CN111369509B - Product detection compensation method, device, product monitoring system and storage medium - Google Patents

Product detection compensation method, device, product monitoring system and storage medium Download PDF

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CN111369509B
CN111369509B CN202010127189.6A CN202010127189A CN111369509B CN 111369509 B CN111369509 B CN 111369509B CN 202010127189 A CN202010127189 A CN 202010127189A CN 111369509 B CN111369509 B CN 111369509B
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target product
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current layer
compensation
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CN111369509A (en
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周俊杰
谢盛珍
杜兵
冯英俊
杜义贤
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Guangdong Lyric Robot Automation Co Ltd
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    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0004Industrial image inspection
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
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Abstract

本申请提供一种产品的检测补偿方法、装置、产品监测系统和存储介质,该产品的检测补偿方法包括:在产品卷绕过程中,获取视觉检测设备在固定视野下对目标产品进行图像采集得到的第一采集图像;根据该第一采集图像得到该目标产品的间距参数,作为该目标产品在当前层下对于卷绕材料的检测数据,该间距参数用于表示各层的卷绕材料与选定的参考位置之间的间隙;根据在采集该第一采集图像时对应的该目标产品的当前层数,确定该目标产品在当前层的补偿数据;根据该目标产品在当前层的补偿数据,对该目标产品在当前层下对应的该卷绕材料的检测数据进行校准,得到该目标产品在当前层的检测结果。以此可以改善现有技术中的产品检测精度较低的问题。

Figure 202010127189

The present application provides a detection and compensation method, a device, a product monitoring system and a storage medium for a product. The detection and compensation method for a product includes: during the product winding process, a visual detection device acquires an image of a target product under a fixed field of view. The first collected image; the spacing parameter of the target product is obtained according to the first collected image, which is used as the detection data of the target product on the winding material under the current layer, and the spacing parameter is used to indicate the winding material of each layer and the selected According to the current layer number of the target product corresponding to the first captured image, the compensation data of the target product in the current layer is determined; according to the compensation data of the target product in the current layer, The detection data of the coiled material corresponding to the target product under the current layer is calibrated to obtain the detection result of the target product at the current layer. In this way, the problem of low product detection accuracy in the prior art can be improved.

Figure 202010127189

Description

产品的检测补偿方法、装置、产品监测系统和存储介质Product detection compensation method, device, product monitoring system and storage medium

技术领域technical field

本申请涉及加工检测技术领域,具体而言,涉及一种产品的检测补偿方法、装置、产品监测系统和存储介质。The present application relates to the technical field of processing detection, and in particular, to a detection compensation method, device, product monitoring system and storage medium for products.

背景技术Background technique

对于卷绕形成的产品,为了提升产品的加工质量,通常会对卷绕过程中的一些产品参数进行检测,以便于进行加工调整。For products formed by winding, in order to improve the processing quality of the product, some product parameters during the winding process are usually detected to facilitate processing adjustment.

但是,对于借助固定视野进行图像采集从而实现检测的做法,容易随着产品卷绕过程的推进出现聚焦不清晰问题,从而影响对于产品的检测精度。However, for the method of image acquisition by means of a fixed field of view to realize detection, it is easy to cause the problem of unclear focus as the product winding process progresses, thereby affecting the detection accuracy of the product.

发明内容SUMMARY OF THE INVENTION

本申请实施例的目的在于提供一种产品的检测补偿方法、装置、产品监测系统和存储介质,用以改善现有技术中的产品检测精度较低的问题。The purpose of the embodiments of the present application is to provide a product detection compensation method, device, product monitoring system and storage medium, so as to improve the problem of low product detection accuracy in the prior art.

第一方面,实施例提供一种产品的检测补偿方法,所述方法包括:In a first aspect, the embodiment provides a detection compensation method for a product, the method comprising:

在产品卷绕过程中,获取视觉检测设备在固定视野下对目标产品进行图像采集得到的第一采集图像;During the product winding process, obtain the first captured image obtained by the visual inspection equipment capturing the image of the target product under a fixed field of view;

根据所述第一采集图像得到所述目标产品的间距参数,作为所述目标产品在当前层下对于卷绕材料的检测数据,所述间距参数用于表示各层的卷绕材料与选定的参考位置之间的间隙;The distance parameter of the target product is obtained according to the first captured image, which is used as the detection data of the target product on the winding material under the current layer, and the distance parameter is used to indicate the difference between the winding material of each layer and the selected the gap between the reference positions;

根据在采集所述第一采集图像时对应的所述目标产品的当前层数,确定所述目标产品在当前层的补偿数据;Determine the compensation data of the target product at the current layer according to the current layer number of the target product corresponding to the first captured image;

根据所述目标产品在当前层的补偿数据,对所述目标产品在当前层下对应的所述卷绕材料的检测数据进行校准,得到所述目标产品在当前层的检测结果。According to the compensation data of the target product in the current layer, the detection data of the coiled material corresponding to the target product in the current layer is calibrated to obtain the detection result of the target product in the current layer.

在上述方法中,通过在产品的卷绕过程中,以固定视野对产品的各层进行图像采集,从而根据采集的第一采集图像得到目标产品在各层的初步检测数据,然后根据目标产品的各个检测数据所对应的层数,对目标产品在各层状态下关于卷绕材料的检测数据进行校准,得到检测精度较高的检测结果。以此可以使得即使随着卷绕过程的推进,包围在卷轴外表面的卷绕材料越来越多,目标产品的厚度随之改变而造成了聚焦不清晰现象,也能够根据目标产品的层数对检测数据进行有效补偿,从而降低因聚焦问题对测量精度造成的影响,提升整体的检测准确性。In the above method, during the winding process of the product, images are collected on each layer of the product with a fixed field of view, so as to obtain the preliminary detection data of the target product on each layer according to the first collected image, and then according to the target product's initial detection data. The number of layers corresponding to each test data is used to calibrate the test data of the target product on the coiled material in each layer state to obtain test results with high detection accuracy. In this way, even with the advancement of the winding process, more and more winding materials are surrounded on the outer surface of the reel, and the thickness of the target product changes accordingly, resulting in unclear focus. Effectively compensate the detection data, thereby reducing the impact of focusing problems on the measurement accuracy and improving the overall detection accuracy.

在可选的实施方式中,所述确定所述目标产品在当前层的补偿数据,包括:In an optional implementation manner, the determining the compensation data of the target product in the current layer includes:

通过预先计算出的补偿表达式以及所述目标产品的当前层数,确定所述目标产品在当前层的补偿数据。The compensation data of the target product in the current layer is determined by using the pre-calculated compensation expression and the current layer number of the target product.

通过上述实现方式,可以在产品的实时卷绕检测过程中,确定出每一层的测量偏差量,从而对每层的检测数据进行补偿修正,提升最终的检测精度。Through the above implementation manner, the measurement deviation of each layer can be determined during the real-time winding detection process of the product, so that the detection data of each layer can be compensated and corrected to improve the final detection accuracy.

在可选的实施方式中,在所述通过预先计算出的补偿表达式以及所述目标产品的当前层数,确定所述目标产品在当前层的补偿数据之前,所述方法还包括:In an optional implementation manner, before determining the compensation data of the target product in the current layer by using the pre-calculated compensation expression and the current layer number of the target product, the method further includes:

获取卷绕测试产品的多组测量偏差数据,所述多组测量偏差数据中的每组数据包括偏差量以及所述偏差量对应的产品层数;Acquiring multiple sets of measurement deviation data of the winding test product, where each set of data in the multiple sets of measurement deviation data includes a deviation amount and the number of product layers corresponding to the deviation amount;

基于所述多组测量偏差数据中的每个偏差量以及每个偏差量对应的产品层数,拟合计算得到所述补偿表达式。Based on each deviation in the multiple sets of measured deviation data and the number of product layers corresponding to each deviation, the compensation expression is obtained by fitting and calculation.

通过上述实现方式,可以得出因产品厚度变化所带来的测量偏差规律,然后基于确定出的偏差规律对产品卷绕过程中得到的检测数据进行有效补偿,从而提升检测精度。Through the above implementation manner, the measurement deviation law caused by the change of product thickness can be obtained, and then the detection data obtained during the product winding process can be effectively compensated based on the determined deviation law, thereby improving the detection accuracy.

在可选的实施方式中,所述获取卷绕测试产品的多组测量偏差数据,包括:In an optional embodiment, the acquisition of multiple sets of measurement deviation data of the winding test product includes:

在所述视觉检测设备的聚焦面聚集在所述卷绕测试产品的指定层位置时,确定所述视觉检测设备的固定视野;determining a fixed field of view of the visual inspection device when the focusing surface of the visual inspection device is gathered at the designated layer position of the rolled test product;

在所述卷绕测试产品的层数调节过程中,获取所述视觉检测设备在所述固定视野内采集的棋盘格图像,得到所述卷绕测试产品在各层厚度下分别对应的棋盘格图像;In the process of adjusting the number of layers of the winding test product, the checkerboard image collected by the visual inspection device in the fixed field of view is obtained, and the checkerboard image corresponding to each layer thickness of the winding test product is obtained. ;

基于在各层厚度下得到的所述棋盘格图像中指定个数的棋盘格对应的像素个数,以及所述视觉检测设备在所述固定视野下的理论图像精度,确定所述卷绕测试产品在各层厚度下分别对应的偏差量,得到所述卷绕测试产品的多组测量偏差数据。The winding test product is determined based on the number of pixels corresponding to the specified number of checkerboards in the checkerboard image obtained under the thickness of each layer, and the theoretical image accuracy of the visual inspection device under the fixed field of view According to the corresponding deviation amounts of each layer thickness, multiple sets of measurement deviation data of the winding test product are obtained.

通过上述实现方式,可以得到因产品厚度变化导致产品表面偏离视觉检测设备的成像聚焦清晰面所导致的测量偏离量,有利于得到可靠度较高的补偿数据。Through the above implementation manner, the measurement deviation amount caused by the deviation of the product surface from the imaging focusing clear surface of the visual inspection device due to the change of the product thickness can be obtained, which is beneficial to obtain compensation data with high reliability.

在可选的实施方式中,所述方法还包括:In an optional embodiment, the method further includes:

在进行图像采集之前,计算所述视觉检测设备在所述固定视野下的理论图像精度。Before image acquisition, the theoretical image accuracy of the visual inspection device under the fixed field of view is calculated.

通过上述实现方式,有利于为补偿数据的计算过程提供数据支持。Through the above implementation manner, it is beneficial to provide data support for the calculation process of the compensation data.

第二方面,实施例提供一种产品的检测补偿装置,所述装置包括:In a second aspect, the embodiment provides a detection and compensation device for a product, the device comprising:

图像获取模块,用于在产品卷绕过程中,获取视觉检测设备在固定视野下对目标产品进行图像采集得到的第一采集图像;The image acquisition module is used to acquire the first acquired image obtained by the visual inspection equipment performing image acquisition of the target product under a fixed field of view during the product winding process;

检测模块,用于根据所述第一采集图像得到所述目标产品的间距参数,作为所述目标产品在当前层下对于卷绕材料的检测数据,所述间距参数用于表示各层的卷绕材料与选定的参考位置之间的间隙;The detection module is used to obtain the distance parameter of the target product according to the first collected image, as the detection data of the target product on the winding material under the current layer, and the distance parameter is used to indicate the winding of each layer the gap between the material and the selected reference position;

确定模块,用于根据在采集所述第一采集图像时对应的所述目标产品的当前层数,确定所述目标产品在当前层的补偿数据;a determining module, configured to determine the compensation data of the target product at the current layer according to the current layer number of the target product corresponding to the first captured image;

补偿模块,用于根据所述目标产品在当前层的补偿数据,对所述目标产品在当前层下对应的所述卷绕材料的检测数据进行校准,得到所述目标产品在当前层的检测结果。The compensation module is used to calibrate the detection data of the coiled material corresponding to the target product under the current layer according to the compensation data of the target product in the current layer, and obtain the detection result of the target product in the current layer .

通过上述装置可以执行前述第一方面提供的方法,能够提升产品检测准确性。The method provided in the first aspect can be executed by the above-mentioned device, and the accuracy of product detection can be improved.

在可选的实施方式中,所述确定模块还用于:In an optional implementation manner, the determining module is further configured to:

通过预先计算出的补偿表达式以及所述目标产品的当前层数,确定所述目标产品在当前层的补偿数据。The compensation data of the target product in the current layer is determined by using the pre-calculated compensation expression and the current layer number of the target product.

在可选的实施方式中,所述装置还包括计算模块,所述计算模块用于:In an optional implementation manner, the apparatus further includes a computing module for:

获取卷绕测试产品的多组测量偏差数据,所述多组测量偏差数据中的每组数据包括偏差量以及所述偏差量对应的产品层数;Acquiring multiple sets of measurement deviation data of the winding test product, where each set of data in the multiple sets of measurement deviation data includes a deviation amount and the number of product layers corresponding to the deviation amount;

基于所述多组测量偏差数据中的每个偏差量以及每个偏差量对应的产品层数,拟合计算得到所述补偿表达式。Based on each deviation in the multiple sets of measured deviation data and the number of product layers corresponding to each deviation, the compensation expression is obtained by fitting and calculation.

第三方面,实施例提供一种产品监测系统,包括视觉检测设备以及与所述视觉检测设备连接的控制设备;In a third aspect, the embodiments provide a product monitoring system, including a visual inspection device and a control device connected to the visual inspection device;

所述视觉检测设备用于在产品的卷绕过程中,以固定视野对卷绕的产品进行图像采集;The visual inspection device is used to capture images of the wound product with a fixed field of view during the product winding process;

所述控制设备包括存储器、处理器;The control device includes a memory and a processor;

所述存储器中存储有所述处理器可执行的计算机程序,所述计算机程序被所述处理器执行时执行前述的第一方面提供的方法。A computer program executable by the processor is stored in the memory, and when the computer program is executed by the processor, the method provided in the foregoing first aspect is executed.

第四方面,实施例提供一种存储介质,所述存储介质上存储有计算机程序,所述计算机程序被处理器执行时执行前述的第一方面提供的方法。In a fourth aspect, an embodiment provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the method provided in the foregoing first aspect is executed.

附图说明Description of drawings

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,应当理解,以下附图仅示出了本申请的某些实施例,因此不应被看作是对范围的限定,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,还可以根据这些附图获得其他相关的附图。In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

图1为本申请实施例提供的一种产品的检测补偿方法的流程图。FIG. 1 is a flowchart of a method for detecting and compensating a product according to an embodiment of the present application.

图2为本申请实施例提供的一个实例中的卷绕电芯在第一视角下的示意图。FIG. 2 is a schematic diagram of a wound cell in an example provided by an embodiment of the present application from a first viewing angle.

图3为本申请实施例提供的一个实例中的视觉检测设备与卷绕电芯之间的位置示意图。FIG. 3 is a schematic diagram of a position between a visual inspection device and a wound cell in an example provided by an embodiment of the present application.

图4为本申请实施例提供的一个实例中的卷绕电芯在第二视角下的卷绕示意图。FIG. 4 is a schematic diagram of the winding of the wound cell in an example provided by the embodiments of the present application from a second viewing angle.

图5为本申请实施例提供的一个实例中的图像采集区域的示意图。FIG. 5 is a schematic diagram of an image acquisition area in an example provided by an embodiment of the present application.

图6为本申请实施例提供的一个实例中的视觉检测设备的聚焦调节示意图。FIG. 6 is a schematic diagram of focus adjustment of a visual inspection device in an example provided by an embodiment of the present application.

图7为本申请实施例提供的一种产品的检测补偿装置的功能模块框图。FIG. 7 is a functional block diagram of a detection and compensation device for a product according to an embodiment of the present application.

图8为本申请实施例提供的一种产品监测系统的结构框图。FIG. 8 is a structural block diagram of a product monitoring system provided by an embodiment of the present application.

图9为本申请实施例提供的一种控制设备的结构框图。FIG. 9 is a structural block diagram of a control device provided by an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行描述。The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

发明人经过研究发现,在现有技术中,是由于随着产品卷绕过程的推进,导致产品厚度发生变化,进而使得产品卷绕面偏离了视觉检测设备的固定成像清晰面,导致了对于产品卷绕面的聚焦不清晰问题,最终影响对于产品卷绕面的测量精度。After research, the inventor found that, in the prior art, the product thickness changes with the advancement of the product winding process, which in turn causes the product winding surface to deviate from the fixed imaging clear surface of the visual inspection equipment, resulting in the product being unreliable. The focus of the winding surface is not clear, which ultimately affects the measurement accuracy of the winding surface of the product.

有鉴于此,发明人提出以下实施例,以改善因产品的厚度变化造成产品的检测表面偏离视觉检测设备的固定成像清晰面而带来的测量精度问题,在发明人提供的各个实施例中,仍是以固定视野对产品的卷绕过程进行图像采集,但是能够对卷绕过程中得到的各个检测数据进行有效补偿,从而提升测量精度,提高整个系统的检测准确性,有利于为后续的加工调整提供数据参考从而提升产品质量。In view of this, the inventor proposes the following embodiments to improve the measurement accuracy problem caused by the change in the thickness of the product causing the detection surface of the product to deviate from the fixed imaging clear surface of the visual inspection device. In each embodiment provided by the inventor, The image acquisition of the winding process of the product is still carried out with a fixed field of view, but it can effectively compensate the various detection data obtained during the winding process, thereby improving the measurement accuracy and the detection accuracy of the entire system, which is beneficial for subsequent processing. Adjustment provides data reference to improve product quality.

请参阅图1,图1为本申请实施例提供的一种产品的检测补偿方法的流程图。下面将结合图1对本申请实施例提供的方案进行详细介绍。Please refer to FIG. 1. FIG. 1 is a flowchart of a method for detecting and compensating a product according to an embodiment of the present application. The solution provided by the embodiment of the present application will be described in detail below with reference to FIG. 1 .

在本申请实施例的产品卷绕过程中,卷绕材料可以围绕卷轴进行卷绕,从而围绕卷轴形成一层层的包裹面,该一层层的包裹面即为本申请实施例的图像采集对象。In the product winding process of the embodiment of the present application, the winding material can be wound around the reel, thereby forming layers of wrapping surfaces around the reel, and the layer-by-layer wrapping surfaces are the image acquisition objects of the embodiment of the present application .

如图1所示,该产品的检测补偿方法包括步骤S11-S14。该方法可以应用于一控制设备,该控制设备与用于进行图像采集的视觉检测设备连接,还可以与控制卷轴转动的执行机构连接。As shown in Figure 1, the detection and compensation method of the product includes steps S11-S14. The method can be applied to a control device, which is connected to a visual inspection device for image acquisition, and can also be connected to an actuator that controls the rotation of the reel.

S11:在产品卷绕过程中,获取视觉检测设备在固定视野下对目标产品进行图像采集得到的第一采集图像。S11: During the product winding process, acquire a first captured image obtained by the visual inspection device performing image capture of the target product under a fixed field of view.

其中,视觉检测设备可以是相机,通过调节相机的镜头调焦环可以使得相机成像时有清晰的聚焦面(清晰的矩形聚焦面)。在本申请实施例的整个产品卷绕过程中,视觉检测设备的视野是固定的,例如拍摄角度、拍摄距离可以是固定的。Wherein, the visual inspection device may be a camera, and by adjusting the lens focusing ring of the camera, the camera can have a clear focusing surface (a clear rectangular focusing surface) when imaging. During the entire product winding process in the embodiments of the present application, the visual field of view of the visual inspection device is fixed, for example, the shooting angle and the shooting distance may be fixed.

作为一种保持固定视野的实现方式,视觉检测设备的位置可以是固定的,当视觉检测设备的聚焦面位置被确定后,该视觉检测设备的聚焦面不再更改。As an implementation manner of maintaining a fixed field of view, the position of the visual inspection device may be fixed, and after the position of the focal plane of the visual inspection device is determined, the focal plane of the visual inspection device will not be changed.

可以理解的是,对目标产品进行图像采集的视觉检测设备可以有一个或多个,多个视觉检测设备可以用于对目标产品的不同关注区域进行图像采集,从而得到更多的检测数据。It can be understood that there may be one or more visual inspection devices for image acquisition of the target product, and multiple visual inspection devices can be used to capture images of different areas of interest of the target product, thereby obtaining more inspection data.

作为一种图像采集方式,控制设备可以根据产品的卷绕参数得知目标产品的当前层数,例如可以在卷轴每转动360度时视作卷了一层,通过卷轴的转动角度可以获得目标产品的当前层数,每卷绕一层,视觉检测设备进行一次图像采集,得到一组第一采集图像,并将第一采集图像发送给控制设备,以使控制设备对第一采集图像进行图像识别。以此原理可以对目标产品的每层进行检测。As an image acquisition method, the control device can know the current number of layers of the target product according to the winding parameters of the product. For example, when the reel rotates 360 degrees, it can be regarded as one layer, and the target product can be obtained through the rotation angle of the reel. The current number of layers, each winding layer, the visual inspection device performs an image capture to obtain a set of first captured images, and sends the first captured images to the control device, so that the control device can perform image recognition on the first captured image . With this principle, each layer of the target product can be inspected.

对于每一次得到的第一采集图像,可以执行S12。For each obtained first captured image, S12 may be performed.

S12:根据第一采集图像得到目标产品的间距参数,作为目标产品在当前层下对于卷绕材料的检测数据,间距参数用于表示各层的卷绕材料与选定的参考位置之间的间隙。S12: Obtain the spacing parameter of the target product according to the first collected image, as the detection data of the target product on the winding material under the current layer, the spacing parameter is used to represent the gap between the winding material of each layer and the selected reference position .

在S12中,对于每次获取到的第一采集图像,控制设备可以对第一采集图像进行图像识别,从而根据第一采集图像得到图像中所反映的目标产品的间距参数。其中,间距参数的个数与卷绕材料的种类有关、视觉检测设备采集的区域等因素有关。In S12, for each acquired first captured image, the control device may perform image recognition on the first captured image, so as to obtain the distance parameter of the target product reflected in the image according to the first captured image. Among them, the number of spacing parameters is related to factors such as the type of winding material and the area collected by the visual inspection equipment.

可选地,每层的卷绕材料可以是一层或多层,即,卷绕形成该目标产品的每层材料可以是组合材料。每个间距参数可以表示一种卷绕材料与选定的一虚拟基准线之间的间隙。Alternatively, each layer of wound material may be one or more layers, ie, each layer of material wound to form the target product may be a composite material. Each spacing parameter may represent a gap between a wound material and a selected virtual reference line.

其中,通过间距参数的大小可以确定出各卷绕材料是否在卷绕过程中发生偏离从而导致卷绕不达标的现象。可以理解的是,间距参数还可以用于表示每层的组合材料中各个材料之间的间隙,即,间距参数还可以用于判定各卷绕材料之间是否对齐。Among them, the size of the spacing parameter can determine whether each winding material deviates during the winding process, resulting in the phenomenon that the winding is not up to standard. It can be understood that the spacing parameter can also be used to represent the gaps between the individual materials in the combined material of each layer, that is, the spacing parameter can also be used to determine whether the coiled materials are aligned.

需要说明的是,由于在产品卷绕过程中,目标产品的厚度在改变,而同一视觉采集设备的视野是固定的,且聚焦面是固定的,则部分第一采集图像是基于清晰的聚焦面下得到的,而还有一部分第一采集图像是在目标产品的表面远离聚焦面时得到的,因此,仅仅通过S12的图像识别所得到的结果,可能有些结果准确度较高,有些结果的准确度较低。It should be noted that since the thickness of the target product is changing during the product winding process, and the field of view of the same visual capture device is fixed, and the focusing surface is fixed, part of the first captured image is based on a clear focusing surface. However, some of the first captured images are obtained when the surface of the target product is far away from the focal plane. Therefore, the results obtained only by the image recognition of S12 may have higher accuracy in some results and higher accuracy in some results. low degree.

因此,在每次得到检测数据后需要执行S13和S14,以对检测数据进行检测补偿,从而提升每层检测的准确度。Therefore, S13 and S14 need to be performed after each time detection data is obtained, so as to perform detection compensation on the detection data, thereby improving the detection accuracy of each layer.

S13:根据在采集第一采集图像时对应的目标产品的当前层数,确定目标产品在当前层的补偿数据。S13: Determine the compensation data of the target product at the current layer according to the current layer number of the target product corresponding to the first captured image.

作为一种实现方式,可以根据第一采集图像的采集时刻,确定出在采集得到第一采集图像时,目标产品已经卷绕到了第几层,从而确定出第一采集图像对应的目标产品的当前层数。基于确定出的目标产品的当前层数,可以查询或者计算出目标产品在当前层的补偿数据。As an implementation manner, it can be determined, according to the acquisition time of the first acquired image, which layer the target product has been wound to when the first acquired image is acquired, so as to determine the current state of the target product corresponding to the first acquired image. layers. Based on the determined current layer number of the target product, the compensation data of the target product at the current layer can be queried or calculated.

S14:根据目标产品在当前层的补偿数据,对目标产品在当前层下对应的卷绕材料的检测数据进行校准,得到目标产品在当前层的检测结果。S14: According to the compensation data of the target product in the current layer, calibrate the detection data of the winding material corresponding to the target product in the current layer, and obtain the detection result of the target product in the current layer.

其中,根据S13确定出的补偿数据可以对目标产品在当前层下对应的关于卷绕材料的检测数据进行校准,从而得到目标产品在当前层的检测结果,以此实现对于目标产品在卷绕过程中的各层表面检测,且检测准确度较高。Wherein, according to the compensation data determined in S13, the detection data on the winding material corresponding to the target product under the current layer can be calibrated, so as to obtain the detection result of the target product at the current layer, so as to realize the target product in the winding process. The surface detection of each layer in the system, and the detection accuracy is high.

在上述方法中,通过在产品的卷绕过程中,以固定视野对产品的各层进行图像采集,从而根据采集的第一采集图像得到目标产品在各层的初步检测数据,然后根据目标产品的各个检测数据所对应的层数,对目标产品在各层状态下关于卷绕材料的检测数据进行校准,得到检测精度较高的检测结果,提升检测准确性。通过上述方法,即使随着卷绕过程的推进,包围在卷轴外表面的卷绕材料越来越多,目标产品的厚度随之改变而造成了聚焦不清晰现象,也能够根据目标产品的层数对检测数据进行有效补偿,从而降低因聚焦问题对测量精度造成的影响,提升整体的检测准确性。In the above method, during the winding process of the product, images are collected on each layer of the product with a fixed field of view, so as to obtain the preliminary detection data of the target product on each layer according to the first collected image, and then according to the target product's initial detection data. The number of layers corresponding to each test data is used to calibrate the test data of the target product on the coiled material in each layer state to obtain test results with higher detection accuracy and improve the detection accuracy. Through the above method, even if more and more winding materials surround the outer surface of the reel with the advancement of the winding process, and the thickness of the target product changes accordingly, resulting in unclear focus, the number of layers of the target product can be adjusted according to the number of layers of the target product. Effectively compensate the detection data, thereby reducing the impact of focusing problems on the measurement accuracy and improving the overall detection accuracy.

在一个实例中,目标产品是卷绕电芯,可简称电芯。In one example, the target product is a wound cell, which may be referred to as a cell.

图2示出了一个实例中的卷绕电芯在第一视角下的示意图,作为电芯在卷绕过程中的侧视图。如图2所示,该卷绕电芯包括电芯卷针D(即卷轴),围绕电芯卷针D进行卷绕的卷绕材料包括阳极片T1、阴极片T2以及隔膜T3,用于形成卷绕电芯的每层材料为组合材料(阳极片T1、阴极片T2以及隔膜T3),其中隔膜T3用于在阴极片T2与阳极片T1之间实现隔离作用。FIG. 2 shows a schematic diagram of a wound cell in an example from a first viewing angle, as a side view of the cell during the winding process. As shown in FIG. 2 , the wound cell includes a cell winding needle D (ie, a reel), and the winding material wound around the cell winding needle D includes an anode sheet T1, a cathode sheet T2 and a separator T3, which are used to form The material of each layer of the wound cell is a composite material (anode sheet T1, cathode sheet T2 and separator T3), wherein the separator T3 is used to achieve isolation between the cathode sheet T2 and the anode sheet T1.

当电芯的卷针D开始旋转之前,阳极片T1、隔膜T3、阴极片T2可按照图2的布局设置在卷针D的中间缝隙中(图2中心的矩形区域),以此对卷绕材料进行固定。然后卷针D夹住阳极片T1、隔膜T3、阴极片T2进行旋转,从而形成电芯的各层表面,增加卷绕电芯的厚度。Before the winding needle D of the battery cell starts to rotate, the anode sheet T1, the separator T3, and the cathode sheet T2 can be arranged in the middle gap of the winding needle D (the rectangular area in the center of Fig. 2) according to the layout of FIG. material is fixed. Then, the rolling needle D clamps the anode sheet T1, the separator T3, and the cathode sheet T2 and rotates, thereby forming the surface of each layer of the cell and increasing the thickness of the wound cell.

其中,在图2所示的电芯的卷绕过程中,图2中的“A”、“B”、“C”分别表示卷绕电芯的在不同层数下的位置,为便于描述,以“A”表示卷绕电芯内侧面,“B”表示卷绕电芯外侧面,“C”表示卷绕电芯中间面。Among them, in the winding process of the battery cell shown in FIG. 2, “A”, “B”, and “C” in FIG. 2 respectively represent the positions of the winding battery core under different layers. For the convenience of description, "A" represents the inner side of the wound cell, "B" represents the outer side of the wound cell, and "C" represents the middle surface of the wound cell.

在对图2所示的电芯进行检测时,视觉检测设备与卷绕电芯之间的位置示意图如图3所示。在图3中的“P”可表示视觉检测设备的镜头位置,在图3中,该视觉检测设备所对应的虚线矩形区域表示该视觉检测设备的固定视野区域。When testing the cell shown in FIG. 2 , a schematic diagram of the position between the visual inspection device and the wound cell is shown in FIG. 3 . “P” in FIG. 3 may represent the lens position of the visual inspection device. In FIG. 3 , the dotted rectangular area corresponding to the visual inspection device represents the fixed field of view area of the visual inspection device.

在一个电芯的卷绕过程中,以第二视角得到的关于电芯的示意图请参照图4。其中,第二视角为图2中的箭头“E”指示的方向,第二视角的方向与第一视角(图未示)的方向垂直。During the winding process of a cell, please refer to FIG. 4 for a schematic diagram of the cell obtained from a second perspective. The second viewing angle is the direction indicated by the arrow “E” in FIG. 2 , and the direction of the second viewing angle is perpendicular to the direction of the first viewing angle (not shown).

基于图3所示的关于视觉检测设备的位置布局,可以控制视觉检测设备对图4中的“CCD1”、“CCD2”等关注区域进行图像采集,从而得到“CCD1”、“CCD2”区域分别对应的第一采集图像。通过对“CCD2”这一区域对应的第一采集图像进行分析识别,可以得到如图5所示的间距参数d1、d2。其中,d1表示电芯卷绕至第L层时,形成第L层的隔膜T3与一参考基准线K之间的间距,d1表示电芯卷绕至第L层时,形成第L层的阴极片T2的一条边与一参考基准线K之间的间距。Based on the positional layout of the visual inspection equipment shown in Figure 3, the visual inspection equipment can be controlled to capture images of the areas of interest such as "CCD1" and "CCD2" in Figure 4, so that the corresponding areas of "CCD1" and "CCD2" can be obtained respectively. of the first acquired image. By analyzing and identifying the first captured image corresponding to the area "CCD2", the distance parameters d1 and d2 as shown in Fig. 5 can be obtained. Among them, d1 represents the distance between the separator T3 forming the Lth layer and a reference reference line K when the cell is wound to the Lth layer, and d1 represents the cathode of the Lth layer when the cell is wound to the Lth layer The distance between one edge of the sheet T2 and a reference reference line K.

当通过上述S11-S14的方法对图4、图5中关于“CCD1”、“CCD2”处的区域进行检测时,根据第L层对应的补偿数据对图像识别出的间距参数进行调整,从而提升检测精度。例如,在原本因聚焦不清晰问题导致阴极片T2、隔膜T3、阳极片T1等卷绕材料在第一采集图像中出现位置模糊现象时,模糊的第一采集图像中识别出的d1、d2可能相较于实际情况有所偏差(偏大或偏小),通过上述S13-S14进行补偿后,将d1、d2调整为精确度更高的d1’、d2’,以此有利于使得电芯的卷绕材料(阴极片T1、隔膜T3、阳极片T1)能够进行精确卷绕,提升产品的质量。When the areas at "CCD1" and "CCD2" in Fig. 4 and Fig. 5 are detected by the methods of S11-S14 above, the spacing parameters identified in the image are adjusted according to the compensation data corresponding to the Lth layer, so as to improve the Detection accuracy. For example, when the cathode sheet T2, diaphragm T3, anode sheet T1 and other winding materials are blurred in the first captured image due to unclear focus, the d1 and d2 identified in the blurred first captured image may be Compared with the actual situation, there are some deviations (larger or smaller), after compensation through the above S13-S14, adjust d1, d2 to d1', d2' with higher accuracy, which is beneficial to make the cell's The winding materials (cathode sheet T1, separator T3, anode sheet T1) can be accurately wound to improve product quality.

下面将对补偿数据的确定过程进行介绍。The process of determining the compensation data will be described below.

在本申请实施例中,为了确定目标产品在当前层的补偿数据,上述S13可以包括步骤S131。In this embodiment of the present application, in order to determine the compensation data of the target product at the current layer, the above S13 may include step S131.

S131:通过预先计算出的补偿表达式以及目标产品的当前层数,确定目标产品在当前层的补偿数据。S131: Determine the compensation data of the target product at the current layer by using the pre-calculated compensation expression and the current layer number of the target product.

其中,预先计算出的补偿表示式可以是拟合得到的线性补偿表达式,在确定出目标产品的当前层数时,将目标产品的当前层数代入补偿表达式即可计算出目标产品在当前层的补偿数据。The pre-calculated compensation expression can be a linear compensation expression obtained by fitting. When the current number of layers of the target product is determined, the current number of layers of the target product is substituted into the compensation expression to calculate the current number of layers of the target product. compensation data for the layer.

补偿表达式可以为:

Figure BDA0002394075570000121
其中,
Figure BDA0002394075570000122
表示补偿数据,
Figure BDA0002394075570000123
是线性补偿参数,x表示产品层数。The compensation expression can be:
Figure BDA0002394075570000121
in,
Figure BDA0002394075570000122
represents the compensation data,
Figure BDA0002394075570000123
is the linear compensation parameter, and x represents the number of product layers.

通过上述实现方式,可以在产品的实时卷绕检测过程中,确定出每一层的测量偏差量,从而对每层的检测数据进行补偿修正,提升最终的检测精度。Through the above implementation manner, the measurement deviation of each layer can be determined during the real-time winding detection process of the product, so that the detection data of each layer can be compensated and corrected to improve the final detection accuracy.

为了得到可靠的补偿数据,在执行S131之前可以通过步骤S101-S102得到补偿表达式。In order to obtain reliable compensation data, the compensation expression can be obtained through steps S101-S102 before executing S131.

S101:获取卷绕测试产品的多组测量偏差数据,多组测量偏差数据中的每组数据包括偏差量以及偏差量对应的产品层数。S101: Acquire multiple sets of measurement deviation data of the winding test product, and each set of data in the multiple sets of measurement deviation data includes the deviation and the number of product layers corresponding to the deviation.

其中,在进行实际的卷绕生产以得到目标产品之前(即在S11之前),对卷绕测试产品进行测试,以获取卷绕测试产品的多组测量偏差数据。卷绕测试产品是与目标产品同类型的产品,例如,卷绕测试产品与目标产品可以是相同型号的卷绕电芯。Wherein, before the actual winding production is performed to obtain the target product (ie, before S11 ), the winding test product is tested to obtain multiple sets of measurement deviation data of the winding test product. The winding test product is a product of the same type as the target product. For example, the winding test product and the target product may be wound cells of the same type.

作为S101的一种实现方式,S101包括子步骤S1011-S1013。As an implementation manner of S101, S101 includes sub-steps S1011-S1013.

S1011:在视觉检测设备的聚焦面聚集在卷绕测试产品的指定层位置时,确定视觉检测设备的固定视野。S1011: Determine a fixed field of view of the visual inspection device when the focal plane of the visual inspection device gathers at the designated layer position of the winding test product.

S1012:在卷绕测试产品的层数调节过程中,获取视觉检测设备在固定视野内采集的棋盘格图像,得到卷绕测试产品在各层厚度下分别对应的棋盘格图像。S1012: In the process of adjusting the number of layers of the winding test product, acquire the checkerboard image collected by the visual inspection equipment in the fixed field of view, and obtain the checkerboard image corresponding to each layer thickness of the winding test product.

S1013:基于在各层厚度下得到的棋盘格图像中指定个数的棋盘格对应的像素个数,以及视觉检测设备在固定视野下的理论图像精度,确定卷绕测试产品在各层厚度下分别对应的偏差量,得到卷绕测试产品的多组测量偏差数据。S1013: Based on the number of pixels corresponding to the specified number of checkerboards in the checkerboard image obtained under the thickness of each layer, and the theoretical image accuracy of the visual inspection equipment under a fixed field of view, determine the respective thicknesses of the winding test products under each layer thickness. Corresponding deviations are obtained, and multiple sets of measurement deviation data of the winding test product are obtained.

由于在执行S1011时还未正式进行测试,根据镜头的景深特性,结合针孔成像原理,可以通过视觉检测设备的镜头调焦环进行聚焦调节,使得该视觉检测设备聚焦于图6所示的聚焦清晰面Q2(图6中的P表示视觉检测设备的镜头位置),该聚焦清晰面Q2可以对应电芯产品的指定层位置,例如指定层位置可以在卷绕电芯内侧面,也可以是卷绕电芯中间面,还可以是卷绕电芯外侧面。若将聚焦清晰面Q2聚焦在卷绕电芯中间面,可以兼容以聚焦面位置为基准的内外侧一定厚度,使得后续测试过程中有更多的图像是清晰的。Since the test has not been formally carried out when S1011 is executed, according to the depth of field characteristics of the lens, combined with the principle of pinhole imaging, the focus adjustment can be performed through the lens focusing ring of the visual inspection device, so that the visual inspection device can focus on the focus shown in Figure 6. The clear surface Q2 (P in Figure 6 represents the lens position of the visual inspection device), the focusing clear surface Q2 can correspond to the specified layer position of the battery cell product, for example, the specified layer position can be on the inner side of the wound battery core, or it can be a roll The middle surface of the wound cell can also be the outer side of the wound cell. If the focusing clear surface Q2 is focused on the middle surface of the wound cell, it can be compatible with a certain thickness of the inner and outer sides based on the position of the focusing surface, so that more images are clear in the subsequent testing process.

当确定固定视野时,还可以在进行图像采集之前,计算视觉检测设备在该固定视野下的理论图像精度。When the fixed field of view is determined, the theoretical image accuracy of the visual inspection device under the fixed field of view may also be calculated before image acquisition.

作为一种实现方式,可以先获取该视觉检测设备的视野参数,以及获取该视觉检测设备的芯片像素数量,然后根据该视野参数以及该芯片像素数量,计算该视觉检测设备的理论图像精度,作为该视觉检测设备在该固定视野下的理论图像精度。As an implementation manner, the visual field parameter of the visual inspection device and the number of chip pixels of the visual inspection device can be obtained first, and then the theoretical image accuracy of the visual inspection device can be calculated according to the field of view parameter and the number of chip pixels, as The theoretical image accuracy of the visual inspection device under the fixed field of view.

其中,每个视觉检测设备都有用于成像的芯片,芯片物理尺寸长边与像元物理尺寸的长边比值为在芯片长边方向的像素个数,芯片物理尺寸宽边与像元物理尺寸的宽边比值为在芯片宽边方向的像素个数。基于此原理,若将固定视野的尺寸调节为H*W,单位为mm,得到该视觉检测设备的视野参数。获取到的相机芯片像素个数为M*N,单位为pixel,作为该视觉检测设备的芯片像素数量,通过以下精度计算表达式可以计算出该视觉检测设备在长、宽方向上的图像理论计算精度分别为η1、η2,以此得到视觉检测设备在该固定视野下的理论图像精度。计算出的理论图像精度可用于参与S1013的计算,从而得到补偿数据。Among them, each visual inspection device has a chip for imaging, the ratio of the long side of the physical size of the chip to the long side of the physical size of the pixel is the number of pixels in the direction of the long side of the chip, and the ratio of the wide side of the physical size of the chip to the physical size of the pixel The aspect ratio is the number of pixels in the width direction of the chip. Based on this principle, if the size of the fixed field of view is adjusted to H*W, and the unit is mm, the field of view parameters of the visual inspection device are obtained. The obtained number of camera chip pixels is M*N, and the unit is pixel. As the number of chip pixels of the visual inspection device, the theoretical calculation of the image in the length and width directions of the visual inspection device can be calculated by the following precision calculation expressions. The accuracy is η1 and η2 respectively, so as to obtain the theoretical image accuracy of the visual inspection equipment under the fixed field of view. The calculated theoretical image accuracy can be used to participate in the calculation of S1013 to obtain compensation data.

精度计算表达式包括:Precision calculation expressions include:

η1=H/M(mm/pixel);η1=H/M (mm/pixel);

η2=W/N(mm/pixel)。η2=W/N (mm/pixel).

关于S1012-S1013,当视觉检测设备的聚焦面被确定以得到固定视野后,对卷绕测试产品进行层数调节。在层数调节过程中,在选定的层数,控制视觉检测设备对固定视野范围内的棋盘格标定板进行拍照(每层都重新放棋盘格标定板并拍照),得到各层对应的棋盘格图像。并基于棋盘格标定板在该固定视野范围内的每组图像,得到每组图像中指定个数的棋盘格对应的像素个数。Regarding S1012-S1013, after the focal plane of the visual inspection equipment is determined to obtain a fixed field of view, the number of layers is adjusted for the winding test product. In the process of adjusting the number of layers, at the selected number of layers, control the visual inspection equipment to take pictures of the checkerboard calibration board within the fixed field of view (replace the checkerboard calibration board for each layer and take pictures), and obtain the checkerboard corresponding to each layer. grid image. And based on each group of images of the checkerboard calibration board within the fixed field of view, the number of pixels corresponding to the specified number of checkerboards in each group of images is obtained.

假设聚焦清晰面Q2对应卷绕测试产品的第5层,在第5层处放置的棋盘格标定板被视觉检测设备拍摄,得到一次棋盘格图像,此时得到指定个数的棋盘格对应的像素个数(此时测得的值可以视作真实值)。Assuming that the focus clear surface Q2 corresponds to the fifth layer of the winding test product, the checkerboard calibration plate placed on the fifth layer is photographed by the visual inspection equipment, and a checkerboard image is obtained. At this time, the pixels corresponding to the specified number of checkerboards are obtained. The number (the value measured at this time can be regarded as the real value).

例如,可以在固定视野下将标准的1mm*1mm的棋盘格标定板置于视觉检测设备的聚焦清晰面对应的视野范围内,取横向10个棋盘格,即10个1mm*1mm的棋盘格,使用与该棋盘格标定板匹配的软件测量工具(例如与康耐视棋盘格标定板匹配的康耐视软件测量工具)测得10个棋盘格的像素个数M0。For example, a standard 1mm*1mm checkerboard calibration board can be placed in the field of view corresponding to the clear focus surface of the visual inspection equipment under a fixed field of view, and 10 horizontal checkerboards are taken, that is, 10 1mm*1mm checkerboards , and measure the pixel number M0 of 10 checkerboards by using a software measurement tool matched with the checkerboard calibration board (for example, a Cognex software measurement tool matched with the Cognex checkerboard calibration board).

结合预先得到的该视觉检测设备在该固定视野H*W下的理论图像精度η1,假设卷绕测试产品(电芯)具有n层,且清晰聚焦面Q2聚集在中间面对应的n/2层(例如第5层),那么可得出10个1mm*1mm的棋盘格在该视觉检测设备下的实际测量值为:S(n/2)=M0*η1,单位:mm。Combined with the pre-obtained theoretical image accuracy η1 of the visual inspection device under the fixed field of view H*W, it is assumed that the winding test product (cell) has n layers, and the clear focus surface Q2 is gathered at n/2 corresponding to the middle surface layer (for example, the fifth layer), then the actual measurement value of 10 1mm*1mm checkerboards under the visual inspection equipment can be obtained: S(n/2)=M0*η1, unit: mm.

按照计算S(n/2)的相同原理,可以在对卷绕测试产品的层数调节过程中,对选定的各层(第1、2、3……n-1、n层)分别进行棋盘格拍照,并分别计算出选定的各层对应的测量值S1,S2,S3……Sn-1,Sn,这些测量值的单位是mm。According to the same principle of calculating S(n/2), in the process of adjusting the number of layers of the winding test product, each selected layer (the 1st, 2nd, 3rd...n-1, n layers) can be adjusted separately. The checkerboard is photographed, and the measured values S1, S2, S3... Sn-1, Sn corresponding to the selected layers are calculated respectively, and the unit of these measured values is mm.

当层数增加或减少时,例如产品越卷越厚,卷绕增加到第7层时(可能对应图6中的Q1位置),由于产品的表面偏离了聚焦面Q2,在第7层得到的棋盘格图像中,10个棋盘格标定板对应的像素个数可能不是M0,测量值不再是S(n/2)。同理,当层数减少时,产品表面可能处于图6中的Q3位置,由于偏离了产品的表面偏离了聚焦面Q2,此时得到的棋盘格图像中,10个棋盘格标定板对应的像素个数可能不是M0,测量值不再是S(n/2)。When the number of layers increases or decreases, for example, the product becomes thicker and thicker, and the winding increases to the 7th layer (possibly corresponding to the Q1 position in Figure 6), since the surface of the product deviates from the focusing plane Q2, the result obtained at the 7th layer In the checkerboard image, the number of pixels corresponding to 10 checkerboard calibration plates may not be M0, and the measured value is no longer S(n/2). Similarly, when the number of layers is reduced, the product surface may be at the position of Q3 in Figure 6. Since the surface of the product deviates from the focus plane Q2, in the checkerboard image obtained at this time, the pixels corresponding to the 10 checkerboard calibration plates are The number may not be M0, and the measured value is no longer S(n/2).

当通过上述原理对从电芯内侧面至电芯外侧面的各层,都分别测量出10个棋盘格在H*W的固定视野下对应的像素个数,且分别计算出各层的测量值S1,S2,S3……Sn-1,Sn后,根据这些测量值与聚焦清晰面下测得的值S(n/2)进行比较,根据ΔSn=Sn–S(n/2)的表达式得到各层的测量值S1,S2,S3……Sn-1,Sn分别与S(n/2)的偏差量:ΔS1,ΔS2,ΔS3……ΔSn-1,ΔSn,作为S1013中的卷绕测试产品在各层厚度下分别对应的偏差量,得到卷绕测试产品的多组测量偏差数据。When the above principle is used to measure the number of pixels corresponding to 10 checkerboards in the fixed field of view of H*W for each layer from the inner side of the cell to the outer side of the cell, and calculate the measured value of each layer. After S1, S2, S3...Sn-1, Sn, compare these measured values with the value S(n/2) measured under the sharp focus surface, according to the expression ΔSn=Sn–S(n/2) Obtain the deviations of the measured values S1, S2, S3...Sn-1, Sn of each layer from S(n/2) respectively: ΔS1, ΔS2, ΔS3...ΔSn-1, ΔSn, as the winding test in S1013 The corresponding deviation of the product under each layer thickness is obtained, and multiple sets of measurement deviation data of the winding test product are obtained.

基于这些偏差量ΔS1,ΔS2,ΔS3……ΔSn-1,ΔSn以及每个偏差量分别对应的产品层数:1,2,3……n-1,n可以建立补偿坐标系,得到卷绕测试产品的多组测量偏差数据(1,ΔS1),(2,ΔS2)……(n-1,ΔSn-1),(n,ΔSn)。Based on these deviations ΔS1, ΔS2, ΔS3...ΔSn-1, ΔSn and the number of product layers corresponding to each deviation: 1, 2, 3...n-1, n, a compensation coordinate system can be established to obtain the winding test Multiple sets of measurement deviation data of the product (1, ΔS1), (2, ΔS2)...(n-1, ΔSn-1), (n, ΔSn).

前述S1011-S1013的实现方式是以固定视野的一个维度进行介绍说明的(只用了精度η1),可以理解的是,依据前述的原理,还可以计算出另一个维度的偏差量,在计算另一维度的偏差量时仅需更换棋盘格标定板的放置方向,并将精度η1替换为η2即可,该另一维度的偏差量可用于对其他测量方向的间距参数进行补偿。The aforementioned implementations of S1011-S1013 are described in terms of one dimension of the fixed field of view (only the precision η1 is used). When there is a deviation in one dimension, it is only necessary to change the placement direction of the checkerboard calibration plate, and replace the accuracy η1 with η2. The deviation in the other dimension can be used to compensate the spacing parameters in other measurement directions.

通过上述实现方式,S1011-S1013的实现方式可以得到因产品厚度变化导致产品表面偏离视觉检测设备的成像聚焦清晰面所导致的测量偏离量,有利于得到可靠度较高的补偿数据。Through the above implementation methods, the implementation methods of S1011-S1013 can obtain the measurement deviation caused by the deviation of the product surface from the imaging focusing clear surface of the visual inspection device due to the change of the product thickness, which is beneficial to obtain compensation data with high reliability.

S102:基于多组测量偏差数据中的每个偏差量以及每个偏差量对应的产品层数,拟合计算得到补偿表达式。S102: Based on each deviation in the multiple sets of measurement deviation data and the number of product layers corresponding to each deviation, a compensation expression is obtained by fitting and calculation.

其中,在S102中可以根据前述实施方式中得到的多组测量偏差数据(1,ΔS1),(2,ΔS2)……(n-1,ΔSn-1),(n,ΔSn),基于各个ΔS1,ΔS2,ΔS3……ΔSn-1,ΔSn以及每个偏差量分别对应的产品层数:1,2,3……n-1,n,拟合计算出前述的补偿表达式。Wherein, in S102, according to the multiple sets of measurement deviation data (1, ΔS1), (2, ΔS2)...(n-1, ΔSn-1), (n, ΔSn) obtained in the foregoing embodiments, based on each ΔS1 , ΔS2, ΔS3...ΔSn-1, ΔSn and the number of product layers corresponding to each deviation: 1, 2, 3...n-1, n, and the aforementioned compensation expression is calculated by fitting.

拟合计算过程可以包括:The fitting calculation process can include:

Figure BDA0002394075570000161
Figure BDA0002394075570000161

Figure BDA0002394075570000162
Figure BDA0002394075570000162

Figure BDA0002394075570000163
Figure BDA0002394075570000163

Figure BDA0002394075570000164
Figure BDA0002394075570000164

其中,

Figure BDA0002394075570000165
分别表示层数平均值、补偿数据的平均值,n表示产品层数,ΔSn表示第n层的偏差量;
Figure BDA0002394075570000166
表示线性补偿参数。将前述的多组测量偏差数据代入上述拟合计算过程中,计算得出线性回归方程
Figure BDA0002394075570000171
即为前述的补偿表达式,以此得到视觉检测设备在实际测量过程中因产品厚度变化所对应的偏差规律。in,
Figure BDA0002394075570000165
Represents the average value of layers and the average value of compensation data, n represents the number of product layers, and ΔSn represents the deviation of the nth layer;
Figure BDA0002394075570000166
Indicates the linear compensation parameter. Substitute the aforementioned multiple sets of measurement deviation data into the above fitting calculation process, and calculate the linear regression equation
Figure BDA0002394075570000171
It is the aforementioned compensation expression, so as to obtain the deviation law of the visual inspection equipment due to the change of product thickness during the actual measurement process.

根据补偿表达式对应的规律,可以在S11-S14的实际卷绕生产过程中,依据实际生产过程中卷绕的产品层数确定出各层对应的补偿数据,从而利用补偿数据对第一采集图像得出的检测数据进行补偿,将每一层的第一采集图像对应的检测数据加上视觉检测设备在相应层的偏差量,以此得到实际的检测结果,即,

Figure BDA0002394075570000172
According to the law corresponding to the compensation expression, in the actual winding production process of S11-S14, the compensation data corresponding to each layer can be determined according to the number of product layers wound in the actual production process, so that the compensation data can be used for the first captured image. The obtained detection data is compensated, and the detection data corresponding to the first captured image of each layer is added to the deviation of the visual detection equipment in the corresponding layer, so as to obtain the actual detection result, that is,
Figure BDA0002394075570000172

其中Sx表示前述步骤S14中最终的检测结果,表示前述步骤S12中得到的间距参数,

Figure BDA0002394075570000173
表示前述步骤S13中确定出的补偿数据。Wherein Sx represents the final detection result in the aforementioned step S14, and represents the spacing parameter obtained in the aforementioned step S12,
Figure BDA0002394075570000173
Indicates the compensation data determined in the aforementioned step S13.

在S11-S14的实际卷绕生产过程中,若电芯卷绕至第一层,根据采集到的第一采集图像测量出一种测量项(可以是图5中的d1或d2)的数值为Sx0,由于前述实施方式中聚焦清晰面的位置未在第一层,因此通过第一采集图像测得的Sx0不是真实值,若要得到第一层的真实值,需要在Sx0的基础上叠加根据补偿表达式确定出的偏差量

Figure BDA0002394075570000174
以实现检测补偿效果。In the actual winding production process of S11-S14, if the cell is wound to the first layer, the value of a measurement item (which can be d1 or d2 in Figure 5) is measured according to the first captured image as: Sx0, since the position of the clear focus surface in the aforementioned embodiment is not in the first layer, the Sx0 measured by the first captured image is not the real value. To obtain the real value of the first layer, it is necessary to superimpose the The offset determined by the compensation expression
Figure BDA0002394075570000174
In order to achieve the detection compensation effect.

可以理解的是,在其他实施例中,在确定补偿数据的过程中可以其他层数对应的表面作为固定的聚焦清晰面,但需要保证S11-S14的图像采集条件与确定补偿数据时的采集条件相同,只要能够在固定视野下得到产品表面偏离聚焦清晰面所出现的偏差规律即可。It can be understood that, in other embodiments, in the process of determining the compensation data, the surface corresponding to other layers can be used as the fixed focusing clear surface, but it is necessary to ensure the image acquisition conditions of S11-S14 and the acquisition conditions when determining the compensation data. The same, as long as the deviation law of the product surface deviating from the focused clear surface can be obtained under a fixed field of view.

基于同一发明构思,请参阅图7,本申请实施例还提供一种产品的检测补偿装置700,该装置可用于执行前述的产品的检测补偿方法,从而提升产品在实际卷绕生产过程中的检测精度,提升对于卷绕产品的表面检测准确性,利于后续纠偏。Based on the same inventive concept, please refer to FIG. 7 , an embodiment of the present application further provides a product detection and compensation device 700 , which can be used to execute the aforementioned product detection and compensation method, thereby improving the detection of products in the actual winding production process Accuracy, improve the surface detection accuracy of coiled products, and facilitate subsequent deviation correction.

如图7所示,该装置包括:图像获取模块701、检测模块702、确定模块703、补偿模块704。As shown in FIG. 7 , the apparatus includes: an image acquisition module 701 , a detection module 702 , a determination module 703 , and a compensation module 704 .

图像获取模块701,用于在产品卷绕过程中,获取视觉检测设备在固定视野下对目标产品进行图像采集得到的第一采集图像;An image acquisition module 701, configured to acquire a first captured image obtained by a visual inspection device performing image capture of a target product under a fixed field of view during the product winding process;

检测模块702,用于根据所述第一采集图像得到所述目标产品的间距参数,作为所述目标产品在当前层下对于卷绕材料的检测数据,所述间距参数用于表示各层的卷绕材料与选定的参考位置之间的间隙;The detection module 702 is used to obtain the distance parameter of the target product according to the first collected image, as the detection data of the target product on the winding material under the current layer, the distance parameter is used to indicate the volume of each layer the gap between the wound material and the selected reference position;

确定模块703,用于根据在采集所述第一采集图像时对应的所述目标产品的当前层数,确定所述目标产品在当前层的补偿数据;A determination module 703, configured to determine the compensation data of the target product at the current layer according to the current layer number of the target product corresponding to the first captured image;

补偿模块704,用于根据所述目标产品在当前层的补偿数据,对所述目标产品在当前层下对应的所述卷绕材料的检测数据进行校准,得到所述目标产品在当前层的检测结果。The compensation module 704 is configured to calibrate the detection data of the coiled material corresponding to the target product under the current layer according to the compensation data of the target product at the current layer to obtain the detection data of the target product at the current layer result.

可选地,确定模块703还用于:通过预先计算出的补偿表达式以及目标产品的当前层数,确定目标产品在当前层的补偿数据。Optionally, the determining module 703 is further configured to: determine the compensation data of the target product at the current layer by using the pre-calculated compensation expression and the current layer number of the target product.

可选地,该装置还可以包括计算模块,计算模块用于:获取卷绕测试产品的多组测量偏差数据,多组测量偏差数据中的每组数据包括偏差量以及偏差量对应的产品层数;基于多组测量偏差数据中的每个偏差量以及每个偏差量对应的产品层数,拟合计算得到补偿表达式。Optionally, the device may also include a calculation module, the calculation module is used to: obtain multiple sets of measurement deviation data of the winding test product, and each set of data in the multiple sets of measurement deviation data includes the deviation and the number of product layers corresponding to the deviation. ; Based on each deviation in the multiple sets of measurement deviation data and the number of product layers corresponding to each deviation, the compensation expression is obtained by fitting calculation.

可选地,该计算模块还可以包括初始化模块,该初始化模块用于在所述视觉检测设备的聚焦面聚集在所述卷绕测试产品的指定层位置时,确定所述视觉检测设备的固定视野;该图像获取模块701还可用于在所述卷绕测试产品的层数调节过程中,获取所述视觉检测设备在所述固定视野内采集的棋盘格图像,得到所述卷绕测试产品在各层厚度下分别对应的棋盘格图像;初始化模块还可用于基于在各层厚度下得到的所述棋盘格图像中指定个数的棋盘格对应的像素个数,以及所述视觉检测设备在所述固定视野下的理论图像精度,确定所述卷绕测试产品在各层厚度下分别对应的偏差量,得到所述卷绕测试产品的多组测量偏差数据。Optionally, the computing module may further include an initialization module, which is used to determine the fixed field of view of the visual inspection device when the focusing surface of the visual inspection device is gathered at the designated layer position of the winding test product. ; The image acquisition module 701 can also be used to acquire the checkerboard image collected by the visual inspection equipment in the fixed field of view during the adjustment process of the number of layers of the winding test product, and obtain the results of the winding test product in each The corresponding checkerboard images under the layer thicknesses; the initialization module can also be used for the number of pixels corresponding to the specified number of checkerboards in the checkerboard images obtained under the thickness of each layer, and the visual detection device in the The theoretical image accuracy under a fixed field of view is used to determine the corresponding deviations of the winding test product under each layer thickness, and multiple sets of measurement deviation data of the winding test product are obtained.

可选地,该初始化模块还可用于计算所述视觉检测设备在所述固定视野下的理论图像精度。Optionally, the initialization module can also be used to calculate the theoretical image accuracy of the visual detection device under the fixed field of view.

关于该产品的检测补偿装置700的其他细节,请进一步参考前述关于产品的检测补偿方法的相关描述,在此不再赘述。For other details of the detection and compensation device 700 of the product, please refer to the above-mentioned relevant description of the detection and compensation method of the product, which will not be repeated here.

除了上述实施例以外,请参阅图8,本申请实施例还提供一种产品监测系统,该系统包括视觉检测设备110以及与视觉检测设备110连接的控制设备120。In addition to the above embodiments, referring to FIG. 8 , an embodiment of the present application further provides a product monitoring system, which includes a visual inspection device 110 and a control device 120 connected to the visual inspection device 110 .

视觉检测设备110用于在产品的卷绕过程中,以固定视野对卷绕的产品进行图像采集。The visual inspection device 110 is used to capture images of the wound product with a fixed field of view during the product winding process.

其中,视觉检测设备110可包括相机机身、工业镜头、工业光源等进行图像采集所需的结构,相机机身与工业镜头搭配安装,根据针孔成像原理,在拍摄对象不变时,调节镜头与拍摄对象的距离可以获得不同大小的视野,但在本申请实施例中,是以固定视野条件进行图像采集。Among them, the visual inspection device 110 may include a camera body, an industrial lens, an industrial light source, and other structures required for image acquisition. The camera body and the industrial lens are installed together. According to the principle of pinhole imaging, when the shooting object remains unchanged, the lens is adjusted. The distance from the object to be photographed can obtain fields of view of different sizes, but in the embodiment of the present application, image acquisition is performed under the condition of a fixed field of view.

控制设备120具有运算处理能力,可以内置在视觉检测设备110中,也可以作为视觉检测设备110的外部设备。例如,控制设备120可以是与视觉检测设备110通信连接的工控机,能够获取视觉检测设备110采集的图像,还能够根据已有的视觉处理软件对图像进行分析识别,还可控制视觉检测设备110进行图像采集。The control device 120 has an arithmetic processing capability, and can be built into the visual inspection device 110 , or can be used as an external device of the visual inspection device 110 . For example, the control device 120 may be an industrial computer connected to the visual inspection device 110 in communication, which can acquire images collected by the visual inspection device 110, analyze and recognize the images according to the existing visual processing software, and also control the visual inspection device 110. Perform image acquisition.

如图9所示,该控制设备120包括存储器121、处理器122、通信单元123,存储器121、处理器122、通信单元123之间直接或间接连接,以实现数据交互。As shown in FIG. 9 , the control device 120 includes a memory 121 , a processor 122 , and a communication unit 123 , and the memory 121 , the processor 122 , and the communication unit 123 are directly or indirectly connected to realize data interaction.

存储器121是一种存储介质,可以是高速RAM存储器,也可以是非易失性存储器(non-volatile memory),例如至少一个磁盘存储器。存储器121可用于存储前述产品的检测补偿装置700中的各个功能模块及对应的计算机程序。处理器122可以执行存储器121中存储的软件功能模块,从而执行前述的方法。The memory 121 is a storage medium, which may be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 121 can be used to store various functional modules and corresponding computer programs in the aforementioned product detection and compensation device 700 . The processor 122 may execute the software function modules stored in the memory 121 to perform the aforementioned methods.

处理器122具有运算处理能力,可以是中央处理器(Central Processing Unit,CPU)、网络处理器(Network Processor,NP)等通用处理器;还可以是专用处理器或者其他可编程逻辑器件搭建的处理器。处理器122可以实现本申请实施例提供的方法、步骤及逻辑框图。存储器121中存储有处理器122可执行的计算机程序,当计算机程序被处理器122执行时执行前述的产品的检测补偿方法。The processor 122 has computing processing capability, and can be a general-purpose processor such as a central processing unit (CPU), a network processor (NP), or the like; it can also be a special-purpose processor or a processor built by other programmable logic devices. device. The processor 122 may implement the methods, steps, and logical block diagrams provided by the embodiments of the present application. A computer program executable by the processor 122 is stored in the memory 121, and when the computer program is executed by the processor 122, the aforementioned method for detecting and compensating a product is executed.

通信单元123可以包括通讯总线、通信卡口、通信芯片等用于实现有线或无线通信的介质,控制设备120可通过通信单元123与视觉检测设备110进行数据交互,还可以通过通信单元123与控制卷绕产品进行卷绕的执行机构进行数据交互。The communication unit 123 may include a communication bus, a communication bayonet, a communication chip, etc. for realizing wired or wireless communication. The winding product is wound by the actuator for data interaction.

其中,图9所示结构仅作为示意,具体应用时可以有更多的组件,或具有不同于图9所示的其他配置方式。例如,控制设备120还可具有显示单元,用以显示检测过程中得到的图像、依据图像得到的测量值以及最终的检测结果等数据。The structure shown in FIG. 9 is only for illustration, and there may be more components in specific applications, or other configuration modes different from those shown in FIG. 9 . For example, the control device 120 may further have a display unit for displaying data such as images obtained during the detection process, measurement values obtained according to the images, and final detection results.

除了上述实施例外,本申请实施例还提供一种存储介质,存储介质上存储有计算机程序,计算机程序被处理器122执行时执行前述的产品的检测补偿方法。该存储介质可以是处理器122能够存取的任何可用介质,该可用介质可以是磁性介质(例如,软盘、硬盘、磁带)、光介质(例如,DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。In addition to the above embodiments, the embodiments of the present application also provide a storage medium, where a computer program is stored thereon, and the computer program is executed by the processor 122 to execute the aforementioned product detection and compensation method. The storage medium may be any available medium that can be accessed by the processor 122, which may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state drives, Solid State Drives) Disk (SSD)) and so on.

在本申请所提供的实施例中,应该理解到,所揭露装置和方法,可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的,例如,单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,又例如,多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所讨论的相互之间的连接可以是通过一些通信接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the mutual connection discussed may be through some communication interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

再者,在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分,也可以是各个模块单独存在,也可以两个或两个以上模块集成形成一个独立的部分。Furthermore, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。In this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such existence between these entities or operations. The actual relationship or sequence.

以上仅为本申请的实施例而已,并不用于限制本申请的保护范围,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。The above are only examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (9)

1. A method for detection compensation of a product, the method comprising:
in the product winding process, acquiring a first acquisition image obtained by acquiring an image of a target product by a visual detection device under a fixed visual field;
obtaining a distance parameter of the target product according to the first collected image, wherein the distance parameter is used as detection data of the target product for the winding material under the current layer, and the distance parameter is used for representing a gap between the winding material of each layer and a selected reference position;
determining compensation data of the target product on the current layer according to the current layer number of the target product corresponding to the first collected image;
calibrating the detection data of the winding material corresponding to the target product on the current layer according to the compensation data of the target product on the current layer to obtain the detection result of the target product on the current layer;
and calculating the theoretical image precision of the visual detection equipment under the fixed vision field before image acquisition.
2. The method of claim 1, wherein determining compensation data for the target product at a current layer comprises:
and determining the compensation data of the target product on the current layer according to the pre-calculated compensation expression and the current layer number of the target product.
3. The method of claim 2, wherein before the determining the compensation data of the target product at the current layer according to the pre-calculated compensation expression and the current layer number of the target product, the method further comprises:
acquiring a plurality of groups of measurement deviation data of a winding test product, wherein each group of data in the plurality of groups of measurement deviation data comprises a deviation amount and a product layer number corresponding to the deviation amount;
and fitting and calculating to obtain the compensation expression based on each deviation amount in the multiple groups of measured deviation data and the number of product layers corresponding to each deviation amount.
4. The method of claim 3, wherein said obtaining a plurality of sets of measured deviation data for a coiled test product comprises:
determining a fixed field of view of the visual inspection device while a focal plane of the visual inspection device is focused at a designated layer location of the coiled test product;
acquiring checkerboard images collected by the visual detection equipment in the fixed view during the layer number adjusting process of the winding test product, and acquiring checkerboard images respectively corresponding to the winding test product under each layer thickness;
and determining deviation amounts respectively corresponding to the winding test product under each layer thickness based on the number of pixels corresponding to the specified number of checkerboards in the checkerboard image obtained under each layer thickness and the theoretical image precision of the visual detection equipment under the fixed visual field, so as to obtain multiple groups of measurement deviation data of the winding test product.
5. An apparatus for compensating for the detection of a product, the apparatus comprising:
the image acquisition module is used for acquiring a first acquisition image obtained by acquiring an image of a target product under a fixed view by visual detection equipment in the product winding process;
the detection module is used for obtaining a distance parameter of the target product according to the first collected image, the distance parameter is used as detection data of the target product for the winding material under the current layer, and the distance parameter is used for representing a gap between the winding material of each layer and a selected reference position;
the determining module is used for determining compensation data of the target product on the current layer according to the current layer number of the target product corresponding to the first collected image;
the compensation module is used for calibrating the detection data of the winding material corresponding to the target product on the current layer according to the compensation data of the target product on the current layer to obtain the detection result of the target product on the current layer;
the detection compensation device of the product is also used for calculating the theoretical image precision of the visual detection equipment under the fixed visual field before image acquisition.
6. The apparatus of claim 5, wherein the determining module is further configured to:
and determining the compensation data of the target product on the current layer according to the pre-calculated compensation expression and the current layer number of the target product.
7. The apparatus of claim 6, further comprising a computing module to:
acquiring a plurality of groups of measurement deviation data of a winding test product, wherein each group of data in the plurality of groups of measurement deviation data comprises a deviation amount and a product layer number corresponding to the deviation amount;
and fitting and calculating to obtain the compensation expression based on each deviation amount in the multiple groups of measured deviation data and the number of product layers corresponding to each deviation amount.
8. A product monitoring system is characterized by comprising a visual detection device and a control device connected with the visual detection device;
the visual detection equipment is used for acquiring images of the wound product in a fixed view during the winding process of the product;
the control device comprises a memory and a processor;
the memory has stored therein a computer program executable by the processor, the computer program, when executed by the processor, performing the method of any of claims 1-4.
9. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, performs the method of any one of claims 1-4.
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