COORDINATE CONVERSION METHOD AND WELDING SYSTEM

Abstract

A coordinate conversion method includes obtaining a first post coordinate set of at least one post of a battery product in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system; obtaining a second marking point coordinate set of the at least two marking points in a welding station coordinate system; determining, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system, where the conversion parameters include a rotation parameter and a translation amount; and performing, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system.

Description

TECHNICAL FIELD

The present disclosure relates to, but is not limited to, the technical field of welding for battery products, and particularly relates to a coordinate conversion method and a welding system.

BACKGROUND ART

New energy batteries are increasingly used in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also increasingly used in the field of energy storage or the like.

Welding of posts is very important in the production process of a battery product, allowing a plurality of battery cells in the battery product to be electrically connected by means of a busbar in a cell connection system (CCS). However, in the welding process of posts, the installed CCS greatly affects the accuracy of visual photography, resulting in insufficient accuracy of the determined welding coordinates.

SUMMARY

In view of this, embodiments of the present disclosure provide at least a coordinate conversion method and a welding system, which can improve the accuracy and efficiency of determining coordinates of a post in a welding station coordinate system, thereby improving the production quality and production efficiency of a battery product.

Technical solutions of the embodiments of the present disclosure are implemented as follows.

An embodiment of the present disclosure provides a coordinate conversion method. The method includes:

• • obtaining a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system, where the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation;
  • obtaining a second marking point coordinate set of the at least two marking points in a welding station coordinate system;
  • determining, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system; and
  • performing, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system.

According to the coordinate conversion method in this embodiment of the present disclosure, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately based on the coordinates of the at least two marking points of the battery product in the addressing station coordinate system and the welding station coordinate system, so that based on the conversion parameters, the coordinates of the post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the coordinates of the post in the welding station coordinate system. There is no need for a visual system to photograph to determine the coordinates of each post in the welding station coordinate system, which can improve the accuracy and efficiency of determining the coordinates of the post in the welding station coordinate system, thereby improving the production quality and efficiency of the battery product. In addition, the coordinates of the post of the battery product to be welded in the addressing station coordinate system are obtained, and then the coordinates of the post in the welding station coordinate system are obtained through coordinate conversion, so that the addressing of the post coordinates and the welding of the post can be performed separately and in parallel, which can further improve the production efficiency of the battery product.

In some embodiments, the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation; and the performing, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system includes: performing, based on the rotation parameter, a rotation on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set; and performing, based on the translation amount, a translation on the rotated first post coordinate set to obtain the second post coordinate set.

In this way, the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the second post coordinate set of the at least one post in the welding station coordinate system.

In some embodiments, the rotation parameter includes an angle of rotation; and the performing, based on the rotation parameter, a rotation on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set includes: determining, based on center point coordinates of the center point of rotation in the addressing station coordinate system and the first post coordinate set, a first offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system; determining, based on the first offset coordinate set and the angle of rotation, a second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system; and determining, based on the second offset coordinate set and the center point coordinates, the rotated first post coordinate set.

In this way, the rotated first post coordinate set can be determined quickly and accurately.

In some embodiments, the at least one post includes a first post, the first offset coordinate set includes first offset coordinates corresponding to the first post, where the first offset coordinates include a first horizontal axis offset coordinate and a first vertical axis offset coordinate, and the second offset coordinate set includes second offset coordinates corresponding to the first post, where the second offset coordinates include a second horizontal axis offset coordinate and a second vertical axis offset coordinate; and the determining, based on the first offset coordinate set and the angle of rotation, a second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system includes:

determining a first product of the first horizontal axis offset coordinate and a cosine value of the angle of rotation, and a second product of the first vertical axis offset coordinate and a sine value of the angle of rotation; determining the second horizontal axis offset coordinate based on a difference between the first product and the second product; determining a third product of the first vertical axis offset coordinate and the cosine value of the angle of rotation, and a fourth product of the first horizontal axis offset coordinate and the sine value of the angle of rotation; and determining the second vertical axis offset coordinate based on a sum of the third product and the fourth product.

In this way, the second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system can be determined quickly and accurately.

In some embodiments, the at least two marking points include a first marking point and a second marking point, the first marking point coordinate set includes first marking point coordinates and second marking point coordinates that correspond to the first marking point and the second marking point, respectively, and the second marking point coordinate set includes third marking point coordinates and fourth marking point coordinates that correspond to the first marking point and the second marking point, respectively; and the determining, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system includes: determining, based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system; performing, based on the rotation parameter, a rotation on the first marking point coordinates about the center point of rotation to obtain the rotated first marking point coordinates; and determining third offset coordinates between the third marking point coordinates and the rotated first marking point coordinates as the translation amount of coordinates between the addressing station coordinate system and the welding station coordinate system.

In this way, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system as well as the translation amount corresponding to the center point of rotation can be determined quickly and accurately based on the first marking point and the second marking point.

In some embodiments, the rotation parameter includes an angle of rotation; and the determining, based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system includes: determining a first slope of a first straight line based on the first marking point coordinates and the second marking point coordinates, where the first straight line is a straight line defined by the first marking point and the second marking point in the addressing station coordinate system; determining a second slope of a second straight line based on the third marking point coordinates and the fourth marking point coordinates, where the second straight line is a straight line defined by the first marking point and the second marking point in the welding station coordinate system; and determining an included angle between the first straight line and the second straight line based on the first slope and the second slope, and determining the included angle as the angle of rotation.

In this way, the angle of rotation between the addressing station coordinate system and the welding station coordinate system can be easily and quickly determined by determining the included angle between the first straight line defined by the first marking point and the second marking point in the addressing station coordinate system and the second straight line defined by the first marking point and the second marking point in the welding station coordinate system.

In some embodiments, the determining an included angle between the first straight line and the second straight line based on the first slope and the second slope includes: determining a first difference between the first slope and the second slope, and a fifth product of the first slope and the second slope; determining, based on the first difference and the fifth product, a tangent value of the included angle between the first straight line and the second straight line; and determining the included angle based on the tangent value.

In this way, the included angle between the first straight line and the second straight line can be determined quickly based on the first slope and the second slope, so that the angle of rotation between the addressing station coordinate system and the welding station coordinate system is obtained quickly.

In some embodiments, the obtaining a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system includes: obtaining a reference coordinate set of the at least one post of the battery product relative to a preset reference point in the addressing station coordinate system, and a first addressing offset coordinate set that is obtained by an addressing camera at an addressing station addressing and photographing the at least one post, where the addressing station coordinate system is established with the preset reference point as a coordinate origin; and determining, based on the reference coordinate set and the first addressing offset coordinate set, the first post coordinate set of the at least one post in the addressing station coordinate system.

In this way, the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system can be quickly and accurately determined, so that the accuracy of the second post coordinate set obtained after coordinate conversion and the efficiency of coordinate conversion can be further improved.

In some embodiments, the preset reference point is a preset second post in the battery product; and the obtaining a reference coordinate set of the at least one post of the battery product relative to a preset reference point in the addressing station coordinate system includes: obtaining a first position at which the addressing camera is located when addressing and photographing the second post, and a set of movement distances, relative to the first position, of the addressing camera when addressing and photographing the at least one post; and determining, based on the set of movement distances and second addressing offset coordinates that are obtained by the addressing camera addressing and photographing the second post, a reference coordinate set of the at least one post relative to the second post.

In this way, the reference coordinate set of each post relative to the second post can be determined quickly and accurately based on the second addressing offset coordinates of the second post, so that the accuracy of the second post coordinate set obtained after coordinate conversion and the efficiency of coordinate conversion can be further improved.

An embodiment of the present disclosure provides a welding system, including a controller and a welding device, where the controller is configured to: obtain a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system; obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system; determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system; and perform, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system, and send the second post coordinate set to the welding device, where the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation; and the welding device is provided on a welding station and is configured to weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.

According to the welding system in this embodiment of the present disclosure, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately based on the coordinates of the at least two marking points of the battery product in the addressing station coordinate system and the welding station coordinate system, so that based on the conversion parameters, the coordinates of the post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the coordinates of the post in the welding station coordinate system. There is no need for a visual system to photograph to determine the coordinates of each post in the welding station coordinate system, which can improve the accuracy and efficiency of determining the coordinates of the post in the welding station coordinate system, thereby improving the production quality and efficiency of the battery product. In addition, the coordinates of the post of the battery product to be welded in the addressing station coordinate system are obtained, and then the coordinates of the post in the welding station coordinate system are obtained through coordinate conversion, so that the addressing of the post coordinates and the welding of the post can be performed separately and in parallel, which can further improve the production efficiency of the battery product.

An embodiment of the present disclosure provides a welding system, including an addressing device, a welding device, a first controller, and a second controller, where the addressing device and the first controller are provided in an addressing station, the welding device and the second controller are provided in a welding station, and the addressing station is before the welding station, where the first controller is configured to: control the addressing device to address at least one post of a battery product to be welded and at least two marking points, to obtain a first post coordinate set of the at least one post in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of the at least two marking points in the addressing station coordinate system; and send the first post coordinate set and the first marking point coordinate set to the second controller, where the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation; and the second controller is configured to: control the welding device to address the at least two marking points, to obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system; determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system; perform, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system; and control the welding device to weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.

According to the welding system in this embodiment of the present disclosure, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately based on the coordinates of the at least two marking points of the battery product in the addressing station coordinate system and the welding station coordinate system, so that based on the conversion parameters, the coordinates of the post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the coordinates of the post in the welding station coordinate system. There is no need for a visual system to photograph to determine the coordinates of each post in the welding station coordinate system, which can improve the accuracy and efficiency of determining the coordinates of the post in the welding station coordinate system, thereby improving the production quality and efficiency of the battery product. In addition, the addressing station is provided before the welding station, the coordinates of the post of the battery product to be welded in the addressing station coordinate system are obtained in the addressing station, and then the coordinates of the post in the welding station coordinate system are obtained through coordinate conversion, so that the addressing of the post coordinates and the welding of the post can be performed separately and in parallel, which can further improve the production efficiency of the battery product.

In some embodiments, the first controller is further configured to: send a first addressing instruction to the addressing device, and obtain a first addressing offset coordinate set that is obtained by the addressing device addressing and photographing the at least one post, and a third addressing offset coordinate set that is obtained by addressing and photographing the at least two marking points; obtain a reference coordinate set of the at least one post relative to a preset reference point in the addressing station coordinate system, where the addressing station coordinate system is established with the preset reference point as a coordinate origin; determine the first post coordinate set based on the reference coordinate set and the first addressing offset coordinate set; and determine the first marking point coordinate set based on the reference coordinate set and the third addressing offset coordinate set; and the addressing device is configured to: in response to the first addressing instruction, address and photograph the at least one post to obtain the first addressing offset coordinate set, and address and photograph the at least two marking points to obtain the third addressing offset coordinate set; and send the first addressing offset coordinate set and the third addressing offset coordinate set to the first controller.

In this way, by sending the first addressing instruction to the addressing device, the first controller can easily and quickly obtain the first addressing offset coordinate set and the third addressing offset coordinate set, so that the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system can be determined quickly and accurately based on the first addressing offset coordinate set and the third addressing offset coordinate set, to further improve the accuracy of the second post coordinate set obtained after coordinate conversion and the efficiency of coordinate conversion.

In some embodiments, the second controller is further configured to: send a second addressing instruction to the welding device, and obtain the second marking point coordinate set that is obtained by the welding device addressing and photographing the at least two marking points; and

• • the welding device is further configured to: in response to the second addressing instruction, address and photograph the at least two marking points to obtain the second marking point coordinate set; and send the second marking point coordinate set to the second controller.

In this way, by sending the second addressing instruction to the welding device, the second controller can easily and quickly control the welding device to address and photograph the at least two marking points, to obtain the second marking point coordinate set.

In some embodiments, the second controller is further configured to: send a welding instruction to the welding device, where the welding instruction carries the second post coordinate set; and

• • the welding device is further configured to: in response to the welding instruction, weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.

In this way, by sending to the welding device the welding instructions carrying the second post coordinate set, the second controller can more precisely control the welding device to weld the post in the battery product.

It should be understood that the above general description and the following detailed description are merely exemplary and illustrative, and do not limit the technical solutions of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings herein are incorporated into the description and form a part of the description, and these accompanying drawings illustrate embodiments in accordance with the present disclosure, and are intended to explain technical solutions of the present disclosure together with the description.

FIG. 1 is a schematic flowchart 1 of an implementation of a coordinate conversion method according to an embodiment of the present disclosure;

FIG. 2 is a schematic flowchart 2 of an implementation of a coordinate conversion method according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of determining second offset coordinates of a first post in a coordinate conversion method according to an embodiment of the present disclosure;

FIG. 4 is a schematic flowchart 3 of an implementation of a coordinate conversion method according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a deviation between a position area of a battery product in an addressing station coordinate system and a position area of the battery product in a welding station coordinate system;

FIG. 6 is a schematic structure diagram 1 of a welding system according to an embodiment of the present disclosure; and

FIG. 7 is a schematic structure diagram 2 of a welding system according to an embodiment of the present disclosure.

DETAILED DESCRIPTION OF EMBODIMENTS

In order to make the objectives, technical solutions, and advantages of the present disclosure clearer, the technical solutions of the present disclosure are set forth below in further detail with reference to the accompanying drawings and embodiments. The described embodiments should not be considered as limitations to the present disclosure, and all other embodiments obtained by those of ordinary skill in the art without making inventive effort fall within the scope of protection of the present disclosure.

“Some embodiments” in the following description describe a subset of all possible embodiments, but it can be understood that the “some embodiments” may be the same subset or different subsets of all the possible embodiments, and may be combined with each other without conflict.

The terms “first/second/third” are intended only to distinguish between similar objects and do not indicate a particular ordering of objects. It can be understood that “first/second/third” may be interchanged for a particular order or sequence when it permits, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure pertains. The terms used herein are merely for the purpose of describing the present disclosure, but are not intended to limit the present disclosure.

At present, new energy batteries are increasingly used in life and industry. The new energy batteries are not only used in energy storage power systems such as water power, thermal power, wind power, and solar power plants, but also widely used in electric transportation means such as electric bicycles, electric motorcycles, and electric vehicles, as well as in aerospace and other fields. With the continuous expansion of the application field of traction batteries, the market demand for the traction batteries is also expanding.

In the embodiments of the present disclosure, a battery may be a battery cell. The battery cell is a basic unit capable of mutual conversion between chemical energy and electrical energy, and may be used to make a battery module or battery pack to supply power to an electrical apparatus. The battery cell may be a secondary battery, which is a battery cell of which active materials can be activated by means of charging for reuse after the battery cell is discharged. The battery cell may be a lithium-ion battery, a sodium-ion battery, a sodium-lithium-ion battery, a lithium-metal battery, a sodium-metal battery, a lithium-sulfur battery, a magnesium-ion battery, a nickel-hydrogen battery, a nickel-cadmium battery, a lead battery, etc., which is not limited in the embodiments of the present disclosure.

An embodiment of the present disclosure provides a coordinate conversion method, which may be performed by a processor of a computer device. During implementation, the computer device may be any suitable device with data processing capabilities. It can be understood that, in industrial production, the computer device may be an upper computer, such as a server, a laptop, a tablet, a desktop computer, or a smartphone, or the computer device may be a lower computer, such as an industrial computer or a programmable logic controller (PLC). In some implementations, the computer device may include a memory and a processor, where the memory stores a computer program executable on the processor, and the program, when executed by the processor, causes the coordinate conversion method to be implemented.

FIG. 1 is a schematic flowchart 1 of an implementation of a coordinate conversion method according to an embodiment of the present disclosure. As shown in FIG. 1, the method may include the following step S101 to step S104.

Step S101: Obtain a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system.

In some implementations, the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation.

Here, the battery product may include a plurality of battery cells, and each battery cell may have a positive post and a negative post. For example, the battery cell may be a cell.

In some implementations, the battery product may be a battery module composed of a plurality of battery cells. For example, the battery module may be a new energy traction battery module.

In some implementations, the battery product may be a battery pack composed of a plurality of battery cells or battery modules. For example, the battery pack may be a new energy traction battery pack.

During implementation, those skilled in the art may provide at least two marking points in the battery product according to the actual situation. A marking point may be a fixed feature point other than a post on the battery product, or a fixed feature point on a carrier carrying the battery product, which is not limited in the embodiments of the present disclosure.

Before posts of the battery product are welded, the at least one post of the battery product to be welded and the at least two marking points may be addressed at a pre-welding addressing station, to obtain a first post coordinate set of each post in the addressing station coordinate system and a first marking point coordinate set of each marking point in the addressing station coordinate system. The pre-welding addressing station may be a station before a welding station, and the addressing station coordinate system may be a unified coordinate system constructed for each physical position in the addressing station. With the addressing station coordinate system, it is possible to unify visual positions of the at least one post of the battery product to be welded and of the at least two marking points in the pre-welding addressing station to the same coordinate system.

During implementation, the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system and the first marking point coordinate set that corresponds to each of the at least two marking points in the addressing station coordinate system may be obtained using any suitable method, which is not limited herein.

In some implementations, a line-scan camera may be used at the pre-welding addressing station to photograph and scan each post and each marking point, to obtain the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system and the first marking point coordinate set of the at least two marking points in the addressing station coordinate system.

In some implementations, an area-array camera may be used at the pre-welding addressing station to address and photograph each post and each marking point, to obtain positions of each post and each marking point in their respective addressing images, and to determine the first post coordinate set of the at least one post in the addressing station coordinate system and the first marking point coordinate set of the at least two marking points in the addressing station coordinate system based on the positions of each post and each marking point in their respective addressing images and photographing positions corresponding to the area-array camera when acquiring the addressing images.

Step S102: Obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system.

Here, the at least two marking points of the battery product to be welded may be addressed at the welding station, to obtain the second marking point coordinate set of each marking point in the welding station coordinate system. The welding station coordinate system may be a unified coordinate system constructed for each physical position in the welding station. With the welding station coordinate system, it is possible to unify visual positions of the at least one post of the battery product to be welded and of the at least two marking points in the welding station to the same coordinate system.

During implementation, the marking points of the battery product may be photographed and addressed at the welding station using any suitable method, to obtain the second marking point coordinate set of the at least two marking points in the welding station coordinate system, which is not limited herein. It can be understood that, photographing and addressing the marking points of the battery product at the welding station allow for a more accurate second marking point coordinate set, because a marking point is usually a fixed feature point other than a post on the battery product, or a fixed feature point on a carrier carrying the battery product, and in the welding process of posts, the installed CCS, flexible printed circuit (FPC), and the like usually cause visual interference to an area where the posts are located, but cause relatively little interference to an area other than where the posts are located or an area of the carrier carrying the battery product.

In some implementations, a line-scan camera may be used at the welding station to photograph and scan each marking point, to obtain the second marking point coordinate set of the at least two marking points in the welding station coordinate system.

In some implementations, an area-array camera may be used at the welding station to address and photograph each marking point, to obtain a position of each marking point in a corresponding addressing image, and to determine the second marking point coordinate set of the at least two marking points in the welding station coordinate system based on the position of each marking point in the corresponding addressing image and a photographing position corresponding to the area-array camera when acquiring each addressing image.

Step S103: Determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system.

Here, coordinates in the addressing station coordinate system and coordinates in the welding station coordinate system can be converted to each other. For example, translation, rotation, scaling, and/or other processing using the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system can be utilized to convert the coordinates in the addressing station coordinate system to the coordinates in the welding station coordinate system, or to convert the coordinates in the welding station coordinate system to the coordinates in the addressing station coordinate system. It can be understood that, it is possible to align a position of the battery product in the addressing station coordinate system with a position of the battery product in the welding station coordinate system by converting the coordinates of each post in the battery product in the addressing station coordinate system to the coordinates of each post in the welding station coordinate system, or converting the coordinates of each post in the battery product in the welding station coordinate system to the coordinates of each post in the addressing station coordinate system.

During implementation, first marking point coordinates in the first marking point coordinate set represent positions of the at least two marking points of the battery product in the addressing station coordinate system, and second marking point coordinates in the second marking point coordinate set represent positions of the at least two marking points in the welding station coordinate system. Therefore, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates for the at least two marking points between the addressing station coordinate system and the welding station coordinate system may be determined, and the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system may be determined.

In some implementations, the conversion parameters may include at least one of the following: a rotation parameter, a translation amount, or a scaling amount. The conversion parameters required to convert the coordinates of the at least two marking points in the addressing station coordinate system to the coordinates in the welding station coordinate system may be determined based on the first marking point coordinate set and the second marking point coordinate set, and the conversion parameters may be used as the conversion parameters required to convert the coordinates in the addressing station coordinate system to the coordinates in the welding station coordinate system.

Step S104: Perform, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system.

Here, the first post coordinate set includes first coordinates of the at least one post of the battery product in the addressing station coordinate system. Therefore, based on the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system, a conversion may be performed on the first post coordinate set to obtain second coordinates of the at least one post in the welding station coordinate system, i.e., the second post coordinate set.

In some implementations, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system include the rotation parameter. Performing a rotation on the coordinates in the addressing station coordinate system based on the rotation parameter may convert the coordinates in the addressing station coordinate system to the coordinates in the welding station coordinate system. Therefore, a rotation may be performed on the first post coordinate set based on the rotation parameter, to obtain the second post coordinate set of the at least one post in the welding station coordinate system.

In some implementations, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system include the translation amount. Performing a translation on the coordinates in the addressing station coordinate system based on the translation amount may convert the coordinates in the addressing station coordinate system to the coordinates in the welding station coordinate system. Therefore, a translation may be performed on the first post coordinate set based on the translation amount, to obtain the second post coordinate set of the at least one post in the welding station coordinate system.

In some implementations, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system include the rotation parameter and the translation amount corresponding to the preset center point of rotation. Performing a rotation and a translation on the coordinates in the addressing station coordinate system based on the rotation parameter and the translation amount may convert the coordinates in the addressing station coordinate system to the coordinates in the welding station coordinate system. Therefore, a rotation and a translation may be performed on the first post coordinate set based on the rotation parameter and the translation amount, to obtain the second post coordinate set of the at least one post in the welding station coordinate system. During implementation, the rotation may be first performed on the first post coordinate set based on the rotation parameter, to obtain the rotated first post coordinate set, and then the translation may be performed on the rotated first post coordinate set based on the translation amount, to obtain the second post coordinate set. Alternatively, the translation may be first performed on the first post coordinate set based on the translation amount, to obtain the translated first post coordinate set, and then the rotation may be performed on the translated first post coordinate set based on the rotation parameter, to obtain the second post coordinate set.

In this embodiment of the present disclosure, the first post coordinate set of the at least one post of the battery product to be welded in the addressing station coordinate system, and the first marking point coordinate set that corresponds to each of the at least two marking points in the addressing station coordinate system are obtained; the second marking point coordinate set of the at least two marking points in the welding station coordinate system is obtained; the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system are determined based on the first marking point coordinate set and the second marking point coordinate set; and the conversion is performed on the first post coordinate set based on the conversion parameters, to obtain the second post coordinate set of the at least one post in the welding station coordinate system. In this way, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately based on the coordinates of the at least two marking points of the battery product in the addressing station coordinate system and the welding station coordinate system, so that based on the conversion parameters, the coordinates of the post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the coordinates of the post in the welding station coordinate system. There is no need for a visual system to photograph to determine the coordinates of each post in the welding station coordinate system, which can improve the accuracy and efficiency of determining the coordinates of the post in the welding station coordinate system, thereby improving the production quality and efficiency of the battery product. In addition, the coordinates of the post of the battery product to be welded in the addressing station coordinate system are obtained, and then the coordinates of the post in the welding station coordinate system are obtained through coordinate conversion, so that the addressing of the post coordinates and the welding of the post can be performed separately and in parallel, which can further improve the production efficiency of the battery product.

In some embodiments, step S101 of obtaining a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system may include the following step S111 and step S112.

Step S111: Obtain a reference coordinate set of the at least one post of the battery product relative to a preset reference point in the addressing station coordinate system, and a first addressing offset coordinate set that is obtained by an addressing camera at an addressing station addressing and photographing the at least one post, where the addressing station coordinate system is established with the preset reference point as a coordinate origin.

Step S112: Determine, based on the reference coordinate set and the first addressing offset coordinate set, the first post coordinate set of the at least one post in the addressing station coordinate system.

Here, the preset reference point may be any suitable preset point in the addressing station.

In some implementations, the preset reference point may be a motion origin of a moving mechanism for driving the addressing camera at the addressing station to move for photographing. The moving mechanism may include, but is not limited to, at least one of a manipulator, a multi-axis driving platform, or the like.

In some implementations, the preset reference point may be a preset post in the battery product located in the addressing station. For example, the first post photographed by the addressing camera during the photographing and addressing process may be set as the preset reference point.

In the addressing station coordinate system, the preset reference point is the coordinate origin, i.e., coordinates of the preset reference point are (0, 0). The reference coordinate set may include reference coordinates of each post relative to the preset reference point in the addressing station coordinate system, i.e., reference coordinates of each post in the addressing station coordinate system. During implementation, the reference coordinates of each post in the addressing station coordinate system may be predetermined based on design information of the battery product, or may be manually entered, which is not limited in the embodiments of the present disclosure.

The addressing camera at the addressing station may be driven by the moving mechanism provided on the addressing station to move to a position above an area in which a post is located, to capture an image. Pixel coordinates of the post relative to an image origin in the image may be obtained by recognizing the post in the image. First addressing offset coordinates of the post in the addressing station coordinate system may be determined based on a pre-calibrated correspondence between a number of pixels and a physical distance. In this way, by driving the addressing camera to move to a position above an area in which each post is located to photograph and address, first addressing offset coordinates corresponding to each post may be obtained, and the first addressing offset coordinate set is obtained. In some implementations, the addressing camera at the addressing station may be an area-array camera.

It can be understood that the first addressing offset coordinates corresponding to the post may be offset coordinates of the post relative to a corresponding physical position of the image origin in the addressing station coordinate system, where the image origin may be preset according to the actual situation. For example, the image origin may be the upper left corner or the lower left corner of the image, or the center of the image, etc.

In some implementations, in the image captured at the position above the area in which a post is located, the image origin may be a reference point corresponding to reference coordinates of the post. That is, first addressing offset coordinates of the post in the addressing station coordinate system is offset coordinates of the addressing position, relative to the reference point, of the post in the addressing station coordinate system. In this way, for each post, the first post coordinates of the post in the addressing station coordinate system may be determined based on reference coordinates corresponding to the post in the reference coordinate set and first addressing offset coordinates corresponding to the post in the first addressing offset coordinate set. In this way, the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system may be obtained. For example, if reference coordinates of a post relative to the preset reference point in the addressing station coordinate system are (1, 2), and first addressing offset coordinates that are obtained by the addressing camera at the addressing station addressing and photographing the post are (1, 1), then the first post coordinates of the post in the addressing station coordinate system are (2, 3).

In the above embodiment, the reference coordinate set of the at least one post of the battery product relative to the preset reference point in the addressing station coordinate system, and the first addressing offset coordinate set that is obtained by the addressing camera at the addressing station addressing and photographing the at least one post are obtained, where the addressing station coordinate system is established with the preset reference point as the coordinate origin; and the first post coordinate set of the at least one post in the addressing station coordinate system is determined based on the reference coordinate set and the first addressing offset coordinate set. In this way, the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system can be quickly and accurately determined, so that the accuracy of the second post coordinate set obtained after coordinate conversion and the efficiency of coordinate conversion can be further improved.

In some embodiments, for the method of obtaining the first marking point coordinate set that corresponds to each of the at least two marking points in the battery product to be welded in the addressing station coordinate system, reference may be made to the method of obtaining the first post coordinate set of the at least one post in the addressing station coordinate system described in step S111 and step S112.

In some embodiments, the preset reference point is a preset second post in the battery product. The above step S111 may include the following step S121 and step S122.

Step S121: Obtain a first position at which the addressing camera is located when addressing and photographing the second post, and a set of movement distances, relative to the first position, of the addressing camera when addressing and photographing the at least one post.

Step S122: Determine, based on the set of movement distances and second addressing offset coordinates that are obtained by the addressing camera addressing and photographing the second post, a reference coordinate set of the at least one post relative to the second post.

Here, the second post may be any suitable preset post, which is not limited in the embodiments of the present disclosure. For example, the second post may be a post located in the upper left corner of the battery product, a post located in the center of the battery product, or the first post photographed by the addressing camera during the photographing and addressing process.

During the process of addressing and photographing each post of the battery product, the addressing camera needs to move to a position above the area in which the post is located to address and photograph the post. The first position is a position at which the addressing camera addresses and photographs the second post, and the second addressing offset coordinates that are obtained by the addressing camera addressing and photographing the second post at this position are the coordinate origin of the addressing station coordinate system.

The set of movement distances may include a movement distance, relative to the first position, required by the addressing camera to reach a position for addressing and photographing each post. With the first position as a reference, based on the movement distance corresponding to each post, the addressing camera may move to a position above an area in which the corresponding post is located, to address and photograph the post. During implementation, the set of movement distances may be predetermined based on the design information of the battery product, or may be manually set based on a spacing between posts in the battery product, which is not limited in the embodiments of the present disclosure.

In some implementations, a movement distance corresponding to each post may include a first movement distance along a horizontal axis of the addressing station coordinate system, and a second movement distance along a vertical axis of the addressing station coordinate system. For each post, movement coordinates (sx1, sy1) may be determined based on a first movement distance sx1 and a second movement distance sy1 corresponding to that post, and a difference (sx1−x0, sy1−y0) between the movement coordinates (sx1, sy1) and the second addressing offset coordinates (x0, y0) may be determined as reference coordinates of the post relative to the second post. In this way, the reference coordinate set of the at least one post relative to the second post can be obtained.

For example, the second post is the first post photographed by the addressing camera during the photographing and addressing process, first post coordinates of the second post in the addressing station coordinate system are (0, 0), and second addressing offset coordinates obtained by the addressing camera when addressing and photographing the second post are (1, 2). After photographing the second post, the addressing camera keeps unchanged in the direction of vertical axis Y of the addressing station coordinate system, moves a distance of 50 in the direction of horizontal axis X, to reach a position above an area in which a next post is located. That is, movement coordinates corresponding to the next post are (50, 0), and reference coordinates of the next post relative to the second post are (49, −2). On this basis, if first addressing offset coordinates that are obtained by the addressing camera addressing and photographing the next post are (−2, 1), then first post coordinates of the next post in the addressing station coordinate system are (47, −1).

In the above embodiment, the first position at which the addressing camera is located when addressing and photographing the second post, and the set of movement distances, relative to the first position, of the addressing camera when addressing and photographing the at least one post are obtained; and the reference coordinate set of the at least one post relative to the second post is determined based on the set of movement distances and the second addressing offset coordinates that are obtained by the addressing camera addressing and photographing the second post. In this way, the reference coordinate set of each post relative to the second post can be determined quickly and accurately based on the second addressing offset coordinates of the second post, so that the accuracy of the second post coordinate set obtained after coordinate conversion and the efficiency of coordinate conversion can be further improved.

An embodiment of the present disclosure provides a coordinate conversion method, which may be performed by a processor of a computer device. FIG. 2 is a schematic flowchart 2 of an implementation of a coordinate conversion method according to an embodiment of the present disclosure. As shown in FIG. 2, the method may include the following step S201 to step S205.

Step S201: Obtain a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system.

Step S202: Obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system.

Step S203: Determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system.

Here, step S201 to step S203 correspond to step S101 to step S103 in the foregoing embodiment, respectively, and may be implemented with reference to the forgoing step S101 to step S103.

The conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation.

Step S204: Perform, based on the rotation parameter, a rotation on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set.

Step S205: Perform, based on the translation amount, a translation on the rotated first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system.

Here, the rotation parameter may include, but is not limited to, at least one of an angle of rotation, a radian of rotation, or the like. The center point of rotation may be a fixed point preset by those skilled in the art according to the actual situation, which is not limited herein. For example, the center point of rotation may be the origin of the addressing station coordinate system, or the center point of rotation may also be a specific marking point on the battery product.

Based on the rotation parameter, a rotation may be performed on each pair of first post coordinates in the first post coordinate set about the center point of rotation, to obtain the rotated first post coordinates, and a set of rotated first post coordinates may be used as the first post coordinate set.

Since a position of the coordinate system varies after rotations about different center points of rotation, different center points of rotation usually correspond to different translation amounts. It should be noted that the translation amount may be zero or a non-zero value, which is not limited herein.

Based on the translation amount, a translation may be performed on each pair of first post coordinates in the rotated first post coordinate set, to obtain the translated first post coordinates, and a set of translated first post coordinates may be used as the second post coordinate set of each post in the welding station coordinate system.

During implementation, according to the actual situation, those skilled in the art may use any suitable geometric algorithm to determine, based on the first marking point coordinate set and the second marking point coordinate set, the rotation parameter between the addressing station coordinate system and the welding station coordinate system, and the translation amount corresponding to the preset center point of rotation, which is not limited in the embodiments of the present disclosure.

In this embodiment of the present disclosure, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system as well as the translation amount corresponding to the preset center point of rotation are determined based on the first marking point coordinate set and the second marking point coordinate set; based on the rotation parameter, a rotation is performed on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set; and based on the translation amount, a translation is performed on the rotated first post coordinate set to obtain the second post coordinate set of the at least one post in the welding station coordinate system. In this way, the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the second post coordinate set of the at least one post in the welding station coordinate system.

In some embodiments, the rotation parameter includes an angle of rotation. The above step S204 may include the following step S211 to step S213.

Step S211: Determine, based on center point coordinates of the center point of rotation in the addressing station coordinate system and the first post coordinate set, a first offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system.

Here, the center point coordinates are coordinates of the center point of rotation in the addressing station coordinate system.

The first offset coordinate set includes first offset coordinates of the at least one post relative to the center point of rotation in the addressing station coordinate system. First offset coordinates corresponding to a post represent a position offset amount of the post relative to the center point of rotation in the addressing station coordinate system.

In some implementations, a difference between the first post coordinates of the post and the center point coordinates may be determined as the first offset coordinates of the post relative to the center point of rotation in the addressing station coordinate system. For example, if first post coordinates of a post in the addressing station coordinate system are (x, y), and the center point coordinates are (a, b), first offset coordinates of the post are (x-a, y-b).

Step S212: Determine, based on the first offset coordinate set and the angle of rotation, a second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system.

Here, the second offset coordinate set may include second offset coordinates corresponding to the at least one post. Second offset coordinates corresponding to a post may represent a position offset amount of a rotated position of the post relative to the center point of rotation in the addressing station coordinate system.

During implementation, any suitable rotation algorithm may be used to determine, based on the angle of rotation and the first offset coordinates of the post, the second offset coordinates of the post relative to the center point of rotation in the addressing station coordinate system, thereby obtaining the second offset coordinate set.

Step S213: Determine, based on the second offset coordinate set and the center point coordinates, the rotated first post coordinate set.

Here, for each post, the rotated first post coordinates corresponding to the post may be determined based on the center point coordinates and the second offset coordinates corresponding to the post.

In some implementations, a sum of the second offset coordinates of the post and the center point coordinates may be determined as the rotated first post coordinates corresponding to the post. For example, if second offset coordinates of a post are (x′−a, y′−b), and the center point coordinates are (a, b), the rotated first post coordinates corresponding to the post are (x′, y′). In this way, the rotated first post coordinate set can be determined quickly and accurately.

In some embodiments, the at least one post includes a first post, the first offset coordinate set includes first offset coordinates corresponding to the first post, where the first offset coordinates include a first horizontal axis offset coordinate and a first vertical axis offset coordinate, and the second offset coordinate set includes second offset coordinates corresponding to the first post, where the second offset coordinates include a second horizontal axis offset coordinate and a second vertical axis offset coordinate. The above step S212 may include the following step S221 to step S224.

Step S221: Determine a first product of the first horizontal axis offset coordinate and a cosine value of the angle of rotation, and a second product of the first vertical axis offset coordinate and a sine value of the angle of rotation.

Step S222: Determine the second horizontal axis offset coordinate based on a difference between the first product and the second product.

Step S223: Determine a third product of the first vertical axis offset coordinate and the cosine value of the angle of rotation, and a fourth product of the first horizontal axis offset coordinate and the sine value of the angle of rotation.

Step S224: Determine the second vertical axis offset coordinate based on a sum of the third product and the fourth product.

Here, in the first offset coordinates of the post, the first horizontal axis offset coordinate represents a position offset amount of the post on the horizontal axis and relative to the center point of rotation in the addressing station coordinate system; and the first vertical axis offset coordinate represents a position offset amount of the post on the vertical axis and relative to the center point of rotation in the addressing station coordinate system.

In the second offset coordinates of the post, the second horizontal axis offset coordinate represents a position offset amount of a rotated position of the post on the horizontal axis and relative to the center point of rotation in the addressing station coordinate system; and the second vertical axis offset coordinate represents a position offset amount of a rotated position of the post on the vertical axis and relative to the center point of rotation in the addressing station coordinate system.

In some implementations, the second offset coordinates (x′−a, y′−b) of the first post relative to the center point of rotation in the addressing station coordinate system may be determined based on the first offset coordinates (x−a, y−b) of the first post and the angle of rotation θ, as shown in formula 1-1 below:

$\begin{array}{cc}\{\begin{array}{c}{x}^{\prime }-a=\cos \left(\theta \right)*\left(x-a\right)-\sin \left(\theta \right)*\left(y-b\right)\\ y^{\prime }-b=\cos \left(\theta \right)*\left(y-b\right)+\sin \left(\theta \right)*\left(x-a\right)\end{array}& \left(1-1\right)\end{array}$

• • where x−a denotes the first horizontal axis offset coordinate, y−b denotes the first vertical axis offset coordinate, x′−a denotes the second horizontal axis offset coordinate, y′−b denotes the second vertical axis offset coordinate, cos (0)*(x−a) denotes the first product, sin (0)*(y−b) denotes the second product, cos (0)*(y−b) denotes the third product, and sin (0)*(x−a) denotes the fourth product.

FIG. 3 is a schematic diagram of determining second offset coordinates of the first post in a coordinate conversion method according to an embodiment of the present disclosure. As shown in FIG. 3, first post coordinates of a first post A in the addressing station coordinate system are (x, y), center point coordinates of a center point of rotation B in the addressing station coordinate system are (a, b), and an included angle between the line segment AB and the direction of horizontal axis X of the addressing station coordinate system is 8. If the first post A rotates about the center point of rotation B by an angle of θ to reach a point C, coordinates of which (i.e., the rotated first post coordinates corresponding to the first post) are (x′, y′), then a distance D1 between the point A and the point B is shown in formula 1-2 below:

$\begin{array}{cc}D1=❘\mathrm{AB}❘=\frac{y-b}{\sin \left(\delta \right)}=\frac{x-a}{\cos \left(\delta \right)}& \left(1-2\right)\end{array}$

The distance D2 between the point C and the point B is shown in formula 1-3 below:

$\begin{array}{cc}D2=❘\mathrm{CB}❘=\frac{y^{\prime }-b}{\sin \left(\delta +\theta \right)}=\frac{x^{\prime }-a}{\cos \left(\delta +\theta \right)}& \left(1-3\right)\end{array}$

Since radii of rotation are equal, i.e., D1=D2=D, the following formula 1-4 holds:

$\begin{array}{cc}D=\frac{y-b}{\sin \left(\delta \right)}=\frac{x-a}{\cos \left(\delta \right)}=\frac{y^{\prime }-b}{\sin \left(\delta +\theta \right)}=\frac{x^{\prime }-a}{\cos \left(\delta +\theta \right)}& \left(1-4\right)\end{array}$

Furthermore, from the formulas for the sum and difference of two angles in trigonometry, it can be known that the following formula (1-5) holds:

$\begin{array}{cc}\{\begin{array}{c}\sin \left(\delta +\theta \right)=\sin \left(\delta \right)\cos \left(\theta \right)+\cos \left(\delta \right)\sin \left(\theta \right)\\ \cos \left(\delta +\theta \right)=\cos \left(\delta \right)\cos \left(\theta \right)-\sin \left(\delta \right)\sin \left(\theta \right)\end{array}& \left(1-5\right)\end{array}$

Therefore, x, y, x′, y′, a, b, δ, and θ satisfy the following formula 1-6:

$\begin{array}{cc}\{\begin{array}{c}{x}^{\prime }-a=D*\cos \left(\delta +\theta \right)=D*\cos \left(\delta \right)\cos \left(\theta \right)-D*\sin \left(\delta \right)\sin \left(\theta \right)=\\ \left(x-a\right)\cos \left(\theta \right)-\left(y-b\right)\sin \left(\theta \right)\\ y^{\prime }-b=D*\sin \left(\delta +\theta \right)=D*\sin \left(\delta \right)\cos \left(\theta \right)+D*\cos \left(\delta \right)\sin \left(\theta \right)=\\ \left(y-b\right)\cos \left(\theta \right)+\left(x-a\right)\sin \left(\theta \right)\end{array}& \left(1-6\right)\end{array}$

That is, the above formula 1-1 holds.

In some embodiments, the rotation parameter may include a radian of rotation. With reference to formula 1-7, the second offset coordinates (x′−a, y′−b) of the first post relative to the center point of rotation in the addressing station coordinate system may be determined based on the first offset coordinates (x−a, y−b) of the first post and the radian of rotation r:

$\begin{array}{cc}\{\begin{array}{c}{x}^{\prime }-a=\cos \left(2\pi r\right)*\left(x-a\right)-\sin \left(2\pi r\right)*\left(y-b\right)\\ y^{\prime }-b=\cos \left(2\pi r\right)*\left(y-b\right)+\sin \left(2\pi r\right)*\left(x-a\right)\end{array}& \left(1-7\right)\end{array}$

It can be understood that the radian of rotation r and the angle of rotation θ can be converted to each other based on the following formula 1-8:

$\begin{array}{cc}r=\theta *\left(\pi /180\right)& \left(1-8\right)\end{array}$

Therefore, during implementation, formula 1-1 or formula 1-7 may be selected according to the actual situation, to determine the second offset coordinates of the first post relative to the center point of rotation in the addressing station coordinate system, which is not limited in the embodiments of the present disclosure.

In this way, the second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system can be determined quickly and accurately.

In some embodiments, the at least two marking points include a first marking point and a second marking point, the first marking point coordinate set includes first marking point coordinates and second marking point coordinates that correspond to the first marking point and the second marking point, respectively, and the second marking point coordinate set includes third marking point coordinates and fourth marking point coordinates that correspond to the first marking point and the second marking point, respectively. The above step S203 may include the following step S231 to step S233.

Step S231: Determine, based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system.

It can be understood that a first straight line that passes through the first marking point and the second marking point in the addressing station coordinate system may be determined based on the first marking point coordinates and the second marking point coordinates. A second straight line that passes through the first marking point and the second marking point in the welding station coordinate system may be determined based on the third marking point coordinates and the fourth marking point coordinates. Since a rotation relationship between the second straight line and the first straight line can reflect a rotation relationship between the addressing station coordinate system and the welding station coordinate system, the rotation parameter between the addressing station coordinate system and the welding station coordinate system may be determined based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates.

During implementation, according to the actual situation, those skilled in the art may use any suitable geometric algorithm to determine, based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates, the rotation parameter between the addressing station coordinate system and the welding station coordinate system, which is not limited in the embodiments of the present disclosure.

Step S232: Perform, based on the rotation parameter, a rotation on the first marking point coordinates about the center point of rotation to obtain the rotated first marking point coordinates.

Here, the method of performing a rotation on the first marking point coordinates is similar to the method of performing, based on the rotation parameter, a rotation on the first post coordinate set about the center point of rotation in the foregoing step S204, and may be implemented with reference to the implementation of the foregoing step S204.

Step S233: Determine third offset coordinates between the third marking point coordinates and the rotated first marking point coordinates as the translation amount of coordinates between the addressing station coordinate system and the welding station coordinate system.

In some implementations, the third offset coordinates may be determined based on the difference between the third marking point coordinates and the rotated first marking point coordinates, so that the translation amount required for translating the rotated addressing station coordinate system to be aligned with the welding station coordinate system can be obtained.

In the above embodiment, the rotation parameter between the addressing station coordinate system and the welding station coordinate system is determined based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates; based on the rotation parameter, a rotation is performed on the first marking point coordinates about the center point of rotation to obtain the rotated first marking point coordinates; and the third offset coordinates between the third marking point coordinates and the rotated first marking point coordinates are determined as the translation amount between the addressing station coordinate system and the welding station coordinate system. In this way, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system as well as the translation amount corresponding to the center point of rotation can be determined quickly and accurately based on the first marking point and the second marking point.

In some embodiments, the rotation parameter includes an angle of rotation; and the above step S231 may include the following step S241 to step S243.

Step S241: Determine a first slope of a first straight line based on the first marking point coordinates and the second marking point coordinates, where the first straight line is a straight line defined by the first marking point and the second marking point in the addressing station coordinate system.

Step S242: Determine a second slope of a second straight line based on the third marking point coordinates and the fourth marking point coordinates, where the second straight line is a straight line defined by the first marking point and the second marking point in the welding station coordinate system.

Here, from the definition of slope, it can be known that values of the first slope k1 and the second slope k2 are shown in formula 2-1 below:

$\begin{array}{cc}\{\begin{array}{c}k1=\left(y1-y2\right)/\left(x1-x2\right)\\ k2=\left(y3-y4\right)/\left(x3-x4\right)\end{array}& \left(2-1\right)\end{array}$

• • where x1 and y1 are respectively the horizontal axis coordinate and the vertical axis coordinate in the first marking point coordinates, x2 and y2 are respectively the horizontal axis coordinate and the vertical axis coordinate in the second marking point coordinates, x3 and y3 are respectively the horizontal axis coordinate and the vertical axis coordinate in the third marking point coordinates, and x4 and y4 are respectively the horizontal axis coordinate and the vertical axis coordinate in the fourth marking point coordinates.

Step S243: Determine an included angle between the first straight line and the second straight line based on the first slope and the second slope, and determine the included angle as the angle of rotation.

Here, the included angle between the first straight line and the second straight line may be determined based on the first slope and the second slope using any suitable method for calculating an included angle between intersecting straight lines, which is not limited in the embodiments of the present disclosure.

In the above embodiment, the first slope of the first straight line is determined based on the first marking point coordinates and the second marking point coordinates; the second slope of the second straight line is determined based on the third marking point coordinates and the fourth marking point coordinates; and the included angle between the first straight line and the second straight line is determined based on the first slope and the second slope, and the included angle is determine as the angle of rotation. In this way, the angle of rotation between the addressing station coordinate system and the welding station coordinate system can be easily and quickly determined by determining the included angle between the first straight line defined by the first marking point and the second marking point in the addressing station coordinate system and the second straight line defined by the first marking point and the second marking point in the welding station coordinate system.

In some embodiments, step S243 of determining an included angle between the first straight line and the second straight line based on the first slope and the second slope may include the following step S251 to step S253.

Step S251: Determine a first difference between the first slope and the second slope, and a fifth product of the first slope and the second slope.

Step S252: Determine, based on the first difference and the fifth product, a tangent value of the included angle between the first straight line and the second straight line.

Step S253: Determine the included angle based on the tangent value.

In some implementations, the tangent value tan (0) of the included angle θ between the first straight line and the second straight line may be determined based on the first slope k1 and the second slope k2 as per formula 2-2 below:

$\begin{array}{cc}\tan \left(\theta \right)=❘k2-k1❘/\left(1+k1*k2\right)& \left(2-2\right)\end{array}$

• • where k2−k1 denotes the first difference, and k1*k2 denotes the fifth product.

It can be understood that the first slope k1 and the second slope k2 satisfy formula 2-3 below:

$\begin{array}{cc}\{\begin{array}{c}k1=\tan \left(\alpha \right)\\ k2=\tan \left(\beta \right)\end{array}& \left(2-3\right)\end{array}$

• • where a denotes an included angle between the first straight line and the direction of horizontal axis X in the addressing station coordinate system, and β denotes an included angle between the second straight line and the direction of horizontal axis X in the welding station coordinate system. According to basic properties of trigonometric functions, the following formula 2-4 can be obtained:

$\begin{array}{cc}\tan \left(\theta \right)=\tan \left(\beta -\alpha \right)=\left(\tan \left(\beta \right)-\tan \left(\alpha \right)\right)/\left(1+\tan \left(\beta \right)*\tan \left(\alpha \right)\right)& \left(2-4\right)\end{array}$

The above formula 2-2 can be obtained by combining formula 2-3 and formula 2-4.

After the tangent value of the included angle between the first straight line and the second straight line is determined, the tangent value may be subjected to an inverse tangent operation as per formula 2-5 below, to obtain the included angle θ between the first straight line and the second straight line, i.e., the angle of rotation θ between the addressing station coordinate system and the welding station coordinate system:

$\begin{array}{cc}\theta =\mathrm{arc}\tan k2-k1❘/\left(1+k1*k2\right))& \left(2-5\right)\end{array}$

In the above embodiment, the first difference between the first slope and the second slope and the fifth product of the first slope and the second slope are determined; the tangent value of the included angle between the first straight line and the second straight line is determined based on the first difference and the fifth product; and the included angle between the first straight line and the second straight line is determined based on the tangent value. In this way, the included angle between the first straight line and the second straight line can be determined quickly based on the first slope and the second slope, so that the angle of rotation between the addressing station coordinate system and the welding station coordinate system is obtained quickly.

An embodiment of the present disclosure provides a coordinate conversion method. FIG. 4 is a schematic flowchart 3 of an implementation of a coordinate conversion method according to an embodiment of the present disclosure. As shown in FIG. 4, the method includes the following step S301 to step S308:

• • step S301: obtaining a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and first marking point coordinates and second marking point coordinates corresponding to a first marking point and a second marking point, respectively, in the addressing station coordinate system;
  • step S302: obtaining third marking point coordinates and fourth marking point coordinates corresponding to the first marking point and the second marking point, respectively, in the welding station coordinate system;
  • step S303: determining a first slope of a first straight line based on the first marking point coordinates and the second marking point coordinates, and determining a second slope of a second straight line based on the third marking point coordinates and the fourth marking point coordinates;
  • step S304: determining an included angle between the first straight line and the second straight line based on the first slope and the second slope, and determining the included angle as an angle of rotation between the addressing station coordinate system and the welding station coordinate system;
  • step S305: performing, based on the angle of rotation, a rotation on the first marking point coordinates about a preset center point of rotation to obtain the rotated first marking point coordinates;
  • step S306: determining third offset coordinates between the third marking point coordinates and the rotated first marking point coordinates as a translation amount of coordinates between the addressing station coordinate system and the welding station coordinate system;
  • step S307: performing, based on the angle of rotation, a rotation on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set; and
  • step S308: performing, based on the translation amount, a translation on the rotated first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system.

In some implementations, the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation.

In the production process of battery products, after a position of the same battery product is fixed in a pre-welding addressing station and a welding station (e.g., a busbar welding room), deviations in angle and/or translation distances may occur, resulting in a deviation between a position area 31 of the battery product in an addressing station coordinate system and a position area 32 of the battery product in a welding station coordinate system, as shown in FIG. 5. In this embodiments of the present disclosure, by a rotation and a translation of coordinates in a coordinate system, the first post coordinate set of the at least one post of the battery product to be welded in the addressing station coordinate system may be converted to the second post coordinate set of the at least one post in the welding station coordinate system. In this way, the coordinates of the post of the battery product to be welded in the addressing station coordinate system are obtained, and then the coordinates of the post in the welding station coordinate system are obtained through a coordinate conversion, so that the addressing of the post coordinates and the welding of the post can be performed separately and in parallel. Therefore, the production efficiency of the battery product can be improved; in addition, the addressing of the post of the battery product at the pre-welding addressing station can reduce the effect of the CCS, the FPC, and other materials on an addressing visual system, to improving the accuracy of the addressing, so that the accuracy of the determined second post coordinate set can be improved.

An embodiment of the present disclosure provides a welding system. As shown in FIG. 6, the welding system 400 includes a controller 410 and a welding device 420.

The controller 410 is configured to: obtain a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system; obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system; determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system; and perform, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system, and send the second post coordinate set to the welding device.

The welding device 420 is provided in a welding station and is configured to weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.

Here, the controller 410 may be any suitable computer device, e.g., at least one of an upper computer, a PLC, an industrial computer, or the like.

During implementation, according to the actual situation, those skilled in the art may use any suitable welding device to weld the post, which is not limited in the embodiments of the present disclosure.

In some implementations, the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation.

In some implementations, the welding device may include a laser welding head, and a manipulator that drives the laser welding head to move to a corresponding position of each post for welding.

In some embodiments, the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation; and the controller 410 is further configured to: perform, based on the rotation parameter, a rotation on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set; and perform, based on the translation amount, a translation on the rotated first post coordinate set to obtain the second post coordinate set.

In some embodiments, the rotation parameter includes an angle of rotation; and the controller 410 is further configured to: determine, based on center point coordinates of the center point of rotation in the addressing station coordinate system and the first post coordinate set, a first offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system; determine, based on the first offset coordinate set and the angle of rotation, a second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system; and determine, based on the second offset coordinate set and the center point coordinates, the rotated first post coordinate set.

In some embodiments, the at least one post includes a first post, the first offset coordinate set includes first offset coordinates corresponding to the first post, where the first offset coordinates include a first horizontal axis offset coordinate and a first vertical axis offset coordinate, and the second offset coordinate set includes second offset coordinates corresponding to the first post, where the second offset coordinates include a second horizontal axis offset coordinate and a second vertical axis offset coordinate; and the controller 410 is further configured to: determine a first product of the first horizontal axis offset coordinate and a cosine value of the angle of rotation, and a second product of the first vertical axis offset coordinate and a sine value of the angle of rotation; determine the second horizontal axis offset coordinate based on a difference between the first product and the second product; determine a third product of the first vertical axis offset coordinate and the cosine value of the angle of rotation, and a fourth product of the first horizontal axis offset coordinate and the sine value of the angle of rotation; and determine the second vertical axis offset coordinate based on a sum of the third product and the fourth product.

In some embodiments, the at least two marking points include a first marking point and a second marking point, the first marking point coordinate set includes first marking point coordinates and second marking point coordinates that correspond to the first marking point and the second marking point, respectively, and the second marking point coordinate set includes third marking point coordinates and fourth marking point coordinates that correspond to the first marking point and the second marking point, respectively. The controller 410 is further configured to: determine, based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system; perform, based on the rotation parameter, a rotation on the first marking point coordinates about the center point of rotation to obtain the rotated first marking point coordinates; and determine third offset coordinates between the third marking point coordinates and the rotated first marking point coordinates as the translation amount of coordinates between the addressing station coordinate system and the welding station coordinate system.

In some embodiments, the rotation parameter includes an angle of rotation; and the controller 410 is further configured to: determine a first slope of a first straight line based on the first marking point coordinates and the second marking point coordinates, where the first straight line is a straight line defined by the first marking point and the second marking point in the addressing station coordinate system; determine a second slope of a second straight line based on the third marking point coordinates and the fourth marking point coordinates, where the second straight line is a straight line defined by the first marking point and the second marking point in the welding station coordinate system; and determine an included angle between the first straight line and the second straight line based on the first slope and the second slope, and determine the included angle as the angle of rotation.

In some embodiments, the controller 410 is further configured to: determine a first difference between the first slope and the second slope, and a fifth product of the first slope and the second slope; determine, based on the first difference and the fifth product, a tangent value of the included angle between the first straight line and the second straight line; and determine the included angle based on the tangent value.

In some embodiments, the controller 410 is further configured to: obtain a reference coordinate set of the at least one post of the battery product relative to a preset reference point in the addressing station coordinate system, and a first addressing offset coordinate set that is obtained by an addressing camera at an addressing station addressing and photographing the at least one post, where the addressing station coordinate system is established with the preset reference point as a coordinate origin; and determine, based on the reference coordinate set and the first addressing offset coordinate set, the first post coordinate set of the at least one post in the addressing station coordinate system.

In some embodiments, the preset reference point is a preset second post in the battery product; and the controller 410 is further configured to: obtain a first position at which the addressing camera is located when addressing and photographing the second post, and a set of movement distances, relative to the first position, of the addressing camera when addressing and photographing the at least one post; and determine, based on the set of movement distances and second addressing offset coordinates that are obtained by the addressing camera addressing and photographing the second post, a reference coordinate set of the at least one post relative to the second post.

An embodiment of the present disclosure provides a welding system. As shown in FIG. 7, the welding system 400 includes an addressing device 430, a welding device 420, a first controller 411, and a second controller 412. The addressing device 430 and the first controller 411 are provided in an addressing station 10, the welding device 420 and the second controller 412 are provided in a welding station 20, and the addressing station 10 is before the welding station 20.

The first controller 411 is configured to: control the addressing device 430 to address at least one post of a battery product to be welded and at least two marking points, to obtain a first post coordinate set of the at least one post in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of the at least two marking points in the addressing station coordinate system; and send the first post coordinate set and the first marking point coordinate set to the second controller 412.

The second controller 412 is configured to: control the welding device 420 to address the at least two marking points, to obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system; determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system; perform, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system; and control the welding device 420 to weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.

In some implementations, the conversion parameters include a rotation parameter and a translation amount corresponding to a preset center point of rotation.

It can be understood that the welding system 400 may be used as a work station in a production line for a battery product, in which the addressing station 10 may be configured to complete a pre-welding addressing process, and the welding station 20 may be configured to complete a welding process. The addressing station 10 may be a previous station of the welding station 20, or may be a station that is before the welding station 20 and that is spaced from the welding station 20 by at least one other station.

The first controller 411 and the addressing device 430, the second controller 412 and the welding device 420, and the first controller 411 and the second controller 412 may be communicatively connected via a wired network and/or a wireless network, which is not limited in the embodiments of the present disclosure. In some implementations, the first controller 411 and the addressing device 430, the second controller 412 and the welding device 420, and/or the first controller 411 and the second controller 412 may communicate via industrial Ethernet. For example, industrial Ethernet may include an automation bus standard network (PROFINET) or the like.

During implementation, the first controller 411 may be a lower computer for controlling the addressing device 430, and the second controller 412 may be a lower computer for controlling the welding device 420.

In some implementations, the first controller 411 and the second controller 412 may be implemented together as the controller 410 in the foregoing embodiment.

According to the welding system in this embodiment of the present disclosure, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately based on the coordinates of the at least two marking points of the battery product in the addressing station coordinate system and the welding station coordinate system, so that based on the conversion parameters, the coordinates of the post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the coordinates of the post in the welding station coordinate system. There is no need for a visual system to photograph to determine the coordinates of each post in the welding station coordinate system, which can improve the accuracy and efficiency of determining the coordinates of the post in the welding station coordinate system, thereby improving the production quality and efficiency of the battery product. In addition, the addressing station is provided before the welding station, the coordinates of the post of the battery product to be welded in the addressing station coordinate system are obtained in the addressing station, and then the coordinates of the post in the welding station coordinate system are obtained through coordinate conversion, so that the addressing of the post coordinates and the welding of the post can be performed separately and in parallel, which can further improve the production efficiency of the battery product.

In some embodiments, the first controller 411 is further configured to: send a first addressing instruction to the addressing device 430, and obtain a first addressing offset coordinate set that is obtained by the addressing device 430 addressing and photographing the at least one post as well as a third addressing offset coordinate set that is obtained by addressing and photographing the at least two marking points; obtain a reference coordinate set of the at least one post relative to a preset reference point in the addressing station coordinate system, where the addressing station coordinate system is established with the preset reference point as a coordinate origin; determine the first post coordinate set based on the reference coordinate set and the first addressing offset coordinate set; and determine the first marking point coordinate set based on the reference coordinate set and the third addressing offset coordinate set; and the addressing device 430 is configured to: in response to the first addressing instruction, address and photograph the at least one post to obtain the first addressing offset coordinate set, and address and photograph the at least two marking points to obtain the third addressing offset coordinate set; and send the first addressing offset coordinate set and the third addressing offset coordinate set to the first controller 411.

In this way, by sending the first addressing instruction to the addressing device 430, the first controller can easily and quickly obtain the first addressing offset coordinate set and the third addressing offset coordinate set, so that the first post coordinate set of the at least one post of the battery product in the addressing station coordinate system can be determined quickly and accurately based on the first addressing offset coordinate set and the third addressing offset coordinate set, to further improve the accuracy of the second post coordinate set obtained after coordinate conversion and the efficiency of coordinate conversion.

In some embodiments, the second controller 412 is further configured to: send a second addressing instruction to the welding device 420, and obtain the second marking point coordinate set that is obtained by the welding device 420 addressing and photographing the at least two marking points; and

• • the welding device 420 is further configured to: in response to the second addressing instruction, address and photograph the at least two marking points to obtain the second marking point coordinate set; and send the second marking point coordinate set to the second controller 412.

In this way, by sending the second addressing instruction to the welding device, the second controller can easily and quickly control the welding device to address and photograph the at least two marking points, to obtain the second marking point coordinate set.

In some embodiments, the second controller 412 is further configured to: send a welding instruction to the welding device 420, where the welding instruction carries the second post coordinate set; and

• • the welding device 420 is further configured to: in response to the welding instruction, weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.

In this way, by sending to the welding device the welding instructions carrying the second post coordinate set, the second controller can more precisely control the welding device to weld the post in the battery product.

It should be noted here that: the description of the various embodiments above tends to emphasize the differences between the various embodiments, the similarities or likenesses of which may be cross-referenced. The above embodiments of the welding system, the description of which is similar to that of the method embodiments described above, have similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the welding system of the present disclosure, reference may be made to the description of the method embodiments of the present disclosure for understanding.

It should be understood that throughout the description, the expression “one embodiment” or “an embodiment” means that the specific features, structures, or characteristics associated with the embodiments are included in at least one embodiment of the present disclosure. Accordingly, throughout the description, the expression “in one embodiment” or “in an embodiment” do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. It should be understood that, in the embodiments of the present disclosure, sequence numbers of the foregoing steps/processes do not mean execution sequences. The execution sequences of the steps/processes should be determined according to functions and internal logic of the processes, and should not be construed as any limitation on the implementation processes of the embodiments of the present disclosure. The sequence numbers of the above embodiments of the present disclosure are for descriptive purposes only, and do not represent the advantages or disadvantages of the embodiments.

It should be noted that, as used herein, terms “comprise”, “include”, or any other variants thereof are intended to cover non-exclusive inclusion so that a process, method, article, or apparatus that includes a series of elements not only includes these very elements, but may also include other elements not expressly listed, or also include elements inherent to this process, method, article, or apparatus. Without being subject to further limitations, an element defined by a phrase “including . . . ” does not exclude presence of other identical elements in the process, method, article, or apparatus that includes the element.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed system and method can be achieved by other methods. The embodiment of the device described above is merely illustrative, e.g., the division of the described units, which is only a logical functional division, can be divided in another way when actually implemented, e.g.: A plurality of units or components may be combined, or may be integrated into another system, or some features may be ignored, or not implemented. In addition, the couplings or direct couplings or communication connections between the displayed or discussed components may be implemented through some interfaces. The indirect couplings or communication connections between the devices or units may be implemented in electronic, mechanical, or other forms.

The units illustrated above as separated components may, or may not, be physically separated, and the components shown as units may, or may not, be physical units; they may be either located in one place or distributed to a plurality of network units; and some or all of the units may be selected according to actual requirements to achieve the objectives of the solutions of the embodiments. In addition, various functional units in the various embodiments of the present disclosure may all be integrated into one processing unit, or each of units may be used as a single unit, or two or more units may be integrated into one unit; The above integrated units can be implemented either in the form of hardware or in the form of hardware plus software functional units.

The above description is merely embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any variation or replacement readily figured out by those skilled in the art within the technical scope disclosed in the present disclosure shall fall within the scope of protection of the present disclosure.

INDUSTRIAL APPLICABILITY

According to the coordinate conversion method in the embodiments of the present disclosure, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately based on the coordinates of the at least two marking points of the battery product in the addressing station coordinate system and the welding station coordinate system, so that based on the conversion parameters, the coordinates of the post of the battery product in the addressing station coordinate system can be quickly and accurately converted to the coordinates of the post in the welding station coordinate system. There is no need for a visual system to photograph to determine the coordinates of each post in the welding station coordinate system, which can improve the accuracy and efficiency of determining the coordinates of the post in the welding station coordinate system, thereby improving the production quality and efficiency of the battery product. In addition, the coordinates of the post of the battery product to be welded in the addressing station coordinate system are obtained, and then the coordinates of the post in the welding station coordinate system are obtained through coordinate conversion, so that the addressing of the post coordinates and the welding of the post can be performed separately and in parallel, which can further improve the production efficiency of the battery product.

Claims

1. A coordinate conversion method, comprising: obtaining a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system;obtaining a second marking point coordinate set of the at least two marking points in a welding station coordinate system;determining, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system, wherein the conversion parameters comprise a rotation parameter and a translation amount corresponding to a preset center point of rotation; andperforming, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system.

2. The coordinate conversion method according to claim 1, wherein performing, based on the conversion parameters, the conversion on the first post coordinate set to obtain the second post coordinate set of the at least one post in the welding station coordinate system comprises: performing, based on the rotation parameter, a rotation on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set; andperforming, based on the translation amount, a translation on the rotated first post coordinate set to obtain the second post coordinate set.

3. The coordinate conversion method according to claim 2, wherein: the rotation parameter comprises an angle of rotation; andperforming, based on the rotation parameter, the rotation on the first post coordinate set about the center point of rotation to obtain the rotated first post coordinate set comprises: determining, based on center point coordinates of the center point of rotation in the addressing station coordinate system and the first post coordinate set, a first offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system;determining, based on the first offset coordinate set and the angle of rotation, a second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system; anddetermining, based on the second offset coordinate set and the center point coordinates, the rotated first post coordinate set.

4. The coordinate conversion method according to claim 3, wherein: the at least one post comprises a first post, the first offset coordinate set comprises first offset coordinates corresponding to the first post, wherein the first offset coordinates comprise a first horizontal axis offset coordinate and a first vertical axis offset coordinate, and the second offset coordinate set comprises second offset coordinates corresponding to the first post, wherein the second offset coordinates comprise a second horizontal axis offset coordinate and a second vertical axis offset coordinate; anddetermining, based on the first offset coordinate set and the angle of rotation, the second offset coordinate set of the at least one post relative to the center point of rotation in the addressing station coordinate system comprises: determining a first product of the first horizontal axis offset coordinate and a cosine value of the angle of rotation, and a second product of the first vertical axis offset coordinate and a sine value of the angle of rotation;determining the second horizontal axis offset coordinate based on a difference between the first product and the second product;determining a third product of the first vertical axis offset coordinate and the cosine value of the angle of rotation, and a fourth product of the first horizontal axis offset coordinate and the sine value of the angle of rotation; anddetermining the second vertical axis offset coordinate based on a sum of the third product and the fourth product.

5. The coordinate conversion method according to claim 2, wherein: the at least two marking points comprise a first marking point and a second marking point, the first marking point coordinate set comprises first marking point coordinates and second marking point coordinates that correspond to the first marking point and the second marking point, respectively, and the second marking point coordinate set comprises third marking point coordinates and fourth marking point coordinates that correspond to the first marking point and the second marking point, respectively; anddetermining, based on the first marking point coordinate set and the second marking point coordinate set, the conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system comprises: determining, based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system;performing, based on the rotation parameter, a rotation on the first marking point coordinates about the center point of rotation to obtain the rotated first marking point coordinates; anddetermining third offset coordinates between the third marking point coordinates and the rotated first marking point coordinates as the translation amount of coordinates between the addressing station coordinate system and the welding station coordinate system.

6. The coordinate conversion method according to claim 5, wherein: the rotation parameter comprises an angle of rotation; anddetermining, based on the first marking point coordinates, the second marking point coordinates, the third marking point coordinates, and the fourth marking point coordinates, the rotation parameter of coordinates between the addressing station coordinate system and the welding station coordinate system comprises: determining a first slope of a first straight line based on the first marking point coordinates and the second marking point coordinates, wherein the first straight line is a straight line defined by the first marking point and the second marking point in the addressing station coordinate system;determining a second slope of a second straight line based on the third marking point coordinates and the fourth marking point coordinates, wherein the second straight line is a straight line defined by the first marking point and the second marking point in the welding station coordinate system; anddetermining an included angle between the first straight line and the second straight line based on the first slope and the second slope, and determining the included angle as the angle of rotation.

7. The coordinate conversion method according to claim 6, wherein determining an included angle between the first straight line and the second straight line based on the first slope and the second slope comprises: determining a first difference between the first slope and the second slope, and a fifth product of the first slope and the second slope;determining, based on the first difference and the fifth product, a tangent value of the included angle between the first straight line and the second straight line; anddetermining the included angle based on the tangent value.

8. The coordinate conversion method according to claim 1, wherein obtaining the first post coordinate set of the at least one post of the battery product to be welded in the addressing station coordinate system comprises: obtaining a reference coordinate set of the at least one post of the battery product relative to a preset reference point in the addressing station coordinate system, and a first addressing offset coordinate set that is obtained by an addressing camera at an addressing station addressing and photographing the at least one post, wherein the addressing station coordinate system is established with the preset reference point as a coordinate origin; anddetermining, based on the reference coordinate set and the first addressing offset coordinate set, the first post coordinate set of the at least one post in the addressing station coordinate system.

9. The coordinate conversion method according to claim 8, wherein: the preset reference point is a preset second post in the battery product; andobtaining the reference coordinate set of the at least one post of the battery product relative to the preset reference point in the addressing station coordinate system comprises: obtaining a first position at which the addressing camera is located when addressing and photographing the second post, and a set of movement distances, relative to the first position, of the addressing camera when addressing and photographing the at least one post; anddetermining, based on the set of movement distances and second addressing offset coordinates that are obtained by the addressing camera addressing and photographing the second post, a reference coordinate set of the at least one post relative to the second post.

10. A welding system, comprising a controller and a welding device, wherein: the controller is configured to: obtain a first post coordinate set of at least one post of a battery product to be welded in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of at least two marking points in the addressing station coordinate system;obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system; determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system; andperform, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system, and send the second post coordinate set to the welding device, wherein the conversion parameters comprise a rotation parameter and a translation amount corresponding to a preset center point of rotation; andthe welding device is provided in a welding station and is configured to weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.

11. A welding system, comprising an addressing device, a welding device, a first controller, and a second controller, wherein the addressing device and the first controller are provided in an addressing station, the welding device and the second controller are provided in a welding station, and the addressing station is before the welding station, wherein: the first controller is configured to: control the addressing device to address at least one post of a battery product to be welded and at least two marking points, to obtain a first post coordinate set of the at least one post in an addressing station coordinate system, and a first marking point coordinate set that corresponds to each of the at least two marking points in the addressing station coordinate system; andsend the first post coordinate set and the first marking point coordinate set to the second controller; andthe second controller is configured to: control the welding device to address the at least two marking points, to obtain a second marking point coordinate set of the at least two marking points in a welding station coordinate system;determine, based on the first marking point coordinate set and the second marking point coordinate set, conversion parameters of coordinates between the addressing station coordinate system and the welding station coordinate system;perform, based on the conversion parameters, a conversion on the first post coordinate set to obtain a second post coordinate set of the at least one post in the welding station coordinate system; andcontrol the welding device to weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar, wherein the conversion parameters comprise a rotation parameter and a translation amount corresponding to a preset center point of rotation.

12. The welding system according to claim 11, wherein: the first controller is further configured to: send a first addressing instruction to the addressing device, and obtain a first addressing offset coordinate set that is obtained by the addressing device addressing and photographing the at least one post, and a third addressing offset coordinate set that is obtained by addressing and photographing the at least two marking points;obtain a reference coordinate set of the at least one post relative to a preset reference point in the addressing station coordinate system, wherein the addressing station coordinate system is established with the preset reference point as a coordinate origin;determine the first post coordinate set based on the reference coordinate set and the first addressing offset coordinate set; anddetermine the first marking point coordinate set based on the reference coordinate set and the third addressing offset coordinate set; andthe addressing device is configured to: in response to the first addressing instruction, address and photograph the at least one post to obtain the first addressing offset coordinate set, and address and photograph the at least two marking points to obtain the third addressing offset coordinate set; andsend the first addressing offset coordinate set and the third addressing offset coordinate set to the first controller.

13. The welding system according to claim 11, wherein: the second controller is further configured to send a second addressing instruction to the welding device, and obtain the second marking point coordinate set that is obtained by the welding device addressing and photographing the at least two marking points; andthe welding device is further configured to: in response to the second addressing instruction, address and photograph the at least two marking points to obtain the second marking point coordinate set; andsend the second marking point coordinate set to the second controller.

14. The welding system according to claim 11, wherein: the second controller is further configured to send a welding instruction to the welding device, wherein the welding instruction carries the second post coordinate set; andthe welding device is further configured to, in response to the welding instruction, weld the at least one post based on the second post coordinate set, to electrically connect at least two battery cells in the battery product by means of a busbar.