WO2023124726A1 - Ccd拍照检测的运行控制方法、检测系统及存储介质 - Google Patents

Ccd拍照检测的运行控制方法、检测系统及存储介质 Download PDF

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WO2023124726A1
WO2023124726A1 PCT/CN2022/135563 CN2022135563W WO2023124726A1 WO 2023124726 A1 WO2023124726 A1 WO 2023124726A1 CN 2022135563 W CN2022135563 W CN 2022135563W WO 2023124726 A1 WO2023124726 A1 WO 2023124726A1
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product
ccd
operation control
detection
control method
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PCT/CN2022/135563
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English (en)
French (fr)
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陈德
晏栋
徐卓
邓平
欧依文
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广东利元亨智能装备股份有限公司
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N21/13—Moving of cuvettes or solid samples to or from the investigating station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • 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
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to the technical field of product quality inspection, and in particular to an operation control method for charge-coupled device (Charge-coupled Device, CCD) photo-detection, an operation control device, a CCD photo-detection system, and a computer-readable storage medium.
  • CCD Charge-coupled Device
  • the purpose of the present invention is to at least solve one of the technical problems existing in the prior art, to provide an operation control method for CCD photographing detection, an operation control device, a CCD photographing detection system and a computer-readable storage medium, which can improve the detection of products. Effect.
  • an embodiment of the present invention provides an operation control method for CCD camera detection, comprising the following steps:
  • Control the mobile robot to move the product to be photographed on the production line to the height for CCD photographing and detection.
  • the test product is moved to several different heights of the CCD camera detection position by the mobile robot, and then the product photos of different heights are taken, and the calculation is clear and get the height corresponding to the product photo with the highest definition.
  • the mobile robot is controlled to move the product to be photographed on the production line to this height for CCD photographing detection, which can make the product to be photographed that needs to be photographed by CCD subsequently moved. Go to the position with the highest photo resolution for detection to improve the detection effect of the product.
  • the mobile robot is controlled to select one of the products to be photographed on the production line as a test product again, so as to regain the maximum clarity.
  • the height of the product photo is controlled to select one of the products to be photographed on the production line as a test product again, so as to regain the maximum clarity.
  • the preset conditions include one of the following:
  • the sharpness of the current product for CCD camera detection is lower than the preset sharpness threshold
  • the number of products that are continuously photographed by CCD at the current height reaches the preset number threshold
  • the working time for continuous CCD camera detection at the current altitude reaches the preset time threshold.
  • the resolution of the current product for CCD camera detection is lower than the preset resolution threshold, that is, the product photos are not clear enough, and the height needs to be re-adjusted to improve the detection effect; the number of products currently undergoing continuous CCD camera detection reaches the preset number threshold, It may lead to a decrease in the clarity of product photos. At this time, readjusting the height can improve the detection effect; similarly, if the working time of continuous CCD photo detection at the current height reaches the preset time threshold, the clarity of product photos may also decrease. , and readjust the height at this time, which can improve the detection effect.
  • the positioning of the target part of the test product from the product photo includes:
  • the definition of the target part is calculated by using Laplace transform.
  • the target location includes a product side or a product corner.
  • the preset height range is greater than or equal to 4 mm, and the height difference between two adjacent height positions is greater than or equal to 0.4 mm.
  • an embodiment of the present invention provides an operation control device, including at least one control processor and a memory for communicating with the at least one control processor; the memory stores information that can be processed by the at least one control processor. Instructions executed by the controller, the instructions are executed by the at least one control processor, so that the at least one control processor can execute the operation control method for CCD photographing detection as described in the embodiment of the first aspect above.
  • the operation control device provided according to the embodiment of the present invention has at least the following beneficial effects: the test product is moved to several different heights of the CCD camera detection position by the mobile robot, and then the product photos of different heights are taken, and the sharpness is calculated and obtained. Finally, according to the height, the mobile robot is controlled to move the product to be photographed on the production line to this height for CCD photographing detection, which can make the product to be photographed that needs to be photographed by CCD subsequently move to the photographing clarity The highest position is used for detection to improve the detection effect of products.
  • an embodiment of the present invention provides a CCD photographing detection system, including the operation control device described in the embodiment of the second aspect above.
  • the CCD camera detection system provided according to the embodiment of the present invention has at least the following beneficial effects: the test product is moved to several different heights of the CCD camera detection position by the mobile robot, and then the product photos of different heights are taken, and the definition is calculated and obtained. The height corresponding to the product photo with the highest definition. Finally, according to the height, the mobile robot is controlled to move the product to be photographed on the production line to this height for CCD photo inspection, which can make the product to be photographed that needs to be photographed by CCD later moved to a clear photo. The position with the highest precision can be detected to improve the detection effect of the product.
  • an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer perform the above-mentioned first aspect embodiment.
  • the operation control method of the CCD camera detection is used to make a computer perform the above-mentioned first aspect embodiment.
  • the computer-readable storage medium provided according to the embodiments of the present invention has at least the following beneficial effects: the test product is moved to several different heights of the CCD camera detection position by the mobile robot, and then the product photos of different heights are taken, and the definition is calculated and calculated. Get the height corresponding to the product photo with the highest definition, and finally control the mobile robot to move the product to be photographed on the production line to this height for CCD photo inspection according to the height, so that the product to be photographed that needs to be photographed by CCD in the future can be moved to the photo The position with the highest definition is detected to improve the detection effect of the product.
  • Fig. 1 is the flowchart of the operation control method of a kind of CCD photographing detection provided by the embodiment of the present invention
  • Fig. 2 is the schematic diagram of the operation control method of a kind of CCD photographing detection provided by the embodiment of the present invention
  • Fig. 3 is the flow chart of the operation control method of a kind of CCD photographing detection provided by another embodiment of the present invention.
  • Fig. 4 is a schematic structural diagram of an operation control device provided by an embodiment of the present invention.
  • the battery pole piece is the core part of the lithium battery, and the quality of the pole piece directly affects the battery performance.
  • the traditional human eye detection can no longer meet the needs of production; in order to meet the needs of production, computer-based laser scanning or CCD vision technology to detect surface defects of battery cells is favored by enterprises.
  • Machine vision detection has the characteristics of simple structure, fast detection speed and accurate detection results.
  • Embodiments of the present invention provide an operation control method for CCD photographing detection, an operation control device, a CCD photographing detection system, and a computer-readable storage medium, which can improve the detection effect on products.
  • the embodiment of the first aspect of the present invention provides an operation control method for CCD photographing detection, including but not limited to step S110 to step S160, wherein:
  • Step S110 Control the mobile robot to move the test product to several different heights of the CCD camera detection position, and the CCD camera detection position is within the preset height range;
  • Step S120 Control the camera to take photos of the test product corresponding to several product heights
  • Step S130 locating the target part of the test product from the product photo
  • Step S140 calculating the sharpness of the target part corresponding to the product photo
  • Step S150 Comparing the sharpness of the same target part at several different heights to obtain the height corresponding to the product photo with the highest sharpness;
  • Step S160 Control the mobile robot to move the product to be photographed on the production line to a height for CCD photographing and detection.
  • the test product is moved to several different heights of the CCD camera detection position by the mobile robot, and then the product photos of different heights are taken, and the resolution is calculated and the maximum resolution is obtained.
  • the height corresponding to the product photo, and finally according to the height, the mobile robot is controlled to move the product to be photographed on the production line, such as the battery cell, to the height for CCD photographing detection, which can make the subsequent products to be photographed that need to be photographed by CCD to be moved to The position with the highest photographic clarity is detected to improve the detection effect of the product.
  • the system for performing CCD photographing detection on batteries at least includes a mobile robot for grabbing the product to be photographed and moving to the CCD photographing detection position, a camera for taking product photos of the product to be photographed at the CCD photographing detection position, and
  • the mobile robot is equipped with a mechanical arm for grabbing the product to be photographed, such as a six-axis mechanical arm.
  • a mechanical arm for grabbing the product to be photographed, such as a six-axis mechanical arm.
  • the product photos taken by the camera are color photos, the color photos need to be converted into gray photos before subsequent processing.
  • the mobile robot is controlled to select a product to be photographed on the production line as the test product again, so as to obtain the height of the product photo with the highest definition again.
  • the preset conditions include one of the following:
  • the sharpness of the current product for CCD camera detection is lower than the preset sharpness threshold
  • the number of products that are continuously photographed by CCD at the current height reaches the preset number threshold
  • the working time for continuous CCD camera detection at the current altitude reaches the preset time threshold.
  • the resolution of current products for CCD camera detection is lower than the preset resolution threshold, that is, the product photos are not clear enough, and the height needs to be re-adjusted to improve the detection effect; the current number of products that are continuously subjected to CCD camera detection at a height reaches The preset quantity threshold may lead to a decrease in the clarity of product photos. At this time, readjusting the height can improve the detection effect; similarly, if the working time of continuous CCD photo detection at the current height reaches the preset duration threshold, it may also cause product damage. The sharpness of the photo decreases, and the height can be readjusted at this time to improve the detection effect.
  • the target position of the test product is positioned from the product photo in step S130, including but not limited to step S310 to step S330, wherein:
  • Step S310 using a threshold segmentation algorithm to segment several target areas from the product photo
  • Step S320 Calculate and compare the perimeter of the outer contour of each target area
  • Step S330 Determine the target area with the largest perimeter of the outer contour as the target part of the test product.
  • the definition of the target part is calculated by using Laplace transform.
  • the target position includes the product side or product corner. It can be understood that when the product to be photographed is a battery cell, the target part is the side of the battery cell and the corner of the battery cell.
  • the sharpness of each part of the product photo can be directly calculated, and the calculated sharpness value can be added to the product photo, and the sharpness of each product photo can be stored in a list to calculate the best When in position, look for the largest sharpness value from the list.
  • the preset height range is greater than or equal to 4 mm, and the height difference between two adjacent height positions is greater than or equal to 0.4 mm.
  • the embodiment of the second aspect of the present invention provides an operation control device 400, including at least one control processor 410 and a memory 420 for communicating with at least one control processor 410; Instructions executed by at least one control processor 410, the instructions are executed by at least one control processor 410, so that at least one control processor 410 can execute the operation control method of CCD photographing detection in the embodiment of the first aspect above, for example, execute FIG. 1 Step S110 to step S160 in the method, or execute step S310 to step S330 in the method in FIG. 3 .
  • the test product is moved to several different heights of the CCD camera detection position by the mobile robot, and then the product photos of different heights are taken, and the definition is calculated to obtain the product photo with the highest definition The corresponding height, and finally control the mobile robot according to the height to move the product to be photographed on the production line to this height for CCD photographing detection, which can make the subsequent product to be photographed that needs to be photographed by CCD to move to the position with the highest photographing clarity for detection , to improve the detection effect of the product.
  • the embodiment of the third aspect of the present invention provides a CCD camera detection system, including the operation control device 400 of the embodiment of the second aspect above.
  • the test product is moved to several different heights of the CCD camera detection position by the mobile robot, and then product photos of different heights are taken, and the definition is calculated to obtain the product photo with the highest definition The corresponding height, and finally control the mobile robot according to the height to move the product to be photographed on the production line to this height for CCD photographing detection, which can make the subsequent product to be photographed that needs to be photographed by CCD to move to the position with the highest photographing clarity for detection , to improve the detection effect of the product.
  • the embodiment of the fourth aspect of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make the computer execute the CCD photographing detection in the embodiment of the first aspect above.
  • the operation control method for example, executes the method steps S110 to S160 in FIG. 1 , or executes the method steps S310 to S330 in FIG. 3 .
  • the test product is moved to several different heights of the CCD camera detection position through the mobile robot, and then the product photos of different heights are taken, and the definition is calculated to obtain the product with the highest definition
  • the height corresponding to the photo, and finally according to the height, the mobile robot is controlled to move the product to be photographed on the production line to this height for CCD photographing detection, which can make the product to be photographed that needs to be photographed by CCD to move to the position with the highest photographing clarity. Detection, improve the detection effect of the product.
  • Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk DVD or other optical disk storage, magnetic cartridges, tape, magnetic disk storage or other magnetic storage devices, or can be used in Any other medium that stores desired information and that can be accessed by a computer.
  • communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .

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Abstract

一种 CCD 拍照检测的运行控制方法、运行控制装置、CCD 拍照检测系统及计算机可读存储介质，运行控制方法包括：控制移动机器人将测试产品移动到 CCD 拍照检测位置的若干个不同高度处，CCD 拍照检测位置位于预设高度范围内（S110）；控制相机拍摄测试产品对应若干个不同高度的产品照片（S120）；从产品照片中定位测试产品的目标部位（S130）；计算产品照片对应目标部位的清晰度（S140）；比较同一目标部位在若干个不同高度处的清晰度，得到对应清晰度最大的产品照片的高度（S150）；控制移动机器人将产线上的待拍照产品移动到对应清晰度最大的产品照片的高度进行 CCD 拍照检测（S160）。通过使得后续需要进行 CCD 拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。

Description

CCD拍照检测的运行控制方法、检测系统及存储介质 技术领域
本发明涉及产品质检技术领域，尤其涉及一种电荷耦合元件(Charge-coupled Device,CCD)拍照检测的运行控制方法、运行控制装置、CCD拍照检测系统及计算机可读存储介质。
背景技术
随着微电子技术的发展，锂电池进入了大规模的实用阶段，广泛应用于手机、摄像机、笔记本电脑等数码产品，并在电力汽车行业有着更广阔的前景。在电池电芯的生产过程中，难免对部分电芯的表面造成一定的缺陷，导致电芯出现极耳打皱、漏液、凹凸、划伤等缺陷。目前，传统的人眼检测已不能满足生产的需要；为满足生产的需要，而基于计算机的激光扫描或CCD视觉技术检测电芯表面缺陷，受到企业生产的青睐。机器视觉检测具有结构简单、检测速度快、检测结果准确的特点。
目前，对于电芯的CCD检测，为了保证照片拍摄效果，需要人眼对照片的清晰度进行判断，甚至根据清晰度对光源、相机高度、角度等进行调节以达到最优的拍摄状态，但是这种方式耗时耗力，且一致性差，另外调节相机或光源位置后，还需再次进行调节，CCD拍照检测的效果和质量经常得不到保障。
发明内容
本发明的目的在于至少解决现有技术中存在的技术问题之一，提供一种CCD拍照检测的运行控制方法、运行控制装置、CCD拍照检测系统及计算机可读存储介质，能够提高对产品的检测效果。
第一方面，本发明实施例提供一种CCD拍照检测的运行控制方法，包括以下步骤：
控制移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，所述CCD拍照检测位置位于预设高度范围内；
控制相机拍摄所述测试产品对应所述若干个不同高度的产品照片；
从所述产品照片中定位所述测试产品的目标部位；
计算所述产品照片对应所述目标部位的清晰度；
比较同一所述目标部位在所述若干个不同高度处的清晰度，得到对应清晰度最大的所述产品照片的高度；
控制移动机器人将产线上的待拍照产品移动到所述高度进行CCD拍照检测。
根据本发明实施例提供的CCD拍照检测的运行控制方法，至少具有如下有益效果：通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产线上的待拍照产品移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
在上述的CCD拍照检测的运行控制方法中，满足预设条件时，控制所述移动机器人再次 选取所述产线上的一个所述待拍照产品作为测试产品，以重新得到清晰度最大的所述产品照片的高度。
通过设置触发再次调整高度的预设条件，满足预设条件则重新选取一个待拍照产品作为测试产品，再次移动到CCD拍照检测位置的若干个不同高度处进行拍照、定位目标部位、计算目标部位清晰度以及确定清晰度最大的产品照片的高度，最后调整后续进行CCD拍照检测的产品移动到的位置的高度，来保证后续产品的检测效果。
在上述的CCD拍照检测的运行控制方法中，所述预设条件包括以下其中之一：
当前产品进行CCD拍照检测的清晰度低于预设清晰度阈值；
在当前高度连续进行CCD拍照检测的产品数量达到预设数量阈值；
在当前高度连续进行CCD拍照检测的工作时长达到预设时长阈值。
当前产品进行CCD拍照检测的清晰度低于预设清晰度阈值，即产品照片的清晰度不足，需要重新调整高度，提高检测效果；当前高度连续进行CCD拍照检测的产品数量达到预设数量阈值，可能会导致产品照片的清晰度下降，此时重新调整高度，可以提高检测效果；同理，当前高度连续进行CCD拍照检测的工作时长达到预设时长阈值，也可能会导致产品照片的清晰度下降，此时重新调整高度，可以提高检测效果。
在上述的CCD拍照检测的运行控制方法中，所述从所述产品照片中定位所述测试产品的目标部位，包括：
采用阈值分割算法从所述产品照片中分割出若干个目标区域；
计算并比较每个所述目标区域的外部轮廓周长；
确定外部轮廓周长最大的所述目标区域为所述测试产品的目标部位。
在上述的CCD拍照检测的运行控制方法中，所述目标部位的清晰度采用拉普拉斯变换进行计算得出。
在上述的CCD拍照检测的运行控制方法中，所述目标部位包括产品侧边或者产品角位。
在上述的CCD拍照检测的运行控制方法中，所述预设高度范围大于或者等于4毫米，相邻两个高度位置的高度差值大于或者等于0.4毫米。
第二方面，本发明实施例提供一种运行控制装置，包括至少一个控制处理器和用于与所述至少一个控制处理器通信连接的存储器；所述存储器存储有可被所述至少一个控制处理器执行的指令，所述指令被所述至少一个控制处理器执行，以使所述至少一个控制处理器能够执行如上第一方面实施例所述的CCD拍照检测的运行控制方法。
根据本发明实施例提供的运行控制装置，至少具有如下有益效果：通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产线上的待拍照产品移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
第三方面，本发明实施例提供一种CCD拍照检测系统，包括如上第二方面实施例所述的运行控制装置。
根据本发明实施例提供的CCD拍照检测系统，至少具有如下有益效果：通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产 线上的待拍照产品移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
第四方面，本发明实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上第一方面实施例所述的CCD拍照检测的运行控制方法。
根据本发明实施例提供的计算机可读存储介质，至少具有如下有益效果：通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产线上的待拍照产品移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
附图说明
附图用来提供对本发明技术方案的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明的技术方案，并不构成对本发明技术方案的限制。
下面结合附图和实施例对本发明进一步地说明；
图1是本发明实施例提供的一种CCD拍照检测的运行控制方法的流程图；
图2是本发明实施例提供的一种CCD拍照检测的运行控制方法的示意图；
图3是本发明另一实施例提供的一种CCD拍照检测的运行控制方法的流程图；
图4是本发明实施例提供的一种运行控制装置的结构示意图。
具体实施方式
本部分将详细描述本发明的具体实施例，本发明之较佳实施例在附图中示出，附图的作用在于用图形补充说明书文字部分的描述，使人能够直观地、形象地理解本发明的每个技术特征和整体技术方案，但其不能理解为对本发明保护范围的限制。
在本发明的描述中，如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。
随着微电子技术的发展，锂电池进入了大规模的实用阶段，广泛应用于手机、摄像机、笔记本电脑等数码产品，并在电力汽车行业有着更广阔的前景。电池极片是锂电池的核心部分，极片质量直接影响电池工作性能。在电池电芯的生产过程中，难免对部分电芯的表面造成一定的缺陷，导致电芯出现极耳打皱、漏液、凹凸、划伤等缺陷。目前，传统的人眼检测已不能满足生产的需要；为满足生产的需要，而基于计算机的激光扫描或CCD视觉技术检测电芯表面缺陷，受到企业生产的青睐。机器视觉检测具有结构简单、检测速度快、检测结果准确的特点。
目前，对于电芯的CCD检测，为了保证照片拍摄效果，需要人眼对照片的清晰度进行判断，甚至根据清晰度对光源、相机高度、角度等进行调节以达到最优的拍摄状态，但是这种方式耗时耗力，且一致性差，另外调节相机或光源位置后，还需再次进行调节，CCD拍照检测的效果和质量经常得不到保障。
本发明实施例提供一种CCD拍照检测的运行控制方法、运行控制装置、CCD拍照检测系统及计算机可读存储介质，能够提高对产品的检测效果。
下面结合附图，对本发明实施例作进一步阐述。
参照图1和图2，本发明的第一方面实施例提供一种CCD拍照检测的运行控制方法，包括但不限于步骤S110至步骤S160，其中：
步骤S110：控制移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，CCD拍照检测位置位于预设高度范围内；
步骤S120：控制相机拍摄测试产品对应若干个不同高度的产品照片；
步骤S130：从产品照片中定位测试产品的目标部位；
步骤S140：计算产品照片对应目标部位的清晰度；
步骤S150：比较同一目标部位在若干个不同高度处的清晰度，得到对应清晰度最大的产品照片的高度；
步骤S160：控制移动机器人将产线上的待拍照产品移动到高度进行CCD拍照检测。
根据本发明实施例提供的CCD拍照检测的运行控制方法，通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产线上的待拍照产品，例如电芯，移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
可以理解的是，对电芯进行CCD拍照检测的系统，至少包括有用于抓取待拍照产品移动到CCD拍照检测位置的移动机器人、对CCD拍照检测位置的待拍照产品进行产品照片拍摄的相机以及光源组件，移动机器人设置有用于抓取待拍照产品的机械臂，例如为六轴机械臂，其他组件例如机架组件、输送带等，可以参照相关技术，此处不再赘述。
需要说明的是，如果相机拍摄的产品照片为彩色照片，需要将彩色照片转换成灰色照片，再进行后续处理操作。
在上述的CCD拍照检测的运行控制方法中，满足预设条件时，控制移动机器人再次选取产线上的一个待拍照产品作为测试产品，以重新得到清晰度最大的产品照片的高度。
通过设置触发再次调整高度的预设条件，满足预设条件则重新选取一个待拍照产品作为测试产品，再次移动到CCD拍照检测位置的若干个不同高度处进行拍照、定位目标部位、计算目标部位清晰度以及确定清晰度最大的产品照片的高度，最后调整后续进行CCD拍照检测的产品移动到的位置的高度，来保证后续产品的检测效果。
在上述的CCD拍照检测的运行控制方法中，预设条件包括以下其中之一：
当前产品进行CCD拍照检测的清晰度低于预设清晰度阈值；
在当前高度连续进行CCD拍照检测的产品数量达到预设数量阈值；
在当前高度连续进行CCD拍照检测的工作时长达到预设时长阈值。
可以理解的是，当前产品进行CCD拍照检测的清晰度低于预设清晰度阈值，即产品照片 的清晰度不足，需要重新调整高度，提高检测效果；当前高度连续进行CCD拍照检测的产品数量达到预设数量阈值，可能会导致产品照片的清晰度下降，此时重新调整高度，可以提高检测效果；同理，当前高度连续进行CCD拍照检测的工作时长达到预设时长阈值，也可能会导致产品照片的清晰度下降，此时重新调整高度，可以提高检测效果。
参照图3，在上述的CCD拍照检测的运行控制方法中，步骤S130中的从产品照片中定位测试产品的目标部位，包括但不限于步骤S310至步骤S330，其中：
步骤S310：采用阈值分割算法从产品照片中分割出若干个目标区域；
步骤S320：计算并比较每个目标区域的外部轮廓周长；
步骤S330：确定外部轮廓周长最大的目标区域为测试产品的目标部位。
在上述的CCD拍照检测的运行控制方法中，目标部位的清晰度采用拉普拉斯变换进行计算得出。
在上述的CCD拍照检测的运行控制方法中，目标部位包括产品侧边或者产品角位。可以理解的是，当待拍照产品为电芯时，目标部位即为电芯侧边和电芯角位。
在一些实施例中，可以直接将产品照片每个部位的清晰度均计算出来，并在产品照片上添加计算得到的清晰度值，以及将每张产品照片的清晰度存在列表中，计算最佳位置时，从列表中寻找最大的清晰度值。
参照图2，在上述的CCD拍照检测的运行控制方法中，预设高度范围大于或者等于4毫米，相邻两个高度位置的高度差值大于或者等于0.4毫米。
另外，参照图4，本发明的第二方面实施例提供一种运行控制装置400，包括至少一个控制处理器410和用于与至少一个控制处理器410通信连接的存储器420；存储器420存储有可被至少一个控制处理器410执行的指令，指令被至少一个控制处理器410执行，以使至少一个控制处理器410能够执行如上第一方面实施例的CCD拍照检测的运行控制方法，例如执行图1中的方法步骤S110至步骤S160，或者执行图3中的方法步骤S310至步骤S330。
根据本发明实施例提供的运行控制装置400，通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产线上的待拍照产品移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
另外，本发明的第三方面实施例提供一种CCD拍照检测系统，包括如上第二方面实施例的运行控制装置400。
根据本发明实施例提供的CCD拍照检测系统，通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产线上的待拍照产品移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
另外，本发明的第四方面实施例提供一种计算机可读存储介质，计算机可读存储介质存储有计算机可执行指令，计算机可执行指令用于使计算机执行如上第一方面实施例的CCD拍照检测的运行控制方法，例如执行图1中的方法步骤S110至步骤S160，或者执行图3中的方法步骤S310至步骤S330。
根据本发明实施例提供的计算机可读存储介质，通过移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，然后拍摄不同高度的产品照片，计算清晰度并得到清晰度最大的产品照片对应的高度，最后根据该高度控制移动机器人将产线上的待拍照产品移动到该高度进行CCD拍照检测，能够使得后续需要进行CCD拍照检测的待拍照产品移动到拍照清晰度最高的位置进行检测，提高对产品的检测效果。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统可以被实施为软件、固件、硬件及其适当的组合。某些物理组件或所有物理组件可以被实施为由处理器，如中央处理器、数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质或非暂时性介质和通信介质或暂时性介质。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息诸如计算机可读指令、数据结构、程序模块或其他数据的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD-ROM、数字多功能盘DVD或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在所述技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。

Claims (10)

  1. 一种CCD拍照检测的运行控制方法，其特征在于，包括：
    控制移动机器人将测试产品移动到CCD拍照检测位置的若干个不同高度处，所述CCD拍照检测位置位于预设高度范围内；
    拍摄所述测试产品对应所述若干个不同高度的产品照片；
    从所述产品照片中定位所述测试产品的目标部位；
    计算所述产品照片对应所述目标部位的清晰度；
    比较同一所述目标部位在所述若干个不同高度处的清晰度，得到对应清晰度最大的所述产品照片的高度；
    控制移动机器人将产线上的待拍照产品移动到所述高度进行CCD拍照检测。
  2. 根据权利要求1所述的CCD拍照检测的运行控制方法，其特征在于，满足预设条件时，控制所述移动机器人再次选取所述产线上的一个所述待拍照产品作为测试产品，以重新得到清晰度最大的所述产品照片的高度。
  3. 根据权利要求2所述的CCD拍照检测的运行控制方法，其特征在于，所述预设条件包括以下其中之一：
    当前产品进行CCD拍照检测的清晰度低于预设清晰度阈值；
    在当前高度连续进行CCD拍照检测的产品数量达到预设数量阈值；
    在当前高度连续进行CCD拍照检测的工作时长达到预设时长阈值。
  4. 根据权利要求1所述的CCD拍照检测的运行控制方法，其特征在于，所述从所述产品照片中定位所述测试产品的目标部位，包括：
    采用阈值分割算法从所述产品照片中分割出若干个目标区域；
    计算并比较每个所述目标区域的外部轮廓周长；
    确定外部轮廓周长最大的所述目标区域为所述测试产品的目标部位。
  5. 根据权利要求1所述的CCD拍照检测的运行控制方法，其特征在于，所述目标部位的清晰度采用拉普拉斯变换进行计算得出。
  6. 根据权利要求1所述的CCD拍照检测的运行控制方法，其特征在于，所述目标部位包括产品侧边或者产品角位。
  7. 根据权利要求1所述的CCD拍照检测的运行控制方法，其特征在于，所述预设高度范围大于或者等于4毫米，相邻两个高度位置的高度差值大于或者等于0.4毫米。
  8. 一种运行控制装置，其特征在于，包括至少一个控制处理器和用于与所述至少一个控制处理器通信连接的存储器；所述存储器存储有可被所述至少一个控制处理器执行的指令，所述指令被所述至少一个控制处理器执行，以使所述至少一个控制处理器能够执行如权利要求1至7任一项所述的CCD拍照检测的运行控制方法。
  9. 一种CCD拍照检测系统，其特征在于，包括权利要求8所述的运行控制装置。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如权利要求1至7任一项所述的CCD拍照检测的运行控制方法。
PCT/CN2022/135563 2021-12-31 2022-11-30 Ccd拍照检测的运行控制方法、检测系统及存储介质 WO2023124726A1 (zh)

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