WO2025035572A1 - 圆柱电芯的圆柱度检测装置及检测方法 - Google Patents

圆柱电芯的圆柱度检测装置及检测方法 Download PDF

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Publication number
WO2025035572A1
WO2025035572A1 PCT/CN2023/125023 CN2023125023W WO2025035572A1 WO 2025035572 A1 WO2025035572 A1 WO 2025035572A1 CN 2023125023 W CN2023125023 W CN 2023125023W WO 2025035572 A1 WO2025035572 A1 WO 2025035572A1
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WO
WIPO (PCT)
Prior art keywords
battery cell
cylindrical battery
detection
image
cylindrical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/125023
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English (en)
French (fr)
Inventor
吴凯
屠银行
朱金平
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Contemporary Amperex Technology Co Ltd
Original Assignee
Contemporary Amperex Technology Co Ltd
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Filing date
Publication date
Application filed by Contemporary Amperex Technology Co Ltd filed Critical Contemporary Amperex Technology Co Ltd
Priority to KR1020267002804A priority Critical patent/KR20260027337A/ko
Priority to JP2026501562A priority patent/JP2026523874A/ja
Priority to EP23948994.1A priority patent/EP4756366A1/en
Publication of WO2025035572A1 publication Critical patent/WO2025035572A1/zh
Priority to US19/462,264 priority patent/US20260168788A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/045—Correction of measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
    • G01B5/0004—Supports
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/4285—Testing apparatus
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/204—Racks, modules or packs for multiple batteries or multiple cells
    • H01M50/207—Racks, modules or packs for multiple batteries or multiple cells characterised by their shape
    • H01M50/213—Racks, modules or packs for multiple batteries or multiple cells characterised by their shape adapted for cells having curved cross-section, e.g. round or elliptic
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • the present application relates to the technical field of lithium battery size detection, and in particular to a cylindricality detection device and method for a cylindrical battery cell.
  • the present application provides a cylindrical battery cell cylindricity detection device and detection method, aiming to solve the technical problem in the related art that it is difficult to detect the cylindricity of cylindrical battery cells.
  • the present application provides a cylindrical cell cylindricity detection device, comprising:
  • a loading platform the loading platform is mounted on the bracket, and the loading platform is used to load cylindrical batteries;
  • a plurality of image acquisition devices are installed on the bracket; the plurality of image acquisition devices are used to acquire image information of the cylindrical battery cell, to construct a cylindrical surface according to the image information, and to acquire the cylindricity of the cylindrical battery cell according to the constructed cylindrical surface.
  • This embodiment has the advantages of being able to directly detect the cylindricity of the cylindrical battery cell and having accurate measurement results.
  • the plurality of image acquisition devices are evenly distributed along the outer circumference of the cylindrical battery core.
  • the entire outer circumference of the cylindrical battery cell can be covered, and the number of image acquisition devices can be reduced, thereby reducing the manufacturing cost.
  • the plurality of image acquisition devices are spaced apart and distributed along the central axis of the cylindrical battery core.
  • the mutual interference of the lasers emitted by the laser scanners of the image acquisition devices can be reduced, the imaging effect can be ensured, a clear image can be obtained, and the subsequent processing of the acquired image can be facilitated.
  • the field of view of the outer cylindrical surface of the cylindrical battery cell can be covered without blind spots with the minimum number of image acquisition devices, which can ensure the detection accuracy, reduce the number of image acquisition devices, and reduce the manufacturing cost and calculation difficulty of the cylindricality detection device of the cylindrical battery cell.
  • multiple image acquisition devices take photos of the cylindrical battery cell to obtain image information, so as to obtain a peripheral 3D image of the cylindrical battery cell according to the image information, and take a first preset number of detection surfaces at preset positions on the peripheral 3D image, and take a second preset number of detection points on each of the detection surfaces, and obtain the cylindricity of the cylindrical battery cell according to the difference in radius of the cylindrical surface constructed by the detection points on each of the detection surfaces.
  • the cylindrical battery cell is photographed by multiple image acquisition devices to obtain image information, a peripheral 3D image of the cylindrical battery cell is obtained based on the image information, and the cylindricality of the cylindrical battery cell is obtained through a preset degree of the image acquisition device.
  • the cylindricality of the cylindrical battery cell can be directly obtained with high detection accuracy.
  • the image acquisition device includes three 3D line scan cameras respectively installed on the bracket, the three 3D line scan cameras are evenly distributed along the outer circumference of the cylindrical battery core, and the three 3D line scan cameras are spaced apart along the central axis direction of the cylindrical battery core.
  • the bracket includes a mounting column and three upright columns, the stage is mounted on the mounting column, the three upright columns are arranged around the periphery of the stage, and the three 3D line scan cameras are mounted on the three upright columns in a one-to-one correspondence.
  • an installation position is provided for the stage.
  • a 3D line scan camera is set on each column.
  • the three 3D line scan cameras are spaced around the periphery of the cylindrical battery cell, thereby obtaining an image of the entire side of the cylindrical battery cell and reducing the possibility of blind spots that cannot be captured.
  • the cylindricity detection device of the cylindrical battery cell also includes a calibration block, which is used to calibrate the image acquisition system composed of multiple image acquisition devices.
  • the calibration block includes a base plate and two polygonal pyramids, and the bottom surfaces of the two polygonal pyramids are respectively connected to the opposite sides of the base plate.
  • the coordinate systems of the multiple image acquisition devices are spliced together to achieve calibration of an image acquisition system composed of multiple image acquisition devices, which can improve the accuracy of image splicing and improve detection accuracy.
  • the multi-sided platform is a trapezoidal platform
  • the bottom surface of the trapezoidal platform is connected to the base plate
  • the trapezoidal platform includes four inclined side surfaces, wherein the inclined side surfaces of one of the trapezoidal platforms are arranged in parallel with the inclined side surfaces of another of the trapezoidal platforms in a one-to-one correspondence.
  • the manufacturing is convenient, and the torsion angle of the coordinate system can be calibrated through eight inclined side surfaces which are parallel to each other, thereby improving the calibration accuracy, and thus improving the detection accuracy of the subsequent image acquisition device.
  • a lifting module is disposed on the bracket, the lifting module is connected to the bracket, and the loading platform is rotatably mounted on the lifting module and can be lifted and lowered along with the lifting module.
  • the cylindrical battery cell By rotatably installing the stage on the lifting module, the cylindrical battery cell can be rotated to the inspection station by rotating the stage, and then the lifting module is controlled to rise. During the rising process of the lifting module, the encoder sends a photo signal to multiple image acquisition devices to perform image scanning at the same time, which facilitates the image acquisition of the cylindrical battery cell.
  • the present application provides a detection method for detecting the cylindricity of a cylindrical battery cell, comprising the following steps:
  • the cylindricity of the cylindrical battery core is acquired according to the peripheral 3D image.
  • the cylindricality of the cylindrical battery cell is obtained through the plug-in installed in the industrial computer, filling the gap in the related technology that the cylindricality of the cylindrical battery cell cannot be measured, and the installation accuracy requirements for the stage and the cylindrical battery cell are low, and the detection efficiency is high.
  • the step before the step of controlling multiple image acquisition devices to take photos of the cylindrical battery cell to obtain image information of the periphery of the cylindrical battery cell, the step further includes:
  • the coordinates and torsion angles of the image acquisition system composed of a plurality of the image acquisition devices are calibrated according to the acquired size information and the standard size of the calibration block.
  • the coordinate systems of multiple image acquisition devices are calibrated by the calibration block, and the coordinate systems of the multiple image acquisition devices are spliced together to calibrate the coordinate system of the image acquisition system composed of multiple image acquisition devices, which can improve the accuracy of image splicing and improve the detection accuracy.
  • the step of acquiring the cylindricity of the cylindrical battery core according to the peripheral 3D image comprises:
  • the cylindricity of the cylindrical battery cell is obtained according to the difference between the radius of the minimum cylindrical surface and the radius of the maximum cylindrical surface.
  • the cylindricity of the cylindrical battery cell can be easily obtained with high detection accuracy.
  • the step of taking a first preset number of detection surfaces on the peripheral 3D image along the central axis direction of the peripheral 3D image comprises:
  • Three detection surfaces are taken on the peripheral 3D image along the central axis direction of the peripheral 3D image, and the three detection surfaces are respectively located at preset positions of the peripheral 3D image.
  • the positions of the detection surfaces can be selected according to actual needs, and targeted detection can be performed on the positions of the cylindrical battery cells that need to be focused on.
  • the step of taking a first preset number of detection surfaces on the peripheral 3D image along the central axis direction of the peripheral 3D image comprises:
  • Three detection surfaces are taken on the peripheral 3D image along the central axis direction of the peripheral 3D image, and the three detection surfaces are respectively located at the top position, the middle position and the bottom position of the peripheral 3D image.
  • the first detection surface is selected at the top of the peripheral 3D image
  • the second detection surface is selected at the middle of the peripheral 3D image
  • the third detection surface is selected at the bottom of the peripheral 3D image, so that the selected detection surface can cover the cylindrical surface as much as possible.
  • the step of taking a second preset number of detection points on each of the detection surfaces comprises:
  • At least ten detection points are taken on each of the detection surfaces.
  • the surface condition of the cylindrical surface can be more comprehensively reflected and the detection accuracy can be improved.
  • the step of taking a second preset number of detection points on each of the detection surfaces comprises:
  • FIG1 is a schematic structural diagram of a cylindrical battery cell cylindricity detection device according to some embodiments of the present application.
  • FIG2 is a schematic diagram of the relative position structure of image acquisition devices in some embodiments of the present application on the same horizontal plane;
  • FIG3 is a schematic diagram of the relative position structure of the image acquisition device in the vertical direction according to some embodiments of the present application.
  • FIG4 is a side view of a calibration block according to some embodiments of the present application.
  • FIG5 is a top view of a calibration block according to some embodiments of the present application.
  • FIG6 is a schematic diagram of a flow chart of a detection method according to the first embodiment of the present application.
  • FIG7 is a schematic flow chart of a detection method according to a second embodiment of the present application.
  • FIG8 is a schematic flow chart of a detection method according to a third embodiment of the present application.
  • FIG9 is a schematic flow chart of a detection method according to a fourth embodiment of the present application.
  • FIG10 is a schematic flow chart of a detection method according to a fifth embodiment of the present application.
  • FIG11 is a schematic flow chart of a detection method according to a sixth embodiment of the present application.
  • FIG12 is a schematic flow chart of a detection method according to a seventh embodiment of the present application.
  • FIG. 13 is a schematic diagram of a peripheral 3D image of a cylindrical battery cell synthesized in some embodiments of the present application, and detection surfaces and detection points selected on the peripheral 3D image.
  • Cylindricity detection device 100 for cylindrical battery cell bracket 101, mounting column 1011; column 1012; connecting plate 1013; stage 102, image acquisition device 103, lifting module 104; 1031, laser scanner
  • Cylindrical battery cell 200 ; standard block 300; bottom plate 301; polygonal table 302; trapezoidal table 303; oblique side surface 3031; first side surface 3031a; second side surface 3031b; top surface 3032; bottom surface 3033; peripheral 3D image 400; first detection surface 401; second detection surface 402; third detection surface 403; detection point 404.
  • the term "and/or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships.
  • a and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.
  • multiple refers to more than two (including two).
  • multiple groups refers to more than two groups (including two groups), and “multiple pieces” refers to more than two pieces (including two pieces).
  • connection and “connection” should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements.
  • connection and “connection” should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements.
  • Power batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but also widely used in electric vehicles such as electric bicycles, electric motorcycles, electric cars, as well as military equipment and aerospace and other fields. With the continuous expansion of the application field of power batteries, the market demand is also constantly expanding.
  • Cylindricity is precisely the most important parameter that can best reflect the cylindrical shape of cylindrical battery cells.
  • a profilometer can be used to obtain the diameter of a cylindrical battery cell through multi-angle measurement, thereby indirectly achieving the purpose of monitoring the cylindricality of the battery cell.
  • this measurement method is not a direct measurement of the cylindricality and cannot accurately measure the cylindricality of a cylindrical battery cell.
  • the battery cell disclosed in the embodiments of the present application can be used in electrical devices that use batteries as power sources or various energy storage systems that use batteries as energy storage elements.
  • Electrical devices can be, but are not limited to, mobile phones, tablets, laptops, electric toys, electric tools, battery cars, electric cars, ships, spacecraft, etc.
  • electric toys can include fixed or mobile electric toys, such as game consoles, electric car toys, electric ship toys, and electric airplane toys, etc.
  • spacecraft can include airplanes, rockets, space shuttles, and spacecraft, etc.
  • the present application provides a cylindrical battery cell cylindricity detection device 100, comprising a bracket 101, a stage 102 mounted on the bracket 101, and a plurality of image acquisition devices 103 respectively mounted on the bracket 101; the stage 102 is used to load the cylindrical battery cell; the plurality of image acquisition devices 103 are used to obtain image information of the cylindrical battery cell, so as to construct a cylindrical surface according to the image information, and obtain the cylindricality of the cylindrical battery cell 200 according to the constructed cylindrical surface.
  • the stage 102 is used to load the cylindrical battery cell 200, and a plurality of image acquisition devices 103 are installed on the bracket 101.
  • the plurality of image acquisition devices 103 are respectively arranged around the side of the cylindrical battery cell 200, and are used to simultaneously photograph (or scan) the cylindrical battery cell 200 from various directions of the side of the cylindrical battery cell 200 to obtain image information of the side of the cylindrical battery cell 200.
  • the cylindricality detection device 100 of the cylindrical battery cell may also include an industrial computer, and then the collected image information of the side is processed by a plug-in in the industrial computer to construct a plurality of virtual cylindrical surfaces, and the cylindricity of the cylindrical battery cell 200 can be obtained based on the constructed plurality of virtual cylindrical surfaces.
  • the embodiment of the present application uses multiple image acquisition devices 103 to scan from various directions of the side of the cylindrical battery cell 200, and can simultaneously obtain image information of the side in various directions. If one image acquisition device 103 is used, and the cylindrical battery cell 200 is controlled to rotate to obtain image information of the side in various directions, since there may be relative angular rotation during the rotation of the stage 102 and the cylindrical battery cell 200, there will be errors in the detection, and the installation accuracy of the stage 102 and the cylindrical battery cell 200 will be higher, and it will take longer to take pictures and the detection efficiency will be low.
  • a plurality of image acquisition devices 103 are evenly distributed along the outer circumference of the cylindrical battery core 200 .
  • the multiple image acquisition devices 103 are evenly distributed along the circumference of the cylindrical battery cell 200 , and the image acquisition range of the multiple image acquisition devices 103 covers the entire circumference of the cylindrical battery cell 200 , ensuring that image information of any part of the periphery of the cylindrical battery cell 200 is not missed, and the number of image acquisition devices 103 can be reduced.
  • the entire outer circumference of the cylindrical battery cell 200 can be covered, and the number of image acquisition devices 103 can be reduced, thereby reducing the manufacturing cost.
  • a plurality of image acquisition devices 103 are spaced apart and distributed along the central axis of the cylindrical battery cell 200 .
  • the cylindrical battery cell 200 is a cylindrical shape, and the central axis refers to the central axis of the cylinder corresponding to the cylindrical battery cell 200.
  • the spaced distribution refers to that the multiple image acquisition devices 103 are located at different heights along the central axis of the cylindrical battery cell. In a further embodiment, the multiple image acquisition devices 103 are staggered along the circumference of the cylindrical battery cell 200.
  • the vertical offset distance between two adjacent image acquisition devices 103 is 8 mm to 12 mm. Theoretically, the greater the vertical offset distance of the image acquisition device 103, the smaller the laser interference effect between different image acquisition devices 103 will be. However, if the distance between the image acquisition devices 103 is too large, the greater the travel of the cylindrical battery cell 200 driven by the lifting module 104 will be, affecting the detection efficiency. Therefore, the offset distance needs to be set within a certain range. It has been confirmed in practice that the image is clearer when the offset distance is set above 8mm, and it has little effect on the detection efficiency when it is set below 12mm.
  • the vertical offset distance of two adjacent image acquisition devices 103 is set to 8mm ⁇ 12mm. Furthermore, the image is clearer when the interval offset distance is set to more than 10mm, so the vertical offset distance of two adjacent image acquisition devices 103 can also be set to 10mm ⁇ 12mm.
  • the image acquisition devices 103 By distributing the image acquisition devices 103 at intervals along the central axis of the cylindrical battery cell 200, mutual interference of lasers emitted by the laser scanner 1031 of the image acquisition device 103 can be reduced, the imaging effect can be ensured, and a clear image can be obtained, which is convenient for subsequent processing of the acquired image.
  • the field of view of the outer cylindrical surface of the cylindrical battery cell 200 can be covered without blind spots with the minimum number of image acquisition devices 103, which can ensure detection accuracy, reduce the number of image acquisition devices 103, and reduce the manufacturing cost and calculation difficulty of the cylindrical battery cell cylindricity detection device 100.
  • multiple image acquisition devices 103 take photos of the cylindrical battery cell 200 to obtain image information, obtain a peripheral 3D image 400 of the cylindrical battery cell 200 based on the image information, and take a first preset number of detection surfaces at preset positions on the peripheral 3D image 400, take a second preset number of detection points 404 on each detection surface, and obtain the cylindricity of the cylindrical battery cell 200 based on the difference in radius of the cylindrical surface constructed by the detection points 404 on each detection surface.
  • multiple image acquisition devices 103 are controlled to take photos of the cylindrical battery cell 200 to obtain image information of the periphery of the cylindrical battery cell 200.
  • a plug-in is provided in the industrial computer. The plug-in obtains the image information taken by each image acquisition device 103, and obtains a 3D image of the periphery of the cylindrical battery cell 200 through splicing or other processes.
  • the image acquisition device 103 is built with a preset program. Through the preset program, a first preset number of detection surfaces can be taken on the peripheral 3D image 400. The detection surface is a cross-section of the 3D image of the cylindrical battery cell 200.
  • the detection surface intersects with the 3D image of the cylindrical battery cell 200 to form a circle, which is also a circle on the cylindrical battery cell 200.
  • a second preset number of detection points 404 are taken on the circle, and a standard circle is fitted according to the second preset number of detection points 404 taken from each detection surface to obtain the center of the standard circle. Measure the center of the circle and the points on the same detection surface respectively.
  • the distances between the detection points 404 are used to make a circle with three points with the smallest distance and three points with the largest distance.
  • the innermost circle is obtained by making a circle with the three points with the smallest distance, and the outermost circle is obtained by making a circle with the three points with the longest distance.
  • the innermost circle obtained on each detection surface is used to make a cylindrical surface to obtain the smallest cylindrical surface; the outermost circle obtained on all detection surfaces is used to make a cylindrical surface to obtain the largest cylindrical surface; the radius of the smallest cylindrical surface and the largest cylindrical surface are obtained respectively, and the difference obtained by subtracting the two radii is used to obtain the cylindricity of the cylindrical battery cell 200.
  • the cylindrical battery cell 200 is photographed by multiple image acquisition devices 103 to obtain image information, a peripheral 3D image 400 of the cylindrical battery cell 200 is obtained according to the image information, and the cylindricity of the cylindrical battery cell 200 is obtained through a preset program of the image acquisition device 103.
  • the cylindricity of the cylindrical battery cell 200 can be directly obtained with high detection accuracy.
  • the image acquisition device 103 includes three 3D line scan cameras respectively installed on the bracket 101 , the three 3D line scan cameras are spaced apart along the periphery of the cylindrical battery cell 200 , and the three 3D line scan cameras are spaced apart along the central axis direction of the cylindrical battery cell 200 .
  • the 3D line scan camera can emit laser imaging by itself. Its working principle is to scan the object through a laser line and convert the signal reflected by the laser line into a digital signal to obtain the three-dimensional shape of the object.
  • the three 3D line scan cameras are distributed in a spiral rise along the central axis of the cylindrical battery cell 200.
  • the cylindrical battery cell 200 is a cylinder, and the central axis refers to the central axis of the cylinder corresponding to the cylindrical battery cell 200.
  • the interval distribution refers to that the multiple image acquisition devices 103 are located at different heights along the central axis of the cylindrical battery cell 200.
  • the vertical offset distance between two adjacent image acquisition devices 103 can be set to 8mm to 12mm.
  • the three 3D line scan cameras are distributed at intervals along the outer periphery of the cylindrical battery cell 200.
  • the plane perpendicular to the central axis of the cylindrical battery cell 200 is defined as the projection plane
  • the projection of the central axis of the cylindrical battery cell 200 on the projection plane is the center of the circle
  • the projections of the three 3D line scan cameras on the projection plane are evenly distributed along the circumference of the center of the circle.
  • three 3D line scan cameras are evenly distributed along the outer circumference of the cylindrical battery cell 200, that is, two adjacent 3D line scan cameras are distributed at an angle of 120 degrees on the projection of the projection surface.
  • the number of 3D line scan cameras can also be four.
  • the bracket 101 includes a mounting column 1011 and three columns 1012 , the stage 102 is mounted on the mounting column 1011 , the three columns 1012 are arranged around the periphery of the stage 102 , and the three 3D line scan cameras are mounted on the three columns 1012 in a one-to-one correspondence.
  • the mounting column 1011 and the three columns 1012 are all arranged vertically and can be placed on a table when in use.
  • a connecting plate 1013 can also be provided, and the connecting plate 1013 is connected to the tops of the three columns 1012, so that the three columns 1012 are connected as a whole.
  • the three 3D line scan cameras are installed on the three columns 1012 in a one-to-one correspondence, which means that each column 1012 is provided with a 3D line scan camera.
  • the three columns 1012 are arranged around the periphery of the stage 102, so that the 3D line scan cameras installed on the columns 1012 can be distributed around the periphery of the cylindrical battery cell 200 at intervals, thereby being able to obtain an image of the entire side of the cylindrical battery cell 200.
  • the 3D line scan camera can also be arranged to be slidably mounted on the column 1012, so that the position of the 3D line scan camera on the column 1012 can be adjusted to adapt to the measurement of cylindrical battery cells 200 of different heights.
  • each column 1012 is provided.
  • a 3D line scan camera is respectively arranged on the column 1012, so that during detection, the three 3D line scan cameras are spaced around the outer circumference of the cylindrical battery cell 200, thereby being able to obtain an image of the entire side of the cylindrical battery cell 200, reducing the possibility of blind spots in the side that cannot be photographed.
  • a lifting module 104 is arranged on the bracket 101, and the lifting module 104 is connected to the bracket 101, and the stage 102 is rotatably mounted on the lifting module 104 and can be lifted and lowered with the lifting module 104.
  • the lifting module 104 can move vertically on the bracket 101 and then drive the stage 102 on the lifting module 104 to move up and down together, so as to transport the cylindrical battery cell 200 to the scanning position of the image acquisition device 103.
  • the encoder of the lifting module 104 sends a photo signal to multiple image acquisition devices 103 for simultaneous image scanning.
  • Multiple installation positions can be set on the stage 102, and a cylindrical battery cell 200 can be set on each installation position.
  • the cylindrical battery cell 200 to be inspected is rotated to the inspection position by rotating the stage 102, and then follows the lifting module 104 to make vertical movement for scanning by the image acquisition device 103.
  • the cylindrical battery cell 200 After the scanning is completed, the cylindrical battery cell 200 returns to the inspection position under the movement of the lifting module 104, and then is removed.
  • the stage 102 may also be able to move vertically on the lifting module 104 to transport the cylindrical battery cell 200 to the scanning area of the image acquisition device 103.
  • the lifting module 104 may be installed on the installation column 1011.
  • the cylindrical battery cell 200 can be rotated to the inspection station by rotating the stage 102, and then the lifting module 104 is controlled to rise.
  • the encoder sends a photo signal to multiple image acquisition devices 103 to perform image scanning at the same time, which facilitates the image acquisition of the cylindrical battery cell 200.
  • the cylindrical battery cell cylindricity detection device 100 further includes a calibration block 300, which is used to calibrate the image acquisition system composed of multiple image acquisition devices 103.
  • the calibration block 300 includes a base plate 301 and two polygonal pyramids 302, and the bottom surfaces 3033 of the two polygonal pyramids 302 are respectively connected to opposite sides of the base plate 301.
  • the polygonal pyramid 302 includes a top surface 3032, a bottom surface 3033 arranged opposite to the top surface 3032, and a plurality of oblique side surfaces 3031 arranged between the top surface 3032 and the bottom surface 3033.
  • the top surface 3032 and the bottom surface 3033 of the polygonal pyramid 302 are arranged parallel to each other.
  • the oblique side surfaces 3031 corresponding to the two polygonal pyramids 302 are arranged parallel to each other. As shown in FIG.
  • the oblique side surfaces 3031 at least include a first side surface 3031a and a second side surface 3031b, and the two first side surfaces 3031a of the two polygonal pyramids 302 are arranged parallel to each other, and the two second side surfaces 3031b of the two polygonal pyramids 302 are arranged parallel to each other.
  • the calibration block 300 is used to calibrate the system composed of multiple image acquisition devices 103.
  • the X, Y, and Z coordinates of the image acquisition device 103 are calibrated by the length D and width F of the top surface 3032 of the polygonal pyramid 302, the height C of the polygonal pyramid 302, the height B of the bottom plate 301, the length E of the bottom plate 301, and the width A of the bottom plate 301, and the torsion angle of the coordinate system of the image acquisition system composed of multiple image acquisition devices 301 is calibrated by the distance between the mutually parallel oblique side surfaces 3031 of the polygonal pyramid 302 of the calibration block 300.
  • a blind hole can also be provided on the bottom plate 301 to fix the calibration block 300 during calibration.
  • the multi-sided platform 302 is a trapezoidal platform 303
  • the bottom surface 3033 of the trapezoidal platform 303 is connected to the bottom plate 301
  • the trapezoidal platform 303 includes four oblique side surfaces 3031, wherein the oblique side surfaces 3031 of one trapezoidal platform 303 are parallel to the oblique side surfaces 3031 of another trapezoidal platform 303 in one-to-one correspondence.
  • the trapezoidal platform 303 may be an isosceles trapezoidal platform, in which the bottom surface 3033 of the trapezoidal platform 303 is connected to the bottom plate 301, and the four oblique side surfaces 3031 of the trapezoidal platform 303 are respectively arranged in parallel in pairs, and the torsion angle of the coordinate system of the image acquisition system composed of the multiple image acquisition devices 301 can be calibrated through the eight oblique side surfaces 3031 to improve the detection accuracy.
  • the trapezoidal stage 303 is easy to manufacture and can calibrate the torsion angle of the coordinate system through eight inclined side surfaces 3031 that are parallel to each other, thereby improving the calibration accuracy and the detection accuracy of the subsequent image acquisition device 103.
  • the present application provides a cylindrical battery cell 200 cylindricity detection device 100, including a bracket 101, a lifting module 104 and a stage 102; the lifting module 104 is connected to the bracket 101, the stage 102 is rotatably installed on the lifting module 104 and can be lifted and lowered with the lifting module 104, and the stage 102 is used to load the cylindrical battery cell 200; three image acquisition devices 103 are arranged on the bracket 101, and the image acquisition devices 103 are staggered along the central axis direction of the cylindrical battery cell; the three image acquisition devices 103 are used to take pictures to obtain image information of the cylindrical surface of the cylindrical battery cell 200.
  • the three image acquisition devices 103 respectively take pictures of the cylindrical battery cell 200 from the side of the cylindrical battery cell 200 to obtain pictures of the cylindrical battery cell 200 at various angles.
  • the plug-in synthesizes and splices the pictures to obtain a peripheral 3D image 400 of the cylindrical battery cell 200.
  • multiple detection surfaces are selected on the peripheral 3D image 400 of the cylindrical battery cell 200, and multiple detection points are taken on each detection surface.
  • the minimum cylindrical surface and the maximum cylindrical surface are constructed according to all the detection points on all the selected detection surfaces.
  • the minimum cylindrical surface refers to the cylindrical surface with the smallest radius
  • the maximum cylindrical surface refers to the cylindrical surface with the largest radius.
  • the difference between the radius of the maximum cylindrical surface and the minimum cylindrical surface is the cylindricity of the cylindrical battery cell 200.
  • the three image acquisition devices 103 are evenly spaced on the projection of the horizontal plane, and the outer peripheral surface of the cylindrical battery cell 200 can be covered without blind spots with a minimum number of image acquisition devices 103, which can not only ensure the detection accuracy, but also reduce the number of image acquisition devices 103, that is, reduce the production cost and calculation difficulty of the cylindrical battery cell cylindricity detection device 100.
  • FIG. 6 is a flow chart of the detection method of the first embodiment of the present application.
  • the present application provides a detection method, which is applied to the aforementioned cylindrical cell cylindricity detection device 100, and is used to detect the cylindricity of the cylindrical cell 200.
  • the cylindrical cell cylindricity detection device 100 includes a bracket 101, a lifting module 104 and a stage 102; the lifting module 104 is connected to the bracket 101, and the stage 102 is rotatably installed on the lifting module 104 and can be lifted and lowered with the lifting module 104, and the stage 102 is used to load the cylindrical cell 200; three image acquisition devices 103 are arranged on the bracket 101, and the image acquisition devices 103 are staggered in the vertical direction; the three image acquisition devices 103 are used to take pictures to obtain image information of the cylindrical surface of the cylindrical cell 200, and include the following steps:
  • the cylindrical battery cell 200 is placed on the stage 102. Under the driving action of the lifting module 104, the cylindrical battery cell 200 rises, and multiple image acquisition devices 103 arranged on the periphery of the cylindrical battery cell 200 simultaneously acquire image information of the side of the cylindrical battery cell 200 from all directions of the side of the cylindrical battery cell 200.
  • the industrial computer is provided with a plug-in, which obtains the image information taken by each image acquisition device 103, and obtains a 3D image of the periphery of the cylindrical battery cell 200 through splicing or other operations;
  • the cylindricity of the cylindrical battery cell 200 can be obtained according to the peripheral 3D image and the preset program built into the image acquisition device 103 .
  • the acquired image information is transmitted to the computer through a plug-in of the industrial computer.
  • the cylindricity of the cylindrical battery cell 200 can be obtained by using the information provided by the cylindricity measurement system, which fills the gap in the related art that the cylindricity of the cylindrical battery cell 200 cannot be measured.
  • the installation accuracy requirements for the stage 102 and the cylindrical battery cell 200 are relatively low, and the detection efficiency is high.
  • FIG. 7 is a flow chart of a detection method according to a second embodiment of the present application. After step S10 and before step S30, the following steps are further included:
  • Multiple image acquisition devices 103 take photos of the cylindrical battery cell 200 to obtain image information of the periphery of the cylindrical battery cell 200.
  • a plug-in is provided in the industrial computer, and the plug-in obtains the image information taken by each image acquisition device 103, and obtains a 3D image of the periphery of the cylindrical battery cell 200 through splicing or other methods;
  • the size information of the calibration block in all directions can be measured and acquired.
  • the calibration block includes a base plate and two polygonal prisms
  • the polygonal prism 302 is a trapezoidal prism 303
  • the bottom surface 3033 of the trapezoidal prism 303 is connected to the base plate 301
  • the trapezoidal prism 303 includes four oblique side surfaces 3031, wherein the oblique side surfaces 3031 of one trapezoidal prism 303 are arranged in parallel with the oblique side surfaces 3031 of another trapezoidal prism 303 in one-to-one correspondence.
  • the polygonal prism 302 includes a top surface 3032, a bottom surface 3033 arranged opposite to the top surface 3032, and a plurality of oblique side surfaces 3031 arranged between the top surface 3032 and the bottom surface 3033.
  • the size information includes the length D and width F of the top surface 3032 of the polygonal prism 302, the height C of the polygonal prism 302, the height B of the base plate 301, the length E of the base plate 301, and the width A of the base plate 301.
  • the standard size refers to the size information of the calibration block measured by other calibrated image acquisition devices, that is, the actual size of the calibration block.
  • the size information obtained by measurement is compared with the standard size of the calibration block, so that the X, Y, and Z coordinates of the image acquisition device and the torsion angle of the coordinate system can be calibrated.
  • the coordinate systems of multiple image acquisition devices 103 are calibrated by the calibration block 303, and the coordinate systems of multiple image acquisition devices 103 are spliced together to achieve calibration of the coordinate system of the image acquisition system composed of multiple image acquisition devices 103, which can improve the accuracy of image splicing and improve the detection accuracy.
  • the calibration step using the calibration block 300 can be performed only when needed, such as when the instrument is just started to be used or the image acquisition device 103 is replaced, and does not need to be used in every detection.
  • FIG. 8 is a schematic flow chart of a detection method according to a third embodiment of the present application, and the step S30 includes:
  • FIG. 13 is a schematic diagram of a synthesized peripheral 3D image of a cylindrical battery cell cylindricity detection device of some embodiments of the present application, and a detection surface and detection points selected on the peripheral 3D image.
  • the outer dotted line in FIG. 13 represents the peripheral 3D image 400 of the synthesized cylindrical battery cell 200, the circle filled with slashes represents the selected detection surface, and the solid points on each detection surface represent the detection points 404 selected on each detection surface.
  • the detection surface here is the cross section of the peripheral 3D image 400 of the cylindrical battery cell 200. Several cross sections are selected as detection objects on the 3D image, and the first preset number here can be set according to actual needs.
  • the detection surface intersects with the 3D image of the cylindrical battery cell 200 to form a circle, which is also a circle on the cylindrical battery cell 200.
  • a standard circle is fitted based on the second preset number of detection points 404 taken from each detection surface, and the center of the standard circle is obtained.
  • the distances between the center of the circle and each detection point 404 on the same detection surface are measured respectively, and the three points with the smallest distances and the three points with the largest distances are taken out to make a circle.
  • the three points with the smallest distances make a circle to obtain the innermost circle, and the three points with the longest distances make a circle to obtain the outermost circle.
  • the innermost circles obtained on each detection surface are used to make a cylindrical surface to obtain the smallest cylindrical surface; the outermost circles obtained on all detection surfaces are used to make a cylindrical surface to obtain the largest cylindrical surface;
  • the radius of the minimum cylindrical surface and the maximum cylindrical surface are obtained respectively, and the difference obtained by subtracting the two radii is used to obtain the cylindricity of the cylindrical battery cell 200 .
  • the cylindricity of the cylindrical battery cell 200 can be easily obtained with high detection accuracy.
  • FIG. 9 is a schematic flow chart of a detection method according to a fourth embodiment of the present application, and the step S301 includes:
  • three detection surfaces are taken on the peripheral 3D image 400 along the central axis direction of the peripheral 3D image 400 , and the three detection surfaces are respectively located at preset positions of the peripheral 3D image 400 .
  • the preset position here may be a position of the peripheral 3D image 400 determined in advance. If it is necessary to focus on detecting a part of the position of the cylindrical battery cell, the corresponding position may be selected as the preset position.
  • FIG. 10 is a schematic flow chart of a detection method according to a fifth embodiment of the present application. Specifically, step S301 includes step S3012,
  • Three detection surfaces are taken on the peripheral 3D image 400 along the central axis direction of the peripheral 3D image 400 , and the three detection surfaces are respectively located at preset positions of the peripheral 3D image 400 .
  • the three detection surfaces include a first detection surface 401, a second detection surface 402 and a third detection surface 403; wherein the first detection surface 401 is located at the top position of the peripheral 3D image 400, the second detection surface 402 is located at the middle position of the peripheral 3D image 400, and the third detection surface 403 is located at the bottom position of the peripheral 3D image 400.
  • the 3D image of the cylindrical battery cell 200 is a cylindrical surface.
  • Three detection surfaces are sequentially selected along the height direction of the cylindrical surface, namely the first detection surface 401, the second detection surface 402 and the third detection surface 403.
  • the selected first detection surface 401 is located at the top position of the peripheral 3D image 400
  • the second detection surface 402 is located in the middle position of the peripheral 3D image 400
  • the third detection surface 403 is located at the bottom position of the peripheral 3D image 400, so that the selected detection surface can cover the cylindrical surface as much as possible.
  • more detection surfaces can also be selected, and those skilled in the art can set them according to actual needs.
  • FIG. 11 is a schematic flow chart of a detection method according to a sixth embodiment of the present application, and the step S302 includes:
  • the number of detection points 404 cannot be too small. If it is too small, the concave part or convex part of the cylindrical surface may not be selected, which reduces the detection accuracy. In theory, the more detection points 404 are selected, the better. The more detection points 404 are selected, the higher the measurement accuracy. Therefore, the number of detection points 404 selected should not be too small. Should be less than ten.
  • the surface condition of the cylindrical surface can be more comprehensively reflected and the detection accuracy can be improved.
  • FIG. 12 is a schematic flow chart of a detection method according to the seventh embodiment of the present application, and the step S302 includes:
  • the cylindrical battery cell 200 is placed on the stage 102. Under the action of the lifting module 104, the cylindrical battery cell 200 rises, and multiple image acquisition devices 103 arranged on the periphery of the cylindrical battery cell 200 obtain image information of the side of the cylindrical battery cell 200 from various directions of the side of the cylindrical battery cell 200; a plug-in is arranged in the industrial computer, and the plug-in obtains the image information taken by each image acquisition device 103, and obtains a 3D image of the periphery of the cylindrical battery cell 200 after splicing; a calibration block 300 is used to calibrate the Multiple image acquisition devices 103 are calibrated; a first detection surface 401, a second detection surface 402, and a third detection surface 403 are set at intervals on the peripheral 3D image 400 along the central axis direction of the peripheral 3D image 400; wherein the first detection surface 401 is located at the top position of the peripheral 3D image 400, the second detection surface 402 is located at the middle position of the peripheral
  • the minimum cylindrical surface and the maximum cylindrical surface of the cylindrical battery 200 are constructed according to the detection points 404; the cylindricality of the cylindrical battery 200 is obtained according to the difference between the radius of the minimum cylindrical surface and the radius of the maximum cylindrical surface.

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Abstract

一种圆柱电芯的圆柱度检测装置及检测方法，圆柱电芯（200）的圆柱度检测装置（100）包括支架（101）、安装于支架（101）的载物台（102），载物台（102）用于装载圆柱电芯（200）；以及分别安装于支架（101）的多个图像采集装置（103）；多个图像采集装置（103）用于获取圆柱电芯（200）的图像信息，以根据图像信息构建圆柱面，并根据构建的圆柱面获取圆柱电芯（200）的圆柱度。

Description

圆柱电芯的圆柱度检测装置及检测方法
相关申请
本申请要求于2023年8月14日申请的、申请号为202311013631.2，发明名称为“圆柱电芯的圆柱度检测装置及检测方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及锂电池尺寸检测技术领域，尤其涉及一种圆柱电芯的圆柱度检测装置及检测方法。
背景技术
目前锂电池领域中，对电池尺寸管控越来越严格，圆柱电芯因圆柱面取像复杂，电芯圆柱度尺寸监控相对比较困难。目前，圆柱电芯圆柱面尺寸检测领域主要管控圆柱电芯的直径，暂无比较明确的圆柱度检测方案。但同时，圆柱度作为圆柱电芯的重要监控尺寸，直接反映电芯圆柱面的外形状态，因此，对其管控是必须的。
鉴于此，有必要提供一种新的圆柱电芯的圆柱度检测装置及检测方法，以解决或至少缓解上述技术缺陷。
发明内容
鉴于上述问题，本申请提供一种圆柱电芯的圆柱度检测装置及检测方法，旨在解决相关技术中难以对圆柱电芯的圆柱度进行检测的技术问题。
第一方面，本申请提供了一种圆柱电芯的圆柱度检测装置，包括：
支架；
载物台，所述载物台安装于所述支架，所述载物台用于装载圆柱电芯；
多个图像采集装置，多个所述图像采集装置均安装于所述支架；多个所述图像采集装置用于获取所述圆柱电芯的图像信息，以根据所述图像信息构建圆柱面，并根据构建的所述圆柱面获取所述圆柱电芯的圆柱度。
通过设置载物台用于放置圆柱电芯，采用多个图像采集装置从圆柱电芯侧围的各个方向进行扫描，能够同时获得侧围各个方向的图像信息，根据图像信息构建圆柱面，并根据构建的圆柱面获取圆柱电芯的圆柱度。该实施例具有能够直接检测圆柱电芯的圆柱度，并且测量结果准确的优点。
在一些实施例中，多个所述图像采集装置沿所述圆柱电芯的外周均匀分布。
通过将多个图像采集装置沿圆柱电芯的外周均匀分布，可以覆盖圆柱电芯的整个外周，并减少图像采集装置的数量，降低制作成本。
在一些实施例中，多个所述图像采集装置沿所述圆柱电芯的中心轴线方向间隔分布。
通过将图像采集装置在沿圆柱电芯的中心轴线上间隔分布，可以减少图像采集装置的激光扫描仪发出的激光的相互干扰，确保取像效果，获得清晰的图像，便于后续对获取的图像进行处理。并且可以以最少的图像采集装置的数量完成圆柱电芯外围圆柱面的视野无死角覆盖，既能确保检测准确度，又减少了图像采集装置的数量，减少了圆柱电芯的圆柱度检测装置的制作成本和计算的难度。
在一些实施例中，多个所述图像采集装置对所述圆柱电芯进行拍照获取图像信息，以根据所述图像信息获取所述圆柱电芯的外围3D图像，并在所述外围3D图像上的预设位置上取第一预设数量个检测面，在每一所述检测面上取第二预设数量个检测点，根据所述每一所述检测面上的检测点构建的圆柱面的半径的差值获取所述圆柱电芯的圆柱度。
通过多个图像采集装置对圆柱电芯进行拍照获取图像信息，根据图像信息获取圆柱电芯的外围3D图像，并通过图像采集装置的预设程度获取圆柱电芯的圆柱度，能够直接获取圆柱电芯的圆柱度，并且检测精度较高。
在一些实施例中，所述图像采集装置包括分别安装于所述支架的三个3D线扫相机，三个所述3D线扫相机沿所述圆柱电芯的外周均匀分布，且三个所述3D线扫相机沿所述圆柱电芯的中心轴线方向间隔分布。
通过设置三个3D线扫相机沿圆柱电芯的外周间隔分布，既能确保获取圆柱电芯整个侧围的图像，又能提高检测准确度，减少了图像采集装置的数量，减少了圆柱电芯的圆柱度检测装置的制作成本和计算的难度。通过将图像采集装置在沿圆柱电芯的中心轴线上间隔分布，可以减少图像采集装置的激光扫描仪发出的激光的相互干扰，确保取像效果，获取圆柱电芯整个侧围高度方向的图像，便于后续对获取的图像进行处理。
在一些实施例中，所述支架包括安装柱和三根立柱，所述载物台安装于所述安装柱，三根所述立柱围绕所述载物台的外周设置，三个所述3D线扫相机一一对应安装于三根所述立柱。
通过设置安装柱，为载物台提供安装位置，通过设置三根立柱围绕载物台的外周设置，每根立柱上分别设置一个3D线扫相机，使得检测时三个3D线扫相机围绕圆柱电芯的外周间隔分布，进而能够获得圆柱电芯整个侧围的图像，减少出现拍摄不到的死角的可能性。
在一些实施例中，所述圆柱电芯的圆柱度检测装置还包括校准块，所述校准块用于对多个所述图像采集装置组成的图像采集系统进行校准，所述校准块包括底板和两个多棱台，两个所述多棱台的底面分别连接于所述底板相对的两侧。
通过多棱台对多个图像采集装置的坐标系进行校准，将多个图像采集装置的坐标系拼接在一起，实现对有多个图像采集装置组成的图像采集系统的校准，可以提高图像拼接的准确度，提高检测精度。
在一些实施例中，所述多棱台为梯形台，所述梯形台的底面与所述底板连接，所述梯形台包括四个斜侧面，其中一个所述梯形台的斜侧面与另一个所述梯形台的所述斜侧面一一对应平行设置。
通过采用梯形台，制作方便，并且能够通过八个两两平行的斜侧面对坐标系的扭转角度进行校准，提高了校准精度，也就提高了后续图像采集装置的检测精度。
在一些实施例中，所述支架上设置有升降模组，所述升降模组与所述支架连接，所述载物台转动安装于所述升降模组且能够随所述升降模组升降。
通过将载物台转动地安装在升降模组上，可以通过旋转载物台将圆柱电芯转动到检测工位，然后控制升降模组上升，升降模组上升过程中编码器发送拍照信号给多个图像采集装置同时进行图像扫描，方便对圆柱电芯的图像采集。
根据本申请一些实施例，本申请提供一种检测方法，用于检测圆柱电芯的圆柱度，包括以下步骤：
控制多个图像采集装置对圆柱电芯拍照，获取所述圆柱电芯外围的图像信息；
根据所述图像信息获取所述圆柱电芯的外围3D图像；
根据所述外围3D图像获取所述圆柱电芯的圆柱度。
通过采用多个图像采集装置同时获取圆柱电芯侧围的图像信息，通过工控机内设的插件，将获取的图像信息获取圆柱电芯的圆柱度，填补了相关技术中无法测量圆柱电芯圆柱度的空白，并且对载物台与圆柱电芯的安装精度要求较低，检测效率高。
在一些实施例中，所述控制多个图像采集装置对圆柱电芯拍照，获取所述圆柱电芯外围的图像信息的步骤之前，还包括步骤：
控制多个所述图像采集装置获取校准块的3D图像；
根据所述3D图像获取校准块的尺寸信息；
根据获取的所述尺寸信息和所述校准块的标准尺寸，对多个所述图像采集装置组成的图像采集系统的坐标和扭转角度进行校准。
通过校准块对多个图像采集装置的坐标系进行校准，将多个图像采集装置的坐标系拼接在一起，实现对有多个图像采集装置组成的图像采集系统的坐标系进行校准，可以提高图像拼接的准确度，提高检测精度。
在一些实施例中，所述根据所述外围3D图像获取所述圆柱电芯的圆柱度的步骤包括：
沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取第一预设数量个检测面；
在每一所述检测面上取第二预设数量个检测点；
根据所述检测点构建所述外围3D图像的最小圆柱面和最大圆柱面；
根据所述最小圆柱面的半径和最大圆柱面的半径之差获取所述圆柱电芯的圆柱度。
通过在外围3D图像上取第一预设数量个检测面；在每一检测面上取第二预设数量个检测点；根据检测点构建圆柱电芯的最小圆柱面和最大圆柱面；根据最小圆柱面的半径和最大圆柱面的半径之差获取圆柱电芯的圆柱度，可以方便获取圆柱电芯的圆柱度，并且检测精度高。
在一些实施例中，所述沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取第一预设数量个检测面的步骤包括：
沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取三个检测面，三个所述检测面分别位于所述外围3D图像的预设位置。
通过设置三个检测面位于外围3D图像的预设位置，可以根据实际需要对检测面的位置进行选择，对圆柱电芯需要重点检测的位置进行有针对性的检测。
在一些实施例中，所述沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取第一预设数量个检测面的步骤包括：
沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取三个检测面，三个所述检测面分别位于所述外围3D图像的顶部位置、中间位置和底部位置。
选取的第一检测面位于外围3D图像的顶部位置，第二检测面位于外围3D图像的中间位置，第三检测面位于外围3D图像的底部位置，能够使选取的检测面尽可能大的覆盖圆柱面。
在一些实施例中，所述在每一所述检测面上取第二预设数量个检测点的步骤包括：
在每一所述检测面上至少取十个检测点。
通过在每一检测面上至少选取十个检测点，可以更全面地反映圆柱面的表面状况，提高检测精度。
在一些实施例中，所述在每一所述检测面上取第二预设数量个检测点的步骤包括：
在每一所述检测面上取均匀分布的十二个检测点。
当选取的检测点数量为十二个时，既能保证较高的检测精度，又能确保较高的检测效率。
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
通过阅读对下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在全部附图中，用相同的附图标号表示相同的部件。在附图中：
图1为本申请一些实施例的圆柱电芯的圆柱度检测装置的结构示意图；
图2为本申请一些实施例的图像采集装置在同一水平面上的相对位置结构示意图；
图3为本申请一些实施例的图像采集装置在竖直方向上的相对位置结构示意图；
图4为本申请一些实施例的校准块的侧视图；
图5为本申请一些实施例的校准块的俯视图；
图6为本申请第一实施例的检测方法的流程示意图；
图7为本申请第二实施例的检测方法的流程示意图；
图8为本申请第三实施例的检测方法的流程示意图；
图9为本申请第四实施例的检测方法的流程示意图；
图10为本申请第五实施例的检测方法的流程示意图；
图11为本申请第六实施例的检测方法的流程示意图；
图12为本申请第七实施例的检测方法的流程示意图；
图13为本申请一些实施例合成的圆柱电芯的外围3D图像，以及在外围3D图像上选取的检测面和检测点的示意图。
具体实施方式中的附图标号如下：
圆柱电芯的圆柱度检测装置100；支架101，安装柱1011；立柱1012；连接板1013；载物台102，图像采集装置103，升降模组104；1031、激光扫描仪
圆柱电芯200；标准块300；底板301；多棱台302；梯形台303；斜侧面3031；第一侧面3031a；第二侧面3031b；顶面3032；底面3033；外围3D图像400；第一检测面401；第二检测面402；第三检测面403；检测点404。
具体实施方式
下面将结合附图对本申请技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本申请的技术方案，因此只作为示例，而不能以此来限制本申请的保护范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。
在本申请实施例的描述中，技术术语“第一”“第二”等仅用于区别不同对象，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、特定顺序或主次关系。在本申请实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本申请实施例的描述中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请实施例的描述中，术语“多个”指的是两个以上(包括两个)，同理，“多组”指的是两组以上(包括两组)，“多片”指的是两片以上(包括两片)。
在本申请实施例的描述中，技术术语“中心”“纵向”“横向”“长度”“宽度”“厚度”“上”“下”“前”“后”“左”“右”“竖直”“水平”“顶”“底”“内”“外”“顺时针”“逆时针”“轴向”“径向”“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，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实施例的限制。
在本申请实施例的描述中，除非另有明确的规定和限定，技术术语“安装”“相连”“连接”“固定” 等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
目前，从市场形势的发展来看，动力电池的应用越加广泛。动力电池不仅被应用于水力、火力、风力和太阳能电站等储能电源系统，而且还被广泛应用于电动自行车、电动摩托车、电动汽车等电动交通工具，以及军事装备和航空航天等多个领域。随着动力电池应用领域的不断扩大，其市场的需求量也在不断地扩增。
在锂电池领域，对电芯尺寸管控越来越严格，圆柱电芯因圆柱面取像复杂，圆柱电芯的圆柱度尺寸监控相对比较困难，因此对于圆柱电芯的圆柱度并没有较好的检测方式，而圆柱度恰恰是最能反映圆柱电芯的圆柱面外形的重要参数，相关技术中仅能利用轮廓仪通过多角度测量获取圆柱电芯的直径，间接达到电芯圆柱度监测的目的，然而此种测量方式不是直接对圆柱度的测量，并不能很准确地测量圆柱电芯的圆柱度。
本申请实施例公开的电池单体可以用于使用电池作为电源的用电装置或者使用电池作为储能元件的各种储能系统。用电装置可以为但不限于手机、平板、笔记本电脑、电动玩具、电动工具、电瓶车、电动汽车、轮船、航天器等等。其中，电动玩具可以包括固定式或移动式的电动玩具，例如，游戏机、电动汽车玩具、电动轮船玩具和电动飞机玩具等等，航天器可以包括飞机、火箭、航天飞机和宇宙飞船等等。
参照图1，根据本申请的一些实施例，本申请提供了一种圆柱电芯的圆柱度检测装置100，包括支架101、安装于支架101的载物台102以及分别安装于支架101的多个图像采集装置103；载物台102用于装载圆柱电芯；多个图像采集装置103用于获取圆柱电芯的图像信息，以根据图像信息构建圆柱面，并根据构建的圆柱面获取圆柱电芯200的圆柱度。载物台102上用于装载圆柱电芯200，支架101上安装有多个图像采集装置103，多个图像采集装置103分别围绕圆柱电芯200的侧围设置，用于从圆柱电芯200的侧围的各个方向对圆柱电芯200同时进行拍照(或扫描)获取圆柱电芯200的侧围的图像信息，圆柱电芯的圆柱度检测装置100还可以包括工控机，然后将采集到的侧围的图像信息经过工控机内设的插件处理构建出多个虚拟的圆柱面，根据构建的多个虚拟的圆柱面就可以得到圆柱电芯200的圆柱度。
同时需要说明的是，本申请实施例采用多个图像采集装置103从圆柱电芯200侧围的各个方向进行扫描，能够同时获得侧围各个方向的图像信息。若采用一个图像采集装置103，并通过控制圆柱电芯200旋转以获得侧围各个方向图像信息，由于载物台102与圆柱电芯200旋转过程中可能存在相对的角度旋转，会导致检测存在误差，并且对载物台102与圆柱电芯200的安装精度要求更高，拍照需要的时间更长且检测效率低。
通过设置载物台用于放置圆柱电芯200，采用多个图像采集装置103从圆柱电芯200侧围的各个方向进行扫描，能够同时获得侧围各个方向的图像信息，根据图像信息构建圆柱面，并根据构建的圆柱面获取圆柱电芯200的圆柱度。该实施例具有能够直接检测圆柱电芯200的圆柱度，并且测量结果准确的优点。
参照图1，在一些实施例中，多个图像采集装置103沿圆柱电芯200的外周均匀分布。
多个图像采集装置103沿圆柱电芯200的外周均匀分布，多个图像采集装置103的图像采集范围覆盖圆柱电芯200的整个外周，确保不遗漏圆柱电芯200外围的任何一个部分的图像信息，并且可以减少图像采集装置103的数量。
通过将多个图像采集装置103沿圆柱电芯200的外周均匀分布，可以覆盖圆柱电芯200的整个外周，并减少图像采集装置103的数量，降低制作成本。
参照图1和图2，在一些实施例中，多个图像采集装置103沿圆柱电芯200的中心轴线方向间隔分布。
圆柱电芯200是一个圆柱形，中心轴线也就是指圆柱电芯200对应的圆柱形的中心轴线。间隔分布指多个图像采集装置103沿圆柱电芯的中心轴线上位于不同的高度，在进一步的实施例中，多个图像采集装置103沿圆柱电芯200的周向错开分布。圆柱电芯200在载物台102上的安装方式可以有多种，如可以是竖直设置或水平设置，无论采取何种设置方式，多个图像采集装置103沿圆柱电芯200的中心轴线方向间隔分布，也就是沿圆柱电芯200的圆柱面的高度方向间隔分布。具体地，参照图3，图3中箭头H代表的是圆柱电芯200的上升方向，标注L代表的是相邻两个图像采集装置103在竖直方向上的错位距离，在一实施例中，相邻两个图像采集装置103在竖直方向上的错位距离为8mm～12mm。理论上而言，图像采集装置103在竖直方向上的错位距离越大，不同图像采集装置103之间的激光干扰影响就会越小。但图像采集装置103之间的距离过大，升降模组104带动圆柱电芯200运动的行程就会越大，影响检测效率。因此，错位距离需要设定在一定范围内，经过实践确认，错位距离设置在8mm以上图像较为清晰，设置在12mm以下对检测效率影响不大。因此，本实施例将相邻两个图像采集装置103在竖直方向上的错位距离设置为8mm～12mm。更进一步地，将间隔错位距离设置在10mm以上图像更为清晰，因此也可以将相邻两个图像采集装置103在竖直方向上的错位距离设置为10mm～12mm。
通过将图像采集装置103在沿圆柱电芯200的中心轴线上间隔分布，可以减少图像采集装置103的激光扫描仪1031发出的激光的相互干扰，确保取像效果，获得清晰的图像，便于后续对获取的图像进行处理。并且可以以最少的图像采集装置103的数量完成圆柱电芯200外围圆柱面的视野无死角覆盖，既能确保检测准确度，又减少了图像采集装置103的数量，减少了圆柱电芯的圆柱度检测装置100的制作成本和计算的难度。
在一些实施例中，多个图像采集装置103对圆柱电芯200进行拍照获取图像信息，根据图像信息获取圆柱电芯200的外围3D图像400，并在外围3D图像400上的预设位置上取第一预设数量个检测面，在每一检测面上取第二预设数量个检测点404，根据每一检测面上的检测点404构建的圆柱面的半径的差值获取圆柱电芯200的圆柱度。
具体地，控制多个图像采集装置103对圆柱电芯200拍照，获取圆柱电芯200外围的图像信息，工控机内设置有插件，插件获取到各个图像采集装置103拍摄的图像信息，经过拼接或获得圆柱电芯200外围的3D图像；图像采集装置103内置有预设程序，通过预设程序可以在外围3D图像400上取第一预设数量个检测面，检测面是圆柱电芯200的3D图像的横截面。在3D图像上选取若干个横截面作为检测对象；检测面与圆柱电芯200的3D图像相交为一个圆，这个圆也是圆柱电芯200上的一个圆，在圆上取第二预设数量个检测点404，根据每一检测面上取出的第二预设数量个检测点404拟合出一个标准圆，获取标准圆的圆心。分别测量圆心和同一检测面上 各个检测点404之间的距离，从中取出三个距离最小的点和三个距离最大的点做圆，三个距离最小的点做圆得到最内圆，三个最长的点做圆得到最外圆。通过各个检测面上获取的最内圆做圆柱面，得到最小圆柱面；通过所有检测面上获取的最外圆做圆柱面，得到最大圆柱面；分别获取最小圆柱面和最大圆柱面的半径，将两个半径相减得到的差值即获取圆柱电芯200的圆柱度。
通过多个图像采集装置103对圆柱电芯200进行拍照获取图像信息，根据图像信息获取圆柱电芯200的外围3D图像400，并通过图像采集装置103的预设程序获取圆柱电芯200的圆柱度，能够直接获取圆柱电芯200的圆柱度，并且检测精度较高。
参照图1和图2，在一些实施例中，图像采集装置103包括分别安装于支架101的三个3D线扫相机，三个3D线扫相机沿圆柱电芯200的外周间隔分布，且三个3D线扫相机沿圆柱电芯200的中心轴线方向间隔分布。
3D线扫相机可以依靠自身发出激光成像，它的工作原理是通过一个激光线来扫描物体，并将激光线反射回来的信号转换成数字信号，从而获得物体的三维形状。总的来说，三个3D线扫相机沿圆柱电芯200的中心轴线呈螺旋上升分布。圆柱电芯200是一个圆柱形，中心轴线也就是指圆柱电芯200对应的圆柱形的中心轴线。间隔分布指多个图像采集装置103沿圆柱电芯200的中心轴线上位于不同的高度，在进一步地实施例中，相邻两个图像采集装置103在竖直方向上的错位距离可以设置为8mm～12mm。三个3D线扫相机沿圆柱电芯200的外周间隔分布，参照图2，即为，定义垂直于圆柱电芯200的中心轴线的面为投影面，圆柱电芯200的中心轴线在投影面上的投影为圆心，三个3D线扫相机在投影面上的投影沿圆心周向均匀分布。在进一步地实施例中，三个3D线扫相机沿圆柱电芯200的外周均匀分布，即相邻两个3D线扫相机在投影面上的投影上成120度的夹角分布。当然，3D线扫相机的数量也可以为四个。
通过设置三个3D线扫相机沿圆柱电芯200的外周间隔分布，既能确保获取圆柱电芯整个侧围各个方向的图像，又能确保检测准确度，减少了图像采集装置103的数量，减少了圆柱电芯的圆柱度检测装置100的制作成本和计算的难度。通过将图像采集装置103在沿圆柱电芯200的中心轴线上间隔分布，可以减少图像采集装置103的激光扫描仪1031发出的激光的相互干扰，确保获取圆柱电芯200整个侧围高度方向的清晰的图像，便于后续对获取的图像进行处理。
在一些实施例中，支架101包括安装柱1011和三根立柱1012，载物台102安装于安装柱1011，三根立柱1012围绕载物台102的外周设置，三个3D线扫相机一一对应安装于三根立柱1012。
具体地，安装柱1011和三根立柱1012均竖直设置，使用时可以放置在台面上。还可以设置一块连接板1013，连接板1013与三根立柱1012的顶部均连接，使得三根立柱1012连接为一体。三个3D线扫相机一一对应安装于三根立柱1012，指每一根立柱1012上均设置有一个3D线扫相机，由于圆柱电芯200是放在载物台102上的，将三根立柱1012围绕载物台102的外周设置，可以使得安装在立柱1012上的3D线扫相机围绕圆柱电芯200的外周间隔分布，进而能够获得圆柱电芯200整个侧围的图像。当然，还可以设置3D线扫相机可滑动地安装于立柱1012，这样能够调节3D线扫相机在立柱1012的位置，适应不同高度圆柱电芯200的测量。
通过设置安装柱1011，为载物台102提供安装位置，通过设置三根立柱1012围绕载物台102的外周设置，每根立 柱1012上分别设置一个3D线扫相机，使得检测时三个3D线扫相机围绕圆柱电芯200的外周间隔分布，进而能够获得圆柱电芯200整个侧围的图像，减少侧围出现拍摄不到的死角的可能性。参照图1，根据本申请的一些实施例，支架上101设置有升降模组104，升降模组104与支架101连接，载物台102转动安装于升降模组104且能够随升降模组104升降。
升降模组104能够在支架101上竖直运动进而带动在升降模组104上的载物台102一同做升降运动，将圆柱电芯200运送到图像采集装置103的扫描位置。升降模组104在运动过程中自带的编码器发送拍照信号给多个图像采集装置103同时进行图像扫描。载物台102上可以设置多个安装位，每个安装位上均可以设置圆柱电芯200。当需要检测某个圆柱电芯200时，通过旋转载物台102将需要检测的圆柱电芯200旋转达到检测工位，然后跟随升降模组104做竖直运动供图像采集装置103进行扫描。扫描完成后的圆柱电芯200在升降模组104的运动下返回检测工位，然后取下。当然，也可以是载物台102能够在升降模组104上做竖直运动进而将圆柱电芯200运送到图像采集装置103的扫描区域。具体地，升降模组104可以安装于安装柱1011上。
通过将载物台102转动地安装在升降模组104上，可以通过旋转载物台102将圆柱电芯200转动到检测工位，然后控制升降模组104上升，升降模组104上升过程中编码器发送拍照信号给多个图像采集装置103同时进行图像扫描，方便对圆柱电芯200的图像采集。
参照图4和图5，在一些实施例中，圆柱电芯的圆柱度检测装置100还包括校准块300，校准块300用于对多个图像采集装置103组成的图像采集系统进行校准，校准块300包括底板301和两个多棱台302，两个多棱台302的底面3033分别连接于底板301相对的两侧。
多棱台302包括顶面3032、与顶面3032相对设置的底面3033和设置于顶面3032和底面3033之间的多个斜侧面3031。多棱台302的顶面3032和底面3033相互平行设置。两个相同多棱台302的底面3033分别连接于底板301相对的两侧之后，两个多棱台302对应的斜侧面3031之间两两平行设置。如图4所示，斜侧面3031至少包括第一侧面3031a和第二侧面3031b，两个多棱台302的两个第一侧面3031a相互平行设置，两个多棱台302的两个第二侧面3031b相互平行设置。采用校准块300，用于对多个图像采集装置103组成的系统进行校准。具体地，参照图4和图5，通过多棱台302顶面3032的长度D和宽度F、多棱台302的高度C、底板301的高度B和底板301的长度E和底板301的宽度A对图像采集装置103的X、Y、Z向坐标进行校准，利用校准块300的多棱台302的相互平行斜侧面3031的距离对多个图像采集装置301组成的图像采集系统的坐标系的扭转角度进行校准。当然，还可以在底板301上设置盲孔，用于在校准时将校准块300固定住。
通过多棱台302对多个图像采集装置103的坐标系进行校准，将多个图像采集装置103的坐标系拼接在一起，实现对由多个图像采集装置103组成的图像采集系统的校准，可以提高图像拼接的准确度，提高检测精度。
参照图4和图5，在一些实施例中，多棱台302为梯形台303，梯形台303的底面3033与底板301连接，梯形台303包括四个斜侧面3031，其中一个梯形台303的斜侧面3031与另一个梯形台303的斜侧面3031一一对应平行 设置。具体地，梯形台303可以是等腰梯形台，这样，梯形台303的底面3033连接于底板301，梯形台303的四个斜侧面3031分别两两平行设置，可以通过八个斜侧面3031对多个图像采集装置301组成的图像采集系统的坐标系的扭转角度进行校准，提高检测精度。
通过采用梯形台303，制作方便，并且能够通过八个两两平行的斜侧面3031对坐标系的扭转角度进行校准，提高了校准精度，也就提高了后续图像采集装置103的检测精度。
根据本申请的一些实施例，本申请提供一种圆柱电芯的圆柱度检测装置100，包括支架101、升降模组104和载物台102；升降模组104与支架101连接，载物台102转动安装于升降模组104且能够随升降模组104升降，载物台102用于装载圆柱电芯200；支架101上设置有三个图像采集装置103，图像采集装置103沿圆柱电芯的中心轴线方向的错位设置；三个图像采集装置103用于拍照以获取圆柱电芯200的圆柱面的图像信息。具体地，三个图像采集装置103分别从圆柱电芯200的侧围对圆柱电芯200进行拍照，获取圆柱电芯200各个角度的照片，插件将各个照片进行合成拼接，就得到了圆柱电芯200的外围3D图像400，然后在圆柱电芯200外围3D图像400上选择多个检测面，在每一检测面上取多个检测点，根据所有选取的检测面上的所有检测点构建最小圆柱面和最大圆柱面，最小圆柱面指半径最小的圆柱面，最大圆柱面指半径最大的圆柱面，最大圆柱面与最小圆柱面的半径的差值就是圆柱电芯200的圆柱度。三个图像采集装置103在水平面的投影上均匀间隔分布，可以以最少的图像采集装置103的数量完成圆柱电芯200外围面的视野无死角覆盖，既能确保检测准确度，又减少了图像采集装置103的数量，即减少了圆柱电芯的圆柱度检测装置100的制作成本和计算的难度。
第二方面，参照图6，图6为本申请第一实施例的检测方法的流程示意图，根据本申请的一些实施例本申请提供了一种检测方法，检测方法应用于前述的圆柱电芯的圆柱度检测装置100，用于检测圆柱电芯200的圆柱度，圆柱电芯的圆柱度检测装置100包括支架101、升降模组104和载物台102；升降模组104与支架101连接，载物台102转动安装于升降模组104且能够随升降模组104升降，载物台102用于装载圆柱电芯200；支架101上设置有三个图像采集装置103，图像采集装置103在竖直方向上的错位设置；三个图像采集装置103用于拍照以获取圆柱电芯200的圆柱面的图像信息，包括以下步骤：
S10，控制多个图像采集装置103对圆柱电芯200拍照，获取圆柱电芯200外围的图像信息；
首先，将圆柱电芯200放置在载物台102上，在升降模组104的驱动作用下，圆柱电芯200上升，设置在圆柱电芯200外围的多个图像采集装置103从圆柱电芯200侧围的各个方向同时获取圆柱电芯200侧围的图像信息；
S20，根据图像信息获取圆柱电芯200的外围3D图像400；
工控机设置有插件，插件获取到各个图像采集装置103拍摄的图像信息，经过拼接或获得圆柱电芯200外围的3D图像；
S30，根据外围3D图像400获取圆柱电芯200的圆柱度。
根据外围的3D图像并根据图像采集装置103内置的预设程序就可以获得圆柱电芯200的圆柱度。
通过采用多个图像采集装置103同时获取圆柱电芯200侧围的图像信息，通过工控机的插件将获取的图像信 息获取圆柱电芯200的圆柱度，填补了相关技术中无法测量圆柱电芯200圆柱度的空白，并且对载物台102与圆柱电芯200的安装精度要求较低，检测效率高。
参照图7，图7为本申请第二实施例的检测方法的流程示意图，S10的步骤之后，S30的步骤之前，还包括步骤：
S101，控制多个图像采集装置获取校准块的3D图像；
多个图像采集装置103对圆柱电芯200拍照，获取圆柱电芯200外围的图像信息，工控机内设置有插件，插件获取到各个图像采集装置103拍摄的图像信息，经过拼接或获得圆柱电芯200外围的3D图像；
S102，根据3D图像获取校准块的尺寸信息；
根据获取的3D图像可以测量获取校准块各个方向的尺寸信息。具体地，校准块包括底板和两个多棱台，多棱台302为梯形台303，梯形台303的底面3033与底板301连接，梯形台303包括四个斜侧面3031，其中一个梯形台303的斜侧面3031与另一个梯形台303的斜侧面3031一一对应平行设置。多棱台302包括顶面3032、与顶面3032相对设置的底面3033和设置于顶面3032和底面3033之间的多个斜侧面3031。参照图4和图5，尺寸信息包括多棱台302顶面3032的长度D和宽度F、多棱台302的高度C、底板301的高度B和底板301的长度E和底板301的宽度A。
S103，根据获取的尺寸信息和校准块的标准尺寸，对多个图像采集装置组成的图像采集系统的坐标和扭转角度进行校准。标准尺寸指校准块在其它校准后的图像采集装置下测得的尺寸信息，也就是校准块的实际尺寸。此处将测量获取的尺寸信息和校准块的标准尺寸进行比较，能够对图像采集装置的X、Y、Z向坐标和坐标系的扭转角度进行校准。
本发明的上述实施例中，通过校准块303对多个图像采集装置103的坐标系进行校准，将多个图像采集装置103的坐标系拼接在一起，实现对由多个图像采集装置103组成的图像采集系统的坐标系进行校准，可以提高图像拼接的准确度，提高检测精度。
需要说明的是，采用校准块300校准进行校准步骤可以只在需要时进行，如刚开始使用仪器或者更换了图像采集装置103，并不是在每一次检测中都需要使用。
参照图8，图8为本申请第三实施例的检测方法的流程示意图，S30的步骤包括：
S301，沿外围3D图像400的中心轴线方向上在外围3D图像400上取第一预设数量个检测面；
结合参照图13，图13为本申请一些实施例圆柱电芯的圆柱度检测装置的合成的外围3D图像，以及在外围3D图像上选取的检测面和检测点的示意图。图13中外围虚线表示的是合成的圆柱电芯200的外围3D图像400，带斜线填充的圆表示的是选取的检测面，每一检测面上的实心点代表的是在各检测面上选取的检测点404，这里的检测面是圆柱电芯200的外围3D图像400的横截面。在3D图像上选取若干个横截面作为检测对象，这里的第一预设数量可以根据实际需要进行设置。
S302，在每一检测面上取第二预设数量个检测点404；
具体地，检测面与圆柱电芯200的3D图像相交为一个圆，这个圆也是圆柱电芯200上的一个圆，在圆上取 第二预设数量个检测点404，这里的第二预设数量可以根据实际需要进行设置。
S303，根据检测点404构建圆柱电芯200的最小圆柱面和最大圆柱面；
具体地，根据每一检测面上取出的第二预设数量个检测点404拟合出一个标准圆，获取标准圆的圆心。分别测量圆心和同一检测面上各个检测点404之间的距离，从中取出三个距离最小的点和三个距离最大的点做圆，三个距离最小的点做圆得到最内圆，三个最长的点做圆得到最外圆。通过各个检测面上获取的最内圆做圆柱面，得到最小圆柱面；通过所有检测面上获取的最外圆做圆柱面，得到最大圆柱面；
S304，根据最小圆柱面的半径和最大圆柱面的半径之差获取圆柱电芯200的圆柱度。
分别获取最小圆柱面和最大圆柱面的半径，将两个半径相减得到的差值即获取圆柱电芯200的圆柱度。
通过在外围3D图像400上取第一预设数量个检测面；在每一检测面上取第二预设数量个检测点404；根据检测点404构建圆柱电芯200的最小圆柱面和最大圆柱面；根据最小圆柱面的半径和最大圆柱面的半径之差获取圆柱电芯200的圆柱度，可以方便获取圆柱电芯200的圆柱度，并且检测精度高。
参照图9，图9为本申请第四实施例的检测方法的流程示意图，S301的步骤包括：
S3011，沿外围3D图像400的中心轴线方向上在外围3D图像400上取三个检测面，三个检测面分别位于外围3D图像400的预设位置。
这里的预设位置可以是事先确定的外围3D图像400的位置，如果需要对圆柱电芯的部分位置进行重点检测，可以选取对应的位置作为预设位置。
参照图10和图13，图10为本申请第五实施例的检测方法的流程示意图，具体地，S301的步骤包括S3012，
沿外围3D图像400的中心轴线方向上在外围3D图像400上取三个检测面，三个检测面分别位于外围3D图像400的预设位置。
具体地，三个检测面包括第一检测面401、第二检测面402和第三检测面403；其中，第一检测面401位于外围3D图像400的顶部位置，第二检测面402位于外围3D图像400的中间位置，第三检测面403位于外围3D图像400的底部位置。
在圆柱电芯200的3D图像是一个圆柱面，沿圆柱面的高度方向上依次取三个检测面，分别为第一检测面401、第二检测面402和第三检测面403，选取的第一检测面401位于外围3D图像400的顶部位置，第二检测面402位于外围3D图像400的中间位置，第三检测面403位于外围3D图像400的底部位置，能够使选取的检测面尽可能大的覆盖圆柱面。当然，为提高检测精度，也可以选择更多数量个的检测面，本领域技术人员可以根据实际需要进行设置。
参照图11，图11为本申请第六实施例的检测方法的流程示意图，S302的步骤包括：
S3021，在每一检测面上至少取十个检测点404。
检测点404的数量不能太少，太少的话可能未选取到圆柱面的凹陷处或凸包处，降低了检测精度。理论上选取的检测点404数量越多越好，选取的检测点404越多，测量的精度也就越高，因此选择的检测点404的数量不 应小于十个。
通过在每一检测面上至少选取十个检测点，可以更全面地反映圆柱面的表面状况，提高检测精度。
参照图12，图12为本申请第七实施例的检测方法的流程示意图，S302的步骤包括：
S3022，在每一检测面上取均匀分布的十二个检测点404。
虽然理论上选取的检测点404数量越多越好，选取的检测点404越多，测量的精度也就越高，但选取的点数越多，计算量也就越大，这样会影响检测效率。经过实验，当选取的检测点404数量为十二个时，既能保证较高的检测精度，又能确保较高的检测效率。
根据本申请的一些实施例，首先，将圆柱电芯200放置在载物台102上，在升降模组104的作用下，圆柱电芯200上升，设置在圆柱电芯200外围的多个图像采集装置103从圆柱电芯200侧围的各个方向获取圆柱电芯200侧围的图像信息；工控机内设置有插件，插件获取到各个图像采集装置103拍摄的图像信息，经过拼接或获得圆柱电芯200外围的3D图像；采用校准块300对多个图像采集装置103进行校准；沿外围3D图像400的中心轴线方向上在外围3D图像400上取间隔设置的第一检测面401、第二检测面402和第三检测面403；其中，第一检测面401位于外围3D图像400的顶部位置，第二检测面402位于外围3D图像400的中间位置，第三检测面403位于外围3D图像400的底部位置；在每一检测面上取均匀分布的十二个检测点404。根据检测点404构建圆柱电芯200的最小圆柱面和最大圆柱面；根据最小圆柱面的半径和最大圆柱面的半径之差获取圆柱电芯200的圆柱度。通过采用多个图像采集装置103同时获取圆柱电芯200侧围的图像信息，通过工控机内设的插件将获取的图像信息获取圆柱电芯200的圆柱度，填补了相关技术中无法测量圆柱电芯200的圆柱度的空白，并且对载物台102与圆柱电芯200的安装精度要求较低，检测效率高。
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 (16)

  1. 一种圆柱电芯的圆柱度检测装置，其中，包括：
    支架；
    载物台，所述载物台安装于所述支架，所述载物台用于装载圆柱电芯；
    多个图像采集装置，多个所述图像采集装置均安装于所述支架；多个所述图像采集装置用于获取所述圆柱电芯的图像信息，以根据所述图像信息构建圆柱面，并根据构建的所述圆柱面获取所述圆柱电芯的圆柱度。
  2. 根据权利要求1所述的圆柱电芯的圆柱度检测装置，其中，多个所述图像采集装置沿所述圆柱电芯的外周均匀分布。
  3. 根据权利要求1所述的圆柱电芯的圆柱度检测装置，其中，多个所述图像采集装置沿所述圆柱电芯的中心轴线方向间隔分布。
  4. 根据权利要求1所述的圆柱电芯的圆柱度检测装置，其中，多个所述图像采集装置用于对所述圆柱电芯进行拍照获取图像信息，以根据所述图像信息获取所述圆柱电芯的外围3D图像，并在所述外围3D图像上的预设位置上取第一预设数量个检测面，在每一所述检测面上取第二预设数量个检测点，根据所述每一所述检测面上的检测点构建圆柱面，并根据构建的所述圆柱面半径的差值获取所述圆柱电芯的圆柱度。
  5. 根据权利要求1所述的圆柱电芯的圆柱度检测装置，其中，多个所述图像采集装置包括分别安装于所述支架的三个3D线扫相机，三个所述3D线扫相机沿所述圆柱电芯的外周均匀分布，且三个所述3D线扫相机沿所述圆柱电芯的中心轴线方向间隔分布。
  6. 根据权利要求5所述的圆柱电芯的圆柱度检测装置，其中，所述支架包括安装柱和三根立柱，所述载物台安装于所述安装柱，三根所述立柱围绕所述载物台的外周设置，三个所述3D线扫相机一一对应安装于三根所述立柱。
  7. 根据权利要求1～6中任一项所述的圆柱电芯的圆柱度检测装置，其中，所述圆柱电芯的圆柱度检测装置还包括校准块，所述校准块用于对多个所述图像采集装置组成的图像采集系统进行校准，所述校准块包括底板和两个多棱台，两个所述多棱台的底面分别连接于所述底板相对的两侧。
  8. 根据权利要求7所述的圆柱电芯的圆柱度检测装置，其中，所述多棱台为梯形台，所述梯形台的底面与所述底板连接，所述梯形台包括四个斜侧面，其中一个所述梯形台的斜侧面与另一个所述梯形台的所述斜侧面一一对应平行设置。
  9. 根据权利要求1～6中任一项所述的圆柱电芯的圆柱度检测装置，其中，所述支架上设置有升降模组，所述升降模组与所述支架连接，所述载物台转动安装于所述升降模组且能够随所述升降模组升降。
  10. 一种检测方法，用于检测圆柱电芯的圆柱度，其中，包括以下步骤：
    控制多个图像采集装置对圆柱电芯拍照，获取所述圆柱电芯外围的图像信息；
    根据所述图像信息获取所述圆柱电芯的外围3D图像；
    根据所述外围3D图像获取所述圆柱电芯的圆柱度。
  11. 根据权利要求10所述的检测方法，其中，所述控制多个图像采集装置对圆柱电芯拍照，获取所述圆柱电芯外围的图像信息的步骤之前，还包括步骤：
    控制多个所述图像采集装置获取校准块的3D图像；
    根据所述3D图像获取校准块的尺寸信息；
    根据获取的所述尺寸信息和所述校准块的标准尺寸，对多个所述图像采集装置组成的图像采集系统的坐标和扭转角度进行校准。
  12. 根据权利要求10或11所述的检测方法，其中，所述根据所述外围3D图像获取所述圆柱电芯的圆柱度的步骤包括：
    沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取第一预设数量个检测面；
    在每一所述检测面上取第二预设数量个检测点；
    根据所述检测点构建所述外围3D图像的最小圆柱面和最大圆柱面；
    根据所述最小圆柱面的半径和最大圆柱面的半径之差获取所述圆柱电芯的圆柱度。
  13. 根据权利要求12所述的检测方法，其中，所述沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取第一预设数量个检测面的步骤包括：
    沿所述外围3D图像的中心轴线方向上在所述外围3D图像上取三个检测面，三个所述检测面分别位于所述外围3D图像的预设位置。
  14. 根据权利要求13所述的检测方法，其中，三个所述检测面分别位于所述外围3D图像的顶部位置、中间位置和底部位置。
  15. 根据权利要求14所述的检测方法，其中，所述在每一所述检测面上取第二预设数量个检测点的步骤包括：
    在每一所述检测面上至少取十个检测点。
  16. 根据权利要求15所述的检测方法，其特征在于，所述在每一所述检测面上取第二预设数量个检测点的步骤包括：
    在每一所述检测面上取均匀分布的十二个检测点。
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