Granted Patent B2

US 12,646,208 · App. 18/415,942 · Granted Jun 2, 2026

Inventors: Weipu Zeng (Ningde, CN); Chunqin Shen (Ningde, CN); Lei Song (Ningde, CN)

Assignee: CONTEMPORARY AMPEREX TECHNOLOGY (HONG KONG) LIMITED

G06T7/74B25J9/1697G06T7/13G06T7/136G06T7/66H01M10/0404G06T2207/30152

Abstract

Claims (66)

1 . A computer-implemented method of determining a dispensing position suitable for being dispensed with adhesive based on an image of a battery module comprising:

receiving the image of the battery module;

processing the image to obtain a contour feature image of at least one object on the battery module; and

determining, based on the contour feature image, a dispensing position of the at least one object;

wherein the method further comprises:

acquiring based on a module code of the battery module, photographic point position of the at least one object;

acquiring, based on the photographic point position, a bonding aluminum wire image or a temperature sensing probe image;

wherein the method further comprises:

detecting endpoints of two aluminum wires parallel to each other on a contour feature image of the bonding aluminum wires and detecting an edge intersecting the two aluminum wires as a datum line;

calculating the distance between the two aluminum wires parallel to each other; and

determining a dispensing position of the bonding aluminum wires based on:

the midpoint of a straight line used to calculate the distance between the two aluminum wires

the datum line, and

a connecting line between the endpoints of the two aluminum wires.

2 . The method of determining a dispensing position of claim 1 , further comprising:

determining an offset value of the dispensing position based on the dispensing position and a needle-calibration physical error,

wherein the offset value is sent to a robot that controls a dispensing operation to compensate for the offset position of a dispensing needle when performing the dispensing operation.

3 . The method of determining a dispensing position of claim 1 , further comprising:

setting a calibration point;

detecting a circular contour of the calibration point and determining, based on the center of the circular contour, the center of the calibration point;

dispensing at the calibration point and detecting a circular contour of the dispensing point to obtain the center of the dispensing point;

determining a physical error based on a difference between the center of the calibration point and the center of the dispensing point; and

determining the physical error as a needle-calibration physical error when a difference between the position of the robot at the calibration point and the position of the robot at the dispensing point is equal to the physical error.

4 . A dispensing system for batteries, comprising:

a robot, configured to send a trigger signal for image acquisition upon reaching a predetermined position;

a camera, configured to receive the trigger signal, acquire, based on the trigger signal, an image of a battery module and send the image to a vision host computer; and

the vision host computer, configured to perform a method of determining a dispensing position to acquire, based on the image of the battery module, a dispensing position of at least one object on the battery module and send the dispensing position to the robot,

wherein the robot is further configured to receive the dispensing position and move to the dispensing position to control an adhesive container and a dispensing needle to perform a dispensing operation;

wherein the method of determining the dispensing position comprises:

receiving the image of the battery module;

processing the image to obtain a contour feature image of at least one object on the battery module;

determining, based on the contour feature image, the dispensing position of the at least one object;

acquiring, based on a module code of the battery module, photographic point position of the at least one object;

acquiring based on the photographic point position, a bonding aluminum wire image or a temperature sensing probe image;

detecting endpoints of two aluminum wires parallel to each other on a contour feature image of the bonding aluminum wires and detecting an edge intersecting the two aluminum wires as a datum line:

calculating the distance between the two aluminum wires parallel to each other, and

determining a dispensing position of the bonding aluminum wires based on:

the midpoint of a straight line used to calculate the distance between the two aluminum wires

the datum line, and

a connecting line between the endpoints of the two aluminum wires.

5 . The dispensing system for batteries of claim 4 , further comprising:

a programmable logic controller configured to:

parse a module code of the battery module and send it to the vision host computer; and

record the dispensing in real time.

6 . The dispensing system for batteries of claim 5 , wherein the vision host computer is further configured to:

receive the module code of the battery module from the programmable logic controller; and

acquire, based on the module code, photographic point position for at least one object on the battery module, and store the photographic point position on the robot.

7 . The dispensing system for batteries of claim 6 , wherein the robot is further configured to:

move, based on the photographic point position to a photographing point position of an object on the trajectory, trigger the camera to acquire an image of the object at the point position and send the image to the vision host computer;

receive from the vision host computer a dispensing position of the object at the point position and its offset value; and

based on the received dispensing position of the object at the point position and its offset value, control the adhesive container and the dispensing needle to perform a dispensing operation at the point position.

8 . The dispensing system for batteries of claim 5 , wherein the vision host computer is further configured to:

receive the module code of the battery module from the programmable logic controller;

acquire, based on the module code, photographic point position for at least one object on the battery module, and store the photographic point position on the vision host computer; and

distribute photographing point positions of all objects on-the-addressing-trajectory-to two robots at a time.

9 . The dispensing system for batteries of claim 8 , wherein each of the two robots is configured to:

receive the photographing point position of each object distributed from the vision host computer;

sequentially move to each of the received object point positions, trigger the camera to acquire an image of the object at the point position and send the image to the vision host computer;

receive from the vision host computer a dispensing position of the object at each point position and its offset value; and

based on the received dispensing position of the object at each point position and its offset value, control the adhesive container and the dispensing needle to sequentially perform a dispensing operation for each point position.

10 . An apparatus of determining a dispensing position, the position suitable for being dispensed with adhesive based on an image of a battery module, comprising:

a receiving module configured to receive an image of a battery module;

a processing module configured to process the image to obtain a contour feature image of at least one object on the battery module; and

a determining module configured to determine, based on the contour feature image, a dispensing position of at least one object by carrying out the method of claim 1 .

11 . An electronic device, comprising a memory, and a communication bus, wherein the communication bus is configured to realize connection and communication between the processor and the memory; and the processor is configured to execute a program stored in the memory to implement the method of determining a dispensing position of claim 1 .

12 . A non-transitory computer-readable storage medium storing a program, the program being executable by one or more processors to implement the method of determining a dispensing position of claim 1 .

Assignments (2)

Continuity (2)

References Cited (13)