CN116908197A - Battery sealing nail welding detection system and method - Google Patents
Battery sealing nail welding detection system and method Download PDFInfo
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- CN116908197A CN116908197A CN202311174724.3A CN202311174724A CN116908197A CN 116908197 A CN116908197 A CN 116908197A CN 202311174724 A CN202311174724 A CN 202311174724A CN 116908197 A CN116908197 A CN 116908197A
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- 238000007789 sealing Methods 0.000 title claims abstract description 127
- 238000001514 detection method Methods 0.000 title claims abstract description 98
- 238000003466 welding Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000178 monomer Substances 0.000 claims abstract description 57
- 230000007547 defect Effects 0.000 claims description 70
- 238000012545 processing Methods 0.000 claims description 24
- 230000013011 mating Effects 0.000 claims description 12
- 238000000605 extraction Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 abstract description 14
- 238000007689 inspection Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 7
- 239000013589 supplement Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 238000004146 energy storage Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000013072 incoming material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The application relates to the technical field of visual detection, and discloses a battery sealing nail welding detection system and method, wherein the system comprises the following steps: a structured light camera; a light source; a first driving device configured to drive the structured light camera; a second driving device configured to drive the light source; the first driving device drives the structure light camera and the second driving device to drive the light source to be located at a preset collecting position of the battery monomer, the structure light camera collects a first sealing nail image, the second driving device drives the light source to be away from the preset collecting position of the battery monomer, and the structure light camera collects a second sealing nail image.
Description
Technical Field
The application relates to the technical field of visual detection, in particular to a battery sealing nail welding detection system and method.
Background
At present, in the sealing nail procedure, welding is carried out after the sealing nail seals the liquid injection hole, visual detection is carried out after full welding, and the battery monomer is sealed finally. However, in the process of performing the visual inspection of the seal nail, the inspection accuracy cannot meet the inspection requirements.
Disclosure of Invention
In view of the above problems, the application provides a system and a method for welding and detecting battery sealing nails, which aim to solve the problem that the existing visual detection process of the sealing nails cannot meet the requirements of detection items.
In a first aspect, the present application provides a battery seal nail welding detection system comprising:
a structured light camera;
a light source;
a first driving device configured to drive the structured light camera;
a second driving device configured to drive the light source;
the first driving device drives the structured light camera and the second driving device drives the light source to be located at a preset collection position of the battery cell, the structured light camera collects first sealing nail images, the second driving device drives the light source to leave the preset collection position of the battery cell, and the structured light camera collects second sealing nail images.
In the technical scheme of the embodiment of the application, the first sealing nail image and the second sealing nail image of the battery monomer are acquired, the structural light camera can shoot the image of the battery monomer at multiple angles, the integrity of the image is ensured, the phenomenon of image defects in a blind area of a visual field is avoided, the first sealing nail image and the second sealing nail image are simultaneously generated through the structural light camera, the technical problem of alignment of an image coordinate system is avoided, and the detection range is increased.
In some embodiments, the light source has a first mating position and a second mating position relative to the structured light camera;
at the first matching position, the second driving device drives the light source to be positioned on an acquisition light path of the structured light camera;
and at the second matching position, the second driving device drives the light source to stagger the acquisition light path of the structured light camera.
In the technical scheme of the embodiment of the application, the light source collects different images at different matched positions by the structure light camera, so that the light source can supplement light to the structure light camera to ensure that the images shot by the structure light camera are clearer, the detection accuracy is improved, and meanwhile, different image collection requirements are met.
In some embodiments, the battery cells are a plurality of battery cells arranged along a preset direction, and the preset direction includes a first direction and a second direction that are perpendicular to each other;
the structure light camera and the light source are correspondingly arranged into acquisition groups, the acquisition groups are at least two, are distributed at intervals along a preset direction and are used for acquiring sealing nail images of a plurality of battery monomers distributed along the preset direction.
According to the technical scheme provided by the embodiment of the application, the number of the acquisition groups is combined according to the number and arrangement modes of the battery monomers, so that the shooting efficiency and the detection flexibility are improved.
In some embodiments, the structured light camera includes a plurality of projectors circumferentially spaced apart;
and in the two acquisition groups distributed along the second direction, one projector of the structured light camera in one acquisition group is arranged corresponding to the interval part of two adjacent projectors of the structured light camera in the other acquisition group.
In the technical scheme of the embodiment of the application, the plurality of projectors are arranged around the structured light camera, so that the image is shot at multiple angles when the structured light camera collects the sealing nail image, the integrity of the image is ensured, and the phenomenon of image defects in the blind area of the visual field is avoided.
In some embodiments, the projector of the structured light camera in one of the acquisition groups is set to avoid the projector of the structured light camera in the other acquisition group.
In the technical scheme of the embodiment of the application, under the condition of limited space for the battery monomer with smaller volume, the structure light cameras in each acquisition group are avoided during arrangement, the occupied size during arrangement of the structure light cameras is reduced, and the convenience of image acquisition is improved.
In some embodiments, at least two of the acquisition groups move in synchronization.
According to the technical scheme provided by the embodiment of the application, each acquisition group synchronously moves in the same direction when moving, so that the acquisition group can stably move in one direction at a constant speed when acquiring images, the requirement of detecting the beat of a battery monomer is met, and the phenomenon of precision reduction caused by unstable mechanism during acquisition is avoided.
In some embodiments, the battery seal nail welding detection system further comprises: the structure light camera is arranged on the acquisition bracket.
In the technical scheme of the embodiment of the application, the structured light camera is arranged on the acquisition bracket, so that the structured light camera is fixed by the acquisition bracket during acquisition, and the shooting stability is improved.
In some embodiments, the battery seal nail welding detection system further comprises: the fixed bolster, gather support movable mounting in the fixed bolster.
According to the technical scheme provided by the embodiment of the application, the acquisition support is fixed through the fixed support, so that the stability of the structured light camera in moving is ensured, the stability of an acquired image is improved, and the phenomenon of precision reduction caused by unstable structured light camera in image acquisition is avoided.
In some embodiments, the structured light camera comprises:
the camera body is arranged on the acquisition bracket;
The plurality of projectors are arranged on the acquisition support along the circumferential direction of the acquisition support, each projector is positioned on an acquisition light path of the camera body, and the plurality of projectors are used for corresponding to different positions of the battery cell.
In the technical scheme of the embodiment of the application, the structured light camera is formed by combining the camera body and the plurality of projectors, so that when the image is acquired, the shooting of the image is performed at multiple angles, and the shooting accuracy is improved.
In some embodiments, further comprising:
the control device is used for controlling the control device to control the operation of the control device,
a processing device;
the control device is electrically connected with the first driving device and the second driving device and is used for controlling the first driving device and the second driving device to drive the structured light camera and the light source to collect sealed nail images of the battery cells;
the processing device is electrically connected with the control device and is used for obtaining the welding detection result of the sealing nails of the battery cells according to the sealing nail images.
According to the technical scheme, the first driving device and the second driving device are controlled to move through the control device, the requirement of detection beats and the requirement of shooting types of the battery monomers are met, the detection accuracy is improved, the acquired seal nail images are processed through the processing device, the detection result is obtained, and the welding condition of the seal nails can be rapidly determined.
In a second aspect, the present application provides a battery seal nail welding detection method, the battery seal nail welding detection system comprising: a structured light camera, a light source, a first driving means, a second driving means, a control means and a processing means, the method comprising:
the control device controls the first driving device to drive the structured light camera to move to a preset acquisition position of the battery cell;
the control device controls the second driving device to drive the light source to move to different matching positions;
the structured light camera triggers and collects a first sealing nail image and a second sealing nail image of the battery monomer at the preset collecting position according to the different matching positions of the light source;
and the processing device obtains a sealing nail welding detection result of the battery cell according to the first sealing nail image and the second sealing nail image.
According to the technical scheme, the first driving device is controlled by the control device to drive the structure light camera to move to the preset collection position of the battery monomer, so that image collection of the battery monomer is facilitated, the second driving device is controlled to drive the light source to move to different matching positions, therefore, the purpose of collecting different types of sealing nail images is achieved, the sealing nail welding detection result of the battery monomer is obtained according to the collected images through the processing device, the structure light camera can shoot the image of the battery monomer at multiple angles, the integrity of the image is ensured, the phenomenon of image defects in a blind area of a visual field is avoided, the first sealing nail image and the second sealing nail image are simultaneously generated through the structure light camera, the technical problem of alignment of an image coordinate system is avoided, and the detection range is improved.
In some embodiments, the light source has a first mating position and a second mating position relative to the structured light camera;
the structured light camera triggers and gathers the first seal nail image and the second seal nail image of battery monomer on the preset collection position according to the light source is in different cooperation positions, and the structured light camera comprises:
at the first matching position, the light source is positioned on an acquisition light path of the structured light camera, and the structured light camera triggers and acquires a first seal nail image of the battery cell at the preset acquisition position;
and at the second matching position, the light source staggers an acquisition light path of the structured light camera, and the structured light camera triggers and acquires a second sealing nail image of the battery monomer at the preset acquisition position.
According to the technical scheme provided by the embodiment of the application, the light sources are controlled to be arranged at different positions, so that the first sealing nail image and the second sealing nail image are acquired and generated by the structured light camera, the detection precision requirement is met, the larger visual field range is compatible, and the shooting effect is improved.
In some embodiments, the processing device obtains a seal nail welding detection result of the battery cell according to the first seal nail image and the second seal nail image, including:
The processing device performs feature extraction on the first seal nail image to obtain extracted features;
comparing the extracted features with preset defect features to determine defect positions;
extracting a corresponding defect image of the defect position in the second seal nail image;
and carrying out image recognition on the defect image to obtain a welding detection result of the sealing nail of the battery cell.
In the technical scheme of the embodiment of the application, the defect position is determined through the first sealing nail image, preliminary screening is performed, and then the second sealing nail image is used for checking, so that the welding detection result of the sealing nails of the battery cells is obtained, and the detection accuracy is improved.
In some embodiments, the performing image recognition on the defect image to obtain a seal nail welding detection result of the battery cell includes:
performing image recognition on the defect image to obtain defect information;
classifying the defect information to obtain defect types;
and obtaining a sealing nail welding detection result of the battery cell through the defect type.
According to the technical scheme provided by the embodiment of the application, the defect type is further positioned according to the defect information, so that automatic sealing nail welding detection is realized, and the detection efficiency is improved.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
FIG. 1 is a schematic diagram of a battery seal nail welding detection system according to some embodiments of the present application;
FIG. 2 is a schematic illustration of numbering of battery cells according to some embodiments of the application;
FIG. 3 is a schematic diagram illustrating an arrangement between a collection set and a battery cell according to some embodiments of the present application;
FIG. 4 is a schematic illustration of yet another arrangement between a collection set and a battery cell according to some embodiments of the present application;
FIG. 5 is a schematic diagram of a further construction of a battery seal nail welding detection system according to some embodiments of the present application;
FIG. 6 is a schematic diagram of an arrangement between acquisition groups according to some embodiments of the application;
FIG. 7 is a schematic illustration of yet another configuration of an arrangement between acquisition groups according to some embodiments of the present application;
FIG. 8 is a schematic diagram of a further construction of a battery seal nail welding detection system according to some embodiments of the present application;
FIG. 9 is a flow chart of a method for detecting welding of battery seal nails according to some embodiments of the present application;
FIG. 10 is a schematic diagram of an overall inspection flow of a method for inspecting battery seal nail welding according to some embodiments of the present application;
FIG. 11 is a schematic diagram of another overall inspection flow of a battery seal nail welding inspection method according to some embodiments of the present application;
FIG. 12 is a schematic view of a further overall inspection flow of a battery seal nail welding inspection method according to some embodiments of the present application;
FIG. 13 is a schematic view of a further overall inspection flow of a battery seal nail welding inspection method according to some embodiments of the present application;
FIG. 14 is a schematic view of yet another overall inspection flow of a battery seal nail welding inspection method according to some embodiments of the present application;
fig. 15 is a schematic view of still another overall detection flow of a battery seal nail welding detection method according to some embodiments of the present application.
Reference numerals in the specific embodiments are as follows:
a battery seal nail welding detection system 1;
a structured light camera 10, a projector 101, a third structured light camera 102, a fourth structured light camera 103; light source 20, third light source 201, fourth light source 202, first driving device 30, second driving device 40, collection group 50, first collection group 501, second collection group 502, third collection group 503, fourth collection group 504, collection stand 60, and fixing stand 70;
And a battery cell 2.
Detailed Description
Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion.
In the description of embodiments of the present application, the technical terms "first," "second," and the like are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the description of the embodiments of the present application, the term "plurality" means two or more (including two), and similarly, "plural sets" means two or more (including two), and "plural sheets" means two or more (including two).
In the description of the embodiments of the present application, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. It will be understood by those of ordinary skill in the art that the particular meaning of the terms described above in embodiments of the present application should be understood in a specific sense, as the term is described herein merely to illustrate the present application and not to limit the present application.
Currently, the application of power batteries is more widespread from the development of market situation. The power battery is not only applied to energy storage power supply systems such as hydraulic power, firepower, wind power and solar power stations, but also widely applied to electric vehicles such as electric bicycles, electric motorcycles, electric automobiles, and the like, and a plurality of fields such as military equipment, aerospace, and the like. Along with the continuous expansion of the application field of the power battery, the market demand of the power battery is also continuously expanded, the safety requirement on the production of the power battery is also continuously improved, before the battery monomer is packaged, the battery monomer is required to be sealed by a sealing nail, and after the sealing nail seals a liquid injection hole, the welding is carried out, and after the welding is finished, the welding detection is carried out.
It is found that when welding and detecting a battery monomer, a grating is projected on the surface of an object to be detected, then the grating on the surface of the object is photographed by a camera, the grating is projected on a photographing light path of the camera to form a triangle and is a specific angle, and the cross section of a battery sealing nail is in a concave-convex trend, so that the triangular imaging angle of the light path is fixed, and the information of a specific area with the specific angle is lost in imaging.
Based on the above, through intensive research, a battery sealing nail welding detection system is designed, and image acquisition is carried out through a structured light camera, and meanwhile, a 2D image and a 3D image are generated, so that the full coverage of the battery monomer sealing detection requirement is realized, and the detection range is improved.
The battery cell disclosed by the embodiment of the application can be used for an electric device using a battery as a power supply or various energy storage systems using the battery as an energy storage element. The power device may be, but is not limited to, a cell phone, tablet, notebook computer, electric toy, electric tool, battery car, electric car, ship, spacecraft, etc. Among them, the electric toy may include fixed or mobile electric toys, such as game machines, electric car toys, electric ship toys, electric plane toys, and the like, and the spacecraft may include planes, rockets, space planes, and spacecraft, and the like.
At present, in the sealing procedure, welding is carried out after the sealing nail seals the liquid injection hole, visual detection is carried out after full welding, and the battery monomer is finally sealed. However, in the process of performing the visual inspection of the seal nail, the inspection accuracy cannot meet the inspection requirements of the inspection item.
The application provides a battery sealing nail welding detection system 1, referring to fig. 1, aiming at the problem that the detection matters in the existing sealing nail visual detection process can not meet the detection requirements, in the present example, the battery sealing nail welding detection system 1 comprises: the structure light camera 10, the light source 20, the first driving device 30, configured to drive the structure light camera 10, the second driving device 40, configured to drive the light source 20, wherein the first driving device 30 drives the structure light camera 10 and the second driving device 40 drive the light source 20 to be located at a preset collection position of the battery cell 2, the structure light camera 10 collects a first seal nail image, the second driving device 40 drives the light source 20 to be away from the preset collection position of the battery cell 2, and the structure light camera 40 collects a second seal nail image.
The number of the structured light cameras 10 can be set according to the requirement, and can be set according to the number or arrangement mode of the battery cells 2, and the number of the structured light cameras 10 can be 1, 2, 4 and the like. The battery monomer 2 is shot through the structured light camera 10, so that a 2D image and a 3D image can be generated simultaneously, and the requirements of more detection items are met.
The preset collection position is a position which is arranged opposite to the battery cell 2 and coincides with the center of the battery cell 2, specifically, the center of the structured light camera 10 coincides with the center of the battery cell 2. The structured light camera 10 shoots the battery cell 2 in a vertically downward shooting mode, thereby improving shooting effect.
The first driving device 30 and the second driving device 40 may be devices that can drive the structured light camera 10 and the light source 20 to move, such as a driving motor and a driving motor, or may be other devices that can be driven by power, which is not limited in this embodiment.
The direction of travel of the structured light camera 10 and the light source 20 can be left, right, up or down, and the specific direction of movement can be selected according to the incoming material of the battery cell 2.
The first driving device 30 is connected to the structured light camera 10 to drive the structured light camera 10 to move, and the second driving device 40 is connected to the light source 20 to drive the light source 20 to move.
The types of the first sealing nail image and the second sealing nail image are different, the first sealing nail image is a 2D sealing nail image, and the second sealing nail image is a 3D sealing nail image.
The 2D image needs to be generated by means of an external light source, that is, when the structured light camera 10 collects the first sealing nail image, the light source 20 needs to supplement light, the light source 20 is located below the structured light camera 10, when the structured light camera 10 collects the first sealing nail image of the battery cell, the second driving device 30 drives the light source 20 to be located directly below the structured light camera 10, and the center of the light source 20 coincides with the center of the structured light camera 10 and the center of the collected battery cell 2.
The light source 20 is planar coaxial light, and when generating a 3D image, the light source 20 needs to be removed, so that the collected battery cell 2 is photographed again by the structured light camera 10, and a 3D image is generated, so that when the structured light camera 10 collects a second seal nail image, the second driving device 40 drives the light source 20 to leave the preset collection position of the battery cell 2.
Alternatively, the second driving device 30 may drive the light source 20 to the next battery cell 2 to be collected, so that when the structured light camera 10 needs to collect the next battery cell 2, the first driving device 30 drives the structured light camera 10 to move from the preset collection position to the next battery cell 2.
In a specific implementation, the battery cells 2 may be disposable double-row 2*6 =12 pcs battery cells, and may also be other forms of battery cells 2, which is not limited in this embodiment. In this embodiment, 2*6 =12pcs battery cell charge is taken as an example. The center-to-center distance of the battery cells 2 can be determined according to the actual situation of the incoming material of the battery cells, but the embodiment is not limited, and in the embodiment, the center-to-center distance 70mm by 240mm of the battery cells 2 is taken as an example for illustration.
In the technical scheme of the embodiment of the application, the first sealing nail image and the second sealing nail image of the battery monomer are acquired, the structural light camera can shoot the image of the battery monomer at multiple angles, the integrity of the image is ensured, the phenomenon of image defects in a blind area of a visual field is avoided, the first sealing nail image and the second sealing nail image are simultaneously generated through the structural light camera, the technical problem of alignment of an image coordinate system is avoided, and the detection range is increased.
In some embodiments, the light source 20 has a first mating position and a second mating position with respect to the structured light camera 10;
in the first mating position, the second driving device 40 drives the light source to be on the collection light path of the structured light camera 10;
in the second mating position, the second driving device 40 drives the light source to stagger the collection light path setting of the structured light camera 10.
It should be noted that, the first matching position is a position where the center of the light source 20 and the structured light camera 10 coincides with the center of the currently collected battery cell 2 in the Z-axis direction, and the second matching position is a position where the light source 20 and the structured light camera 10 are staggered.
When the structured light camera 10 collects the first sealing nail image, the structured light camera 10 needs the light source to supplement light, then the second driving device 40 drives the light source to be positioned on the collecting light path of the structured light camera 10, when the structured light camera 10 collects the second sealing nail image, the light source 20 is not needed to supplement light, then the second driving device 40 drives the light source 20 to stagger the collecting light path of the structured light camera 10, and the second sealing nail image is directly collected through the structured light camera 10.
In the technical scheme of the embodiment of the application, the light source collects different images at different matched positions by the structure light camera, so that the light source can supplement light to the structure light camera to ensure that the images shot by the structure light camera are clearer, the detection accuracy is improved, and meanwhile, different image collection requirements are met.
In some embodiments, the battery cells 2 are a plurality of battery cells 2 arranged along a preset direction, and the preset direction includes a first direction and a second direction that are perpendicular to each other;
the structured light camera 10 and the light source 20 are correspondingly arranged into an acquisition group 50, and the acquisition group 50 is provided with at least two and is distributed at intervals along a preset direction for acquiring the seal nail images of the plurality of battery cells 2 distributed along the preset direction.
It should be noted that, the first direction and the second direction may be a horizontal direction and a vertical direction respectively, the battery cells 2 sequentially set identification marks for each row and each column according to the arrangement mode, the identification marks are unique and correspond to the battery cells one by one, the battery cell positioning can be effectively performed through the identification marks, the identification marks may be in the form of numbers, and other modes may also be used, which is not limited in this embodiment, the identification method of the numbers is usedFor example, the cell 2 shown in fig. 2 may be numbered in other ways, where the cell number in the first row is (1)/(2)/(3)/(4)/(5)/(6) and the cell number in the second row is (7)/(8)/(9)/or//>. That is, the arrangement direction of the first row of battery cells 2 is the first direction, and the arrangement direction of the (1) number of battery cells and the (7) number of battery cells is the second direction.
In the preset direction, at least two collection groups 50 are provided, as shown in fig. 3, fig. 3 is a schematic layout diagram between the collection groups 50 and the battery cells 2, the number of collection groups 50 is two, the collection groups 50 include a first collection group 501 and a second collection group 502, a certain distance d is spaced between the first collection group 501 and the second collection group 502, and the distance d between the first collection group 501 and the second collection group 502 can be adjusted according to the distance between adjacent battery cells 2 in the battery cells 2.
For example, the battery cells 2 are in double rows 2*6 =12pcs, the lateral center distance between adjacent battery cells in the battery cells 2 is 70mm, the longitudinal center distance is 240mm, and the interval between the first collecting group 501 and the second collecting group 502 can be 70×3=210 mm. As shown in fig. 4, fig. 4 is a schematic diagram of still another arrangement between the collection groups 50 and the battery cells 2, where the number of collection groups is 2, the collection groups include a third collection group 503 and a fourth collection group 504, the third collection group 503 and the fourth collection group 504 are arranged along the second direction, the third collection group 503 and the fourth collection group 504 are adjacently arranged, and a space between the third collection group 503 and the fourth collection group 504 is 240mm.
According to the technical scheme provided by the embodiment of the application, the number of the acquisition groups is combined according to the number and arrangement modes of the battery monomers, so that the shooting efficiency and the detection flexibility are improved.
In some embodiments, as shown in fig. 5, the structured light camera 10 includes a plurality of projectors 101 arranged at intervals in the circumferential direction;
in the two acquisition groups 50 arranged along the second direction, one projector 101 of the structured light camera 10 in one acquisition group 503 is disposed corresponding to the spacing portion of the two adjacent projectors 101 of B and C of the structured light camera 10 in the other acquisition group 504.
It should be noted that, when one projector 101 of the structured light camera 10 in the collection set 503 is disposed corresponding to the interval between two adjacent projectors 101 of the two B and C of the structured light cameras 10 in the collection set 504, the two structured light cameras 10 may be staggered. Since the vertical distance between the battery cells 2 is fixed, if the size of the structured light camera 10 is smaller than or equal to the center distance between the adjacent rows of battery cells 2, the third acquisition group 503 and the fourth acquisition group 504 may be arranged in a cross structure, as shown in fig. 6, and fig. 6 is a schematic structural diagram of the arrangement between the acquisition groups.
In the technical scheme of the embodiment of the application, the plurality of projectors are arranged around the structured light camera, so that the image is shot at multiple angles when the structured light camera collects the sealing nail image, the integrity of the image is ensured, and the phenomenon of image defects in the blind area of the visual field is avoided.
In some embodiments, as shown in fig. 7, the projector 101 of the structured light camera 10 in one acquisition group 503 is set to avoid the projector 101 of the structured light camera 10 in another acquisition group 504.
When the size of the structured light camera 10 is larger than the center distance between the adjacent rows of battery cells 2, the projectors 101 in the structured light cameras 10 corresponding to the adjacent rows need to be misplaced, so that the two acquisition groups 50 are prevented from colliding when acquiring the images of the corresponding battery cells 2, and the acquisition effect is prevented from being influenced.
In the technical scheme of the embodiment of the application, under the condition of limited space for the battery monomer with smaller volume, the structure light cameras in each acquisition group are avoided during arrangement, the occupied size during arrangement of the structure light cameras is reduced, and the convenience of image acquisition is improved.
In some embodiments, at least two acquisition groups 50 move in synchrony.
It should be noted that, when the images of the battery cells 2 are collected, the plurality of collection groups 50 synchronously perform the movement, so that the images of different battery cells 2 can be collected simultaneously, and the requirement of the detection beat of the battery cells is satisfied.
According to the technical scheme provided by the embodiment of the application, each acquisition group synchronously moves in the same direction when moving, so that the acquisition group can stably move in one direction at a constant speed when acquiring images, the requirement of detecting the beat of a battery monomer is met, and the phenomenon of precision reduction caused by unstable mechanism during acquisition is avoided.
In some embodiments, as shown in fig. 8, the battery seal nail welding detection system further comprises: the acquisition support 60, the structured light camera 10 is disposed on the acquisition support 60.
It should be noted that, the collection support 60 may fix the structured light camera 10, so that when the structured light camera 10 collects, the structured light camera 10 is driven to move by the collection support 60.
In the technical scheme of the embodiment of the application, the structured light camera is arranged on the acquisition bracket 60, so that the structured light camera 10 is fixed by the acquisition bracket 60 during acquisition, and the shooting stability is improved.
In some embodiments, the battery seal nail welding detection system further comprises: the fixed support 70, the collection support 60 is movably mounted on the fixed support 70.
It should be appreciated that the fixing bracket 70 is used to fix the acquisition bracket 60 so that the acquisition bracket 60 can be fixed by the fixing bracket 70 when the structured light camera 10 acquires an image.
In the technical scheme of the embodiment of the application, the acquisition bracket 60 is fixed through the fixed bracket 70, so that the stability of the structured light camera in moving is ensured, the stability of an acquired image is improved, and the phenomenon of precision reduction caused by unstable structured light camera in image acquisition is avoided.
In some embodiments, the structured light camera 10 includes:
The camera body is arranged on the acquisition bracket 60;
the plurality of projectors are arranged on the acquisition bracket 60 along the circumferential direction of the acquisition bracket 60, and each projector is positioned on the acquisition light path of the camera body and is used for corresponding to different positions of the battery cell 2.
It should be noted that, the structured light camera 10 includes a camera body and a plurality of projectors, the camera body may be a single-lens reflex camera or the like, which can perform image capturing, the plurality of projectors are disposed on the capturing bracket 60 along the circumferential direction of the capturing bracket 60, the plurality of projectors are located below the camera body, and the center formed by the plurality of projectors and the camera body are located on the same Z-axis.
When the structured light camera 10 needs to collect 3D images, the camera body works together with the plurality of projectors, the active structure information projected onto the surface of the battery cell 2 by the projectors, and then the second seal nail image of 3D can be obtained by shooting the surface of the battery cell 2 by the camera body.
In the technical scheme of the embodiment of the application, the structured light camera is formed by combining the camera body and the plurality of projectors, so that when the image is acquired, the shooting of the image is performed at multiple angles, and the shooting accuracy is improved.
In some embodiments, further comprising:
control means, and processing means;
the control device is electrically connected with the first driving device and the second driving device and is used for controlling the first driving device and the second driving device to drive the structured light camera and the light source to collect sealed nail images of the battery cells;
the processing device is electrically connected with the control device and is used for obtaining the welding detection result of the sealing nails of the battery cells according to the sealing nail images.
The control device may be a lower computer, and the first driving device 30 and the second driving device 40 may be controlled by the control device.
When image acquisition is required, the control device controls the first driving device 30 and the second driving device 40 to move, so as to drive the structured light camera 10 and the light source 20 to move. For example, when the structured light camera 10 needs to acquire the first seal nail image of the 2D of the battery cell 2, the control device controls the first driving device 30 to drive the structured light camera 10 to be located directly above the battery cell 2, and controls the second driving device 40 to drive the light source 20 to be located between the structured light camera 10 and the battery cell 2 and concentric with the battery cell 2 and the structured light camera 10.
When the structured light camera 10 needs to collect the 3D second seal nail image of the battery cell 2, the control device controls the second driving device 40 to drive the light source 20 to leave the right above the battery cell 2, so that the light source 20 can be driven to move to the right above the next battery cell 2, and the subsequent image collection of the next battery cell 2 is facilitated.
It should be understood that the processing device may be an upper computer, and the processing device is electrically connected to the control device, so as to receive the first sealing nail image and the second sealing nail image collected by the structured light camera 10 and sent by the control device, and process the first sealing nail image and the second sealing nail image, thereby obtaining a sealing nail welding detection result of the battery cell.
According to the technical scheme, the first driving device and the second driving device are controlled to move through the control device, the requirement of detection beats and the requirement of shooting types of the battery monomers are met, the detection accuracy is improved, the acquired seal nail images are processed through the processing device, the detection result is obtained, and the welding condition of the seal nails can be rapidly determined.
According to some embodiments of the present application, referring to fig. 9, fig. 9 is a diagram illustrating a battery seal-nail welding detection method according to some embodiments of the present application, the battery seal-nail welding detection system includes: the method comprises the steps of:
step S10: the control device controls the first driving device to drive the structured light camera to move to a preset collecting position of the battery cell.
It should be noted that, can set up the free collection station of battery in advance to can confirm the free collection position of predetermining of battery, when carrying out the free image acquisition of battery, controlling means begins work, controlling means control first drive arrangement drive structure light camera removes to the free collection position of predetermining of battery, and structure light camera gathers battery free 2D image and 3D image, and when gathering free 2D image and 3D image of battery, structure light camera all is located the free collection position of predetermining of battery.
Step S20: the control device controls the second driving device to drive the light source to move to different matched positions.
When the structured light camera acquires the 2D image of the battery cell, imaging by means of an external light source is needed, and when the structured light camera acquires the 3D image of the battery cell, the external light source is needed to be removed, so that the control device needs to control the second driving device to drive the light source to move to different positions, and the structured light camera can generate the 2D image of the battery cell and the sealing nail image of the battery cell of the 3D at the same time. For example, at the first matching position, the control device controls the second driving device to drive the light source to move to be concentric with the battery cell and the structured light camera, and at the second matching position, the control device controls the second driving device to drive the light source to be far away from a preset collection position of the battery cell or a collection light path of the structured light camera.
Step S30: the structured light camera triggers and collects a first sealing nail image and a second sealing nail image of the battery monomer at a preset collection position according to the positions of the light sources at different coordination positions.
In a specific implementation, after the structured light camera moves to the preset collection position of the battery cell, the first sealing nail image and the second sealing nail image of the battery cell can be triggered and collected according to the light source at different matching positions, for example, the light source is at the first matching position, the structured light camera triggers and collects the first sealing nail image of the 2D of the battery cell at the preset collection position, for example, the light source is at the second matching position, and the structured light camera triggers and collects the second sealing nail image of the 3D of the battery cell at the preset collection position.
Step S40: and the processing device obtains a sealing nail welding detection result of the battery monomer according to the first sealing nail image and the second sealing nail image.
After the first sealing nail image and the second sealing nail image are collected by the structured light camera, the processing device can analyze the first sealing nail image and the second sealing nail image so as to detect whether the corresponding battery monomer has defects or not and obtain a welding detection result of the sealing nail of the battery monomer.
According to the technical scheme, the first driving device is controlled by the control device to drive the structure light camera to move to the preset collection position of the battery monomer, so that image collection of the battery monomer is facilitated, the second driving device is controlled to drive the light source to move to different matching positions, therefore, the purpose of collecting different types of sealing nail images is achieved, the sealing nail welding detection result of the battery monomer is obtained according to the collected images through the processing device, the structure light camera can shoot the image of the battery monomer at multiple angles, the integrity of the image is ensured, the phenomenon of image defects in a blind area of a visual field is avoided, the first sealing nail image and the second sealing nail image are simultaneously generated through the structure light camera, the technical problem of alignment of an image coordinate system is avoided, and the detection range is improved.
In some embodiments, the light source has a first mating position and a second mating position relative to the structured light camera;
step S30 of the battery seal nail welding detection method includes:
step S301: at the first matching position, the light source is positioned on an acquisition light path of the structured light camera, and the structured light camera triggers the acquisition of a first seal nail image of the battery cell at a preset acquisition position.
It should be noted that, the first matching position is a position where the battery monomer is concentric with the light source and the structured light camera, and the second matching position is a position where the light source is far away from the collection light path of the structured light camera.
At the first matching position, the structural light camera needs to collect the 2D sealing nail image of the battery monomer at the preset collecting position, and then the light source is positioned on a collecting light path of the structural light camera to supplement light for the structural light camera, so that the 2D sealing nail image of the battery monomer is generated.
Step S302: at the second matching position, the light source staggers the acquisition light path of the structural light camera, and the structural light camera triggers the acquisition of a second sealing nail image of the battery monomer at the preset acquisition position.
When the structured light camera needs to collect 3D sealing nail images of the battery cells, no external light source is needed for light supplementing, so that the light source needs to stagger the collection light path of the structured light camera, the light source can be positioned at the collection position of the next battery cell, and after the light source staggers the collection light path of the structured light camera, the structured light camera triggers the collection of the 3D sealing nail images of the battery cells at the preset collection position.
As shown in fig. 10-15, fig. 10-15 are schematic diagrams of overall steps of the detection process, and fig. 10 shows that the (1) number of battery cells, (4) number of battery cells, (4)0 number of battery cells, and (4)1) number of battery cells are respectively photographed by four collection groups, the first collection group and the second collection group (not shown in the figure) photograph (4)4 number of battery cells and (4)5 number of battery cells) 2D, and the third collection group 503 and the fourth collection group 504 photograph (4)6 number of battery cells and (4)7 battery cells) 2D, respectively. Fig. 11 shows that the number (1) battery cell, (4) battery cell, (7) battery cell and the number (r) battery cell are 3D photographed by four structural light cameras, the first light source and the second light source (not shown in the figure) are moved to the number (4)2) battery cell and the number (4)3) battery cell, the first structural light camera and the second structural light camera (not shown in the figure) photograph the number (1) battery cell and the number (4) battery cell respectively in 3D, the third structural light camera 102 and the fourth structural light camera 103 photograph the number (7) battery cell and the number (r) battery cell respectively in 3D, and the third light source 201 and the fourth light source 202 are moved to the number (4)8) battery cell and the number (r) battery cell respectively in 3D And a number of battery cells. FIG. 12 shows the respective pairs of (2) cell, (8) cell, (5) cell and +.>The number battery cell 2D photographs, the first collection group and the second collection group (not shown in the figure) photograph the number (2) battery cell and the number (5) battery cell 2D respectively, and the third collection group 503 and the fourth collection group 504 photograph the number (8) battery cell and the number->And taking a 2D picture of the number battery cell. Fig. 13 shows the respective pairs of (2) cell, (8) cell, (5) cell and +.>The battery cell 3D photographing, the first light source and the second light source (not shown in the figure) move to the battery cell (3) and the battery cell (9) respectively, the first structural light camera and the second structural light camera (not shown in the figure) photograph the battery cell (2) and the battery cell (5) 3D respectively, and the third light source 201 and the fourth light source 202 move to the battery cell (9) and the battery cell (10) respectively>No. battery cell, third structured light camera 102 and fourth structured light camera 103 respectively pair (8) No. battery cell and +.>And 3D photographing of the number battery monomer. FIG. 14 shows the respective pairs of (3) cell, (9) cell, (6) cell and +. >The number battery cell 2D photographs, the first collection group and the second collection group (not shown in the figure) photograph the number battery cell (3) and the number battery cell (6) 2D respectively, and the third collection group 503 and the fourth collection group 504 photograph the number battery cell (9) and the number (I) respectively>And taking a 2D picture of the number battery cell. Fig. 15 shows the respective pairs of (3) cell, (9) cell, (6) cell and +.>The number battery monomer 3D is photographed, the first light source and the second light source (not shown in the figure) are respectively moved to the preset collection positions of the next group of battery monomers to be collected, namely the positions of the number battery monomer (1) and the number battery monomer (4), the first structured light camera and the second structured light camera (not shown in the figure) respectively photograph the number battery monomer (3) and the number battery monomer (6), the third light source 201 and the fourth light source 202 respectively move to the number battery monomer (7) and the number battery monomer (D), and the third structured light camera 102 and the fourth structured light camera 103 respectively photograph the number battery monomer (9)Number battery cell and->And 3D photographing of the number battery monomer.
According to the technical scheme provided by the embodiment of the application, the light sources are controlled to be arranged at different positions, so that the first sealing nail image and the second sealing nail image are acquired and generated by the structured light camera, the detection precision requirement is met, the larger visual field range is compatible, and the shooting effect is improved.
In some embodiments, since the structured light camera generates the 2D and 3D seal nail images of the battery cell at the same time, the processing device may process the 2D and 3D seal nail images of the battery cell to determine whether the seal nail welding of the battery cell is defective, so step S40 includes:
step S401: and the processing device performs feature extraction on the first seal nail image to obtain extracted features.
The feature extraction may be performed by means of image recognition extraction or gradient, or the like.
Step S402: comparing the extracted features with preset defect features to determine the defect positions.
The preset defect features are image features of defects in welding of sealing nails of the battery monomers, which are collected in advance, and the defect positions can be preliminarily determined by comparing the extracted features with the preset defect features.
Step S403: and extracting a corresponding defect image of the defect position in the second seal nail image.
In a specific implementation, feature extraction may be performed on the 3D image of the battery cell according to the defect location, to obtain a 3D defect image corresponding to the defect location.
Step S404: and carrying out image recognition on the defect image to obtain a welding detection result of the sealing nail of the battery cell.
It should be noted that, whether the defect image has a defect can be further determined by performing image recognition on the defect image, and since the first seal nail image and the second seal nail image are photographed at the same position, the corresponding defect image in the 2D first seal nail image can be directly extracted from the 3D second seal nail image without alignment of a coordinate system, thereby completing defect detection.
In the technical scheme of the embodiment of the application, the defect position is determined through the first sealing nail image, preliminary screening is performed, and then the second sealing nail image is used for checking, so that the welding detection result of the sealing nails of the battery cells is obtained, and the detection accuracy is improved.
In some embodiments, performing image recognition on the defect image to obtain a seal nail welding detection result of the battery cell includes:
performing image recognition on the defect image to obtain defect information;
classifying the defect information to obtain defect types;
and obtaining a welding detection result of the sealing nail of the battery cell through the defect type.
After the defect information in the defect image is obtained, the defect information can be classified according to different types of the defect information, so that the defect type of the sealing nail welding of the battery cell, such as welding slag defect, welding explosion defect, welding omission defect, pinhole defect, partial welding defect and other defects, is determined, and the result of the sealing nail welding detection of the battery cell to be detected is determined according to the defect type.
According to the technical scheme provided by the embodiment of the application, the defect type is further positioned according to the defect information, so that automatic sealing nail welding detection is realized, and the detection efficiency is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (13)
1. A battery seal nail welding detection system, comprising:
A structured light camera;
a light source;
a first driving device configured to drive the structured light camera;
a second driving device configured to drive the light source;
the first driving device drives the structured light camera and the second driving device drives the light source to be located at a preset collection position of a battery cell, the structured light camera collects a first sealing nail image, the second driving device drives the light source to be away from the preset collection position of the battery cell, and the structured light camera collects a second sealing nail image, wherein the types of the first sealing nail image and the second sealing nail image are different, the first sealing nail image is a 2D sealing nail image, and the second sealing nail image is a 3D sealing nail image;
the light source is provided with a first matching position and a second matching position relative to the structured light camera;
at the first matching position, the second driving device drives the light source to be positioned on an acquisition light path of the structured light camera;
and at the second matching position, the second driving device drives the light source to stagger the acquisition light path of the structured light camera.
2. The battery seal nail welding detection system of claim 1, wherein the battery cells are a plurality of battery cells arranged along a preset direction, the preset direction comprising a first direction and a second direction that are perpendicular to each other;
The structure light camera and the light source are correspondingly arranged into acquisition groups, the acquisition groups are at least two, are distributed at intervals along a preset direction and are used for acquiring sealing nail images of a plurality of battery monomers distributed along the preset direction.
3. The battery seal nail welding detection system of claim 2, wherein said structured light camera comprises a plurality of circumferentially spaced apart projectors;
and in the two acquisition groups distributed along the second direction, one projector of the structured light camera in one acquisition group is arranged corresponding to the interval part of two adjacent projectors of the structured light camera in the other acquisition group.
4. The battery seal nail welding detection system of claim 3, wherein the projector of one of said collection sets of structured light cameras is configured to be in a clear-of-sight arrangement with the projector of the other of said collection sets of structured light cameras.
5. The battery seal staple welding detection system of claim 2, wherein at least two of said acquisition groups move in synchrony.
6. The battery seal-nail welding detection system of claim 1, further comprising: the structure light camera is arranged on the acquisition bracket.
7. The battery seal-nail welding detection system of claim 6, further comprising: the fixed bolster, gather support movable mounting in the fixed bolster.
8. The battery seal nail welding detection system of claim 6, wherein the structured light camera comprises:
the camera body is arranged on the acquisition bracket;
the plurality of projectors are arranged on the acquisition support along the circumferential direction of the acquisition support, each projector is positioned on an acquisition light path of the camera body, and the plurality of projectors are used for corresponding to different positions of the battery cell.
9. The battery seal nail welding detection system of claim 1, further comprising:
the control device is used for controlling the control device to control the operation of the control device,
a processing device;
the control device is electrically connected with the first driving device and the second driving device and is used for controlling the first driving device and the second driving device to drive the structured light camera and the light source to collect sealed nail images of the battery cells;
the processing device is electrically connected with the control device and is used for obtaining the welding detection result of the sealing nails of the battery cells according to the sealing nail images.
10. A battery seal nail welding detection method, characterized in that the battery seal nail welding detection system comprises: a structured light camera, a light source, a first driving means, a second driving means, a control means and a processing means, the method comprising:
the control device controls the first driving device to drive the structured light camera to move to a preset acquisition position of the battery cell;
the control device controls the second driving device to drive the light source to move to different matching positions;
the structured light camera triggers and collects a first sealing nail image and a second sealing nail image of the battery monomer at the preset collecting position according to the different matching positions of the light source;
and the processing device obtains a sealing nail welding detection result of the battery cell according to the first sealing nail image and the second sealing nail image.
11. The battery seal nail welding detection method of claim 10, wherein the light source has a first mating position and a second mating position relative to the structured light camera;
the structured light camera triggers and gathers the first seal nail image and the second seal nail image of battery monomer on the preset collection position according to the light source is in different cooperation positions, and the structured light camera comprises:
At the first matching position, the light source is positioned on an acquisition light path of the structured light camera, and the structured light camera triggers and acquires a first seal nail image of the battery cell at the preset acquisition position;
and at the second matching position, the light source staggers an acquisition light path of the structured light camera, and the structured light camera triggers and acquires a second sealing nail image of the battery monomer at the preset acquisition position.
12. The battery seal-nail welding detection method according to claim 10, wherein the processing means obtains a seal-nail welding detection result of the battery cell from the first seal-nail image and the second seal-nail image, comprising:
the processing device performs feature extraction on the first seal nail image to obtain extracted features;
comparing the extracted features with preset defect features to determine defect positions;
extracting a corresponding defect image of the defect position in the second seal nail image;
and carrying out image recognition on the defect image to obtain a welding detection result of the sealing nail of the battery cell.
13. The method for detecting the welding of the battery sealing nail according to claim 12, wherein the performing image recognition on the defect image to obtain the welding detection result of the battery cell sealing nail comprises the following steps:
Performing image recognition on the defect image to obtain defect information;
classifying the defect information to obtain defect types;
and obtaining a sealing nail welding detection result of the battery cell through the defect type.
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