CN114162376A - Cigarette packet appearance quality detection method and cigarette packet appearance quality detection device - Google Patents
Cigarette packet appearance quality detection method and cigarette packet appearance quality detection device Download PDFInfo
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- CN114162376A CN114162376A CN202111406024.3A CN202111406024A CN114162376A CN 114162376 A CN114162376 A CN 114162376A CN 202111406024 A CN202111406024 A CN 202111406024A CN 114162376 A CN114162376 A CN 114162376A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
- B65B19/28—Control devices for cigarette or cigar packaging machines
- B65B19/30—Control devices for cigarette or cigar packaging machines responsive to presence of faulty articles, e.g. incorrectly filled cigarettes
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- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The application discloses a tobacco bale appearance quality detection method and a tobacco bale appearance quality detection device. The tobacco bale appearance quality detection method comprises the following steps of obtaining a tobacco bale image, wherein the tobacco bale image comprises a tobacco bale body and a facing slip; carrying out position correction on the cigarette packet body by using a first coordinate system of the image detection model and detecting target characteristics on the cigarette packet body by using a first detection area in the first coordinate system; and correcting the position of the seal by using a second coordinate system of the image detection model and detecting the corner of the seal by using a second detection area in the second coordinate system. According to the technical scheme, the position of the object where the detection target is located is corrected, so that the position of the detection area can change along with the position of the object where the detection target is located, the appearance defect is accurately identified, and the detection accuracy is improved.
Description
Technical Field
The application relates to a tobacco bale appearance quality detection method and a tobacco bale appearance quality detection device.
Background
In the tobacco bale production technology, the traditional tobacco bale appearance quality detection device can detect the quality defect of a preset area in the package appearance. The adopted detection method is that a picture of the cigarette packet is shot by a camera, different detection areas are set on the picture, characteristics such as brightness values, color values and the like of images in the detection areas are further obtained, then the characteristics are compared with the characteristics of a standard image, and when the characteristics deviate from a set limit value, the packaging in the corresponding area has quality defects. How to improve the detection accuracy is a problem which is continuously researched in the industry.
Disclosure of Invention
The application provides a tobacco bale appearance quality detection method and a tobacco bale appearance quality detection device, which aim to improve detection accuracy.
The application provides a method for detecting the appearance quality of a cigarette packet in a first aspect, which comprises the following steps:
acquiring a cigarette packet image, wherein the cigarette packet image comprises a cigarette packet body and a facing slip;
carrying out position correction on the cigarette packet body by using a first coordinate system of the image detection model and detecting target characteristics on the cigarette packet body by using a first detection area in the first coordinate system; and
and correcting the position of the seal by using a second coordinate system of the image detection model, and detecting the corner of the seal by using a second detection area in the second coordinate system.
In some embodiments, the first coordinate system comprises a first abscissa axis and a first ordinate axis which are vertically arranged, and the position correction of the cigarette packet body by the first coordinate system comprises: and detecting a first edge line and a second edge line of the cigarette packet body so that the first edge line is coincided with the first abscissa axis and the second edge line is coincided with the first ordinate axis.
In some embodiments, the first detection zone is fixedly disposed within the first coordinate system.
In some embodiments, the second coordinate system includes a second axis of abscissa and a second axis of ordinate that are vertically arranged, and the performing the position correction on the seal with the second coordinate system and the detecting the corners of the seal with the second detection area in the second coordinate system includes: detecting a first edge line and a second edge line of the facing slip such that the first edge line and the second abscissa axis of the facing slip coincide and the second edge line and the second ordinate axis of the facing slip coincide.
In some embodiments, the second detection zone is fixedly disposed within the second coordinate system.
In some embodiments, detecting the corner of the stamp with a second detection zone in a second coordinate system comprises: and respectively detecting at least two corners of the seal by utilizing at least two second detection areas arranged at intervals in a second coordinate system.
In some embodiments, detecting the corners of the stamp using the second detection zone in the second coordinate system includes determining whether the stamp is dog-eared based on a change in color pixel values in the second detection zone.
In some embodiments, the method for detecting the appearance quality of the cigarette packet further comprises sending an abnormal prompt and/or rejecting the abnormal cigarette packet when the image detection model finds the abnormality.
The application second aspect provides a tobacco bale appearance quality detection device, includes:
the image acquisition device is used for acquiring cigarette packet images, and each cigarette packet image comprises a cigarette packet body and a facing slip; and
the controller is configured to acquire a cigarette packet image from the image acquisition device, perform position correction on the cigarette packet body by using a first coordinate system of the image detection model and detect a target feature on the cigarette packet body by using a first detection area in the first coordinate system, and perform position correction on the seal by using a second coordinate system of the image detection model and detect a corner of the seal by using a second detection area in the second coordinate system.
In some embodiments, the cigarette packet inspection device further comprises a rejecting device, the rejecting device is in signal connection with the controller, and when the image inspection model finds that the cigarette packet is abnormal, the controller controls the rejecting device to reject the abnormal cigarette packet.
Based on the technical scheme that this application provided, through carrying out position correction to the detection target place object, the position of detection zone can change along with the position of detection target place object like this to realize the accurate discernment of appearance defect, improve and detect the accuracy. And this application is through all carrying out dual position correction to tobacco bale body and facing slip, and then can synthesize the accuracy that improves target characteristic on the tobacco bale body and carry out the detection to the corner of facing slip.
Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic diagram of appearance detection of a target feature of a cigarette packet.
Fig. 2 is another schematic diagram of appearance detection of a target feature of a cigarette packet.
Fig. 3 is a schematic view of a cigarette packet with a seal.
Fig. 4 is a schematic view of the tag when it is folded.
Fig. 5 is a schematic view of appearance detection of the folding angle of the cigarette packet.
Fig. 6 is another schematic view of appearance detection of the folding angle of the cigarette packet.
Fig. 7 is another schematic view of the appearance inspection of the dog-ear of the cigarette packet.
Fig. 8 is a step diagram of a method for detecting the appearance quality of a cigarette packet in the embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously positioned and the spatially relative descriptors used herein interpreted accordingly.
As mentioned above, the detection method adopted by the cigarette packet appearance quality detection device is to use a camera to shoot and obtain a picture of the cigarette packet, set different detection areas on the picture, further obtain characteristics such as brightness values, color values and the like of the image in each detection area, then compare the characteristics with the characteristics of a standard image, and indicate that the package in the corresponding area has quality defects when the characteristics deviate from the set limit value.
Fig. 1 shows a schematic diagram of detecting a target feature of a cigarette packet, and fig. 1 shows an acquired cigarette packet image, where the cigarette packet image includes a cigarette packet body 11, a target feature 12 is arranged on the cigarette packet body 11, and the target feature 12 may be a graphic or a text. The dotted line frame is the first detection area 21, the pixel size of the target feature 12 is obtained in the first detection area 21 during detection, the upper and lower limit values of the pixel are set, and exceeding the limit range indicates that the target feature in the area is abnormal. The inventor finds that cigarette packets pass through the camera one by one, the positions of the cigarette packets are not completely the same when the camera shoots the cigarette packet image, and the cigarette packets have deviation, and the first detection area 21 is fixed, so that the image in the first detection area 21 deviates from the center of the area due to the change of the cigarette packet position during shooting, as shown in fig. 2, when the position deviation of the cigarette packet is large, the target feature 12 partially or completely runs out of the first detection area 21, and actually the target feature 12 is located at the normal position of the cigarette packet 11, so that the normal cigarette packet is detected as an abnormal cigarette packet, and further false detection is generated.
As shown in fig. 3, some cigarette packets, for example, cigarette packets wrapped in soft package, need to additionally stick a seal 13 on the outer package, and the position of the seal 13 is not fixed when sticking on the outer package, so that the phenomena of left-right deviation, front-back length, and the like exist. And the deviation of the position of the seal 13 is judged to be qualified if the length of the seal is not more than 5mm before and after the seal is within the standard requirement range. As shown in fig. 4, the seal 13 may cause a corner fold during the pasting process, which is one of the defects of the appearance quality of the cigarette packet. In order to detect the bevel defect of the seal, as shown in fig. 5, two second detection regions 22 are usually set at two corner portions of the seal 13, and then whether the bevel occurs is determined according to the change of color pixel values in the two second detection regions 22.
However, as shown in fig. 6, when the left and right positions of the seal 13 are shifted, the image in the second detection area 22 is shifted from the second detection area 22 due to the shift of the position of the seal 13, and the change of the color pixel value in the second detection area 22 is consistent with the characteristic of the bevel, and actually, the bevel does not occur in the seal 13, thereby causing false detection.
As shown in fig. 7, when the position of the seal 13 in the longitudinal direction is shifted, the image in the second detection area 22 is shifted from the edge area of the seal due to the shift of the position of the seal 13, as shown in fig. 7, so that the change of the color pixel value in the second detection area 22 is a characteristic when the bevel is not generated, and actually the bevel is generated on the seal 13, thereby causing a false detection.
As a result of intensive studies, the inventors of the present application found that the above false detection is caused by the fact that the position of the detection target is not located. For example, when the position of the cigarette packet is shifted, if the position of the shifted cigarette packet can be corrected, erroneous detection due to the shift of the position of the cigarette packet can be avoided. Similarly, if the position of the stamp is shifted, if the position of the shifted stamp can be corrected, erroneous detection due to the shift of the position of the stamp can be avoided.
Referring to fig. 8, an embodiment of the present application provides a method for detecting appearance quality of a cigarette packet, including the following steps:
s100, obtaining a cigarette packet image, wherein the cigarette packet image comprises a cigarette packet body and a facing slip;
s200, correcting the position of the cigarette packet body by using a first coordinate system of the image detection model and detecting target characteristics on the cigarette packet body by using a first detection area in the first coordinate system; and
s300, correcting the position of the seal by using a second coordinate system of the image detection model and detecting the corner of the seal by using a second detection area in the second coordinate system.
Specifically, acquiring the cigarette packet image includes photographing the cigarette packet with a photographing apparatus to obtain the cigarette packet image. The cigarette packet image is a two-dimensional image and comprises a cigarette packet body and a facing slip.
The position correction of the cigarette packet body by using the first coordinate system of the image detection model means that two mutually vertical edge lines of the cigarette packet body are superposed with two mutually vertical coordinate axes of the first coordinate system. For example, referring to fig. 2, when the cigarette packet body is displaced in the left-right direction during the transportation process, the image detection model detects the first edge line 111 and the second edge line 112 of the cigarette packet body 11, and makes the first edge line 111 coincide with the first abscissa axis of the first coordinate system, and the second edge line 112 coincide with the first ordinate axis of the first coordinate system, so that the position of the first detection area relative to the cigarette packet body 11 is the same as the position of the standard image in the image detection model, and the detection of the target feature 12 can be further realized. For another example, when the obtained cigarette packet image is inclined with respect to the first coordinate system, for example, an included angle is formed between the first edge line 111 of the cigarette packet image and the first abscissa axis of the first coordinate system, the first coordinate system may also be used to correct the position of the cigarette packet body, specifically, the angle of the first coordinate system may be adjusted so that the two coordinate axes of the first coordinate system coincide with the two edge lines of the cigarette packet body 11, and the angle of the cigarette packet body may also be adjusted so that the two coordinate axes of the first coordinate system coincide with the two edge lines of the cigarette packet body 11.
Specifically, the image detection model can detect the edge line of the cigarette packet body 11 through characteristics such as a brightness value and a color value.
The position correction of the seal using the second coordinate system of the image detection model means that two mutually perpendicular edge lines of the seal are made to coincide with two mutually perpendicular coordinate axes of the second coordinate system. Referring to fig. 6, when the tag is misaligned in the left-right direction, the position of the second detection area 22 is correspondingly returned to the preset detection position by detecting the edge line of the tag and making the edge line of the tag coincide with the coordinate axis of the second coordinate system. Referring to fig. 7, when the seal is misaligned in the longitudinal direction, for example, the seal protrudes to the front of the cigarette packet body 11 for a long length, the position of the second detection area 22 is correspondingly returned to the preset detection position by detecting the edge line of the seal and making the edge line of the seal coincide with the coordinate axis of the second coordinate system.
In the technical scheme of this application embodiment, through carrying out position correction to the detection target place object, the position of detection zone can change along with the position of detection target place object like this to realize the accurate discernment of appearance defect, improve and detect the accuracy. In addition, the positions of the cigarette packet body and the seal are corrected, so that the accuracy of detecting the target characteristics on the cigarette packet body and the corners of the seal can be comprehensively improved.
In some embodiments, the first coordinate system comprises a first abscissa axis and a first ordinate axis which are vertically arranged, and the position correction of the cigarette packet body by the first coordinate system comprises: and detecting a first edge line and a second edge line of the cigarette packet body so that the first edge line is coincided with the first abscissa axis and the second edge line is coincided with the first ordinate axis.
Because two margin lines of the cigarette packet body are vertically arranged, the cigarette packet body is subjected to position correction by adopting a first coordinate system with a first abscissa axis and a first ordinate axis which are vertically arranged, so that the positioning is simple. In other embodiments, of course, other forms of coordinate systems may be adopted, so long as after the position of the cigarette packet body is corrected, the position of each cigarette packet body is relatively fixed with respect to the position of the coordinate system, and further, the position of the detection area is fixed with respect to the position of the cigarette packet body, so that the problem of false detection caused by the change of the position of the cigarette packet body is avoided.
In some embodiments, the first detection zone 21 is fixedly disposed within the first coordinate system. The first detection area is fixedly arranged in the first coordinate system, so that the mutual position between the first coordinate system and the cigarette packet body can be adjusted, and the position correction is simplified. For example, the position of the first detection area may be defined by setting coordinate values of the first detection area within the first coordinate system.
Specifically, in some embodiments, as shown in fig. 2, the first detection area 21 has a square shape, but in other embodiments, the first detection area may have other shapes. The first detection area is a virtual concept here and does not necessarily need to be drawn in the cigarette packet image.
In some embodiments, the second coordinate system includes a second axis of abscissa and a second axis of ordinate, which are vertically arranged, and the performing the position correction on the seal with the second coordinate system and the detecting the corner of the seal 13 with the second detection area in the second coordinate system includes: detecting a first edge line and a second edge line of the facing slip such that the first edge line and the second abscissa axis of the facing slip coincide and the second edge line and the second ordinate axis of the facing slip coincide.
Similarly, the seal 13 is rectangular, so that two edge lines of the seal 13 are vertically arranged, and a second coordinate system with a second abscissa axis and a second ordinate axis which are vertically arranged is adopted to correct the position of the cigarette packet body, so that the positioning is simple. Of course, for other embodiments, such as an oval shape of the tag, the second coordinate system may be used to locate its edge lines. The second coordinate system with the second abscissa axis and the second ordinate axis which are vertically arranged has a wider application range, and can be used for positioning various types of seal tags.
In some embodiments, the second detection zone is fixedly disposed within the second coordinate system. The second detection area is fixedly arranged in the second coordinate system, so that the mutual position between the second coordinate system and the cigarette packet body can be adjusted, and the position correction is simplified. For example, the position of the second detection area may be defined by setting coordinate values of the second detection area within the second coordinate system.
In some embodiments, detecting a corner of the tag 13 with a second detection zone in a second coordinate system comprises: at least two second detection areas 22 arranged at intervals in the second coordinate system are used for respectively detecting at least two corners of the seal.
As shown in fig. 5, the tag 13 has two corners. The corner refers to the corner of the end of the facing slip 13. Two second detection areas 22 that set up the correspondence like this detect two corners of facing slip 13 respectively, and then realize comprehensive the detection.
Of course in other embodiments the extent of the second detection zone may be increased, for example so that the second detection zone covers both corners of the tag 13, which may also allow for a full detection.
In some embodiments, detecting the corners of the stamp 13 using a second detection zone in the second coordinate system includes determining whether the stamp 13 is dog-eared based on changes in color pixel values in the second detection zone. Specifically, for example, in the embodiment shown in fig. 5, when one corner of the seal 13 is folded, at least a part of the color in the second detection area is different from the other part of the color, so that whether or not the folding occurs can be determined according to the change of the color pixel value in the second detection area.
In each of the above embodiments, the second coordinate system and the first coordinate system are parallel to each other. Of course, in other embodiments, the second coordinate system may be disposed obliquely with respect to the first coordinate system. For example, when the position of the seal 13 is inclined at a small angle relative to the cigarette packet body, when the second coordinate system is aligned with the edge line of the seal 13 by using the position of the seal 13 as a reference, the second coordinate system may be inclined relative to the first coordinate system, where the inclination refers to that two coordinate axes of the second coordinate system are inclined relative to corresponding coordinate axes in the first coordinate system, but not parallel. For example, the second ordinate axis of the second coordinate system has an angle with the first ordinate axis of the first coordinate system.
The embodiment of the application further provides a tobacco bale appearance quality detection device, which comprises an image acquisition device and a controller. The image acquisition device is used for acquiring cigarette packet images, and the cigarette packet images comprise cigarette packet bodies and seal tags. The controller is configured to acquire a cigarette packet image from the image acquisition device, perform position correction on the cigarette packet body by using a first coordinate system of the image detection model and detect a target feature on the cigarette packet body by using a first detection area in the first coordinate system, and perform position correction on the seal by using a second coordinate system of the image detection model and detect a corner of the seal by using a second detection area in the second coordinate system.
In the technical scheme of this application embodiment, the controller is through carrying out position correction to the detection target place object, and the position of detection zone can change along with the position of detection target place object like this to realize the accurate discernment of appearance defect, improve and detect the accuracy. In addition, the positions of the cigarette packet body and the seal are corrected, so that the accuracy of detecting the target characteristics on the cigarette packet body and the corners of the seal can be comprehensively improved.
Specifically, the controller needs to perform position correction during image processing to ensure that the detection regions are at fixed positions of the cigarette packets, so that each detection region is ensured to always detect the fixed positions of the cigarette packets without deviation.
Further, in order to remove the cigarette packet with the detected abnormality, the cigarette packet appearance quality detection device further comprises a removing device which is in signal connection with the controller, and when the abnormality is found in the image detection model, the controller controls the removing device to remove the abnormal cigarette packet.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present application and not to limit them; although the present application has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the specific embodiments of the application or equivalent replacements of some of the technical features may still be made; all of which are intended to be encompassed within the scope of the claims appended hereto without departing from the spirit and scope of the present disclosure.
Claims (10)
1. A method for detecting the appearance quality of cigarette packets is characterized by comprising the following steps:
acquiring a cigarette packet image, wherein the cigarette packet image comprises a cigarette packet body and a facing slip;
carrying out position correction on the cigarette packet body by using a first coordinate system of an image detection model and detecting target characteristics on the cigarette packet body by using a first detection area in the first coordinate system; and
and correcting the position of the seal by using a second coordinate system of the image detection model, and detecting the corner of the seal by using a second detection area in the second coordinate system.
2. The cigarette packet appearance quality detection method according to claim 1, wherein the first coordinate system includes a first abscissa axis and a first ordinate axis which are vertically arranged, and the position correction of the cigarette packet body by the first coordinate system includes: and detecting a first edge line and a second edge line of the cigarette packet body so that the first edge line is coincided with the first abscissa axis and the second edge line is coincided with the first ordinate axis.
3. The cigarette packet appearance quality detection method according to claim 1, wherein the first detection area is fixedly arranged in the first coordinate system.
4. The cigarette packet appearance quality detection method according to claim 1, wherein the second coordinate system includes a second abscissa axis and a second ordinate axis which are vertically arranged, and the performing position correction on the seal in the second coordinate system and detecting the corners of the seal by using the second detection area in the second coordinate system includes: and detecting a first edge line and a second edge line of the facing slip, so that the first edge line of the facing slip coincides with the second abscissa axis, and the second edge line of the facing slip coincides with the second ordinate axis.
5. The cigarette packet appearance quality detection method according to claim 1, wherein the second detection area is fixedly arranged in the second coordinate system.
6. The cigarette packet appearance quality detection method according to claim 1, wherein the detecting corners of the seal by using the second detection area in the second coordinate system comprises: and respectively detecting at least two corners of the seal by utilizing at least two second detection areas arranged at intervals in the second coordinate system.
7. The cigarette packet appearance quality detection method according to any one of claims 1 to 6, wherein detecting corners of the seal by using a second detection area in the second coordinate system includes determining whether the seal is folded according to a change in color pixel values in the second detection area.
8. The cigarette packet appearance quality detection method according to any one of claims 1 to 6, further comprising issuing an abnormality prompt and/or rejecting an abnormal cigarette packet when the image detection model finds abnormality.
9. A tobacco bale appearance quality detection device which characterized in that includes:
the image acquisition device is used for acquiring a cigarette packet image, and the cigarette packet image comprises a cigarette packet body and a facing slip; and
the controller is configured to acquire a cigarette packet image from the image acquisition device, perform position correction on the cigarette packet body by using a first coordinate system of an image detection model, detect a target feature on the cigarette packet body by using a first detection area in the first coordinate system, perform position correction on the seal by using a second coordinate system of the image detection model, and detect a corner of the seal by using a second detection area in the second coordinate system.
10. The cigarette packet appearance quality detection device according to claim 9, further comprising a rejecting device in signal connection with the controller, wherein when the image detection model finds an abnormality, the controller controls the rejecting device to reject the abnormal cigarette packet.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023202209A1 (en) * | 2022-04-18 | 2023-10-26 | 宁德时代新能源科技股份有限公司 | Method, apparatus, and system for performing folded corner detection on cathode sheet of composite material belt |
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