Welding system, laser welding method, electronic device, and storage medium

Abstract

A welding system, comprising: a welding rotating platform (110), a visual positioning system (120), and a laser welding system (130). The welding rotating platform (110) comprises a plurality of workstations (310). A clamp assembly is correspondingly provided in each of the plurality of workstations (310) to clamp a workpiece (140) to be welded, and a calibration pattern is provided on a surface of the clamp assembly for positioning said workpiece (140). The visual positioning system (120) is used for performing image acquisition on a target workstation that has rotated to a visual detection area (200) to obtain a target image including the calibration pattern and said workpiece (140), and for positioning said workpiece (140) on the basis of the target image. The laser welding system (130) comprises a laser welder, and is used for controlling the laser welder to weld said workpiece (140) after having rotated to position in a laser welding area. According to the described welding system, it is possible to prevent welding from being influenced by mounting errors or clamping errors of the clamp assembly, improve the accuracy of the laser welding path, and enhance laser welding quality and efficiency. The present invention also relates to a laser welding method, an electronic device, and a storage medium.

Description

Welding system, laser welding method, electronic device and storage medium

[0001] The present disclosure claims priority to Chinese Patent Application No. 202410668268.6, filed on May 27, 2024, entitled “Welding system, laser welding method, electronic device and storage medium” and Chinese Patent Application No. 202421173520.8, filed on May 27, 2024, entitled “Welding system”, both of which are incorporated by reference in their entirety in the present disclosure. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of welding, and in particular, to a welding system, a laser welding method, an electronic device and a storage medium. BACKGROUND

[0003] In the process of battery production, it is necessary to weld the battery, such as welding of battery sealing nails, welding of battery top cover sealing, etc. In order to improve the production efficiency of the battery, laser flying welding method is generally used at present. A plurality of clamp assemblies on a welding rotating platform can clamp the battery. When a plurality of batteries are welded, the plurality of clamp assemblies on the welding rotating platform can keep moving, which reduces the waiting time in the welding process and improves the production efficiency of the battery. However, since the battery is always in a moving state, if the clamping of the clamp assembly is not accurate enough or the installation of the clamp assembly has errors, the actual welding track of the laser will be wrong, which affects the welding accuracy. SUMMARY

[0004] The present disclosure aims to alleviate or solve at least one of the above-mentioned problems to at least some extent.

[0005] In one aspect of the present disclosure, a welding system is provided, which comprises:

[0006] a welding rotating platform, the welding rotating platform comprising a plurality of stations, each of the plurality of stations corresponding to a clamp assembly, the clamp assembly being used for clamping a workpiece to be welded, a calibration pattern being arranged on a surface of the clamp assembly, the calibration pattern being used for positioning the workpiece to be welded;

[0007] a visual positioning system, the visual positioning system being arranged corresponding to a visual detection area, the visual positioning system being used for image acquisition of a target station rotated to the visual detection area, obtaining a target image containing the calibration pattern and the workpiece to be welded, and positioning the workpiece to be welded according to the target image;

[0008] A laser welding system comprises a laser welder corresponding to a laser welding area, the laser welding area being different from the visual detection area, the laser welding system being configured to control the laser welder to weld a positioned workpiece rotated to the laser welding area.

[0009] Optionally, the welding rotating platform is further configured to rotate the target work station to rotate to the visual detection area first and then to the laser welding area.

[0010] Optionally, the clamp assembly comprises a positioning plate and a lifting member, the workpiece to be welded is clamped between the lifting member and the positioning plate, the positioning plate comprises a first surface facing the visual positioning system, the first surface is provided with a hollow area at the center of the first surface, and the calibration pattern is arranged on the first surface and located in a non-hollow area at the periphery of the hollow area.

[0011] Optionally, the hollow area is a circular hollow area.

[0012] Optionally, the calibration pattern comprises at least two auxiliary positioning lines, and the intersection position of the extension lines of the at least two auxiliary positioning lines is the center position corresponding to the hollow area.

[0013] Optionally, the calibration pattern comprises 2M auxiliary positioning lines, M is an integer greater than 1, the 2M auxiliary positioning lines are divided into M groups, each group comprises two auxiliary positioning lines located on the same straight line, and the intersection position of the M straight lines corresponding to the M groups is the center position corresponding to the hollow area.

[0014] Optionally, the positioning plate further comprises a second surface opposite to the first surface, the second surface is arranged at a target welding height, and the lifting member is configured to lift the workpiece to be welded to abut against the second surface.

[0015] Optionally, each of the plurality of work stations is provided with a support member corresponding to the hollow area, the support member is configured to support the clamp assembly, and the support member is provided with a hollow area corresponding to the hollow area.

[0016] Optionally, the visual detection area and the laser welding area are separated by N work stations, and N is a positive integer.

[0017] Optionally, the welding system further comprises a driving device connected with the welding rotating platform, and the driving device is configured to drive the welding rotating platform to keep rotating.

[0018] In another aspect of the present disclosure, the present disclosure provides a laser welding method, characterized in that it is applied to a welding system, the welding system comprising a welding rotary platform, a visual positioning system and a laser welding system, the welding rotary platform comprising a plurality of workstations, each of which is provided with a clamp assembly for clamping a workpiece to be welded, and the laser welding system comprising a laser welder; the method comprising:

[0019] controlling the welding rotary platform to rotate to drive the plurality of workstations and the clamp assemblies corresponding to each of the workstations to rotate;

[0020] when the target workstation rotates to the visual detection area, the visual positioning system is used to collect an image of the target workstation rotating to the visual detection area to obtain a target image, and the position deviation of the workpiece to be welded on the target workstation is determined according to the target image;

[0021] the laser welding system is used to adjust a preset welding track corresponding to the workpiece to be welded on the target workstation according to the position deviation to obtain a target welding track, and when the target workstation rotates to a laser welding area, the laser welder is controlled to weld the workpiece to be welded on the target workstation rotating to the laser welding area according to the target welding track.

[0022] Optionally, the position deviation of the workpiece to be welded on the target workstation is determined according to the target image, comprising:

[0023] image analysis is performed on the target image to determine a workpiece center position in the target image;

[0024] the position deviation of the workpiece to be welded on the target workstation is determined according to the workpiece center position and a target center position.

[0025] Optionally, the clamp assembly comprises a positioning plate and a lifting piece, the workpiece to be welded is clamped between the lifting piece and the positioning plate, the positioning plate has a first surface facing the visual positioning system, the first surface is provided with a hollow area at the center of the first surface, the workpiece center position is located in the hollow area, and the target center position comprises a center position corresponding to the hollow area.

[0026] Optionally, the first surface is provided with a calibration pattern for indicating the center position corresponding to the hollow area; before the position deviation of the workpiece to be welded on the target workstation is determined according to the workpiece center position and the target center position, the method further comprises:

[0027] perform feature analysis on the calibration pattern contained in the target image to obtain a center position corresponding to the hollowed-out region.

[0028] Optionally, the target center position comprises a calibration center position of a calibration workpiece in a calibration image, and a position deviation corresponding to the calibration image is less than a deviation threshold.

[0029] The method further comprises:

[0030] comparing the workpiece center position of the target image with the calibration center position of the calibration workpiece in the calibration image, and determining the position deviation of the workpiece to be welded on the target work station according to the comparison result.

[0031] Optionally, the method further comprises:

[0032] controlling the lifting member to lift the workpiece to be welded to a target welding height.

[0033] Optionally, the welding system further comprises a position detection device, and the method further comprises:

[0034] detecting, by the position detection device, whether the target work station reaches the visual detection area and / or the laser welding area.

[0035] Optionally, the welding system further comprises a platform control system for controlling the welding rotary platform, and the platform control system is in communication connection with the visual positioning system and the laser welding system.

[0036] After determining the position deviation of the workpiece to be welded on the target work station according to the target image, the method further comprises:

[0037] sending, by the visual positioning system, the work station identification of the target work station and the position deviation to the platform control system, and saving, by the platform control system, the work station identification of the target work station and the position deviation in a data cache pool.

[0038] In the case that the target work station rotates to the laser welding area, acquiring, by the platform control system, the position deviation corresponding to the work station identification of the target work station from the data cache pool, and sending, by the platform control system, the work station identification of the target work station and the position deviation to the laser welding system.

[0039] In another aspect of the present disclosure, an electronic device is provided, which comprises:

[0040] a memory storing executable program code;

[0041] a processor coupled to the memory;

[0042] the processor invokes the executable program code stored in the memory to execute any one of the above methods.

[0043] In another aspect of the present disclosure, the present disclosure provides a computer storage medium, the computer readable storage medium stores a computer program, wherein the computer program, when executed by a processor, causes the processor to execute any one of the above methods.

[0044] Thus, the laser welding method, electronic device and storage medium provided by the present disclosure can control the rotation of the welding rotary platform to drive the rotation of the plurality of workstations and the corresponding clamp assemblies of each workstation. When the target workstation rotates to the visual detection area, the visual positioning system can acquire an image of the target workstation that rotates to the visual detection area to obtain a target image, and determine the position deviation of the workpiece to be welded on the target workstation according to the target image. Then, the laser welding system can adjust the preset welding track corresponding to the workpiece to be welded on the target workstation according to the position deviation to obtain a target welding track. When the target workstation rotates to the laser welding area, the laser welder can weld the workpiece to be welded on the target workstation that rotates to the laser welding area according to the target welding track. The position deviation of the clamp assembly and the workpiece to be welded can be accurately determined by acquiring the target image. After adjusting the preset welding track according to the position deviation, the accurate target welding track is obtained. In this way, the welding track of the laser in the laser flight welding process is prevented from deviating due to the inaccuracy of the clamp assembly clamping the workpiece to be welded. The production efficiency is improved, and the influence of the installation error or clamping error of the clamp assembly on the welding is avoided. The accuracy of the laser welding track is improved, thereby improving the quality and efficiency of the laser welding. BRIEF DESCRIPTION OF DRAWINGS

[0045] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0046] FIG. 1 shows a structural schematic diagram of a welding system according to one embodiment of the present disclosure;

[0047] FIG. 2-A shows a top view schematic diagram of a welding rotary platform according to one embodiment of the present disclosure;

[0048] FIG. 2-B shows a top view schematic diagram of another welding rotary platform according to one embodiment of the present disclosure;

[0049] FIG. 3 shows a scene schematic diagram of a position detection according to one embodiment of the present disclosure;

[0050] FIG. 4-A shows a schematic diagram of a target image captured by a visual positioning system according to an embodiment of the present disclosure;

[0051] FIG. 4-B shows a schematic diagram of a target image according to an embodiment of the present disclosure;

[0052] FIG. 5 shows a schematic diagram of lifting a workpiece to be welded according to an embodiment of the present disclosure;

[0053] FIG. 6 shows a schematic diagram of a laser welding method according to an embodiment of the present disclosure;

[0054] FIG. 7 shows a schematic diagram of a method of determining a position deviation of a workpiece to be welded on a target station according to a target image according to an embodiment of the present disclosure;

[0055] FIG. 8 shows a structural block diagram of an electronic device according to an embodiment of the present disclosure.

[0056] BRIEF DESCRIPTION OF DRAWINGS Welding rotating platform 110; encoder 111; inductive sheet 112; visual positioning system 120; laser welding system 130; workpiece to be welded 140; photoelectric sensor 150; visual detection area 200; station 310; visual detection position 320; first surface 410; hollow area 420; auxiliary positioning line 430; lifting member 510; positioning plate 520; support member 530; vertical member 540; memory 810; processor 820. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present disclosure.

[0058] It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present disclosure are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0059] It can be understood that the terms "first", "second" and the like used in the present disclosure can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of the present disclosure, a first image position can be referred to as a second image position, and similarly, a second image position can be referred to as a first image position. Both the first image position and the second image position are image positions, but they are not the same image position.

[0060] Embodiments of the present disclosure disclose a welding system, a laser welding method, an electronic device and a storage medium, which can improve the welding accuracy of laser welding and ensure the quality of the workpiece produced.

[0061] The following will be described in detail with reference to the accompanying drawings.

[0062] As shown in FIG. 1, FIG. 1 is a structural schematic diagram of a welding system disclosed by embodiments of the present disclosure, which can include a welding rotary platform 110, a visual positioning system 120 and a laser welding system 130. Optionally, the welding rotary platform 110, the visual positioning system 120 and the laser welding system 130 can correspond to multiple system controllers respectively, i.e. a system controller of the welding rotary platform 110, a system controller of the visual positioning system 120 and a system controller of the laser welding system, and each system controller can be communicatively connected. Optionally, the welding rotary platform 110, the visual positioning system 120 and the laser welding system 130 can also correspond to one general controller, which can control the welding rotary platform 110, the visual positioning system 120 and the laser welding system 130 at the same time to realize the cooperation of the welding rotary platform 110, the visual positioning system 120 and the laser welding system 130. Embodiments of the present disclosure do not limit this.

[0063] The welding rotary platform 110 can include multiple workstations 310, and multiple clamping assembly are correspondingly arranged at the multiple workstations 310, i.e. the multiple clamping assemblies and the multiple workstations 310 can be one-to-one correspondingly arranged. Wherein, the multiple workstations 310 and the multiple clamping assemblies are not shown in FIG. 1. The clamping assembly is used for clamping the workpiece to be welded 140, and the multiple clamping assemblies correspondingly arranged at the multiple workstations 310 can be respectively used for clamping the workpiece to be welded 140 on the multiple workstations 310. The workpiece to be welded 140 can be a battery to be welded. For example, as shown in FIG. 1, there are four workpieces to be welded 140 in FIG. 1, which indicates that the welding rotary platform 110 can include four workstations 310, and each workstation 310 is provided with a clamping assembly. The clamping assembly correspondingly arranged at each workstation 310 can be used for clamping the workpiece to be welded 140 on each workstation 310. Wherein, the surface of the clamping assembly can also be provided with a calibration pattern, which is used for positioning the workpiece to be welded 140.

[0064] The welding system can further comprise a driving device, the welding rotary platform 110 can be connected to the driving device, the driving device can drive the welding rotary platform 110 to rotate, and optionally, the driving device can drive the welding rotary platform 110 to keep rotating around a rotation axis, the position of the rotation axis can be determined according to the center position of the welding rotary platform 110, and the rotation axis can be perpendicular to the platform body of the welding rotary platform 110. The rotation speed of the welding rotary platform 110 is generally fixed, but can also be set according to actual conditions, such as variable speed operation, but it needs to be understood that the rotation of the welding rotary platform 110 will not stop during the process of laser flying welding, that is, the image acquisition and laser welding in the embodiment of the present disclosure are also carried out during the rotation of the welding rotary platform. The welding rotary platform 110 can be used for rotating to drive the plurality of workstations 310 to rotate, so that the plurality of clamp assemblies and the workpieces 140 clamped by each clamp assembly rotate, that is, each workpiece 140 to be welded can also rotate following the rotation of the welding rotary platform 110. Optionally, the distance between each workstation 310 and the rotation axis can be the same, that is, each workstation 310 is located on the same rotation circle. Specifically, the driving device and the welding rotary platform 110 can correspond to a platform control system, and the platform control system can be used for controlling the driving device and the welding rotary platform 110.

[0065] The visual positioning system 120 can comprise an image acquisition device, such as a camera, an infrared camera, etc. The visual positioning system 120 can be arranged corresponding to the visual detection area 200, and the pose of the visual positioning system 120 does not change with the rotation of the welding rotary platform 110. The visual detection area 200 can be a predetermined spatial area, and the visual positioning system 120 can acquire a target image corresponding to the visual detection area 200. In the case that the visual detection area 200 contains a part of the welding rotary platform 110, the target image acquired by the visual positioning system 120 also contains a part of the welding rotary platform 110. However, in the process of rotation of the welding rotary platform 110, the part of the welding rotary platform 110 contained in the visual detection area 200 can change. Therefore, the welding rotary platform 110 can drive each workstation 310 to enter the visual detection area 200 by rotating, and the visual positioning system 120 can acquire an image of the target workstation rotating into the visual detection area 200, obtain a target image containing a calibration pattern and a workpiece 140 to be welded, and position the workpiece 140 to be welded according to the target image.

[0066] Specifically, during the rotation of the welding rotary platform 110, each station 310 can first rotate to the visual detection area 200, and then rotate to the laser welding area. The laser welder is arranged corresponding to the laser welding area, that is, the laser welder is aligned with the laser welding area. The laser welding area refers to the area where the laser welder performs laser welding on the workpiece 140 to be welded. Here, the visual detection area 200 is mainly described, and the laser welding area can refer to the description of the visual detection area 200. As shown in FIG. 2-A, which is a top view of a welding rotary platform according to an embodiment of the present disclosure, since the rotation of the welding rotary platform 110 drives the rotation of the plurality of stations 310, one target station can rotate to the visual detection area 200, that is, the workpiece 140 to be welded held by the jig assembly corresponding to the target station in FIG. 2-A is located in the visual detection area 200. With the rotation of the welding rotary platform 110, other workpieces 140 to be welded can also rotate to the visual detection area 200. For example, if the welding rotary platform 110 rotates in the clockwise direction, the workpiece 140 to be welded at the lower left of the visual detection area 200 in FIG. 2-A can rotate to the visual detection area 200 with the rotation of the welding rotary platform 110.

[0067] Optionally, the welding system can further include a position detection device, which can be used to detect the position of each station 310 to determine whether each station 310 reaches the visual detection area 200 and / or the laser welding area. It should be understood that although the visual detection area 200 includes a relatively large range, the visual positioning system 120 does not perform image acquisition in the case that the target station is at any position in the visual detection area 200. Instead, the visual positioning system 120 performs image acquisition on the target station rotating to the visual detection area 200 to obtain a target image in the case that the target station is at the visual detection position 320 in the visual detection area 200, thereby facilitating the positioning of the workpiece 140 to be welded in the target image. Optionally, the position detection device can also be used to detect the position of each station 310 to determine whether each station 310 reaches the visual detection position 320 in the visual detection area 200 and / or the laser welding position in the laser welding area, that is, whether the target station reaches the visual detection area 200 and / or the laser welding area can be detected.

[0068] Optionally, the position detection device can include an encoder of the welding rotary platform 110. The platform control system can determine the target rotation angle of each station 310 to rotate to the visual detection position 320 through the encoder of the welding rotary platform 110, so as to determine that each station 310 rotates to the visual detection position 320 when the welding rotary platform 110 reaches the target rotation angle. Specifically, the platform control system can acquire the pulse signal of the driving device collected by the encoder, and determine the rotation angle of each station 310 according to the pulse signal, so as to determine whether each station 310 rotates to the visual detection position 320. Specifically, as shown in FIG. 2-B, which is a top view of another welding rotary platform, the welding rotary platform 110 can rotate clockwise around the rotation axis corresponding to the center of the platform. The target rotation angle of the station 310 to rotate to the visual detection position 320 is 90 degrees. Therefore, the platform control system can determine that the station 310 rotates to the visual detection position 320 after the welding rotary platform rotates 90 degrees clockwise. Optionally, the welding rotary platform can also rotate counterclockwise around the rotation axis corresponding to the center of the platform. The target rotation angle of the station 310 to rotate to the visual detection position 320 is 270 degrees. Therefore, the platform control system can determine that the station 310 rotates to the visual detection position 320 after the welding rotary platform rotates 270 degrees counterclockwise.

[0069] Optionally, the position detection device can include a photoelectric sensor 150 and a sensing sheet of the welding rotary platform 110. The platform control system can also be in communication connection with the photoelectric sensor 150. The photoelectric sensor 150 includes a transmitting end and a receiving end. The transmitting end is used to emit a light beam to the receiving end. Each station 310 of the welding rotary platform 110 is provided with a corresponding sensing sheet. The sensing sheet is used to block the propagation of the light beam between the transmitting end and the receiving end when the target station rotates to the visual detection position 320. If the platform control system receives the arrival signal sent by the photoelectric sensor 150, it can be determined that the target station rotates to the visual detection position 320. The arrival signal is a signal sent by the photoelectric sensor 150 when the receiving end cannot receive the light beam emitted by the transmitting end. Optionally, the transmitting end can continuously send the light beam to the receiving end during the welding process. The sensing sheet can rotate with the rotation of the welding rotary platform. The positions of the sensing sheet and the photoelectric sensor 150 can be pre-set. When the welding rotary platform drives the target station to rotate to the visual detection position 320, the sensing sheet also rotates to between the transmitting end and the receiving end of the photoelectric sensor 150 to block the propagation of the light beam between the transmitting end and the receiving end, so that the receiving end cannot receive the light beam emitted by the transmitting end. That is, the receiving end cannot receive the light beam can indicate that the target station reaches the visual detection position 320. The photoelectric sensor 150 can send the arrival signal to the control device.

[0070] Optionally, the method of determining the arrival of the target work station at the vision detection position 320 by the photoelectric sensor 150 can be used together with the method of determining the arrival of the target work station at the vision detection position 320 by the pulse signal obtained by the encoder in the above-mentioned embodiments to enhance accuracy. As shown in FIG. 3, which is a schematic diagram of a position detection scenario according to an embodiment of the present disclosure, the encoder 111 can collect the pulse signal of the driving device, and the inductive sheet 112 is arranged below the target work station. When the target work station rotates to the vision detection position 320, the inductive sheet 112 can block the light beam emitted from the emitting end to the receiving end of the photoelectric sensor 150.

[0071] To more clearly illustrate the process of collecting the target image, as shown in FIG. 4-A, which is a schematic diagram of a vision positioning system collecting a target image according to an embodiment of the present disclosure, the vision positioning system 120 can collect an image of the target work station that rotates to the vision detection area 200 to obtain a target image containing the calibration pattern and the workpiece to be welded 140. The target image can be as shown in FIG. 4-B, which is a schematic diagram of a target image according to an embodiment of the present disclosure.

[0072] The vision positioning system 120 can determine the position deviation of the workpiece to be welded 140 on the target work station according to the target image, and send the position deviation corresponding to the target work station and the corresponding work station identifier to the platform control system for storage. The position deviation can be used to represent the position deviation of the workpiece to be welded 140 caused by the clamping error of the clamp assembly clamping the workpiece to be welded 140, or the position deviation of the workpiece to be welded 140 caused by the installation error of the clamp assembly. The clamp assembly includes a positioning plate and a lifting member, and the workpiece to be welded 140 is clamped between the lifting member and the positioning plate. The positioning plate has a first surface facing the vision positioning system 120, i.e., the target image can contain the first surface. The first surface can be provided with a hollow area 420 at the center of the first surface, and the calibration pattern is arranged on the non-hollow area of the first surface outside the hollow area 420. The position deviation can refer to the position deviation between the center position of the hollow area 420 and the workpiece center position of the workpiece to be welded 140.

[0073] As shown in FIG. 4-B, the first surface 410 of the positioning plate is provided with a hollow region 420 at the center of the first surface. When the jig assembly clamps the workpiece 140 to be welded, the target center position of the workpiece 140 to be welded is the center position corresponding to the hollow region 420. The target center position of the workpiece 140 to be welded refers to the position of the workpiece center position of the workpiece 140 to be welded when the jig assembly clamps the workpiece 140 to be welded without clamping error or installation error of the jig assembly. When the workpiece 140 to be welded is a cylindrical battery to be welded and the welding surface is the top of the cylindrical battery, the hollow region 420 can be a circular hollow region, and the center position corresponding to the circular hollow region 420 is the center position of the circle. Optionally, the hollow region 420 can be provided in other shapes, and the shape of the hollow region 420 can be determined according to the shape of the welding surface of the workpiece 140 to be welded.

[0074] Optionally, the visual positioning system 120 can also be used to determine the position deviation of the workpiece 140 to be welded on the target work station according to the calibration pattern contained in the target image and the workpiece 140 to be welded. The visual positioning system 120 can determine the center position corresponding to the hollow region 420 and the workpiece center position of the workpiece 140 to be welded according to the calibration pattern contained in the target image and the workpiece 140 to be welded, and then determine the position deviation of the workpiece 140 to be welded on the target work station according to the center position corresponding to the hollow region 420 and the workpiece center position of the workpiece 140 to be welded. By providing the calibration pattern on the first surface, the position deviation can be determined, and the accuracy of the position deviation can be improved.

[0075] Optionally, the calibration image can include at least two auxiliary positioning lines 430, and the intersection position of the extensions of the at least two auxiliary positioning lines 430 can be the center position corresponding to the hollowed-out area 420. The visual positioning system 120 can extend each auxiliary positioning line 430 according to the at least two auxiliary positioning lines 430 included in the target image, to determine the intersection position of the extensions of the at least two auxiliary positioning lines 430, so that the convenience of determining the center position corresponding to the hollowed-out area 420 can be improved, and the analysis process of the target image is reduced. Optionally, the calibration image can include 2M auxiliary positioning lines 430, where M can be an integer greater than 1, and the 2M auxiliary positioning lines 430 can be divided into M groups, each group including two auxiliary positioning lines 430 located on the same straight line, and the intersection position of the M straight lines corresponding to the M groups can also be the center position corresponding to the hollowed-out area 420. The visual positioning system 120 can then divide the 2M auxiliary positioning lines 430 included in the target image into M groups, and then determine the M straight lines corresponding to the M groups, to determine the intersection position of the M straight lines corresponding to the M groups. Compared with the method of extending a single auxiliary positioning line 430 to obtain a straight line, the straight line can be more accurate by using two auxiliary positioning lines 430 in the same group to determine the straight line, so that the center position corresponding to the hollowed-out area 420 can be more accurately positioned, and the accuracy of determining the center position corresponding to the hollowed-out area 420 is improved.

[0076] For example, as shown in FIG. 4-B, the visual positioning system 120 can determine 4 auxiliary positioning lines 430, and the center position corresponding to the hollowed-out area 420 can be determined by any of the above methods.

[0077] Optionally, the lifting member can be used to lift the workpiece 140 to be welded to a target welding height. The lifting member can lift the workpiece 140 to be welded, so that the welding surface of the workpiece 140 to be welded reaches the target welding height, and the workpiece 140 to be welded is clamped by the positioning plate and the lifting member at the target welding height. Optionally, the platform control system can control the driving device to drive the welding rotary platform 110 to rotate, so that the target work station reaches the position to be lifted, and the platform control system controls the lifting member to lift the workpiece 140 to be welded, so that the welding surface of the workpiece 140 to be welded reaches the target welding height. It should be understood that the laser welder has a target welding height level when the pose is unchanged, and the laser welder can weld the welding surface at the target welding height level, so that better laser welding effect can be achieved.

[0078] To more precisely lift the workpiece 140 to be welded to the target welding height, optionally, the positioning plate further comprises a second surface opposite to the first surface, the second surface can also be provided at the target welding height, and the lifting member is used to lift the workpiece 140 to be welded to abut against the second surface, so that the workpiece 140 to be welded reaches the target welding height. In a specific embodiment, when the workpiece 140 to be welded is a cylindrical battery, and the welding surface is the top of the cylindrical battery, the lifting member can lift the cylindrical battery to make the top of the cylindrical battery abut against the second surface, so that the top of the cylindrical battery reaches the target welding height. As shown in FIG. 5, which is a schematic diagram of lifting the workpiece 140 to be welded, the lifting member 510 can be lifted to control the height of the workpiece 140 to be welded, so that the workpiece 140 to be welded abuts against the second surface of the positioning plate 520.

[0079] Optionally, the plurality of workstations 310 can also correspondingly be provided with a support member 530 and a vertical member 540 connected with the support member 530, the vertical member 540 can be connected with the welding rotary platform 110, and the support member 530 is used to support the positioning plate 520. Specifically, the support member 530 can be detachably connected with the positioning plate 520, and the support member 530 is provided with a clearance area corresponding to the hollow area 420 of the positioning plate 520, i.e., the middle position of the support member 530 in FIG. 5. The workers can replace the appropriate positioning plate according to the type of the workpiece 140 to be welded, such as replacing the positioning plate with a circular hollow area 420 for the cylindrical battery, to achieve more precise positioning and welding.

[0080] The laser welding system 130 can include a laser welder, which can be provided corresponding to the laser welding area. Here, reference can be made to the content about the image acquisition device of the visual positioning system provided corresponding to the visual detection area 200 in the above-mentioned embodiments, and details are not repeated. It also needs to be understood that although the laser welding area includes a larger range, the laser welding system 130 does not perform laser welding in any position of the target workstation in the visual detection area 200, but needs to control the laser welder to weld the workpiece 140 to be welded positioned in the laser welding area when the target workstation is in the laser welding position in the laser welding area. The method for determining that the target workstation is in the laser welding position in the laser welding area can refer to the method for determining that the target workstation is in the visual detection position 320 in the visual detection area 200 in the above-mentioned embodiments, and details are not repeated.

[0081] Optionally, the visual detection area 200 and the laser welding area are separated by N workstations 310, N is a positive integer, to reserve time for saving and / or processing the target image. The welding rotary platform can be rotated to drive the target workstation to rotate to the visual detection area 200 first, and then rotate to the laser welding area, which can ensure that the position deviation is determined by the visual positioning system before each laser welding, so that the laser welder can use the appropriate welding trajectory to weld the to-be-welded workpiece 140 on the target workstation rotating to the laser welding area, thereby improving the welding quality.

[0082] Optionally, when the platform control system determines that the target workstation rotates to the visual detection area 200, the platform control system can send the workstation identification of the target workstation to the visual positioning system. When the visual positioning system receives the workstation identification of the target workstation, it can be determined that the target workstation rotates to the visual detection area 200. The visual positioning system can perform image acquisition on the target workstation rotating to the visual detection area 200 to obtain a target image. Optionally, when the platform control system determines that the target workstation rotates to the laser welding area, the platform control system can send the workstation identification of the target workstation and the corresponding position deviation to the laser welding system. When the laser welding system receives the workstation identification of the target workstation and the corresponding position deviation, the laser welder can be controlled to weld the to-be-welded workpiece 140 on the target workstation rotating to the laser welding area according to the position deviation.

[0083] Optionally, the laser welding system 130 can also be in communication connection with the position detection device. When the position detection device determines that the target workstation rotates to the laser welding area, it can feed back the workstation identification of the target workstation to the laser welding system 130. The laser welding system 130 can request the platform control system to obtain the position deviation corresponding to the workstation identification of the target workstation according to the workstation identification of the target workstation. The platform control system can control the laser welder to weld the to-be-welded workpiece 140 on the target workstation rotating to the laser welding area according to the position deviation.

[0084] As shown in FIG. 6, FIG. 6 is a flowchart of a laser welding method disclosed by an embodiment of the present disclosure. The laser welding method can be applied to the welding system in the above-mentioned embodiments. The laser welding method can include the following steps:

[0085] Step 610, control the welding rotary platform to rotate to drive a plurality of workstations and the clamp assemblies corresponding to each workstation to rotate.

[0086] The platform control system can drive the welding rotary platform to rotate through the driving device, so as to drive the plurality of workstations 310 and the corresponding clamp assemblies of each workstation 310 to rotate. In the case that the clamp assembly corresponding to the target workstation clamps the to-be-welded workpiece 140, the platform control system controls the welding rotary platform to rotate, so that the target workstation is first rotated to the visual detection area 200 and then rotated to the laser welding area. The platform control system can determine whether the target workstation is rotated to the visual detection area 200 and whether the target workstation is rotated to the visual detection area 200 through the position detection device.

[0087] In step 620, in the case that the target workstation is rotated to the visual detection area 200, the visual positioning system 120 performs image acquisition on the target workstation rotated to the visual detection area 200 to obtain a target image, and determines the position deviation of the to-be-welded workpiece 140 on the target workstation according to the target image.

[0088] In the case that the platform control system determines that the target workstation is rotated to the visual detection area 200, the platform control system can send the workstation identification of the target workstation to the visual positioning system 120. After the visual positioning system 120 receives the workstation identification of the target workstation, it can be determined that the target workstation is rotated to the visual detection area 200. The visual positioning system 120 can perform image acquisition on the target workstation rotated to the visual detection area 200 to obtain a target image. The target image can refer to the content in the above embodiments, which will not be described here.

[0089] In step 630, the laser welding system adjusts the preset welding track corresponding to the to-be-welded workpiece 140 on the target workstation according to the position deviation to obtain a target welding track, and controls the laser welder to weld the to-be-welded workpiece 140 on the target workstation rotated to the laser welding area according to the target welding track in the case that the target workstation is rotated to the laser welding area.

[0090] In the case that the platform control system determines that the target workstation is rotated to the laser welding area, the platform control system can send the workstation identification of the target workstation and the corresponding position deviation to the laser welding system. The laser welding system can obtain the preset welding track of the to-be-welded workpiece 140 on the target workstation according to the workstation identification of the target workstation, adjust the preset welding track according to the position deviation corresponding to the target workstation to obtain a target welding track, and control the laser welder to weld the to-be-welded workpiece 140 on the target workstation rotated to the laser welding area according to the target welding track in the case that the target workstation is rotated to the laser welding area.

[0091] Optionally, in order to obtain better welding effect, since the laser intensity of the laser is different at different heights, before the laser welding system welds the workpiece 140 to be welded on the target station, the lifting member is controlled to lift so as to lift the workpiece 140 to be welded to the target welding height. Optionally, the platform control system can control the welding rotary platform to rotate so as to rotate the target station to the position to be lifted, and in the case that the target station is rotated to the position to be lifted, the lifting member can be controlled to lift so as to lift the workpiece 140 to be welded to the target welding height, and in particular, the welding surface of the workpiece 140 to be welded can be lifted to the target welding height. It can be understood that in the case that the workpiece 140 to be welded is at the target welding height, the welding effect of the laser welding device welding the workpiece 140 to be welded is the best, and the welding quality is improved.

[0092] As an optional implementation, after the visual positioning system 120 determines the position deviation of the workpiece 140 to be welded on the target station according to the target image, the visual positioning system 120 can also send the station identifier of the target station and the position deviation to the platform control system, and save the station identifier of the target station and the position deviation in the data cache pool through the platform control system. In the case that the target station is rotated to the laser welding position, the platform control system can obtain the position deviation corresponding to the station identifier of the target station from the data cache pool, and send the station identifier of the target station and the position deviation to the laser welding system. By saving the station identifier and the position deviation corresponding to the station identifier in the data cache pool, and calling them again when the target station is rotated to the laser welding position, the memory occupation can be reduced.

[0093] In the embodiment of the present disclosure, the welding rotary platform can be controlled to rotate to drive the plurality of workstations 310 and the clamp assemblies corresponding to the plurality of workstations 310 to rotate, in the case that the target workstation rotates to the visual detection area 200, the visual positioning system 120 can be used to collect an image of the target workstation rotating to the visual detection area 200 to obtain a target image, and the position deviation of the workpiece to be welded 140 on the target workstation can be determined according to the target image, and then the preset welding track corresponding to the workpiece to be welded 140 on the target workstation can be adjusted according to the position deviation by the laser welding system to obtain a target welding track, and in the case that the target workstation rotates to the laser welding area, the laser welder can be controlled to weld the workpiece to be welded 140 on the target workstation rotating to the laser welding area according to the target welding track. The position deviation of the clamp assembly and the workpiece to be welded 140 can be accurately determined by collecting the target image, and the accurate target welding track can be obtained by adjusting the preset welding track according to the position deviation, which avoids the deviation of the welding track of the laser in the laser flight welding process caused by the inaccuracy of the clamp assembly clamping the workpiece to be welded 140, and the production efficiency is improved, and the influence of the installation error or clamping error of the clamp assembly on the welding is avoided, the accuracy of the laser welding track is improved, and thus the laser welding quality and efficiency are improved.

[0094] As shown in FIG. 7, FIG. 7 is a flowchart of a method for determining the position deviation of the workpiece to be welded 140 on the target workstation according to the target image, which is disclosed by the embodiment of the present disclosure, and the method is applied to the welding system in the above-mentioned embodiment, and the method can include the following steps:

[0095] In step 710, the target image is analyzed to determine the workpiece center position in the target image.

[0096] The visual positioning system 120 can perform feature recognition on the target image to obtain the image area of the workpiece to be welded 140, so as to determine the area center position of the image area of the workpiece to be welded 140 as the workpiece center position of the workpiece to be welded 140 in the target image. Optionally, in the case that the welding surface of the workpiece to be welded 140 is irregular, the feature point position of the workpiece to be welded 140, such as the liquid injection hole position, can be recognized as the workpiece center position of the workpiece to be welded 140 in the target image.

[0097] In step 720, the position deviation of the workpiece to be welded 140 on the target workstation is determined according to the workpiece center position and the target center position.

[0098] The target center position refers to a position of a workpiece center position of the workpiece to be welded 140 in the absence of clamping errors when the clamping member clamps the workpiece to be welded 140. The target center position can be a preset position or a position detected according to a target image.

[0099] As shown in the target image in FIG. 4-B, the pattern center position can be the same as the center position of the hollow region 420, that is, the pattern center position of the calibration pattern is the target center position. The visual positioning system 120 can perform feature analysis on the calibration pattern contained in the target image to obtain the center position of the hollow region 420.

[0100] Alternatively, the visual positioning system 120 can also perform feature analysis on the calibration pattern contained in the target image to obtain the center position of the hollow region 420. Alternatively, the calibration pattern can include at least two auxiliary positioning lines 430, so that the at least two auxiliary positioning lines 430 can be extended to obtain the extension lines of the at least two auxiliary positioning lines 430, and the intersection position of the extension lines of the at least two auxiliary positioning lines 430 can be determined as the center position of the hollow region 420. Alternatively, the calibration image can also include 2M auxiliary positioning lines 430, and the visual positioning system 120 can divide the 2M auxiliary positioning lines 430 into M groups, determine the straight lines on which the two auxiliary positioning lines 430 contained in each group are located, and then determine the intersection position of the M straight lines corresponding to the M groups as the center position of the hollow region 420.

[0101] By setting the calibration pattern on the clamping member, the center position of the hollow region 420 of the clamping member can be accurately positioned, thereby improving the accuracy of the position deviation.

[0102] In one embodiment, the visual positioning system 120 stores a calibration image containing a calibration workpiece, and the position deviation corresponding to the calibration image is less than a deviation threshold. The target center position can include a calibration center position of the calibration workpiece in the calibration image. The visual positioning system 120 can compare the workpiece center position of the target image with the calibration center position of the calibration workpiece in the calibration image, and determine the position deviation of the workpiece to be welded 140 on the target work station according to the comparison result. By using the pre-set calibration image to determine the position deviation, the accuracy of the position deviation can also be improved.

[0103] As shown in FIG. 8, in one embodiment, an electronic device is provided, which can include:

[0104] a memory 810 storing executable program code;

[0105] a processor 820 coupled to the memory 810;

[0106] The processor 820 invokes the executable program code stored in the memory 810 to implement the laser welding method provided in the above embodiments.

[0107] The memory 810 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 810 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 810 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above various method embodiments, etc. The data storage area can also store data created by the electronic device in use, etc.

[0108] The processor 820 can include one or more processing cores. The processor 820 connects various parts within the entire electronic device through various interfaces and lines, executes various functions of the electronic device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 810, and calling data stored in the memory 810. Alternatively, the processor 820 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 820 can integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU) and a modem, etc. Among them, the CPU mainly processes an operating system, a user interface and an application program, etc.; the GPU is responsible for rendering and drawing display content; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 820, but can be implemented by a separate communication chip.

[0109] It can be understood that the electronic device can include more or less structural elements than those in the above structural block diagram, for example, including a power module, a physical key, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., which are not limited herein.

[0110] The embodiments of the present disclosure disclose a computer readable storage medium storing a computer program, wherein the computer program causes a computer to execute the method described in the above embodiments.

[0111] In addition, the embodiments of the present disclosure further disclose a computer program product, when the computer program product is run on a computer, causes the computer to execute all or part of the steps of any one of the laser welding methods described in the above embodiments.

[0112] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer readable storage medium, including a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk memories, magnetic disk memories, magnetic tape memories, or any other computer readable medium that can be used to carry or store data.

[0113] The above describes in detail the welding system, the laser welding method, the electronic device and the storage medium disclosed by the embodiments of the present disclosure. The principles and implementation manners of the present disclosure are described by applying specific examples. The above embodiment descriptions are only used to help understand the method of the present disclosure and its core idea. Meanwhile, for a person of ordinary skill in the art, according to the idea of the present disclosure, the specific implementation manners and application ranges will be changed. In summary, the content of the present description should not be understood as a limitation of the present disclosure.

Claims

1. A welding system characterized by, The welding system comprises: a welding rotary platform (110) comprising a plurality of workstations (310), each of which is provided with a clamp assembly for clamping a workpiece (140) to be welded, and a calibration pattern is arranged on the surface of the clamp assembly for positioning the workpiece (140) to be welded; a visual positioning system (120) arranged corresponding to a visual detection area (200), the visual positioning system (120) is used for image acquisition of a target workstation rotated to the visual detection area (200), to obtain a target image containing the calibration pattern and the workpiece (140) to be welded, and to position the workpiece (140) to be welded according to the target image; a laser welding system (130) comprising a laser welder, the laser welder is arranged corresponding to a laser welding area, the laser welding area is different from the visual detection area (200), and the laser welding system is used for controlling the laser welder to weld the positioned workpiece (140) to be welded rotated to the laser welding area.

2. The welding system of claim 1, wherein, The welding rotary platform (110) is further used to rotate to drive the target workstation to rotate to the visual detection area (200) first, and then rotate to the laser welding area.

3. The welding system of claim 1 or 2, wherein, The clamp assembly comprises a positioning plate (520) and a lifting piece (510), the workpiece (140) to be welded is clamped between the lifting piece (510) and the positioning plate (520), the positioning plate (520) comprises a first surface (410) facing the visual positioning system (120), the first surface (410) is provided with a hollow area (420) located at the center of the first surface (410), and the calibration pattern is arranged on the first surface (410) and located in the non-hollow area outside the periphery of the hollow area (420).

4. The welding system of claim 3, wherein, The hollow area (420) is a circular hollow area.

5. The welding system of claim 3 or 4, wherein, The calibration pattern comprises at least two auxiliary positioning lines (430), and the intersection position of the extension lines of the at least two auxiliary positioning lines (430) is the center position corresponding to the hollow area (420).

6. The welding system of claim 5, wherein, The calibration pattern comprises 2M auxiliary positioning lines (430), M is an integer greater than 1, the 2M auxiliary positioning lines (430) are divided into M groups, each group comprises two auxiliary positioning lines (430) located on the same straight line, and the intersection position of the M straight lines corresponding to the M groups is the center position corresponding to the hollow area (420).

7. The welding system of any one of claims 3 to 6, wherein, The positioning plate (520) further comprises a second surface opposite to the first surface (410), the second surface is arranged at a target welding height, and the lifting piece (510) is used for lifting the workpiece (140) to be welded to abut against the second surface.

8. The welding system of claim 7, wherein, The plurality of stations (310) are respectively provided with a support (530) for supporting the clamp assembly, and the support (530) is provided with a clearance area corresponding to the hollow area (420).

9. The welding system of any one of claims 1 to 8, wherein, The visual detection area (200) and the laser welding area are separated by N stations (310), and N is a positive integer.

10. The welding system of any one of claims 1 to 9, wherein, The welding system further comprises a driving device connected with the welding rotary platform (110), and the driving device is used to drive the welding rotary platform (110) to rotate.

11. A laser welding method characterized by, The welding system comprises a welding rotary platform (110), a visual positioning system (120) and a laser welding system, the welding rotary platform (110) comprises a plurality of stations (310), each of which is provided with a clamp assembly corresponding to the station (310), the clamp assembly is used for clamping a workpiece (140) to be welded, and the laser welding system comprises a laser welder; the method comprises: Controlling the welding rotary platform (110) to rotate to drive the plurality of stations (310) and the clamp assemblies corresponding to each of the stations (310) to rotate; When the target station rotates to the visual detection area (200), the visual positioning system (120) is used to acquire an image of the target station rotating to the visual detection area (200) to obtain a target image, and the position deviation of the workpiece (140) to be welded on the target station is determined according to the target image; The laser welding system is used to adjust a preset welding track corresponding to the workpiece (140) to be welded on the target station according to the position deviation to obtain a target welding track, and the laser welder is used to weld the workpiece (140) to be welded on the target station rotating to the laser welding area according to the target welding track when the target station rotates to the laser welding area.

12. The method of claim 11, wherein, The position deviation of the workpiece (140) to be welded on the target station is determined according to the target image, which comprises: Image analysis is performed on the target image to determine the workpiece center position in the target image; The position deviation of the workpiece (140) to be welded on the target station is determined according to the workpiece center position and a target center position.

13. The method of claim 12, wherein, The clamp assembly comprises a positioning plate (520) and a lifting member (510), the workpiece (140) to be welded is clamped between the lifting member (510) and the positioning plate (520), the positioning plate (520) has a first surface (410) facing the visual positioning system (120), the first surface (410) is provided with a hollow area (420) located at the center of the first surface (410), the workpiece center position is located in the hollow area (420), and the target center position comprises a center position corresponding to the hollow area (420).

14. The method of claim 13, wherein, The first surface (410) is provided with a calibration pattern for indicating the center position corresponding to the hollowed-out area (420); before the position deviation of the workpiece (140) to be welded on the target station is determined according to the workpiece center position and the target center position, the method further comprises: performing feature analysis on the calibration pattern contained in the target image to obtain the center position corresponding to the hollowed-out area (420).

15. The method according to any one of claims 12 to 14, characterized in that, The target center position comprises a calibration center position of a calibration workpiece in a calibration image, and a position deviation corresponding to the calibration image is less than a deviation threshold; The position deviation of the workpiece (140) to be welded on the target station is determined according to the workpiece center position and the target center position, comprising: comparing the workpiece center position of the target image with the calibration center position of the calibration workpiece in the calibration image, and determining the position deviation of the workpiece (140) to be welded on the target station according to the comparison result.

16. The method of claim 13, wherein, The method further comprises: controlling the lifting member (510) to lift so as to lift the workpiece (140) to be welded to a target welding height.

17. The method according to any one of claims 11 to 16, characterized in that, The welding system further comprises a position detection device, and the method further comprises: detecting whether the target station reaches the visual detection area (200) and / or the laser welding area through the position detection device.

18. The method of claim 11, wherein, The welding system further comprises a platform control system for controlling the welding rotary platform (110), and the platform control system is in communication connection with the visual positioning system (120) and the laser welding system; After the position deviation of the workpiece (140) to be welded on the target station is determined according to the target image, the method further comprises: sending the station identification of the target station and the position deviation to the platform control system through the visual positioning system (120), and saving the station identification of the target station and the position deviation in a data cache pool through the platform control system; in the case that the target station rotates to the laser welding area, acquiring the position deviation corresponding to the station identification of the target station from the data cache pool through the platform control system, and sending the station identification of the target station and the position deviation to the laser welding system.

19. An electronic device, comprising: comprise: a memory (810) storing executable program codes; a processor (820) coupled with the memory (810); the processor (820) invokes the executable program codes stored in the memory (810) to execute the method of any one of claims 11 to 18.

20. A computer storage medium, comprising, The computer readable storage medium stores a computer program, wherein the computer program, when executed by a processor, causes the processor to execute the method of any one of claims 11 to 18. The computer readable storage medium stores a computer program, wherein the computer program, when executed by a processor, causes the processor to execute the method of any one of claims 11 to 18.

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