Automatic busbar addressing and assembling method, medium and computer device

Abstract

The present invention relates to the technical field of batteries, and specifically provides an automatic busbar addressing and assembling method, a computer readable storage medium and a computer device. The automatic busbar addressing and assembling method is mainly used for realizing assembly between busbars and poles, and specifically, the busbars are reliably assembled onto the poles. In a possible implementation, the automatic addressing and assembling method of the present invention comprises: determining position data of busbars; determining position data of poles of cells; determining assembly data on the basis of the position data of the busbars and the position data of the poles; on the basis of the assembly data, determining whether the assembly accuracy meets standards or not; and if yes, enabling a robot to assemble the busbars onto the poles on the basis of the assembly data. By means of this configuration, it is possible to ensure the reliability and safety of assembly by verifying the assembly accuracy corresponding to the assembly data before assembly.

Description

Automatic addressing assembly method, medium, and computer device for chip

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application CN202311803917.0, filed on December 25, 2023, with the invention name “Panel automatic addressing assembly method, medium, and computer device”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0003] The present invention relates to the field of battery technology, and specifically provides a method for automatically addressing and assembling a battery, a computer-readable storage medium, and a computer device. Background Art

[0004] As the main power source for electric vehicles, batteries (packs) typically include multiple battery modules, which in turn include multiple battery cells. Specifically, busbars are welded (e.g., laser welded) to the battery cell terminals to achieve series / parallel connections between multiple battery cells. In addition to their basic connection function, busbars also play other roles in the battery, such as distributing current to ensure more reasonable current distribution among multiple battery cells.

[0005] Take the battery module as a (large) cylindrical battery as an example. Common cylindrical battery models include 1865 (diameter 18mm, height 65mm), 2170 and 4680. Taking the 4680 as an example, when the automatic assembly of the tabs is carried out in a visually guided manner, usually only the outer contour or local features of the tabs are positioned and further assembled on this basis. However, due to the large size of the tabs, the robots that realize automatic assembly often deform or are very prone to deformation when grasping the tabs. Therefore, the current automated assembly solutions may have the following problems: the positioning method based on local features often leads to large placement deviations after grasping; the positioning method based on the outer contour cannot confirm the position deviation inside the tab, so the positioning reliability of the tab needs to be further improved. The emergence of the above problems will lead to certain safety hazards in the automated assembly solution of the tabs, thereby affecting the reliability of the battery module.

[0006] Therefore, this field needs a new technical solution to solve the above technical problems.

[0007] Summary of the Invention

[0008] The present invention aims to at least partially solve the above technical problems, specifically, how to ensure the safety and reliability of assembly while enabling automated assembly of tabs and poles.

[0009] In a first aspect, the present invention provides a method for automatic addressing and assembly of a bar, the method comprising: determining position data of the bar; determining position data of a pole of a cell; determining assembly data based on the position data of the bar and the position data of the pole; judging whether the assembly accuracy meets the standards based on the assembly data; and if so, enabling a robot to assemble the bar to the pole according to the assembly data.

[0010] With this configuration, it is possible to ensure the reliability and safety of assembly by verifying the assembly accuracy according to the assembly data before assembly.

[0011] It is understood that those skilled in the art can determine the specific form of the position data of the bar / pole according to actual needs, such as data determined based on a portion or all of the bar / pole. For example, multiple typical bar slices are selected from multiple bar slices, and the first data is determined based on the typical bar slices.

[0012] It is understandable that those skilled in the art can determine the type, number, and acquisition method of the data included in the assembly data according to actual needs. For example, the data is directly calculated and determined through the position data of the bar / pole.

[0013] Furthermore, it is understood that those skilled in the art can determine how to determine whether assembly accuracy meets the requirements based on the assembly data according to actual needs. For example, the determination can be based solely on the assembly data, or based on a combination of assembly data and other factors. The determination can also be based on a single data point or multiple data points. The determination criteria can also be flexibly determined based on actual circumstances. For example, a threshold value is set for one data point in the assembly data. When the data point is not greater than the threshold value, the accuracy meets the requirements.

[0014] For the above-mentioned automatic addressing and assembly method of the bar, in a possible embodiment, the assembly data includes first assembly data, and the "determining the assembly data based on the position data of the bar and the position data of the pole" includes: grouping the bar and the pole respectively to form at least one group of bar and at least one group of pole; determining the first assembly data based on the position data of the at least one group of bar and the position data of the at least one group of pole.

[0015] Through such a structure, it is possible to obtain the first assembly data by dividing the bars / poles into groups.

[0016] It is understood that those skilled in the art can determine the specific method of grouping and whether to group all or part of the poles according to actual needs. In the case where the divided groups include multiple groups, the groups can be the same or different.

[0017] For the above-mentioned automatic addressing and assembly method of the bar, in a possible embodiment, the first assembly data includes assembly angle data, and the "determining the first assembly data based on the position data of the at least one group of bar and the position data of the at least one group of poles" includes: fitting at least one bar assembly line based on the position data of the at least one group of bar; fitting at least one pole assembly line based on the position data of the at least one group of poles; determining at least one assembly angle based on the at least one bar assembly line and the at least one bar assembly line; determining the assembly angle data based on the at least one assembly angle.

[0018] With such a configuration, it is possible to determine the assembly angle data using a method including data fitting.

[0019] For the above-mentioned automatic addressing and assembly method of the bars, in a possible embodiment, in the step of "grouping the bars and the poles respectively to form at least one group of bars and at least one group of poles", the bars and the poles are grouped in the following manner: the same row or the same column of the bars are a group of bars; and / or the same row or the same column of the poles are a group of poles.

[0020] Through such a structure, a specific implementation method for grouping the bars / poles is provided.

[0021] For the above-mentioned automatic addressing assembly method of the bar, in a possible embodiment, the assembly data includes second assembly data, and the "determining the assembly data based on the position data of the bar and the position data of the pole" includes: determining multiple assembly offset data based on the position data of multiple bars and the position data of multiple poles; determining the second assembly data based on the multiple assembly offset data.

[0022] With this configuration, it is possible to obtain second assembly data by analyzing individual pieces of the bar / pole. For example, the offset data generally includes offsets in two dimensions.

[0023] It is understandable that individual analysis may be performed on all or part of the bar / pole to determine the second assembly data.

[0024] For the above-mentioned automatic addressing and assembly method of the battery cell, in one possible embodiment, the "determining the position data of the pole of the battery cell" includes: selecting a marking point of the battery cell; allowing the first camera to obtain the position data of the marking point; and determining the position data of the pole of the battery cell based on the position data of the marking point.

[0025] For the above-mentioned automatic addressing and assembly method of the battery cell, in a possible embodiment, the "determining the position data of the pole of the battery cell based on the position data of the marking point" includes: determining the position data of the marking point in the robot coordinate system based on the position data of the marking point in the first camera coordinate system; determining the conversion matrix based on the position data of the marking point in the robot coordinate system and the obtained position data of the marking point at the pole addressing station; determining the position data of the pole in the robot coordinate system based on the conversion matrix and the obtained position data of the pole at the pole addressing station.

[0026] With this configuration, it is possible to obtain the position data of the battery cell's poles in the robot coordinate system by using the position data of the existing pole addressing station.

[0027] For the above-mentioned automatic addressing and assembly method of the bar, in a possible embodiment, the "determining the position data of the bar" includes: causing the robot to grab the bar to a position corresponding to the second camera; causing the second camera to obtain the position data of the bar in the second camera coordinate system; and converting the position data of the bar in the second camera coordinate system into the position data of the bar in the robot coordinate system.

[0028] Through such a structure, a method for determining the position data of the bar is provided.

[0029] In a second aspect, the present invention provides a computer-readable storage medium comprising a memory, wherein the memory is suitable for storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute any of the aforementioned methods for automatic addressing and assembly of chips.

[0030] It can be understood that the computer-readable storage medium has all the technical effects of the automatic addressing and assembly method of the bar described in any of the above items, which will not be repeated here.

[0031] Those skilled in the art will appreciate that the present invention can implement all or part of the processes in its automatic addressing and assembly method for a chip by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code. It is understood that the program code includes but is not limited to program code for executing the above-mentioned automatic addressing and assembly method for a chip. For ease of explanation, only the parts relevant to the present invention are shown. The computer program code can be in source code form, object code form, executable file, or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal, and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0032] In a third aspect, the present invention provides a computer device comprising a memory and a processor, wherein the memory is suitable for storing a plurality of program codes, and the program codes are suitable for being loaded and run by the processor to execute any of the aforementioned methods for automatic addressing and assembly of chips.

[0033] It is understood that the device has all the technical effects of any of the above-mentioned methods for automatically addressing and assembling the bar sheets, and no further details are given here. The device can be a computer-controlled device formed by various electronic devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0035] FIG1 is a schematic diagram showing a flow chart of a method for automatically addressing and assembling a bar according to an embodiment of the present invention; and

[0036] FIG2 is a schematic diagram showing a specific flow chart of a method for automatically addressing and assembling a bar according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0038] It should be noted that in the description of the present invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element described must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "installed," "disposed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0040] In addition, in order to better illustrate the present invention, numerous specific details are provided in the following detailed description. Those skilled in the art will understand that the present invention can be practiced without certain specific details. In some instances, the principles of batteries, etc., which are well known to those skilled in the art, are not described in detail in order to highlight the main purpose of the present invention.

[0041] Referring mainly to FIG1 , FIG1 shows a flow chart of a method for automatically addressing and assembling a bar sheet according to an embodiment of the present invention. As shown in FIG1 , in one possible implementation, the method for automatically addressing and assembling a bar sheet mainly includes the following steps:

[0042] S110: Determine the position data of the bar;

[0043] S120: Determine the position data of the poles of the battery cells of the battery module;

[0044] S130: Determine assembly data based on the position data of the bar and the position data of the pole;

[0045] S140: Determine whether the assembly accuracy meets the standard based on the assembly data; if so, proceed to S150; if not, return to S130;

[0046] S150: If yes, the robot is enabled to assemble the tabs to the poles according to the assembly data.

[0047] In a possible implementation, the assembly data includes first assembly data and second assembly data, the first assembly data is an assembly angle, and the second assembly data is assembly offset data.

[0048] Exemplarily, a method for determining the first assembly data includes:

[0049] S13011. Group all the plates (including multiple plates) / all the poles (including multiple poles) into groups to form multiple groups of plates and multiple groups of poles.

[0050] S13012. Determine multiple assembly angles based on the position data of the multiple groups of tabs and the position data of the multiple groups of poles.

[0051] S13013. Determine the optimal installation angle based on multiple assembly angles, such as denoted as θ.

[0052] Exemplarily, the second assembly data is determined by:

[0053] S13021. Determine a plurality of assembly offset data based on the position data of all the bar segments and the position data of all the bar segment poles.

[0054] S13022. Determine the best assembly offset data based on the plurality of assembly offset data as the second assembly data, such as (Δx and Δy).

[0055] Based on the automatic addressing assembly method of the bar of the present invention, in the process of realizing the automatic assembly of the bar and the pole of the battery cell, both assembly efficiency and assembly safety can be taken into account.

[0056] The following describes a specific example to illustrate the specific implementation of the automatic addressing and assembling method of the bar of the present invention.

[0057] Mainly referring to Figure 2, Figure 2 shows a specific flow chart of a method for automatically addressing and assembling a bar sheet according to an embodiment of the present invention. As shown in Figure 2, in one possible implementation, the method for automatically addressing and assembling a bar sheet mainly includes the following steps:

[0058] S21. Deliver the battery module to the welding station.

[0059] In one possible embodiment, the battery module is brought to the welding station by, after being brought horizontally to the target welding position of the welding station (the projection of the target position in the horizontal plane), the battery module to be assembled is brought vertically to a target height corresponding to the target position. For example, a lifting device such as a lifting cylinder is used to bring the battery module to the target height. For example, the piston rod of the lifting cylinder is extended, thereby allowing the battery module to reach the target height for welding.

[0060] Obviously, the delivery method of the target location is only an exemplary description, and those skilled in the art can determine the specific delivery path and the mechanism / device used to implement the corresponding delivery path according to actual needs.

[0061] When the battery module reaches the target position of the welding station, the coordinates (position data) of the marking points of the battery module cells in the first camera coordinate system are obtained by the upper camera (first camera) installed on the robot; the addressing coordinates (position data) of the battery cells at the pole addressing station are converted to the robot coordinate system (e.g., based on calibration) using the coordinates of the marking points in the first camera coordinate system and the obtained addressing coordinates of the battery cells and their poles at the pole addressing station. See S22-S25 for details.

[0062] S22. The upper camera set on the robot captures image data of the three marking points (X, Y, Z) of the battery cell of the battery module. The coordinates of the three marking points (X, Y, Z) in the first camera coordinate system corresponding to the upper camera can be calculated by a circle search algorithm, etc., which can be recorded as WeldImagePoint1-3.

[0063] S23. Convert the coordinates of the marker point (X, Y, Z) in the first camera coordinate system to the robot coordinate system by calibration or other methods, which can be recorded as AbsWorldPoint1-3.

[0064] S24. Obtain the coordinates WorldPoint1-3 of the marking point at the pole addressing station, perform three-point mapping between the coordinates AbsWorldPoint1-3 of the marking point in the robot coordinate system and its coordinates WorldPoint1-3 at the pole addressing station, and determine the conversion matrix Matrix according to the following formula:

[0065] In formula (1), (WorldPointX1, WorldPointX2, WorldPointX3) are the coordinates of the marker point X at the pole addressing station, (WorldPointY1, WorldPointY2, WorldPointY3) are the coordinates of the marker point Y at the pole addressing station, (AbsWorldPointX1, AbsWorldPointX2, AbsWorldPointX3) are the coordinates of the marker point X in the robot coordinate system, and (AbsWorldPointY1, AbsWorldPointY2, AbsWorldPointY3) are the coordinates of the marker point Y in the robot coordinate system.

[0066] S25. According to the matrix Matrix, the coordinates of each pole (32*8=256) of the battery cell obtained at the pole addressing station are converted into their coordinates in the robot coordinate system, which can be recorded as AbsWorldPoint4-259.

[0067] The robot grabs the sheet placed on the loading rack and places it on the secondary positioning platform (the material pickup position). The lower camera (second camera) located on the secondary positioning platform then performs an addressing scan on the sheet and obtains the sheet's addressing coordinates (addressing data) in the second camera's coordinate system. For example, the addressing coordinates of all the sheets form a dot matrix. The robot then converts the sheet's addressing coordinates in the second camera's coordinate system to the robot's coordinate system (e.g., based on calibration). See S26-S27 for details.

[0068] S26. The robot grabs the bar from the loading rack and starts addressing at the position corresponding to the lower camera (bar scanning camera), and obtains the addressing coordinates of each bar in the second camera coordinate system corresponding to the lower camera. For example, there are 256 bars corresponding to 256 poles, and the addressing coordinates of the 256 bars in the second camera coordinate system can be recorded as BusbarImagePoint1-256.

[0069] S27. Convert the addressing coordinates of the 256 busbars in the second camera coordinate system to the robot coordinate system through methods such as nine-point calibration. The addressing coordinates of the 256 busbars in the robot coordinate system can be recorded as AbsBusbarPoint1-256.

[0070] S28. Determine the RT matrix (rotation and translation matrix) of the slices / poles in groups of rows / columns.

[0071] In one possible embodiment, the RT matrix includes an optimal assembly angle θ and a set of optimal assembly translation deviations (Δx and Δy).

[0072] Taking a battery module that is a large cylindrical battery as an example, if the poles are usually arranged in rows / columns (such as 32*8=256), each row of bars / poles can be regarded as a group of assembly feature points (each group of assembly feature points includes 32 bars / poles), and an assembly feature is determined for each group of bars and poles. For example, if a data fitting method is used, a straight line (including 32 bars / poles) can be fitted as an assembly feature (assembly feature straight line) for the assembly feature points of each row of bars and poles. In this way, eight bar assembly feature straight lines corresponding to eight groups of bars and eight pole assembly feature straight lines corresponding to eight groups of poles will be fitted. Based on each pair of fitting results (one of the bar assembly feature straight lines and the corresponding pole assembly feature straight line that will produce an assembly relationship), an assembly angle is calculated, so 8 assembly angles (the angles between the bar assembly feature straight lines and the pole assembly feature straight lines) will be obtained. According to the 8 calculated assembly angles, the optimal assembly angle θ is determined by the optimization algorithm. Based on this, the coordinates of the bar can be mapped to the coordinates of the pole by rotating θ. Based on each pair of assembly feature points (one of the bar and the corresponding pole that will produce the assembly relationship), the translation deviation corresponding to each pair of assembly feature points can be calculated, so 256 assembly translation deviations will be obtained. According to the calculated translation deviation of each pair of assembly feature points, the optimal assembly translation deviation (Δx and Δy) is determined by the optimization algorithm. The optimal assembly angle θ and the optimal assembly translation deviation (Δx and Δy) constitute the RT matrix.

[0073] In this example, the optimal assembly angle θ is determined as follows:

[0074] For each pair of assembly characteristic lines of the tab / pole having an assembly relationship, an assembly angle is determined, so a total of 8 assembly angles are determined;

[0075] Based on the eight assembly angles, the optimal assembly angle θ is determined using methods such as direct averaging and weighted averaging. For example, each set of tabs extends horizontally, and each set of poles extends vertically. Ideally, the assembly angle should be 90°. Of the eight assembly angles obtained, two are 90.642° and 90.656°.

[0076] In this example, the optimal assembly translation deviations (Δx and Δy) are determined as follows:

[0077] For each pair of tabs / pole having an assembly relationship, an assembly translation deviation is determined, so 256 assembly translation deviations are determined.

[0078] Based on the 256 assembly translation deviations, the optimal assembly translation deviations (Δx and Δy) are determined using methods such as direct averaging.

[0079] The optimal assembly angle θ and the optimal assembly translation deviations (Δx and Δy) constitute the RT matrix.

[0080] Obviously, the above-mentioned construction method of the RT matrix is ​​only an exemplary description, and those skilled in the art can flexibly adjust it according to actual needs, such as including but not limited to: determining the assembly angle by performing straight line fitting for each column of bars (and poles) / selecting several columns from multiple columns of bars (and poles) / selecting a part of bars (and poles) from each row of bars (and poles); selecting some typical feature points from multiple bars (and poles) as assembly feature points; selecting a reasonable algorithm for straight line fitting and any reasonable optimization algorithm except for finding the average value to perform optimal calculations on θ, Δx and Δy.

[0081] S29: Apply the determined RT matrix to the addressing coordinates of each chip to perform virtual assembly to confirm whether the expected assembly accuracy can be achieved. If the assembly accuracy meets the standard, the safety of the assembly can be guaranteed.

[0082] In this example, the method to confirm whether the assembly accuracy meets the standards is as follows:

[0083] Calculate the concentricity between the bar coordinates (after virtual assembly) and the polar coordinates;

[0084] Specifically, the previously determined RT matrix is ​​applied to the addressing coordinates of each blade, and the coordinates of each blade are rotated and translated to obtain a set of virtually placed blade coordinate lattices. The concentricity between the blade coordinates and the polar column coordinates is calculated using the virtually placed blade coordinate lattice and the obtained coordinates of multiple polar columns.

[0085] Determine whether the deviation between concentricity and ideal concentricity meets the tolerance requirements (safety indicators must be met within the tolerance requirements);

[0086] If yes, it means that the expected assembly accuracy can be achieved, and the process goes to S29;

[0087] If not, the process returns to S27 and the RT matrix may be adjusted by adjusting weights, changing the data fitting method, changing the row / column selection rule, and the like.

[0088] It is understandable that the assembly accuracy can be determined based on one or more quantities, such as the amount of translation deviation in addition to concentricity.

[0089] S210. When the assembly accuracy meets the requirements, the RT matrix, i.e., the optimal θ, Δx, and Δy, is sent to the robot. The robot assembles the multiple tabs onto the multiple poles of the battery cell by first rotating and then translating.

[0090] It can be seen that in the preferred embodiment of the invented method for automatically addressing and assembling the battery sheet, the present invention addresses the features of all the battery sheets, thereby better achieving the positioning of the battery sheet compared to the positioning method using the external contour or local features during automated assembly. On this basis, by forming an RT matrix containing data fitting and confirming the assembly accuracy by substituting the RT matrix into the addressing coordinates of the battery sheet / pole before assembly, it is expected to achieve the reliability and safety of the automated assembly between the battery sheet and the battery cell pole.

[0091] In addition, when the automatic assembly of the bars is performed in a visually guided manner, welding is usually performed with the pole as the reference. Since the actual welding object in the assembly process is the bar, the current welding processing method may cause the welding to be offset. In the preferred embodiment of the automatic addressing assembly method of the bar of the present invention, because the addressing operation is performed on all the bars themselves, the bar data can be directly used in the welding station to perform welding positioning on the bar, thereby improving the welding accuracy.

[0092] It should be pointed out that although the various steps are described in a specific order in the above embodiments, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not have to be performed in such an order. They can be performed simultaneously or in other orders, and certain steps can also be added, replaced or omitted.

[0093] It should be noted that although the automatic addressing assembly method of the bar sheet constructed in the above specific manner is introduced as an example, those skilled in the art will understand that the present invention should not be limited to this. In fact, the user can flexibly adjust the relevant steps and parameters in the steps according to the actual application scenario.

[0094] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. An automatic addressing and assembling method for patches, characterized in that, The method includes: Determine the position data of the tab; Determine the position data of the pole column of the battery cell; Determine the assembly data according to the position data of the tab and the position data of the pole column; Judge whether the assembly accuracy meets the standard according to the assembly data; If so, make the robot assemble the tab to the pole column according to the assembly data.

2. The automatic addressing and assembling method of the patch according to claim 1, wherein The assembly data includes first assembly data, and the "determine the assembly data according to the position data of the tab and the position data of the pole column" includes: Group the tabs and the pole columns respectively to form at least one group of tabs and at least one group of pole columns; Determine the first assembly data according to the position data of the at least one group of tabs and the position data of the at least one group of pole columns.

3. The automatic addressing and assembling method of the patch according to claim 2, wherein, The first assembly data includes assembly angle data, and the "determine the first assembly data according to the position data of the at least one group of tabs and the position data of the at least one group of pole columns" includes: Fit at least one tab assembly line according to the position data of the at least one group of tabs; Fit at least one pole column assembly line according to the position data of the at least one group of pole columns; Determine at least one assembly angle according to the at least one tab assembly line and the at least one tab assembly line; Determine the assembly angle data according to the at least one assembly angle.

4. The automatic addressing and assembling method of the patch according to claim 3, characterized in that In the step of "group the tabs and the pole columns respectively to form at least one group of tabs and at least one group of pole columns", the ways of grouping the tabs and the pole columns respectively are: Make the tabs in the same row or the same column be a group of tabs; and / or Make the pole columns in the same row or the same column be a group of pole columns.

5. The automatic addressing and assembling method of the patch according to claim 1, characterized in that The assembly data includes second assembly data, and the "determine the assembly data according to the position data of the tab and the position data of the pole column" includes: Determine a plurality of assembly offset data according to the position data of the plurality of tabs and the position data of the plurality of pole columns; Determine the second assembly data according to the plurality of assembly offset data.

6. The automatic addressing and assembling method of the patch according to claim 1, characterized in that, The "determine the position data of the pole column of the battery cell" includes: Select a marking point of the battery cell; Make the first camera acquire the position data of the marking point; Determine the position data of the pole column of the battery cell according to the position data of the marking point.

7. The automatic addressing and assembling method of the patch according to claim 6, characterized in that, The "determine the position data of the pole column of the battery cell according to the position data of the marking point" includes: Determine the position data of the marking point in the robot coordinate system according to the position data of the marking point in the first camera coordinate system; Determine the transformation matrix according to the position data of the marking point in the robot coordinate system and the acquired position data of the marking point at the pole column addressing station; Determine the position data of the pole column in the robot coordinate system according to the transformation matrix and the acquired position data of the pole column at the pole column addressing station.

8. The automatic addressing and assembling method of the patch according to claim 1, characterized in that The "determine the position data of the tab" includes: Make the robot grasp the tab to the position corresponding to the second camera; Make the second camera acquire the position data of the tab in the second camera coordinate system; Convert the position data of the tab in the second camera coordinate system to the position data of the tab in the robot coordinate system.

9. A computer-readable storage medium, the storage medium comprising a memory adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to execute the automatic addressing and assembly method of the bar chips described in any one of claims 1 to 8.

10. A computer device, the device comprising a memory and a processor, the memory being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to execute the automatic addressing and assembly method of the bar chips described in any one of claims 1 to 8.

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