CN114148096B - Coding method and device for cylindrical battery cell end cover, electronic equipment and storage medium - Google Patents
Coding method and device for cylindrical battery cell end cover, electronic equipment and storage medium Download PDFInfo
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- CN114148096B CN114148096B CN202111305816.1A CN202111305816A CN114148096B CN 114148096 B CN114148096 B CN 114148096B CN 202111305816 A CN202111305816 A CN 202111305816A CN 114148096 B CN114148096 B CN 114148096B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M5/00—Duplicating or marking methods; Sheet materials for use therein
- B41M5/0041—Digital printing on surfaces other than ordinary paper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
- B41J3/40733—Printing on cylindrical or rotationally symmetrical objects, e. g. on bottles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M5/00—Duplicating or marking methods; Sheet materials for use therein
- B41M5/0082—Digital printing on bodies of particular shapes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
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- Manufacturing & Machinery (AREA)
- Sealing Battery Cases Or Jackets (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The invention provides a coding method and device for a cylindrical battery cell end cover, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring an image of a target cylindrical battery cell end cover; determining the position and angle of an electrode in an image of the target cylindrical cell end cover; and controlling a code spraying module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover. According to the coding method, the coding device, the electronic equipment and the storage medium for the cylindrical cell end cover, provided by the embodiment of the invention, the positions and the angles of the electrodes in the image of the target cylindrical cell end cover are determined based on the image of the target cylindrical cell end cover, and the coding module is controlled to code the target cylindrical cell end cover based on the positions and the angles of the electrodes in the image of the target cylindrical cell end cover, so that the coding efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of industrial control, in particular to a coding method and device for a cylindrical battery cell end cover, electronic equipment and a storage medium.
Background
The coding process of the traditional cylindrical battery cell end cover is generally to code the codes by manually visualizing the end cover and controlling the code spraying module, and the coding efficiency is lower.
Disclosure of Invention
The invention provides a coding method and device for a cylindrical battery cell end cover, electronic equipment and a storage medium, which are used for solving the technical problem of lower coding efficiency of the cylindrical battery cell end cover in the prior art.
The invention provides a coding method of a cylindrical battery cell end cover, which comprises the following steps:
acquiring an image of a target cylindrical battery cell end cover;
determining the position and angle of an electrode in an image of the target cylindrical cell end cover;
and controlling a code spraying module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover.
According to the coding method for the cylindrical battery cell end cover provided by the invention, after the image of the target cylindrical battery cell end cover is acquired, the coding method further comprises the following steps:
performing template matching on the image of the target cylindrical battery cell end cover based on a preset template image, and determining the position and the target angle of a coding area in the image of the target cylindrical battery cell end cover;
and controlling a code spraying module to code the target cylindrical cell end cover based on the position and the target angle of the code printing area in the image of the target cylindrical cell end cover.
According to the coding method for the cylindrical battery cell end cover provided by the invention, after the coding module is controlled to code the target cylindrical battery cell end cover based on the position and the angle of the electrode in the image of the target cylindrical battery cell end cover, the coding method further comprises the following steps:
acquiring an image of the target cylindrical battery cell end cover after coding;
and acquiring the quality and/or the correctness of the code printing based on the image of the target cylindrical battery cell end cover after the code printing.
According to the coding method for the cylindrical battery cell end cover provided by the invention, the position and the angle of the electrode in the image of the target cylindrical battery cell end cover are determined, and the coding method specifically comprises the following steps:
identifying two electrodes in the image of the target cylindrical cell end cap;
determining the positions of the two electrodes in the image of the target cylindrical cell end cover;
and determining the angle of the electrode in the image of the target cylindrical cell end cover based on the positions of the two electrodes in the image of the target cylindrical cell end cover.
According to the coding method of the cylindrical battery cell end cover provided by the invention, the coding module is controlled to code the target cylindrical battery cell end cover based on the position and the angle of the electrode in the image of the target cylindrical battery cell end cover, and the coding method specifically comprises the following steps:
Determining target displacement and target rotation angle of the code spraying module based on the position and angle of an electrode in the image of the target cylindrical cell end cover;
and controlling the code spraying module to move based on the target displacement and rotate the target angle based on the target displacement, and coding the cylindrical battery cell end cover.
According to the coding method for the cylindrical battery cell end cover provided by the invention, the identification of the two electrodes in the image of the target cylindrical battery cell end cover specifically comprises the following steps:
and identifying two target circles in the image of the target cylindrical cell end cover, and respectively determining the two target circles as the electrodes.
According to the coding method for the cylindrical battery cell end cover provided by the invention, the determining of the positions of the two electrodes in the image of the target cylindrical battery cell end cover specifically comprises the following steps:
acquiring coordinates of circle centers of two target circles in an image of the target cylindrical battery cell end cover;
determining the positions of the two electrodes in the image of the target cylindrical battery cell end cover based on the coordinates of the centers of the two target circles;
the invention also provides a coding device for the end cover of the cylindrical battery cell, which comprises:
The image acquisition module is used for acquiring an image of the target cylindrical battery cell end cover;
the parameter acquisition module is used for determining the position and the angle of the electrode in the image of the target cylindrical battery cell end cover;
the code printing control module is used for controlling the code printing module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of any one of the coding methods of the cylindrical cell end cover when executing the computer program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the cylindrical cell end cap coding methods described above.
According to the coding method, the coding device, the electronic equipment and the storage medium for the cylindrical cell end cover, the positions and the angles of the electrodes in the image of the target cylindrical cell end cover are determined based on the image of the target cylindrical cell end cover, and the coding module is controlled to code the target cylindrical cell end cover based on the positions and the angles of the electrodes in the image of the target cylindrical cell end cover, so that coding efficiency can be improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a coding method of a cylindrical battery cell end cover provided by the invention;
FIG. 2 is a schematic diagram of coding positions in a coding method of a cylindrical cell end cover provided by the invention;
FIG. 3 is a schematic structural diagram of a coding device for a cylindrical cell end cover provided by the invention;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the embodiments of the present invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and not order.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In order to overcome the problems in the prior art, the invention provides a coding method, a coding device, electronic equipment and a storage medium for a cylindrical battery cell end cover.
Fig. 1 is a schematic flow chart of a coding method for a cylindrical cell end cover. The coding method of the cylindrical cell end cover according to the embodiment of the invention is described below with reference to fig. 1. As shown in fig. 1, the method includes: and 101, acquiring an image of the end cover of the target cylindrical battery cell.
Specifically, the image of the target cylindrical cell end cover can be acquired based on the image or video of the target cylindrical cell end cover acquired by the image acquisition device.
The image acquisition device can be a camera or a video camera.
The image acquisition device can acquire images of the target cylindrical battery cell end cover in a mode of photographing the target cylindrical battery cell end cover from the right above or acquire videos of the target cylindrical battery cell end cover in a mode of photographing the target cylindrical battery cell end cover from the right above.
The video of the target cylindrical battery cell end cover can be subjected to screenshot and other processing to obtain an image of the target cylindrical battery cell end cover.
The image of the target battery may be acquired based on the image or video of the target battery acquired by the image acquisition device.
The image acquisition device can be a camera or a video camera.
The image pickup device may collect an image of the target battery by photographing the target battery from directly above or may collect a video of the target battery by photographing the target battery from directly above or the like.
The video of the target battery can be subjected to screenshot and other processing to obtain an image of the target battery.
And 102, determining the position and angle of the electrode in the image of the target cylindrical cell end cover.
Specifically, the cylindrical battery cell end cover is provided with two circular electrodes, and the image of the target cylindrical battery cell end cover can be subjected to target recognition based on any target recognition method, such as template matching or artificial neural network, so that the electrodes in the image of the target cylindrical battery cell end cover can be recognized.
After identifying the electrodes of the target cell in the image of the target cell, the locations of the electrodes in the image of the target cylindrical cell end cap may be determined.
The position of a target (e.g., a cylindrical cell end cap or electrode) in an image refers to the position of the target in the image.
The lateral and longitudinal directions of the image may be respectively taken as an X-axis and a Y-axis, a coordinate system is established based on the X-axis and the Y-axis, and the position of the feature point in the object in the coordinate system is determined as the position of the object in the image.
The feature points may be one or more points in the target that are preselected. For example, the feature point is the center of the electrode.
Several, one or more.
The angle of the electrodes may refer to an angle between a line connecting two electrodes and a coordinate axis in the coordinate system.
It will be appreciated that in step 102, the image of the target cylindrical cell end cap may be preprocessed to improve image quality before determining the position and angle of the electrodes in the image of the target cylindrical cell end cap.
The method of preprocessing may include at least one of image segmentation, image enhancement, and image binarization.
And 103, controlling the code spraying module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover.
Specifically, after each coding is completed, the code spraying module can return to the initial position and have an initial angle.
Based on the position and angle of the electrode in the image of the target cylindrical cell end cap, the coding position in image space can be determined. The relationship between the coding position 202 in the image space and the position of the electrode 201 in the image of the target cylindrical cell end cap is shown in fig. 2.
Based on imaging parameters (e.g., focal length, object distance, etc.) of the image of the target battery, the coding position in the image space may be mapped to the real space, obtaining the target coding position in the real space.
After determining the target coding position, a target route may be determined that starts at the initial position and ends at the target coding position.
And controlling the code spraying module to move to a target code printing position along a target route, rotating based on the angle of the electrode, and then spraying a target pattern on the end cover of the cylindrical battery cell to finish code printing. Optionally, the code spraying module is controlled to rotate based on the angle of the electrode, so that the transverse axis of the sprayed target pattern is parallel to the connecting line of the electrode.
Optionally, after determining the target coding position, before controlling the coding module to code the target cylindrical battery cell end cover, the cleanliness of the coding area can be obtained based on the image of the target cylindrical battery cell end cover; under the condition that the cleanliness of the coding area is determined to be greater than or equal to a preset cleanliness threshold value, executing the step of controlling the code spraying module to code the target cylindrical battery cell end cover; under the condition that the cleanliness of the coding area is smaller than the cleanliness threshold, the metal surface cleaning module can be controlled to move to the target coding position to clean the coding area.
The cleanliness threshold may be set according to practical situations, for example, the cleanliness threshold is 0.8 or 0.95. The embodiments of the present invention are not particularly limited as to the specific value of the cleanliness threshold.
The acquiring the cleanliness of the coding area may specifically include:
acquiring each dirty region in the coding region based on the image of the target cylindrical cell end cover;
and acquiring the cleanliness of the coding region based on each dirty region in the coding region.
Based on the image of the target cylindrical cell end cover, the obtaining of each dirty area in the coding area may specifically include:
and acquiring an area formed by adjacent pixel points, of which pixel values are smaller than a preset pixel threshold value, in the coding area in the image of the target cylindrical cell end cover as a dirty area.
If only the discrete pixel points with the pixel value smaller than the preset pixel threshold value exist in the coding region in the image of the target cylindrical cell end cover, or the pixel points with the pixel value smaller than the preset pixel threshold value do not exist, the fact that the dirty region does not exist in the coding region can be determined.
The pixel threshold may be set according to actual situations, and the embodiment of the present invention is not limited specifically for a specific value of the pixel threshold.
Based on each dirty region in the code printing region, the acquiring the cleanliness of the code printing region may specifically include:
Wherein Q represents the cleanliness of the coding area; s represents the area of the coding area; s is S i Indicating the area of the i-th dirty region; n represents the number of blocks of the dirty region.
The area of the coding region and the area of the dirty region may be both actual areas or pixel areas.
The calculation formula of the actual area of the dirty region can be expressed as:
S＝k 1 *Sum
wherein S represents the actual area of the dirty region; sum represents the number of pixel points included in the dirty region in the image of the target cylindrical cell end cover; k (k) 1 Representing the first scaling factor. First conversion coefficient k 1 For conversion between the area in the image of the target cylindrical cell end cap and the area in real space
Alternatively, the distance between every two dirty regions may also be obtained; and acquiring the cleanliness of the coding area based on the distance between every two dirty areas.
Under the condition that the distance between every two dirty areas is not greater than a distance threshold value, determining the cleanliness of the coding area as qualified; and under the condition that the distance between any two dirty areas is larger than the distance threshold value, determining the cleanliness of the coding area as disqualification.
The calculation formula for the distance between two soiled areas can be expressed as:
Wherein d represents the distance between two soiled areas; first dirty region in image of target cylindrical cell end coverThe coordinates of the pixel point i in the domain and the pixel point j in the second dirty region are (X i ，Y i ) And (X) j ，Y j ) The method comprises the steps of carrying out a first treatment on the surface of the 1.ltoreq.i.ltoreq.M, 1.ltoreq.j.ltoreq.N, M and N respectively represent the number of pixel points included in the first dirty region and the number of pixel points included in the second dirty region; k (k) 2 Representing a second scaling factor. A second conversion coefficient k 2 For conversion between distance in the image of the target cylindrical cell end cap and distance in real space.
According to the embodiment of the invention, the position and the angle of the electrode in the image of the target cylindrical cell end cover are determined based on the image of the target cylindrical cell end cover, the code spraying module is controlled to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover, and the code printing efficiency can be improved by automatic code printing based on image processing.
Based on the foregoing any of the embodiments, after acquiring the image of the target cylindrical cell end cap, the method further includes: and carrying out template matching on the image of the target cylindrical battery cell end cover based on a preset template image, and determining the position and the target angle of the coding region in the image of the target cylindrical battery cell end cover.
Specifically, the preset template image may be an image of a portion of the cylindrical cell end cap acquired in advance. The portion includes two electrodes and the outline of the electrodes (i.e., the two circles) is marked in the template image.
Through template matching, a target area matched with a preset template image in the image of the target cylindrical battery cell end cover can be determined.
Because the relative positional relationship between the electrode position and the coding position is predetermined, the position of the coding region in the image of the target cylindrical cell end cap can be acquired based on the position of the target region.
After the target area is identified, the position and angle of the electrode in the image of the target cylindrical cell end cap can be acquired based on the outline of the marked electrode in the target area.
The angle of the electrode may be determined as the target angle.
And controlling the code spraying module to code the target cylindrical cell end cover based on the position and the target angle of the code printing area in the image of the target cylindrical cell end cover.
Specifically, the position of the coding region in the image of the target cylindrical cell end cover can be mapped to the real space based on imaging parameters (such as focal length, object distance and the like) of the image of the target cylindrical cell end cover, so that the target coding position in the real space is obtained.
After determining the target coding position, a target route may be determined that starts at the initial position and ends at the target coding position.
And controlling the code spraying module to move to a target code printing position along a target route, rotating based on the angle of the electrode, and then spraying a target pattern on the end cover of the cylindrical battery cell to finish code printing.
According to the embodiment of the invention, the position and the target angle of the code printing area in the image of the target cylindrical battery cell end cover are determined by the template matching method, and the position and the target angle of the code printing area in the image can be more conveniently, accurately and rapidly acquired, so that the code printing module can be more conveniently, accurately and rapidly controlled to code the target cylindrical battery cell end cover, and the code printing efficiency can be improved.
Based on the foregoing in any one of the embodiments, after the code spraying module is controlled to code the target cylindrical battery cell end cover based on the position and the angle of the electrode in the image of the target cylindrical battery cell end cover, the method further includes: and acquiring an image of the target cylindrical battery cell end cover after coding.
Specifically, for the target cylindrical cell end cover after coding, the image of the target cylindrical cell end cover after coding can be acquired through the image acquisition device.
The step of obtaining the image of the target cylindrical cell end cover after coding is similar to the step of obtaining the image of the target cylindrical cell end cover before coding, and will not be repeated here.
And acquiring the quality and/or the correctness of the code printing based on the image of the target cylindrical battery cell end cover after the code printing.
Specifically, after the image of the coded target cylindrical cell end cover is acquired, the image can be identified based on any target identification method, such as template matching or artificial neural network, and the coded pattern in the image can be identified.
After the coding pattern in the image is identified, the definition of the coding pattern can be obtained; and acquiring the quality of the code printing based on the definition of the code printing graph.
Under the condition that the definition of the code printing pattern is larger than a preset definition threshold, the quality of the code printing pattern can be determined to be qualified; and under the condition that the definition of the code printing pattern is smaller than a preset definition threshold, determining that the quality of the code printing pattern is unqualified.
The sharpness threshold may be set according to the actual situation. The embodiment of the present invention is not particularly limited with respect to the specific value of the sharpness threshold.
After the coding pattern in the image is identified, the coding pattern can be compared with a preset target pattern, and the coding accuracy is obtained.
Optionally, after the coding pattern is adjusted to be the same size as the target pattern, comparing the pixel value of each pixel, and counting the proportion of the number of pixels with different pixel values to the total number of pixels; if the ratio is greater than the ratio threshold, determining that the correctness of the coding is incorrect; in the case where the ratio is smaller than the ratio threshold, the correctness of the code printing can be determined to be correct.
The ratio threshold may be set according to the actual situation, for example, the ratio threshold is 1% or 3%. The embodiment of the present invention is not particularly limited with respect to the specific value of the proportional threshold.
According to the embodiment of the invention, based on the image of the target cylindrical battery cell end cover after coding, the coding quality and/or the coding correctness are obtained, and the cylindrical battery cell end cover with unqualified coding quality or incorrect coding can be more rapidly identified.
Based on the content of any embodiment, determining the position and the angle of the electrode in the image of the target cylindrical cell end cover specifically includes: two electrodes in the image of the target cylindrical cell end cap are identified.
Specifically, the cylindrical battery cell end cover is provided with two circular electrodes, and the image of the target cylindrical battery cell end cover can be subjected to target recognition based on any target recognition method, such as template matching or artificial neural network, so that the electrodes in the image of the target cylindrical battery cell end cover can be recognized.
And determining the positions of two electrodes in the image of the target cylindrical cell end cover.
Specifically, after identifying the electrodes in the image of the target cylindrical cell end cap, the positions of the two electrodes in the image may be acquired separately.
The position of each electrode of the target cylindrical cell end cap in the image can be determined according to the position of the feature point in the electrode in the coordinate system.
The feature points in the electrode may be one or more points in the tab. For example, the feature point in the electrode may be the center of the electrode.
And determining the angle of the electrodes in the image of the target cylindrical cell end cover based on the positions of the two electrodes in the image of the target cylindrical cell end cover.
Specifically, the angle of the electrodes may be determined from the relative positional relationship between the positions of the two electrodes in the image.
Illustratively, the angle of the electrode in the image of the target cylindrical cell end cap is determined based on the coordinates of the centers of the two target circles.
According to the embodiment of the invention, the positions of the two electrodes in the image are acquired by identifying the two electrodes in the image of the target cylindrical battery cell end cover, the angles of the electrodes are determined according to the positions of the two electrodes in the image, and the determined positions and angles of the electrodes are more accurate, so that the code spraying module can be controlled to code the target cylindrical battery cell end cover based on the positions and angles of the electrodes, the code printing error rate can be reduced, and the code printing efficiency can be improved.
Based on the foregoing in any one of the embodiments, based on the position and angle of the electrode in the image of the target cylindrical battery cell end cover, the code spraying control module performs code printing on the target cylindrical battery cell end cover, and specifically includes: and determining the target displacement and the target rotating angle of the code spraying module based on the position and the angle of the electrode in the image of the target cylindrical cell end cover.
Specifically, the target displacement and the target rotating angle of the code spraying module can be determined based on the position and the angle of the electrode in the image of the target cylindrical cell end cover and a preset reference position and a preset reference angle.
The preset reference point can be a pixel point serving as a reference in a reference image acquired under the condition that the cylindrical cell end cover is positioned at a preset reference position.
The coordinates of the reference point in the above coordinate system are fixed.
The datum points can be one or more.
It will be appreciated that in the reference image, the difference in position (i.e., pixel offset value) between the position of the cylindrical cell end cap and the reference point is fixed.
Because the image of the target cylindrical cell end cover and the reference image are acquired under the same condition, the preset reference point can be used as the reference in the image of each target cylindrical cell end cover.
Based on the difference between the position of the electrode in the image of the target cylindrical cell end cap and the reference point and the difference between the position of the cylindrical cell end cap in the reference image and the reference point, the position difference between the actual position of the target cylindrical cell end cap and the reference position can be determined.
According to the position difference between the actual position of the target cylindrical cell end cover and the reference position, the target coding position in the real space can be determined.
After determining the target coding position in the real space, the displacement between the target coding position in the real space and the initial position of the code spraying mechanism can be obtained as the target displacement.
The reference angle may be an angle in a positive direction of a coordinate axis of the coordinate system.
The target angle may be an angle difference between an angle of an electrode of the target cylindrical cell end cap in the image and a preset reference angle.
Based on the target displacement and the target angle, the code spraying module is controlled to move and rotate the target angle based on the target displacement, and code printing is carried out on the cylindrical battery cell end cover.
Specifically, after the target displacement and the target angle, the code spraying module can be controlled to move to the target coding position in the real space according to the target displacement and rotate the target angle.
The sequence between the movement of the code spraying mechanism to the target code printing position and the rotation of the code spraying mechanism to the target angle is controlled, and the embodiment of the invention is not limited. The code spraying mechanism can be controlled to move to the target coding position, and then the code spraying mechanism is controlled to rotate by a target angle; or the code spraying mechanism can be controlled to rotate a target angle, and then the code spraying mechanism is controlled to move to a target code printing position; the device can also control the code spraying mechanism to move to the target coding position and control the code spraying mechanism to rotate by a target angle in parallel.
According to the embodiment of the invention, the code printing is carried out on the target cylindrical cell end cover after the target displacement and the target angle are determined, the code printing mechanism is controlled to move the target displacement and rotate the target angle, so that the code printing of the target cylindrical cell end cover can be finished under the condition that the position and/or the direction of the target cylindrical cell end cover are not fixed, the error rate of the code printing can be reduced, and the code printing efficiency can be improved.
Based on the foregoing any embodiment, identifying two electrodes in the image of the target cylindrical cell end cap specifically includes: two target circles in the image of the target cylindrical cell end cover are identified and respectively determined to be electrodes.
Specifically, the image of the target cylindrical cell end cover can be subjected to target recognition based on any target recognition method, such as template matching or an artificial neural network, so that two target circles in the image of the target cylindrical cell end cover can be recognized.
The circles in the image of the target cylindrical cell end cap may be identified based on various Hough transforms, random circle detection (Randomized Circle detection, RCD), etc.
The various types of hough transforms may include, but are not limited to, circular hough transforms (Circular Hough Transform, CHT), random hough transforms (Randomized Hough Transform, RHT), and the like.
After the circles in the image of the target cylindrical cell end cover are identified, the radius of each identified circle in the image of the target cylindrical cell end cover can be acquired.
The target radius is a mapping of the true radius of the electrode of the target cylindrical cell end cap in the image of the target cylindrical cell end cap.
For each circle identified in the image of the target cylindrical cell end cap, matching the radius of the circle to the target radius.
And if the absolute value of the difference between the radius of the circle and the target radius is smaller than or equal to a preset first threshold value, determining that the radius of the circle is matched with the target radius, wherein the circle is matched with the target radius.
If the absolute value of the difference between the radius of the circle and the target radius is larger than a preset first threshold value, determining that the radius of the circle is not matched with the target radius, and the circle is not matched with the target radius.
The first threshold may be set according to practical situations, for example, the first threshold is 1 pixel. The embodiment of the present invention is not particularly limited with respect to the specific value of the first threshold.
The circles with radii matching the target radii are electrodes in the image of the target cylindrical cell end cap.
According to the embodiment of the invention, the circle with the radius matched with the target radius in the circle in the image of the target cylindrical cell end cover is identified, so that the electrode in the image of the target cylindrical cell end cover can be identified more quickly, accurately and conveniently, and more accurate and convenient coding of the cylindrical cell end cover can be realized based on the electrode in the image of the target cylindrical cell end cover.
Based on the foregoing in any of the foregoing embodiments, determining the positions of two electrodes in the image of the target cylindrical cell end cap specifically includes: and acquiring coordinates of circle centers of two target circles in the image of the target cylindrical battery cell end cover.
Specifically, after identifying two target circles in the image of the target cylindrical cell end cover, coordinates of centers of the two target circles may be obtained based on the foregoing coordinate system.
And determining the positions of the two electrodes in the image of the target cylindrical battery cell end cover based on the coordinates of the circle centers of the two target circles.
Specifically, the coordinates of the circle centers can be used as the characteristic points of the electrodes, so that the coordinates of the circle centers of the two target circles can be used for determining the positions of the two electrodes in the image of the target cylindrical cell end cover.
According to the embodiment of the invention, the positions of the two electrodes in the image of the target cylindrical battery cell end cover are determined based on the coordinates of the circle centers of the two target circles in the image of the target cylindrical battery cell end cover, and the positions of the two electrodes in the acquired image space are more accurate, so that more accurate and convenient coding of the cylindrical battery cell end cover can be realized based on the electrodes in the image of the target cylindrical battery cell end cover.
The coding device for the cylindrical battery cell end cover provided by the invention is described below, and the coding device for the cylindrical battery cell end cover described below and the coding method for the cylindrical battery cell end cover described above can be correspondingly referred to each other.
Fig. 3 is a schematic structural diagram of a coding device for a cylindrical battery cell end cover according to an embodiment of the present invention. Based on the foregoing content of any one of the embodiments, as shown in fig. 3, the apparatus includes an image acquisition module 301, a parameter acquisition module 302, and an encoding control module 303, where:
the image acquisition module 301 is configured to acquire an image of the target cylindrical battery cell end cover;
The parameter acquisition module 302 is used for determining the position and the angle of the electrode in the image of the target cylindrical battery cell end cover;
the code printing control module 303 is configured to control the code printing module to code the target cylindrical battery cell end cover based on the position and the angle of the electrode in the image of the target cylindrical battery cell end cover.
Specifically, the image acquisition module 301, the parameter acquisition module 302, and the coding control module 303 are electrically connected in order.
The image acquisition module 301 may directly acquire an image of the target cylindrical battery cell end cover or acquire an image of the target cylindrical battery cell end cover by performing processing such as screenshot on a video of the target cylindrical battery cell end cover.
The parameter obtaining module 302 may perform target recognition on the image of the target cylindrical battery cell end cover based on any target recognition method, such as template matching or artificial neural network, to recognize the electrode in the image of the target cylindrical battery cell end cover; after identifying the electrodes of the target cell in the image of the target cell, the position and angle of the electrodes in the image of the target cylindrical cell end cap may be determined.
The code printing control module 303 can control the code printing module to move to a target code printing position along a target route, rotate based on the angle of the electrode, and then spray a target pattern on the end cover of the cylindrical battery cell to finish code printing. Optionally, the code spraying module is controlled to rotate based on the angle of the electrode, so that the transverse axis of the sprayed target pattern is parallel to the connecting line of the electrode.
Optionally, the coding device for the end cover of the cylindrical battery cell may further include:
the template matching module is used for carrying out template matching on the image of the target cylindrical battery cell end cover based on a preset template image, and determining the position and the target angle of a coding area in the image of the target cylindrical battery cell end cover;
the code printing control module 303 is further configured to control the code printing module to code the target cylindrical battery cell end cover based on the position of the code printing area in the image of the target cylindrical battery cell end cover and the target angle.
Optionally, the image acquisition module 301 may be further configured to acquire an image of the target cylindrical battery cell end cap after coding;
coding device for end cover of cylindrical cell can also include:
the detection module is used for acquiring the quality and/or the correctness of the code printing based on the image of the target cylindrical battery cell end cover after the code printing.
Alternatively, the parameter acquisition module 302 may include:
the identification unit is used for identifying two electrodes in the image of the target cylindrical battery cell end cover;
the position determining unit is used for determining the positions of two electrodes in the image of the target cylindrical battery cell end cover;
and the angle determining unit is used for determining the angle of the electrodes in the image of the target cylindrical cell end cover based on the positions of the two electrodes in the image of the target cylindrical cell end cover.
Optionally, the coding control module 303 may include:
the target acquisition unit is used for determining target displacement and target rotating angle of the code spraying module based on the position and angle of the electrode in the image of the target cylindrical battery cell end cover;
and the code printing control unit is used for controlling the code spraying module to move and rotate the target angle based on the target displacement and the target angle so as to code the cylindrical battery cell end cover.
Alternatively, the identification unit may be specifically configured to identify two target circles in the image of the target cylindrical cell end cap, which are respectively determined as the electrodes.
Alternatively, the location determining unit may be specifically configured to:
acquiring coordinates of circle centers of two target circles in an image of the target cylindrical battery cell end cover;
and determining the positions of the two electrodes in the image of the target cylindrical battery cell end cover based on the coordinates of the circle centers of the two target circles.
Alternatively, the angle determining unit may be specifically configured to:
and determining the angle of the electrode in the image of the target cylindrical cell end cover based on the coordinates of the circle centers of the two target circles.
Alternatively, the target acquisition unit may be specifically configured to:
and determining the target displacement and the target rotating angle of the code spraying module based on the position and the angle of the electrode in the image of the target cylindrical cell end cover and a preset reference position and a preset reference angle.
The coding device for the cylindrical battery cell end cover provided by the embodiment of the invention is used for executing the coding method for the cylindrical battery cell end cover, the implementation mode of the coding device is consistent with that of the coding method for the cylindrical battery cell end cover provided by the invention, and the same beneficial effects can be achieved, and the coding device is not repeated here.
The coding device for the cylindrical battery cell end cover is used for the coding method for the cylindrical battery cell end cover in the previous embodiments. Therefore, the description and definition in the coding method of the cylindrical cell end cover in the foregoing embodiments can be used for understanding each execution module in the embodiments of the present invention.
According to the embodiment of the invention, the position and the angle of the electrode in the image of the target cylindrical cell end cover are determined based on the image of the target cylindrical cell end cover, and the code spraying module is controlled to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover, so that the code printing efficiency can be improved.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. The processor 410 may invoke logic instructions stored in the memory 430 and executable on the processor 410 to perform the cylindrical cell end cap coding method provided by the above method embodiments, the method comprising: acquiring an image of a target cylindrical battery cell end cover; determining the position and angle of an electrode in an image of a target cylindrical cell end cover; and controlling the code spraying module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The processor 410 in the electronic device provided by the embodiment of the present invention may call the logic instruction in the memory 430, and its implementation manner is consistent with the implementation manner of the coding method of the cylindrical battery cell end cover provided by the present invention, and may achieve the same beneficial effects, which are not described herein again.
In another aspect, embodiments of the present invention further provide a computer program product, including a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions that, when executed by a computer, enable the computer to perform the cylindrical cell end cap coding method provided in the above method embodiments, the method including: acquiring an image of a target cylindrical battery cell end cover; determining the position and angle of an electrode in an image of a target cylindrical cell end cover; and controlling the code spraying module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover.
When the computer program product provided by the embodiment of the invention is executed, the coding method of the cylindrical battery cell end cover is realized, the specific implementation mode is consistent with the implementation mode recorded in the embodiment of the method, and the same beneficial effects can be achieved, and the detailed description is omitted here.
In yet another aspect, an embodiment of the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the method for coding a cylindrical cell end cap provided in the foregoing embodiments, where the method includes: acquiring an image of a target cylindrical battery cell end cover; determining the position and angle of an electrode in an image of a target cylindrical cell end cover; and controlling the code spraying module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover.
When the computer program stored on the non-transitory computer readable storage medium provided by the embodiment of the invention is executed, the coding method of the cylindrical battery cell end cover is realized, and the specific implementation manner is consistent with the implementation manner recorded in the embodiment of the method, and the same beneficial effects can be achieved, and the detailed description is omitted herein.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The coding method for the end cover of the cylindrical battery cell is characterized by comprising the following steps of:
acquiring an image of a target cylindrical battery cell end cover;
determining the position and angle of an electrode in an image of the target cylindrical cell end cover;
controlling a code spraying module to code the target cylindrical cell end cover based on the position and the angle of an electrode in the image of the target cylindrical cell end cover;
the determining the position and the angle of the electrode in the image of the target cylindrical battery cell end cover specifically comprises the following steps:
identifying two electrodes in the image of the target cylindrical cell end cap;
determining the positions of the two electrodes in the image of the target cylindrical cell end cover;
And determining the angle of the electrode in the image of the target cylindrical cell end cover based on the positions of the two electrodes in the image of the target cylindrical cell end cover.
2. The method for coding a cylindrical cell end cap according to claim 1, wherein after the image of the target cylindrical cell end cap is acquired, further comprising:
performing template matching on the image of the target cylindrical battery cell end cover based on a preset template image, and determining the position and the target angle of a coding area in the image of the target cylindrical battery cell end cover;
and controlling a code spraying module to code the target cylindrical cell end cover based on the position and the target angle of the code printing area in the image of the target cylindrical cell end cover.
3. The method for coding a cylindrical battery cell end cover according to claim 1, wherein the controlling the code spraying module to code the target cylindrical battery cell end cover based on the position and the angle of the electrode in the image of the target cylindrical battery cell end cover further comprises:
acquiring an image of the target cylindrical battery cell end cover after coding;
and acquiring the quality and/or the correctness of the code printing based on the image of the target cylindrical battery cell end cover after the code printing.
4. The coding method of the cylindrical battery cell end cover according to claim 1, wherein the coding module is controlled to code the target cylindrical battery cell end cover based on the position and the angle of the electrode in the image of the target cylindrical battery cell end cover, specifically comprising:
determining target displacement and target rotation angle of the code spraying module based on the position and angle of an electrode in the image of the target cylindrical cell end cover;
and controlling the code spraying module to move based on the target displacement and rotate the target angle based on the target displacement, and coding the cylindrical battery cell end cover.
5. The method for coding a cylindrical cell end cover according to claim 1, wherein the identifying two electrodes in the image of the target cylindrical cell end cover specifically comprises:
and identifying two target circles in the image of the target cylindrical cell end cover, and respectively determining the two target circles as the electrodes.
6. The method for coding a cylindrical cell end cap according to claim 5, wherein determining the positions of the two electrodes in the image of the target cylindrical cell end cap specifically comprises:
acquiring coordinates of circle centers of two target circles in an image of the target cylindrical battery cell end cover;
And determining the positions of the two electrodes in the image of the target cylindrical battery cell end cover based on the coordinates of the circle centers of the two target circles.
7. The utility model provides a sign indicating number device is beaten to cylinder electricity core end cover which characterized in that includes:
the image acquisition module is used for acquiring an image of the target cylindrical battery cell end cover;
the parameter acquisition module is used for determining the position and the angle of the electrode in the image of the target cylindrical battery cell end cover;
the code printing control module is used for controlling the code printing module to code the target cylindrical cell end cover based on the position and the angle of the electrode in the image of the target cylindrical cell end cover;
the parameter acquisition module comprises:
the identification unit is used for identifying two electrodes in the image of the target cylindrical battery cell end cover;
the position determining unit is used for determining the positions of the two electrodes in the image of the target cylindrical battery cell end cover;
and the angle determining unit is used for determining the angle of the electrode in the image of the target cylindrical cell end cover based on the positions of the two electrodes in the image of the target cylindrical cell end cover.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the cylindrical cell end cap coding method of any one of claims 1 to 6 when the computer program is executed.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the cylindrical cell end cap coding method of any of claims 1 to 6.
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