CN114926507A

CN114926507A - Pole piece deviation rectifying method, device and equipment and readable storage medium

Info

Publication number: CN114926507A
Application number: CN202210838838.2A
Authority: CN
Inventors: 顾国华
Original assignee: Shenzhen Xinshizhi Technology Co ltd
Current assignee: Shenzhen Xinshizhi Technology Co ltd
Priority date: 2022-07-18
Filing date: 2022-07-18
Publication date: 2022-08-19
Anticipated expiration: 2042-07-18
Also published as: CN114926507B

Abstract

The embodiment of the invention discloses a pole piece deviation rectifying method, a pole piece deviation rectifying device, pole piece deviation rectifying equipment and a readable storage medium, wherein the method comprises the following steps: controlling the target pole piece to move to a deviation rectifying platform, and acquiring a target image based on a reference template; determining a first central coordinate position of a target pole piece; calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template and the rotation center coordinate position of the deviation rectifying platform, and calculating a first deviation rectifying movement amount; controlling a deviation rectifying platform to rectify the motion based on the first deviation rectifying motion amount and the first rotating angle; calculating a second rotation angle and a second deviation rectifying movement amount of the rectified target pole piece, and judging whether a deviation rectifying threshold value is met; if so, the correction is successful, otherwise, the correction is unsuccessful. By adopting the error feedback control such as the calibration error, the motion deviation correction error, the system error and the like in the embodiment of the invention, the deviation correction accuracy before the lamination of the lithium battery can be improved, and the yield of the lithium battery can be improved.

Description

Pole piece deviation rectifying method, device and equipment and readable storage medium

Technical Field

The invention relates to the technical field of vision of visual machines and the technical field of industrial automation, in particular to a pole piece deviation rectifying method, a pole piece deviation rectifying device, computer equipment and a computer readable storage medium.

Background

The automatic production of the lithium battery needs to be subjected to a pole piece cutting and stacking procedure. The pole piece after slicing is grabbed to the laminating machine through the mechanical arm for lamination, and the pole piece stacking is uneven because the position of the pole piece is inaccurate due to errors possibly existing in previous working procedures before mechanical grabbing. Therefore, before the pole pieces are stacked, the pole pieces need to be positioned and corrected to an accurate position before lamination, and the manipulator grabs the pole pieces and stacks the pole pieces neatly in a laminating machine. Here, a moving table or a deviation rectifying table can be arranged between the slicing and the lamination, the slicing is grabbed to the moving table, then the pole piece is positioned and rectified through a machine vision technology, and after the deviation rectifying is completed, the manipulator grabs the pole piece to the lamination machine to be stacked.

However, in the conventional positioning and deviation correcting process, many deviation correcting errors are generated, and the deviation correcting errors also cause the following lamination to be irregular, thereby causing defective cells.

Therefore, it is urgently needed to provide a technical scheme for accurately positioning and correcting the electrode plates so as to reduce errors in the subsequent lamination process and improve the yield of the lithium battery cell.

Disclosure of Invention

Therefore, it is necessary to provide a pole piece deviation rectifying method, device, computer device and computer readable storage medium for solving the above problems.

In a first aspect of the present invention, a method for rectifying deviation of a pole piece is provided, the method comprising:

controlling a target pole piece to move to a deviation rectifying platform, and acquiring a target image of the target pole piece based on a pre-constructed reference template corresponding to the deviation rectifying platform;

determining first coordinate positions of at least 2 corner points of the target pole piece according to the target image, and calculating a first central coordinate position corresponding to the target pole piece according to the first coordinate positions of the at least 2 corner points;

calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template and the rotation center coordinate position of a preset deviation rectifying platform, and calculating a first deviation rectifying movement amount corresponding to the target pole piece based on the first rotation angle;

controlling the deviation rectifying platform to rectify the motion of the pole piece to be processed based on the first deviation rectifying motion amount and the first rotation angle to obtain a target pole piece subjected to primary deviation rectification;

calculating a second rotation angle and a second deviation rectification movement amount of the target pole piece after primary deviation rectification, and judging whether the second rotation angle and the second deviation rectification movement amount meet a preset deviation rectification threshold value or not;

if so, judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform;

if not, judging that the target pole piece is not successful in deviation rectification.

Optionally, the method further includes: obtaining calibration images of calibration pole pieces on the deviation rectifying platform through at least 2 image acquisition devices, performing calibration based on the calibration images, and respectively determining conversion matrixes corresponding to the at least 2 image acquisition devices; controlling the deviation rectifying platform to rotate, determining coordinates of at least 2 calibration points preset on the calibration polar plate through the at least 2 image acquisition devices respectively, converting the coordinates of the at least 2 calibration points into coordinates under a reference coordinate system based on the conversion matrix, and determining the position of a rotation center coordinate of the deviation rectifying platform according to the converted coordinates; controlling the deviation rectifying platform to move to an initial state, and controlling the reference pole piece to move to the deviation rectifying platform; and acquiring a reference image of the reference pole piece through at least 2 image acquisition devices, and calculating a reference center coordinate position of the reference image based on the reference image, wherein the reference center coordinate position is a reference center coordinate position corresponding to the reference template.

Optionally, the method further includes: respectively determining a first correction deviation rectifying movement amount and a first correction rotation angle of each correction pole piece for at least 2 correction pole pieces at different positions on the deviation rectifying platform; determining a second correction deviation rectifying movement amount and a second correction rotation angle of the correction pole piece based on the coordinates of at least 2 preset calibration points on the correction pole piece; respectively determining a correction movement amount correction parameter and a rotation angle correction parameter based on the first correction movement amount, the first correction rotation angle, the second correction movement amount and the second correction rotation angle; and correcting the first deviation correcting exercise amount and the first rotating angle based on the deviation correcting exercise amount correction parameter and the rotating angle correction parameter, and correcting the corrected first deviation correcting exercise amount and the corrected first rotating angle.

Optionally, the step of calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template, and the rotation center coordinate position of the preset deviation rectifying platform further includes: according to the formula

Calculating the first rotation angle

Wherein, in the process,

is the coordinate position of the rotation center of the deviation rectifying platform,

is the coordinate position of the reference center corresponding to the reference template,

is the first center coordinate position.

Optionally, the step of calculating a first amount of deviation rectification motion corresponding to the target pole piece based on the first rotation angle further includes: determining a target deviation-rectifying coordinate position of the rotated target pole piece according to the first rotating angle, the first center coordinate position and the rotating center coordinate position of the deviation-rectifying platform; and determining a first deviation rectifying movement amount corresponding to the target pole piece according to the target deviation rectifying coordinate position and the rotation center coordinate position of the deviation rectifying platform.

Optionally, the first rotation angle is determined according to

The first central coordinate position and the rotation central coordinate position of the deviation rectifying platform, and the step of determining the first deviation rectifying coordinate position of the rotated target pole piece, further comprising: in the case of clockwise rotation deviation correction, according to the formula

Calculating the first deviation-rectifying coordinate position of the rotated target pole piece

(ii) a Or, in the case of counterclockwise rotation correction, according to the formula

；

Optionally, the step of determining a first deviation-correcting motion amount corresponding to the target pole piece according to the first deviation-correcting coordinate position and the rotation center coordinate position of the deviation-correcting platform further includes: according to the formula

Calculating a first deviation-rectifying movement amount corresponding to the target pole piece

。

Optionally, the step of determining whether the second rotation angle and the second deviation-correcting motion amount satisfy a preset deviation-correcting threshold further includes: judging whether the first rotation angle is smaller than or equal to a preset deviation-rectifying rotation threshold value, and judging whether the second deviation-rectifying exercise amount is smaller than a preset deviation-rectifying exercise amount threshold value; and under the condition that the first rotation angle is smaller than a preset deviation rectifying rotation threshold value and the second deviation rectifying movement amount is smaller than a preset deviation rectifying movement amount threshold value, judging that the second rotation angle and the second deviation rectifying movement amount meet the preset deviation rectifying threshold value, otherwise, judging that the second rotation angle and the second deviation rectifying movement amount do not meet the preset deviation rectifying threshold value.

Optionally, the method further includes: receiving pole piece position error feedback information fed back by a lamination mechanism corresponding to the deviation rectifying platform; and carrying out error adjustment on the first deviation-rectifying movement amount and the first rotation angle according to the pole piece position error feedback information to obtain the first deviation-rectifying movement amount and the first rotation angle after error adjustment.

Optionally, the step of performing error adjustment on the first deviation-correcting motion amount and the first rotation angle according to the pole piece position error feedback information to obtain the first deviation-correcting motion amount and the first rotation angle after error adjustment further includes: according to the formula

Calculating a first deviation-rectifying movement amount and a first rotation angle after the error adjustment, wherein,

is to adjust the step size of the image,

the position error of the center coordinate contained in the feedback information of the position error of the pole piece is obtained;

is the rotation angle error.

In a second aspect of the present invention, there is provided a pole piece deviation rectifying apparatus, the apparatus comprising:

the image acquisition unit is used for controlling the target pole piece to move to the deviation rectification platform and acquiring a target image of the target pole piece based on a pre-constructed reference template corresponding to the deviation rectification platform;

the central coordinate position calculation unit is used for determining first coordinate positions of at least 2 angular points of the target pole piece according to the target image and calculating a first central coordinate position corresponding to the target pole piece according to the first coordinate positions of the at least 2 angular points;

the deviation rectifying calculation unit is used for calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template and the preset rotation center coordinate position of the deviation rectifying platform, and calculating a first deviation rectifying movement amount corresponding to the target pole piece based on the first rotation angle;

the primary deviation rectifying unit is used for controlling the deviation rectifying platform and rectifying the motion of the pole piece to be processed based on the first deviation rectifying motion amount and the first rotating angle to obtain a target pole piece subjected to primary deviation rectification;

the secondary deviation correction judging unit is used for calculating a second rotation angle and a second deviation correction movement amount of the target pole piece after primary deviation correction, and judging whether the second rotation angle and the second deviation correction movement amount meet a preset deviation correction threshold value or not; if yes, judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform; if not, judging that the target pole piece is not successful in deviation rectification.

In a third aspect of the invention, there is provided a computer apparatus comprising a processor and a memory for storing a computer program; the processor is configured to execute the steps of the pole piece rectification method according to the first aspect.

In a fourth aspect of the present invention, a computer-readable storage medium is provided, where the computer-readable storage medium is used for storing a computer program, and the computer program is used for executing the steps of the pole piece deviation rectifying method according to the first aspect.

The embodiment of the invention has the following beneficial effects:

after the pole piece deviation rectifying method, the pole piece deviation rectifying device, the computer equipment and the computer readable storage medium are adopted, firstly, a deviation rectifying platform is calibrated based on a plurality of cameras and a reference template is constructed, then, under the condition that the pole piece is required to be rectified, a target pole piece is controlled to move to the deviation rectifying platform, and a target image of the target pole piece is obtained based on the reference template which is constructed in advance and corresponds to the deviation rectifying platform; determining first coordinate positions of at least 2 corner points of the target pole piece according to the target image, and calculating a first central coordinate position corresponding to the target pole piece according to the first coordinate positions of the at least 2 corner points; calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template and the preset rotation center coordinate position of the deviation rectifying platform, and calculating a first deviation rectifying movement amount corresponding to the target pole piece based on the first rotation angle; controlling the deviation rectifying platform to rectify the motion of the pole piece to be processed based on the first deviation rectifying motion amount and the first rotation angle to obtain a target pole piece subjected to primary deviation rectification; calculating a second rotation angle and a second deviation rectifying movement amount of the target pole piece after primary deviation rectification, and judging whether the second rotation angle and the second deviation rectifying movement amount meet a preset deviation rectifying threshold value; if yes, judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform; if not, judging that the target pole piece is not corrected successfully. After rectifying through above-mentioned pole piece, can be so that the position of entering into the pole piece in the next lamination process is accurate to make the pole piece of carrying out the lamination align, improved lithium battery electricity core's performance and yields.

Further, in this embodiment, can also be further through error correction to calibration error, systematic error, manipulator fixed error etc. carry out error correction, further improvement pole piece rectifying system's precision, further promotion lithium battery electricity core's yields.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Wherein:

FIG. 1 is a schematic diagram illustrating a pole piece deviation rectifying system according to an embodiment;

FIG. 2 is a schematic diagram of a camera and ROI area image in one embodiment;

FIG. 3 is a schematic diagram illustrating the calculation of center reference coordinates of a reference pole piece in one embodiment;

FIG. 4 is a schematic flow chart illustrating a method for rectifying deviation of a pole piece according to an embodiment;

FIG. 5 is a schematic diagram illustrating the calculation of a first center coordinate position in one embodiment;

FIG. 6 is a schematic diagram illustrating the calculation of a first deviation coordinate position in one embodiment;

FIG. 7 is a schematic flow chart of primary deskew and secondary review in one embodiment;

FIG. 8 is a schematic diagram illustrating a structure of a pole piece deviation rectifying device according to an embodiment;

FIG. 9 is a schematic structural diagram of a computer device for operating the above-mentioned pole piece deviation rectifying method in one embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In this embodiment, a pole piece deviation rectifying method is provided, which can perform positioning deviation rectification on a pole piece of a lithium battery after slicing and before stacking, so as to effectively control various errors and system errors caused by positioning deviation rectification, greatly improve the stacking alignment of the pole piece, realize high-precision automatic positioning deviation rectification of the lithium battery, and improve the production efficiency of the lithium battery.

Specifically, the pole piece deviation rectifying method comprises the following steps: controlling a target pole piece to move to a deviation rectifying platform, and acquiring a target image of the target pole piece based on a pre-constructed reference template corresponding to the deviation rectifying platform; determining first coordinate positions of at least 2 corner points of the target pole piece according to the target image, and calculating a first central coordinate position corresponding to the target pole piece according to the first coordinate positions of the at least 2 corner points; calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template and the preset rotation center coordinate position of the deviation rectifying platform, and calculating a first deviation rectifying movement amount corresponding to the target pole piece based on the first rotation angle; controlling the deviation rectifying platform to rectify the motion of the pole piece to be processed based on the first deviation rectifying amount of motion and the first rotating angle to obtain a target pole piece subjected to primary deviation rectification; calculating a second rotation angle and a second deviation rectifying movement amount of the target pole piece after primary deviation rectification, and judging whether the second rotation angle and the second deviation rectifying movement amount meet a preset deviation rectifying threshold value; if so, judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform; if not, judging that the target pole piece is not corrected successfully.

The pole piece deviation rectifying method can be executed based on a lithium battery production line, the mechanism corresponding to the pole piece deviation rectifying is arranged behind a slicing mechanism and in front of a lamination mechanism generated by a lithium battery, and the lithium battery after being sliced is positioned and rectified, so that the positioning of the lithium battery pole piece input to the lamination mechanism is accurate, the alignment of lithium battery laminations can be improved, and the yield of the lithium battery is improved. The pole piece deviation correction is carried out based on a deviation correction platform, the deviation correction platform is used for placing a pole piece (target pole piece) needing deviation correction, a plurality of image acquisition devices are arranged on the deviation correction platform and used for acquiring images of the pole piece, the deviation correction platform further comprises a rotating mechanism (the deviation correction platform can be the deviation correction platform itself or the rotating platform connected with the deviation correction platform), the pole piece on the deviation correction platform can be controlled to move through the rotating mechanism, and the effect of pole piece positioning deviation correction is achieved.

Specifically, please refer to fig. 1, where fig. 1 shows each module included in a pole piece deviation rectifying system based on the pole piece deviation rectifying method, where the pole piece deviation rectifying system includes a multi-camera calibration module 101, a calibration error correction module 102, a pole piece reference modeling module 103, a pole piece positioning deviation rectifying module 104, a mechanical gripper error eliminating module 105, an error feedback correction module 106, and a pole piece lamination alignment module 107.

The multi-camera calibration module 101 is used for calibrating a camera coordinate to a mechanical coordinate, where the mechanical coordinate refers to a mechanical coordinate of the rectification platform.

The pole piece reference modeling module 103 is used for establishing a coordinate position of a reference pole piece position in the mechanical coordinate system.

The pole piece positioning and deviation rectifying module 104 is used for positioning and rectifying deviation after slicing.

The calibration error correction module 102 is used for correcting the calibration error of the two cameras by the calibration error correction module.

The mechanical gripper error elimination module 105 is used to eliminate possible fixing errors of the mechanical gripper.

The error feedback correction module 106 is used for correcting the system error and improving the correction precision.

The pole piece lamination alignment module 107 is configured to perform lamination processing on the rectified pole piece, and may feed back error information that may exist in the lamination process to other modules, so as to further perform error correction on the pole piece rectification system.

The functions and steps performed by each module are described in detail below.

In the multi-camera calibration module 101, calibration images of calibration pole pieces on the rectification platform are obtained through at least 2 image acquisition devices, calibration is carried out based on the calibration images, and conversion matrixes corresponding to the at least 2 image acquisition devices are respectively determined; controlling the deviation rectifying platform to rotate, determining coordinates of at least 2 calibration points preset on the calibration polar plate through the at least 2 image acquisition devices, converting the coordinates of the at least 2 calibration points into coordinates under a reference coordinate system based on the conversion matrix, and determining the position of a rotation center coordinate of the deviation rectifying platform according to the converted coordinates.

In a specific embodiment, the at least 2 image capturing devices are 2 cameras (a camera and B camera), including two cameras, namely, an upper left camera and a lower right camera, for capturing images of 2 positions of the upper left and the lower right of the target pole piece. For example, see FIG. 2, which shows a partial image of the target pole piece captured by 2 cameras including two corner points A, B at the top left and bottom right

And

。

in the specific calibration process from the camera coordinate to the mechanical coordinate of the rectification platform, the conversion matrix corresponding to the camera A and the camera B is determined by a 9-point calibration method

And

wherein, by converting the matrix

The coordinate position under the A camera can be converted into the coordinate position under the mechanical coordinate through the conversion matrix

The coordinate position under the B camera can be converted to a coordinate position under mechanical coordinates.

In a specific embodiment, the transformation matrix

And

examples of (c) can be as follows:

。

in obtaining a transformation matrix

And

and then, controlling the deviation rectifying platform to move, returning to an initial state (here, returning to the original point), and further determining the rotation center coordinate position corresponding to the deviation rectifying platform. The coordinate position of the rotation center refers to the coordinate position of the center (or the center of a circle) of the rotation platform corresponding to the deviation rectifying platform.

Marking two points (at least 2 calibration points) A and B on the calibration sheet at the upper left and the lower right respectively, and rotating the rotary platform at n different positions

Generating n different points corresponding to the rotation of the calibration points A and B

Every time the camera rotates once, 2 cameras shoot once, thus shooting n times to obtain

And then converted into camera coordinates

. Then according to the transformation matrix

And

coordinate of camera

To coordinate positions in the same mechanical coordinate system, respectively

Then, the coordinate position of the rotation center in the mechanical coordinate is fitted according to the 2n points

。

Wherein, firstly use

Least square fitting is carried out to obtain the center coordinates of the rotary platform

Is reused again

Least square fitting is carried out to obtain the circle center coordinate of the rotary platform

The center coordinates of the rotating platform

The calculation can be made by the following formula:

。

the pole piece reference modeling module 103 can construct the position of the reference pole piece in the mechanical coordinates described above. Specifically, the deviation rectifying platform is controlled to move to an initial state, and the reference pole piece is controlled to move to the deviation rectifying platform; and acquiring a reference image of the reference pole piece through at least 2 image acquisition devices, and calculating a reference center coordinate position of the reference image based on the reference image, wherein the reference center coordinate position is a reference center coordinate position corresponding to the reference template.

Firstly, controlling the deviation rectifying platformAnd moving to an initial state (namely an original point position), grabbing a reference pole piece from the pole piece positioned at the standard position of the laminating machine by a manipulator and reversely placing the reference pole piece on the deviation rectifying platform, wherein the pole piece position at the moment is the default reference position of the pole piece after deviation rectification. Then 2 cameras respectively acquire local ROI (region of interest) images of corner points A and B of the upper left reference pole piece and the lower right reference pole piece

And

wherein the local ROI area image

And

is shown in figure 2.

In that

In the camera coordinate system, two sub-pixel straight line edges compared with the angular point A are captured by using a sub-pixel edge extraction algorithm, and then the two sub-pixel straight line edges are converted into

The straight line edge under the camera coordinate system is subjected to straight line fitting under the camera coordinate system to obtain a straight line equation

And

then, the camera coordinates of the corner point A are obtained

And then calibrated by camera

The matrix is converted into a matrix by a converter,obtaining the mechanical coordinates of the corner point A

。

Like

Mechanical coordinates of corner point A

Computing in a camera

The same processing is carried out to obtain the mechanical coordinates of the corner point B

。

From the mechanical coordinates of the corner points A and B

And

determining center reference coordinates of a reference pole piece

(i.e. the reference center coordinate position corresponding to the reference template), the specific calculation formula is as follows:

。

wherein, the center reference coordinate of the reference pole piece

A schematic of the calculation of (a) can be seen in fig. 3.

After the multi-camera calibration and the pole piece reference modeling are completed, the positioning and deviation rectification of the target pole piece needing to be positioned and rectified can be further carried out based on a pre-constructed reference template. Specifically, in the pole piece positioning and deviation rectifying module 104, positioning and deviation rectifying can be performed after the pole piece is sliced. Specifically, the executing steps are the steps of the pole piece deviation rectifying method, and refer to a plurality of steps S101 to S107 shown in fig. 4:

step S101: and controlling the target pole piece to move to a deviation rectifying platform, and acquiring a target image of the target pole piece based on a pre-constructed reference template corresponding to the deviation rectifying platform.

In the step, the deviation rectifying platform is controlled to move to an initial state, and then the target pole piece is controlled to move to the deviation rectifying platform so as to carry out positioning deviation rectifying. Specifically, a target image of the target pole piece is acquired based on the reference template, wherein the target image includes images of the camera a and the camera B.

Step S102: and determining first coordinate positions of at least 2 corner points of the target pole piece according to the target image, and calculating a first central coordinate position corresponding to the target pole piece according to the first coordinate positions of the at least 2 corner points.

Based on the camera coordinate position of the aforementioned corner point A, B in the images under camera A and camera B, and by converting the matrix

And

converting to a mechanical coordinate position (here, a first coordinate position of at least 2 corner points) in a mechanical coordinate system, and determining a first central coordinate position corresponding to the target pole piece according to the first coordinate position of the corner point A, B

. Wherein, a first central coordinate position corresponding to the target pole piece is calculated according to the coordinate position of the corner point A, B

Can be seen in fig. 5.

Step S103: and calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template and the preset rotation center coordinate position of the deviation rectifying platform, and calculating a first deviation rectifying movement amount corresponding to the target pole piece based on the first rotation angle.

In the mechanical coordinate system, according to the reference central coordinate of the reference pole piece (the reference central coordinate position corresponding to the reference template)

The center coordinate of the target pole piece (first center coordinate position)

And the rotation center coordinate of the pole piece platform (the preset rotation center coordinate position of the correction platform)

Calculating the rotation angle (first rotation angle) from the center of the target pole piece to the center of the deviation rectifying platform and the center of the reference template on the straight line according to the following formula

：

，

Wherein,

in order to correct the coordinate position of the rotation center of the platform,

is the first center coordinate position.

Then determining a target deviation-rectifying coordinate position of the rotated target pole piece according to the first rotation angle, the first center coordinate position and the rotation center coordinate position of the deviation-rectifying platform; and determining a first deviation rectifying movement amount corresponding to the target pole piece according to the target deviation rectifying coordinate position and the rotation center coordinate position of the deviation rectifying platform.

Specifically, a first central coordinate position of the target pole piece is calculated

Around the center of the correction platform

Rotated to the reference center coordinate position of the reference template

Angle of (2)

Then rotates to obtain the coordinates of the center position of the rotated pole piece (the first deviation-rectifying coordinate position)

. Wherein the first deviation-rectifying coordinate position

A schematic of the calculation of (a) can be seen in fig. 6.

In the case of clockwise rotation deviation correction, according to the formula

；

In the case of anticlockwise rotation deviation correction, according to a formula

；

Then, according to the formula

。

Step S104: and controlling the deviation rectifying platform to rectify the motion of the pole piece to be processed based on the first deviation rectifying motion amount and the first rotation angle to obtain a target pole piece subjected to primary deviation rectification.

In this step, the coordinate offset of the center point of the target electrode sheet (the first amount of deviation correction exercise)

And the direction rotation angle offset (first rotation angle)

The corresponding deviation correcting value is converted into pulse quantity of each motor by using a specific calculation formula of a deviation correcting platform, and then the deviation correcting platform is driven to correct the deviation so as to obtain the corrected target pole piece. Theoretically speaking, the positions of the corrected target pole piece and the reference pole piece in the reference template are matched.

In the embodiment of the present invention, in order to verify whether the target pole piece is successfully rectified after the primary rectification in steps S101 to S104, a secondary recheck needs to be performed, specifically refer to step S105.

Step S105: calculating a second rotation angle and a second deviation rectifying movement amount of the target pole piece after primary deviation rectification, and judging whether the second rotation angle and the second deviation rectifying movement amount meet a preset deviation rectifying threshold value; if yes, go to step S106: judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform; if not, go to step S107: and judging that the target pole piece is not successful in deviation rectification.

Specifically, the target pole piece after the primary deviation correction needs to be subjected to further secondary rechecking, which includes the following steps:

and calculating the offset of the target pole piece after the primary deviation correction is performed in the step S104, where the offset includes a second rotation angle and a second deviation correction movement amount corresponding to the target pole piece. Wherein the second rotation angle

And the first rotation angle

The calculation process is similar, the second amount of deviation correction exercise

The calculation and the first amount of deviation-correcting exercise

The calculation process is similar and will not be described herein.

Then, according to the preset deviation-rectifying threshold (here, the deviation-rectifying threshold includes the preset deviation-rectifying rotation threshold)

And a preset deviation correcting motion amount threshold value

) Judging whether a second rotation angle and a second deviation rectifying movement amount obtained by correspondingly calculating the target pole piece after primary deviation rectification meet the deviation rectifying threshold value, if so, considering that the error after the primary deviation rectification is small and the deviation rectification is successful, otherwise, considering that the target pole piece after the primary deviation rectification is still storedIn a larger positioning error, the pole piece needs to be lifted out and does not enter the next lamination process; and then controlling the deviation rectifying platform to move to an initial state, and rectifying the deviation of the next pole piece.

Specifically, in a specific embodiment, it is determined whether the first rotation angle is smaller than or equal to a preset deviation-correcting rotation threshold, and it is determined whether the second deviation-correcting exercise amount is smaller than a preset deviation-correcting exercise amount threshold; and under the condition that the first rotation angle is smaller than a preset deviation-rectifying rotation threshold value and the second deviation-rectifying movement amount is smaller than the preset deviation-rectifying movement amount threshold value, judging that the second rotation angle and the second deviation-rectifying movement amount meet the preset deviation-rectifying threshold value, otherwise, judging that the second rotation angle and the second deviation-rectifying movement amount do not meet the preset deviation-rectifying threshold value. I.e. when

Or

Or

If the target pole piece is not corrected successfully, the target pole piece is removed and is not input into the lamination mechanism; when the temperature is higher than the set temperature

And is provided with

And is

And inputting the target pole piece into the lamination mechanism after the deviation of the target pole piece is successfully corrected.

Further referring to fig. 7, fig. 7 shows a schematic flow chart of the primary rectification and the secondary review.

Wherein, if the target pole piece has no geometric defect and no positioning error, the second amount of deviation rectification motion

And a second angle of rotation

Are all approximately 0. Therefore, the secondary rechecking is to control the positioning error caused by the geometric defect of the target pole piece and the random deviation-rectifying error of the deviation-rectifying platform so as to improve the possible defects in the subsequent lamination process.

Furthermore, in this embodiment, not only the target pole piece needs to be located and corrected, but also further error correction is needed to improve the accuracy of correction, so as to improve the accuracy of the system.

Specifically, for the calibration error correction module 102, calibration errors of 2 cameras need to be corrected. In specific execution, respectively determining a first correction deviation rectifying movement amount and a first correction rotation angle of each correction pole piece for at least 2 correction pole pieces at different positions on a deviation rectifying platform; determining a second correction deviation rectifying movement amount and a second correction rotation angle of the correction pole piece based on the coordinates of at least 2 preset calibration points on the correction pole piece; respectively determining a correction parameter of the correction movement amount and a correction parameter of the rotation angle based on the first correction movement amount, the first correction rotation angle, the second correction movement amount and the second correction rotation angle; and correcting the first deviation-correcting exercise amount and the first rotation angle based on the deviation-correcting exercise amount correction parameter and the rotation angle correction parameter, and correcting the corrected first deviation-correcting exercise amount and the corrected first rotation angle.

That is, according to the relative relationship between the position of the deviation rectifying platform and the pole piece and the geometric characteristics of the pole piece, a microscope is used for carrying out fine geometric measurement on the calibration plate and a plurality of correcting pole pieces (for example, 20 correcting pole pieces) at different positions, and the corresponding central coordinate and relative position relationship are measured to obtain the first correcting deviation rectifying movement amount of the correcting pole piece

And a first corrected rotation angle

Then, the method is calibrated with 9 pointsAnd comparing the second correction deviation rectifying movement amount with the second correction rotation angle, thereby correcting the result of the calibration algorithm in the multi-camera calibration module.

In particular, as measured by a microscope

The first correction and deviation rectification exercise amount of the sheet correction pole piece is

First correction of the angle of rotation

And the second correction and deviation-rectifying movement amount of the correction pole piece obtained by the 9-point calibration method

And a second correction rotation angle

Calculating a calibration correction value

And

：

，

the first deviation rectifying movement amount of the target pole piece obtained in the step S104

And a first angle of rotation

And (3) correcting, wherein a specific correction formula is as follows:

。

in the mechanical grip error elimination module 105, possible fixing errors of the mechanical grip may be eliminated.

Specifically, the deviation rectifying platform is controlled to be in an original point state, then the mechanical gripper is controlled to reversely grip the pole piece at the accurate position on the lamination stacking machine to the deviation rectifying platform, and then the pole piece is positioned by the pole piece deviation rectifying method to obtain the corresponding central point coordinate offset of the pole piece

And direction rotation angle offset

. And if the absolute value of the calculated offset exceeds a preset precision threshold value, judging that the mechanical gripper has a mechanical error and needs debugging or replacing, and adjusting or replacing the mechanical gripper according to the calculated offset to eliminate a built-in fixed error of the mechanical gripper. This process is repeated several times until the mechanical gripper is debugged until the error is stabilized to 0.

The error feedback correction module 106 is used for further correcting the system error of the pole piece correction system, so as to improve the correction precision. The systematic error is embodied in the error between the final position and the accurate position of the pole piece after lamination on the rear lamination machine. Specifically, in this embodiment, the system error of the pole piece deviation rectifying system is corrected according to the error of the target pole piece in the lamination mechanism after the deviation rectification is successfully performed and fed back by the pole piece lamination alignment module 107.

The error feedback correction module 106 receives pole piece position error feedback information fed back by the lamination mechanism corresponding to the deviation correction platform; and performing error adjustment on the first deviation-correcting motion amount and the first rotating angle according to the pole piece position error feedback information to obtain the first deviation-correcting motion amount and the first rotating angle after error adjustment, and then performing subsequent pole piece positioning deviation correction based on the first deviation-correcting motion amount and the first rotating angle after error adjustment.

Wherein, the step of performing error adjustment on the first deviation-correcting motion quantity and the first rotation angle according to the pole piece position error feedback information to obtain the first deviation-correcting motion quantity and the first rotation angle after error adjustment further comprises:

according to the formula

Calculating a first deviation rectifying motion amount and a first rotation angle after error adjustment, wherein,

is to adjust the step size of the frame,

is the rotation angle error.

In this embodiment, the systematic error correction of the pole piece correction system can track and correct the systematic error and dynamic error of the positioning correction, and the built-in fixed error and dynamic error of the movement of the pole piece gripper.

In another embodiment, as shown in fig. 8, a structural schematic diagram of a pole piece deviation rectifying device is provided, where the pole piece deviation rectifying device includes:

the image acquisition unit 201 is used for controlling a target pole piece to move to a deviation rectification platform and acquiring a target image of the target pole piece based on a pre-constructed reference template corresponding to the deviation rectification platform;

a central coordinate position calculating unit 202, configured to determine, according to the target image, first coordinate positions of at least 2 corner points of the target pole piece, and calculate, according to the first coordinate positions of the at least 2 corner points, first central coordinate positions corresponding to the target pole piece;

the deviation rectifying calculation unit 203 is configured to calculate a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template, and the preset rotation center coordinate position of the deviation rectifying platform, and calculate a first deviation rectifying movement amount corresponding to the target pole piece based on the first rotation angle;

the primary deviation rectifying unit 204 is used for controlling the deviation rectifying platform to perform motion deviation rectification on the pole piece to be processed based on the first deviation rectifying motion amount and the first rotation angle to obtain a target pole piece subjected to primary deviation rectification;

the secondary deviation rectifying judgment unit 205 is configured to calculate a second rotation angle and a second deviation rectifying motion amount of the target pole piece after the primary deviation rectifying, and judge whether the second rotation angle and the second deviation rectifying motion amount meet a preset deviation rectifying threshold; if yes, judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform; if not, judging that the target pole piece is not successful in deviation rectification.

In an optional embodiment, as shown in fig. 8, the above-mentioned pole piece deviation rectifying device further includes a camera calibration unit 301, configured to obtain calibration images of calibration pole pieces on the deviation rectifying platform through at least 2 image acquisition devices, perform calibration based on the calibration images, and respectively determine conversion matrices corresponding to the at least 2 image acquisition devices; controlling the deviation rectifying platform to rotate, determining coordinates of at least 2 preset calibration points on the calibration polar plates through the at least 2 image acquisition devices, converting the coordinates of the at least 2 calibration points into coordinates under a reference coordinate system based on the conversion matrix, and determining the position of a rotation center coordinate of the deviation rectifying platform according to the converted coordinates.

In an alternative embodiment, as shown in fig. 8, the above-mentioned pole piece deviation rectifying apparatus further includes a reference template determining unit 302, configured to control the deviation rectifying platform to move to an initial state, and control a reference pole piece to move to the deviation rectifying platform; and acquiring a reference image of the reference pole piece through at least 2 image acquisition devices, and calculating a reference center coordinate position of the reference image based on the reference image, wherein the reference center coordinate position is a reference center coordinate position corresponding to the reference template.

In an alternative embodiment, as shown in fig. 8, the above-mentioned pole piece deviation rectifying apparatus further includes a calibration error correcting unit 401, configured to determine, for at least 2 correction pole pieces at different positions on the deviation rectifying platform, a first correction deviation rectifying movement amount and a first correction rotation angle of each correction pole piece respectively; determining a second correction and deviation-rectifying movement amount and a second correction and rotation angle of a correction pole piece based on coordinates of at least 2 calibration points preset on the correction pole piece; respectively determining a correction movement amount correction parameter and a rotation angle correction parameter based on the first correction movement amount, the first correction rotation angle, the second correction movement amount and the second correction rotation angle; and correcting the first deviation-correcting exercise amount and the first rotation angle based on the deviation-correcting exercise amount correction parameter and the rotation angle correction parameter, and correcting the corrected first deviation-correcting exercise amount and the corrected first rotation angle.

In an alternative embodiment, the center coordinate position calculation unit 202 is further configured to calculate the center coordinate position according to a formula

Calculating the first rotation angle

Wherein

is the first center coordinate position.

In an optional embodiment, the deviation rectifying calculation unit 203 is further configured to determine a target deviation rectifying coordinate position of the rotated target pole piece according to the first rotation angle, the first center coordinate position and the rotation center coordinate position of the deviation rectifying platform; and determining a first deviation rectifying movement amount corresponding to the target pole piece according to the target deviation rectifying coordinate position and the rotation center coordinate position of the deviation rectifying platform.

In an alternative embodiment, the deviation rectifying unit 203 is further configured to rectify the deviation according to a formula in the case of clockwise rotation

。

In an alternative embodiment, the deviation rectifying unit 203 is further configured to rectify the deviation according to a formula in case of counterclockwise rotation

。

In an alternative embodiment, the deskew calculation unit 203 is further configured to calculate the deskew according to a formula

Calculating the first deviation rectifying amount of motion corresponding to the target pole piece

。

In an optional embodiment, the secondary deviation rectifying determining unit 205 is further configured to determine whether the first rotation angle is smaller than or equal to a preset deviation rectifying rotation threshold, and determine whether the second deviation rectifying movement amount is smaller than a preset deviation rectifying movement amount threshold; and under the condition that the first rotation angle is smaller than a preset deviation-rectifying rotation threshold value and the second deviation-rectifying movement amount is smaller than the preset deviation-rectifying movement amount threshold value, judging that the second rotation angle and the second deviation-rectifying movement amount meet the preset deviation-rectifying threshold value, otherwise, judging that the second rotation angle and the second deviation-rectifying movement amount do not meet the preset deviation-rectifying threshold value.

In an alternative embodiment, as shown in fig. 8, the pole piece deviation rectifying apparatus further includes a system error correcting unit 501, where the system error correcting unit 501 is configured to receive pole piece position error feedback information fed back by the lamination mechanism corresponding to the deviation rectifying platform; carrying out error adjustment on the first deviation-rectifying movement amount and the first rotating angle according to the pole piece position error feedback information to obtain a first deviation-rectifying movement amount and a first rotating angle after error adjustment;

in an alternative embodiment, the systematic error correction unit 501 is also used to correct the systematic error according to a formula

is to adjust the step size of the frame,

feeding back a central coordinate position error contained in the information for the position error of the pole piece;

is the rotation angle error.

FIG. 9 shows an internal structure diagram of a computer device for implementing the above-mentioned pole piece deviation rectifying method in an embodiment. The computer device may specifically be a terminal, and may also be a server. As shown in fig. 9, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to carry out the above-mentioned method. The internal memory may also have stored therein a computer program which, when executed by the processor, causes the processor to perform the method described above. Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

After the pole piece deviation rectifying method, the pole piece deviation rectifying device, the computer equipment and the computer readable storage medium are adopted, firstly, a deviation rectifying platform is calibrated based on a plurality of cameras and a reference template is constructed, then, under the condition that the pole piece is required to be rectified, a target pole piece is controlled to move to the deviation rectifying platform, and a target image of the target pole piece is obtained based on the reference template which is constructed in advance and corresponds to the deviation rectifying platform; determining first coordinate positions of at least 2 corner points of the target pole piece according to the target image, and calculating a first central coordinate position corresponding to the target pole piece according to the first coordinate positions of the at least 2 corner points; calculating a first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template and the preset rotation center coordinate position of the deviation rectifying platform, and calculating a first deviation rectifying movement amount corresponding to the target pole piece based on the first rotation angle; controlling the deviation rectifying platform to rectify the motion of the pole piece to be processed based on the first deviation rectifying motion amount and the first rotation angle to obtain a target pole piece subjected to primary deviation rectification; calculating a second rotation angle and a second deviation rectification movement amount of the target pole piece after primary deviation rectification, and judging whether the second rotation angle and the second deviation rectification movement amount meet a preset deviation rectification threshold value or not; if so, judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform; if not, judging that the target pole piece is not successful in deviation rectification. After the pole piece is rectified, the position of the pole piece entering the next lamination procedure can be accurate, so that the pole pieces subjected to lamination are aligned, and the performance and the yield of the lithium battery cell are improved.

Further, in this embodiment, can also be further through error correction to calibration error, system error, manipulator fixed error etc. carry out error correction, further improvement pole piece rectifying system's precision, further promotion lithium battery electric core's yields.

That is to say, in this embodiment, through the pole piece deviation rectifying method, the pole piece deviation rectifying device, the computer device and the computer readable storage medium, errors caused by camera image acquisition, errors caused by resolution, errors caused by an image processing algorithm, mechanical errors of translational and rotational movements of the deviation rectifying table, and mechanical errors caused by movements of the mechanical gripper can be independently or correlatively corrected, so that the accuracy of pole piece deviation rectification is locally and integrally improved, and the precision of pole piece positioning deviation rectification is controlled.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a non-volatile computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A pole piece deviation rectifying method is characterized by comprising the following steps:

controlling the deviation rectifying platform to rectify the motion of the target pole piece based on the first deviation rectifying motion amount and the first rotation angle to obtain a primarily rectified target pole piece;

calculating a second rotation angle and a second deviation rectifying movement amount of the target pole piece after primary deviation rectification, and judging whether the second rotation angle and the second deviation rectifying movement amount meet a preset deviation rectifying threshold value;

if not, judging that the target pole piece is not corrected successfully.

2. The pole piece deviation rectifying method according to claim 1, further comprising:

obtaining calibration images of calibration pole pieces on the rectification platform through at least 2 image acquisition devices, performing calibration based on the calibration images, and respectively determining conversion matrixes corresponding to the at least 2 image acquisition devices;

controlling the deviation rectifying platform to rotate, determining coordinates of at least 2 calibration points preset on the calibration polar plate through the at least 2 image acquisition devices respectively, converting the coordinates of the at least 2 calibration points into coordinates under a reference coordinate system based on the conversion matrix, and determining the position of a rotation center coordinate of the deviation rectifying platform according to the converted coordinates;

controlling the deviation rectifying platform to move to an initial state, and controlling the reference pole piece to move to the deviation rectifying platform; and acquiring a reference image of the reference pole piece through at least 2 image acquisition devices, and calculating a reference center coordinate position of the reference image based on the reference image, wherein the reference center coordinate position is a reference center coordinate position corresponding to the reference template.

3. The pole piece deviation rectifying method according to claim 1, further comprising:

respectively determining a first correction deviation rectification movement amount and a first correction rotation angle of each correction pole piece for at least 2 correction pole pieces at different positions on the deviation rectification platform;

determining a second correction deviation rectifying movement amount and a second correction rotation angle of the correction pole piece based on the coordinates of at least 2 preset calibration points on the correction pole piece;

respectively determining a correction parameter of the correction movement amount and a correction parameter of the rotation angle based on the first correction movement amount, the first correction rotation angle, the second correction movement amount and the second correction rotation angle;

and correcting the first deviation-correcting exercise amount and the first rotation angle based on the deviation-correcting exercise amount correction parameter and the rotation angle correction parameter, and correcting the corrected first deviation-correcting exercise amount and the corrected first rotation angle.

4. The pole piece deviation rectifying method according to claim 1, wherein the step of calculating the first rotation angle corresponding to the target pole piece according to the first center coordinate position, the reference center coordinate position corresponding to the reference template, and the rotation center coordinate position of the preset deviation rectifying platform further comprises:

according to the formula

Calculating the first rotation angle

Wherein, in the process,

is the first center coordinate position.

5. The pole piece deviation rectifying method according to claim 1, wherein the step of calculating a first deviation rectifying motion amount corresponding to the target pole piece based on the first rotation angle further comprises:

determining a target deviation-rectifying coordinate position of the rotated target pole piece according to the first rotating angle, the first center coordinate position and the rotating center coordinate position of the deviation-rectifying platform;

determining a first deviation rectifying movement amount corresponding to the target pole piece according to the target deviation rectifying coordinate position and the rotation center coordinate position of the deviation rectifying platform;

wherein the first rotation angle is

The first central coordinate position and the rotation central coordinate position of the deviation rectifying platform, and the step of determining the first deviation rectifying coordinate position of the rotated target pole piece, further comprising:

；

Or, in the case of counterclockwise rotation deviation correction, according to the formula

；

The step of determining the first deviation rectifying motion amount corresponding to the target pole piece according to the first deviation rectifying coordinate position and the rotation center coordinate position of the deviation rectifying platform further comprises:

according to the formula

。

6. The pole piece deviation rectifying method according to claim 1, wherein the step of determining whether the second rotation angle and the second deviation rectifying movement amount satisfy a preset deviation rectifying threshold value further comprises:

judging whether the first rotation angle is smaller than or equal to a preset deviation-rectifying rotation threshold value, and judging whether the second deviation-rectifying exercise amount is smaller than a preset deviation-rectifying exercise amount threshold value;

and under the condition that the first rotation angle is smaller than a preset deviation rectifying rotation threshold value and the second deviation rectifying movement amount is smaller than a preset deviation rectifying movement amount threshold value, judging that the second rotation angle and the second deviation rectifying movement amount meet the preset deviation rectifying threshold value, otherwise, judging that the second rotation angle and the second deviation rectifying movement amount do not meet the preset deviation rectifying threshold value.

7. The pole piece deviation rectifying method according to claim 1, further comprising:

receiving pole piece position error feedback information fed back by a lamination mechanism corresponding to the deviation rectifying platform;

carrying out error adjustment on the first deviation-rectifying movement amount and the first rotating angle according to the pole piece position error feedback information to obtain a first deviation-rectifying movement amount and a first rotating angle after error adjustment;

according to the formula

is to adjust the step size of the image,

is the rotation angle error.

8. A pole piece deviation correcting device, its characterized in that, the device includes:

the primary deviation rectifying unit is used for controlling the deviation rectifying platform and rectifying the motion of the target pole piece on the basis of the first deviation rectifying amount and the first rotating angle to obtain a primary corrected target pole piece;

the secondary deviation rectifying judgment unit is used for calculating a second rotation angle and a second deviation rectifying movement amount of the target pole piece after primary deviation rectifying, and judging whether the second rotation angle and the second deviation rectifying movement amount meet a preset deviation rectifying threshold value or not; if so, judging that the target pole piece is successfully corrected, and moving the target pole piece to a lamination structure through the correction platform; if not, judging that the target pole piece is not successful in deviation rectification.

9. A computer device comprising a memory and a processor, the memory having executable code thereon, the executable code when executed on the processor implementing a pole piece rectification method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program for executing the method of rectifying deviation of a pole piece according to any one of claims 1 to 7.