WO2023039693A1 - 检测方法、电子设备和计算机可读存储介质 - Google Patents

检测方法、电子设备和计算机可读存储介质 Download PDF

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Publication number
WO2023039693A1
WO2023039693A1 PCT/CN2021/118094 CN2021118094W WO2023039693A1 WO 2023039693 A1 WO2023039693 A1 WO 2023039693A1 CN 2021118094 W CN2021118094 W CN 2021118094W WO 2023039693 A1 WO2023039693 A1 WO 2023039693A1
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WIPO (PCT)
Prior art keywords
image
light source
cover plate
product
camera
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PCT/CN2021/118094
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English (en)
French (fr)
Inventor
屠银行
刘晓锋
宋世闯
Original Assignee
宁德时代新能源科技股份有限公司
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Application filed by 宁德时代新能源科技股份有限公司 filed Critical 宁德时代新能源科技股份有限公司
Priority to EP21956987.8A priority Critical patent/EP4209988B1/en
Priority to CN202180064672.7A priority patent/CN116324864A/zh
Priority to PCT/CN2021/118094 priority patent/WO2023039693A1/zh
Publication of WO2023039693A1 publication Critical patent/WO2023039693A1/zh
Priority to US18/338,358 priority patent/US11875531B1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/16—Image acquisition using multiple overlapping images; Image stitching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Definitions

  • the present application relates to the technical field of detection, in particular to a detection method, electronic equipment and a computer-readable storage medium.
  • Adapter welding is an extremely important process in the battery cell production process, which plays the role of connecting the cover plate and the cell.
  • the offset detection between the adapter piece and the cover plate is an important test after the adapter piece is welded to confirm whether the positional offset between the adapter piece and the cover plate meets the standard.
  • the method often used is: the camera takes a picture of the adapter plate, and captures the position of the cover plate and the position of the adapter plate in the picture through the picture, so as to calculate the cover plate and the cover plate.
  • the position offset between the adapters since the edge position of the cover plate is easily blocked during the test, for example, it may be blocked by the battery cell, it is difficult to capture the accurate cover plate position in the picture taken by the camera, so that the detected cover plate and adapter piece The accuracy of the position offset between is low.
  • the present application provides a detection method, an electronic device and a computer-readable storage medium, which can improve the accuracy of the detected positional offset between the cover plate and the adapter piece.
  • the present application provides a detection method, including: receiving an image of the product to be tested, and detecting the positions of preset feature points on the cover according to the image; wherein, the product to be tested includes: an adapter A sheet and a cover plate, the adapter sheet is located on the cover plate and covers a partial area of the cover plate, and the preset feature point is located on a non-edge area of the cover plate not covered by the adapter sheet ; According to the position of the preset feature point and the size of the cover plate, the position of the cover plate in the image is obtained; according to the image, the position of the adapter piece in the image is obtained; according to the cover plate in the image The position of the board and the position of the adapter piece in the image are obtained to obtain the actual position of the cover plate and the actual position of the adapter piece; according to the actual position of the cover plate and the actual position of the adapter piece, Detecting a positional offset between the cover plate and the adapter piece.
  • the position of the cover plate in the image is obtained according to the detected position of the preset feature point on the cover plate and the size of the cover plate, and the position of the preset feature point on the cover plate is located on the cover plate The non-edge area that is not covered by the adapter sheet, so the position of the predetermined feature point on the cover plate in the image is not affected by the easy occlusion of the edge position of the cover plate.
  • the position of the cover plate in the image can be accurately obtained according to the position of the preset feature points on the cover plate and the size of the cover plate, so that the actual position of the cover plate can be accurately obtained according to the position of the cover plate in the image, and then according to the accurate cover plate
  • the actual position of the board and the actual position of the adapter piece can accurately obtain the position offset between the cover plate and the adapter piece, that is, to improve the accuracy of the detected position offset between the cover plate and the adapter piece.
  • the receiving the image of the product to be tested, and detecting the positions of preset feature points on the cover according to the image includes: receiving the first image of the product to be tested captured by the first camera, and receiving The second image of the product under test collected by the second camera; wherein, the first field of view of the first camera overlaps with the second field of view of the second camera, and the first field of view and the second field of view of the second camera overlap.
  • the sum of the second field of view can fully cover the product to be tested; the first image and the second image are spliced to obtain a spliced image; according to the spliced image, detect the preset feature points on the cover Location.
  • the first camera and the second camera with overlapping fields of view are used to respectively collect images of the product to be tested. And can fully cover the product to be tested, so stitching the first image captured by the first camera and the second image captured by the second camera is beneficial to obtain a stitched image that can fully cover the product to be tested, that is, the stitched image can reflect the
  • the overall picture of the product, according to the mosaic image that can reflect the whole picture of the product to be tested can more accurately detect the position of the preset feature points on the cover, so as to obtain the position of the cover in the image more accurately, so as to further improve the detection of the cover.
  • the accuracy of the position offset between the adapter and the adapter piece can more accurately detect the position of the preset feature points on the cover, so as to obtain the position of the cover in the image more accurately, so as to further improve the detection of the cover.
  • the stitching the first image and the second image to obtain the stitched image includes: transforming the pixel coordinates of the first image and the pixel coordinates of the second image into the same Under the coordinate system, the physical coordinates of the first image and the physical coordinates of the second image are obtained; according to the physical coordinates of the first image and the physical coordinates of the second image, the first image and the physical coordinates of the second image are determined.
  • the overlapping area of the second image according to the overlapping area of the first image and the second image, stitching the first image and the second image to obtain a stitched image.
  • the physical coordinates of the first image and the second image are obtained by converting the pixel coordinates and physical coordinates of the first image and the second image, so that the first image and the second image can be
  • the physical coordinates of the first image and the second image are accurately obtained, and the overlapping area is used as a reference for stitching the first image and the second image, which is conducive to accurately and reasonably completing the stitching of the first image and the second image .
  • the receiving the first image of the product under test captured by the first camera, and receiving the second image of the product under test captured by the second camera includes: receiving the first image of the product under test captured by the first camera The first image of the product under test collected under the second light source, and receiving the second image of the product under test collected by the second camera under the first light source and the third light source; wherein, the first light source is facing the The product to be tested, the second light source and the third light source are respectively arranged at both ends of the first light source, the second light source is located at the upper left of the product to be tested, and the third light source is located at the on the upper right of the product to be tested.
  • the first light source is facing the product to be tested, and can illuminate the middle area of the product to be tested, so that the features at the middle position of the product to be tested can be more easily recognized through the first image and the second image
  • the second light source and the third light source are respectively arranged at the two ends of the first light source, the second light source is located at the upper left of the product to be tested, and the third light source is located at the upper right of the product to be tested, then the second light source can illuminate the surface of the product to be tested.
  • the third light source can illuminate the right area of the product to be tested, making it easier to detect the features on both sides of the product to be tested through the first image and the second image, which is conducive to improving the transition in the obtained image The accuracy of the position of the slice and the position of the cover plate in the image.
  • the first light source, the second light source and the third light source are all bar-shaped light sources; the length direction of the first light source is in the same direction as the length direction of the product to be tested, so The second light source forms a first preset angle with the first light source, and the third light source forms a second preset angle with the first light source.
  • the first light source, the second light source, and the third light source all use bar-shaped light sources, which are suitable for large-format size detection.
  • the bar-shaped light source has high illumination uniformity, high brightness, good heat dissipation, and long service life. , high stability and simple installation, and the angle between different strip light sources is flexible and adjustable.
  • the installation positions of the first light source, the second light source, and the third light source and the angles between the light sources make the first light source, the second light source, and the third light source can provide approximately ring-shaped lighting conditions, so that the tested The product is illuminated in all directions, that is, all directions of the product to be tested are illuminated, so that the first camera and the second camera can collect clear and comprehensive images.
  • the value range of the first preset angle and the second preset angle is: 140° to 160°.
  • the value range of the first preset angle and the second preset angle is: 140° to 160°
  • the approximate ring shape provided by the first light source, the second light source, and the third light source The lighting conditions are better, which facilitates the collection of clear and comprehensive images for the products under test.
  • the first light source, the second light source and the third light source are all strobe light sources.
  • the first light source, the second light source, and the third light source all use stroboscopic light sources, which can increase the speed of image acquisition by the first camera and the second camera, thereby improving the distance between the detection cover plate and the adapter piece.
  • the position offset between the velocity can increase the speed of image acquisition by the first camera and the second camera, thereby improving the distance between the detection cover plate and the adapter piece.
  • the preset feature point is located at a middle position on the cover plate.
  • the position of the preset feature point is set at the middle position on the cover plate, and the possibility of the middle position on the cover plate being blocked is extremely small, so the preset feature point in the middle of the cover plate is easier detected from images of the product under test.
  • the embodiment of the present application according to the position of the preset feature point in the middle of the cover plate and the size of the cover plate, it is more convenient to obtain The location of the cover plate in the image.
  • the present application provides an electronic device, including: at least one processor; and a memory connected in communication with the at least one processor; wherein, the memory stores information that can be executed by the at least one processor. instructions, the instructions are executed by the at least one processor, so that the at least one processor can execute the above detection method.
  • the present application provides a computer-readable storage medium storing a computer program, and implementing the above detection method when the computer program is executed by a processor.
  • Fig. 1 is a top view of a product to be tested disclosed in some embodiments of the present application
  • Fig. 2 is a schematic flow chart of a detection method disclosed in some embodiments of the present application.
  • Fig. 3 is a schematic diagram of simulating the position of the cover plate in the image according to the positions of preset feature points in the image disclosed in some embodiments of the present application;
  • Fig. 4 is another schematic diagram of simulating the position of the cover plate in the image according to the position of preset feature points in the image disclosed in some embodiments of the present application;
  • FIG. 5 is a schematic flowchart of the implementation of step 201 disclosed in some embodiments of the present application.
  • Fig. 6 is a schematic diagram of splicing a first image and a second image disclosed in some embodiments of the present application to obtain a spliced image
  • FIG. 7 is a schematic flowchart of the implementation of step 502 disclosed in some embodiments of the present application.
  • Fig. 8 is a schematic diagram of the positional relationship between the first camera, the second camera, the first light source, the second light source, the third light source and the product to be tested disclosed in some embodiments of the present application;
  • Fig. 9 is a schematic flowchart of another detection method disclosed in some embodiments of the present application.
  • Fig. 10 is a schematic structural diagram of an electronic device disclosed in some embodiments of the present application.
  • the lithium batteries used in automobiles are mainly lithium iron phosphate batteries.
  • Lithium iron phosphate batteries have the characteristics of high capacity, high output voltage, and good charge-discharge cycle performance.
  • Adapter welding is an extremely important process in the production process of battery cells, which plays the role of connecting the cover plate and the cells.
  • the offset detection between the adapter piece and the cover plate is an important detection after the adapter piece is welded, to confirm whether the positional offset between the adapter piece and the cover plate meets the preset Standard
  • the preset standard may be, for example, whether the positional offset between the adapter plate and the cover plate is less than 1mm.
  • the method commonly used is: the camera takes a picture of the adapter piece, and by capturing the position of the cover plate and the position of the adapter piece in the picture respectively, the cover plate and the switch plate are calculated. Position offset between tabs.
  • the edge position of the cover plate is easily blocked during the test, for example, it may be blocked by the battery cell, it is difficult to capture the accurate cover plate position in the picture taken by the camera, so that the detected cover plate and adapter piece The accuracy of the position offset between is low.
  • the inventor has conducted in-depth research, starting from improving the accuracy of the detection results of the position of the cover plate in the image, and designed a A detection method, the position of the cover plate in the image is obtained through the position of the preset feature point on the cover plate in the image and the size of the cover plate, and the position of the preset feature point on the cover plate is located on the cover plate not covered by the adapter sheet Therefore, the position of the preset feature point on the cover plate in the image is not affected by the easy occlusion of the edge position of the cover plate. Therefore, the position of the cover plate in the image can be accurately obtained according to the positions of the preset feature points on the cover plate and the size of the cover plate, thereby solving the problem of low accuracy of the position offset between the cover plate and the adapter piece.
  • the detection method disclosed in the embodiment of the present application is applied to electronic equipment, and the electronic equipment can detect the positional offset between the adapter piece and the cover plate in the product to be tested.
  • the electronic device can receive the image of the product to be tested collected by the camera, so as to combine the image to detect the positional offset between the cover plate and the adapter piece.
  • the product to be tested can be understood as a semi-finished product in the process of producing the battery, including: an adapter piece and a cover plate, and the adapter piece is located on the cover plate and covers a part of the cover plate.
  • the top view of the product to be tested can refer to FIG. 1 , including: a cover plate 101 , an adapter piece 102 , a blue film 103 , and a glued area 104 .
  • the adapter piece 102 is located on the cover plate 101 and covers a part of the cover plate 101 .
  • the middle area 105 of the cover plate 101 is not covered by the adapter sheet 102 , and in FIG. 1 , the edge areas at both ends of the cover plate 101 are not covered by the adapter sheet 102 either.
  • the oblique line shading in the blue film 103 is only for distinguishing it from other regions, and there is no oblique line on the actual blue film 103 .
  • the grid-shaped area in the middle area 105 belongs to the product form that actually exists on the cover plate.
  • the schematic flow diagram of the detection method can refer to Figure 2, including:
  • Step 201 receiving an image of the product to be tested, and detecting the positions of preset feature points on the cover according to the image;
  • Step 202 Obtain the position of the cover plate in the image according to the positions of preset feature points and the size of the cover plate;
  • Step 203 According to the image, obtain the position of the adapter piece in the image;
  • Step 204 According to the position of the cover plate in the image and the position of the adapter piece in the image, obtain the actual position of the cover plate and the actual position of the adapter piece;
  • Step 205 According to the actual position of the cover plate and the actual position of the adapter piece, detect the positional offset between the cover plate and the adapter piece.
  • step 201 there are preset feature points on the cover plate, which can be pre-selected, and the selection principle of the preset feature points is: they are located on the non-edge area of the cover plate not covered by the adapter piece.
  • the area on the cover plate not covered by the adapter sheet includes the middle area 105 and the edge areas at both ends of the cover plate (the black areas at both ends in FIG. 1 ). That is, preset feature points may be set in the middle area 105 belonging to the non-edge area.
  • the preset feature point can be a point with a target feature on the cover.
  • the target feature is easily identified through visual recognition.
  • the preset feature point on the cover has the target feature. Except for the preset feature on the cover Points other than feature points do not have target features.
  • the points in the grid-shaped area in the middle of the cover plate have target features, and the points in the grid-shaped area can be used as preset feature points on the cover plate.
  • the camera can collect an image of the product to be tested, and send the collected image of the product to be tested to the electronic device, so that the electronic device can receive the image of the product to be tested.
  • the electronic device recognizes the characteristics of each point on the cover in the image, and uses the point with the target feature as the preset feature point on the detected cover, so that the point with the target feature is placed in the image
  • the position of is used as the position of the detected preset feature point on the cover.
  • the position of the preset feature point on the cover plate detected according to the image is: the position of the preset feature point on the cover plate in the image.
  • the electronic device can obtain the position of the cover plate in the image according to the positions of preset feature points in the image and the size of the cover plate.
  • the size of the cover plate may be the length and width of the cover plate, and the size of the cover plate may be pre-stored in the electronic device, or when the detection method is started, the electronic device receives the size of the cover plate input by the inspector.
  • the electronic device may simulate the position of the cover in the image according to the positions of preset feature points in the image and the size of the cover, so as to obtain the position of the cover in the image.
  • the upper surface of the cover is generally rectangular, the actual length and width of the cover are a and b respectively, and the length and width of the cover in the image are a' and b' respectively.
  • the camera may be calibrated in advance to obtain the conversion coefficient between the position coordinates of the object in the image and the real position coordinates of the object.
  • the length and width of the cover in the image can also be obtained through the actual length and width of the cover and the conversion coefficient obtained after calibration.
  • the position of the preset feature point in the image is point A, and the preset feature point itself is in the middle of the cover plate, then in the simulated image combined with the length a' and width b' of the cover plate in the image
  • the position of the cover plate may be: the position of the dotted frame 301 .
  • the position of the preset feature point in the image is point B, and the preset feature point itself is in the middle left position of the cover plate, then the length a' and width b' of the cover plate in the image are combined to simulate
  • the position of the cover plate in the image can be: the position of the dotted frame 401 .
  • the position of the cover plate in the image may be specifically expressed as the position coordinates of the cover plate in the image.
  • the electronic device may obtain the position of the connecting piece in the image according to the image.
  • the electronic device can recognize the image and recognize the edge profile of the adapter, so as to obtain the position of the adapter in the image, that is, obtain the position of the adapter in the image.
  • the position of the adapter sheet in the image may be specifically expressed as the position coordinates of the adapter sheet in the image.
  • the position coordinates of the adapter piece in the image and the position coordinates of the cover plate in the image are the position coordinates in the same coordinate system.
  • the electronic device can obtain the actual position of the cover plate and the actual position of the adapter plate according to the position of the cover plate in the image and the position of the adapter plate in the image; wherein, the actual position can be actual position coordinates.
  • the electronic device can obtain the actual position coordinates of the cover plate according to the position coordinates and conversion coefficient of the cover plate in the image, and obtain the actual position coordinates of the cover plate according to the position coordinates and conversion coefficient of the adapter piece in the image.
  • the electronic device may detect a position offset between the cover plate and the adapter plate according to the actual position of the cover plate and the actual position of the adapter plate.
  • the position offset between the cover plate and the connecting piece may include: up and down offset and/or left and right offset.
  • the up and down offset can be understood as distance c
  • the left and right offset can be understood as distance d.
  • the position of the cover plate in the image is obtained according to the detected position of the preset feature point on the cover plate and the size of the cover plate, and the position of the preset feature point on the cover plate is located The non-edge area covered by the adapter sheet, so the position of the predetermined feature point on the cover plate in the image is not affected by the easy occlusion of the edge position of the cover plate.
  • the position of the cover plate in the image can be accurately obtained according to the position of the preset feature points on the cover plate and the size of the cover plate, so that the actual position of the cover plate can be accurately obtained according to the position of the cover plate in the image, and then according to the accurate cover plate
  • the actual position of the board and the actual position of the adapter piece can accurately obtain the position offset between the cover plate and the adapter piece, that is, to improve the accuracy of the detected position offset between the cover plate and the adapter piece.
  • step 201 can refer to FIG. 5 , including:
  • Step 501 Receive the first image of the product under test collected by the first camera, and receive the second image of the product under test collected by the second camera; wherein, the first field of view of the first camera and the second field of view of the second camera The ranges overlap, and the sum of the first field of view and the second field of view can fully cover the product to be tested;
  • Step 502 stitching the first image and the second image to obtain a stitched image
  • Step 503 Detect the positions of preset feature points on the cover according to the spliced images.
  • step 501 those skilled in the art can calibrate the first camera and the second camera in advance. After the first camera and the second camera are calibrated together, the field of view can cover the full field of view of the adapter piece. That is, the sum of the first field of view of the first camera and the second field of view of the second camera can fully cover the product to be tested.
  • the sum of the first field of view of the first camera and the second field of view of the second camera can fully cover the product to be tested, which can be understood as: the first part of the product to be tested can be captured by the first camera, and the first part of the product to be tested can be captured by the second camera.
  • the second area of the product to be tested is photographed, and the sum of the first area and the second area covers the entire product to be tested.
  • first field of view and the second field of view there is an overlap between the first field of view and the second field of view, which can be understood as: there is an overlap between the first part of the area and the second part of the area, and it can also be understood as: the first camera and the second camera can take pictures of the product to be tested at the same time an area.
  • the first camera may collect a first image of the product to be tested and send the first image to the electronic device, so that the electronic device may receive the first image collected by the first camera.
  • the second camera can collect a second image of the product to be tested and send the second image to the electronic device, so that the electronic device can receive the second image collected by the second camera.
  • both the first camera and the second camera may be 20MP black and white area scan cameras, the field of view in the X direction of the first camera and the second camera may be 305mm, and the pixel accuracy may be 0.03mm/pixel.
  • the electronic device may stitch the first image and the second image to obtain a stitched image.
  • the first image includes the first partial area of the product to be tested captured by the first camera
  • the second image includes the second partial area of the product to be tested captured by the second camera
  • the stitched image includes The first partial area of the product under test captured by the first camera and the second partial area of the product under test captured by the second camera, that is to say, the entire product under test is included in the stitched image.
  • the electronic device may stitch the first image and the second image according to the overlapping area of the first image and the second image to obtain a stitched image that includes the entire product under test and has no repeated content.
  • the first image 601, the second image 602, the overlapping area of the first image 601 and the second image 602 is 603, after the first image 601 and the second image 602 are stitched together, the stitching is obtained Image 604.
  • the electronic device can recognize the features of each point on the cover plate in the stitched image according to the stitched image, and use the point with the target feature as the detected preset feature point on the cover plate, so that the point with the target feature
  • the position of the point in the image is used as the position of the detected preset feature point on the cover plate.
  • the position of the preset feature point on the stitched image may be the middle point of the middle grid-shaped area.
  • more cameras may be selected to collect images of the product to be tested, and the images collected by more cameras may be spliced to obtain a spliced image. For example, set up 3 cameras, 4 cameras, and 6 cameras, receive the images of the product under test collected by each camera, and stitch them together.
  • the images of the product to be tested are respectively captured by the first camera and the second camera whose fields of view overlap, since the sum of the first field of view of the first camera and the second field of view of the second camera It can fully cover the product to be tested, so stitching the first image captured by the first camera and the second image captured by the second camera is beneficial to obtain a stitched image that can fully cover the product to be tested, that is, the stitched image can reflect the product to be tested According to the mosaic image that can reflect the whole picture of the product to be tested, the position of the preset feature points on the cover can be detected more accurately, so that the position of the cover in the image can be obtained more accurately, so as to further improve the detection of the cover and Accuracy of positional offset between adapters.
  • step 502 may refer to FIG. 7 , including:
  • Step 701 Transform the pixel coordinates of the first image and the pixel coordinates of the second image into the same coordinate system to obtain the physical coordinates of the first image and the physical coordinates of the second image;
  • Step 702 Determine the overlapping area between the first image and the second image according to the physical coordinates of the first image and the physical coordinates of the second image;
  • Step 703 According to the overlapping area of the first image and the second image, stitch the first image and the second image to obtain a stitched image.
  • the pixel coordinates are related to the image resolution. Assuming that the image resolution is 1024*768, the electronic device can divide the image into 1024 rows and 768 columns, and the intersections of each row and each column will form small grids one by one.
  • a cell is a pixel, and the row and column where the pixel is located are the pixel coordinates of the pixel.
  • the unit of pixel coordinates is pixel, and the pixel coordinates of a pixel can be expressed as several rows and columns.
  • the unit of the physical coordinates may be mm, and the origin of the coordinate system of the physical coordinates is usually the midpoint of the imaging plane, that is, the midpoint of the image.
  • There is a conversion relationship between the pixel coordinates and the physical coordinates and the conversion relationship may be, for example, how many mm are represented by each column of pixels and each row of pixels.
  • the electronic device can convert the pixel coordinates of the first image and the pixel coordinates of the second image into the same physical coordinate system according to the conversion relationship between the pixel coordinates and the physical coordinates, and obtain the physical coordinates of the first image and The physical coordinates of the second image.
  • the electronic device may identify image features of the first image, and identify image features of the second image.
  • the image features may include: texture features, shape features, grayscale features, color features, and the like.
  • the electronic device can compare the image features of the first image and the image features of the second image to obtain regions having the same image features in the first image and the second image.
  • the electronic device can determine the physical coordinates of the regions having the same image feature in the first image and the second image according to the physical coordinates of the first image and the physical coordinates of the second image, and combine the The physical coordinates of the region of the same image feature are used as the physical coordinates of the overlapping region of the first image and the second image.
  • the overlapping area of the first image and the second image is the overlapping area 603 in FIG. 6 .
  • the electronic device may stitch the first image and the second image according to the physical coordinates of the overlapping area of the first image and the second image to obtain a stitched image.
  • the overlapping area in the first image is cropped, and the cropped first image and the second image are stitched together to obtain the entire product to be tested, and Stitched images with no duplicate content.
  • the overlapping area in the second image may be cropped, and the cropped second image and the first image may be spliced to obtain the entire product to be tested, and Stitched images with no duplicate content. That is to say, since the content in the overlapping area of the first image and the second image belongs to repeated content, only the content in the overlapping area in one image is retained during image splicing.
  • the physical coordinates of the first image and the second image are obtained by converting the pixel coordinates and physical coordinates of the first image and the second image, so that the first image and the second image can be
  • the physical coordinates can accurately obtain the overlapping area between the first image and the second image, and the overlapping area is used as a reference for stitching the first image and the second image, which is conducive to accurately and reasonably completing the stitching of the first image and the second image.
  • receiving the first image of the product under test captured by the first camera in step 501, and receiving the second image of the product under test captured by the second camera may include: receiving the first image of the product under test captured by the first camera.
  • FIG. 8 is a schematic diagram of the positional relationship among the first camera, the second camera, the first light source, the second light source, the third light source and the product to be tested.
  • the fact that the first light source 801 is facing the product 800 under test can be understood as: the long side direction of the first light source 801 is in the same direction as the long side direction of the adapter sheet in the product under test 800 .
  • the second light source 802 and the third light source 803 are respectively arranged at both ends of the first light source 801 , the second light source 802 is located at the upper left of the product to be tested 800 , and the third light source 803 is located at the upper right of the product to be tested 800 .
  • the first light source is facing the product to be tested, and can illuminate the middle area of the product to be tested, so that the features at the middle position of the product to be tested can be more easily recognized through the first image and the second image.
  • the second light source and the third light source are respectively arranged at both ends of the first light source, the second light source is located at the upper left of the product to be tested, and the third light source is located at the upper right of the product to be tested, then the second light source can illuminate the left side of the product to be tested.
  • the side area, the third light source can illuminate the right area of the product to be tested, making it easier to detect the features on both sides of the product to be tested through the first image and the second image, which is conducive to improving the obtained image.
  • the first light source, the second light source and the third light source are all bar-shaped light sources; the length direction of the first light source is in the same direction as the length direction of the product to be tested, so The second light source forms a first preset angle with the first light source, and the third light source forms a second preset angle with the first light source.
  • the first light source 801 , the second light source 802 and the third light source 803 are all bar-shaped light sources, which are suitable for large-format size detection.
  • the length direction of the first light source 801 is in the same direction as the length direction of the product 800 to be tested, the second light source 802 forms a first preset angle with the first light source 801, and the third light source 803 forms a second preset angle with the first light source 801,
  • the angles between the three bar-shaped light sources are flexible and adjustable, so that the light emitted by the first light source 801, the second light source 802, and the third light source 803 can irradiate the product under test 800 as much as possible to illuminate the product under test 800, so that the first camera 804 and the second camera 805 can collect clear images under the illumination of three light sources.
  • the first light source 801 can be a strip light source
  • the second light source 802 and the third light source 803 can be ring light sources
  • the second light source 802 is concentric with the field of view center of the first camera 804
  • the third light source 803 is concentric with the second light source 803
  • the center of field of view of camera 805 is concentric.
  • the first light source, the second light source, and the third light source all use bar-shaped light sources.
  • the bar-shaped light source has high illumination uniformity, high brightness, good heat dissipation, long service life, high stability and simple installation.
  • the installation positions of the first light source, the second light source, and the third light source and the angles between the light sources make the first light source, the second light source, and the third light source can provide approximately ring-shaped lighting conditions, so that the tested The product is illuminated in all directions, that is, all directions of the product to be tested are illuminated, so that the first camera and the second camera can collect clear and comprehensive images.
  • a value range of the first preset angle and the second preset angle is: 140° to 160°.
  • the first preset angle between the second light source 802 and the first light source 801 is 140° to 160°, that is, the angle between the second light source 802 and the rightward horizontal direction is 20° to 40° °(30° ⁇ 10°).
  • the second preset angle between the third light source 803 and the first light source 801 is 140° to 160°, that is to say, the angle between the third light source 803 and the horizontal direction to the left is 20° to 40° (30° ⁇ 10°).
  • the distance between the first camera 804 and the product 800 to be tested may be 405 ⁇ 5mm, and the distance between the first camera 804 and the second camera 805 may be 160 ⁇ 5mm.
  • the distance between the first light source 801 and the product to be tested 800 can be 385 ⁇ 10mm, the horizontal angle between the second light source 802 and the third light source 803 can be 30° ⁇ 10°, the distance between the second light source 802 and the product to be tested 800 The distance between them can be 270 ⁇ 20mm.
  • the lengths of the second light source 802 and the third light source 803 may be 200 ⁇ 5 mm.
  • the value range of the first preset angle and the second preset angle is: 140° to 160°
  • the approximate circular shape provided by the first light source, the second light source, and the third light source The lighting conditions are good, which facilitates the collection of clear and comprehensive images of the product under test.
  • the first light source, the second light source and the third light source are all strobe light sources.
  • the short pulse light of the stroboscopic light source makes the moving object stop for the duration of the pulse light, which is similar to the shutter function of a camera.
  • the camera can capture a series of clear images, and the strobe light source is faster than the constant light source.
  • the first light source, the second light source, and the third light source all use stroboscopic light sources, which can increase the speed of image acquisition by the first camera and the second camera, thereby improving the detection of the gap between the cover plate and the adapter plate.
  • the velocity of the position offset can increase the speed of image acquisition by the first camera and the second camera, thereby improving the detection of the gap between the cover plate and the adapter plate.
  • the preset feature point is located at a middle position on the cover plate.
  • the cover plate (also referred to as the top cover) is a standard part, and the middle of the cover plate is a grid-shaped area, referring to FIG. is a built-in feature point on the cover, therefore, when the preset feature point on the cover is selected in advance, the point located in the middle of the cover can be used as the preset feature point.
  • the position of the preset feature point is set at the middle position on the cover plate, and the possibility of the middle position on the cover plate being blocked is extremely small, so the preset feature point in the middle of the detected in the image of the product under test.
  • the position of the preset feature point in the middle of the cover plate and the size of the cover plate it is more convenient to obtain The location of the cover plate in the image.
  • the position of the preset feature point in the detected image can be directly used as the midpoint of the cover plate in the image, and the midpoint is the midpoint of the length and width of the cover plate in the image. Therefore, according to the The position of the point and the size of the cover in the image can easily and conveniently simulate the position of the cover in the image.
  • the flowchart of the detection method can refer to FIG. 9, including:
  • Step 901 receiving the first image and the second image of the product under test respectively collected by the first camera and the second camera under the stroboscopic light source;
  • Step 902 stitching the first image and the second image to obtain a stitched image
  • Step 903 Detect the positions of the feature points on the cover in the stitched image, and obtain the position of the cover in the stitched image according to the positions of the feature points on the cover in the stitched image and the size of the cover;
  • Step 904 Obtain the position of the transition piece in the stitched image
  • Step 905 Obtain the actual position of the cover plate and the actual position of the adapter piece according to the position of the cover plate in the stitched image and the position of the adapter piece in the stitched image;
  • Step 906 According to the actual position of the cover plate and the actual position of the adapter piece, detect the positional offset between the cover plate and the adapter piece.
  • the first camera and the second camera can be 20MP black and white area scan cameras, and the camera field of view can be compatible with a maximum of 305mm and a minimum of 120mm.
  • the lens hardware of the first camera and the second camera are the same, the working distance is the same, the field of view is the same, and the pixel accuracy is the same.
  • the setting positions of the first camera and the second camera can refer to FIG. 8, the first camera 804 and the second camera 805 collect the first image and the second image respectively under the first light source 801, the second light source 802, and the third light source 803 .
  • the feature points on the cover plate are the feature points in the grid-shaped area in the middle of the cover plate.
  • the electronic device can capture the feature points on the cover plate in the stitched image, and combine the size of the cover plate to simulate the position of the cover plate in the stitched image.
  • the electronic device can capture the position of the connecting sheet in the spliced image in real time.
  • the first camera and the second camera collect images under a stroboscopic light source, which can increase the speed of image collection.
  • a stroboscopic light source which can increase the speed of image collection.
  • step division of the above various methods is only for the sake of clarity of description. During implementation, it can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. ; Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but not changing the core design of the algorithm and process are all within the scope of protection of this patent.
  • an electronic device includes: at least one processor 1001; and a memory 1002 communicatively connected to the at least one processor 1001; wherein, the memory 1002 stores There are instructions executable by the at least one processor 1001, and the instructions are executed by the at least one processor 1001, so that the at least one processor 1001 can execute the detection method as described above.
  • the memory 1002 and the processor 1001 are connected by a bus, and the bus may include any number of interconnected buses and bridges, and the bus connects one or more processors 1001 and various circuits of the memory 1002 together.
  • the bus may also connect together various other circuits such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and therefore will not be further described herein.
  • the bus interface provides an interface between the bus and the transceivers.
  • a transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a means for communicating with various other devices over a transmission medium.
  • the data processed by the processor 1001 is transmitted on the wireless medium through the antenna, and further, the antenna also receives the data and transmits the data to the processor 1001 .
  • the processor 1001 is responsible for managing the bus and general processing, and may also provide various functions including timing, peripheral interface, voltage regulation, power management and other control functions.
  • the memory 1002 can be used to store data used by the processor 1001 when performing operations.
  • a computer-readable storage medium storing a computer program.
  • the above method embodiments are implemented when the computer program is executed by the processor.
  • a storage medium includes several instructions to make a device ( It may be a single-chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

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Abstract

本申请实施例提供一种检测方法、电子设备和计算机可读存储介质。检测方法包括：接收待测产品的图像，并根据所述图像，检测盖板上预设特征点的位置；其中，待测产品包括：转接片和盖板，转接片位于盖板上且覆盖盖板的部分区域，预设特征点位于盖板上未被转接片覆盖的非边缘区域；根据预设特征点的位置和盖板的尺寸，得到所述图像中盖板的位置；根据所述图像，得到所述图像中转接片的位置；根据所述图像中盖板的位置和所述图像中转接片的位置，得到所述盖板的实际位置和所述转接片的实际位置；根据盖板的实际位置和转接片的实际位置，检测盖板和转接片之间的位置偏移量，能够提高检测的盖板和转接片之间位置偏移量的准确性。

Description

检测方法、电子设备和计算机可读存储介质 技术领域
本申请涉及检测技术领域，特别是涉及一种检测方法、电子设备和计算机可读存储介质。
背景技术
转接片焊接是电池的电芯生产流程中极为重要的一道工序，起到连接盖板及电芯的作用。转接片与盖板之间的偏移检测是转接片焊接后的一项重要的检测，以确认转接片与盖板之间的位置偏移量是否符合标准。
为了进行转接片与盖板之间的偏移检测常采用的方式为：相机拍取转接片的图片，通过图片分别抓取图片中盖板位置与转接片位置，从而计算盖板和转接片之间的位置偏移量。但由于在测试的过程中盖板的边缘位置容易被遮挡，比如可能被电芯遮挡，导致通过相机拍取的图片难以抓取到准确的盖板位置，从而使得检测的盖板和转接片之间位置偏移量的准确性较低。
发明内容
鉴于上述问题，本申请提供一种检测方法、电子设备和计算机可读存储介质，能够提高检测的盖板和转接片之间位置偏移量的准确性。
第一方面，本申请提供了一种检测方法，包括：接收待测产品的图像，并根据所述图像，检测盖板上预设特征点的位置；其中，所述待测产品包括：转接片和盖板，所述转接片位于所述盖板上且覆盖所述盖板的部分区域，所述预设特征点位于所述盖板上未被所述转接片覆盖的非边缘区域；根据所述预设特征点的位置和所述盖板的尺寸，得到所述图像中盖板的位置；根据所述图像，得到所述图像中转接片的位置；根据所述图像中盖板的位置和所述图像中转接片的位置，得到所述盖板的实际位置和所述转接片的实际位置；根据所述盖板的实际位置和所述转接片的实际位置，检测所述盖板和所述转接片之间的位置偏移量。
本申请实施例的技术方案中，由于图像中盖板的位置根据检测到的盖板上预设特征点的位置和盖板的尺寸得到，而盖板上预设特征点的位置位于盖板上未被转接片覆盖的非边缘区域，因此图像中盖板上预设特征点的位置并不受盖板的边缘位置容易被遮挡的影响。因此，根据盖板上预设特征点的位置和盖板的尺寸可以准确得到图像中盖板的位置，从而可以根据图像中盖板的位置，准确得到盖板的实际位置，进而根据准确的盖板的实际位置和转接片的实际位置，可以准确的得到盖板和转接片之间的位置偏移量，即提高检测的盖板和转接片之间位置偏移量的准确性。
在一些实施例中，所述接收待测产品的图像，并根据所述图像，检测盖板上预设特征点的位置；包括：接收第一相机采集的待测产品的第一图像，并接收第二相机采集的所述待测产品的第 二图像；其中，所述第一相机的第一视野范围和所述第二相机的第二视野范围存在重叠部分，所述第一视野范围和所述第二视野范围之和能全覆盖所述待测产品；对所述第一图像和所述第二图像进行拼接，得到拼接图像；根据所述拼接图像，检测盖板上预设特征点的位置。
本申请实施例的技术方案中，利用视野范围存在重叠区域的第一相机和第二相机分别采集待测产品的图像，由于第一相机的第一视野范围和第二相机的第二视野范围之和能全覆盖待测产品，因此对第一相机采集的第一图像和第二相机采集的第二图像进行拼接，有利于得到能够全覆盖待测产品的拼接图像，即拼接图像能够反映待测产品的全貌，根据能够反映待测产品全貌的拼接图像，可以更加准确的检测到盖板上预设特征点的位置，从而更加准确的得到图像中盖板的位置，以进一步提高检测的盖板和转接片之间位置偏移量的准确性。
在一些实施例中，所述对所述第一图像和所述第二图像进行拼接，得到拼接图像，包括：将所述第一图像的像素坐标和所述第二图像的像素坐标转换到同一坐标系下，得到所述第一图像的物理坐标和所述第二图像的物理坐标；根据所述第一图像的物理坐标和所述第二图像的物理坐标，确定所述第一图像和所述第二图像的重叠区域；根据所述第一图像和所述第二图像的重叠区域，对所述第一图像和所述第二图像进行拼接，得到拼接图像。
本申请实施例的技术方案中，通过对第一图像和第二图像均进行像素坐标和物理坐标的转换，得到第一图像和第二图像的物理坐标，使得可以通过第一图像和第二图像的物理坐标，准确得到第一图像和第二图像之间的重叠区域，该重叠区域作为拼接第一图像和第二图像的参考，有利于准确且合理的完成第一图像和第二图像的拼接。
在一些实施例中，所述接收第一相机采集的待测产品的第一图像，并接收第二相机采集的所述待测产品的第二图像，包括：接收第一相机在第一光源和第二光源下采集的待测产品的第一图像，并接收第二相机在第一光源和第三光源下采集的所述待测产品的第二图像；其中，所述第一光源正对所述待测产品，所述第二光源和所述第三光源分别设置在所述第一光源的两端，所述第二光源位于所述待测产品的左上方，所述第三光源位于所述待测产品的右上方。
本申请实施例的技术方案中，第一光源正对待测产品，可以照亮待测产品的中间区域，使得通过第一图像和第二图像可以更容易识别到待测产品中间位置处的特征，第二光源和第三光源分别设置在第一光源的两端，第二光源位于待测产品的左上方，第三光源位于待测产品的右上方，则第二光源可以照亮待测产品的左侧区域，第三光源可以照亮待测产品的右侧区域，使得通过第一图像和第二图像可以更容易检测到待测产品两侧的特征，从而有利于提高得到的图像中转接片的位置和图像中盖板的位置的准确性。
在一些实施例中，所述第一光源、所述第二光源和所述第三光源均为条形光源；所述第一光源的长度方向与所述待测产品的长度方向同向，所述第二光源与所述第一光源呈第一预设角度，所述第三光源与所述第一光源呈第二预设角度。
本申请实施例的技术方案中，第一光源、第二光源、第三光源均采用条形光源，适合大幅面的尺寸检测，条形光源光照均匀度高、亮度高、散热好、使用寿命长、稳定性高且安装简单，不同条形光源之间角度灵活可调。本实施例中第一光源、第二光源、第三光源的设置位置以及各光源相互之间的角度，使得第一光源、第二光源、第三光源可以提供近似环形的光照条件，从而对待测产品进行全方位的照射，即照亮待测产品的各个方位，从而有利于第一相机和第二相机采集到清晰且全面的图像。
在一些实施例中，所述第一预设角度与所述第二预设角度的取值范围为：140°到160°。
本申请实施例的技术方案中，当第一预设角度与第二预设角度的取值范围为：140°到160°时，第一光源、第二光源、第三光源所提供的近似环形的光照条件效果较好，方便了针对待测产品采集到清晰且全面的图像。
在一些实施例中，所述第一光源、所述第二光源和所述第三光源均为频闪光源。
本申请实施例的技术方案中，第一光源、第二光源和第三光源均采用频闪光源，可以提高第一相机和第二相机采集图像的速度，从而提高检测盖板和转接片之间的位置偏移量的速度。
在一些实施例中，所述预设特征点位于所述盖板上的中间位置。
本申请实施例的技术方案中，将预设特征点的位置设置在盖板上的中间位置，盖板上的中间位置被遮挡的可能性极小，因此盖板中间的预设特征点更容易从待测产品的图像中检测出来。而且，相比于将预设特征点的位置设置在盖板上非边缘的其他位置，本申请实施例中根据盖板中间的预设特征点的位置和盖板的尺寸，可以更加方便的得到图像中盖板的位置。
第二方面，本申请提供了一种电子设备，包括：至少一个处理器；以及，与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的检测方法。
第三方面，本申请提供了一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现上述的检测方法。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术 人员来讲，在不付出创造性劳动的前提下，还可以根据附图获得其他的附图。
图1是本申请一些实施例公开的一种待测产品的俯视图；
图2是本申请一些实施例公开的一种检测方法的流程示意图；
图3是本申请一些实施例公开的一种根据预设特征点在图像中的位置，模拟出图像中盖板的位置的示意图；
图4是本申请一些实施例公开的另一种根据预设特征点在图像中的位置，模拟出图像中盖板的位置的示意图；
图5是本申请一些实施例公开的步骤201的实现方式的流程示意图；
图6是本申请一些实施例公开的拼接第一图像和第二图像得到拼接图像的示意图；
图7是本申请一些实施例公开的步骤502的实现方式的流程示意图；
图8是本申请一些实施例公开的第一相机、第二相机、第一光源、第二光源、第三光源以及待测产品之间的位置关系的示意图；
图9是本申请一些实施例公开的另一种检测方法的流程示意图；
图10是本申请一些实施例公开的电子设备的结构示意图；
在附图中，附图并未按照实际的比例绘制。
具体实施方式
下面结合附图和实施例对本申请的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本申请的原理，但不能用来限制本申请的范围，即本申请不限于所描述的实施例。
在本申请的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允许范围之内。
下述描述中出现的方位词均为图中示出的方向，并不是对本申请的具体结构进行限定。在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。
目前汽车上使用的锂电池主要以磷酸铁锂电池为主，磷酸铁锂电池具有高容量、输出电压 高、较好的充放电循环性能等特点。转接片焊接是电池的电芯的生产流程中极为重要的一道工序，起到连接盖板及电芯的作用。在锂电池生产过程中，需要使用相机对一些参数进行检测，从而确定这些参数是否符合预设标准；这些参数可以包括：涂胶面积、盖板和转接片之间的偏移量等。
本发明人注意到:转接片与盖板之间的偏移检测是转接片焊接后的一项重要的检测，以确认转接片与盖板之间的位置偏移量是否符合预设标准，该预设标准比如可以为转接片与盖板之间的位置偏移量是否小于1mm。为了进行转接片与盖板之间的偏移检测常采用的方式为：相机拍取转接片的图片，通过分别抓取图片中盖板位置与转接片位置，从而计算盖板和转接片之间的位置偏移量。但由于在测试的过程中盖板的边缘位置容易被遮挡，比如可能被电芯遮挡，导致通过相机拍取的图片难以抓取到准确的盖板位置，从而使得检测的盖板和转接片之间位置偏移量的准确性较低。
为了解决盖板和转接片之间位置偏移量的准确性较低的问题，申请人研究发现，造成盖板和转接片之间位置偏移量的准确性较低的问题的主要原因在于：对于图像中顶盖的位置的检测结果不准确，如果能够提高图像中盖板的位置的检测结果的准确性，则可以使得检测到的盖板和转接片之间位置偏移量的准确性提高。
基于以上考虑，为了解决盖板和转接片之间位置偏移量的准确性较低的问题，发明人经过深入研究，从提高图像中盖板的位置的检测结果的准确性着手，设计了一种检测方法，通过图像中盖板上预设特征点的位置和盖板的尺寸得到图像中盖板的位置，盖板上预设特征点的位置位于盖板上未被转接片覆盖的非边缘区域，因此图像中盖板上预设特征点的位置并不受盖板的边缘位置容易被遮挡的影响。因此，根据盖板上预设特征点的位置和盖板的尺寸可以准确得到图像中盖板的位置，从而可以解决盖板和转接片之间位置偏移量的准确性较低的问题。
本申请实施例公开的检测方法，应用于电子设备，该电子设备可以对待测产品中的转接片和盖板之间的位置偏移量进行检测。电子设备可以接收相机采集的待测产品的图像，从而结合该图像对盖板和转接片之间位置偏移量进行检测。
其中，待测产品可以理解为生产电池的过程中的半成品，包括：转接片和盖板，转接片位于盖板上且覆盖盖板的部分区域。比如，待测产品的俯视图可以参考图1，包括：盖板101、转接片102、蓝膜103、涂胶区域104，转接片102位于盖板101上且覆盖盖板101的部分区域。盖板101的中间区域105未被转接片102覆盖，图1中，盖板101的两端的边缘区域也未被转接片102覆盖。需要说明的是，蓝膜103中的斜线阴影只是为了与其他区域进行区分，实际的蓝膜103上并没有斜线。而中间区域105中的格子状区域属于盖板上真实存在的产品形态。
根据本申请的一些实施例，检测方法的流程示意图可以参照图2，包括：
步骤201：接收待测产品的图像，并根据所述图像，检测盖板上预设特征点的位置；
步骤202：根据预设特征点的位置和盖板的尺寸，得到所述图像中盖板的位置；
步骤203：根据所述图像，得到所述图像中转接片的位置；
步骤204：根据所述图像中盖板的位置和所述图像中转接片的位置，得到盖板的实际位置和转接片的实际位置；
步骤205：根据盖板的实际位置和转接片的实际位置，检测盖板和转接片之间的位置偏移量。
在步骤201中，盖板上具有预设特征点，预设特征点可以预先被选择出来，预设特征点的选择原则为：位于盖板上未被转接片覆盖的非边缘区域。参考图1，盖板上未被转接片覆盖的区域包括中间区域105和盖板两端的边缘区域(图1中两端的黑色区域)。也就是说，预设特征点可以设置在属于非边缘区域的中间区域105中。
在一个例子中，预设特征点可以为盖板上具有目标特征的点，目标特征容易通过视觉识别而被识别出，盖板上的预设特征点具有目标特征，盖板上除预设特征点之外的其他特征点不具有目标特征。比如，图1中，盖板中间位置的格子状区域中的点具有目标特征，则格子状区域中的点可以作为盖板上的预设特征点。
在具体实现中，相机可以采集待测产品的图像，并将采集的待测产品的图像发送给电子设备，从而电子设备可以接收到待测产品的图像。电子设备根据待测产品的图像，识别图像中的盖板上各个点的特征，将具有目标特征的点作为检测到的盖板上的预设特征点，从而将具有目标特征的点在图像中的位置作为检测到的盖板上的预设特征点的位置。步骤201中，根据图像检测的盖板上预设特征点的位置为：盖板上的预设特征点在图像中的位置。
在步骤202中，电子设备可以根据图像中预设特征点的位置和盖板的尺寸，得到图像中盖板的位置。其中，盖板的尺寸可以为盖板的长和宽，盖板的尺寸可以预先存储在电子设备中，或者在开始执行检测方法时，由电子设备接收检测人员输入的盖板的尺寸。
在具体实现中，电子设备可以根据图像中预设特征点的位置和盖板的尺寸，模拟盖板在图像中的位置，从而得到图像中盖板的位置。比如，盖板的上表面通常为矩形，盖板实际的长和宽分别为a和b，盖板在图像中的长和宽分别为a’和b’。可以理解的是，在通过相机采集图像前，可以预先对相机进行标定，得到物体在图像中的位置坐标与物体的真实位置坐标之间的转换系数。在具体实现中，通过盖板实际的长和宽和标定后得到的转换系数，也可以得到盖板在图像中的长和宽。参考图3，假设预设特征点在图像中的位置为A点，预设特征点本身在盖板的中间位置，则结合盖 板在图像中的长a’和宽b’模拟出的图像中盖板的位置可以为：虚线框301的位置。参考图4，假设预设特征点在图像中的位置为B点，预设特征点本身在盖板的中间偏左的位置，则结合盖板在图像中的长a’和宽b’模拟出的图像中盖板的位置可以为：虚线框401的位置。其中，图像中盖板的位置可以具体表现为图像中盖板的位置坐标。
在步骤203中，电子设备可以根据所述图像，得到图像中转接片的位置。比如，电子设备可以对图像进行识别，识别出转接片的边缘轮廓，从而得到转接片在图像中的位置，即得到图像中转接片的位置。其中，图像中转接片的位置可以具体表现为图像中转接片的位置坐标。图像中转接片的位置坐标和图像中盖板的位置坐标为同一坐标系下的位置坐标。
在步骤204中，电子设备可以根据图像中盖板的位置和图像中转接片的位置，得到盖板的实际位置和转接片的实际位置；其中，实际位置可以为实际的位置坐标。如上文所述的对相机进行标定后，可以得到物体在图像中的位置坐标与物体的真实位置坐标之间的转换系数。因此，电子设备可以根据图像中盖板的位置坐标和转换系数，得到盖板的实际位置坐标，并根据图像中转接片的位置坐标和转换系数，得到盖板的实际位置坐标。
在步骤205中，电子设备可以根据盖板的实际位置和转接片的实际位置，检测盖板和转接片之间的位置偏移量。其中，盖板和转接片之间的位置偏移量可以包括：上下偏移量和/或左右偏移量。参考图1，上下偏移量可以理解为距离c，左右偏移量可以理解为距离d。
本申请的一些实施例中，由于图像中盖板的位置根据检测到的盖板上预设特征点的位置和盖板的尺寸得到，而盖板上预设特征点的位置位于盖板上未被转接片覆盖的非边缘区域，因此图像中盖板上预设特征点的位置并不受盖板的边缘位置容易被遮挡的影响。因此，根据盖板上预设特征点的位置和盖板的尺寸可以准确得到图像中盖板的位置，从而可以根据图像中盖板的位置，准确得到盖板的实际位置，进而根据准确的盖板的实际位置和转接片的实际位置，可以准确的得到盖板和转接片之间的位置偏移量，即提高检测的盖板和转接片之间位置偏移量的准确性。
根据本申请的一些实施例，步骤201的实现方式可以参考图5，包括：
步骤501：接收第一相机采集的待测产品的第一图像，并接收第二相机采集的待测产品的第二图像；其中，第一相机的第一视野范围和第二相机的第二视野范围存在重叠部分，第一视野范围和第二视野范围之和能全覆盖待测产品；
步骤502：对第一图像和第二图像进行拼接，得到拼接图像；
步骤503：根据拼接图像，检测盖板上预设特征点的位置。
在步骤501中，本领域技术人员可以预先对第一相机和第二相机进行标定，将第一相机和 第二相机这两只相机标定到一起后视野可做到转接片的全视野覆盖，即第一相机的第一视野范围和第二相机的第二视野范围之和能全覆盖待测产品。
第一相机的第一视野范围和第二相机的第二视野范围之和能全覆盖待测产品，可以理解为：采用第一相机能拍到待测产品的第一部分区域，采用第二相机能拍到待测产品的第二部分区域，第一部分区域和第二部分区域之和涵盖了整个待测产品。
第一视野范围和第二视野范围存在重叠部分，可以理解为：第一部分区域和第二部分区域存在重叠区域，还可以理解为：采用第一相机和第二相机能拍到待测产品的同一个区域。
在具体实现中，第一相机可以采集待测产品的第一图像并将第一图像发送至电子设备，从而电子设备可以接收到第一相机采集的第一图像。第二相机可以采集待测产品的第二图像并将第二图像发送至电子设备，从而电子设备可以接收到第二相机采集的第二图像。
在一个例子中，第一相机和第二相机可以均为20MP黑白面阵相机，第一相机和第二相机的X方向视野可以为305mm，像素精度可以为0.03mm/pixel。
在步骤502中，电子设备可以对第一图像和第二图像进行拼接，得到拼接图像。可以理解的是，第一图像中包括第一相机拍到的待测产品的第一部分区域，第二图像中包括第二相机拍到的待测产品的第二部分区域，拼接图像中即包括了第一相机拍到的待测产品的第一部分区域和第二相机拍到的待测产品的第二部分区域，也就是说，拼接图像中包括了整个待测产品。
在具体实现中，电子设备可以根据第一图像和第二图像的重叠区域对第一图像和第二图像进行拼接，得到包括整个待测产品，且不存在重复内容的拼接图像。
在一个例子中，可以参考图6，第一图像601，第二图像602，第一图像601和第二图像602的重叠区域为603，将第一图像601和第二图像602拼接后，得到拼接图像604。
在步骤503中，电子设备可以根据拼接图像，识别拼接图像中的盖板上各个点的特征，将具有目标特征的点作为检测到的盖板上的预设特征点，从而将具有目标特征的点在图像中的位置作为检测到的盖板上的预设特征点的位置。参考图6，拼接图像上预设特征点的位置可以为中间的格子状区域的中间点。
然而，在具体实现中，也可以选择更多的相机采集待测产品的图像，将更多的相机采集的图像进行拼接得到拼接图像。比如，设置3个相机、4个相机、6个相机，接收每个相机采集的待测产品的图像，并进行拼接。
本申请的一些实施例中，利用视野范围存在重叠区域的第一相机和第二相机分别采集待测产品的图像，由于第一相机的第一视野范围和第二相机的第二视野范围之和能全覆盖待测产品，因 此对第一相机采集的第一图像和第二相机采集的第二图像进行拼接，有利于得到能够全覆盖待测产品的拼接图像，即拼接图像能够反映待测产品的全貌，根据能够反映待测产品全貌的拼接图像，可以更加准确的检测到盖板上预设特征点的位置，从而更加准确的得到图像中盖板的位置，以进一步提高检测的盖板和转接片之间位置偏移量的准确性。
另外，本申请中还考虑到，相机的数量越多，标定的误差可能越大，标定的过程也会越复杂。而如果采用1个相机还想采集到能够全覆盖待测产品的图像，可能需要选择十几亿像素的相机，这种相机在市面上很难找到，虽然也存在30亿像素的工业相机，但这种相机成本太高，与这种相机配对的镜头也得跟着改变，预留的安装空间也许不够安装30亿像素的工业相机以及与该相机适配的镜头。因此，本申请实施例中选择2个相机进行待测产品的图像的采集，可以减小标定的误差，简化标定的过程，还有利于降低成本。
根据本申请的一些实施例，步骤502的实现方式可以参考图7，包括：
步骤701：将第一图像的像素坐标和第二图像的像素坐标转换到同一坐标系下，得到第一图像的物理坐标和第二图像的物理坐标；
步骤702：根据第一图像的物理坐标和第二图像的物理坐标，确定第一图像和第二图像的重叠区域；
步骤703：根据第一图像和第二图像的重叠区域，对第一图像和第二图像进行拼接，得到拼接图像。
在步骤701中，像素坐标和图像分辨率有关，假设图像分辨率是1024*768，则电子设备可以将图像分成1024行，768列，各行和各列相互交叉处会形成一个一个的小格，一个小格即为一个像素，像素所在的行和列即为像素的像素坐标。像素坐标的单位是pixel，一个像素的像素坐标可以被表示为几行几列。物理坐标的单位可以为毫米mm，物理坐标的坐标系的原点通常情况下是成像平面的中点，即图像的中点。像素坐标和物理坐标之间存在转换关系，该转换关系比如可以为：每一列像素和每一行像素分别代表多少mm。
在具体实现中，电子设备可以按照像素坐标和物理坐标之间存在转换关系，将第一图像的像素坐标和第二图像的像素坐标转换到同一物理坐标系下，得到第一图像的物理坐标和第二图像的物理坐标。
在步骤702中，电子设备可以识别第一图像的图像特征，并识别第二图像的图像特征。其中，图像特征可以包括：纹理特征、形状特征、灰度特征、颜色特征等。然后，电子设备可以对第一图像的图像特征和第二图像的图像特征进行对比，得到第一图像和第二图像中具有相同图像特征 的区域。接着，电子设备可以根据第一图像的物理坐标和第二图像的物理坐标，确定第一图像和第二图像中具有相同图像特征的区域的物理坐标，并将第一图像和第二图像中具有相同图像特征的区域的物理坐标，作为第一图像和第二图像的重叠区域的物理坐标。第一图像和第二图像的重叠区域即为图6中的重叠区域603。
在步骤703中，电子设备可以根据第一图像和第二图像的重叠区域的物理坐标，对第一图像和第二图像进行拼接，得到拼接图像。比如，根据所述重叠区域在第一图像中的物理坐标，裁剪掉第一图像中的所述重叠区域，将裁剪后的第一图像和第二图像进行拼接，得到包括整个待测产品，且不存在重复内容的拼接图像。或者，也可以根据所述重叠区域在第二图像中的物理坐标，裁剪掉第二图像中的重叠区域，将裁剪后的第二图像和第一图像进行拼接，得到包括整个待测产品，且不存在重复内容的拼接图像。也就是说，由于第一图像和第二图像的重叠区域的内容属于重复内容，进行图像拼接时仅保留一个图像中的重叠区域的内容。
本申请的一些实施例中，通过对第一图像和第二图像均进行像素坐标和物理坐标的转换，得到第一图像和第二图像的物理坐标，使得可以通过第一图像和第二图像的物理坐标，准确得到第一图像和第二图像之间的重叠区域，该重叠区域作为拼接第一图像和第二图像的参考，有利于准确且合理的完成第一图像和第二图像的拼接。
根据本申请的一些实施例，步骤501中接收第一相机采集的待测产品的第一图像，并接收第二相机采集的待测产品的第二图像，可以包括：接收第一相机在第一光源和第二光源下采集的待测产品的第一图像，并接收第二相机在第一光源和第三光源下采集的所述待测产品的第二图像；其中，所述第一光源正对所述待测产品，所述第二光源和所述第三光源分别设置在所述第一光源的两端，所述第二光源位于所述待测产品的左上方，所述第三光源位于所述待测产品的右上方。
参考图8，图8为第一相机、第二相机、第一光源、第二光源、第三光源以及待测产品之间的位置关系的示意图。其中，第一光源801正对待测产品800可以理解为：第一光源801的长边方向与待测产品800中的转接片的长边方向位于同一方向。第二光源802和第三光源803分别设置在第一光源801的两端，第二光源802位于待测产品800的左上方，第三光源803位于待测产品800的右上方。
本申请的一些实施例中，第一光源正对待测产品，可以照亮待测产品的中间区域，使得通过第一图像和第二图像可以更容易识别到待测产品中间位置处的特征，第二光源和第三光源分别设置在第一光源的两端，第二光源位于待测产品的左上方，第三光源位于待测产品的右上方，则第二光源可以照亮待测产品的左侧区域，第三光源可以照亮待测产品的右侧区域，使得通过第一图像和 第二图像可以更容易检测到待测产品两侧的特征，从而有利于提高得到的图像中转接片的位置和图像中盖板的位置的准确性。
根据本申请的一些实施例，第一光源、所述第二光源和所述第三光源均为条形光源；所述第一光源的长度方向与所述待测产品的长度方向同向，所述第二光源与所述第一光源呈第一预设角度，所述第三光源与所述第一光源呈第二预设角度。
参考图8，第一光源801、第二光源802和第三光源803均为条形光源，适合大幅面的尺寸检测。
第一光源801的长度方向与待测产品800的长度方向同向，第二光源802与第一光源801呈第一预设角度，第三光源803与第一光源801呈第二预设角度，三个条形光源之间角度灵活可调，以使得第一光源801、第二光源802、第三光源803所发出的光能够尽可能的照射到待测产品800上，以照亮待测产品800的各个区域，从而使得第一相机804和第二相机805在三个光源的照射下可以采集到清晰的图像。
在一个例子中，第一光源801可以为条形光源，第二光源802和第三光源803可以选择环形光源，第二光源802与第一相机804的视野中心同心，第三光源803与第二相机805的视野中心同心。
本申请的一些实施例中，第一光源、第二光源、第三光源均采用条形光源，条形光源光照均匀度高、亮度高、散热好、使用寿命长、稳定性高且安装简单。本实施例中第一光源、第二光源、第三光源的设置位置以及各光源相互之间的角度，使得第一光源、第二光源、第三光源可以提供近似环形的光照条件，从而对待测产品进行全方位的照射，即照亮待测产品的各个方位，从而有利于第一相机和第二相机采集到清晰且全面的图像。
根据本申请的一些实施例，第一预设角度与所述第二预设角度的取值范围为：140°到160°。
参考图8，第二光源802与第一光源801之间的第一预设角度为140°到160°，也就是说，第二光源802与向右的水平方向的夹角为20°到40°(30°±10°)。第三光源803与第一光源801之间的第二预设角度为140°到160°也就是说，第三光源803与向左的水平方向的夹角为20°到40°(30°±10°)。
在一个例子中，如图8所示，第一相机804和待测产品800之间的距离可以为405±5mm，第一相机804和第二相机805之间的距离可以为160±5mm，第一光源801和待测产品800之间的距离可以为385±10mm，第二光源802和第三光源803安装的水平夹角可以为30°± 10°，第二光源802与待测产品800之间的距离可以为270±20mm。可选的，第二光源802和第三光源803的长度可以为200±5mm。
本申请的一些实施例中，当第一预设角度与第二预设角度的取值范围为：140°到160°时，第一光源、第二光源、第三光源所提供的近似环形的光照条件效果较好，方便了针对待测产品采集到清晰且全面的图像。
根据本申请的一些实施例，第一光源、所述第二光源和所述第三光源均为频闪光源。
频闪光源的短暂脉冲光使运动物体在脉冲光的持续时间内静止下来的效果类似于照相机的快门功能。当增加频闪光源的频闪频率的时候，相机可以采集到一系列的清晰图像，频闪光源相比于常量光源取像速度更快。
本申请的一些实施例中，第一光源、第二光源和第三光源均采用频闪光源，可以提高第一相机和第二相机采集图像的速度，从而提高检测盖板和转接片之间的位置偏移量的速度。
根据本申请的一些实施例，预设特征点位于所述盖板上的中间位置。
考虑到，盖板(也可称为顶盖)为标准件，盖板的中间为格子状区域，参考图1，盖板101的中间位置的格子状区域中的点容易被识别区分，可以认为是盖板上自带的特征点，因此，可以在预先选择盖板上的预设特征点时，将位于盖板上的中间位置的点作为预设特征点。
本申请的一些实施例中，将预设特征点的位置设置在盖板上的中间位置，盖板上的中间位置被遮挡的可能性极小，因此盖板中间的预设特征点更容易从待测产品的图像中检测出来。而且，相比于将预设特征点的位置设置在盖板上非边缘的其他位置，本申请实施例中根据盖板中间的预设特征点的位置和盖板的尺寸，可以更加方便的得到图像中盖板的位置。比如，可以直接以检测到的图中的预设特征点的位置作为图像中盖板的中点，该中点为图像中盖板的长度的中点和宽度的中点，因此，根据该中点的位置和盖板在图像中的尺寸，可以简单方便的模拟出盖板在图像中位置。
根据本申请的一些实施例，检测方法的流程图可以参考图9，包括：
步骤901：接收第一相机和第二相机在频闪光源下分别采集的待测产品的第一图像和第二图像；
步骤902：对第一图像和第二图像进行拼接，得到拼接图像；
步骤903：检测拼接图像中盖板上自带的特征点的位置，并根据拼接图像中盖板上自带的特征点的位置和盖板的尺寸，得到拼接图像中盖板的位置；
步骤904：获取拼接图像中转接片的位置；
步骤905：根据拼接图像中盖板的位置和拼接图像中转接片的位置，得到盖板的实际位置 和转接片的实际位置；
步骤906：根据盖板的实际位置和转接片的实际位置，检测盖板和转接片之间的位置偏移量。
其中，第一相机和第二相机可以为20MP黑白面阵相机，相机视野可兼容最大305mm，最小120mm。在对第一相机和第二相机标定时，第一相机和第二相机的镜头硬件一致，工作距离一致，视野大小一致，像素精度一致。第一相机和第二相机的设置位置可以参考图8，第一相机804和第二相机805在第一光源801、第二光源802、第三光源803下分别采集到第一图像和第二图像。盖板上自带的特征点为盖板中间的格子状区域中的特征点。电子设备可以在拼接图像中抓取盖板上自带的特征点，并结合盖板的尺寸，模拟得到拼接图像中盖板的位置。在具体实现中，电子设备可以实时抓取拼接图像中转接片的位置。
本申请的一些实施例中，第一相机和第二相机在频闪光源下采集图像，可以提高采集图像的速度。通过对第一图像和第二图像的拼接，有利于得到能够全覆盖待测产品的拼接图像，从而通过该拼接图像有利于准确的识别出盖板自带的特征点的位置。根据识别出的盖板自带的特征点的位置和盖板的尺寸，得到盖板位置，从而得到盖板和转接片之间位置偏移量。盖板上自带的特征点位于盖板的中间位置，因此不易受到盖板的边缘位置容易被遮挡的影响，可以准确得到盖板的位置，以提高检测的盖板和转接片之间位置偏移量的准确性。
上面各种方法的步骤划分，只是为了描述清楚，实现时可以合并为一个步骤或者对某些步骤进行拆分，分解为多个步骤，只要包括相同的逻辑关系，都在本专利的保护范围内；对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计，但不改变其算法和流程的核心设计都在该专利的保护范围内。
根据本申请的一些实施例，提供了一种电子设备，参考图10，包括：至少一个处理器1001；以及，与所述至少一个处理器1001通信连接的存储器1002；其中，所述存储器1002存储有可被所述至少一个处理器1001执行的指令，所述指令被所述至少一个处理器1001执行，以使所述至少一个处理器1001能够执行如上述的检测方法。
其中，存储器1002和处理器1001采用总线方式连接，总线可以包括任意数量的互联的总线和桥，总线将一个或多个处理器1001和存储器1002的各种电路连接在一起。总线还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路连接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口在总线和收发机之间提供接口。收发机可以是一个元件，也可以是多个元件，比如多个接收器和发送器，提供用于在传输介质上与各种其他装置通信 的单元。经处理器1001处理的数据通过天线在无线介质上进行传输，进一步，天线还接收数据并将数据传送给处理器1001。
处理器1001负责管理总线和通常的处理，还可以提供各种功能，包括定时，外围接口，电压调节、电源管理以及其他控制功能。而存储器1002可以被用于存储处理器1001在执行操作时所使用的数据。
根据本申请的一些实施例，提供了一种计算机可读存储介质，存储有计算机程序。计算机程序被处理器执行时实现上述方法实施例。
即，本领域技术人员可以理解，实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围，其均应涵盖在本申请的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (10)

  1. 一种检测方法，包括：
    接收待测产品的图像，并根据所述图像，检测盖板上预设特征点的位置；其中，所述待测产品包括：转接片和盖板，所述转接片位于所述盖板上且覆盖所述盖板的部分区域，所述预设特征点位于所述盖板上未被所述转接片覆盖的非边缘区域；
    根据所述预设特征点的位置和所述盖板的尺寸，得到所述图像中盖板的位置；
    根据所述图像，得到所述图像中转接片的位置；
    根据所述图像中盖板的位置和所述图像中转接片的位置，得到所述盖板的实际位置和所述转接片的实际位置；
    根据所述盖板的实际位置和所述转接片的实际位置，检测所述盖板和所述转接片之间的位置偏移量。
  2. 根据权利要求1所述的检测方法，其中，所述接收待测产品的图像，并根据所述图像，检测盖板上预设特征点的位置；包括：
    接收第一相机采集的待测产品的第一图像，并接收第二相机采集的所述待测产品的第二图像；其中，所述第一相机的第一视野范围和所述第二相机的第二视野范围存在重叠部分，所述第一视野范围和所述第二视野范围之和能全覆盖所述待测产品；
    对所述第一图像和所述第二图像进行拼接，得到拼接图像；
    根据所述拼接图像，检测盖板上预设特征点的位置。
  3. 根据权利要求2所述的检测方法，其中，所述对所述第一图像和所述第二图像进行拼接，得到拼接图像，包括：
    将所述第一图像的像素坐标和所述第二图像的像素坐标转换到同一坐标系下，得到所述第一图像的物理坐标和所述第二图像的物理坐标；
    根据所述第一图像的物理坐标和所述第二图像的物理坐标，确定所述第一图像和所述第二图像的重叠区域；
    根据所述第一图像和所述第二图像的重叠区域，对所述第一图像和所述第二图像进行拼接，得到拼接图像。
  4. 根据权利要求2所述的检测方法，其中，所述接收第一相机采集的待测产品的第一图像，并接收第二相机采集的所述待测产品的第二图像，包括：
    接收第一相机在第一光源和第二光源下采集的待测产品的第一图像，并接收第二相机在第一光源和第三光源下采集的所述待测产品的第二图像；
    其中，所述第一光源正对所述待测产品，所述第二光源和所述第三光源分别设置在所述第一光源的两端，所述第二光源位于所述待测产品的左上方，所述第三光源位于所述待测产品的右上方。
  5. 根据权利要求4所述的检测方法，其中，所述第一光源、所述第二光源和所述第三光源均为条形光源；
    所述第一光源的长度方向与所述待测产品的长度方向同向，所述第二光源与所述第一光源呈第一预设角度，所述第三光源与所述第一光源呈第二预设角度。
  6. 根据权利要求5所述的检测方法，其中，所述第一预设角度与所述第二预设角度的取值范围为：140°到160°。
  7. 根据权利要求4至6任一项所述的检测方法，其中，所述第一光源、所述第二光源和所述第三光源均为频闪光源。
  8. 根据权利要求1至7任一项所述的检测方法，其中，所述预设特征点位于所述盖板上的中间位置。
  9. 一种电子设备，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求1至8中任一所述的检测方法。
  10. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1至8中任一项所述的检测方法。
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