality of battery cells arranged along the preset direction.

3. The battery sealing nail welding detection system as claimed in claim 2, wherein: The structured light camera includes a plurality of projectors arranged at intervals along the circumferential direction; In the two acquisition groups arranged along the second direction, a projector of a structured light camera in one of the acquisition groups is arranged corresponding to the interval position of two adjacent projectors of the structured light camera in the other acquisition group.

4. The battery sealing nail welding detection system as claimed in claim 3, wherein: The projector of the structured light camera in one of the acquisition groups is arranged to avoid the projector of the structured light camera in another acquisition group.

5. The battery sealing nail welding detection system as claimed in claim 2, wherein: At least two of the acquisition groups move synchronously.

6. The battery sealing nail welding detection system according to claim 1, wherein: The preset collection position is a position that is arranged opposite to the battery cell and coincides with the center of the battery cell.

7. The battery sealing nail welding detection system according to claim 1, wherein: The structured light camera shoots the battery cell in a vertical downward shooting manner.

8. The battery sealing nail welding detection system according to claim 1, wherein: According to the arrangement, identification marks are sequentially set for the battery cells in each row and column. The identification marks are unique and correspond one-to-one with the battery cells. The battery cells can be located by the identification marks.

9. The battery sealing nail welding detection system according to claim 1, wherein: The battery sealing nail welding detection system also includes: a collection bracket, and the structured light camera is arranged on the collection bracket.

10. The battery sealing nail welding detection system according to claim 9, wherein: The battery sealing nail welding detection system also includes: a fixed bracket, and the collection bracket is movably installed on the fixed bracket.

11. The battery sealing nail welding detection system according to claim 9, wherein: The structured light camera comprises: A camera body, wherein the camera body is arranged on the acquisition bracket; A plurality of projectors are arranged on the acquisition bracket along the circumference of the acquisition bracket, each of the projectors is located on the acquisition optical path of the camera body, and the plurality of projectors are used to correspond to different positions of the battery cells.

12. The battery sealing nail welding detection system according to claim 11, wherein: The center of the plurality of projectors is located on the same Z-axis as the camera body.

13. The battery sealing nail welding detection system according to claim 1, wherein: Also includes: control device, and Processing device; The control device is electrically connected to the first driving device and the second driving device, and is used to control the first driving device and the second driving device to drive the structured light camera and the light source to collect images of the sealing nails of the battery cell; The processing device is electrically connected to the control device, and is used to obtain a sealing nail welding detection result of the battery cell according to the sealing nail image.

14. The battery sealing nail welding detection system according to claim 1, wherein: The light source includes planar coaxial light, which is located below the structured light camera. When the structured light camera captures the first sealing nail image of the battery cell, the first driving device drives the light source to be located directly below the structured light camera, and the center of the light source coincides with the center of the structured light camera and the center of the captured battery cell.

15. A battery sealing nail welding detection method, wherein: The battery sealing nail welding detection system includes: a structured light camera, a light source, a first driving device, a second driving device, a control device and a processing device. The method includes: The control device controls the first driving device to drive the structured light camera to move to a preset collection position of the battery cell; The control device controls the second driving device to drive the light source to move to different matching positions; The structured light camera is triggered to collect a first sealing nail image and a second sealing nail image of the battery cell at the preset collection position according to the light source being at different matching positions; The processing device obtains a sealing nail welding detection result of the battery cell according to the first sealing nail image and the second sealing nail image.

16. The battery sealing nail welding detection method according to claim 15, wherein: The light source has a first matching position and a second matching position relative to the structured light camera; The structured light camera is triggered to collect a first sealing nail image and a second sealing nail image of the battery cell at the preset collection position according to the light source being at different matching positions, including: At the first matching position, the light source is on the collection light path of the structured light camera, and the structured light camera triggers collection of a first sealing nail image of the battery cell at the preset collection position; At the second matching position, the light source is staggered from the collection light path of the structured light camera, and the structured light camera is triggered to collect the second sealing nail image of the battery cell at the preset collection position.

17. The battery sealing nail welding detection method according to claim 15, wherein: The processing device obtains the sealing nail welding detection result of the battery cell according to the first sealing nail image and the second sealing nail image, including: The processing device extracts features from the first sealing nail image 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 sealing nail image; Image recognition is performed on the defect image to obtain a sealing pin welding detection result of the battery cell.

18. The battery sealing nail welding detection method according to claim 17, 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.

19. The battery sealing nail welding detection method according to claim 15, wherein: The battery sealing nail welding detection method also includes: Controlling the first driving device to drive the structured light camera and controlling the second driving device to drive the light source to move synchronously in the same direction by a control device; When the structured light camera and the light source move to a preset acquisition position, detecting whether the structured light camera and the light source are concentric with the corresponding battery cell in a third direction; When it is detected that the structured light camera and the light source are concentric with the corresponding battery cell in the third direction, the structured light camera and the light source are controlled to cooperate to collect a first sealing nail image of the battery cell, and when the collection of the first sealing nail image is completed, the second driving device is controlled to drive the light source to leave the preset collection position, and the structured light camera is controlled to collect a second sealing nail image of the battery cell; Counting the first sealing nail image and the second sealing nail image captured by the structured light camera; When the number of the collected first sealing nail images and the second sealing nail images reaches a preset number, the first driving device drives the structured light camera and the second driving device drives the light source to return to a preset position.

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