Positioning system, tab lead processing system, positioning method, tab lead processing method, and method for manufacturing cylindrical secondary battery

Abstract

T is a natural number of 1 or more. Q is a natural number that is not less than 1 and not more than T. A cylindrical cell (700) has a central axis (O), a circumferential direction (722) around the central axis (O), and T tab leads (719). A conveyance path (800) conveys the cylindrical cell (700). An imaging device (320) captures an image of the cylindrical cell (700) on the conveyance path (800) to obtain a captured image. A control device (620) positions the cylindrical cell (700) in the circumferential direction (722) on the basis of the coordinates of the central axis (O) in the captured image and the coordinates of Q tab leads (719) among the T tab leads (719) in the captured image.

Description

Positioning system, tab lead processing system, positioning method, tab lead processing method, and method for manufacturing cylindrical secondary battery

[0001] This disclosure relates to a positioning system, a tab lead processing system, a positioning method, a tab lead processing method, and a method for manufacturing a cylindrical secondary battery.

[0002] Patent Document 1 describes a method for manufacturing a cylindrical battery. In this manufacturing method, a structure is created in which electrode tabs protrude from an electrode body housed in an outer casing. The electrode tabs in this structure are bent. After that, the outer casing is sealed with a sealing body.

[0003] Japanese Patent Publication No. 2020-087835, International Publication No. 2023 / 189557

[0004] This disclosure provides a technology suitable for circumferential positioning of cylindrical cells in a transport path based on tab leads in the cylindrical cells.

[0005] This disclosure provides a positioning system comprising: a transport path for transporting a cylindrical cell having a central axis, a circumferential direction around the central axis, and T tab leads, where T is a natural number of 1 or more and Q is a natural number of 1 or more and T or less; an imaging device for imaging the cylindrical cell in the transport path and obtaining an image; and a control device for positioning the cylindrical cell in the circumferential direction based on the coordinates of the central axis in the image and the coordinates of Q tab leads out of the T tab leads in the image.

[0006] The technology described herein is suitable for circumferential positioning of cylindrical cells in a transport path based on tab leads in the cylindrical cells.

[0007] Diagram of the positioning system and tab lead processing system in the embodiment Side view of the cylindrical cell in the transport path Top view of the cylindrical cell in the transport path Flowchart showing the positioning method and tab lead processing method according to the embodiment Explanatory diagram of example 1A Explanatory diagram of example 2A Explanatory diagram of offset processing Explanatory diagram of coordinate transformation by offset processing Explanatory diagram of example 1B Explanatory diagram of example 2B Explanatory diagram of terminal display Vertical cross-sectional view of cylindrical secondary battery according to configuration example Front view showing the positive electrode and negative electrode constituting the electrode body in an unfolded state Plan view showing the position where the positive electrode tab lead is arranged on the top surface of the electrode body Flowchart showing a part of the manufacturing method of cylindrical secondary battery

[0008] (Knowledge and other information forming the basis of this disclosure) Shifts in the circumferential position of cylindrical cells can occur along the transport path. For example, this can occur because the cylindrical cells vibrate during transport by a conveyor, causing them to rotate unintentionally in the circumferential direction. Another example is that the cylindrical cells rotate unintentionally due to the transfer of cylindrical cells by a mechanical arm, etc. Circumferential positional shifts of cylindrical cells can become apparent when a large number of cylindrical cells are transported at high speed and continuously.

[0009] For example, consider machining tab leads using a system. Circumferential misalignment of the cylindrical cell causes the tab lead's circumferential position to deviate from its optimal machining position. This circumferential misalignment can reduce machining accuracy. This reduction in machining accuracy due to circumferential misalignment of the cylindrical cell becomes particularly apparent when multiple tab leads need to be machined, especially when multiple tab leads must be machined simultaneously.

[0010] To correct the circumferential misalignment of cylindrical cells using a system, it is conceivable to image the cylindrical cells along the transport path and position them circumferentially based on the obtained images. If the cylindrical cells have tab leads, the tab leads in the images can be used as a reference for circumferential positioning. This disclosure is based on such considerations by the inventors.

[0011] Embodiments will be described in detail below with reference to the drawings. However, descriptions that are unnecessarily detailed may be omitted. For example, detailed descriptions of already well-known matters or redundant descriptions of substantially identical configurations may be omitted. The accompanying drawings and the following description are provided for the full understanding of the disclosure by those skilled in the art and are not intended to limit the subject matter described in the claims.

[0012] In this embodiment, "rectangle" is a concept that includes "square." "Centroid" refers to the "geometric center." "Position" in phrases such as "circumferential position" and "circumferential alignment" refers to "angular position." "Average" refers to, for example, the arithmetic mean, harmonic mean, geometric mean, pruned mean, etc.

[0013] In this embodiment, "shape" includes the concept of "dimensions." Therefore, even if the shapes are similar, they are considered different shapes if their dimensions are different.

[0014] (Embodiment) <<Positioning System 901, Tab Lead Processing System 902>> Figure 1 is a configuration diagram of the positioning system 901 and the tab lead processing system 902 in an embodiment. The tab lead processing system 902 includes the positioning system 901 and the processing device 420. The positioning system 901 includes a transport path 800, an imaging device 320, an image processing device 520, a control device 620, and a terminal 220.

[0015] The positioning system 901 positions the cylindrical cell 700. The tab lead processing system 902 processes the tab leads of the cylindrical cell 700.

[0016] ≪Cylindrical Cell 700≫ In this embodiment, the cylindrical cell 700 is an intermediate product. The cylindrical cell 700 is processed into a cylindrical secondary battery. However, the cylindrical cell 700 may be the final product itself.

[0017] Figure 2 is a side view of the cylindrical cell 700 in the transport path 800. Figure 2 shows how the cylindrical cell 700 in the transport path 800 is imaged by the imaging device 320. Figure 3 is a top view of the cylindrical cell 700 in the transport path 800. Figure 3 shows the cylindrical cell 700 as seen from the imaging device 320.

[0018] The cylindrical cell 700 includes an outer casing 715, an electrode body 714, and T tab leads 719, where T is a natural number of 1 or more. Typically, T is 2 or more. In this embodiment, T is 4.

[0019] A larger T is advantageous from the standpoint of improving the current collection capacity of the cylindrical secondary battery that should be obtained based on the cylindrical cell 700. Improved current collection capacity is particularly beneficial when the cylindrical secondary battery has a large capacity.

[0020] The cylindrical cell 700 has a central axis O. In this embodiment, the central axis of the outer casing 715 is treated as the central axis O. In Figures 2 and 3, the axial direction 721 is the direction in which the central axis O extends. The circumferential direction 722 is the circumferential direction around the central axis O. In Figure 3, the counterclockwise direction is the positive direction of the circumferential direction 722.

[0021] The outer casing 715 has a bottomed cylindrical shape. Specifically, the outer casing 715 includes a bottom wall 716 and a peripheral wall 717 rising from the bottom wall 716. The bottom wall 716 and the peripheral wall 717 constitute the bottomed cylindrical shape. In this embodiment, the outer casing 715 is a metal outer can.

[0022] In the electrode body 714, a strip-shaped positive electrode and a strip-shaped negative electrode are wound around each other with a separator in between. The electrode body 714 is housed in the outer casing 715.

[0023] The T tab leads 719 are connected to the electrode body 714 and protrude from the electrode body 714 at the opening side of the outer casing 715. In this embodiment, the T tab leads 719 are positive electrode tab leads connected to the positive electrode of the electrode body 714.

[0024] As described above, in this embodiment, the number of tab leads 719 in the cylindrical cell 700 is four. In the following description, the four tab leads 719 in the cylindrical cell 700 may be distinguished by subscripts 1 to 4. That is, the notations tab lead 7191, tab lead 7192, tab lead 7193, and tab lead 7194 may be used below.

[0025] In the cylindrical cell 700 of this embodiment, two tab leads 719 are provided at 180° intervals in the circumferential direction 722. Specifically, a first angular position and a second angular position are provided at 180° intervals in the circumferential direction 722. At the first angular position, tab leads 7191 and 7192 are arranged such that tab lead 7191 is radially outward from tab lead 7192, and at the second angular position, tab leads 7193 and 7194 are arranged such that tab lead 7193 is radially outward from tab lead 7194.

[0026] In the above explanation, the radially outer side is the side furthest from the central axis O.

[0027] T tab leads 719 have R tab rows. In a tab row, multiple tab leads 719 are arranged in the circumferential direction 722. R is a natural number of 1 or more. In this embodiment, R is 2. Specifically, - Tab leads 7191 and 7193 constitute a tab row and are arranged in this order in the circumferential direction 722, and - Tab leads 7192 and 7194 constitute a tab row and are arranged in this order in the circumferential direction 722.

[0028] In the following, the term "tab pair" may be used. A tab pair is a pair of tab leads 719 that are included in the T tab leads 719 and face each other across the central axis O. The angular position in the circumferential direction 722 of one tab lead 719 in a tab pair is shifted by 180° from the angular position in the circumferential direction 722 of the other tab lead 719 in the tab pair. In the embodiment, the following are considered tab pairs: - The pair of tab lead 7191 and tab lead 7193 - The pair of tab lead 7191 and tab lead 7194 - The pair of tab lead 7192 and tab lead 7193 - The pair of tab lead 7192 and tab lead 7194

[0029] In the following, the term "tab quad" may be used. A tab quad is a set of four tab leads 719 that are included in the T tab leads 719 and intersect a straight line passing through the central axis O when viewed from a direction parallel to the axial direction 721. The four tab leads 719 that make up the tab quad are either identical or offset by 180° in the circumferential direction 722. In this embodiment, a quad consisting of tab leads 7191, 7192, 7193, and 7194 corresponds to a tab quad.

[0030] <Conveying Path 800> Returning to Figure 1, the conveying path 800 includes a conveying mechanism and a rotating mechanism. The conveying mechanism sequentially conveys a plurality of cylindrical cells 700. The rotating mechanism rotates the cylindrical cells 700 in the circumferential direction 722.

[0031] In this embodiment, the transport mechanism includes a mechanical arm 810 and a conveyor 820. The rotation mechanism includes a rotating device 830. Specifically, the transport path 800 is configured so that the cylindrical cell 700 being transported by the conveyor 820 can be rotated by the rotating device 830.

[0032] In this embodiment, the mechanical arm 810 is a robot arm. The conveyor 820 is a belt conveyor. The rotating device 830 is a magnetic rotor.

[0033] <Terminal 220> Terminal 220 has a display function. Terminal 220 is, for example, a smartphone, personal computer, tablet, mobile phone, personal digital assistant (PDA), etc. Terminal 220 may be incorporated into the imaging device 320, processing device 420, etc. In this embodiment, terminal 220 includes a touch panel with a display function.

[0034] <<Processing device 420>> The processing device 420 processes T tab leads 719 of the cylindrical cell 700. Specifically, the processing is bending.

[0035] In this embodiment, the processing apparatus 420 includes a base structure 450 and a mechanical arm 460. The mechanical arm 460 is connected to the base structure 450. The base structure 450 may be the base for the mechanical arm 460. The mechanical arm 460 processes T tab leads 719. Specifically, the claws of the mechanical arm 460 process the T tab leads 719. In this embodiment, the mechanical arm 460 is a robotic arm.

[0036] ≪Imaging Device 320≫ The imaging device 320 images the cylindrical cell 700 from the T tab leads 719 side. This obtains an image. The image includes the T tab leads 719 and the outer casing 715. Specifically in this embodiment, the image is obtained by imaging the cylindrical cell 700 from a direction parallel to the axial direction 721 using the imaging device 320. The image may be an image of the cylindrical cell 700 moving along the transport path 800, or an image of the cylindrical cell 700 stationary in the transport path 800.

[0037] The imaging device 320 is not particularly limited. A known camera can be used as the imaging device 320. The imaging device 320 in this embodiment includes a light-receiving element and an illumination device. Visible light is irradiated onto the cylindrical cell 700 from the illumination device, and the light-receiving element receives the reflected light from the cylindrical cell 700. This allows the cylindrical cell 700 to be imaged. Specifically, in this embodiment, the illumination device is a Light Emitting Diode (LED), and the visible light is white light. The light-receiving element may be a monochrome light-receiving element or a color light-receiving element. In this embodiment, the imaging device 320 is an area sensor camera. However, the imaging device 320 may be a line sensor camera that obtains an image simultaneously with transport. The imaging device 320 may also be a laser sensor camera. A laser sensor camera can obtain a three-dimensional image of the cylindrical cell 700.

[0038] <Image Processing Device 520> The image processing device 520 includes a processor 570 and a memory 580.

[0039] The processor 570 performs image processing on the captured image.

[0040] The memory 580 stores at least one image filter, a known shape corresponding to the outer casing 715, and a known shape corresponding to the T tab leads 719. The at least one image filter is used for filtering, which will be described later. The known shape corresponding to the outer casing 715 and the known shape corresponding to the T tab leads 719 will be described later.

[0041] In one embodiment, the image filter includes a smoothing filter and at least one differential filter. In another embodiment, the differential filter includes a first-order differential filter and / or a second-order differential filter.

[0042] Smoothing filters include, for example, median filters and Gaussian filters. First-order differential filters include Previtt filters, Sobel filters, and Roberts filters. Second-order differential filters include, for example, Laplacian filters.

[0043] <Control device 620> The control device 620 includes a processor 670 and a memory 680. In this embodiment, the control device 620 is a Programmable Logic Controller (PLC).

[0044] The processor 670 controls the rotating device 830 so that the cylindrical cell 700 is positioned in the circumferential direction 722 based on the image processing results. The processor 670 controls the processing device 420 so that T tab leads 719 are processed based on the image processing results. The processor 670 controls the terminal 220 so that it displays predetermined content.

[0045] Memory 680 is the reference angular position φ REF It remembers the reference angular position φ. REF This will be discussed later.

[0046] ≪Positioning Method and Tab Lead Processing Method≫ Figure 4 is a flowchart showing the positioning method and tab lead processing method according to an embodiment. The positioning method and tab lead processing method of the embodiment will be further described below with reference to Figure 4. In the following description, the image viewing shape is the shape as viewed from the imaging device 320. Specifically, the image viewing shape may be the shape as viewed from a direction parallel to the axial direction 721.

[0047] In step S101, the cylindrical cell 700 is transported along the transport path 800.

[0048] In step S102, the imaging device 320 images the cylindrical cell 700 in the transport path 800. This obtains an image.

[0049] In step S103, data representing the captured image (captured image data) is transmitted from the imaging device 320 to the image processing device 520.

[0050] In step S104, the image processing device 520 identifies the coordinates of the central axis O in the captured image. Specifically, the coordinates are two-dimensional coordinates.

[0051] As described above, in this embodiment, the central axis of the outer casing 715 is treated as the central axis O. The image processing device 520 extracts blobs of known shape corresponding to the outer casing 715 from the captured image by filtering. The image processing device 520 identifies the centroid coordinates of the extracted blobs as the coordinates of the central axis O in the captured image. In this embodiment, the blobs of known shape corresponding to the outer casing 715 are areas that are relatively bright compared to their surroundings.

[0052] Here, we will describe the known shape corresponding to the exterior body 715. The blob to be extracted from the captured image is a blob with the same shape as the captured image shape of the peripheral wall 717 of the exterior body 715. In this embodiment, the captured image shape of the peripheral wall 717 is known. The known captured image shape of the peripheral wall 717 is the known shape corresponding to the exterior body 715. In this embodiment, the known shape corresponding to the exterior body 715 is pre-stored in the memory 580 of the image processing device 520 at the "start" stage of the flowchart in Figure 4. In this embodiment, the known shape corresponding to the exterior body 715 is an annular shape.

[0053] In step S105, the image processing device 520 identifies the coordinates of T tab leads 719 in the captured image. As described above, in this embodiment, the T tab leads 719 are four tab leads: tab lead 7191, tab lead 7192, tab lead 7193, and tab lead 7194.

[0054] In this embodiment, the image processing device 520 extracts T blobs from the captured image by filtering. The T blobs have a known shape corresponding to the T tab leads 719. The image processing device 520 identifies the centroid coordinates of the extracted T blobs as the coordinates of the T tab leads 719 in the captured image. In this embodiment, the blobs with a known shape corresponding to the T tab leads 719 are relatively bright areas relative to their surroundings.

[0055] Here, we will describe the known shapes corresponding to the T tab leads 719. The T blobs to be extracted from the captured image are blobs with the same shape as the captured image shape of the T tab leads 719. In this embodiment, the captured image shapes of the T tab leads 719 are known. The known captured image shapes of the T tab leads 719 are the known shapes corresponding to the T tab leads 719. In this embodiment, the known shapes corresponding to the T tab leads 719 are pre-stored in the memory 580 of the image processing device 520 at the "start" stage of the flowchart in Figure 4.

[0056] In this embodiment, the known shapes corresponding to the T tab leads 719 are linear. In this embodiment, a shape is linear if the aspect ratio of the smallest rectangle enclosing that shape is 3 or greater. The aspect ratio is the ratio of the length of the longer side to the length of the shorter side.

[0057] Hereinafter, the expression "Q tab leads 719" is used. Q is a natural number greater than or equal to 1 and less than or equal to T. Typically, Q is greater than or equal to 2. In an embodiment, Q is 4. The Q tab leads 719 are included in the T tab leads 719. When Q is greater than or equal to 2, the Q tab leads 719 may intersect a straight line passing through the central axis O when viewed from a direction parallel to the axial direction 721. In an embodiment, the Q tab leads 719 are included in the tab leads 719 belonging to R tab columns.

[0058] In step S106, the image processing apparatus 520 specifies the inclination of the tab straight line L TAB . The tab straight line L TAB is a straight line based on the coordinates of the central axis O in the captured image and the coordinates of the Q tab leads 719 in the captured image. In an embodiment, the tab straight line L TAB is a regression straight line based on the coordinates of the central axis O in the captured image and the coordinates of the Q tab leads 719 in the captured image. Specifically, the regression straight line is a regression straight line by the least squares method.

[0059] An explanation will be given of the expression "a straight line based on the coordinates of the central axis O in the captured image and the coordinates of the Q tab leads 719 in the captured image". As will be described later, an offset image can be obtained based on the captured image. The "straight line" according to this expression is intended to include a regression straight line based on the coordinates of the central axis O in the offset image and the coordinates of the Q tab leads 719 in the offset image.

[0060] The inclination of the tab straight line L TAB is used for specifying the cell angular position in step S107 described later. The cell angular position is an angular position regarding the circumferential direction 722 of the cylindrical cell 700. In an embodiment, the cell angular position is the tab angular position φ TAB . The tab angular position φ TAB is an angular position regarding the circumferential direction 722 of one tab lead (hereinafter, evaluation tab lead) 719 among the Q tab leads 719. In the following description, it is denoted as "tab angular position φ TAB ", but unless there is a particular contradiction, "tab angular position φ TAB " may be read as "cell angular position".

[0061] As described above, in this embodiment, Q = 4. Specifically, in the following example: • The Q tab leads 719 are four tab leads 719: tab lead 7191, tab lead 7192, tab lead 7193, and tab lead 7194. • The evaluation tab lead 719 is tab lead 7191. • Tab angle position φ TAB This is the angular position of the tab lead 7191.

[0062] Below, the tab line L TAB Examples 1A and 2A for determining the slope, offset processing, and examples 1B and 2B will be explained with reference to Figures 5 to 10.

[0063] In Figures 5 and 6, • P0 is the coordinate of the central axis O in the captured image, and • P 1A This is the coordinate of the tab lead 7191 in the captured image, and ・P 2A This is the coordinate of tab lead 7192 in the captured image, and ・P 3A This is the coordinate of the tab lead 7193 in the captured image, and ・P 4A This represents the coordinates of the tab lead 7194 in the captured image.

[0064] <Example 1A (No Offset Processing)> Figure 5 is an explanatory diagram of Example 1A. In Example 1A, the tab line L TAB This refers to coordinates P0 and P 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P 4A And the regression line L that fits to it. 1A This is the tab line L. TAB The slope of the regression line L 1A It can be identified as the slope.

[0065] <Example 2A (No Offset Processing)> Figure 6 is an explanatory diagram of Example 2A. In Example 2A, the tab line L TAB It passes through coordinate P0, and also between coordinate P0 and coordinate P 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P 4AAnd the regression line L that fits to it. 2A That is the case.

[0066] In example 2A, for instance, the tab line L is drawn as follows: TAB The regression line L as the slope of the curve. 2A The inclination can be determined. That is, coordinate P0 moves to the origin in the coordinate plane, and coordinate P 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P 4A And, translate them in parallel. This results in coordinates P0 and P 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P 4A (Figure 6(A)) and are, respectively, coordinate P0 # And, coordinate P 1A # And, coordinate P 2A # And, coordinate P 3A # And, coordinate P 4A # The coordinates are transformed to (Figure 6(B)). Coordinate P0 # This is the origin. Next, coordinate P0 # It passes through and coordinate P 1A # And, coordinate P 2A # And, coordinate P 3A # And, coordinate P 4A # The regression line L that fits to the model. 2A # Obtain the regression line L. 2A # The slope of the regression line L can be determined. 2A # The slope of the regression line L 2A It is equal to the slope of the regression line L. 2A # Identifying the slope of the tab line L TAB The regression line L as the slope of the curve. 2A This is equivalent to determining the slope of the curve.

[0067] Identifying a regression line that passes through the origin and fits multiple coordinate systems can be done, for example, as described below. In the following description, the regression line is a regression line determined by the least squares method.

[0068] In other words, the model equation for the regression line passing through the origin is given by the following equation 1. In equation 1, a is the slope.

[0069] The minimum error with respect to y is given by the following equation 2.

[0070] We partially differentiate equation 2 as shown in equation 3 below.

[0071]

[0072] Set the right-hand side of equation 3 to 0. Then, treat it as shown in equations 4 and 5 below.

[0073] This allows us to determine the coefficient a, as shown in equation 6 below.

[0074] <Offset Processing> Figure 7 is an explanatory diagram of the offset processing. Specifically, Figure 7(A) shows the captured image. Figure 7(B) shows the offset image obtained by the offset processing.

[0075] The image processing device 520 is capable of performing offset processing. In offset processing, the captured image is rotated in the circumferential direction 722 to generate an offset image. The central axis of this rotation is the central axis O. Hereinafter, the rotation angle from the captured image to the offset image is θ. AF This is how it is written. Rotation angle θ AF In one example, the range is between 20° and 70°, in another specific example it is between 30° and 60°, and in a numerical example it is 45°. The rotation from the captured image to the offset image is specifically performed by an affine transformation.

[0076] Figure 8 is an explanatory diagram of coordinate transformation by offset processing. Through offset processing, coordinate P 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P4A and (in (A) of FIG. 8) are respectively at coordinate P 1B and coordinate P 2B and coordinate P 3B and coordinate P 4B and (in (B) of FIG. 8) are subjected to coordinate transformation. On the other hand, before and after the offset processing, coordinate P0 is maintained at the same coordinate.

[0077] That is, ・P0 is the coordinate of the central axis O in the offset image, ・P 1B is the coordinate of the tab lead 7191 in the offset image, ・P 2B is the coordinate of the tab lead 7192 in the offset image, ・P 3B is the coordinate of the tab lead 7193 in the offset image, ・P 4B is the coordinate of the tab lead 7194 in the offset image.

[0078] When performing offset processing, the tab straight line L TAB is the regression line based on the coordinate P0 of the central axis O in the offset image and the coordinates P 1B and coordinate P 2B and coordinate P 3B and coordinate P 4B and.

[0079] Coordinates P 1A and coordinate P 2A and coordinate P 3A and coordinate P 4A and may make it difficult to specify the regression line without rotating the captured image. This difficulty may occur, for example, when the coordinates P 1A and coordinate P 2A and coordinate P 3A and coordinate P 4A are arranged horizontally or vertically. Even in such a case, it is possible to specify the regression line on the offset image by rotating the captured image to the offset image in the circumferential direction 722 by the offset processing.

[0080] After specifying the regression line on the offset image, the offset image is rotated by -θ in the circumferential direction AFIt may be rotated. This rotates the offset image to the captured image. As a result, coordinate P 1B And, coordinate P 2B And, coordinate P 3B And, coordinate P 4B And, respectively, coordinate P 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P 4A The coordinates are transformed to P. 1B And, coordinate P 2B And, coordinate P 3B And, coordinate P 4B The regression line corresponding to coordinate P 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P 4A It is transformed into a regression line corresponding to coordinate P. 1A And, coordinate P 2A And, coordinate P 3A And, coordinate P 4A The regression line associated with coordinate P 1B And, coordinate P 2B And, coordinate P 3B And, coordinate P 4B The regression line associated with this is divided into 722 degrees in the circumferential direction by -θ. AF This is a rotated line. The rotation from the offset image to the captured image can specifically be achieved by an inverse affine transformation.

[0081] <Example 1B (with offset processing)> Figure 9 is an explanatory diagram of Example 1B. In Example 1B, the tab line L TAB This refers to coordinates P0 and P 1B And, coordinate P 2B And, coordinate P 3B And, coordinate P 4B And the regression line L that fits to it. 1B This is the tab line L. TAB The slope of the regression line L 1B It can be identified as the slope.

[0082] <Example 2B (with offset processing)> Figure 10 is an explanatory diagram of Example 2B. In Example 2B, the tab line L TAB It passes through coordinate P0, and also between coordinate P0 and coordinate P 1BAnd, coordinate P 2B And, coordinate P 3B And, coordinate P 4B And the regression line L that fits to it. 2B That is the case.

[0083] In example 2B, for instance, the tab line L is drawn as follows: TAB The regression line L as the slope of the curve. 2B The inclination can be determined. That is, coordinate P0 moves to the origin in the coordinate plane, and coordinate P 1B And, coordinate P 2B And, coordinate P 3B And, coordinate P 4B And, translate them in parallel. This results in coordinates P0 and P 1B And, coordinate P 2B And, coordinate P 3B And, coordinate P 4B (Figure 10(A)) and are, respectively, coordinates P0 # And, coordinate P 1B # And, coordinate P 2B # And, coordinate P 3B # And, coordinate P 4B # The coordinates are transformed to (Figure 10(B)). Coordinate P0 # This is the origin. Next, coordinate P0 # It passes through and coordinate P 1B # And, coordinate P 2B # And, coordinate P 3B # And, coordinate P 4B # The regression line L that fits to the model. 2B # Obtain the regression line L. 2B # The slope of the regression line L can be determined. 2B # The slope of the regression line L 2B It is equal to the slope of the regression line L. 2B # Identifying the slope of the tab line L TAB The regression line L as the slope of the curve. 2B This is equivalent to determining the slope of the curve.

[0084] As can be seen from the example 1A and example 1B shown in Figures 5 and 9, the tab line L TAB This can be a regression line that fits the coordinates of the central axis O in a specific image and the coordinates of the Q tab leads 719 in that specific image. The specific image is the captured image, or an offset image obtained by rotating the captured image in the circumferential direction 722. The regression line that fits the central axis O in addition to the coordinates of the Q tab leads 719 can be a highly accurate approximation line associated with these coordinates.

[0085] As can be seen from the examples of 2A and 2B shown in Figures 6 and 10, the tab line L TAB This can be a regression line that passes through the coordinates of the central axis O in the specific image and fits to the coordinates of the Q tab leads 719 in the specific image. As described above, the specific image is the captured image, or an offset image obtained by rotating the captured image in the circumferential direction 722. Tab line L TAB The fact that the curve passes through the coordinates of the central axis O is advantageous from the viewpoint of ensuring the machining accuracy of the tab lead when the machining device 420 is configured to perform machining operations based on the coordinates of the central axis O.

[0086] As can be understood from the above explanation, the image processing device 520 is capable of performing tab pair utilization processing. The tab pair used in tab pair utilization processing is a pair of tab leads 719 that are included in the Q tab leads 719 and are opposite each other across the central axis O. In tab pair utilization processing, the tab line L is determined based on the coordinates of the central axis O in the captured image and the coordinates of the tab pair in the captured image. TAB The inclination is determined. According to the tab pair utilization process, in step S107 described later, the tab angular position φ TAB Tab line L has a slope suitable for accurately identifying [something]. TAB It can be identified.

[0087] In the above example, the following pairs may be considered tab pairs used in tab pair utilization processing: • Tab lead 7191 and tab lead 7193, • Tab lead 7191 and tab lead 7194, • Tab lead 7192 and tab lead 7193, and • Tab lead 7192 and tab lead 7194.

[0088] Specifically, the image processing device 520 is capable of performing tab quad utilization processing. The tab quad used in tab quad utilization processing is a set of four tab leads 719 that are included in the Q tab leads 719 and intersect a straight line passing through the central axis O when viewed from a direction parallel to the axial direction 721. In tab quad utilization processing, the tab line L is determined based on the coordinates of the central axis O in the captured image and the coordinates of the tab quad in the captured image. TAB The slope is determined.

[0089] In the above example, the quad consisting of tabread 7191, tabread 7192, tabread 7193, and tabread 7194 may correspond to the tab quad used in the tab quad utilization process.

[0090] In step S107, the image processing device 520 displays the tab line L TAB Based on the tilt, the tab angle position φ TAB Identify.

[0091] As described above, the memory 580 contains the reference angular position φ REF This is stored in memory. Reference angular position φ REF The tab angle position φ TAB This is the target value. The tab line L is identified in step S106. TAB The tilt corresponds to two angular positions that are 180° apart from each other.

[0092] If the example of the first A or the second A without offset processing is adopted in step S106, in step S107, the image processing device 520 performs the following processing. That is, the image processing device 520 selects the reference angular position φ from the two angular positions. REF Choose the one closer to the tab angle position φ TAB Identify it as such.

[0093] In the numerical example shown in Figure 3, where either Example 1A or Example 2A is adopted, the reference angular position φ REF It is 0°, and the tab line L TAB The inclination corresponds to 14.6° and 194.6°, and the tab angle position φ TAB As such, among 14.6° and 194.6°, φ REF The value closest to 0°, 14.6°, is identified.

[0094] If the example of the first B or the second B with offset processing is adopted in step S106, in step S107, the image processing device 520 performs the following processing. That is, the image processing device 520 moves -θ in the circumferential direction 722 from the two angular positions. AF The two rotated angular positions are identified. Then, the image processing device 520 determines -θ AF Of the two rotated angular positions, the reference angular position φ REF Choose the one closer to the tab angle position φ TAB Identify it as such.

[0095] In a numerical example where the example of 1B or 2B is adopted, the reference angular position φ REF It is 0°, and the rotation angle θ AF It is 45°, and the tab straight line L TAB The inclinations correspond to 59.6° and 239.6°, and from 59.6° and 239.6° to -θ AF = Two angular positions of 14.6° and 194.6°, rotated by -45°, are identified, and the tab angular position φ TAB As such, among 14.6° and 194.6°, φ REF The value closest to 0°, 14.6°, is identified.

[0096] In step S108, the control device 620 controls the tab angular position φ TAB Based on this, the correction angle θ AME To identify the tab angular position φ. Specifically, the control device 620 identifies the tab angular position φ. TAB and reference angular position φ REF By comparing with the correction angle θ, AME Identify.

[0097] In the embodiment, the correction angle θAME The reference angular position φ REF From tab angle position φ TAB This is the difference after subtracting . In the above numerical examples concerning the cases in which Example 1A, Example 2A, Example 1B, or Example 2B is adopted, θ AME = φ REF -φ TAB = 0° - 14.6° = -14.6°.

[0098] In step S109, the control device 620 corrects the cylindrical cell 700 to a correction angle θ AME The cylindrical cell 700 is rotated in the circumferential direction 722. This positions the cylindrical cell 700 in the circumferential direction 722.

[0099] In this embodiment, the control device 620 transmits a rotation command to the rotating device 830. Based on the rotation command, the rotating device 830 rotates the cylindrical cell 700 to a corrected angle θ AME It is rotated circumferentially 722 over this distance. In this way, the cylindrical cell 700 is positioned circumferentially 722.

[0100] As can be understood from the above description, in the positioning method of the embodiment, the control device 620 positions the cylindrical cell 700 in the circumferential direction 722 based on the coordinates of the central axis O in the captured image and the coordinates of Q tab leads 719 out of the T tab leads 719 in the captured image. According to the embodiment, the circumferential positioning 722 of the cylindrical cell 700 in the transport path 800 can be performed with reference to the Q tab leads 719 in the cylindrical cell 700. Specifically, the control device 620 performs this positioning based on the tab angular position φ TAB It will be executed based on this.

[0101] In step S110, the processing device 420 processes the T tab leads 719 in the positioned state from step S109. As described above, the processing is specifically bending.

[0102] In this embodiment, the control device 620 transmits a machining command to the machining apparatus 420. The machining apparatus 420 machines T tab leads 719 based on the machining command. The machining command reflects the angular position of the cylindrical cell 700 in the circumferential direction 722 after it has been rotated based on the rotation command.

[0103] In this embodiment, the processing device 420 processes tab pairs in T tab leads 719 simultaneously. This allows for efficient processing of T tab leads 719. Specifically, the processing device 420 processes tab quads in T tab leads 719 simultaneously.

[0104] The tab lead processing method described above can be incorporated into a method for manufacturing cylindrical secondary batteries.

[0105] <Display on terminal 220> As described above, the control device 620 controls terminal 220 so that it displays predetermined content. As a result, the user of the positioning system 901 or the tab lead processing system 902 can confirm the predetermined content on terminal 220.

[0106] In this embodiment, the control device 620 transmits a display command to the terminal 220 to display predetermined content. The terminal 220 displays the predetermined content based on the display command.

[0107] Figure 11 is an explanatory diagram of the display of terminal 220. In the example of Figure 11, the predetermined contents are: - an image including T tab leads 719 and outer casing 715, and - a reference angular position φ REF And, ・Tab angle position φ TAB And, ・Tab angle position φ TAB Corresponding straight line L having the corresponding slope COR And, ・Correction angle θ AME This includes [the above].

[0108] In this embodiment, the corresponding line L COR This is a straight line that intersects with Q tab leads. For example, the corresponding line L. COR This is the tab line L relating to the first example A or the second example A of step S106. TAB For example, consider the corresponding line L. COR This is the tab line L relating to the first B example or the second B example of step S106. TAB -θ in the circumferential direction 722 AF This is a rotated straight line. Corresponding line L COR The line may pass through the central axis O. Corresponding line L COR It may intersect with tab pairs or tab quads.

[0109] <Technologies Applicable to the Embodiments> The technologies applicable to the embodiments will be described below.

[0110] In the embodiment described above, T is 4. However, T may be 1, 2 or 3, or 5 or more.

[0111] In the embodiment described above, Q is 4. However, Q may be 1, 2 or 3, or 5 or more.

[0112] If Q = 1, then the tab line L TAB The line passing through the coordinates of the central axis O in the captured image and the coordinates of the single tab lead 719 in the captured image may be a straight line. Also, when Q = 1, the tab line L TAB This line can be a straight line passing through the coordinates of the central axis O in the offset image and the coordinates of the single tab lead 719 in the offset image.

[0113] In the example illustrating the embodiment described above, the evaluation tab lead 719 is tab lead 7191. However, the evaluation tab lead 719 may be any other tab lead 719 among the T tab leads 719.

[0114] In the above embodiment, in step S105, the image processing device 520 identifies the coordinates of T tab leads 719 in the captured image. However, it is not essential to identify the coordinates of all T tab leads 719. Of the T tab leads 719, in step S106, the tab line L TAB The coordinates of only the Q tab leads 719 used to determine the inclination may be determined in step S105. The same applies to the T blobs.

[0115] In the above-described embodiment, the T tab leads 719 are positive electrode tab leads connected to the positive electrode of the electrode body 714. However, the T tab leads 719 may also be negative electrode tab leads connected to the negative electrode of the electrode body 714.

[0116] In the above-described embodiment, the reference structure 450 is a fixed structure. A movable mechanical arm 460 is connected to the fixed reference structure 450. With the cylindrical cell 700 positioned in the circumferential direction 722 relative to the fixed reference structure 450, the processing device 420 processes T tab leads 719.

[0117] In the first modified example, the reference structure 450 is a movable structure. For example, the reference structure 450 is configured to move along an arc-shaped path. For example, an arc-shaped guide structure can be provided, and a configuration can be adopted in which the reference structure 450 moves along the guide structure. The guide structure is, for example, a groove, a rail, etc. In the first modified example, the control device 620 positions the cylindrical cell 700 in the circumferential direction 722 relative to the reference structure 450 based on the coordinates of the central axis O in the captured image and the coordinates of Q tab leads 719 out of T tab leads 719 in the captured image. Specifically, the control device 620 positions this positioning to the tab angular position φ TAB The procedure is carried out based on the following. In step S109, the control device 620 corrects the cylindrical cell 700 relative to the reference structure 450 by a correction angle θ. AME The cylindrical cell 700 is positioned in the circumferential direction 722 by rotating it circumferentially 722. In step S110, with this positioning achieved, T tab leads 719 are processed. As described above, the processing is specifically bending.

[0118] Specifically, in the first modified example, the control device 620 transmits rotation commands to the processing device 420 and the rotating device 830. The reference structure 450 of the processing device 420 rotates based on the rotation command, and the rotating device 830 rotates the cylindrical cell 700 based on the rotation command. As a result, the cylindrical cell 700 is corrected to a correction angle θ relative to the reference structure 450. AME It rotates circumferentially 722 over this distance. In this way, the cylindrical cell 700 is positioned circumferentially 722 relative to the reference structure 450.

[0119] The standard structure 450 does not have to be included in the processing apparatus 420. For example, the standard structure 450 may be included in a labeling device, a printing device, etc.

[0120] As can be understood from the above-described embodiments and first modified examples, the "positioning" in "positioning the cylindrical cell 700 in the circumferential direction 722" may be positioning in terms of absolute position or positioning in terms of relative position with respect to a reference structure.

[0121] In the embodiment described above, the rotating device 830 is a magnetic rotor. However, the rotating device 830 does not have to be a magnetic rotor. For example, the rotating device 830 may be a turntable. Alternatively, the rotating device 830 may be a mechanical arm. A mechanical arm is, for example, a robot arm.

[0122] In the above-described embodiment, the terminal 220 is included in the positioning system 901. However, the terminal 220 does not have to be included in the positioning system 901. For example, the terminal 220 may be a personally owned terminal.

[0123] It is not mandatory to display all of the content shown on terminal 220, as explained with reference to Figure 11. Furthermore, the displayed content may include other information, such as whether or not offset processing is performed. The displayed content may also include an offset image.

[0124] The flowchart in Figure 4 can be modified as appropriate. The same applies to the flowchart in Figure 15, which will be discussed later. For example, in the flowchart of Figure 4, step S104 may be executed before step S105, step S104 may be executed after step S105, or steps S104 and S105 may be executed simultaneously.

[0125] <Cylindrical Secondary Battery> The following describes an example of the configuration of a cylindrical secondary battery. For detailed configurations that can be adopted for cylindrical secondary batteries, please refer to Patent Document 2, etc.

[0126] Regarding the casing 15, electrode body 14, and tab lead 19 of the cylindrical secondary battery 10 according to the following example configuration: - The casing 15 of the cylindrical secondary battery 10 corresponds to the casing 715 of the cylindrical cell 700. - The electrode body 14 of the cylindrical secondary battery 10 corresponds to the electrode body 714 of the cylindrical cell 700. - The tab lead 19 of the cylindrical secondary battery 10 corresponds to the tab lead 719 of the cylindrical cell 700.

[0127] Similar to the number of tableads 719 T, the number of tableads 19 T is not particularly limited. As mentioned above, T is a natural number greater than or equal to 1. Typically, T is greater than or equal to 2. In this example, we will explain using T = 2.

[0128] Furthermore, in this configuration example, tab lead 19 is a positive electrode tab lead. Hereafter, we will refer to it as positive electrode tab lead 19.

[0129] Figure 12 is a longitudinal cross-sectional view of a cylindrical secondary battery 10 according to an example configuration. In the cylindrical secondary battery 10 shown in Figure 12, the electrode body 14 and electrolyte (not shown) are housed in an outer casing 15. The electrode body 14 has a wound structure in which a strip-shaped positive electrode 11 and a strip-shaped negative electrode 12 are wound around a separator 13. For the sake of explanation, the side with the sealing body 16 will be referred to as "upper" and the bottom side of the outer casing 15 as "lower".

[0130] The sealing body 16 seals the opening at the upper end of the outer casing 15, thereby sealing the inside of the cylindrical secondary battery 10. Insulating plates 17 and 18 are provided above and below the electrode body 14, respectively. T positive electrode tab leads 19 extend vertically through through holes in the insulating plate 17, connecting the filter 22, which is the bottom plate of the sealing body 16, to the positive electrode 11 contained in the electrode body 14. This connects the positive electrode 11 to the sealing body 16, and in the cylindrical secondary battery 10, the cap 26, which is the top plate of the sealing body 16 electrically connected to the filter 22, becomes the positive electrode terminal. The positive electrode tab leads 19 are, for example, aluminum tab leads. On the other hand, the negative electrode tab leads 20 extend to the bottom side of the outer casing 15 through through holes in the insulating plate 18 and are welded to the bottom inner surface of the outer casing 15. This connects the negative electrode 12 to the outer casing 15, and in the cylindrical secondary battery 10, the outer casing 15 becomes the negative electrode terminal. The negative electrode tab lead 20 is, for example, a nickel tab lead.

[0131] T positive electrode tab leads 19 are led out from the electrode body 14. In the illustrated example, the positive electrode tab leads 19 led out from the electrode body 14 may be directly connected to the sealing body 16, or they may be connected to the sealing body 16 via a known current collector. Furthermore, the manner in which the negative electrode 12 and the outer casing 15 are connected is not particularly limited, and they may be connected by a plurality of negative electrode tab leads 20.

[0132] The outer casing 15 is a bottomed cylindrical shape. The outer casing 15 is a metal outer can. A gasket 27 is provided between the outer casing 15 and the sealing body 16 to ensure airtightness inside the cylindrical secondary battery 10. The outer casing 15 has grooves 21 that support the sealing body 16, which are formed, for example, by pressing the side surface from the outside. The grooves 21 are preferably formed in an annular shape along the circumferential direction of the outer casing 15, and their upper surface supports the sealing body 16.

[0133] The sealing body 16 has a filter 22, a lower valve body 23, an insulating member 24, an upper valve body 25, and a cap 26, which are stacked in order from the electrode body 14 side. Each component constituting the sealing body 16 has, for example, a disc shape or a ring shape, and each component except the insulating member 24 is electrically connected to one another. The lower valve body 23 and the upper valve body 25 are connected to each other at their respective centers, with the insulating member 24 interposed between their respective peripheries. If the internal pressure of the battery rises due to abnormal heat generation, for example, the lower valve body 23 may rupture, causing the upper valve body 25 to bulge towards the cap 26 and separate from the lower valve body 23, thereby interrupting the electrical connection between the two. If the internal pressure rises further, the upper valve body 25 may rupture, and gas may be discharged from the opening 26a of the cap 26.

[0134] Figure 13 is a front view showing the positive electrode 11 and negative electrode 12, which constitute the electrode body 14 of the cylindrical secondary battery 10 of Figure 12, in an unfolded state. The positive electrode 11 has a positive electrode current collector 30 and a positive electrode mixture layer 32 formed on the surface of the positive electrode current collector 30, and the negative electrode 12 has a negative electrode current collector 40 and a negative electrode mixture layer 42 formed on the surface of the negative electrode current collector 40.

[0135] As shown in Figure 13, the positive electrode 11 has T positive electrode current collector exposed portions 34 at its upper end along the longitudinal direction, where the positive electrode current collector 30 is exposed, and a positive electrode mixture layer 32 exists between the positive electrode current collector exposed portions 34. One of the positive electrode tab leads 19 is connected to each of the positive electrode current collector exposed portions 34. By connecting the T positive electrode tab leads 19 to the positive electrode 11 in this configuration, the area of ​​the positive electrode mixture layer 32 can be increased, thereby improving the output characteristics of the cylindrical secondary battery 10. On the other hand, the negative electrode 12 has a negative electrode current collector exposed portion 44 at the inner end of the winding in the longitudinal direction, where the negative electrode current collector 40 is exposed. A negative electrode tab lead 20 is connected to the negative electrode current collector exposed portion 44.

[0136] Figure 14 is a plan view showing the positions where T positive electrode tab leads 19 are arranged on the upper surface of the electrode body 14. In the example in Figure 14, T = 2 positive electrode tab leads 19 are arranged 180° apart at an angular position, as shown in Figure 14.

[0137] Figure 15 is a flowchart showing part of the manufacturing method for a cylindrical secondary battery 10.

[0138] In step S201, the positive electrode 11 is manufactured. The positive electrode 11 is obtained, for example, by applying a positive electrode composite slurry containing a positive electrode active material, a conductive material, and a binder to both sides of a positive electrode current collector, drying the coating, and then rolling it.

[0139] In step S202, the negative electrode 12 is manufactured. The negative electrode 12 is obtained, for example, by applying a negative electrode mixture slurry containing a negative electrode active material, a binder, a thickener, and water to both sides of a negative electrode current collector, drying the coating, and then rolling it.

[0140] In step S203, T positive electrode tab leads 19 are connected to the positive electrode 11. Specifically, one positive electrode tab lead 19 is connected to each of the exposed portions 34 of the positive electrode current collector.

[0141] In step S204, the negative electrode tab lead 20 is connected to the negative electrode 12. Specifically, the negative electrode tab lead 20 is connected to the exposed portion 44 of the negative electrode current collector.

[0142] In step S205, the positive electrode 11 and the negative electrode 12 are stacked via a separator 13, and the stacked material is wound. This results in an electrode body 14 with T positive electrode tab leads 19 extending from it.

[0143] In step S206, the wound electrode body 14 and electrolyte are housed in the outer casing 15. This gives rise to a cylindrical cell 700.

[0144] In step S207, the imaging device 320 images the cylindrical cell 700 in the transport path 800. This obtains an image.

[0145] In step S208, T positive electrode tab leads 19 of the cylindrical cell 700 are processed based on the captured image.

[0146] The combination of steps S207 and S208 may correspond to the combination of steps S101 to S110.

[0147] In step S209, the cylindrical cell 700 is processed into a cylindrical secondary battery 10. Step S209 includes, for example, sealing with a sealing body 16.

[0148] In the example shown in the flowchart of Figure 15, the cylindrical cell 700 is to be processed into a product. The cylindrical secondary battery 10 is the product.

[0149] In another example, the cylindrical cell 700 is the cylindrical secondary battery 10, which is the product.

[0150] (Note) This disclosure discloses the following technologies.

[0151] (Technology 1) A positioning system comprising: a transport path for transporting a cylindrical cell having a central axis, a circumferential direction around the central axis, and T tab leads, where T is a natural number of 1 or more and Q is a natural number of 1 or more and less than or equal to T; an imaging device for imaging the cylindrical cell in the transport path and obtaining an image; and a control device for positioning the cylindrical cell in the circumferential direction based on the coordinates of the central axis in the image and the coordinates of Q tab leads out of the T tab leads in the image.

[0152] (Technology 2) The positioning system according to Technology 1, wherein T is a natural number of 2 or more, and the T tab leads include a plurality of tab leads arranged in the circumferential direction.

[0153] (Technical 3) A positioning system according to Technical 1 or 2, comprising an image processing device that determines the cell angular position based on the coordinates of the central axis in the captured image and the coordinates of the Q tab leads in the captured image, wherein the cell angular position is the angular position of the cylindrical cell in the circumferential direction, and the control device performs the positioning based on the cell angular position.

[0154] (Technical 4) The positioning system according to Technical 3, wherein the image processing device identifies the cell angular position based on the inclination of the tab line, and the tab line is a straight line based on the coordinates of the central axis in the captured image and the coordinates of the Q tab leads in the captured image.

[0155] (Technical 5) The positioning system according to Technical 4, wherein T is a natural number greater than or equal to 2, Q is a natural number greater than or equal to 2 and less than or equal to T, the image processing device determines the inclination based on the coordinates of the central axis in the captured image and the coordinates of the tab pair in the captured image, and the tab pair is two tab leads that are included in the Q tab leads and face each other across the central axis.

[0156] (Technical 6) The positioning system according to Technical 4 or 5, wherein the tab line is a regression line based on the coordinates of the central axis in the captured image and the coordinates of the Q tab leads in the captured image.

[0157] (Technical 7) The positioning system according to Technical 6, wherein the tab line is a regression line that fits the coordinates of the central axis in a specific image and the coordinates of the Q tab leads in the specific image, and the specific image is the captured image or an offset image obtained by rotating the captured image in the circumferential direction.

[0158] (Technical 8) The positioning system according to Technical 6, wherein the tab line is a regression line that passes through the coordinates of the central axis in the specific image and fits to the coordinates of the Q tab leads in the specific image, and the specific image is the captured image or an offset image obtained by rotating the captured image in the circumferential direction.

[0159] (Technical 9) The positioning system according to any one of Technical 6 to 8, wherein the tab line is a regression line based on the coordinates of the central axis in an offset image obtained by rotating the captured image in the circumferential direction and the coordinates of the Q tab leads in the offset image.

[0160] (Technical 10) A positioning system according to any one of Technical 3 to 9, wherein the control device determines a correction angle based on the cell angular position, and performs the positioning by rotating the cylindrical cell in the circumferential direction over the correction angle, or by rotating the cylindrical cell in the circumferential direction over the correction angle relative to a reference structure.

[0161] (Technical 11) The positioning system according to Technical 10, wherein the control device determines the correction angle by comparing the cell angular position with the reference angular position.

[0162] (Technical 12) A positioning system according to any one of Technical 1 to 11, comprising an image processing device, wherein the image processing device extracts Q blobs of known shape from the captured image by filtering, and identifies the centroid coordinates of the Q blobs as the coordinates of the Q tab leads in the captured image.

[0163] (Technical 13) The positioning system according to any one of Technical 1 to 12, wherein the control device transmits a display command for displaying predetermined content, the predetermined content includes: the captured image including the T tab leads; the cell angular position which is the angle of the cylindrical cell with respect to the circumferential direction; and the corresponding straight line having an inclination corresponding to the cell angular position.

[0164] (Technical 14) A processing system for processing T tab leads in a cylindrical cell, comprising: a positioning system described in any one of Technical 1 to 13; and a processing device, wherein T is a natural number of 1 or more; and the processing device processes the T tab leads while the cylindrical cell is positioned by the positioning system.

[0165] (Technical 15) A positioning method comprising: transporting a cylindrical cell having a central axis, a circumferential direction around the central axis, and T tab leads, when T is a natural number of 1 or more and Q is a natural number of 1 or more and T or less, along a transport path; imaging the cylindrical cell along the transport path to obtain an image; and positioning the cylindrical cell in the circumferential direction based on the coordinates of the central axis in the image and the coordinates of Q tab leads out of the T tab leads in the image.

[0166] (Technical 16) A tab lead processing method comprising: performing the positioning method described in Technical 15; and processing T tab leads of a cylindrical cell while the cylindrical cell has been positioned by the positioning method, wherein T is a natural number of 1 or more.

[0167] (Technical 17) A method for manufacturing a cylindrical secondary battery, comprising processing T tab leads in a cylindrical cell by the tab lead processing method described in Technical 16, wherein T is a natural number of 1 or more.

[0168] According to the technology disclosed herein, the circumferential positioning of cylindrical cells in a transport path can be performed based on the tab leads of the cylindrical cells. According to the technology disclosed herein, for example, in the mass production of cylindrical secondary batteries, the bending of multiple tab leads of cylindrical cells in the transport path can be performed with high precision.

Claims

1. A positioning system comprising: a transport path for transporting a cylindrical cell having a central axis, a circumferential direction around the central axis, and T tab leads, where T is a natural number of 1 or more and Q is a natural number of 1 or more and less than or equal to T; an imaging device for imaging the cylindrical cell in the transport path and obtaining an image; and a control device for positioning the cylindrical cell in the circumferential direction based on the coordinates of the central axis in the image and the coordinates of Q tab leads out of the T tab leads in the image.

2. The positioning system according to claim 1, wherein T is a natural number of 2 or more, and the T tab leads include a plurality of tab leads arranged in the circumferential direction.

3. The positioning system according to claim 1, comprising an image processing device that determines the cell angular position based on the coordinates of the central axis in the captured image and the coordinates of the Q tab leads in the captured image, wherein the cell angular position is the angular position of the cylindrical cell in the circumferential direction, and the control device performs the positioning based on the cell angular position.

4. The positioning system according to claim 3, wherein the image processing device determines the cell angular position based on the inclination of the tab line, and the tab line is a straight line based on the coordinates of the central axis in the captured image and the coordinates of the Q tab leads in the captured image.

5. T is a natural number greater than or equal to 2, Q is a natural number greater than or equal to 2 and less than or equal to T, the image processing device determines the inclination based on the coordinates of the central axis in the captured image and the coordinates of the tab pair in the captured image, and the tab pair is two tab leads included in the Q tab leads and facing each other across the central axis, the positioning system according to claim 4.

6. The positioning system according to claim 4, wherein the tab line is a regression line based on the coordinates of the central axis in the captured image and the coordinates of the Q tab leads in the captured image.

7. The positioning system according to claim 6, wherein the tab line is a regression line that fits the coordinates of the central axis in the specific image and the coordinates of the Q tab leads in the specific image, and the specific image is the captured image or an offset image obtained by rotating the captured image in the circumferential direction.

8. The positioning system according to claim 6, wherein the tab line is a regression line that passes through the coordinates of the central axis in the specific image and fits to the coordinates of the Q tab leads in the specific image, and the specific image is the captured image or an offset image obtained by rotating the captured image in the circumferential direction.

9. The positioning system according to claim 6, wherein the tab line is a regression line based on the coordinates of the central axis in an offset image obtained by rotating the captured image in the circumferential direction, and the coordinates of the Q tab leads in the offset image.

10. The positioning system according to claim 3, wherein the control device determines a correction angle based on the cell angular position, and performs the positioning by rotating the cylindrical cell in the circumferential direction over the correction angle, or performs the positioning by rotating the cylindrical cell in the circumferential direction over the correction angle relative to a reference structure.

11. The positioning system according to claim 10, wherein the control device determines the correction angle by comparing the cell angular position with the reference angular position.

12. The positioning system according to claim 1, comprising an image processing device, wherein the image processing device extracts Q blobs of known shape from the captured image by filtering, and identifies the centroid coordinates of the Q blobs as the coordinates of the Q tab leads in the captured image.

13. The positioning system according to claim 1, wherein the control device transmits a display command for displaying predetermined content, the predetermined content includes: the captured image including the T tab leads; the cell angular position which is the angle of the cylindrical cell with respect to the circumferential direction; and the corresponding straight line having an inclination corresponding to the cell angular position.

14. A processing system for processing T tab leads in a cylindrical cell, comprising: a positioning system according to any one of claims 1 to 13; and a processing device, wherein T is a natural number of 1 or more, and the processing device processes the T tab leads while the cylindrical cell is positioned by the positioning system.

15. A positioning method comprising: transporting a cylindrical cell having a central axis, a circumferential direction around the central axis, and T tab leads, where T is a natural number of 1 or more and Q is a natural number of 1 or more and T or less, along a transport path; imaging the cylindrical cell along the transport path to obtain an image; and positioning the cylindrical cell in the circumferential direction based on the coordinates of the central axis in the image and the coordinates of Q tab leads out of the T tab leads in the image.

16. A tab lead processing method comprising: performing the positioning method described in claim 15; and processing T tab leads of a cylindrical cell while the cylindrical cell has been positioned by the positioning method, wherein T is a natural number of 1 or more.

17. A method for manufacturing a cylindrical secondary battery, comprising processing T tab leads in a cylindrical cell by the tab lead processing method described in claim 16, wherein T is a natural number of 1 or more.

Images