Roll, method and apparatus for inspecting, method and apparatus for conveying a web, device, medium

Abstract

The application provides a roller, a camera inspection method, a camera inspection device, a coiled material conveying method, a coiled material conveying device, an electronic device, a computer readable storage medium and a computer program product. The roller comprises a roller body and a calibration sheet. The roller body comprises a roller surface for supporting a coiled material; the calibration sheet is located on the roller surface of the roller body and avoids the coiled material, and the calibration sheet is used for inspecting a camera.

Description

Technical Field

[0001] This application relates to the field of battery technology, and in particular to a roller, a camera inspection method, a camera inspection device, a roll material conveying method, a roll material conveying device, an electronic device, a computer-readable storage medium, and a computer program product. Background Technology

[0002] Energy conservation and emission reduction are key to the sustainable development of the automotive industry, and electric vehicles, due to their energy-saving and environmentally friendly advantages, have become an important component of this sustainable development. For electric vehicles, battery technology is a crucial factor in their development.

[0003] With the rapid development and popularization of machine vision technology, its applications are becoming increasingly widespread. Cameras, as the primary visual acquisition devices in visual applications, have a wide range of applications. In the battery manufacturing process, the sampling camera usually needs to be calibrated before image detection by computer vision. This involves determining the physical position of a point on the surface of a spatial object and its corresponding point in the image, establishing a geometric model of the camera's imaging, and the parameters of these geometric models are the camera parameters for that system. In most cases, these parameters do not change, but during use, vibrations or other objective factors inevitably occur, causing shifts in the relative position or angle of the camera, resulting in errors in the detection results. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of this application is to provide a roller, a camera inspection method, a camera inspection device, a roll material conveying method, a roll material conveying device, an electronic device, a computer-readable storage medium, and a computer program product to solve the problem of real-time camera inspection.

[0005] An embodiment of the first aspect of this application provides a roller including a roller body and a calibration plate. The roller body includes a roller surface supporting a roll material; the calibration plate is located on the roller surface of the roller body and avoids the roll material, and the calibration plate is used for inspecting a camera.

[0006] In the technical solution of this application embodiment, by setting a calibration plate on the roller surface that avoids the roll material, the camera can be inspected without affecting the roll material conveying. There is no need to stop production and remove the material, nor will it increase the workload and cost. This enables real-time monitoring of whether the camera position is abnormal.

[0007] In some embodiments, the calibration plates include a first calibration plate and a second calibration plate, which are respectively located near both ends of the roller. By setting calibration plates at both ends, the accuracy of camera inspection can be improved, avoiding errors in inspection results caused by errors in the image recognition of a single calibration plate, thus preventing the timely detection of abnormal camera positions. Arranging two calibration plates that are far apart is more conducive to the recognition of calibration patterns in the image, thereby determining the degree of camera position deviation.

[0008] In some embodiments, the first calibration sheet and the second calibration sheet are film sheets, which are adhered to the roller surface. The film sheet size is controllable, which facilitates real-time continuous inspection of the camera by staggering it from the roll material on the roller surface, and the cost is low, avoiding unnecessary expenses.

[0009] An embodiment of the second aspect of this application provides a camera inspection method, wherein the camera is used to acquire inspection images of roll material conveyed by rollers, and the camera inspection method includes: acquiring an inspection image containing a calibration sheet; determining the position information of the calibration sheet in the inspection image; and determining whether the position of the camera is abnormal based on the position information of the calibration sheet.

[0010] By determining the position of the calibration plate on the roller body, which is offset from the roll material, in the detection image, it is possible to determine whether the detection image is distorted, and thus determine whether the camera position is abnormal. This enables real-time and continuous camera inspection without affecting the normal conveying of the roll material, reducing the workload and cost of inspection.

[0011] In some embodiments, determining whether the camera position is abnormal based on the position information of the calibration piece includes: calculating an offset parameter of the calibration piece's position in the detection image relative to the preset reference position based on the calibration piece's position information and preset reference position information; and determining whether the camera position is abnormal based on the offset parameter. By calculating the offset parameter of the calibration piece's position in the detection image relative to the preset reference position and using the offset parameter to quantitatively determine the degree of camera position abnormality, the accuracy of camera inspection is improved.

[0012] In some embodiments, the calibration plates include a first calibration plate and a second calibration plate. The position information of the calibration plates includes first position information and second position information. The first position information indicates the position of a first feature point in the first calibration plate in the detection image, and the second position information indicates the position of a second feature point in the second calibration plate in the detection image. The reference position information includes first reference position information and second reference position information. The first reference position information indicates the reference position of the first feature point, and the second reference position information indicates the reference position of the second feature point. Using the position information of the two calibration plates allows for more accurate identification of whether the detection image is distorted, thereby more accurately determining camera positional anomalies and improving the accuracy of camera inspection. Using the position information of more easily identifiable feature points as the position information of the calibration plates reduces the difficulty of image recognition and helps improve the accuracy of position information.

[0013] In some embodiments, the offset parameter includes at least one of a first deviation value, a second deviation value, and a third deviation value; and wherein calculating the offset parameter of the position of the calibration piece in the detection image relative to the preset reference position using the position information of the calibration piece and preset reference position information includes at least one of the following:

[0014] (i) Calculate the first deviation value based on the first position information and the first reference position information;

[0015] (ii) Calculate the second deviation value based on the second position information and the second reference position information;

[0016] (iii) Calculate the third deviation value based on the first position information, the second position information, the first reference position information, and the second reference position information.

[0017] By using at least one of the offset of the first feature point, the offset of the second feature point, and the overall offset of the first and second feature points as offset parameters to determine the camera position offset, it is possible to more comprehensively and accurately determine the abnormal situation of the camera.

[0018] In some embodiments, the first deviation value is the offset distance between the position of the first feature point in the detection image and the reference position of the first feature point along the first direction; the second deviation value is the offset distance between the position of the second feature point in the detection image and the reference position of the second feature point along the first direction; the third deviation value is the angle formed by the first line connecting the first feature point and the second feature point in the detection image and the second line connecting the reference position of the first feature point and the reference position of the second feature point; wherein, the first direction is a direction different from the vertical direction of the detection image.

[0019] By using the offset distance of the first feature point and the second feature point along the first direction, and the angle between the line connecting the first feature point and the second feature point and the line connecting the preset reference position as offset parameters, combined with the offset parameters of the two calibration plates along a vertical direction different from the detection image, the offset of the calibration plates can be identified more accurately, thereby improving the accuracy of camera inspection.

[0020] In some embodiments, the first feature point is the center of the pattern on the first calibration piece, and the second feature point is the center of the pattern on the second calibration piece. Using the center of the pattern on the calibration piece as the corresponding feature point can improve the accuracy of the feature point's position information during image recognition, thereby improving the precision of image recognition and the accuracy of point inspection.

[0021] In some embodiments, the reference position is the location of the calibration piece in the first detection image containing the calibration piece acquired by the camera. Using the location of the calibration piece in the first detection image containing the calibration piece acquired under normal camera position as the preset reference position can provide a reference position corresponding to the normal camera position as a benchmark for inspection judgment, which helps to improve the accuracy and efficiency of inspection judgment.

[0022] In some embodiments, determining whether the camera's position is abnormal based on the offset parameter includes: determining that the camera's position is abnormal in response to the offset parameter being greater than a first preset threshold. Setting an acceptable offset value as the first preset threshold according to specific accuracy requirements can ensure the accuracy control of the inspection process and accurately identify camera position abnormalities.

[0023] In some embodiments, the camera inspection method further includes: issuing alarm information and / or adjustment information in response to an abnormal camera position. Issuing alarm information and / or adjustment information promptly upon detecting an abnormal camera position allows for timely adjustment of the camera's position, preventing disruption to subsequent visual inspection processes.

[0024] In some embodiments, in response to a deviation parameter being greater than a first preset threshold and less than or equal to a second preset threshold, an adjustment message is issued to control the camera position to be adjusted; and alternatively, in response to a deviation parameter being greater than the second preset threshold, an alarm message is issued; wherein the second preset threshold is greater than the first preset threshold. Specifically, the degree of camera offset is determined based on the inspection results, and different control commands are issued according to different degrees, which can maximize automatic inspection and automatic adjustment, ensure detection accuracy while reducing downtime and avoiding impact on production efficiency.

[0025] An embodiment of the third aspect of this application provides a roll material conveying method, comprising: controlling a camera to acquire a detection image of the roll material conveyed by rollers; performing a camera inspection using the aforementioned camera inspection method; identifying the detection image in response to an inspection result indicating that the camera position is normal; and driving the roll material conveyed by rollers based on the identification result.

[0026] According to the embodiments of this application, by combining camera inspection with visual inspection of roll material conveying, camera inspection can be completed at the same time as visual inspection of roll material conveying, without stopping production for inspection, and camera abnormalities can be detected in a timely manner, avoiding affecting the accuracy of visual inspection results of roll material conveying.

[0027] An embodiment of the fourth aspect of this application provides a camera inspection device, which includes an acquisition module, a determination module, and a judgment module. The acquisition module is configured to acquire a detection image containing a calibration piece; the determination module is configured to determine the position information of the calibration piece in the detection image; and the judgment module is configured to determine whether the position of the camera is abnormal based on the position information of the calibration piece.

[0028] In some embodiments, the camera inspection device further includes an alarm module configured to issue an alarm message in response to an inspection result indicating an abnormal camera position.

[0029] In some embodiments, the camera inspection device further includes an adjustment mechanism configured to adjust the position of the camera in response to an inspection result indicating an abnormal camera position.

[0030] An embodiment of the fifth aspect of this application provides a roll material conveying device, comprising: a roller, a camera, a camera inspection device, an identification module, and a drive mechanism. The camera inspection device is used to inspect the camera. The identification module is configured to identify the inspection image acquired by the camera in response to an inspection result indicating that the camera position is normal. The drive mechanism is configured to drive the roller to convey the roll material based on the identification result of the inspection image.

[0031] An embodiment of the sixth aspect of this application provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the inspection method or the roll conveying method as described in any of the preceding claims.

[0032] An embodiment of the seventh aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the inspection method or roll material transfer method as described above.

[0033] An embodiment of the eighth aspect of this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the inspection method or roll material transfer method as described above.

[0034] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0035] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0036] Figure 1 This is a schematic diagram of the structure of the roller in some embodiments of this application;

[0037] Figure 2 Here are flowcharts of camera inspection methods according to some embodiments of this application;

[0038] Figure 3 This is a schematic diagram of a camera inspection method according to some embodiments of this application;

[0039] Figure 4 This is a schematic diagram of detection images from some embodiments of this application;

[0040] Figure 5 This is a schematic diagram of another detection image for some embodiments of this application;

[0041] Figure 6 This is a flowchart of a roll material transport method according to some embodiments of this application;

[0042] Figure 7 This is a structural block diagram of a camera inspection device according to some embodiments of this application;

[0043] Figure 8 This is a schematic diagram of the structure of a roll conveying device according to some embodiments of this application;

[0044] Figure 9 This is a flowchart illustrating the camera inspection method of some embodiments of this application.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1000 roll material conveying device;

[0047] Roller 100; Roll material 200; Camera 300; Camera inspection device 400; Identification module 500; Drive mechanism 600;

[0048] Roller body 110, roller surface 111, calibration plate 120, first calibration plate 121, second calibration plate 122; detection images 310, 320;

[0049] Acquisition module 410; Determination module 420; Judgment module 430; Alarm module 440; Adjustment mechanism 450;

[0050] First deviation value Q1; Second deviation value Q2; Third deviation value Q3;

[0051] The position of the first feature point is A1; the position of the second feature point is A2; the reference position of the first feature point is A1'; the reference position of the second feature point is A2'; the first included angle is Q31; the reference included angle is Q32; the first connecting line is L1; the second connecting line is L2; ​​the scanning paths are S1 and S2. Detailed Implementation

[0052] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0054] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0055] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0056] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0057] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0058] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0059] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0060] Currently, judging from market trends, the application of power batteries is becoming increasingly widespread. Power batteries are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but also extensively used in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in military equipment and aerospace. With the continuous expansion of power battery applications, market demand is also constantly increasing.

[0061] The applicant notes that vision systems are typically used in battery production to monitor conveying devices and roll materials in real time to control battery production quality. In camera-based vision systems, camera position and angle are susceptible to external interference, such as equipment vibration, camera bracket impacts, loose screws, or natural sagging. If these external disturbances are not monitored and promptly reported, the vision system will continue to monitor, leading to errors in product size measurement, deviations in processing actions, and ultimately, product defects.

[0062] To promptly detect camera positional anomalies, the applicant discovered that auxiliary equipment can be used to conduct preventative checks on the camera according to a set method and schedule. This preventative inspection is commonly referred to as spot checks; for example, visual spot checks can be used. Visual spot checks involve pausing operation before equipment startup or during periodic production, removing the object to be measured, replacing it with a standard-sized film ruler, and observing the difference between the system's measured value and the standard value. However, this spot check method has the following drawbacks: the film ruler's position cannot be fixed each time, making it impossible to detect angular misalignment or offset; problems occurring between two inspections cannot be detected promptly; and periodic testing requires additional production time, increasing workload.

[0063] Based on the above considerations, in order to better solve the problem of timely detection of camera position anomalies, the applicant has conducted in-depth research and designed a roller. By arranging at least one calibration plate on the roller surface and staggering the calibration plate with the roll material on the roller, the camera can simultaneously acquire a detection image containing the calibration plate when scanning the roll material on the roller. By identifying the detection image and judging whether the camera position is abnormal based on the position of the calibration plate in the detection image, the applicator can determine whether the camera position is abnormal.

[0064] By placing calibration plates on the roller surface away from the roll material, the position of the camera can be monitored in real time without affecting the roller's conveying of the roll material. This allows for timely detection of abnormal camera positions without taking up the original production time.

[0065] The roller and camera inspection method, camera inspection device, roll material conveying method, and roll material conveying device disclosed in this application can be used, but are not limited to, in the battery manufacturing process. For example, they can be used in the battery electrode preparation process, or in the conveying or preparation process of other types of roll materials. This enables real-time detection of whether the camera position is abnormal during normal production, avoiding detection errors in the vision inspection system caused by the inability to detect camera abnormalities in time.

[0066] This application provides an electrical device that uses a battery as a power source. The electrical device can be, but is not limited to, mobile phones, tablets, laptops, electric toys, power tools, electric vehicles, electric cars, ships, spacecraft, etc. Electric toys can include stationary or mobile electric toys, such as game consoles, electric car toys, electric ship toys, and electric airplane toys, etc. Spacecraft can include airplanes, rockets, space shuttles, and spacecraft, etc.

[0067] A battery cell assembly is the component within a single battery cell where electrochemical reactions occur. A casing may contain one or more battery cell assemblies. A battery cell assembly is primarily formed by winding or stacking positive and negative electrode plates, typically with a separator between them. The portions of the positive and negative electrode plates containing active material constitute the main body of the battery cell assembly, while the portions without active material each constitute a tab. The positive and negative tabs can be located together at one end of the main body or at opposite ends. During charging and discharging, the positive and negative active materials react with the electrolyte, and the tabs connect to the electrode terminals to form a current loop. Taking lithium-ion batteries as an example, the positive current collector material can be aluminum, and the positive active material can be lithium cobalt oxide, lithium iron phosphate, ternary lithium, or lithium manganese oxide, etc. The negative electrode sheet includes a negative current collector and a negative active material layer. The negative active material layer is coated on the surface of the negative current collector, and the negative current collector without the negative active material layer protrudes from the one with the negative active material layer. The negative current collector without the negative active material layer serves as the negative electrode tab. The material of the negative current collector can be copper, and the negative active material can be carbon or silicon, etc. During the manufacturing process of a battery cell, the electrode sheet is usually conveyed by rollers in the form of a roll for easy processing and unwinding.

[0068] Figure 1 A schematic diagram of the structure of a roller 100 provided in some embodiments of this application is shown.

[0069] An embodiment of the first aspect of this application provides a roller 100, such as... Figure 1 As shown, roller 100 includes roller body 110 and calibration plate 120. Roller body 110 includes roller surface 111 supporting the roll material; calibration plate 120 is located on roller surface 111 of roller body 110 and avoids the roll material, and calibration plate 120 is used for camera inspection.

[0070] Roll material refers to workpieces transported in a film roll manner for processing or unwinding, such as battery electrodes. Roll 100 can be a conveyor roller for transporting the roll material, or a take-up roller or unwind roller for winding or unwinding the roll material. Roll body 110 can be a cylindrical roller, and roller surface 111 refers to the arc-shaped surface of roller body 110, used to support the roll material to achieve winding and transporting of the roll material. Calibration plate 120 has a set calibration pattern. Calibration plate 120 avoids the roll material by being arranged on roller surface 111 offset from the roll material, so that calibration plate 120 can fall into the camera's field of view without obstruction, and the transport of the roll material will not affect the camera's complete scanning of calibration plate 120, so that the camera's inspection will not affect the normal operation of the roll material.

[0071] In some examples, the encoder can output a pulse signal based on the angle of the roller rotation. The camera scans line by line by receiving the pulse signal. After the image sensor receives a specified number of differential signals, it acquires the data line by line to obtain a detection image of the corresponding resolution. The camera is then judged to be abnormal by recognizing the pattern of the calibration plate in the detection image.

[0072] In this embodiment, by setting a calibration plate 120 on the roller surface 111 that avoids the roll material, the camera can be inspected without affecting the roll material conveying. There is no need to stop production to remove the material, nor will it increase the workload and cost. This enables real-time monitoring of whether the camera position is abnormal.

[0073] In some embodiments, such as Figure 1 As shown, the calibration plate 120 includes a first calibration plate 121 and a second calibration plate 122, with the first calibration plate 121 and the second calibration plate 122 respectively located near the two ends of the roller body 110.

[0074] The first calibration piece 121 and the second calibration piece 122 can be identical or different. Arranging the first calibration piece 121 and the second calibration piece 122 on the roller surface 111 near both ends of the roller body 110 helps to avoid the location of the roll material, ensuring that the camera captures a complete calibration pattern. Since the camera's scanning path is usually set to scan along the axis of the roller, arranging two calibration pieces that are far apart is more conducive to the recognition of the calibration pattern in the image, thereby determining the degree of camera position offset.

[0075] Setting calibration plates at both ends can improve the accuracy of camera inspection and avoid errors in inspection results caused by the recognition of a single calibration plate image, thus preventing the timely detection of camera positional anomalies. Arranging two calibration plates that are far apart is more conducive to the recognition of calibration patterns in the image, thereby determining the degree of camera positional shift.

[0076] In some embodiments, the first calibration sheet and the second calibration sheet are film sheets, which are adhered to the roller surface.

[0077] Film is a type of film with excellent contrast and clarity, minimal susceptibility to external interference, extremely high precision, and customizability. Various standard film models can be selected to meet different project inspection precision and field-of-view requirements; for example, GB30-10-FLP film can be used. The film can be made of plastic and can be adhered to the roller surface using adhesive.

[0078] The film size is controllable, which makes it easy to arrange the film on the roller surface in a staggered manner from the roll material, enabling real-time continuous inspection of the camera, and the cost is low, reducing the cost of camera inspection.

[0079] Figure 2A flowchart of a camera inspection method provided in some embodiments of this application is shown.

[0080] An embodiment of the second aspect of this application provides a camera inspection method, wherein the camera is used to acquire inspection images of the roller-conveyed roll material in the above embodiments, such as... Figure 2 As shown, the camera inspection method includes:

[0081] Step S210: Obtain the detection image containing the calibration patch.

[0082] The detection image can be obtained by scanning with a camera. A detection image containing a calibration plate refers to a detection image that includes the complete calibration pattern.

[0083] Step S220: Determine the position information of the calibration piece in the detection image.

[0084] By recognizing the features of the calibration pattern of the calibration piece in the detection image, the position information of the calibration piece can be determined based on the position coordinates of the feature image in the detection image.

[0085] Step S230: Determine whether the camera position is abnormal based on the position information of the calibration plate.

[0086] When the camera position is abnormal, the camera's scanning path will change, resulting in a change in the positional information of the calibration piece in the scanned detection image. Therefore, the positional information of the calibration piece can be used to determine whether the camera position is abnormal.

[0087] Figure 3 The diagram shows a schematic of a camera inspection method provided in some embodiments of this application. Figure 4 A schematic diagram of the detection images provided in some embodiments of this application is shown.

[0088] like Figure 3 and Figure 4 As shown, the roller surface of the roller body 110 supports the roll material 200, and the calibration plate 120 is arranged on the roller surface of the roller body 110 and avoids the roll material 200. The roller body 110 rotates with the calibration plate 120 under the drive of the drive mechanism to convey the roll material 200.

[0089] After installation and debugging, camera 300 is set to photograph roller 100 and roll material 200 along scanning path S1, wherein calibration plate 120 falls completely within the field of view of camera 300. Camera 300 can be a line scan CCD image sensor or a line scan CMOS image sensor.

[0090] Camera 300 periodically captures images based on the rotation angle of the roller, for example, a line-scan CCD image sensor scans line by line based on a set number of differential signals to obtain a detection image of a preset resolution. In some examples, such as Figure 4As shown, the camera can be set to take a picture of one line along the scanning path S1 every time the roller rotates 1 degree, resulting in a pixel line with a single pixel width and a resolution of X×1 (X is the pixel length along the scanning path S1). When the roller rotates Y degrees, the camera can collect Y pixel lines. These Y pixel lines are then stitched together sequentially along the acquisition time to form a detection image 310 with a resolution of X×Y.

[0091] The horizontal direction of the detection image 310 is the same as the scanning path direction of the scanning camera. The detection image 310 includes image features of the roll material 200 and image features of the calibration sheet 120. By identifying the calibration pattern of the calibration sheet in the detection image, the position of the calibration sheet in the detection image can be determined.

[0092] When the camera's position becomes abnormal, such as due to angular displacement, it may prevent the camera from scanning along the preset calibration path S1. For example, it may scan along the offset path S2 instead. In this case, the resulting detection image will be distorted, and the position of the calibration pattern on the calibration plate in the detection image will change. Therefore, the position information of the calibration plate in the detection image can be used to determine whether the camera's position is abnormal.

[0093] By determining the position of the calibration plate on the roller body, which is offset from the roll material, in the detection image, it is possible to determine whether the detection image is distorted, and thus determine whether the camera position is abnormal. This enables real-time and continuous camera inspection without affecting the normal conveying of the roll material, reducing the workload and cost of inspection.

[0094] In some embodiments, step S230 includes:

[0095] The offset parameter of the calibration piece's position in the detection image relative to the preset reference position is calculated based on the position information of the calibration piece and the preset reference position information.

[0096] The camera's position is determined based on the offset parameter.

[0097] The calibration piece's position information includes its pixel coordinates in the detection image. The reference position is a pre-defined position of the calibration piece in a normal detection image acquired under normal camera conditions, and its reference position information includes the pixel coordinates of the calibration piece in the normal detection image. Offset parameters are parameters that measure the degree of offset of the calibration piece's position in the detection image relative to the preset reference position, such as one or more of the following: offset distance, offset angle, and distance along any coordinate axis.

[0098] By calculating the offset parameter of the calibration plate's position in the detection image relative to a preset reference position, and based on the offset parameter, the degree of abnormality in the camera position can be quantitatively determined, thereby improving the accuracy of camera inspection.

[0099] Figure 5 A schematic diagram of another detection image provided by some embodiments of this application is shown.

[0100] In some embodiments, such as Figure 5 As shown, the calibration plate 120 includes a first calibration plate 121 and a second calibration plate 122. The position information of the calibration plate includes first position information and second position information. The first position information is used to indicate the position A1 of the first feature point in the first calibration plate 121 in the detection image, and the second position information is used to indicate the position A2 of the second feature point in the second calibration plate 122 in the detection image. The reference position information includes first reference position information and second reference position information. The first reference position information is used to indicate the reference position A1' of the first feature point, and the second reference position information is used to indicate the reference position A2' of the second feature point.

[0101] The first feature point is a easily identifiable feature point in the image of the calibration pattern of the first calibration sheet, and the second feature point is a easily identifiable feature point in the image of the calibration pattern of the second calibration sheet. For example, when the calibration pattern of the calibration sheet is a square color block, the feature point can be one of the corner points of the color block or the center point of the color block. The first feature point and the second feature point can be the same feature point in the calibration pattern of the calibration sheet, or they can be different feature points.

[0102] The first position information can be the pixel coordinates (x1, y1) of the first feature point A1 in the detection image 320, the second position information can be the pixel coordinates (x2, y2) of the second feature point A2 in the detection image 320, the first reference position information can be the pixel coordinates (x1, y1) of the reference position A1' of the first feature point, and the second reference position information can be the pixel coordinates (x2, y2) of the reference position A2' of the second feature point.

[0103] By using the positional information of two calibration plates, it is possible to more accurately identify whether the detected image is distorted, thereby more accurately judging the abnormality of the camera position and improving the accuracy of camera inspection. Using the positional information of more easily identifiable feature points as the positional information of the calibration plates can reduce the difficulty of image recognition and help improve the accuracy of positional information.

[0104] In some embodiments, the offset parameter includes at least one of a first deviation value Q1, a second deviation value Q2, and a third deviation value Q3; the calculation of the offset parameter includes at least one of the following:

[0105] (i) Calculate the first deviation value Q1 based on the first position information and the first reference position information;

[0106] (ii) Calculate the second deviation value Q2 based on the second position information and the second reference position information;

[0107] (iii) Calculate the third deviation value Q3 based on the first position information, the second position information, the first reference position information, and the second reference position information.

[0108] The first deviation value Q1 indicates the offset of the position of the first feature point in the detection image relative to its reference position. The second deviation value Q2 indicates the offset of the position of the second feature point in the detection image relative to its reference position. The first deviation value Q1 and the second deviation value Q2 can be one or more of the following: an interval distance, an offset angle, and a projection distance along a specific direction. The third deviation value Q3 indicates the overall offset of the positions of the first and second feature points relative to the reference position.

[0109] By using at least one of the offset of the first feature point, the offset of the second feature point, and the overall offset of the first and second feature points as offset parameters to determine the camera position offset, it is possible to more comprehensively and accurately determine the abnormal situation of the camera.

[0110] In some embodiments, such as Figure 5 As shown, the first deviation value Q1 is the offset distance between the position A1 of the first feature point in the detection image and the reference position A1' of the first feature point along the first direction; the second deviation value Q2 is the offset distance between the position A2 of the second feature point in the detection image and the reference position A2' of the second feature point along the first direction; the third deviation value Q3 is the angle formed by the first line L1 connecting the positions A1 and A2 of the first feature point in the detection image and the second line L2 connecting the reference positions A1' and A2' of the first feature point. Here, the first direction refers to a direction different from the vertical direction of the detection image.

[0111] The horizontal direction (X-axis) of the detected image is the camera's scanning direction, and the vertical direction (Y-axis) of the detected image refers to the direction perpendicular to the X-axis. Based on the camera's imaging characteristics, theoretically, the vertical direction of the detected image can be infinitely long, and a preset length value can be set to obtain the corresponding pixel detection image. Since the vertical direction can be arbitrarily set, the pixel coordinates of the first feature point A1 and the second feature point A2 along the vertical direction are not fixed in different detected images. Furthermore, a small vertical offset has little impact on image detection, while a larger offset will be noticeably reflected in the image brightness. Therefore, in this embodiment, the vertical offset is not used as a parameter for identifying abnormal camera positions. Instead, an offset in a first direction different from the vertical is selected to provide an early warning of abnormal camera positions.

[0112] In this embodiment, the first direction can be a direction different from the vertical direction of the detection image, such as a direction that intersects with the vertical direction of the detection image, or a horizontal direction (i.e., the X-axis direction) that is perpendicular to the vertical direction.

[0113] In some examples, the first direction is the horizontal direction. The first deviation value Q1 can be the difference between the pixel coordinates of the position A1 of the first feature point and the reference position A1' of the first feature point in the X-axis direction, i.e.

[0114] Q1 = |X1 - x1|;

[0115] The second deviation value Q2 can be the difference in pixel coordinates along the X-axis between the position A2 of the first feature point and the reference position A2' of the first feature point, i.e.

[0116] Q2 = |X2 - x2|;

[0117] At this point, the first deviation value Q1 and the second deviation value Q2 can measure the horizontal offset of the camera.

[0118] The third deviation value Q3 can be calculated based on the difference between the first angle Q31 between the first line L1 connecting the positions A1 and A2 of the first feature point and the horizontal X-axis, and the reference angle Q32 between the second line L2 connecting the reference positions A1' and A2' of the first feature point and the horizontal X-axis.

[0119] Q3 = |Q31 - Q32|;

[0120]

[0121]

[0122] At this point, the third deviation value Q3 can measure the camera's rotational offset.

[0123] According to an embodiment of this application, by using the offset distance of the first feature point and the second feature point along the first direction, and the angle between the line connecting the first feature point and the second feature point and the line connecting the preset reference position as offset parameters, combined with the offset parameters of the two calibration plates along a vertical direction different from the detection image, the offset of the calibration plates can be more accurately identified, thereby improving the accuracy of camera inspection.

[0124] In some embodiments, the first feature point is the center of the pattern of the first calibration piece 121, and the second feature point is the center of the pattern of the second calibration piece 122.

[0125] The pattern type of calibration sheet is usually a regular pattern. For example, the film used as a calibration sheet has a square color block pattern. When identifying the calibration sheet in the detection image, there may be a large error in the pixel coordinates of a single feature point on the edge of the pattern. However, since the center of the pattern needs to be determined by combining the pixel coordinates of multiple feature points of the pattern, the error in its pixel coordinates is relatively small.

[0126] In this embodiment, using the center of the pattern on the calibration plate as the corresponding feature point can improve the accuracy of the feature point's position information during image recognition, thereby improving the precision of image recognition and the accuracy of point inspection.

[0127] In some embodiments, the reference location is the location of the calibration piece in the first detection image acquired by the camera that includes the calibration piece.

[0128] After installation, cameras often undergo a calibration process. After calibration, the camera is theoretically in an ideal working state. The detection images acquired at this time are also detection images obtained when the camera is in a normal position. At this time, the position of the calibration piece in the first detection image captured by the camera can be used as the benchmark to measure whether the camera position is normal. Specifically, the position of the calibration piece in the first detection image containing the calibration piece can be stored as a reference position and then retrieved when judging whether the position of the calibration piece in subsequent detection images is offset and the degree of offset.

[0129] In this embodiment, the location of the calibration piece in the first detection image containing the calibration piece obtained when the camera is in a normal position is used as a preset reference position. This allows us to obtain a reference position corresponding to the normal camera position as a benchmark for inspection and judgment, which helps to improve the accuracy and efficiency of inspection and judgment.

[0130] In some embodiments, determining whether the camera's position is abnormal based on the offset parameter includes:

[0131] If the deviation parameter is greater than the first preset threshold, the camera position is determined to be abnormal.

[0132] The first preset threshold is a judgment threshold preset according to the accuracy requirements of the specific use case. It can be understood that the setting of the first preset threshold corresponds to the deviation parameter. In some examples, the first preset threshold may include a distance threshold for measuring the deviation distance and / or an angle threshold for measuring the deviation angle. For example, when the deviation parameter is a first deviation value and / or a second deviation value, the first preset threshold may be 1 millimeter (mm), and when the deviation parameter is a third deviation value, the first preset threshold may be 1 degree.

[0133] Setting an acceptable offset value as the first preset threshold based on specific accuracy requirements can ensure the accuracy control of the inspection process and accurately identify camera position anomalies.

[0134] In some embodiments, the camera inspection method further includes: issuing alarm information and / or adjustment information in response to abnormal camera position.

[0135] When the inspection result indicates an abnormal camera position, an alarm message can be issued to remind the operator to check and maintain the camera. The alarm message can take various forms. In some examples, when the inspection result indicates an abnormal camera position, an adjustment signal can also be issued to control an additional adjustment mechanism to adjust the camera's position. For example, the adjustment mechanism could be a pan-tilt head that mounts the camera; based on the detected camera position deviation, it can adjust the camera's offset to restore it to the set normal position.

[0136] When an abnormal camera position is detected, alarm and / or adjustment information should be issued in a timely manner so that the camera position can be adjusted promptly to avoid affecting the subsequent visual inspection process.

[0137] In some embodiments, in response to a deviation parameter being greater than a first preset threshold and less than or equal to a second preset threshold, an adjustment message is issued to control the position of the camera to be adjusted.

[0138] An alarm message is issued in response to a deviation parameter exceeding a second preset threshold.

[0139] The second preset threshold is greater than the first preset threshold.

[0140] The first and second preset thresholds are threshold parameters set based on the acceptable degree of deviation and the adjustment range of automatic adjustment. When the deviation parameter is less than or equal to the first threshold, it is determined that the current camera deviation is extremely low and will not affect the visual inspection results. When the deviation parameter is greater than the first preset threshold but less than or equal to the second preset threshold, it is determined that the current camera deviation needs to be adjusted, and an adjustment message is issued to control the camera position to be adjusted by an additional adjustment mechanism. When the deviation parameter is greater than the second preset threshold, the current camera deviation is large and exceeds the adjustment range of the adjustment mechanism, and the adjustment mechanism alone cannot complete the adjustment. An alarm message is issued to remind the operator to stop the machine for inspection, adjustment, or even recalibration of the camera.

[0141] In this embodiment, the degree of camera offset is determined based on the results of the inspection, and different control commands are issued according to different degrees. This can maximize the realization of automatic inspection and automatic adjustment, ensure detection accuracy while reducing the number of downtimes and avoiding impact on production efficiency.

[0142] Figure 6 A flowchart of a roll material transport method provided in some embodiments of this application is shown.

[0143] An embodiment of the third aspect of this application provides a roll material conveying method, such as... Figure 6 As shown, the roll material conveying method includes:

[0144] Step S310: Control the camera to acquire detection images of the roll material being conveyed by the rollers.

[0145] Step S320: Perform a camera inspection using the camera inspection method described above;

[0146] Step S330: In response to the inspection result indicating that the camera position is normal, the detected image is identified; and

[0147] Step S340: Drive the roller to convey the roll material based on the recognition result.

[0148] In the example, both the camera inspection and the visual inspection of the film roll transport are performed by recognizing the images captured by the camera. When the camera inspection result is qualified, it means that the camera's position at this time can meet the requirements of visual inspection. The inspection image captured by the camera can be directly recognized to detect whether the roll transport status is abnormal.

[0149] According to the embodiments of this application, by combining camera inspection with visual inspection of roll material conveying, camera inspection can be completed at the same time as visual inspection of roll material conveying, without stopping production for inspection, and camera abnormalities can be detected in a timely manner, avoiding affecting the accuracy of visual inspection results of roll material conveying.

[0150] Figure 7 The diagram shows a structural block diagram of a camera inspection device provided in some embodiments of this application.

[0151] An embodiment of the fourth aspect of this application provides a camera inspection device 400, such as... Figure 7 As shown, the camera inspection device 400 includes an acquisition module 410, a determination module 420, and a judgment module 430. The acquisition module 410 is configured to acquire a detection image containing a calibration piece; the determination module 420 is configured to determine the position information of the calibration piece in the detection image; and the judgment module 430 is configured to determine whether the camera's position is abnormal based on the position information of the calibration piece.

[0152] In some embodiments, the camera inspection device further includes an alarm module 440, which is configured to issue an alarm message in response to an inspection result indicating that the camera's position is abnormal.

[0153] In some embodiments, the camera inspection device further includes an adjustment mechanism 450, which is configured to adjust the position of the camera in response to an inspection result indicating that the camera position is abnormal.

[0154] The adjustment mechanism 450 can be an automatic adjustment mechanism that adjusts the camera position to its normal position based on received adjustment or alarm information issued based on inspection results. It is understood that the adjustment mechanism's action can be controlled by either adjustment information or alarm information. In some examples, the adjustment mechanism 450 can control the corresponding adjustment amount based on the offset parameters of the calibration plate in the inspection results.

[0155] Figure 8 A schematic diagram of the roll conveying device provided in an embodiment of this application is shown.

[0156] An embodiment of the fifth aspect of this application provides a roll conveying device 1000, such as... Figure 8 As shown, the roll material conveying device 1000 includes: a roller 100, a camera 300, a camera inspection device 400, an identification module 500, and a drive mechanism 600. The camera inspection device 400 is used to inspect the camera 300. The identification module 500 is configured to identify the inspection image acquired by the camera 300 in response to the inspection result indicating that the position of the camera 300 is normal. The drive mechanism 600 is configured to drive the roller 100 to convey the roll material 200 based on the identification result of the inspection image.

[0157] In some examples, the camera inspection device 400 and the recognition module 500 can be two independent processing modules, two parts of a single processing module, or an integrated processing module that simultaneously implements the functions of the camera inspection device 400 and the recognition module 500, such as an industrial computer, which acts as a terminal device for image processing and implements the functions of the camera inspection device 400 and the recognition module 500 by executing a preset program.

[0158] The drive mechanism 600 can be any automated drive device, such as a servo motor.

[0159] An embodiment of the sixth aspect of this application provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the inspection method or the roll conveying method as described in any of the preceding claims.

[0160] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0161] An embodiment of the seventh aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the inspection method or roll material transfer method as described above.

[0162] Computer-readable media can be tangible media that may contain or store programs for use by or in conjunction with an instruction execution system, apparatus, or device. Machine-readable media can be machine-readable signal media or machine-readable storage media. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0163] An embodiment of the eighth aspect of this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the inspection method or roll material transfer method as described above.

[0164] Figure 9 This document illustrates a flowchart of a camera inspection method provided in some embodiments of this application.

[0165] like Figure 5 , Figure 8 and Figure 9 As shown, the workflow of the camera inspection method mainly includes:

[0166] The encoder periodically sends encoder signals to the camera based on the rotation angle of the roller. The roller is the roller described in the above embodiment, and a first calibration plate and a second calibration plate are attached to both ends of the roller surface.

[0167] The camera periodically acquires images based on the received encoder signals to obtain detection images at a preset resolution.

[0168] Identification is performed on the detection image containing the first calibration piece and the second calibration piece, specifically including:

[0169] First, determine whether the current detection image is an RGB color three-channel image based on the detection image information. If it is a color image, the three-channel color image needs to be converted into a black and white single-channel image. If it is a black and white image, no processing is required and proceed directly to the next step.

[0170] Preprocessing: One or more filtering methods such as mean filtering, Gaussian filtering, and median filtering are used to process the detection image. The purpose is to make the image cleaner and the transition smoother, prevent noise from interfering with the image, and remove small burrs on the surface of objects in the image.

[0171] Thresholding: Based on the processed detection image, all regions with gray values ​​within a certain range are selected;

[0172] Partitioning connected components: Separating all regions that meet the conditions into independent regions;

[0173] Based on the characteristics of the film, these regions in the image are filtered to determine if there are connected components that match the film's characteristics. If a matching region is found, it means the film has been found in the image. The position coordinates (x1, y1) of the first feature point located at the center of the pattern on the first calibration film and the position coordinates (x2, y2) of the second feature point located at the center of the pattern on the second calibration film are calculated and output. Then, the angle between the feature points at the centers of the two film patterns and the horizontal line of the detection image is calculated. If no matching region is found, it means the film has not been found in the image. The film may be occluded or the image sensor may have been moved significantly. In this case, the abnormal position coordinates (-999, -999) and the angle ∠-999° should be output.

[0174] The offset parameters are calculated based on the identified position coordinates and angles and the position coordinates and angles of the preset reference position. The offset parameters include the first deviation value Q1 of the first feature point along the horizontal direction, the second deviation value Q2 of the second feature point along the horizontal direction, and the third deviation value Q3 of the line connecting the first feature point and the second feature point relative to the reference position.

[0175] Threshold Judgment: The first preset threshold is a pre-defined acceptable horizontal offset range for the image sensor, such as 1mm. When the first deviation value Q1 and the second deviation value Q2 are greater than this threshold, it indicates that the camera's image sensor has experienced a significant offset. For line scan image sensors, which are generally used in conjunction with linear light, the third deviation value Q3 is a pre-defined acceptable tilt angle range for the image sensor, such as 1°. When the third deviation value Q3 is greater than this threshold, it indicates that the camera has experienced a significant rotation. If any one of the first deviation value Q1, the second deviation value Q2, or the third deviation value Q3 exceeds the first preset threshold, it is necessary to adjust the camera, and it may even be necessary to stop operation and perform maintenance.

[0176] Output alarm signal: When the deviation parameter is greater than the first preset threshold, it is considered to be outside the acceptable range. The inspection results are output. The output signal can be various forms of alarm signal to remind the operator to perform inspection and maintenance.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A camera point inspection method, the camera being used to acquire an inspection image of a roll body conveying a web, the roll body comprising a roll face supporting the web; a calibration sheet located on the roll face of the roll body and clear of the web, the calibration sheet being used to point inspect the camera, characterized by, The method comprises: acquiring a detection image containing a calibration sheet; determining position information of the calibration sheet in the detection image; judging whether the position of the camera is abnormal based on the position information of the calibration sheet; wherein the calibration sheet comprises a first calibration sheet and a second calibration sheet, and the position of the camera is judged based on the offset of the first feature points, the offset of the second feature points, and the offset of the first feature points and the second feature points as offset parameters, the first feature points being feature points in the calibration pattern of the first calibration sheet, and the second feature points being feature points in the calibration pattern of the second calibration sheet.

2. The point inspection method according to claim 1, characterized by, The first calibration sheet and the second calibration sheet are respectively close to two ends of the roller body.

3. The point inspection method according to claim 2, characterized by, The first calibration sheet and the second calibration sheet are film sheets, and the film sheets are pasted on the roller surface.

4. The point inspection method according to claim 1, characterized by, The judging whether the position of the camera is abnormal based on the position information of the calibration sheet comprises: calculating offset parameters of the position of the calibration sheet in the detection image relative to the preset reference position based on the position information of the calibration sheet and the preset reference position information; judging whether the position of the camera is abnormal based on the offset parameters.

5. The point inspection method according to claim 4, characterized by, The position information of the calibration sheet comprises first position information and second position information, the first position information being used to indicate the position of the first feature points in the first calibration sheet in the detection image, and the second position information being used to indicate the position of the second feature points in the second calibration sheet in the detection image; The reference position information comprises first reference position information and second reference position information, the first reference position information being used to indicate the reference position of the first feature points, and the second reference position information being used to indicate the reference position information of the second feature points.

6. The point inspection method according to claim 5, characterized by, The offset parameters comprise a first deviation value, a second deviation value, and a third deviation value; And wherein the calculating offset parameters of the position of the calibration sheet in the detection image relative to the preset reference position based on the position information of the calibration sheet and the preset reference position information comprises: calculating the first deviation value based on the first position information and the first reference position information; calculating the second deviation value based on the second position information and the second reference position information; calculating the third deviation value based on the first position information, the second position information, the first reference position information, and the second reference position information.

7. The point inspection method according to claim 6, characterized by, The first deviation value is the offset distance of the position of the first feature points in the detection image and the reference position of the first feature points along a first direction; The second deviation value is the offset distance of the position of the second feature points in the detection image and the reference position of the second feature points along the first direction; The third deviation value is the included angle between a first connecting line connecting the first feature points and the second feature points in the detection image and a second connecting line connecting the reference positions of the first feature points and the second feature points; Wherein the first direction is a direction different from the vertical direction of the detection image.

8. The point inspection method according to claim 5, characterized by, The first feature points are the pattern centers of the first calibration sheet, and the second feature points are the pattern centers of the second calibration sheet.

9. The point inspection method according to claim 4, characterized by, The reference position is a position of the calibration sheet in a first detection image containing the calibration sheet acquired by the camera.

10. The point inspection method according to any one of claims 4 to 9, characterized by, The determining whether the position of the camera is abnormal based on the offset parameter comprises: In response to the offset parameter being greater than a first preset threshold, determining that the position of the camera is abnormal.

11. The point inspection method according to claim 10, characterized by, Further comprising: In response to the position of the camera being abnormal, issuing an alarm information and / or adjusting information.

12. The point inspection method according to claim 11, characterized by, In response to the offset parameter being greater than the first preset threshold and less than or equal to a second preset threshold, issuing adjusting information to control the position of the camera to be adjusted; In response to the offset parameter being greater than the second preset threshold, issuing an alarm information; The second preset threshold is greater than the first preset threshold.

13. A method of web conveying, characterized by Comprising: Controlling the camera to acquire a detection image of the roll body conveying the coiled material, Point inspecting the camera by using the method of any one of claims 1-12; In response to the point inspection result indicating that the position of the camera is normal, recognizing the detection image; And Driving the roll body to convey the coiled material based on the recognition result.

14. A camera inspection device, the camera being configured to acquire an inspection image of a roll body conveying a web, the roll body comprising a roll face supporting the web; a calibration sheet located on the roll face of the roll body and clear of the web, the calibration sheet being configured to enable the camera to be inspected, characterised in that, Comprising: An acquisition module configured to acquire a detection image containing a calibration sheet; A determination module configured to determine position information of the calibration sheet in the detection image; A judgment module configured to determine whether the position of the camera is abnormal based on the position information of the calibration sheet, wherein the calibration sheet comprises a first calibration sheet and a second calibration sheet, and the offset of the camera position is determined by using the offset of the first feature point, the offset of the second feature point, and the offset of the first feature point and the second feature point as a whole as an offset parameter, the first feature point is a feature point in a calibration pattern of the first calibration sheet, and the second feature point is a feature point in a calibration pattern of the second calibration sheet.

15. The camera point inspection device of claim 14, wherein, Further comprising: An alarm module configured to issue an alarm information in response to the point inspection result indicating that the position of the camera is abnormal.

16. The camera point inspection device of claim 14 or 15, wherein, Further comprising: An adjusting mechanism configured to adjust the position of the camera in response to the point inspection result indicating that the position of the camera is abnormal.

17. A web conveying apparatus characterized by comprising: Comprising: A roll body comprising a roll surface supporting a coiled material; a calibration sheet located on the roll surface of the roll body and avoiding the coiled material, the calibration sheet being used for point inspecting a camera; The camera; The camera point inspection device according to any one of claims 14-16 is used for point inspecting the camera; A recognition module configured to recognize a detection image acquired by the camera in response to the point inspection result indicating that the position of the camera is normal; And A driving mechanism configured to drive the roll body to convey the coiled material based on the recognition result of the detection image.

18. An electronic device, comprising: Comprising: At least one processor; And A memory connected in communication with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the point inspection method according to any one of claims 1-12 or the coiled material conveying method according to claim 13.

19. A computer readable storage medium storing a computer program, wherein the computer program comprises program instructions configured to cause a processor to perform the method according to any one of claims 1 to 18. The computer program is executed by the processor to implement the point inspection method according to any one of claims 1-12 or the coiled material conveying method according to claim 13.

20. A computer program product, characterised in that, The computer program product comprises a computer program which, when executed by a processor, implements the point inspection method according to any one of claims 1-12 or the web transfer method according to claim 13. The computer program product comprises a computer program which, when executed by a processor, implements the point inspection method according to any one of claims 1-12 or the web transfer method according to claim 13.

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