Battery inclination detection method and device and computer readable storage medium

Abstract

The invention relates to a battery inclination detection method and device and a computer readable storage medium, and the method comprises the steps: obtaining a material frame and depth images of a plurality of batteries carried by the material frame; determining a battery image of each battery in the depth image, and for any battery image, determining different detection directions and a detection normal vector corresponding to each detection direction according to a preset included angle; determining a reference plane based on a material frame in the depth image, and determining a reference normal vector according to the reference plane; determining a deviation angle and a height difference of the battery in the detection direction according to any detection normal vector and the reference normal vector; in any detection direction, if any one of the deviation angle and the height difference meets the inclination standard, the current battery is inclined. According to the invention, the accuracy of checking the placement state of the battery is improved.

Description

Technical Field

[0001] The present application relates to the field of image recognition, and in particular to a battery tilt detection method, device and computer-readable storage medium. Background Art

[0002] In battery production, the produced batteries are placed in material frames, which makes it easier to transport batches of batteries. The batteries are neatly placed in the material frames, and each battery is arranged vertically at a certain interval. In this way, the transportation of large quantities of batteries is completed. In the process of transporting large quantities of batteries, if the placement of the batteries in the material frames is abnormal, the batteries will be damaged and even cause safety accidents. Therefore, it is necessary to detect the placement status of the batteries in the material frames so as to detect abnormal placement status of the batteries in time.

[0003] At present, the battery production line uses manual inspection methods to detect the battery placement status. Since the manual inspection method may cause inaccurate detection of battery tilt due to the influence of various external factors, how to improve the accuracy of checking the battery placement status has become an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a battery tilt detection method, device, and computer-readable storage medium to at least solve the problem of low accuracy in detecting battery tilt in the related art.

[0005] In a first aspect, an embodiment of the present application provides a battery tilt detection method, the method comprising: Obtaining a depth image of a material frame and a plurality of batteries carried by the material frame; Determine a battery image of each battery in the depth image, and for any battery image, determine different detection directions according to a preset angle, and a detection normal vector corresponding to each detection direction; Determine a reference plane based on a material frame in the depth image, and determine a reference normal vector according to the reference plane; Determine the offset angle and height difference of the battery in the detection direction according to any detection normal vector and the reference normal vector respectively; In any detection direction, if any one of the offset angle and the height difference meets the tilt standard, the current battery is tilted.

[0006] In one embodiment, the offset angle satisfies the following configuration:

[0007] Among them, θ is the angle between the detection normal vector and the reference normal vector, θ1 is the offset angle, is the base normal vector, is the detected normal vector, a0, b0, c0 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively, and a1, b1, c1 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively.

[0008] In one embodiment, for any battery image, different detection directions are determined according to a preset angle, including: In the battery image, a number of target areas are acquired; When the relative positions of any two target areas meet the preset angle, different detection directions are determined.

[0009] In one embodiment, determining a detection normal vector of the detection direction based on the detection direction includes: Based on the detection direction, obtain depth data of the first target area and the second target area, and based on the depth data, obtain a first depth average value of the first target area and a second depth average value of the second target area; A detection normal vector of the detection direction is determined based on the first depth average and the second depth average.

[0010] In one embodiment, the height difference satisfies the following configuration:

[0011] Where z is the height difference, z1 is the z-axis component of the first depth average, z2 is the z-axis component of the second depth average, and d0 is a constant term parameter of the reference plane.

[0012] In one embodiment, determining a battery image of each battery based on the batteries in the depth image includes: Obtaining point cloud data and a preset radius threshold, and determining the number of neighboring points of each point in the point cloud data within the preset radius threshold; Based on the number of neighborhood points, each battery is segmented individually through a density clustering algorithm to obtain a battery image of each battery.

[0013] In one embodiment, the reference plane and the reference normal vector satisfy the following configuration: The datum planes satisfy the following configurations:

[0014] Among them, a0, b0, c0 are the coefficients of the reference plane equation, and d0 is the constant term parameter of the reference plane equation, which represents the distance of the reference plane relative to the origin along the direction of the reference normal vector; The base normal vector satisfies the following configuration:

[0015] in, is the reference normal vector, a0, b0, c0 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively.

[0016] In a second aspect, an embodiment of the present application provides a battery tilt detection device, comprising: A depth image acquisition module is used to acquire a depth image of a material frame and a plurality of batteries carried by the material frame; A detection direction and detection normal vector determination module is used to determine the battery image of each battery in the depth image, and for any battery image, determine different detection directions according to a preset angle, and a detection normal vector corresponding to each detection direction; A reference normal vector determination module is used to determine a reference plane based on a material frame in a depth image, and to determine a reference normal vector according to the reference plane; A module for determining an offset angle and a height difference, used for determining an offset angle and a height difference of the battery in a detection direction according to any detection normal vector and a reference normal vector respectively; The battery tilt detection module is used to detect that the current battery is tilted if any one of the offset angle and the height difference meets the tilt standard in any detection direction.

[0017] In a third aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the battery tilt detection method as described in the first aspect above is implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the battery tilt detection method as described in the first aspect above.

[0019] The battery tilt detection method, device, and computer-readable storage medium provided by the embodiments of the present application have at least the following technical effects.

[0020] Through the depth image of the material frame and several batteries carried by the material frame, in the depth image of the battery, the reference plane is determined according to the material frame, and the reference normal vector is obtained. For each battery, the detection direction is determined, and the detection normal vector in the detection direction is determined. The offset angle and height difference of the battery in the detection direction are determined according to the detection normal vector and the reference normal vector. When the offset angle and height difference in any detection direction meet the tilt standard, the current battery tilt can be detected. Through the above method, since the normal vector is perpendicular to the given plane, the material frame is used as the reference plane, and the offset angle and height difference between the battery and the material frame are determined by the normal vector of the reference plane and the normal vector of the detection direction in the battery. The offset angle and height difference can determine whether there is a deviation between the battery plane and the reference plane where the material frame is located. When the deviation meets the tilt standard, it can be detected that the battery is tilted. Through the above detection method, the tilted battery can be effectively detected from the material frame carrying the battery.

[0021] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 is a flow chart of a battery tilt detection method according to an exemplary embodiment; Figure 2 is a schematic diagram of a target area according to an exemplary embodiment; Figure 3 is a schematic diagram of a target area according to another exemplary embodiment; Figure 4 is a schematic diagram of a single battery area according to an exemplary embodiment; Figure 5 is a schematic diagram showing a depth image according to an exemplary embodiment; Figure 6 is a schematic diagram showing a clustering result according to an exemplary embodiment; Figure 7 is a schematic diagram showing a battery deviation direction according to an exemplary embodiment; Figure 8 is a block diagram showing a battery tilt detection device according to an exemplary embodiment; Fig. 9 is a block diagram of an electronic device according to an exemplary embodiment.

[0023] In the above drawings, the meanings of the reference numerals are as follows: 100, calibration line; 101, a first vertical target area, 102, a second vertical target area; 201, first diagonal target area, 202, second diagonal target area; 301, first horizontal target area, 302, second horizontal target area; 401, the third diagonal target area, 402, and the fourth diagonal target area; 501, fifth diagonal target area, 502, sixth diagonal target area; 601, seventh diagonal target area, 602, eighth diagonal target area. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0025] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0026] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0027] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0028] During the battery production process, the batteries are neatly placed in the material frame, and each battery is arranged vertically at a certain interval. For the above application scenarios, if the battery is tilted, on the one hand, it will cause battery damage, resulting in economic losses, and on the other hand, it will cause safety hazards in the production and transportation process, leading to accidents. For this reason, it is very important to accurately detect the tilt of the battery. Based on the above situation, the embodiments of the present application provide a battery tilt detection method, device and computer-readable storage medium.

[0029] In a first aspect, an embodiment of the present application provides a battery tilt detection method. Figure 1 is a flow chart of a battery tilt detection method according to an exemplary embodiment. Figure 1 As shown, the battery tilt detection method includes: Step S101: obtaining a depth image of a material frame and a plurality of batteries carried by the material frame.

[0030] The material frame and several batteries carried by the material frame are photographed by 3D camera equipment to obtain a depth image. The depth image includes the three-dimensional depth data of the battery and part of the frame. The three-dimensional depth data provides a detection basis for subsequent detection of battery tilt.

[0031] Step S102: determining a battery image of each battery in the depth image, and for any battery image, determining different detection directions according to a preset angle, and a detection normal vector corresponding to each detection direction.

[0032] In the depth image, the material frame and the battery are segmented from the background by a clustering algorithm to obtain a separate battery image for each battery. For any battery image, different detection directions are obtained according to the preset angle. The specific steps of obtaining different detection directions of the battery are as follows: Step S121: Acquire several target areas in the battery image.

[0033] The two ends of the battery are electrode ends, and there are convex or concave parts at the electrode ends. These convex or concave parts have a significant height from the two ends of the battery, and are significantly tilted relative to the other flat parts of the battery. Therefore, these two parts will significantly interfere with the detection of battery tilt. In the process of image processing, the convex or concave parts are processed, and only the flat parts of the two ends of the battery are retained. In order to avoid the influence of other parts, the target area is also set at the flat parts of the two ends of the battery to further Figure 2 is a schematic diagram of a target area according to an exemplary embodiment. Figure 2 As shown, a plurality of target areas are set on the flat part of the battery, and the angle between any two target areas is the same. Optionally, the angle between any two adjacent target areas includes 45°, 30°, and 60°.

[0034] Step S122: when the relative positions of any two target areas satisfy a preset angle, different detection directions are determined.

[0035] When the relative positions of any two target areas satisfy the preset angle, the direction of the straight line formed by the two target areas is the detection direction.

[0036] In one embodiment, a horizontal line passing through the center of the battery electrode end is used as a horizontal reference line, the preset angle is 180°, and the angle between any two adjacent target areas is 45°, so there are a total of 8 target areas at the battery electrode end. When the relative positions of any two target areas meet 180°, four detection directions can be determined at the battery electrode end, namely the horizontal direction, the vertical direction, the first diagonal direction, and the second diagonal direction. Figure 2As shown, the counterclockwise angle between the first vertical target area 101 and the horizontal reference line is 90°, and the relative position between the first vertical target area 101 and the second vertical target area 102 satisfies 180°, then the detection direction is determined to be the vertical direction. The counterclockwise angle between the first diagonal target area 201 and the horizontal reference line is 45°, and the relative position between the first diagonal target area 201 and the second diagonal target area 202 satisfies 180°, then the detection direction is determined to be the first diagonal direction, that is, the 45° direction. The first horizontal target area 301 and the second horizontal target area 302 are located on the horizontal reference line, and the relative position between the two horizontal target areas satisfies 180°, then the detection direction is determined to be the horizontal direction. The counterclockwise angle between the third diagonal target area 401 and the horizontal reference line is 135°, and the relative position between the third diagonal target area 401 and the fourth diagonal target area 402 satisfies 180°, then the detection direction is determined to be the second diagonal direction, that is, the 135° direction.

[0037] In another embodiment, a horizontal line passing through the center of the battery electrode end is used as a horizontal reference line, the preset angle is 180°, and the angle between any two adjacent target areas is 60°, so there are a total of 6 target areas at the battery electrode end. When the relative positions of any two target areas meet 180°, three detection directions can be determined at the battery electrode end, namely the horizontal direction, the third diagonal direction, and the fourth diagonal direction. Figure 3 is a schematic diagram of a target area according to another exemplary embodiment. Figure 3 As shown, the first horizontal target area 301 and the second horizontal target area 302 are located at the horizontal reference line, and the relative position between the two horizontal target areas satisfies 180°, then the detection direction is determined to be the horizontal direction. The counterclockwise angle between the fifth diagonal target area 501 and the horizontal reference line is 60°, and the relative position between the fifth diagonal target area 501 and the sixth diagonal target area 502 satisfies 180°, then the detection direction is determined to be the third diagonal direction, that is, the 60° direction. The counterclockwise angle between the seventh diagonal target area 601 and the horizontal reference line is 120°, and the relative position between the seventh diagonal target area 601 and the eighth diagonal target area 602 satisfies 180°, then the detection direction is determined to be the fourth diagonal direction, that is, the 120° direction.

[0038] Figure 4 is a schematic diagram of a single battery area according to an exemplary embodiment, such as Figure 4 As shown, in the processed single battery image, the internal area of ​​the battery is displayed in white, a target area is set in the internal area of ​​the battery, and the battery is detected based on the target area.

[0039] The detection direction at the electrode end of the battery is determined through steps S121 to S122, and the corresponding detection normal vector of each detection direction is determined based on the detection direction. The specific steps of obtaining the detection direction include: Step S123: obtaining depth data of the first target area and the second target area based on the detection direction, and obtaining a first depth average value of the first target area and a second depth average value of the second target area based on the depth data.

[0040] Based on any detection direction, the depth data of the first target area and the second target area in the detection direction are obtained. For example, in the vertical direction, the depth data of the first vertical target area 101 and the second vertical target area 102 are obtained. In the first diagonal direction, the depth data of the first diagonal target area 201 and the second diagonal target area 202 are obtained.

[0041] According to the obtained depth data, a first depth average value of the first target depth area is obtained, and the first depth average value is (x1, y1, z1) and a second depth average value of the second target area is obtained, and the second depth average value is (x2, y2, z2). For example, in the vertical direction, the first depth average value (x1, y1, z1) of the first vertical target area 101 and the second depth average value (x2, y2, z2) of the second vertical target area 102 are obtained.

[0042] Step S124: Determine a detection normal vector of the detection direction based on the first average depth value and the second average depth value.

[0043] Based on the first depth average value and the second depth average value, the two depth average values ​​are subtracted to obtain a detection normal vector of the detection direction. The detection normal vector is specifically:

[0044] Among them, a1 is the x-axis component of the detected normal vector, b1 is the y-axis component of the detected normal vector, and c1 is the z-axis component of the detected normal vector.

[0045] Through the above method, the detection normal vectors of different detection directions are determined, so as to be used for subsequently determining the offset angle and height difference with the reference normal vector.

[0046] Figure 5 is a schematic diagram showing a depth image according to an exemplary embodiment, such as Figure 5 As shown, the depth image includes the depth data of part of the material frame and several batteries. The depth image is processed to obtain the battery image of each battery in the depth image. The steps of determining the battery image of each battery specifically include: Step S201: acquiring point cloud data and a preset radius threshold, and determining the number of neighborhood points of each point in the point cloud data within the preset radius threshold.

[0047] Step S202: Based on the number of the neighborhood points, each battery is segmented separately by a density clustering algorithm to obtain the battery image of each battery.

[0048] Get the point cloud data and the preset radius threshold, and count the number of neighboring points within the preset radius threshold for each point in the point cloud data. For any point, if the number of neighboring points within the preset radius threshold is greater than or equal to the threshold density, the current point is taken as a core point. If the number of neighboring points within the preset radius threshold is less than the density threshold, and the current point is within the range of other core points, the current point is taken as a boundary point. If the number of neighboring points within the preset radius threshold is less than the density threshold, and the current point is not within the range of other core points, the current point is a noise point. Mark each point using the above method.

[0049] When the first sample point is within the radius of the second sample point and the second sample point is a core point, the first sample point is directly density reachable from the second sample point. If other sample points meet the above conditions, it means that the two sample points are also directly density reachable. For example, sample point p i At the second sample point p 2, and the second sample point p 2 is the core point, then the sample point p i from p 2 density can reach.

[0050] Connect multiple density-reachable sample points by density and establish a cluster set. After traversing all sample points and establishing density-connected relationships, mark each point for clustering. Figure 6 is a schematic diagram of a clustering result according to an exemplary embodiment. Figure 6 As shown, the partial border of the frame and each battery are clearly distinguished.

[0051] Through the above steps S201 to S202, the material frames and batteries in the depth image are clustered, which can reduce the interference of other factors and help improve the accuracy of segmenting and extracting the batteries and material frames.

[0052] After being processed by the above density clustering algorithm, each battery, material frame and background are separated in the depth image, and the background is removed by setting area and height thresholds, and each battery is segmented separately to obtain a battery image of each battery.

[0053] Continuing with step S102, different detection directions are determined in each battery image according to the target area, and corresponding detection normal vectors are determined in the detection direction. Each detection normal vector and the subsequent reference normal vector jointly determine the offset angle and height difference in the current detection direction, so as to determine whether the battery is tilted in the current detection direction.

[0054] Step S103: determine a reference plane based on the material frame in the depth image, and determine a reference normal vector according to the reference plane.

[0055] The material frame will not change during the production process, so the plane where the material frame is located is used as the reference plane to detect whether the battery is tilted. Therefore, the reference plane is determined based on the material frame in the depth image. Among them, the reference plane meets the following configuration:

[0056] Among them, a0, b0, c0 are the coefficients of the reference plane equation, and d0 is the constant term parameter of the reference plane equation, which represents the distance of the reference plane relative to the origin along the direction of the reference normal vector.

[0057] Based on the reference plane, obtain the reference normal vector, where the reference normal vector satisfies the following configuration:

[0058] in, is the reference normal vector, a0, b0, c0 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively.

[0059] The battery tilt is relative to the material frame, so the plane where the frame border is located is used as the reference plane. By judging the relative position between the plane where the battery electrode end is located and the plane where the frame is located, it is possible to detect whether the battery is tilted. For any plane, the normal vector of the plane is always perpendicular to the plane. Therefore, the reference normal vector and the detection normal vector can be used to determine whether the plane of the battery electrode end is parallel to the reference plane, thereby detecting the battery tilt.

[0060] Step S104: Determine the offset angle and height difference of the battery in the detection direction according to any detection normal vector and the reference normal vector.

[0061] According to the detection direction determined in step S102, the offset angle and height difference of the battery in the current detection direction are determined according to the detection normal vector and the reference normal vector in each detection direction, and the battery tilt is determined by the offset angle and the height difference.

[0062] Among them, the offset angle meets the following configuration:

[0063] Among them, θ is the angle between the detection normal vector and the reference normal vector, θ1 is the offset angle, is the base normal vector, is the detected normal vector, a0, b0, c0 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively, and a1, b1, c1 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively.

[0064] The height difference satisfies the following configurations:

[0065] Where z is the height difference, z1 is the z-axis component of the first depth average, z2 is the z-axis component of the second depth average, and d0 is a constant term parameter of the reference plane.

[0066] The normal vector of a plane is always perpendicular to the plane. There is an angle between the reference normal vector and the detection normal vector, which means that there is an offset between the plane where the battery electrode end is located and the reference plane. That is, the battery tilt causes the battery electrode end plane to shift, so that the electrode end plane and the reference plane are not on the same plane or are not parallel. Therefore, the offset angle can be used to determine whether the battery is tilted.

[0067] When the battery is placed in the material frame and the battery is not tilted, the height of the electrode end plane of the battery is consistent at any angle. If the battery is tilted, there will be a height difference in the tilted direction, so it is possible to determine whether the battery is tilted based on the height in the detection direction.

[0068] The offset angle of the battery in the detection direction is determined by determining the height difference and the reference normal vector in each detection direction and the detection normal vector in each detection direction. The offset angle and the height difference are used as judgment conditions to provide a basis for judging the tilt of the battery.

[0069] Step S105: In any detection direction, if any one of the offset angle and the height difference meets the tilt standard, the current battery is tilted.

[0070] The tilt standard is when the offset angle is greater than or equal to the offset angle threshold, and the height difference is greater than or equal to the height threshold. In any detection direction, if any one of the judgment conditions of the offset angle and the height difference meets the tilt standard, the current battery is tilted. It should be noted that the specific data of the offset angle threshold and the height threshold in the tilt standard are set according to the actual application scenario.

[0071] Figure 7 is a schematic diagram showing a battery deviation direction according to an exemplary embodiment, such as Figure 7As shown, the detection method of step S101 to step S105 displays the result of detecting the tilt of the battery. A plurality of batteries are placed in the material frame, and each battery needs to be detected to see if the battery is deviated, so each battery image needs to be sorted. Figure 7 As shown, 10 represents the battery image of the tenth battery, and the calibration line 100 represents that the content displayed in the image is the height data display of the first horizontal target area and the second horizontal target area in the horizontal direction, wherein the specific value of the height difference between the first horizontal target area and the second horizontal target area is displayed at the upper end of the battery image as 1.06. Figure 7 It can be obtained that the height difference between the first horizontal target area and the second horizontal target area in the tenth battery is 1.06, that is, there is a height deviation of 1.06 in the horizontal direction.

[0072] In summary, the battery tilt detection method provided in the embodiment of the present application determines the battery tilt by using the reference normal vector and the detection normal vector of each battery in the depth image. In addition, the battery has multiple detection directions, thereby ensuring that tilts at multiple angles can be detected, avoiding the situation where the battery tilts in a single direction and the battery tilt cannot be detected, and ensuring the accuracy of the clear battery detection.

[0073] In a second aspect, an embodiment of the present application provides a battery tilt detection device. Figure 8 FIG. 1 is a block diagram of a battery tilt detection device according to an exemplary embodiment. Figure 8 As shown, the battery tilt detection device includes: A depth image acquisition module is used to acquire a depth image of a material frame and a plurality of batteries carried by the material frame; A detection direction and detection normal vector determination module is used to determine the battery image of each battery in the depth image, and for any battery image, determine different detection directions according to a preset angle, and a detection normal vector corresponding to each detection direction; A reference normal vector determination module is used to determine a reference plane based on a material frame in a depth image, and to determine a reference normal vector according to the reference plane; A module for determining an offset angle and a height difference, used for determining an offset angle and a height difference of the battery in a detection direction according to any detection normal vector and a reference normal vector respectively; The battery tilt detection module is used to detect that the current battery is tilted if any one of the offset angle and the height difference meets the tilt standard in any detection direction.

[0074] In summary, the battery tilt detection device provided by the present application determines the reference plane according to the material frame in the depth image of the battery through the material frame and the depth image of several batteries carried by the material frame, and obtains the reference normal vector. For each battery, the detection direction is determined, and the detection normal vector in the detection direction is determined. The offset angle and height difference of the battery in the detection direction are determined according to the detection normal vector and the reference normal vector. When the offset angle and height difference in any detection direction meet the tilt standard, the current battery tilt can be detected. Through the above method, since the normal vector is perpendicular to the given plane, the material frame is used as the reference plane, and the offset angle and height difference between the battery and the material frame are determined by the normal vector of the reference plane and the normal vector of the detection direction in the battery. The offset angle and height difference can determine whether there is a deviation between the battery plane and the reference plane where the material frame is located. When the deviation meets the tilt standard, it can be detected that the battery is tilted. Through the above detection method, the tilted battery can be effectively detected from the material frame carrying the battery.

[0075] It should be noted that the battery tilt detection device provided in this embodiment is used to implement the above-mentioned implementation mode, and the descriptions that have been made will not be repeated. As used above, the terms "module", "unit", "subunit", etc. can implement a combination of software and / or hardware for a predetermined function. Although the device described in the above embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0076] In a third aspect, an embodiment of the present application provides an electronic device, Fig. 9 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig. 9 As shown, the electronic device may include a processor 81 and a memory 82 storing computer program instructions.

[0077] Specifically, the processor 81 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0078] Among them, the memory 82 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 82 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 82 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 82 may be inside or outside the data processing device. In a specific embodiment, the memory 82 is a non-volatile memory. In a specific embodiment, the memory 82 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0079] The memory 82 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 81 .

[0080] The processor 81 implements any one of the battery tilt detection methods in the above embodiments by reading and executing computer program instructions stored in the memory 82 .

[0081] In one embodiment, the battery tilt detection device may further include a communication interface 83 and a bus 80. Fig. 9 As shown, the processor 81, the memory 82, and the communication interface 83 are connected via a bus 80 and communicate with each other.

[0082] The communication interface 83 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present application. The communication port 83 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0083] The bus 80 includes hardware, software or both, and couples the components of the battery tilt detection device to each other. The bus 80 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 80 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 80 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0084] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the battery tilt detection method provided in the first aspect is implemented.

[0085] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0086] In a possible implementation manner, the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of the battery tilt detection method provided in the first aspect.

[0087] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on a user device, partially on a user device, as an independent software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0088] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A battery tilt detection method, characterized in that: The method comprises: Obtaining a depth image of a material frame and a plurality of batteries carried by the material frame; Determine a battery image of each battery in the depth image, and for any of the battery images, determine different detection directions according to a preset angle, and a detection normal vector corresponding to each detection direction; Determine a reference plane based on a material frame in the depth image, and determine a reference normal vector according to the reference plane; Determine the offset angle and height difference of the battery in the detection direction according to any one of the detection normal vectors and the reference normal vector respectively; In any of the detection directions, if any one of the offset angle and the height difference meets the tilt standard, the current battery is tilted.

2. The battery tilt detection method according to claim 1, characterized in that: The offset angle satisfies the following configuration: Among them, θ is the angle between the detection normal vector and the reference normal vector, θ1 is the offset angle, is the base normal vector, is the detected normal vector, a0, b0, c0 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively, and a1, b1, c1 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively.

3. The battery tilt detection method according to claim 1, characterized in that: The determining of different detection directions for any one of the battery images according to a preset angle includes: In the battery image, acquiring a number of target areas; When the relative positions of any two target areas satisfy the preset angle, different detection directions are determined.

4. The battery tilt detection method according to claim 3, characterized in that: The detection normal vector corresponding to the detection direction and each detection direction includes: Based on the detection direction, obtain depth data of a first target area and a second target area, and based on the depth data, obtain a first depth average value of the first target area and a second depth average value of the second target area; A detection normal vector of the detection direction is determined based on the first average depth value and the second average depth value.

5. The battery tilt detection method according to claim 4, characterized in that: The height difference satisfies the following configuration: Where z is the height difference, z1 is the z-axis component of the first depth average, z2 is the z-axis component of the second depth average, and d0 is a constant term parameter of the reference plane.

6. The battery tilt detection method according to claim 1, characterized in that: The step of determining a battery image of each battery based on the batteries in the depth image comprises: Obtaining point cloud data and a preset radius threshold, wherein the number of neighborhood points of each point in the point cloud data is determined within the preset radius threshold; Based on the number of the neighborhood points, each battery is segmented separately by a density clustering algorithm to obtain the battery image of each battery.

7. The battery tilt detection method according to claim 1, characterized in that: The reference plane and the reference normal vector satisfy the following configuration: The reference plane satisfies the following configuration: Among them, a0, b0, c0 are the coefficients of the reference plane equation, and d0 is the constant term parameter of the reference plane equation, which represents the distance of the reference plane relative to the origin along the direction of the reference normal vector; The reference normal vector satisfies the following configuration: in, is the reference normal vector, a0, b0, c0 are the components of the reference normal vector on the x-axis, y-axis, and z-axis respectively.

8. A battery tilt detection device, characterized in that: include: A depth image acquisition module is used to acquire a depth image of a material frame and a plurality of batteries carried by the material frame; A detection direction and detection normal vector determination module, used to determine a battery image of each battery in the depth image, and for any of the battery images, determine different detection directions according to a preset angle, and a detection normal vector corresponding to each of the detection directions; A reference normal vector determination module, configured to determine a reference plane based on a material frame in the depth image, and determine a reference normal vector according to the reference plane; A module for determining an offset angle and a height difference, used for determining an offset angle and a height difference of the battery in the detection direction according to any one of the detection normal vectors and the reference normal vector respectively; The battery tilt detection module is used to detect that the current battery is tilted if any one of the offset angle and the height difference meets the tilt standard in any of the detection directions.

9. An electronic device, characterized in that: The invention comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the battery tilt detection method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the battery tilt detection method according to any one of claims 1 to 7 is implemented.

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