WO2024108847A1 - 辊、点检方法及装置、卷材传送方法及装置、设备、介质 - Google Patents

辊、点检方法及装置、卷材传送方法及装置、设备、介质 Download PDF

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Publication number
WO2024108847A1
WO2024108847A1 PCT/CN2023/084876 CN2023084876W WO2024108847A1 WO 2024108847 A1 WO2024108847 A1 WO 2024108847A1 CN 2023084876 W CN2023084876 W CN 2023084876W WO 2024108847 A1 WO2024108847 A1 WO 2024108847A1
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WO
WIPO (PCT)
Prior art keywords
camera
position information
calibration
calibration piece
inspection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/084876
Other languages
English (en)
French (fr)
Inventor
毛宇阳
张志鹏
李红圆
姜平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Contemporary Amperex Technology Co Ltd
Original Assignee
Contemporary Amperex Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Contemporary Amperex Technology Co Ltd filed Critical Contemporary Amperex Technology Co Ltd
Priority to EP23750522.7A priority Critical patent/EP4397610A4/en
Priority to US18/447,716 priority patent/US20240166460A1/en
Publication of WO2024108847A1 publication Critical patent/WO2024108847A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/04—Kinds or types
    • B65H75/08—Kinds or types of circular or polygonal cross-section
    • B65H75/10—Kinds or types of circular or polygonal cross-section without flanges, e.g. cop tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/18—Constructional details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/04—Construction or manufacture in general

Definitions

  • the present application relates to the field of battery technology, and in particular to a roller, a camera inspection method, a camera inspection device, a coil conveying method, a coil conveying device, an electronic device, a computer-readable storage medium, and a computer program product.
  • the present application aims to solve at least one of the technical problems existing in the prior art.
  • one purpose of the present application is to propose a roller, a camera spot inspection method, a camera spot inspection device, a coil conveying method, a coil conveying device, an electronic device, a computer-readable storage medium and a computer program product to solve the real-time spot inspection problem of the camera.
  • the first embodiment of the present application provides a roller, which includes a roller body and a calibration sheet.
  • the roller body includes a roller surface supporting a coiled material; the calibration sheet is located on the roller surface of the roller body and avoids the coiled material, and the calibration sheet is used to perform spot inspection on a camera.
  • the camera can be inspected without affecting the transmission of the coil. There is no need to pause production to remove materials, and no additional workload and cost will be added, thereby achieving real-time monitoring of whether the camera position is abnormal.
  • the calibration piece includes a first calibration piece and a second calibration piece, and the first calibration piece and the second calibration piece are respectively close to the two ends of the roller body.
  • the first calibration sheet and the second calibration sheet are film sheets, which are attached to the roller surface.
  • the size of the film sheet is controllable, and it is convenient to arrange it on the roller surface staggered with the coil, so as to realize real-time continuous spot inspection of the camera, and the cost is low, avoiding unnecessary expenses.
  • An embodiment of the second aspect of the present application provides a camera inspection method, in which a camera is used to obtain a detection image of a roll-transmitted coil, and the camera inspection method includes: obtaining a detection image including a calibration piece; determining position information of the calibration piece in the detection image; and judging whether the position of the camera is abnormal based on the position information of the calibration piece.
  • judging whether the position of the camera is abnormal based on the position information of the calibration piece includes: calculating an offset parameter of the position of the calibration piece in the detection image relative to a preset reference position based on the position information of the calibration piece and preset reference position information; judging whether the position of the camera is abnormal based on the offset parameter.
  • the calibration piece includes a first calibration piece and a second calibration piece
  • the position information of the calibration piece includes first position information and second position information
  • the first position information is used to indicate the position of the first feature point in the first calibration piece in the detection image
  • the second position information is used to indicate the position of the second feature point in the second calibration piece in the detection image
  • the reference position information includes first reference position information and second reference position information
  • the first reference position information is used to indicate the reference position of the first feature point
  • the second reference position information is used to indicate the reference position information of the second feature point.
  • the offset parameter includes at least one of a first offset value, a second offset value, and a third offset value; and wherein the offset parameter of the position in the detection image of the calibration film relative to the preset reference position calculated by the position information of the base calibration film and the preset reference position information includes at least one of the following:
  • the offset of the first feature point, the offset of the second feature point, and the overall offset of the first feature point and the second feature point as an offset parameter to determine the offset of the camera position, it is possible to more comprehensively and accurately determine the abnormality of the camera.
  • the first deviation value is the offset distance between the position of the first feature point in the detection image and the reference position of the first feature point along the first direction;
  • the second deviation value is the offset distance between the position of the second feature point in the detection image and the reference position of the second feature point along the first direction;
  • the third deviation value is the angle formed by a first line connecting the first feature point and the second feature point in the detection image and a second line connecting the reference position of the first feature point and the reference position of the second feature point; wherein the first direction is a direction different from the vertical direction of the detection image.
  • the offset of the calibration piece can be more accurately identified, thereby improving the accuracy of camera spot inspection.
  • the first feature point is the pattern center of the first calibration film
  • the second feature point is the pattern center of the second calibration film.
  • the reference position is the position of the calibration piece in the first detection image containing the calibration piece acquired by the camera.
  • the position of the calibration piece in the first detection image containing the calibration piece acquired when the camera is in the normal position is used as the preset reference position, and the reference position corresponding to the normal camera position can be obtained as the benchmark for spot inspection judgment, which is conducive to improving the accuracy and efficiency of spot inspection judgment.
  • judging whether the position of the camera is abnormal based on the offset parameter includes: in response to the deviation parameter being greater than a first preset threshold, judging that the position of the camera is abnormal. According to specific accuracy requirements, an acceptable offset value is set as the first preset threshold, which can ensure the accuracy control of the inspection process and accurately identify the abnormal position of the camera.
  • the camera inspection method further includes: issuing an alarm message and/or adjustment message in response to an abnormal position of the camera.
  • the alarm message and/or adjustment message is issued in a timely manner so that the position of the camera can be adjusted in a timely manner to avoid affecting the subsequent visual inspection process.
  • an adjustment message is issued to control the position of the camera to be adjusted; and alternatively, in response to the deviation parameter being greater than the second preset threshold, an alarm message is issued; wherein the second preset threshold is greater than the first preset threshold.
  • the degree of camera deviation is specifically determined based on the results obtained from the spot inspection, and different control instructions are issued based on different degrees, which can achieve automatic spot inspection and automatic adjustment to the greatest extent, ensure detection accuracy while reducing the number of downtimes to avoid affecting production efficiency.
  • An embodiment of the third aspect of the present application provides a roll material conveying method, which includes: controlling a camera to obtain a detection image of a roll material conveyed by a roller, and performing a spot inspection on the camera using the above-mentioned camera spot inspection method; in response to the spot inspection result indicating that the position of the camera is normal, identifying the detection image; and driving the roller material conveying the roll material based on the identification result.
  • camera inspection can be completed while visual inspection of coil transmission is being performed, without the need to stop production for inspection, and camera abnormalities can be discovered in time to avoid affecting the accuracy of the visual inspection results of coil transmission.
  • the fourth aspect of the present application provides a camera spot inspection device, which includes an acquisition module, a determination module and a judgment module.
  • the acquisition module is configured to acquire a detection image containing a calibration piece;
  • the determination module is configured to determine the position information of the calibration piece in the detection image;
  • the judgment module is configured to judge whether the position of the camera is abnormal based on the position information of the calibration piece.
  • the camera spot inspection device further includes an alarm module, and the alarm module is configured to issue an alarm message in response to the spot inspection result indicating that the position of the camera is abnormal.
  • the camera spot inspection device further includes an adjustment mechanism, and the adjustment mechanism is configured to adjust the position of the camera in response to the spot inspection result indicating that the position of the camera is abnormal.
  • An embodiment of the fifth aspect of the present application provides a coil conveying device, which includes: a roller, a camera, a camera inspection device, an identification module and a driving mechanism, wherein the camera inspection device is used to perform an inspection on the camera; the identification module is configured to identify a detection image acquired by the camera in response to an inspection result indicating that the position of the camera is normal; the driving mechanism is configured to drive the roller to convey the coil based on the recognition result of the detection image.
  • An embodiment of the sixth aspect of the present application provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the inspection method or the roll material conveying method as described in any one of the foregoing.
  • An embodiment of the seventh aspect of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the inspection methods or coil conveying methods described above.
  • An embodiment of the eighth aspect of the present application provides a computer program product, which includes a computer program.
  • the computer program When executed by a processor, it implements any of the inspection methods or coil conveying methods described above.
  • FIG1 is a schematic diagram of the structure of a roller in some embodiments of the present application.
  • FIG2 is a flow chart of a camera inspection method according to some embodiments of the present application.
  • FIG3 is a schematic diagram of a camera inspection method according to some embodiments of the present application.
  • FIG4 is a schematic diagram of a detection image according to some embodiments of the present application.
  • FIG5 is a schematic diagram of another detection image according to some embodiments of the present application.
  • FIG6 is a flow chart of a coil conveying method according to some embodiments of the present application.
  • FIG7 is a structural block diagram of a camera inspection device according to some embodiments of the present application.
  • FIG8 is a schematic structural diagram of a coil conveying device according to some embodiments of the present application.
  • FIG. 9 is a flowchart of a camera inspection method according to some embodiments of the present application.
  • Roller 100 coil 200; camera 300; camera inspection device 400; identification module 500; drive mechanism 600;
  • Roller body 110 roller surface 111, calibration sheet 120, first calibration sheet 121, second calibration sheet 122; detection images 310, 320;
  • Acquisition module 410 determination module 420; judgment module 430; alarm module 440; adjustment mechanism 450;
  • the term "and/or" is only a description of the association relationship of associated objects, indicating that three relationships may exist.
  • a and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.
  • multiple refers to more than two (including two).
  • multiple groups refers to more than two groups (including two groups), and “multiple pieces” refers to more than two pieces (including two pieces).
  • Power batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but also widely used in electric vehicles such as electric bicycles, electric motorcycles, electric cars, as well as military equipment and aerospace and other fields. With the continuous expansion of the application field of power batteries, the market demand is also constantly expanding.
  • a visual system is usually used to perform real-time detection of the conveyor and coils to control the production quality of the battery.
  • the camera position and angle are easily affected by external interference, such as equipment vibration, camera bracket impact, loose screws or natural sagging. If these external interferences are not monitored and timely feedback is not given, the visual system will continue to detect, which will cause product size measurement errors, processing action deviations, and product defects.
  • auxiliary equipment can be used to perform preventive inspections on the camera for abnormalities according to set methods and cycles.
  • This preventive inspection is usually called spot inspection.
  • the camera can be inspected by visual spot inspection.
  • the visual spot inspection method is to suspend the operation before the equipment is operated or during regular production, remove the object to be measured and replace it with a film ruler of standard size, and observe the difference between the system measurement value and the standard value.
  • this spot inspection method has the following disadvantages: the position of the film ruler cannot be fixed each time it is pasted, and problems such as angle skew and offset cannot be found. Problems that occur between two inspections cannot be discovered in time, and regular testing takes up the original production time, increasing the workload.
  • the applicant has designed a roller after in-depth research.
  • the camera can simultaneously obtain a detection image containing the calibration piece when scanning the coil on the roller, and judge whether the position of the camera is abnormal by identifying the detection image and judging whether the position of the camera is abnormal according to the position of the calibration piece in the detection image.
  • the position of the camera can be monitored in real time without affecting the roller's transmission of the coil, and abnormal camera position problems can be discovered in time without occupying the original production time.
  • roller, camera inspection method, camera inspection device, coil conveying method, and coil conveying device disclosed in the embodiments of the present application can be used, but not limited to, in the preparation process of batteries.
  • they can be used in the preparation process of battery electrodes, and can also be used in the conveying or preparation process of other types of coils, to achieve real-time detection of whether the position of the camera is abnormal during normal production, thereby avoiding detection errors of the visual inspection system due to failure to timely detect camera abnormalities.
  • the embodiment of the present application provides an electric device using a battery as a power source
  • the electric device may be, but is not limited to, a mobile phone, a tablet, a laptop, an electric toy, an electric tool, a battery car, an electric car, a ship, a spacecraft, etc.
  • the electric toy may include a fixed or mobile electric toy, such as a game console, an electric car toy, an electric ship toy, and an electric airplane toy, etc.
  • the spacecraft may include an airplane, a rocket, a space shuttle, and a spacecraft, etc.
  • the cell assembly is the part where the electrochemical reaction occurs in the battery cell.
  • One or more cell assemblies may be contained in the shell.
  • the cell assembly is mainly formed by winding or stacking the positive and negative electrode sheets, and a separator is usually provided between the positive and negative electrode sheets.
  • the parts of the positive and negative electrode sheets with active materials constitute the main body of the cell assembly, and the parts of the positive and negative electrode sheets without active materials each constitute the tabs.
  • the positive tab and the negative tab may be located together at one end of the main body or at both ends of the main body respectively.
  • the positive active material and the negative active material react with the electrolyte, and the tabs connect the electrode terminals to form a current loop.
  • the material of the positive current collector may be aluminum, and the positive active material may be lithium cobalt oxide, lithium iron phosphate, ternary lithium or lithium manganese oxide, etc.
  • the negative electrode sheet includes a negative electrode current collector and a negative electrode active material layer.
  • the negative electrode active material layer is coated on the surface of the negative electrode current collector.
  • the negative electrode current collector not coated with the negative electrode active material layer protrudes from the negative electrode current collector coated with the negative electrode active material layer.
  • the negative electrode current collector not coated with the negative electrode active material layer serves as a negative electrode tab.
  • the material of the negative electrode current collector can be copper, and the negative electrode active material can be carbon or silicon, etc.
  • the pole sheet is usually conveyed by rollers in the form of a coil for easy processing and winding and unwinding.
  • FIG1 shows a schematic structural diagram of a roller 100 provided in some embodiments of the present application.
  • the embodiment of the first aspect of the present application provides a roller 100, as shown in Fig. 1, the roller 100 includes a roller body 110 and a calibration sheet 120.
  • the roller body 110 includes a roller surface 111 supporting a coil; the calibration sheet 120 is located on the roller surface 111 of the roller body 110 and avoids the coil, and the calibration sheet 120 is used to perform spot inspection on the camera.
  • the coil refers to a workpiece that is conveyed in the form of a film roll for processing or winding and unwinding, such as a battery electrode.
  • Roller 100 can be a conveying roller for conveying the coil, or a winding roller or unwinding roller for winding or unwinding the coil.
  • the roller body 110 can be a cylindrical roller, and the roller surface 111 refers to the arc-shaped surface of the roller body 110, which is used to support the coil to achieve the winding and conveying of the coil.
  • the calibration sheet 120 has a set calibration pattern, and the calibration sheet 120 avoids the coil, which means that the calibration sheet 120 is arranged on the roller surface 111 that is staggered from the coil, so that the calibration sheet 120 can fall into the field of view of the camera without obstruction. Furthermore, the transmission of the coil will not affect the complete scanning of the calibration sheet 120 by the camera, so that the spot check of the camera will not affect the normal operation of the coil.
  • the encoder can output a pulse signal according to the angle of rotation of the roller.
  • the camera scans line by line by receiving the pulse signal. After the image sensor receives a specified number of differential signals, it collects them line by line to obtain a detection image of corresponding resolution. The camera is judged whether it is abnormal by identifying the pattern of the calibration piece in the detection image.
  • the camera can be inspected without affecting the transmission of the coil. There is no need to pause production to remove materials, and no additional workload and cost will be added, thereby achieving real-time monitoring of whether the camera position is abnormal.
  • the calibration piece 120 includes a first calibration piece 121 and a second calibration piece 122 , and the first calibration piece 121 and the second calibration piece 122 are respectively close to two ends of the roller body 110 .
  • the first calibration piece 121 and the second calibration piece 122 can be completely the same calibration piece or different calibration pieces.
  • the first calibration piece 121 and the second calibration piece 122 are respectively arranged on the roller surface 111 close to the two ends of the roller body 110, which is conducive to avoiding the position where the coil is located and ensuring that the camera captures the complete calibration pattern. Since the scanning path of the camera is usually set to scan along the axis direction of the roller, arranging two calibration pieces far apart in this way is more conducive to the recognition of the calibration pattern in the image and thus judging the degree of deviation of the camera position.
  • the first calibration sheet and the second calibration sheet are film sheets, and the film sheets are pasted on the roller surface.
  • Film is a kind of film with excellent contrast clarity, minimal error due to external interference, high precision, and can be freely customized.
  • Various standard film models can be selected according to the detection accuracy and field of view requirements of different projects.
  • GB30-10-FLP film can be selected.
  • the material of the film can be plastic, and the film can be attached to the roller surface by adhesive.
  • the film size is controllable, so it is convenient to arrange it on the roller surface staggered with the coil, so as to realize real-time continuous inspection of the camera at a low cost, thus reducing the cost of camera inspection.
  • FIG. 2 shows a flow chart of a camera inspection method provided in some embodiments of the present application.
  • the second aspect of the present application provides a camera inspection method, wherein the camera is used to obtain a detection image of the roll conveying the coil in the above embodiment.
  • the camera inspection method includes:
  • Step S210 Acquire a detection image including a calibration piece.
  • the detection image can be obtained by scanning with a camera, and the detection image containing the calibration piece means that the detection image includes a complete calibration pattern.
  • Step S220 Determine the position information of the calibration patch in the detection image.
  • the features of the calibration pattern of the calibration piece are identified, and the position information of the calibration piece can be determined according to the position coordinates of the feature image in the detection image.
  • Step S230 Determine whether the position of the camera is abnormal based on the position information of the calibration piece.
  • the scanning path of the camera will change, which will cause the position information of the calibration piece in the scanned detection image to change. Therefore, the position information of the calibration piece can be used to determine whether the camera position is abnormal.
  • FIG3 shows a schematic diagram of a camera inspection method provided in some embodiments of the present application
  • FIG4 shows a schematic diagram of a detection image provided in some embodiments of the present application.
  • the roller surface of the roller body 110 supports the coil 200, and the calibration sheet 120 is arranged on the roller surface of the roller body 110 and avoids the coil 200.
  • the roller body 110 rotates with the calibration sheet 120 under the drive of the driving mechanism to convey the coil 200.
  • the camera 300 After installation and debugging, the camera 300 is set to shoot the roller 100 and the coil 200 along the scanning path S1, wherein the calibration sheet 120 falls completely within the field of view of the camera 300.
  • the camera 300 may be a line scan CCD image sensor or a line scan CMOS image sensor.
  • the camera 300 periodically takes pictures according to the rotation angle of the roller, for example, the line scan CCD image sensor scans line by line according to the set number of differential signals to obtain a detection image with a preset resolution.
  • the camera can be set to take a line along the scanning path S1 for every 1 degree of rotation of the roller, and obtain a pixel line with a single pixel width and a resolution of X ⁇ 1 (X is the pixel length along the scanning path S1 direction).
  • the camera can collect Y pixel lines, and these Y pixel lines are sequentially spliced along the collection time to form a detection image 310 with a resolution of X ⁇ Y.
  • the horizontal direction of the detection image 310 is the same as the scanning path direction of the scanning camera.
  • the detection image 310 includes the image features of the coil 200 and the image features of the calibration sheet 120. By identifying the calibration pattern of the calibration sheet in the detection image, the position of the calibration sheet in the detection image can be determined.
  • the camera cannot scan according to the preset calibration adjustment scanning path S1 during scanning, for example, scanning according to the offset scanning path S2, the obtained detection image will be deformed, and the position of the calibration pattern of the calibration piece in the detection image will change. Therefore, it is possible to determine whether the position of the camera is abnormal by the position information of the calibration piece in the detection image.
  • step S230 includes:
  • the position information of the calibration piece includes the pixel coordinates of the calibration piece in the detection image.
  • the reference position is the position of the calibration piece in the normal detection image obtained when the camera is in normal state.
  • the reference position information includes the pixel coordinates of the calibration piece in the normal detection image.
  • the offset parameter is a parameter that measures the degree of offset of the position of the calibration piece in the detection image relative to the preset reference position, such as one or more of the offset distance, offset angle, and distance along any coordinate axis.
  • the degree of abnormality of the camera position can be quantitatively determined to improve the accuracy of camera spot inspection.
  • FIG. 5 shows a schematic diagram of another detection image provided by some embodiments of the present application.
  • the calibration piece 120 includes a first calibration piece 121 and a second calibration piece 122
  • the position information of the calibration pieces includes first position information and second position information
  • the first position information is used to indicate the position A1 of the first feature point in the first calibration piece 121 in the detection image
  • the second position information is used to indicate the position A2 of the second feature point in the second calibration piece 122 in the detection image
  • the reference position information includes first reference position information and second reference position information
  • the first reference position information is used to indicate the reference position A1' of the first feature point
  • the second reference position information is used to indicate the reference position A2' of the second feature point.
  • the first feature point is a feature point in the calibration pattern of the first calibration film that is easy to identify in the image
  • the second feature point is a feature point in the calibration pattern of the second calibration film that is easy to identify in the image.
  • the feature point can be one of the corner points of the color block or the center point of the color block.
  • the first feature point and the second feature point can be the same feature point in the calibration pattern of the calibration film or different feature points.
  • the first position information may be the pixel coordinates ( x1 , y1 ) of the position A1 of the first feature point in the detection image 320
  • the second position information may be the pixel coordinates ( x2 , y2 ) of the position A2 of the second feature point in the detection image 320
  • the first reference position information may be the pixel coordinates ( X1 , Y1 ) of the reference position A1' of the first feature point
  • the second reference position information may be the pixel coordinates ( X2 , Y2 ) of the reference position A2' of the second feature point.
  • the position information of the two calibration pieces can more accurately identify whether the test image is deformed, thereby more accurately judging the abnormality of the camera position and improving the accuracy of camera inspection.
  • Using the position information of the feature points that are easier to identify as the position information of the calibration piece can reduce the difficulty of image recognition and help improve the accuracy of the position information.
  • the offset parameter includes at least one of a first offset value Q1, a second offset value Q2, and a third offset value Q3; and the calculation of the offset parameter includes at least one of the following:
  • the first deviation value Q1 is used to indicate the offset of the position of the first feature point in the detection image relative to the reference position of the first feature point
  • the second deviation value Q2 is used to indicate the offset of the position of the second feature point in the detection image relative to the reference position of the second feature point.
  • the first deviation value Q1 and the second deviation value Q2 can be one or more of the interval distance, the offset angle, and the projection distance along a specific direction.
  • the third deviation value Q3 is used to indicate the offset of the position of the first feature point and the position of the second feature point relative to the reference position as a whole.
  • the offset of the first feature point, the offset of the second feature point, and the overall offset of the first feature point and the second feature point as an offset parameter to determine the offset of the camera position, it is possible to more comprehensively and accurately determine the abnormality of the camera.
  • the first deviation value Q1 is the offset distance between the position A1 of the first feature point in the detection image and the reference position A1’ of the first feature point
  • the second deviation value Q2 is the offset distance between the position A2 of the second feature point in the detection image and the reference position A2’ of the second feature point
  • the third deviation value Q3 is the angle formed by the first connecting line L1 connecting the position A1 of the first feature point and the position A2 of the second feature point in the detection image and the second connecting line L2 connecting the reference position A1’ of the first feature point and the reference position A2’ of the second feature point.
  • the first direction is a direction different from the vertical direction of the detection image.
  • the horizontal direction of the detection image (i.e., the X-axis direction) is the scanning direction of the camera, and the vertical direction of the detection image (i.e., the Y-axis direction) refers to the direction perpendicular to the X-axis.
  • the vertical direction of the detection image can be infinitely long, and the preset length value can be set independently to obtain the detection image of the corresponding pixel.
  • the vertical direction can be set arbitrarily, in different detection images, the pixel coordinates of the position A1 of the first feature point and the position A2 of the second feature point along the vertical direction are not fixed, and a small amount of vertical offset has little effect on image detection, while a large offset will be clearly reflected in the brightness of the picture. Therefore, the vertical offset can be ignored in this embodiment. Instead, as a judgment parameter for identifying abnormal camera position, an offset in a first direction different from the vertical direction is selected to issue an early warning for abnormal camera position.
  • the first direction may be a direction different from the vertical direction of the detection image, for example, a direction intersecting with the vertical direction of the detection image, or a horizontal direction perpendicular to the vertical direction (ie, the X-axis direction).
  • the first direction is a horizontal direction.
  • the first deviation value Q1 and the second deviation value Q2 can measure the horizontal deviation of the camera.
  • the third deviation value Q3 can measure the rotation offset of the camera.
  • the offset of the calibration piece can be more accurately identified, thereby improving the accuracy of camera spot inspection.
  • the first feature point is the pattern center of the first calibration piece 121
  • the second feature point is the pattern center of the second calibration piece 122 .
  • the pattern type of the calibration piece is usually a regular pattern.
  • the film used as a calibration piece has a square color block pattern.
  • using the pattern center of the calibration piece as the corresponding feature point can improve the accuracy of the position information of the feature point during image recognition, thereby improving the accuracy of image recognition and the accuracy of spot inspection.
  • the reference position is the position of the calibration piece in the first detection image containing the calibration piece acquired by the camera.
  • the position of the camera is theoretically in an ideal working state.
  • the test images obtained at this time are also the test images obtained when the camera position is normal.
  • the position of the calibration piece in the first test image taken by the camera can be used as a measure of whether the camera position is normal.
  • the position of the calibration piece in the first test image containing the calibration piece can be stored as a reference position, and then called out for use when judging whether the position of the calibration piece in subsequent test images is offset and the degree of offset.
  • the position of the calibration piece in the first detection image containing the calibration piece obtained when the camera is in the normal position is used as the preset reference position.
  • the reference position corresponding to the normal camera position can be obtained as a basis for spot inspection and judgment, which is beneficial to improving the accuracy and efficiency of spot inspection and judgment.
  • determining whether the position of the camera is abnormal based on the offset parameter includes:
  • the first preset threshold is a judgment threshold preset according to the accuracy requirements of a specific usage scenario. It is understandable that the setting of the first preset threshold corresponds to the deviation parameter.
  • the first preset threshold may include a distance threshold for measuring the deviation distance and/or an angle threshold for measuring the deviation angle. For example, when the deviation parameter is the first deviation value and/or the second deviation value, the first preset threshold may be 1 millimeter (mm), and when the deviation parameter is the third deviation value, the first preset value may be 1 degree.
  • An acceptable offset value is set as the first preset threshold according to specific accuracy requirements, which can ensure the accuracy control of the inspection process and accurately identify the position anomaly of the camera.
  • the camera inspection method further includes: in response to abnormal position of the camera, issuing an alarm message and/or adjustment message.
  • an alarm message can be issued to remind the operator to perform inspection and maintenance.
  • the alarm message can be an alarm signal in various forms.
  • an adjustment signal can also be issued to control an additional adjustment mechanism to adjust the position of the camera.
  • the adjustment mechanism can be a pan/tilt on which the camera is mounted, and the offset of the camera can be adjusted according to the detected position offset of the camera to restore it to the set normal position.
  • an alarm message and/or adjustment message is promptly issued so that the camera position can be adjusted in time to avoid affecting the subsequent visual inspection process.
  • the deviation parameter in response to the deviation parameter being greater than a first preset threshold and less than or equal to a second preset threshold, issuing adjustment information to control the position of the camera to be adjusted;
  • the second preset threshold is greater than the first preset threshold.
  • the first preset threshold and the second preset threshold are threshold parameters set according to the acceptable degree of deviation and the adjustment range of automatic adjustment.
  • the deviation parameter is less than or equal to the first threshold, it is determined that the degree of deviation of the current camera is extremely low and will not affect the visual inspection results.
  • the deviation parameter is greater than the first preset threshold and less than or equal to the second preset threshold, it is determined that the degree of deviation of the current camera needs to be adjusted, and adjustment information is issued to control the position of the camera to be adjusted by an additional adjustment mechanism.
  • the deviation parameter is greater than the second preset threshold, the degree of deviation of the current camera is large and exceeds the adjustment range of the adjustment mechanism. The adjustment can no longer be completed by relying on the adjustment mechanism, and an alarm message is issued to remind the operator to stop the camera for inspection, adjustment, or even recalibration.
  • the degree of camera deviation is determined based on the inspection results, and different control instructions are issued according to different degrees, which can achieve automatic inspection and automatic adjustment to the greatest extent, ensure detection accuracy while reducing downtime and avoiding affecting production efficiency.
  • FIG. 6 shows a flow chart of a coil conveying method provided in some embodiments of the present application.
  • the third aspect of the present application provides a coil conveying method, as shown in FIG6 , the coil conveying method includes:
  • Step S310 Control the camera to obtain a detection image of the roll conveying the coil.
  • Step S320 using the above-mentioned camera inspection method to inspect the camera
  • Step S330 in response to the inspection result indicating that the position of the camera is normal, identifying the inspection image
  • Step S340 driving the roller to convey the coil based on the recognition result.
  • the spot inspection of the camera and the visual inspection of the film roll transmission are both performed by identifying the images captured by the camera.
  • the camera spot inspection result is qualified, it means that the position of the camera at this time can meet the requirements of visual inspection.
  • the inspection image captured by the camera can be directly identified to detect whether the coil transfer status is abnormal.
  • camera inspection can be completed while visual inspection of coil transmission is being performed, without the need to stop production for inspection, and camera abnormalities can be discovered in time to avoid affecting the accuracy of the visual inspection results of coil transmission.
  • FIG. 7 shows a structural block diagram of a camera inspection device provided in some embodiments of the present application.
  • the fourth aspect of the present application provides a camera inspection device 400, as shown in Fig. 7, the camera inspection device 400 includes an acquisition module 410, a determination module 420 and a judgment module 430.
  • the acquisition module 410 is configured to acquire a detection image containing a calibration piece;
  • the determination module 420 is configured to determine the position information of the calibration piece in the detection image;
  • the judgment module 430 is configured to determine whether the position of the camera is abnormal based on the position information of the calibration piece.
  • the camera spot inspection device further includes an alarm module 440 , and the alarm module 440 is configured to issue an alarm message in response to the spot inspection result indicating that the position of the camera is abnormal.
  • the camera spot inspection device further includes an adjustment mechanism 450 , and the adjustment mechanism 450 is configured to adjust the position of the camera in response to the spot inspection result indicating that the position of the camera is abnormal.
  • the adjustment mechanism 450 may be an automatic adjustment mechanism, which adjusts the position of the camera to restore it to a normal position according to the adjustment information or alarm information received based on the spot inspection result. It is understandable that the adjustment mechanism action may be controlled by the adjustment information or the alarm information. In some examples, the adjustment mechanism 450 may control the corresponding adjustment amount according to the offset parameter of the calibration piece in the spot inspection result.
  • FIG8 shows a schematic structural diagram of a coil conveying device provided in an embodiment of the present application.
  • the coil conveying device 1000 includes: a roller 100, a camera 300, a camera inspection device 400, an identification module 500 and a driving mechanism 600.
  • the camera inspection device 400 is used to perform an inspection on the camera 300;
  • the identification module 500 is configured to identify a detection image acquired by the camera 300 in response to the inspection result indicating that the position of the camera 300 is normal;
  • the driving mechanism 600 is configured to drive the roller 100 to convey the coil 200 based on the recognition result of the detection image.
  • the camera inspection device 400 and the recognition module 500 can be two independent processing modules, or two parts of a processing module, or an integrated processing module that simultaneously implements the functions of the camera inspection device 400 and the recognition module 500.
  • an industrial computer as an image processing terminal device, implements the functions of the camera inspection device 400 and the recognition module 500 by executing a preset program.
  • the driving mechanism 600 may be any automated driving device, such as a servo motor.
  • An embodiment of the sixth aspect of the present application provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the inspection method or the roll material conveying method as described in any one of the foregoing.
  • Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software,
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOCs system on a chip
  • CPLDs load programmable logic devices
  • computer hardware firmware, software
  • An embodiment of the seventh aspect of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the inspection methods or coil conveying methods described above.
  • Computer readable media can be tangible media that can contain or store programs for use by or in conjunction with instruction execution systems, devices or equipment.
  • Machine readable media can be machine readable signal media or machine readable storage media.
  • Machine readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specific examples of machine readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.
  • RAM random access memories
  • ROM read-only memories
  • EPROM or flash memory erasable programmable read-only memories
  • CD-ROM compact disk read-only memories
  • An embodiment of the eighth aspect of the present application provides a computer program product, which includes a computer program.
  • the computer program When executed by a processor, it implements any of the inspection methods or coil conveying methods described above.
  • FIG. 9 shows a workflow diagram of a camera inspection method provided in some embodiments of the present application.
  • the workflow of the camera inspection method mainly includes:
  • the encoder periodically sends an encoder signal to the camera according to the rotation angle of the roller.
  • the roller is the roller described in the above embodiment, and a first calibration sheet and a second calibration sheet are attached to both ends of the roller surface.
  • the camera periodically acquires images according to the received encoder signal to obtain a detection image with a preset resolution.
  • the detection image including the first calibration piece and the second calibration piece is recognized, specifically including:
  • the current detection image is an RBG color three-channel image based on the detection image information. If it is a color image, the three-channel color image needs to be converted into a black and white single-channel image. If it is a black and white image, proceed directly to the next step without processing;
  • Preprocessing Use one or more filtering methods such as mean filtering, Gaussian filtering, median filtering, etc. to process the detected image in order to make the image purer and the transition smoother, prevent noise from interfering with the image, and remove fine burrs on the surface of objects in the image;
  • filtering methods such as mean filtering, Gaussian filtering, median filtering, etc.
  • Thresholding Based on the processed detection image, filter out all areas with grayscale values within a certain range;
  • these areas in the image are screened; determine whether there is a connected domain that meets the film characteristics. If there is a matching area, it means that the film is found in the image, and the position coordinates (x 1 , y 1 ) of the first feature point located at the center of the pattern of the first calibration film and the position coordinates (x 2 , y 2 ) of the second feature point located at the center of the pattern of the second calibration film are calculated and output, and then the angle between the feature points at the centers of the two film patterns and the horizontal line of the detection image is calculated; if there is no matching area, it means that the position of the film is not found in the image, and the film may be blocked or the image sensor is greatly moved. At this time, the abnormal position coordinates (-999, -999) and the angle ⁇ -999° need to be output.
  • the offset parameters are calculated based on the identified position coordinates and angles and the position coordinates and angles of a preset reference position, wherein the offset parameters include a first deviation value Q1 of the first feature point along the horizontal direction, a second deviation value Q2 of the second feature point along the horizontal direction, and a third deviation value Q3 of the line connecting the first feature point and the second feature point relative to the reference position.
  • the first preset threshold is a preset acceptable horizontal deviation range of the image sensor, such as 1mm.
  • the third deviation value Q3 is a preset acceptable image sensor tilt angle range, such as 1°.
  • the third deviation value Q3 is greater than the threshold, it indicates that the camera has been greatly rotated.
  • Output alarm signal When the deviation parameter is greater than the first preset threshold, it is considered to be beyond the acceptable range, and the inspection result is output.
  • the output signal can be an alarm signal in various forms to remind the operator to perform inspection and maintenance.

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Abstract

一种辊（100），包括辊体（110）和标定片（120），辊体（110）包括支承卷材的辊面（111），标定片（120）位于辊体（110）的辊面（111）并避开卷材，标定片（120）用于对相机进行点检。该辊通过在辊面上设置与卷材避开的标定片，能够在不影响卷材传送的同时对相机进行点检，无需暂停生产取下物料，也不会增加额外的工作量和成本，实现实时监测相机的位置是否异常。还包括一种相机点检方法、相机点检装置、卷材传送方法、卷材传送装置、电子设备、计算机可读存储介质和计算机程序产品。

Description

辊、点检方法及装置、卷材传送方法及装置、设备、介质
交叉引用
本申请引用于2022年11月23日递交的名称为“辊、点检方法及装置、卷材传送方法及装置、设备、介质”的第202211480451.0号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及电池技术领域，尤其涉及一种辊、相机点检方法、相机点检装置、卷材传送方法、卷材传送装置、电子设备、计算机可读存储介质和计算机程序产品。
背景技术
节能减排是汽车产业可持续发展的关键，电动车辆由于其节能环保的优势成为汽车产业可持续发展的重要组成部分。对于电动车辆而言，电池技术又是关乎其发展的一项重要因素。
伴随着机器视觉技术的快速发展和普及，其应用的领域越来越广。相机作为视觉应用的主要视觉采集设备，应用场景十分广泛。在电池制备工序中，通常在计算机视觉进行图像检测之前需要对采样相机进行标定，即为确定空间物体表面某点的物理位置与其在图像中对应点之间的相互关系，建立相机成像的几何模型，这些几何模型参数就是该系统下的相机参数。在大多数情况下，这些参数不会发生变动，但设备在使用过程中不可避免会产生震动或其他客观原因，导致相机相对位置或角度发生偏移，造成检测结果误差。
发明内容
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请的一个目的在于提出一种辊、相机点检方法、相机点检装置、卷材传送方法、卷材传送装置、电子设备、计算机可读存储介质和计算机程序产品，以解决相机的实时点检问题。
本申请第一方面的实施例提供一种辊，其包括辊体和标定片。辊体包括支承卷材的辊面；标定片位于辊体的辊面并避开卷材，标定片用于对相机进行点检。
本申请实施例的技术方案中，通过在辊面上设置与卷材避开的标定片，能够在不影响卷材传送的同时对相机进行点检，无需暂停生产取下物料，也不会增加额外的工作量和成本，实现实时监测相机的位置是否异常。
在一些实施例中，标定片包括第一标定片和第二标定片，第一标定片和第二标定片分别靠近辊体的两端。通过在两端分别设置标定片能够提高对相机的点检的识别精度，避免单个标定片图像识别的误差导致点检结果错误，从而无法及时发现相机的位置异常。布置两个相隔较远的标定片更有利于图像中标定图案的识别从而判断相机位置的偏移程度。
在一些实施例中，第一标定片和第二标定片为菲林片，菲林片粘贴于辊面。菲林片尺寸可控，便于在与卷材错开布置在辊面上，实现对相机的实时连续点检，且成本较低，避免不必要的开支。
本申请第二方面的实施例提供一种相机点检方法，相机用于获取辊传送卷材的检测图像，相机点检方法包括：获取包含标定片的检测图像；确定检测图像中标定片的位置信息；基于标定片的位置信息判断相机的位置是否异常。
通过对辊体上与卷材错开的标定片在检测图像中的位置信息判断检测图像是否变形，进而判断相机的位置是否异常，能够实现实时连续的对相机进行点检，无需影响卷材的正常传送，减小点检的工作量和成本。
在一些实施例中，基于标定片的位置信息判断相机的位置是否异常包括：基于标定片的位置信息与预设的参考位置信息计算标定片在检测图像中的位置相对于预设的参考位置的偏移参数；基于偏移参数判断相机的位置是否异常。通过计算标定片在检测图像中的位置相对于预设的参考位置的偏移参数并根据偏移参数能够定量的判断相机位置的异常程度，提高相机点检的准确性。
在一些实施例中，标定片包括第一标定片和第二标定片，标定片的位置信息包括第一位置信息和第二位置信息，第一位置信息用于指示第一标定片中的第一特征点在检测图像中的位置，第二位置信息用于指示第二标定片中的第二特征点检测图像中的位置；参考位置信息包括第一参考位置信息和第二参考位置信息，第一参考位置信息用于指示第一特征点的参考位置，第二参考位置信息用于指示第二特征点的参考位置信息。通过两个标定片的位置信息能够更准确的识别出检测图像是否变形，从而更准确地判断相机的位置的异常，提高相机点检的准确性。将更容易识别的特征点的位置信息作为标定片的位置信息能够降低图像识别的难度，有利于提高位置信息的准确性。
在一些实施例中，偏移参数包括第一偏差值、第二偏差值和第三偏差值中的至少一者；并且其中，基标定片的位置信息与预设的参考位置信息计算标定片述检测图像中的位置相对于预设的参考位置的偏移参数包括以下至少一项：
(i)基于第一位置信息和第一参考位置信息计算第一偏差值；
(ii)基于第二位置信息和第二参考位置信息计算第二偏差值；
(iii)基于第一位置信息、第二位置信息、第一参考位置信息、第二参考位置信息计算第三偏差值。
通过对第一特征点的偏移情况、第二特征点的偏移情况，以及第一特征点和第二特征点整体的偏移情况中的至少一者作为偏移参数判断相机位置的偏移，能够更全面、准确的判断相机的异常情况。
在一些实施例中，第一偏差值为第一特征点在检测图像中的位置与第一特征点的参考位置沿第一方向的偏移距离；第二偏差值为第二特征点在检测图像中的位置与第二特征点的参考位置沿第一方向的偏移距离；第三偏差值为检测图像中连接第一特征点和第二特征点的第一连线与连接第一特征点的参考位置和第二特征点的参考位置的第二连线所成的夹角；其中，第一方向为与检测图像的竖直方向不同的方向。
通过将第一特征点和第二特征点沿第一方向的偏移距离，以及第一特征点和第二特征点的连线相对于预设的参考位置的连线的夹角作为偏移参数，结合两个标定片沿不同于检测图像的竖直方向的偏移参数能够更准确地识别出标定片的偏移情况，提高相机点检的准确性。
在一些实施例中，第一特征点为第一标定片的图案中心，第二特征点为第二标定片的图案中心。将标定片的图案中心作为对应的特征点能够提高图像识别时特征点的位置信息的准确性，提高图像识别的精度和点检的准确性。
在一些实施例中，参考位置为相机获取的首个包含标定片的检测图像中标定片所在的位置。将相机正常位置下获取的首个包含标定片的检测图像中标定片所在的位置作为预设的参考位置，能够得到对应于相机位置正常时的参考位置作为点检判断的基准，有利于提高点检判断的准确性和效率。
在一些实施例中，基于偏移参数判断相机的位置是否异常包括：响应于偏差参数大于第一预设阈值，判定相机的位置异常。根据具体精度要求设定可以接受的偏移值作为第一预设阈值，能够保证点检过程的精度控制，准确识别相机的位置异常。
在一些实施例中，相机点检方法还包括：响应于相机的位置异常，发出报警信息和/或调整信息。在检测到相机位置异常时及时发出报警信息和/或调整信息，以便能够及时对相机的位置进行调整，避免影响后续的视觉检测过程。
在一些实施例中，响应于偏差参数大于第一预设阈值且小于或等于第二预设阈值，发出调整信息以控制相机的位置被调整；并且或者，响应于偏差参数大于第二预设阈值，发出报警信息；其中，第二预设阈值大于第一预设阈值。具体根据点检得到的结果判断相机的偏移程度，并根据不同的程度发出不同的控制指令，能够最大程度的实现自动点检和自动调节，保证检测精度的同时减少停机次数，避免影响生产效率。
本申请第三方面的实施例提供一种卷材传送方法，其包括：控制相机获取辊传送卷材的检测图像，利用上述的相机点检方法对相机进行点检；响应于点检结果指示相机的位置正常，对检测图像进行识别；以及基于识别结果驱动辊传送卷材。
根据本申请的实施例，通过将相机点检与卷材传送的视觉检测结合，能够在对卷材传送进行视觉检测的同时完成对相机点检，无需为了点检而停机中断生产，并且能够及时发现相机异常，避免影响卷材传送的视觉检测结果的准确性。
本申请第四方面的实施例提供一种相机点检装置，其包括获取模块、确定模块和判断模块。获取模块被配置为获取包含标定片的检测图像；确定模块被配置为确定检测图像中标定片的位置信息；判断模块被配置为基于标定片的位置信息判断相机的位置是否异常。
在一些实施例中，相机点检装置还包括报警模块，报警模块被配置为响应于点检结果指示相机的位置异常，发出报警信息。
在一些实施例中，相机点检装置还包括调整机构，调整机构被配置为响应于点检结果指示相机的位置异常，调整相机的位置。
本申请第五方面的实施例提供一种卷材传送装置，其包括：辊、相机、相机点检装置、识别模块和驱动机构，相机点检装置用于对相机进行点检；识别模块被配置为响应于点检结果指示相机的位置正常，对相机获取的检测图像进行识别；驱动机构被配置用于基于对检测图像的识别结果，驱动辊传送卷材。
本申请第六方面的实施例提供一种电子设备，包括：至少一个处理器；以及与至少一个处理器通信连接的存储器，其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行如前述中任一项所述的点检方法或卷材传送方法。
本申请第七方面的实施例提供一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现如前述任一所述的点检方法或卷材传送方法。
本申请第八方面的实施例提供一种计算机程序产品，计算机程序产品包括计算机程序，计算机程序被处理器执行时实现如前述任一所述的点检方法或卷材传送方法。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
在附图中，除非另外规定，否则贯穿多个附图相同的附图标记表示相同或相似的部件或元素。这些附图不一定是按照比例绘制的。应该理解，这些附图仅描绘了根据本申请公开的一些实施方式，而不应将其视为是对本申请范围的限制。为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据附图获得其他的附图。
图1为本申请一些实施例的辊的结构示意图；
图2为本申请一些实施例的相机点检方法的流程图；
图3为本申请一些实施例的相机点检方法的示意图；
图4为本申请一些实施例的检测图像的示意图；
图5为本申请一些实施例的另一检测图像的示意图；
图6为本申请一些实施例的卷材传送方法的流程图；
图7为本申请一些实施例的相机点检装置的结构框图；
图8为本申请一些实施例的卷材传送装置的结构示意图；
图9为本申请一些实施例的相机点检方法的工作流程图。
附图标记说明：
卷材传送装置1000；
辊100；卷材200；相机300；相机点检装置400；识别模块500；驱动机构600；
辊体110，辊面111，标定片120，第一标定片121，第二标定片122；检测图像310、320；
获取模块410；确定模块420；判断模块430；报警模块440；调整机构450；
第一偏差值Q1；第二偏差值Q2；第三偏差值Q3；
第一特征点的位置A1；第二特征点的位置A2；第一特征点的参考位置A1’；第二特征点的参考位置A2’；第一夹角Q31；参考夹角Q32；第一连线L1；第二连线L2；扫描路径S1、S2。
具体实施方式
下面将结合附图对本申请技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本申请的技术方案，因此只作为示例，而不能以此来限制本申请的保护范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。
在本申请实施例的描述中，技术术语“第一”“第二”等仅用于区别不同对象，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量、特定顺序或主次关系。在本申请实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本申请实施例的描述中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请实施例的描述中，术语“多个”指的是两个以上(包括两个)，同理，“多组”指的是两组以上(包括两组)，“多片”指的是两片以上(包括两片)。
在本申请实施例的描述中，技术术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所 指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。
在本申请实施例的描述中，除非另有明确的规定和限定，技术术语“安装”、“相连”“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
目前，从市场形势的发展来看，动力电池的应用越加广泛。动力电池不仅被应用于水力、火力、风力和太阳能电站等储能电源系统，而且还被广泛应用于电动自行车、电动摩托车、电动汽车等电动交通工具，以及军事装备和航空航天等多个领域。随着动力电池应用领域的不断扩大，其市场的需求量也在不断地扩增。
本申请人注意到，在电池生产过程中通常采用视觉系统对传送装置和卷材进行实时检测，以控制电池的生产质量。在相机构成的视觉系统中，相机位置和角度容易受到外界干扰，如设备震动、相机支架撞击、螺丝松动或自然下垂。如果没有对这些外界干扰进行监控和及时反馈，视觉系统仍继续检测，进而会引发产品尺寸测量误差，加工动作偏移，造成产品不良。
为了及时发现相机的位置异常的问题，申请人研究发现，可以采用辅助设备按照设定的方法和周期对相机进行有无异常的预防性检查，这种预防性检查通常称为点检，例如，可以采用视觉点检方式来对相机进行点检。视觉点检方式是在设备运行前或定期生产过程中暂停操作，将被测物体取下更换为标准尺寸的菲林尺，观察系统测量值和标准值的差异。然而该点检方式存在以下缺点：菲林尺每次粘贴的位置无法固定，无法发现角度歪斜和偏移的问题，两次检测期间出现的问题无法及时发现，且定期测试需要占用原本的生产时间，增加工作量。
基于以上考虑，为了更好地解决及时发现相机的位置异常的问题，申请人经过深入研究，设计了一种辊，通过在辊的辊面布置至少一个标定片，并将标定片与辊上的卷材错开布置，使得相机在对辊上的卷材进行扫描时能够同时获取包含标定片的检测图像，通过对检测图像进行识别，并根据检测图像中标定片的位置判断相机的位置是否异常。
在辊的辊面上避开卷材的位置布置标定片，能够在不影响辊传送卷材的情况下对相机的位置进行实时监控，及时发现相机的位置异常问题，无需占用原本的生产时间。
本申请实施例公开的辊、相机点检方法、相机点检装置、卷材传送方法、卷材传送装置可以但不限用于电池的制备工序中，例如可以用于电池极片的制备工序，也可以用于其他类型的卷材的传送或制备工序中，实现在正常生产过程中实时检测相机的位置是否异常，避免无法及时发现相机异常而导致视觉检测系统的检测误差。
本申请实施例提供一种使用电池作为电源的用电装置，用电装置可以为但不限于手机、平板、笔记本电脑、电动玩具、电动工具、电瓶车、电动汽车、轮船、航天器等等。其中，电动玩具可以包括固定式或移动式的电动玩具，例如，游戏机、电动汽车玩具、电动轮船玩具和电动飞机玩具等等，航天器可以包括飞机、火箭、航天飞机和宇宙飞船等等。
电芯组件是电池单体中发生电化学反应的部件。壳体内可以包含一个或更多个电芯组件。电芯组件主要由正极片和负极片卷绕或层叠放置形成，并且通常在正极片与负极片之间设有隔膜。正极片和负极片具有活性物质的部分构成电芯组件的主体部，正极片和负极片不具有活性物质的部分各自构成极耳。正极极耳和负极极耳可以共同位于主体部的一端或是分别位于主体部的两端。在电池的充放电过程中，正极活性物质和负极活性物质与电解液发生反应，极耳连接电极端子以形成电流回路。以锂离子电池为例，正极集流体的材料可以为铝，正极活性物质可以为钴酸锂、磷酸铁锂、三元锂或锰酸锂等。负极极片包括负极集流体和负极活性物质层，负极活性物质层涂覆于负极集流体的表面，未涂敷负极活性物质层的负极集流体凸出于已涂覆负极活性物质层的负极集流体，未涂敷负极活性物质层的负极集流体作为负极极耳。负极集流体的材料可以为铜，负极活性物质可以为碳或硅等。在电池单体的制造过程中，极片通常是以卷材的形式通过辊进行传送，以便于加工和收放卷。
图1示出了本申请一些实施例提供的辊100的结构示意图。
本申请第一方面的实施例提供一种辊100，如图1所示，辊100包括辊体110和标定片120。辊体110包括支承卷材的辊面111；标定片120位于辊体110的辊面111并避开卷材，标定片120用于对相机进行点检。
卷材指是以膜卷方式传送以进行加工或收放卷的工件，例如电池极片。辊100可以是用于传送卷材的传送辊，也可以是用于卷材收卷或放卷的收卷辊或放卷辊。辊体110可以是圆柱形辊，辊面111是指辊体110的圆弧形的表面，用于支承卷材，以实现对卷材的卷绕和传送。标定片120具有设定的标定图案，标定片120避开卷材是指标定片120布置在与卷材错开的辊面111上，使得标定片120能够无遮挡地落入相机的视野范围内， 且卷材的传送也不会影响到相机完整扫描标定片120，使得对相机的点检不会影响卷材的正常工作。
在一些示例中，可以由编码器根据辊转动的角度输出脉冲信号，相机通过接收脉冲信号逐行扫描，图像传感器接收到指定数量的差分信号后，逐行采集，得到对应分辨率的检测图像，通过对检测图像中标定片的图案进行识别来判断相机是否异常。
本实施例中，通过在辊面111上设置与卷材避开的标定片120，能够在不影响卷材传送的同时对相机进行点检，无需暂停生产取下物料，也不会增加额外的工作量和成本，实现实时监测相机的位置是否异常。
在一些实施例中，如图1所示，标定片120包括第一标定片121和第二标定片122，第一标定片121和第二标定片122分别靠近辊体110的两端。
第一标定片121和第二标定片122可以是完全相同的标定片，也可以是不同的标定片。将第一标定片121和第二标定片122分别布置于靠近辊体110两端的辊面111上，有利于避开卷材所在的位置，保证相机采集到完整的标定图案，由于相机的扫描路径通常被设定为沿着辊的轴线方向进行扫描，这样布置两个相隔较远的标定片更有利于图像中标定图案的识别从而判断相机位置的偏移程度。
通过在两端分别设置标定片能够提高对相机的点检的识别精度，避免单个标定片图像识别的误差导致点检结果错误，从而无法及时发现相机的位置异常。布置两个相隔较远的标定片更有利于图像中标定图案的识别从而判断相机位置的偏移程度。
在一些实施例中，第一标定片和第二标定片为菲林片，菲林片粘贴于辊面。
菲林片是一种拥有极佳的对比清晰度、受外界干扰误差极小、精度极高、可自由定制的胶片，可根据不同的项目检测精度和视野需求选择各种标准菲林片型号，例如可以选用GB30-10-FLP型号的菲林片。菲林片的材质可以是塑料，菲林片可以通过粘胶粘贴于辊面上。
菲林片尺寸可控，便于在与卷材错开布置在辊面上，实现对相机的实时连续点检，且成本较低，减少相机点检的成本。
图2示出了本申请一些实施例提供的相机点检方法的流程图。
本申请第二方面的实施例提供一种相机点检方法，相机用于获取上述实施例中的辊传送卷材的检测图像，如图2所示，相机点检方法包括：
步骤S210：获取包含标定片的检测图像。
检测图像可以通过相机扫描后得到，包含标定片的检测图像指的是检测图像中包括完整的标定图案。
步骤S220：确定检测图像中标定片的位置信息。
通过对检测图像进行识别，识别出标定片的标定图案的特征，可以根据该特征图像在检测图像中的位置坐标确定标定片的位置信息。
步骤S230：基于标定片的位置信息判断相机的位置是否异常。
当相机位置异常时，会导致相机的扫描路径发生变化，从而导致扫描得到的检测图像中标定片的位置信息出现变化。因此，可以通过标定片的位置信息判断相机的位置是否出现异常。
图3示出了本申请一些实施例提供的相机点检方法的示意图，图4示出了本申请一些实施例提供的检测图像的示意图。
如图3和图4所示，辊体110的辊面支承卷材200，标定片120布置在辊体110的辊面上并避开卷材200。辊体110在驱动机构的驱动下带着标定片120旋转以对卷材200进行传送。
相机300在安装调试完成后，被设定为沿扫描路径S1对辊100和卷材200进行拍摄，其中，标定片120完整地落入相机300的视野范围内。相机300可以是线扫CCD图像传感器、线扫CMOS图像传感器。
相机300根据辊的旋转角度周期性地拍摄，例如线扫CCD图像传感器根据设定数量的差分信号逐行扫描得到预设分辨率的检测图像。在一些示例中，如图4所示，相机可以被设定为辊每旋转1度沿扫描路径S1拍摄一行，得到一条单个像素宽度、分辨率为X×1的像素线(X为沿扫描路径S1方向的像素长度)，辊旋转Y度，相机可以采集到Y条像素线，将这Y条像素线沿采集时间依次拼接形成一个分辨率为X×Y的检测图像310。
检测图像310的水平方向与扫描相机的扫描路径方向相同。检测图像310中包括卷材200的图像特征和标定片120的图像特征。通过识别检测图像中标定片的标定图案，就可以确定标定片在检测图像中的位置。
当相机的位置出现异常时，例如角度偏移，使得相机在扫描时无法按照预设标定调整是扫描路径S1进行扫描，例如，按照偏移后的扫描路径S2进行扫描，此时得到的检测图像就会发送变形，标定片的标定图案在检测图像中的位置就会发生变化。因此，可以通过检测图像中标定片的位置信息判断相机的位置是否异常。
通过对辊体上与卷材错开的标定片在检测图像中的位置信息判断检测图像是否变形，进而判断相机的位置是否异常，能够实现实时连续的对相机进行点检，无需影响卷材的正常传送，减小点检的工作量和成本。
在一些实施例中，步骤S230包括：
基于标定片的位置信息与预设的参考位置信息计算标定片在检测图像中的位置相对于预设的参考位置的偏移参数；
基于偏移参数判断相机的位置是否异常。
标定片的位置信息包括标定片在检测图像中的像素坐标，参考位置是预先设定的相机正常状态下获取的正常检测图中标定片的位置，参考位置信息包括标定片在正常检测图像中的像素坐标。偏移参数是衡量标定片在检测图像中的位置相对于预设的参考位置偏移程度的参数，例如偏移距离、偏移角度以及沿任一坐标轴方向的距离等中的一个或多个。
通过计算标定片在检测图像中的位置相对于预设的参考位置的偏移参数并根据偏移参数能够定量的判断相机位置的异常程度，提高相机点检的准确性。
图5示出了本申请一些实施例提供的另一检测图像的示意图。
在一些实施例中，如图5所示，标定片120包括第一标定片121和第二标定片122，标定片的位置信息包括第一位置信息和第二位置信息，第一位置信息用于指示第一标定片121中的第一特征点在检测图像中的位置A1，第二位置信息用于指示第二标定片122中的第二特征点在检测图像中的位置A2；参考位置信息包括第一参考位置信息和第二参考位置信息，第一参考位置信息用于指示第一特征点的参考位置A1’，第二参考位置信息用于指示第二特征点的参考位置A2’。
第一特征点是第一标定片的标定图案中一个易于在图像中识别的特征点，第二特征点是第二标定片的标定图案中一个易于在图像中识别的特征点。例如标定片的标定图案为正方形色块时，特征点可以是色块的其中一个角点，也可以是色块的中心点。第一特征点和第二特征点可以是标定片的标定图案中相同的特征点，可以是不同的特征点。
第一位置信息可以是第一特征点的位置A1在检测图像320中的像素坐标(x1，y1)，第二位置信息可以是第二特征点的位置A2在检测图像320中的像素坐标(x2，y2)，第一参考位置信息可以是第一特征点的参考位置A1’的像素坐标(X1，Y1)，第二参考位置信息可以是第二特征点的参考位置A2’的像素坐标(X2，Y2)。
通过两个标定片的位置信息能够更准确的识别出检测图像是否变形，从而更准确地判断相机的位置的异常，提高相机点检的准确性。将更容易识别的特征点的位置信息作为标定片的位置信息能够降低图像识别的难度，有利于提高位置信息的准确性。
在一些实施例中，偏移参数包括第一偏差值Q1、第二偏差值Q2和第三偏差值Q3中的至少一者；偏移参数的计算包括以下至少一项：
(i)基于第一位置信息和第一参考位置信息计算第一偏差值Q1；
(ii)基于第二位置信息和第二参考位置信息计算第二偏差值Q2；
(iii)基于第一位置信息、第二位置信息、第一参考位置信息、第二参考位置信息计算第三偏差值Q3。
第一偏差值Q1是用于指示在检测图像中第一特征点的位置相对于第一特征点的参考位置的偏移情况，第二偏差值Q2是用于指示在检测图像中第二特征点的位置相对于第二特征点的参考位置的偏移情况，第一偏差值Q1和第二偏差值Q2可以是间隔距离、偏移角度以及沿某个特定方向的投影距离等中的一个或多个。第三偏差值Q3是用于指示第一特征点的位置和第二特征点的位置整体相对于参考位置的偏移情况。
通过对第一特征点的偏移情况、第二特征点的偏移情况，以及第一特征点和第二特征点整体的偏移情况中的至少一者作为偏移参数判断相机位置的偏移，能够更全面、准确的判断相机的异常情况。
在一些实施例中，如图5所示，第一偏差值Q1为第一特征点在检测图像中的位置A1与第一特征点的参考位置A1’沿第一方向的偏移距离；第二偏差值Q2为第二特征点在检测图像中的位置A2与第二特征点的参考位置A2’沿第一方向的偏移距离；第三偏差值Q3为检测图像中连接第一特征点的位置A1和第二特征点的位置A2的第一连线L1与连接第一特征点的参考位置A1’和第二特征点的参考位置A2’的第二连线L2所成的夹角。其中，第一方向为与检测图像的竖直方向不同的方向。
检测图像的水平方向(即X轴方向)就是相机的扫描方向，检测图像的竖直方向(即Y轴方向)指的是垂直于X轴的方向，根据相机的成像特点，理论上检测图像的竖直方向可以是无限长的，可以自主设定预设的长度值来得到对应像素的检测图像。由于竖直方向可以任意设定，这样在不同的检测图像中，第一特征点的位置A1和第二特征点的位置A2沿竖直方向的像素坐标就是不固定的，而且竖直方向的少量偏移对图像检测影响不大，较大偏移会明显体现在画面亮度里，因此，本实施例可以不将竖直方向的偏移 作为识别相机位置异常的判断参数，而是选择与竖直方向不同的第一方向的偏移情况对相机位置异常进行预警。
本实施例中，第一方向可以是与检测图像的竖直方向不同的方向，例如与检测图像的竖直方向相交的方向，或者是与竖直方向垂直的水平方向(即X轴方向)。
在一些示例中，第一方向为水平方向。第一偏差值Q1可以是第一特征点的位置A1与第一特征点的参考位置A1’的X轴方向的像素坐标的差值，即
Q1＝|X1-x1|；
第二偏差值Q2可以是第一特征点的位置A2与第一特征点的参考位置A2’的X轴方向的像素坐标的差值，即
Q2＝|X2-x2|；
此时第一偏差值Q1和第二偏差值Q2可以衡量相机的水平偏移情况。
第三偏差值Q3可以根据连接第一特征点的位置A1和第二特征点的位置A2的第一连线L1与水平方向的X轴的第一夹角Q31、连接第一特征点的参考位置A1’和第二特征点的参考位置A2’的第二连线L2与水平方向的X轴的参考夹角Q32的差值来计算：
Q3＝|Q31-Q32|；

此时第三偏差值Q3可以衡量相机的旋转偏移情况。
根据本申请的实施例，通过将第一特征点和第二特征点沿第一方向的偏移距离，以及第一特征点和第二特征点的连线相对于预设的参考位置的连线的夹角作为偏移参数，结合两个标定片沿不同于检测图像的竖直方向的偏移参数能够更准确地识别出标定片的偏移情况，提高相机点检的准确性。
在一些实施例中，第一特征点为第一标定片121的图案中心，第二特征点为第二标定片122的图案中心。
标定片的图案类型通常为规则的图案，例如，用作标定片的菲林片具有正方形的色块图案，在对检测图像中标定片进行识别时，对于图案边缘的单个特征点的像素坐标可能存在误差较大的情形，由于图案中心需要结合图案的多个特征点的像素坐标来综合确定，其像素坐标的误差反而相对较小。
本实施例中，将标定片的图案中心作为对应的特征点能够提高图像识别时特征点的位置信息的准确性，提高图像识别的精度和点检的准确性。
在一些实施例中，参考位置为相机获取的首个包含标定片的检测图像中标定片所在的位置。
相机在安装后往往都会有一个标定过程，标定完成后的相机的位置理论上处于理想的工作状态，此时获取的检测图像也都是相机的位置正常时得到的检测图像，此时可以将相机拍摄得到的首张检测图像中标定片的位置就是作为衡量相机的位置是否正常的衡量基准，具体可以将首个包含标定片的检测图像中标定片所在的位置作为参考位置存储起来，在后续的检测图像中的标定片位置是否偏移以及偏移程度进行判断时再调出使用。
本实施例中，将相机正常位置下获取的首个包含标定片的检测图像中标定片所在的位置作为预设的参考位置，能够得到对应于相机位置正常时的参考位置作为点检判断的基准，有利于提高点检判断的准确性和效率。
在一些实施例中，基于偏移参数判断相机的位置是否异常包括：
响应于偏差参数大于第一预设阈值，判定相机的位置异常。
第一预设阈值为根据具体使用场景的精度要求而预设的判断阈值。可以理解的是，第一预设阈值的设定是与偏差参数对应的，在一些示例中，第一预设阈值可以包括衡量偏差距离的距离阈值和/或衡量偏差角度的角度阈值，例如当偏差参数为第一偏差值和/或第二偏差值，第一预设阈值可以为1毫米(mm)，当偏差参数为第三偏差值，第一预设值可以为1度。
根据具体精度要求设定可以接受的偏移值作为第一预设阈值，能够保证点检过程的精度控制，准确识别相机的位置异常。
在一些实施例中，相机点检方法还包括：响应于相机的位置异常，发出报警信息和/或调整信息。
当点检结果为相机的位置异常时，可以发出报警信息，提醒操作者进行检查和维护，报警信息可以是各种形式的报警信号。在一些示例中，当点检结果为相机的位置异常时，还可以发出调整信号，控制额外的调整机构对相机的位置进行调整。例如调整机构可以是安装相机的云台，根据检测到的相机的位置偏移的情况可以对相机的偏移进行调整，以恢复至设定的正常位置。
在检测到相机位置异常时及时发出报警信息和/或调整信息，以便能够及时对相机的位置进行调整，避免影响后续的视觉检测过程。
在一些实施例中，响应于偏差参数大于第一预设阈值且小于或等于第二预设阈值，发出调整信息以控制相机的位置被调整；
响应于偏差参数大于第二预设阈值，发出报警信息；
其中，第二预设阈值大于第一预设阈值。
第一预设阈值和第二预设阈值是根据所能接受的偏移程度以及自动调整的调整范围设定的阈值参数。当偏差参数小于或等于第一阈值时，判定为当前的相机的偏移程度极低，对视觉检测结果不会产生影响。当偏差参数大于第一预设阈值且小于或等于第二预设阈值，判定当前相机的偏移程度已经有必要进行调整，发出调整信息以控制相机的位置被额外的调整机构调整。当偏差参数大于第二预设阈值，盘点给当前相机的偏移程度较大，且超出调整机构的调整范围，依靠调整机构已无法完成调整，发出报警信息，提醒操作人员停机检测、调整甚至是重新标定相机。
本实施例中，具体根据点检得到的结果判断相机的偏移程度，并根据不同的程度发出不同的控制指令，能够最大程度的实现自动点检和自动调节，保证检测精度的同时减少停机次数，避免影响生产效率。
图6示出了本申请一些实施例提供的卷材传送方法的流程图。
本申请第三方面的实施例提供一种卷材传送方法，如图6所示，卷材传送方法包括：
步骤S310：控制相机获取辊传送卷材的检测图像，
步骤S320：利用上述的相机点检方法对相机进行点检；
步骤S330：响应于点检结果指示相机的位置正常，对检测图像进行识别；以及
步骤S340：基于识别结果驱动辊传送卷材。
在示例中，对相机的点检和对膜卷传送的视觉检测都是通过识别相机所采集的图像来进行的，当相机点检结果合格时，意味着相机此时的位置能够满足视觉检测的要求，可以直接对相机采集的检测图像进行识别以检测卷材转送状态是否异常。
根据本申请的实施例，通过将相机点检与卷材传送的视觉检测结合，能够在对卷材传送进行视觉检测的同时完成对相机点检，无需为了点检而停机中断生产，并且能够及时发现相机异常，避免影响卷材传送的视觉检测结果的准确性。
图7示出了本申请一些实施例提供的相机点检装置的结构框图。
本申请第四方面的实施例提供一种相机点检装置400，如图7所示，相机点检装置400包括获取模块410、确定模块420和判断模块430。获取模块410被配置为获取包含标定片的检测图像；确定模块420被配置为确定检测图像中标定片的位置信息；判断模块430被配置为基于标定片的位置信息判断相机的位置是否异常。
在一些实施例中，相机点检装置还包括报警模块440，报警模块440被配置为响应于点检结果指示相机的位置异常，发出报警信息。
在一些实施例中，相机点检装置还包括调整机构450，调整机构450被配置为响应于点检结果指示相机的位置异常，调整相机的位置。
调整机构450可以是自动调整机构，根据接收到的基于点检结果发出的调整信息或报警信息对相机的位置进行调整使其恢复到正常位置。可以理解的是，控制调整机构动作的可以是调整信息，也可以是报警信息。在一些示例中，调整机构450可以根据点检结果中标定片的偏移参数控制对应的调整量。
图8示出了本申请实施例提供的卷材传送装置的结构示意图。
本申请第五方面的实施例提供一种卷材传送装置1000，如图8所示，卷材传送装置1000包括：辊100、相机300、相机点检装置400、识别模块500和驱动机构600，相机点检装置400用于对相机300进行点检；识别模块500被配置为响应于点检结果指示相机300的位置正常，对相机300获取的检测图像进行识别；驱动机构600被配置用于基于对检测图像的识别结果，驱动辊100传送卷材200。
在一些示例中，相机点检装置400和识别模块500可以是独立的两个处理模块，也可以是一个处理模块的两个部分，还可以是由一个集成的处理模块同时实现相机点检装置400和识别模块500的功能，例如工控机，作为图像处理的终端设备，通过执行预设的程序实现相机点检装置400和识别模块500的功能。
驱动机构600可以是任意的自动化驱动设备，例如伺服电机。
本申请第六方面的实施例提供一种电子设备，包括：至少一个处理器；以及与至少一个处理器通信连接的存储器，其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行如前述中任一项所述的点检方法或卷材传送方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、 和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置和该至少一个输出装置。
本申请第七方面的实施例提供一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现如前述任一所述的点检方法或卷材传送方法。
计算机可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
本申请第八方面的实施例提供一种计算机程序产品，计算机程序产品包括计算机程序，计算机程序被处理器执行时实现如前述任一所述的点检方法或卷材传送方法。
图9示出本申请一些实施例提供的相机点检方法的工作流程图。
如图5、图8和图9所示，相机点检方法的工作流程主要包括：
编码器根据辊的转动角度周期性地发出编码器信号至相机。辊为上述实施例描述的辊，辊面两端粘贴有第一标定片和第二标定片。
相机根据接收到的编码器信号周期性地进行图像采集，获得预设分辨率的检测图像。
对包含第一标定片和第二标定片的检测图像进行识别，具体包括：
首先根据检测图像信息判断当前检测图像是否为RBG彩色三通道图片，如果是彩色图片需要先将三通道彩色图转换为黑白单通道图片，如果是黑白图片就无需处理直接进行下一步；
预处理：采用均值滤波、高斯滤波、中值滤波等一种或多种滤波方法对检测图像进行处理，目的是为了使画面更加纯净过渡更平滑，防止噪点对画面的干扰，去除图像中物体表面的细小毛刺；
阈值化处理：根据处理过的检测图像，筛选出所有灰度值在一定范围内的区域；
分割连通域：将所有符合条件的区域区分开，成为独立的区域；
根据菲林片的特征，对图片中这些区域进行筛选；判断是否存在符合菲林片特征的连通域。如果有符合的区域，说明在图片中找到了菲林片，计算并输出位于第一标定片的图案中心的第一特征点的位置坐标(x1，y1)、位于第二标定片的图案中心的第二特征点的位置坐标(x2，y2)，然后计算两个菲林片图案中心的特征点与检测图像的水平线之间的夹角；如果没有符合的区域，说明在图片中没有找到菲林片的位置，可能菲林片被遮挡或者图像传感器被大幅度移动，此时需输出异常位置坐标(-999,-999)和夹角∠-999°。
根据识别得到的位置坐标和夹角与预设的参考位置的位置坐标和夹角计算偏移参数，其中偏移参数包括第一特征点沿水平方向的第一偏差值Q1、第二特征点沿水平方向的第二偏差值Q2，以及第一特征点和第二特征点的连线相对于参考位置的第三偏差值Q3。
阈值判断：第一预设阈值是预先设定的可以接受的图像传感器水平方向偏移范围，例如1mm，当第一偏差值Q1、第二偏差值Q2大于该阈值时，表明相机的图像传感器已经出现较大偏移；针对线扫图像传感器一般和线型光配合使用，第三偏差值Q3是预先设定的可以接受的图像传感器倾斜角度范围，例如1°，当第三偏差值Q3大于该阈值时，表明相机已经出现较大旋转。当第一偏差值Q1、第二偏差值Q2以及第三偏差值Q3中的任意一者大于第一预设阈值，就有必要对相机进行调整，甚至需要及时暂停运行并进行检修处理。
输出报警信号：当偏差参数大于第一预设阈值即认为超出可接受范围，对点检结果进行输出，输出信号可以是各种形式的报警信号，提醒操作者进行检查和维护。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围，其均应涵盖在本申请的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (21)

  1. 一种辊，包括：
    辊体，包括支承卷材的辊面；以及
    标定片，位于所述辊体的辊面并避开所述卷材，所述标定片用于对相机进行点检。
  2. 根据权利要求1所述的辊，其中，所述标定片包括第一标定片和第二标定片，所述第一标定片和所述第二标定片分别靠近所述辊体的两端。
  3. 根据权利要求2所述的辊，其中，所述第一标定片和所述第二标定片为菲林片，所述菲林片粘贴于所述辊面。
  4. 一种相机点检方法，所述相机用于获取采用如权利要求1-3中任一项所述的辊传送卷材的检测图像，包括：
    获取包含标定片的检测图像；
    确定所述检测图像中所述标定片的位置信息；
    基于所述标定片的位置信息判断所述相机的位置是否异常。
  5. 根据权利要求4所述的点检方法，所述基于所述标定片的位置信息判断所述相机的位置是否异常包括：
    基于所述标定片的位置信息与预设的参考位置信息计算所述标定片在所述检测图像中的位置相对于预设的参考位置的偏移参数；
    基于所述偏移参数判断所述相机的位置是否异常。
  6. 根据权利要求5所述的点检方法，其中，所述标定片包括第一标定片和第二标定片，所述标定片的位置信息包括第一位置信息和第二位置信息，所述第一位置信息用于指示所述第一标定片中的第一特征点在所述检测图像中的位置，所述第二位置信息用于指示所述第二标定片中的第二特征点在所述检测图像中的位置；
    所述参考位置信息包括第一参考位置信息和第二参考位置信息，所述第一参考位置信息用于指示所述第一特征点的参考位置，所述第二参考位置信息用于指示所述第二特征点的参考位置信息。
  7. 根据权利要求6所述的点检方法，其中，所述偏移参数包括第一偏差值、第二偏差值和第三偏差值中的至少一者；
    并且其中，所述基于所述标定片的位置信息与预设的参考位置信息计算所述标定片在所述检测图像中的位置相对于预设的参考位置的偏移参数包括以下至少一项：
    基于所述第一位置信息和所述第一参考位置信息计算所述第一偏差值；
    基于所述第二位置信息和所述第二参考位置信息计算所述第二偏差值；
    基于所述第一位置信息、所述第二的位置信息、所述第一参考位置信息、所述第二参考位置信息计算所述第三偏差值。
  8. 根据权利要求7所述的点检方法，其中，所述第一偏差值为所述第一特征点在所述检测图像中的位置与所述第一特征点的参考位置沿第一方向的偏移距离；
    所述第二偏差值为所述第二特征点在所述检测图像中的位置与所述第二特征点的参考位置沿所述第一方向的偏移距离；
    所述第三偏差值为所述检测图像中连接所述第一特征点和所述第二特征点的第一连线与连接所述第一特征点和所述第二特征点的参考位置的第二连线所成的夹角；
    其中，所述第一方向为与所述检测图像的竖直方向不同的方向。
  9. 根据权利要求6-8中任一项所述的点检方法，其中，所述第一特征点为所述第一标定片的图案中心，所述第二特征点为所述第二标定片的图案中心。
  10. 根据权利要求5-9中任一项所述的点检方法，其中，所述参考位置为所述相机获取的首个包含所述标定片的检测图像中所述标定片所在的位置。
  11. 根据权利要求5-10中任一项所述的点检方法，所述基于所述偏移参数判断相机的位置是否异常包括：
    响应于所述偏差参数大于第一预设阈值，判定所述相机的位置异常。
  12. 根据权利要求11所述的点检方法，还包括：响应于所述相机的位置异常，发出报警信息和/或调整信息。
  13. 根据权利要求12所述的点检方法，其中，响应于所述偏差参数大于第一预设阈值且小于或等于第二预设阈值，发出调整信息以控制所述相机的位置被调整；
    响应于所述偏差参数大于第二预设阈值，发出报警信息；
    其中，第二预设阈值大于第一预设阈值。
  14. 一种卷材传送方法，包括：
    控制相机获取辊传送卷材的检测图像，
    利用权利要求4-13中任一项的方法对相机进行点检；
    响应于点检结果指示相机的位置正常，对所述检测图像进行识别；以及
    基于识别结果驱动所述辊传送卷材。
  15. 一种相机点检装置，包括：
    获取模块，被配置为获取包含标定片的检测图像；
    确定模块，被配置为确定所述检测图像中所述标定片的位置信息；
    判断模块，被配置为基于所述标定片的位置信息判断相机的位置是否异常。
  16. 根据权利要求15所述的相机点检装置，还包括：
    报警模块，被配置为响应于点检结果指示所述相机的位置异常，发出报警信息。
  17. 根据权利要求15或16所述的相机点检装置，还包括：
    调整机构，被配置为响应于点检结果指示所述相机的位置异常，调整所述相机的位置。
  18. 一种卷材传送装置，包括：
    如权利要求1-3中任一项所述的辊；
    相机；
    根据权利要求15-17中任一项所述的相机点检装置，用于对所述相机进行点检；
    识别模块，被配置为响应于点检结果指示相机的位置正常，对所述相机获取的检测图像进行识别；以及
    驱动机构，被配置用于基于对所述检测图像的识别结果，驱动所述辊传送卷材。
  19. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器，其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求4-13中任一项所述的点检方法或权利要求14所述的卷材传送方法。
  20. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现权利要求4-13中任一所述的点检方法或权利要求14所述的卷材传送方法。
  21. 一种计算机程序产品，所述计算机程序产品包括计算机程序，所述计算机程序被处理器执行时实现权利要求4-13中任一所述的点检方法或权利要求14所述的卷材传送方法。
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