CN113267145A - Method and device for controlling feeding of pole piece of winding machine, electronic equipment and storage medium - Google Patents

Method and device for controlling feeding of pole piece of winding machine, electronic equipment and storage medium Download PDF

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Publication number
CN113267145A
CN113267145A CN202110515244.3A CN202110515244A CN113267145A CN 113267145 A CN113267145 A CN 113267145A CN 202110515244 A CN202110515244 A CN 202110515244A CN 113267145 A CN113267145 A CN 113267145A
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pole piece
edge line
edge
camera
target
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CN113267145B (en
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不公告发明人
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Wuxi Lead Intelligent Equipment Co Ltd
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Wuxi Lead Intelligent Equipment Co Ltd
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    • 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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • 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
    • H01M10/05—Accumulators with non-aqueous electrolyte
    • H01M10/052—Li-accumulators
    • 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
    • H01M10/05—Accumulators with non-aqueous electrolyte
    • H01M10/058—Construction or manufacture
    • H01M10/0587—Construction or manufacture of accumulators having only wound construction elements, i.e. wound positive electrodes, wound negative electrodes and wound separators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M6/00—Primary cells; Manufacture thereof
    • H01M6/14—Cells with non-aqueous electrolyte
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Abstract

The application relates to a method and a device for controlling feeding of pole pieces of a winding machine, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a first shot picture and a second shot picture, wherein the first shot picture is obtained by shooting a first side edge of an upper pole piece by using a first camera, and the second shot picture is obtained by shooting a second side edge of the upper pole piece by using a second camera; according to the first shot picture and the second shot picture, determining an inclination angle of the surface of the upper pole piece relative to a target virtual plane, wherein the target virtual plane is perpendicular to a camera sight line of the first camera and a camera sight line of the second camera respectively; and determining the target blowing airflow when the upper pole piece is fed according to the inclination angle. This application can ensure to go up the pole piece and become the vertical relation with camera sight after adjusting the blowing air current, has improved the imaging quality, has improved measurement accuracy, has guaranteed electric core safety.

Description

Method and device for controlling feeding of pole piece of winding machine, electronic equipment and storage medium
Technical Field
The application relates to the technical field of computers, in particular to a method and a device for controlling feeding of a pole piece of a winding machine, electronic equipment and a storage medium.
Background
In the process of producing the lithium battery cell by the winding machine in a winding mode, the pole piece and the diaphragm need to be wound outside the winding needle at the same time so as to ensure the alignment degree of the pole piece and the diaphragm. But at the coiling in-process of pole piece, the pole piece usually can be in unsettled state, and this can lead to the pole piece can't press close to last diaphragm to produce the dog-ear when getting into to roll up the needle, influence the yields and the security performance of electric core then.
In the related art, the pole piece is blown by a blowing mechanism to prevent the pole piece from being in a suspended state, and the air flow is usually adjusted manually by a worker.
After the air current size reached certain threshold value, the diaphragm was pressed close to the pole piece, just can avoid the dog-ear to produce, but, the air current size still can influence the perpendicular relation of pole piece and camera sight simultaneously, and too big undersize's air current all can lead to the fact certain influence to formation of image, and the perpendicular relation of pole piece and camera sight is difficult to ensure in workman's manual regulation, and the position removal relation after the material of pole piece and dimensional change influence pole piece received the air current equally moreover, and the workman is difficult to adjust in real time.
Disclosure of Invention
The application provides a control method and device for pole piece feeding of a winding machine, electronic equipment and a storage medium, and aims to at least solve the problem of poor pole piece imaging quality caused by manually adjusting air flow of an air blowing mechanism in the related technology. The technical scheme of the application is as follows:
according to a first aspect of the embodiments of the present application, there is provided a method for controlling a feeding airflow around a machine pole piece, the method including: acquiring a first shot picture and a second shot picture, wherein the first shot picture is obtained by shooting a first side edge of an upper pole piece by using a first camera, and the second shot picture is obtained by shooting a second side edge of the upper pole piece by using a second camera; according to the first shot picture and the second shot picture, determining an inclination angle of the surface of the upper pole piece relative to the target virtual plane, wherein the target virtual plane is perpendicular to the camera sight line of the first camera and the camera sight line of the second camera respectively; and determining the target blowing airflow when the upper pole piece is fed according to the inclination angle.
Further, the determining, according to the first shot picture and the second shot picture, an inclination angle of the surface of the upper pole piece relative to a target virtual plane includes: performing edge detection on the first shot picture by using an edge detection algorithm to obtain a first edge line graph, wherein the first edge line graph comprises a first edge line corresponding to the first side edge, a second edge line corresponding to the upper edge of the upper pole piece and a third edge line corresponding to the lower edge of the upper pole piece; performing edge detection on the second shot picture by using an edge detection algorithm to obtain a second edge line graph, wherein the second edge line graph comprises a fourth edge line corresponding to the second side edge, a fifth edge line corresponding to the upper edge of the upper pole piece and a sixth edge line corresponding to the lower edge of the upper pole piece; determining a first target virtual straight line and a second target virtual straight line, wherein the first target virtual straight line is perpendicular to the second edge line and is located in the plane of the first shot picture, and the second target virtual straight line is perpendicular to the fifth edge line and is located in the plane of the second shot picture; determining an inclination angle of the surface of the upper pole piece with respect to the target virtual plane based on the first edge line drawing, the second edge line drawing, the first target virtual straight line, and the second target virtual straight line.
Further, the determining an inclination angle of the surface of the upper pole piece with respect to the target virtual plane based on the first edge line drawing, the second edge line drawing, the first target virtual straight line, and the second target virtual straight line includes: determining a first included angle between the first edge line and the first target virtual straight line; determining a second included angle between the fourth edge line and the second target virtual straight line; calibrating the first included angle positively and negatively according to the lengths of the second edge line and the third edge line to obtain a first target included angle; calibrating the second included angle positively and negatively according to the lengths of the fifth edge line and the sixth edge line to obtain a second target included angle; and determining the inclination angle of the surface of the upper pole piece relative to the target virtual plane according to the first target included angle and the second target included angle.
Further, the length of the second edge line and the length of the third edge line calibrate the first included angle positively and negatively to obtain a first target included angle; performing positive and negative calibration on the second included angle according to the lengths of the fifth edge line and the sixth edge line to obtain a second target included angle, wherein the method comprises the following steps: when the length of the second edge line is smaller than that of the third edge line, calibrating the first included angle as a negative value; when the length of the second edge line is greater than that of the third edge line, calibrating the first included angle to be a positive value; when the length of the fifth edge line is smaller than that of the sixth edge line, calibrating the second included angle as a negative value; and when the length of the fifth edge line is greater than that of the sixth edge line, calibrating the second included angle to be a positive value.
Further, the determining the target blowing airflow during feeding of the upper pole piece according to the inclination angle includes: when the feeding shooting mode is the single shooting mode, obtaining a pre-established first linear equation, wherein the first linear equation is used for representing the relation between the size of the blowing airflow and the size of the inclination angle; and determining the output quantity of the linear equation as the target blowing airflow when the upper pole piece is fed by taking the inclination angle as the input quantity of the linear equation.
Further, the determining the target blowing airflow during feeding of the upper pole piece according to the inclination angle includes: and when the feeding shooting mode is a multi-time shooting mode, determining the target blowing airflow during feeding of the upper pole piece in real time by utilizing a dynamic control algorithm according to the inclination angle obtained by shooting each time.
Further, the method further comprises: acquiring a second linear equation, wherein the second linear equation is used for representing the relation between the magnitude of the blowing airflow and the magnitude of the voltage borne by the blowing mechanism; and determining the target voltage borne by the blowing mechanism according to the target blowing airflow and the second linear equation.
According to a second aspect of the embodiments of the present application, there is provided a winding machine pole piece feeding control device, which is characterized in that the device includes: the device comprises a picture acquisition module, a picture processing module and a picture processing module, wherein the picture acquisition module is used for acquiring a first shot picture and a second shot picture, the first shot picture is obtained by shooting a first side edge of an upper pole piece by using a first camera, and the second shot picture is obtained by shooting a second side edge of the upper pole piece by using a second camera; an inclination angle determining module, configured to determine, according to the first captured picture and the second captured picture, an inclination angle of a surface of the upper pole piece with respect to a target virtual plane, where the target virtual plane is perpendicular to a camera line of sight of the first camera and a camera line of sight of the second camera, respectively; and the target blowing airflow determining module is used for determining the target blowing airflow when the upper pole piece is fed according to the inclination angle.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of any of the first aspects above.
According to a fourth aspect of embodiments herein, there is provided a computer-readable storage medium, wherein instructions, when executed by a processor of an electronic device, enable the electronic device to perform the method of any one of the first aspects of the embodiments herein.
According to a fifth aspect of embodiments of the present application, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of the first aspects of embodiments of the present application.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
in the embodiment of the application, a first shot picture and a second shot picture are obtained, the first shot picture is a picture obtained by shooting a first side edge of an upper pole piece by using a first camera, the second shot picture is a picture obtained by shooting a second side edge of the upper pole piece by using a second camera, and an inclination angle of the surface of the upper pole piece relative to a target virtual plane is determined according to the first shot picture and the second shot picture, and a target air blowing flow during feeding of the upper pole piece is determined according to the inclination angle. So, can ensure after adjusting the blowing flow, go up the pole piece and become the vertical relation with camera sight, improve imaging quality, improve measurement accuracy, guarantee electric core safety.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application and are not to be construed as limiting the application.
FIG. 1 is a schematic diagram of a pole piece feeding control system of a winding machine in the related art;
FIG. 2 is a schematic diagram of a winder pole piece feeding control system provided by an embodiment of the present application;
FIG. 3 is a flowchart of a method for controlling feeding of a pole piece of a winding machine according to an embodiment of the present disclosure;
fig. 4 is a flowchart of determining an inclination angle of a surface of the upper pole piece with respect to a target virtual plane in a feeding control method for a pole piece of a winding machine provided in an embodiment of the present application;
fig. 5 is a flowchart of determining an inclination angle of the surface of the upper pole piece with respect to the target virtual plane based on the first edge line diagram, the second edge line diagram, the first target virtual straight line and the second target virtual straight line in the winding machine pole piece feeding control method according to the embodiment of the present application;
FIG. 6 is a schematic view of a scene when a blowing air flow is appropriate in a winder pole piece feeding control method provided by the embodiment of the present application;
FIG. 7 is a schematic diagram illustrating a situation when a blowing air flows through a small amount in a method for controlling feeding of a pole piece of a winding machine according to an embodiment of the present application;
FIG. 8 is a schematic view of a scene when a blowing air flows through a large area in a winding machine pole piece feeding control method provided by the embodiment of the present application;
fig. 9 is a schematic structural diagram of a pole piece feeding control device of a winding machine according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a pole piece feeding control apparatus of a winding machine according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for presentation, analyzed data, etc.) referred to in the present application are both information and data authorized by the user or sufficiently authorized by each party.
The definitions of abbreviations and key terms that may be referred to in this application are as follows:
linear fitting: linear fitting is a form of curve fitting. Let x and y both be the quantities observed, and y be a function of x: and y is f (x; b), the curve fitting is to find the optimal estimated value of the parameter b through the observed values of x and y, and to find the optimal theoretical curve y is f (x; b). When the function y is a linear function of i with respect to b, such a curve fit is said to be a linear fit.
PID (proportional-derivative-integral control) method: the PID control is actually a PI control (proportional-integral control) or a PD control (proportional-derivative control). The PID controller calculates the control quantity by using proportion, integral and differential according to the error of the system to control.
A fuzzy control method: traditional control theory has strong and powerful control capability for definite systems, but does not work for systems which are too complex or difficult to describe accurately. Attempts have therefore been made to address these control problems with fuzzy mathematics. The fuzzy control system architecture comprises five main parts, namely, defining variables, fuzzification, a knowledge base, logic judgment and defuzzification.
In the process of producing the lithium battery cell by the winding machine in a winding mode, the pole piece and the diaphragm need to be wound outside the winding needle at the same time so as to ensure the alignment degree of the pole piece and the diaphragm. But at the coiling in-process of pole piece, the pole piece usually can be in unsettled state, and if the pole piece is in unsettled state, can lead to the pole piece can't press close to the diaphragm to produce the dog-ear when getting into the book needle, then influence the yields and the security performance of electric core.
In the related art, the pole piece is blown by a blowing mechanism to prevent the pole piece from sagging, and for the air flow, as shown in fig. 1, the air flow is usually adjusted manually by a worker. However, it is difficult for workers to ensure that the pole pieces are located at accurate positions through manual adjustment, and the material and size of the pole pieces also affect the position moving relationship of the pole pieces after the pole pieces are subjected to airflow, so that the workers are difficult to adjust in real time.
Based on this, the embodiment of the present application provides a method for controlling feeding of a pole piece of a winding machine, and optionally, in the embodiment of the present application, the method for controlling feeding of a pole piece of a winding machine may be applied to a pole piece feeding system of a winding machine as shown in fig. 2. Specifically, the winding machine pole piece feeding system at least comprises a winding needle, a lower diaphragm, a lower pole piece, an upper diaphragm, an upper pole piece, a first camera (i.e. the camera 1 in fig. 2), a second camera (i.e. the camera 2 in fig. 2, it is to be noted that the first camera and the second camera are arranged in parallel along the width direction of the upper pole piece, and when viewed from the angle of view in fig. 2, one camera is shielded by the other camera, so that only one camera image in fig. 2 is shown, an industrial personal computer, a switch, a PLC (Programmable Logic Controller), and an air blowing mechanism, wherein the first camera is used for shooting a first side edge of the upper pole piece to obtain a first shot picture, the second camera is used for shooting a second side edge of the upper pole piece to obtain a second shot picture, and the industrial personal computer can analyze the first shot picture and the second shot picture, and obtaining an inclination angle of the surface of the upper pole piece relative to a target virtual plane, wherein the switch is used for transmitting the inclination angle obtained by analysis of the industrial personal computer into a PLC (programmable logic controller), the PLC is used for processing the transmitted inclination angle to obtain a target blowing airflow during feeding of the upper pole piece, the target blowing airflow can be further converted into the voltage provided for the blowing mechanism, and the blowing mechanism is used for outputting the airflow according to the voltage provided and adjusting the position of the upper pole piece.
Optionally, the pole piece feeding system of the winding machine may further include a third camera (i.e., a camera 3 in fig. 2) and a fourth camera (i.e., a camera 4 in fig. 2, it should be noted that the third camera and the fourth camera are also arranged in parallel along the width direction of the upper pole piece, and when viewed from the perspective of fig. 2, one camera may be blocked by the other camera), where the third camera is configured to perform shooting detection on one side of the wound battery cell, and the fourth camera is configured to perform shooting detection on the other side of the wound battery cell.
Fig. 1 is a flow chart illustrating a method for controlling the feeding of a pole piece of a winding machine according to an exemplary embodiment, as shown in fig. 3, the method includes the following steps:
step S301: acquiring a first shot picture and a second shot picture, wherein the first shot picture is obtained by shooting a first side edge of an upper pole piece by using a first camera, and the second shot picture is obtained by shooting a second side edge of the upper pole piece by using a second camera;
in this application embodiment, go up the pole piece and include top edge, lower limb, first side and second side, wherein, the lower limb does go up the pole piece and be close to the edge of book needle when the pan feeding, the top edge be with the pole piece edge that the lower limb is relative, as shown in fig. 2, first side can do connect in the last pole piece the top edge with the side of one side of lower limb, the second side does go up in the pole piece with the side of the opposite side of first side (need to explain be, when observing from the visual angle of fig. 2, the second side can by the second side shelters from).
The first shot picture may include a light and dark boundary line corresponding to the first side edge, so that a first edge line corresponding to the first side edge may be extracted from the first shot picture, and the second shot picture may include a light and dark boundary line corresponding to the second side edge, so that a second edge line corresponding to the second side edge may be extracted from the second shot picture.
In practical application, the lens of the first camera and the lens of the second camera can be arranged on one side of the upper pole piece, which is far away from the upper diaphragm, the first camera is arranged on one side, which is close to the first side edge of the upper pole piece, and the second camera is arranged on one side, which is close to the second side edge of the upper pole piece, so that the first camera can be utilized to shoot the first side edge of the upper pole piece from the front surface of the upper pole piece, and the second camera can be utilized to shoot the second side edge of the upper pole piece from the front surface of the upper pole piece.
Step S303: according to the first shot picture and the second shot picture, determining an inclination angle of the surface of the upper pole piece relative to the target virtual plane, wherein the target virtual plane is perpendicular to the camera sight of the first camera and the camera sight of the second camera respectively;
in this embodiment of the application, the camera line of sight of the first camera may refer to a lens center line of the first camera, the camera line of sight of the second camera may refer to a lens center line of the second camera, and the target virtual plane may be a virtual plane extending downward from an upper edge of the upper pole piece and perpendicular to the camera line of sight of the first camera and the camera line of sight of the second camera, respectively.
In a specific embodiment, as shown in fig. 4, the determining the inclination angle of the surface of the upper pole piece relative to the target virtual plane according to the first shot picture and the second shot picture may include:
step S401: performing edge detection on the first shot picture by using an edge detection algorithm to obtain a first edge line graph, wherein the first edge line graph comprises a first edge line corresponding to the first side edge, a second edge line corresponding to the upper edge of the upper pole piece and a third edge line corresponding to the lower edge of the upper pole piece;
in this embodiment, the first captured picture may include a plurality of light and dark boundary lines, edge detection is performed on the plurality of light and dark boundary lines by using an edge detection algorithm, a point set including a series of points is obtained for each light and dark boundary line, and linear fitting is performed on the points in each point set to obtain a fitting line corresponding to each light and dark boundary line.
When the first camera is used for shooting the first side edge of the upper pole piece, the upper edge and the lower edge of the upper pole piece can be shot simultaneously, namely, the first shot picture comprises a bright-dark boundary line corresponding to the first side edge, a bright-dark boundary line corresponding to the upper edge and a bright-dark boundary line corresponding to the lower edge of the upper pole piece, so that after edge detection is carried out on a plurality of bright-dark boundary lines in the first shot picture, a first edge line graph comprising the first edge line, the second edge line and the third edge line can be obtained.
Step S403: performing edge detection on the second shot picture by using an edge detection algorithm to obtain a second edge line graph, wherein the second edge line graph comprises a fourth edge line corresponding to the second side edge, a fifth edge line corresponding to the upper edge of the upper pole piece and a sixth edge line corresponding to the lower edge of the upper pole piece;
in this embodiment, the second captured picture may also include a plurality of light and dark boundary lines, the edge detection algorithm is used to perform edge detection on the plurality of light and dark boundary lines, a point set including a series of points is obtained for each light and dark boundary line, and linear fitting is performed on the points in each point set to obtain a fitting line corresponding to each light and dark boundary line.
When the second camera is used for shooting the second side edge of the upper pole piece, the upper edge and the lower edge of the upper pole piece can be shot simultaneously, namely, the second shot picture comprises a light and shade boundary line corresponding to the second side edge, a light and shade boundary line corresponding to the upper edge and a light and shade boundary line corresponding to the lower edge of the upper pole piece, so that after edge detection is carried out on a plurality of light and shade boundary lines in the second shot picture, a second edge line graph comprising a fourth edge line, a fifth edge line and a sixth edge line can be obtained.
Step S405: determining a first target virtual straight line and a second target virtual straight line, wherein the first target virtual straight line is perpendicular to the second edge line and is located in the plane of the first shot picture, and the second target virtual straight line is perpendicular to the fifth edge line and is located in the plane of the second shot picture;
step S407: determining an inclination angle of the surface of the upper pole piece with respect to the target virtual plane based on the first edge line drawing, the second edge line drawing, the first target virtual straight line, and the second target virtual straight line.
In a specific embodiment, as shown in fig. 5, the determining the inclination angle of the surface of the upper pole piece relative to the target virtual plane based on the first edge line graph, the second edge line graph, the first target virtual straight line and the second target virtual straight line may include:
step S501: determining a first included angle between the first edge line and the first target virtual straight line; determining a second included angle between the fourth edge line and the second target virtual straight line;
in practical applications, as shown in fig. 6, when the blowing air flow is appropriate, the upper pole piece is located exactly on the target virtual plane, at this time, a first included angle between the first edge line and the first target virtual straight line is 0 (i.e., α ═ 0), and a second included angle between the fourth edge line and the second target virtual straight line is also 0 (i.e., β ═ 0).
Step S503: calibrating the first included angle positively and negatively according to the lengths of the second edge line and the third edge line to obtain a first target included angle; calibrating the second included angle positively and negatively according to the lengths of the fifth edge line and the sixth edge line to obtain a second target included angle;
in a specific embodiment, the lengths of the second edge line and the third edge line calibrate the first included angle positively and negatively to obtain a first target included angle; performing positive and negative calibration on the second included angle according to the lengths of the fifth edge line and the sixth edge line to obtain a second target included angle, which may include:
when the length of the second edge line is smaller than that of the third edge line, calibrating the first included angle as a negative value; when the length of the second edge line is greater than that of the third edge line, calibrating the first included angle to be a positive value;
when the length of the fifth edge line is smaller than that of the sixth edge line, calibrating the second included angle as a negative value; and when the length of the fifth edge line is greater than that of the sixth edge line, calibrating the second included angle to be a positive value.
In practical application, as shown in fig. 7, when the blowing air flows through a small area, the upper pole piece is located on one side of the target virtual plane close to the blowing mechanism, at this time, the length of the second edge line is smaller than that of the third edge line, the length of the fifth edge line is smaller than that of the sixth edge line, and at this time, both the first included angle and the second included angle are calibrated to be negative values (i.e., α <0, β < 0).
As shown in fig. 8, when the blowing air flow is too large, the upper pole piece is located on the side of the target virtual plane far from the blowing mechanism, the length of the second edge line is greater than that of the third edge line, and the length of the fifth edge line is greater than that of the sixth edge line, at this time, both the first included angle and the second included angle are calibrated to be positive values (i.e., α >0, β > 0).
Step S505: and determining the inclination angle of the surface of the upper pole piece relative to the target virtual plane according to the first target included angle and the second target included angle.
In this embodiment, the sum of the first target included angle and the second target included angle may be used as an inclination angle of the surface of the upper pole piece with respect to the target virtual plane.
Step S305: and determining the target blowing airflow when the upper pole piece is fed according to the inclination angle.
In this application embodiment, through obtaining first picture of shooing and second picture of shooing, first picture of shooing is for utilizing first camera to shoot the picture that the gained to the first side of last pole piece, the second picture of shooing is for utilizing the second camera right the picture that the gained is shot to the second side of last pole piece acquires the camera sight of first camera and the camera sight of second camera and the virtual plane's of target preset position relation, and according to first picture of shooing the second picture of shooing with preset position relation confirms the surface of going up the pole piece is for the virtual plane's of target angle of inclination, and according to the angle of inclination, confirm the target air-blowing stream when going up the pole piece pan feeding. So, can ensure after adjusting the blowing flow, go up the pole piece and become the vertical relation with camera sight, improve imaging quality, improve measurement accuracy, guarantee electric core safety.
In some embodiments, the determining the target blowing gas flow when the upper pole piece is fed according to the inclination angle may include:
the method comprises the following steps: when the feeding shooting mode is the single shooting mode, obtaining a pre-established first linear equation, wherein the first linear equation is used for representing the relation between the size of the blowing airflow and the size of the inclination angle;
step two: and determining the output quantity of the linear equation as the target blowing airflow when the upper pole piece is fed by taking the inclination angle as the input quantity of the linear equation.
In this embodiment of the application, the single shooting mode may refer to that only one feeding picture is shot for each electrical core, that is, only one inclination angle can be obtained according to the only one shot feeding picture for each electrical core, and after the blowing airflow is adjusted according to the only one inclination angle, the adjusted target blowing airflow can be continuously used without great change.
Specifically, the formula of the first linear equation is as follows:
Y’＝Y+kX
y is the blowing flow of the previous battery cell, X is the inclination angle, and k is a proportionality coefficient, which needs to be adjusted by an engineer, but the proportionality coefficient can be continuously used after once adjustment without excessive change.
Therefore, after the inclination angle is determined, the target blowing flow Y' can be obtained through solving the first linear equation, and at the moment, the air flow in the whole feeding process is constant.
In some embodiments, the determining the target blowing airflow when feeding the upper pole piece according to the inclination angle may further include:
and when the feeding shooting mode is a multi-time shooting mode, determining the target blowing airflow during feeding of the upper pole piece in real time by utilizing a dynamic control algorithm according to the inclination angle obtained by shooting each time.
In this embodiment of the application, the multiple shooting mode may be performed by using a pointer for each electrical core, and multiple feeding pictures may be shot, that is, for each electrical core, an inclination angle set including multiple inclination angles may be obtained according to the multiple feeding pictures shot, and the target blowing airflow may be adjusted in real time according to the inclination angles in the inclination angle set.
The multiple shooting mode refers to that the position of the upper pole piece can be shot for each battery cell for multiple times, and the inclination angle obtained by each shooting can be recorded into an array X [ ].
The dynamic control algorithm can be a PID method, and the formula is as follows:
Figure BDA0003061520690000121
wherein k isp、kiAnd kdRequiring an engineer to adjust by experience, where ^ X is the integral of X,
Figure BDA0003061520690000123
is the differential of X. This method may change from the integration part to the PD method, or from the differentiation part to the PI method.
The dynamic control algorithm may also be a fuzzy control method, and specifically, generally, the differential (airflow flow rate change) of the inclination angle X and X is used as an input quantity, the target blowing airflow Y' is used as an output quantity, a proper membership function is selected, a proper domain section is divided, and a fuzzy control rule is established as shown in the following table:
Figure BDA0003061520690000122
wherein, NB, NS, ZO, PS, PB respectively represent negative big, negative small, zero, positive small, positive big.
In practical application, the blowing airflow can be adjusted in real time in the feeding process of a single battery cell by shooting pictures of multiple feeding of each battery cell.
Of course, there are many alternative methods for calculating the target blowing gas flow Y', including but not limited to the following: kalman filtering, sliding mode control, and neural network.
In some embodiments, the method for controlling feeding of the pole piece of the winding machine may further include:
the method comprises the following steps: acquiring a second linear equation, wherein the second linear equation is used for representing the relation between the magnitude of the blowing airflow and the magnitude of the voltage borne by the blowing mechanism;
step two: and determining the target voltage borne by the blowing mechanism according to the target blowing airflow and the second linear equation.
Specifically, the magnitude of the blowing airflow is directly proportional to the magnitude of the voltage applied to the blowing mechanism, and the second linear equation can be expressed as:
Y'＝kuU
ku is a proportionality coefficient and is generally provided by a blowing mechanism manufacturer, and a proper output voltage U (namely a target voltage borne by the blowing mechanism) can be obtained by reversely pushing the Ku.
The embodiment of the application further provides a pan feeding control method of the winder pole piece pan feeding system, the winder pole piece pan feeding system at least comprises a winding needle, a lower diaphragm, a lower pole piece, an upper diaphragm, an upper pole piece, a first camera, a second camera, an industrial personal computer, a switch, a PLC and a blowing mechanism, the industrial personal computer is respectively electrically connected with the first camera and the second camera, the switch is respectively connected with the industrial personal computer and the PLC, the blowing mechanism is electrically connected with the PLC, and the pan feeding control method comprises the following steps:
the method comprises the following steps: the first camera is used for shooting a first side edge of the upper pole piece to obtain a first shot picture, the second camera is used for shooting a second side edge of the upper pole piece to obtain a second shot picture, and the first camera and the second camera respectively transmit the obtained shot pictures into the industrial personal computer;
step two: the industrial personal computer analyzes the first shot picture and the second shot picture to obtain an inclination angle of the surface of the upper pole piece relative to a target virtual plane, and the switch is used for transmitting the inclination angle obtained by analysis of the industrial personal computer into the PLC;
step three: the PLC is used for processing the introduced inclination angle to obtain a target blowing airflow during feeding of the upper pole piece, and the target blowing airflow can be further converted into the voltage supplied to the blowing mechanism;
step four: the blowing mechanism is used for outputting airflow according to the provided voltage and adjusting the position of the upper pole piece;
and repeating the first step to the fourth step to form a control closed loop.
Fig. 9 is a feeding control device for pole pieces of a winding machine according to an embodiment of the present application. Referring to fig. 9, the apparatus includes:
a picture acquiring module 910, configured to acquire a first captured picture and a second captured picture, where the first captured picture is obtained by capturing a first side edge of an upper pole piece with a first camera, and the second captured picture is obtained by capturing a second side edge of the upper pole piece with a second camera;
an inclination angle determining module 920, configured to determine, according to the first captured picture and the second captured picture, an inclination angle of the surface of the upper pole piece with respect to a target virtual plane, where the target virtual plane is perpendicular to a camera line of sight of the first camera and a camera line of sight of the second camera, respectively;
and a target blowing airflow determining module 930, configured to determine a target blowing airflow during feeding of the upper pole piece according to the inclination angle.
In some embodiments, the tilt angle determination module may include:
a first edge line graph determining submodule, configured to perform edge detection on the first captured picture by using an edge detection algorithm to obtain a first edge line graph, where the first edge line graph includes a first edge line corresponding to the first side edge, a second edge line corresponding to an upper edge of the upper pole piece, and a third edge line corresponding to a lower edge of the upper pole piece;
a second edge line graph determining submodule, configured to perform edge detection on the second captured picture by using an edge detection algorithm to obtain a second edge line graph, where the second edge line graph includes a fourth edge line corresponding to the second side edge, a fifth edge line corresponding to the upper edge of the upper pole piece, and a sixth edge line corresponding to the lower edge of the upper pole piece;
the target virtual straight line determining submodule is used for determining a first target virtual straight line and a second target virtual straight line, wherein the first target virtual straight line is perpendicular to the second edge line and is positioned in the plane where the first shot picture is positioned, and the second target virtual straight line is perpendicular to the fifth edge line and is positioned in the plane where the second shot picture is positioned;
and the inclination angle determining submodule is used for determining the inclination angle of the surface of the upper pole piece relative to the target virtual plane based on the first edge line graph, the second edge line graph, the first target virtual straight line and the second target virtual straight line.
In some embodiments, the tilt angle determination submodule may include:
an included angle determining unit, configured to determine a first included angle between the first edge line and the first target virtual straight line; determining a second included angle between the fourth edge line and the second target virtual straight line;
the target included angle determining unit is used for carrying out positive and negative calibration on the first included angle according to the lengths of the second edge line and the third edge line to obtain a first target included angle; calibrating the second included angle positively and negatively according to the lengths of the fifth edge line and the sixth edge line to obtain a second target included angle;
and the inclination angle determining unit is used for determining the inclination angle of the surface of the upper pole piece relative to the target virtual plane according to the first target included angle and the second target included angle.
In some embodiments, the tilt angle determination unit may include:
the first included angle calibration subunit is used for calibrating the first included angle to be a negative value when the length of the second edge line is smaller than that of the third edge line; and when the length of the second edge line is greater than the length of the third edge line, the first included angle is calibrated to be a positive value;
a second included angle calibration subunit, configured to calibrate the second included angle to a negative value when the length of the fifth edge line is smaller than the length of the sixth edge line; and when the length of the fifth edge line is greater than that of the sixth edge line, the second included angle is calibrated to be a positive value.
In some embodiments, the target purge airflow determination module may include:
the first linear equation acquisition submodule is used for acquiring a pre-established first linear equation when the feeding shooting mode is a single shooting mode, and the first linear equation is used for representing the relation between the size of the blowing airflow and the size of the inclination angle;
and the first target blowing airflow determining submodule is used for taking the inclination angle as the input quantity of the linear equation and determining the output quantity of the linear equation as the target blowing airflow when the upper pole piece is fed.
In some embodiments, the target purge airflow determination module may further include:
and the second target blowing airflow determining submodule is used for determining the target blowing airflow during feeding of the upper pole piece in real time by utilizing a dynamic control algorithm according to the inclination angle obtained by each shooting when the feeding shooting mode is the multi-time shooting mode.
In some embodiments, the apparatus may further comprise:
the second linear equation acquisition module is used for acquiring a second linear equation which is used for representing the relation between the magnitude of the blowing air flow and the magnitude of the voltage borne by the blowing mechanism;
and the target voltage determining module is used for determining the target voltage borne by the blowing mechanism according to the target blowing airflow and the second linear equation.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 10 is a block diagram of an electronic device for executing a pole piece feeding control method of a winding machine according to an embodiment of the present application, where the electronic device may be a terminal, and an internal structure diagram of the electronic device may be as shown in fig. 10. The electronic device comprises a processor, a memory, a model interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The model interface of the electronic device is used for communicating with an external terminal through model connection. The computer program is executed by the processor to realize a pole piece feeding control method of the winding machine. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the present solution and does not constitute a limitation on the electronic devices to which the present solution applies, and that a particular electronic device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In an exemplary embodiment, there is also provided an electronic device including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method as in the embodiments of the present application.
In an exemplary embodiment, a computer-readable storage medium is also provided, in which instructions, when executed by a processor of an electronic device, enable the electronic device to perform the method in the embodiments of the present application.
In an exemplary embodiment, a computer program product containing instructions is also provided, which when run on a computer, causes the computer to perform the method in the embodiments of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (10)

1. A control method for feeding of pole pieces of a winding machine is characterized by comprising the following steps:
acquiring a first shot picture and a second shot picture, wherein the first shot picture is obtained by shooting a first side edge of an upper pole piece by using a first camera, and the second shot picture is obtained by shooting a second side edge of the upper pole piece by using a second camera;
according to the first shot picture and the second shot picture, determining an inclination angle of the surface of the upper pole piece relative to a target virtual plane, wherein the target virtual plane is perpendicular to a camera sight line of the first camera and a camera sight line of the second camera respectively;
and determining the target blowing airflow when the upper pole piece is fed according to the inclination angle.
2. The method as claimed in claim 1, wherein said determining the tilt angle of the surface of the upper pole piece relative to the target virtual plane according to the first shot picture and the second shot picture comprises:
performing edge detection on the first shot picture by using an edge detection algorithm to obtain a first edge line graph, wherein the first edge line graph comprises a first edge line corresponding to the first side edge, a second edge line corresponding to the upper edge of the upper pole piece and a third edge line corresponding to the lower edge of the upper pole piece;
performing edge detection on the second shot picture by using an edge detection algorithm to obtain a second edge line graph, wherein the second edge line graph comprises a fourth edge line corresponding to the second side edge, a fifth edge line corresponding to the upper edge of the upper pole piece and a sixth edge line corresponding to the lower edge of the upper pole piece;
determining a first target virtual straight line and a second target virtual straight line, wherein the first target virtual straight line is perpendicular to the second edge line and is located in the plane of the first shot picture, and the second target virtual straight line is perpendicular to the fifth edge line and is located in the plane of the second shot picture;
determining an inclination angle of the surface of the upper pole piece with respect to the target virtual plane based on the first edge line drawing, the second edge line drawing, the first target virtual straight line, and the second target virtual straight line.
3. The method of claim 2, wherein said determining an angle of inclination of the surface of said upper pole piece relative to said target virtual plane based on said first edge line pattern, said second edge line pattern, said first target virtual line, and said second target virtual line comprises:
determining a first included angle between the first edge line and the first target virtual straight line; determining a second included angle between the fourth edge line and the second target virtual straight line;
calibrating the first included angle positively and negatively according to the lengths of the second edge line and the third edge line to obtain a first target included angle; calibrating the second included angle positively and negatively according to the lengths of the fifth edge line and the sixth edge line to obtain a second target included angle;
and determining the inclination angle of the surface of the upper pole piece relative to the target virtual plane according to the first target included angle and the second target included angle.
4. The winding machine pole piece feeding control method according to claim 3, wherein the length of the second edge line and the third edge line is used for calibrating the first included angle in a positive and negative mode to obtain a first target included angle; performing positive and negative calibration on the second included angle according to the lengths of the fifth edge line and the sixth edge line to obtain a second target included angle, wherein the method comprises the following steps:
when the length of the second edge line is smaller than that of the third edge line, calibrating the first included angle as a negative value;
when the length of the second edge line is greater than that of the third edge line, calibrating the first included angle to be a positive value;
when the length of the fifth edge line is smaller than that of the sixth edge line, calibrating the second included angle as a negative value;
and when the length of the fifth edge line is greater than that of the sixth edge line, calibrating the second included angle to be a positive value.
5. The method according to claim 1, wherein determining the target blowing air flow for feeding the upper pole piece according to the inclination angle comprises:
when the feeding shooting mode is the single shooting mode, obtaining a pre-established first linear equation, wherein the first linear equation is used for representing the relation between the size of the blowing airflow and the size of the inclination angle;
and determining the output quantity of the linear equation as the target blowing airflow when the upper pole piece is fed by taking the inclination angle as the input quantity of the linear equation.
6. The method according to claim 1, wherein determining the target blowing air flow for feeding the upper pole piece according to the inclination angle comprises:
and when the feeding shooting mode is a multi-time shooting mode, determining the target blowing airflow during feeding of the upper pole piece in real time by utilizing a dynamic control algorithm according to the inclination angle obtained by shooting each time.
7. The winder pole piece feeding control method of claim 1, further comprising:
acquiring a second linear equation, wherein the second linear equation is used for representing the relation between the magnitude of the blowing airflow and the magnitude of the voltage borne by the blowing mechanism;
and determining the target voltage borne by the blowing mechanism according to the target blowing airflow and the second linear equation.
8. The utility model provides a winder pole piece pan feeding controlling means which characterized in that, the device includes:
the device comprises a picture acquisition module, a picture processing module and a picture processing module, wherein the picture acquisition module is used for acquiring a first shot picture and a second shot picture, the first shot picture is obtained by shooting a first side edge of an upper pole piece by using a first camera, and the second shot picture is obtained by shooting a second side edge of the upper pole piece by using a second camera;
an inclination angle determining module, configured to determine, according to the first captured picture and the second captured picture, an inclination angle of a surface of the upper pole piece with respect to a target virtual plane, where the target virtual plane is perpendicular to a camera line of sight of the first camera and a camera line of sight of the second camera, respectively;
and the target blowing airflow determining module is used for determining the target blowing airflow when the upper pole piece is fed according to the inclination angle.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the winder pole piece pan feeding control method of any of claims 1 to 7.
10. A computer readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the winder pole piece feeding control method of any of claims 1 to 7.
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