A focus tracking control method, device and pole piece burr detection equipment

Abstract

The present invention discloses a focus tracking control method, device and pole piece burr detection equipment. The focus tracking control method provided by the present invention collects the current correction value of the pole piece in real time, and judges whether the current correction value is within the preset correction value range; when the current correction value is within the preset correction value range, the lens is moved to perform focus tracking. The pole piece focus tracking can be achieved using a set of lenses, which can solve the scenario where dual cameras cannot be installed for detection due to limited equipment space, and can reduce system costs and achieve burr detection in various scenarios. In addition, by comparing the current correction value with the preset correction value range, the focus tracking action is performed when the current correction value is within the preset correction value range, which can avoid interference noise affecting the focus tracking and repeated focus tracking, thereby improving the accuracy of focus tracking. The clarity of the material pole piece detection image is guaranteed, and the needs of online real-time burr detection can be met.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of detection technology, and in particular to a focus tracking control method, device and pole piece burr detection equipment. Background Art

[0002] Lithium-ion batteries are important energy storage units in new energy industries such as new energy vehicles and energy storage due to their advantages such as light weight and high energy storage density. Battery pole pieces are front-end products in the manufacturing process of lithium-ion batteries. During the pole piece slitting process, burrs are easily generated on the cut surface. Micron-level burrs may also damage the isolation membrane and cause a short circuit in the finished battery cell. In severe cases, it may cause the battery to catch fire and explode. Therefore, burr detection is an important part of the pole piece detection process.

[0003] At present, for the burr detection system equipped with a single camera, it is impossible to quickly and accurately focus on the burr. During the burr detection process, the image is easily out of focus and the image is not clear. Therefore, developing a high-precision electrode burr detection method is of great significance to ensure the quality and production efficiency of batteries. Summary of the invention

[0004] In view of this, the present invention provides a focus tracking control method, device and pole piece burr detection equipment to improve the focus tracking accuracy, ensure the clarity of the captured image, and improve the burr detection accuracy.

[0005] In a first aspect, the present invention provides a focus tracking control method, which is applied to a pole piece burr detection device, wherein the pole piece burr detection device comprises a correction sensor, a servo motor and a lens, wherein the correction sensor is used to detect the position of the pole piece, and the servo motor drives the lens to move;

[0006] The focus tracking control method comprises:

[0007] Determine a current deviation correction value according to the position of the pole piece edge in the deviation correction sensor; the current deviation correction value is the position offset value of the pole piece edge;

[0008] Determining whether the current deviation correction value is within a preset deviation correction value range;

[0009] When the current deviation correction value is within the preset deviation correction value range, the lens is controlled to focus on the pole piece.

[0010] In a second aspect, the present invention provides a focus tracking control device for executing the focus tracking control method provided by the present invention, the focus tracking control device comprising:

[0011] A deviation correction value determination module, used to determine a current deviation correction value according to the position of the pole piece edge in the deviation correction sensor; the current deviation correction value is a position offset value of the pole piece edge;

[0012] A judging module, used to judge whether the current deviation correction value is within a preset deviation correction value range;

[0013] The control module is used to control the lens to focus on the pole piece when the current deviation correction value is within the preset deviation correction value range.

[0014] In a third aspect, the present invention provides a pole piece burr detection device, including a correction sensor, a servo motor, a lens and a controller;

[0015] The deflection correction sensor is used to detect the position of the pole piece, the servo motor drives the lens to move, and the controller is used to execute the focus tracking control method provided by the present invention.

[0016] The focus tracking control method provided by the present invention collects the current correction value of the pole piece in real time, and judges whether the current correction value is within the preset correction value range; when the current correction value is within the preset correction value range, the lens is moved to perform focus tracking. The pole piece focus tracking can be achieved using a set of lenses, which can solve the scenario where dual cameras cannot be installed for detection due to limited equipment space. At the same time, the system cost can be reduced, and burr detection in various scenarios can be achieved. In addition, by comparing the current correction value with the preset correction value range, the focus tracking action is performed when the current correction value is within the preset correction value range, which can avoid interference noise affecting the focus tracking and repeated focus tracking, thereby improving the accuracy of focus tracking. The clarity of the material pole piece detection image is guaranteed, and the needs of online real-time burr detection can be met. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a pole piece burr detection device provided by an embodiment of the present invention;

[0018] Figure 2 A schematic structural diagram of another pole piece burr detection device provided by an embodiment of the present invention;

[0019] Figure 3 A flow chart of a focus tracking control method provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of an application scenario of a focus tracking control method provided by an embodiment of the present invention;

[0021] Figure 5 A detection schematic diagram of a deviation correction sensor provided in an embodiment of the present invention;

[0022] Figure 6 A flowchart of another focus tracking control method provided by an embodiment of the present invention;

[0023] Figure 7 A flowchart of another focus tracking control method provided by an embodiment of the present invention;

[0024] Figure 8 A schematic structural diagram of a focus tracking control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0026] It should be mentioned before discussing exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe various operations (or steps) as sequential processes, many operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of various operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to methods, functions, procedures, subroutines, subprograms, etc. In addition, the embodiments in the present invention and the features in the embodiments can be combined with each other without conflict.

[0027] The term “including” and its variations used in the present invention are open inclusions, that is, “including but not limited to.” The term “based on” means “based at least in part on.” The term “one embodiment” means “at least one embodiment.”

[0028] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish the corresponding contents, and are not used to limit the order or interdependence.

[0029] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0030] The embodiment of the present invention provides a focus tracking control method, which can be applied to a pole piece burr detection device to detect burrs on a battery pole piece. The pole piece burr detection device can be an online burr detection device, that is, the pole piece is detected during the pole piece production process. Figure 1 A schematic diagram of the structure of a pole piece burr detection device provided by an embodiment of the present invention, Figure 2 A schematic structural diagram of another pole piece burr detection device provided in an embodiment of the present invention. Figure 1 and Figure 2 shows the partial structure of the pole piece burr detection equipment, refer to Figure 1 and Figure 2, the pole piece burr detection device includes a correction sensor 10, a servo motor 20 and a lens 30. The correction sensor 10 is used to detect the position of the pole piece 40, and the servo motor 20 drives the lens 30 to move. The pole piece burr detection device also includes a camera 50. During the detection process, the camera 50 is relatively fixed to the lens 30. After the lens 30 is focused, the camera 50 takes an image of the pole piece 40. The pole piece burr detection device also includes a transmission component 60 for transmitting the pole piece 40. Among them, the transmission component 60 can convey the pole piece 40 in the form of roller transmission, but is not limited to this. The embodiment of the present invention does not repeat or limit this. The lens 30 and the camera 50 can be located above the pole piece 40 to photograph the burrs of the pole piece 40 from above the pole piece 40. The correction sensor 10 can be installed on the transmission path of the pole piece 40 to detect the position of the pole piece 40. The specific installation position of the correction sensor 10 can be set according to needs, and the embodiment of the present invention does not limit this. The focus tracking control method provided in the embodiment of the present invention may be executed by a focus tracking control device, and the focus tracking control device may be a controller in a pole piece burr detection device, for example, a PLC controller, but is not limited thereto.

[0031] Figure 3 A flowchart of a focus tracking control method provided by an embodiment of the present invention can be combined with reference to Figure 1 to Figure 3 , the focus tracking control method includes the following steps:

[0032] S110, determining a current deviation correction value according to the position of the pole piece edge in the deviation correction sensor.

[0033] The pole piece 40 may be offset during the transmission process. When the pole piece 40 is offset, the relative position of the pole piece 40 and the lens 30 (camera 50) changes, and the lens 30 may need to refocus the pole piece 40. Figure 4 A schematic diagram of an application scenario of a focus tracking control method provided by an embodiment of the present invention, Figure 5 A detection schematic diagram of a deviation correction sensor provided by an embodiment of the present invention. Figure 4 and Figure 5 The correction sensor 10 can detect the position offset value of the edge of the pole piece 40. The controller 70 obtains the position of the edge of the pole piece 40 at the correction sensor 10 during the movement of the pole piece 40 through the analog module, and reads the current correction value. The current correction value is the position offset value of the edge of the pole piece 40 obtained in real time during the burr detection process.

[0034] Figure 5 A detection schematic diagram of two positions on the edge of the pole piece 40 is shown. The dotted filled area in the figure represents the detection range of the correction sensor 40, the thicker dotted line in the detection range represents the center of the detection area, and the thinner dotted line represents the edge position of the pole piece 40.

[0035] S120: Determine whether the current deviation correction value is within a preset deviation correction value range.

[0036] The preset correction value range is the edge offset value of the pole piece 40 where the image may be out of focus due to the offset of the pole piece 40. Generally, during the normal transmission of the pole piece 40, the offset distance of the pole piece 40 will not be too large. If the position offset of the pole piece 40 is too large, it is likely that there may be interference noise or the pole piece 40 deviates from the preset transmission track to a large extent. At this time, the camera 50 may not be able to capture the pole piece 40; and when the offset value of the pole piece 40 is very small, the relative position change between the pole piece 40 and the lens 30 (camera 50) is very small, which will not affect the focusing effect.

[0037] Based on this, the lower limit of the preset deviation correction value range can be the position offset value of the edge of the pole piece 40 when the focusing effect is not affected; the upper limit of the preset deviation correction value range can be the position offset value of the edge of the pole piece 40 when interference noise may exist. The specific numerical range of the preset deviation correction value range is not limited, and those skilled in the art can set it according to actual needs.

[0038] In this embodiment, the controller can determine whether the current deviation correction value is within the preset deviation correction value range, and then execute the subsequent process according to the relationship between the current deviation correction value and the preset deviation correction value range.

[0039] S130: When the current deviation correction value is within a preset deviation correction value range, control the lens to focus on the pole piece.

[0040] When the current correction value is within the preset correction value range, it indicates that the current offset degree of the pole piece 40 is within the normal offset degree range, and the offset distance will affect the focusing condition. At this time, the controller controls the servo motor 20 to work so that the servo motor 20 drives the lens 30 to move up and down, thereby focusing the lens 30; after focusing, the camera 50 is used to shoot and collect the detection image of the material pole piece 40, thereby realizing online real-time tracking of the pole piece 40.

[0041] For example, based on Figure 1 and Figure 2 This installation method can control the servo motor 20 to move forward and backward, thereby driving the lens 30 to move up and down for focusing.

[0042] In addition, in some embodiments, the controller can be connected to the servo motor 20 via an EtherCAT bus, thereby improving the control accuracy and motor response rate of the servo motor 20.

[0043] Optionally, in terms of controlling the camera 50 to take pictures, the controller can use an electronic cam to control the camera 50 to take pictures, with the encoder as the main axis and the camera 50 trigger as the slave axis. The trigger interval of the area array photography can be set on the operating interface software, so that the program can be transplanted more easily when using different area array cameras 50.

[0044] The focus tracking control method provided by the present invention collects the current correction value of the pole piece in real time, and judges whether the current correction value is within the preset correction value range; when the current correction value is within the preset correction value range, the lens is moved to perform focus tracking. The pole piece focus tracking can be achieved using a set of lenses, which can solve the scenario where dual cameras cannot be installed for detection due to limited equipment space. At the same time, the system cost can be reduced, and burr detection in various scenarios can be achieved. In addition, by comparing the current correction value with the preset correction value range, the focus tracking action is performed when the current correction value is within the preset correction value range, which can avoid interference noise affecting the focus tracking and repeated focus tracking, thereby improving the accuracy of focus tracking. The clarity of the material pole piece detection image is guaranteed, and the needs of online real-time burr detection can be met.

[0045] The focus tracking of the pole piece is carried out during the entire pole piece production process. The current correction value is the position offset value of the pole piece collected in real time. When it is judged that the current correction value is within the preset correction value range, the servo motor can be controlled to move the focus lens. After the current focus tracking action is completed, wait for the next correction value collected to be within the preset correction value range before focusing again.

[0046] Optionally, the focus tracking control method also includes: when the current correction value is within a preset correction value range, storing the current correction value as the pole piece correction value determined when the current focus tracking action is executed.

[0047] When it is determined that the focus tracking needs to be performed, the current correction value can be stored in the correction amount register, that is, the pole piece correction value originally stored in the correction amount register is updated to the current correction value. The pole piece correction value originally stored can be the pole piece correction value stored when the focus tracking action was performed last time. In this way, each focus tracking action is performed based on the last pole piece offset situation.

[0048] Further optionally, in some optional embodiments of the present invention, before the above embodiment (S120), it is also possible to execute: obtaining a previous deviation correction value; the previous deviation correction value is the pole piece deviation correction value determined when the previous focus tracking action was performed; (S120) can be refined as: calculating the deviation correction value difference between the current deviation correction value and the previous deviation correction value; when the absolute value of the deviation correction value difference is within a preset difference range, judging that the current deviation correction value is within the preset deviation correction value range.

[0049] The difference between the current correction value of this focus tracking and the previous correction value of the previous focus tracking can reflect the position offset value of the pole piece from the previous focus tracking to the current focus tracking. In this embodiment, the difference between the current correction value and the previous correction value can be calculated. If the difference between the two is within the preset difference range, it means that the offset degree of the pole piece between the two focus tracking actions will affect the focusing situation, that is, it is considered that the current correction value is within the preset correction value range, and the servo motor is then controlled to move the focusing lens.

[0050] Whether to refocus is determined based on the difference in the pole piece position offset values ​​during two focus tracking operations, which can ensure the timeliness of focus tracking and meet the needs of online real-time burr detection.

[0051] If the difference between the current correction value and the previous correction value exceeds the preset difference range, it means that the offset value of the pole piece between the two focus changes is very small or the offset value is too large. It can be considered that the current correction value exceeds the preset correction value range. At this time, the focus tracking action can be stopped without adjusting the servo motor position and performing subsequent focusing work.

[0052] Optionally, in other optional embodiments, the preset deviation correction value range can be determined in advance based on actual tests and stored in the controller. During online detection, the controller directly compares the current deviation correction value with the stored preset deviation correction value range.

[0053] Optionally, in some embodiments of the present invention, before (S120) in the above embodiment, the following step may be further performed: determining that the current deviation correction value is within a limited deviation correction range of the deviation correction sensor.

[0054] Among them, the limited deviation correction range may refer to the deviation correction value range between the minimum deviation correction value and the maximum deviation correction value that the deviation correction sensor can accurately detect, and the limited deviation correction range can be set before the deviation correction sensor leaves the factory. Some embodiments of the present invention propose that after determining the current deviation correction value, it is possible to first determine whether the current deviation correction value is within the limited deviation correction range of the deviation correction sensor. If the read deviation correction sensor detection value exceeds its limited deviation correction range, it indicates that the pole piece offset state is abnormal. Therefore, when the current deviation correction value is within the limited deviation correction range, the subsequent judgment logic is executed. When the current deviation correction value exceeds the limited deviation correction range, the focus tracking action can be stopped without adjusting the servo motor position and performing subsequent focusing work.

[0055] In this embodiment, when the current deviation correction value exceeds the limited deviation correction range of the deviation correction sensor, or when the current deviation correction value exceeds the preset deviation correction value range, the focus tracking action is stopped. This can avoid focus tracking when the pole piece position is abnormal, saving power consumption.

[0056] Figure 6 A flowchart of another focus tracking control method provided by an embodiment of the present invention, Figure 6 The focus tracking control method shown is further refined based on the above embodiment. Figure 6 As shown, the focus tracking control method includes the following steps:

[0057] S210, determining a current deviation correction value according to the position of the pole piece edge in the deviation correction sensor.

[0058] The current correction value is the position offset value of the edge of the pole piece.

[0059] S221, determining whether the current deviation correction value is within the limited deviation correction range of the deviation correction sensor.

[0060] If yes, execute S222 , if no, execute S240 .

[0061] S222: Determine whether the current deviation correction value is within a preset deviation correction value range.

[0062] If yes, execute S230 , if no, execute S240 .

[0063] S230, controlling the lens to perform focus tracking on the pole piece, and storing the current correction value as the pole piece correction value determined when the current focus tracking action is performed.

[0064] S240: Stop executing the focus tracking action.

[0065] If the current correction value exceeds the preset correction value range, subsequent focusing work will not be performed.

[0066] Optional, you can continue to refer to Figure 1 and Figure 2 The pole piece burr detection device also includes a transmission component 60 for transmitting the pole piece 40; wherein, along the pole piece transmission direction, the correction sensor 10 is located in front of the lens 30, and the current correction value is the position offset value of the target area at the edge of the pole piece 40. Figure 2 The direction of the dashed arrow is the direction of pole piece transmission. During the transmission process, a certain area of ​​the pole piece 40 first passes through the correction sensor 10, and then moves to below the lens 30 and the camera 50. In some exemplary embodiments, (S130) in the above embodiment can be refined as follows: step 1, determining that the current correction value is within the preset correction value range; step 2, when the target area moves to the position of the lens, controlling the lens to focus on the pole piece.

[0067] Since there is a certain distance between the deflection correction sensor and the lens, when the deflection correction sensor detects that the edge of a certain part of the pole piece is offset, there is still a certain distance between the offset area (i.e., the target area) and the lens, or in other words, it takes a certain amount of time for the target area to move under the lens. Therefore, this embodiment proposes that when it is determined that the current deflection correction value is within the preset deflection correction range, the servo motor may not be moved immediately, but the servo motor may be controlled to move the lens for tracking focus only when the target area moves under the lens, and the camera captures the pole piece image, thereby ensuring that the target area of ​​the pole piece is focused and photographed.

[0068] Among them, the embodiments of the present invention do not limit how to determine how to move the target area to the position where the lens is located. Those skilled in the art can set it according to actual needs. Any method that can determine how to move the target area to the position where the lens is located is within the scope of the technical solution protected by the embodiments of the present invention.

[0069] For example, in some embodiments, it can be determined whether the target area has moved to the position of the lens according to the moving distance of the pole piece. The above (step 2) can be refined as follows: obtaining a first distance between the correction sensor and the lens in the direction of pole piece transmission; when the target area moves the first distance from the position of the correction sensor along the direction of pole piece transmission, determining that the target area has moved to the position of the lens; and controlling the lens to focus on the pole piece.

[0070] Specifically, the first distance between the deflection correction sensor and the lens along the pole piece transmission direction can be measured in advance. After the deflection correction sensor detects the pole piece offset and the controller determines the target area, if the target area moves the first distance from the position of the deflection correction sensor, it can reach the position of the lens. Based on this, this embodiment proposes that when it is determined that the current deflection correction value is within the preset deflection correction value range, the first position of the target area can be recorded. The first position is the position of the target area at the deflection correction sensor. Subsequently, after detecting that the pole piece has moved the first distance, it can be determined that the target area has moved to the position of the lens, and the servo motor can be controlled to move to focus the lens.

[0071] Exemplarily, the pole piece burr detection device may also include an encoder, which is used to collect the position of the pole piece in real time. The controller is connected to the encoder, and the controller determines the moving distance of the pole piece based on the collected data of the encoder, thereby judging whether the target area moves to the bottom of the lens.

[0072] Among them, the encoder can be configured in the form of motion control process objects, similar to the servo axis configuration, which simplifies the reading of the encoder count position, so that the encoder real-time position can be read through the PLCopen standard. The pole piece movement position is obtained in millimeters, so the pole piece movement distance can be directly obtained, improving the accuracy of the pole piece movement distance.

[0073] For example, in some other embodiments, it is also possible to determine whether the target area has moved to the position of the lens based on the movement time of the pole piece. The above (step 2) can be refined as follows: record the first moment when the correction sensor detects the current correction value; calculate the target time required for the target area to move from the position of the correction sensor to the position of the lens; start timing from the first moment, and after reaching the target time, determine that the target area has moved to the position of the lens, and then control the lens to focus on the pole piece.

[0074] The target duration can be calculated based on the first distance between the correction sensor and the lens along the direction of movement of the pole piece and the moving speed of the pole piece.

[0075] Optionally, in some embodiments, the focus tracking control method also includes: pre-calibrating the correspondence between the correction value and the servo motor position; (S130) in the above embodiment can be further refined as: determining that the current correction value is within a preset correction value range; determining the target motor position corresponding to the current correction value based on the correspondence between the correction value and the servo motor position; controlling the servo motor to move to the target motor position to control the lens to focus on the pole piece.

[0076] Specifically, the correspondence between the correction value and the servo motor position refers to the position offset value of the edge of the pole piece and the position of the servo motor when the lens can maintain focus when the pole piece is offset. This correspondence can be calibrated in advance by the staff according to actual tests.

[0077] Exemplarily, the staff can obtain different correction values ​​of the pole piece collected by the correction sensor, and determine the servo motor position at which the lens can still maintain focus under different correction values, and then use any polynomial fitting method to fit the two to obtain the corresponding functional relationship U=f(x) between the correction value and the servo motor position, where U is the servo motor position and x is the correction value. This functional relationship is the corresponding relationship between the correction value and the servo motor position. There is no limit to the fitting method of the correction value and the servo motor position, for example, it can be the least squares method, but it is not limited to this, and the embodiments of the present invention do not elaborate on this and do not limit it.

[0078] In the actual online detection process, after determining the current deviation correction value, the servo motor position corresponding to the current deviation correction value (i.e., the target motor position) can be calculated according to the above functional relationship, and then the servo motor movement can be controlled according to the target motor position, so that the focus can be tracked quickly and accurately. In this way, the timeliness and accuracy of the focus tracking can be increased, and because the adjustment of the servo motor position does not rely on the detection data of the deviation correction sensor, the dependence on the accuracy of the deviation correction sensor can be reduced.

[0079] In the case where most burrs need to be detected, a high-resolution camera needs to be selected, and the depth of field will be reduced. When the depth of field is 150μm, combined with the maximum speed and acceleration and deceleration time of the servo motor, the motor needs to complete a focus tracking action within 50ms. According to actual tests, the focus tracking control method of the present invention can control the servo motor to complete the focus tracking within 50ms when the depth of field is 150μm, and no abnormal sound problem will be generated when the servo motor moves quickly, thereby realizing fast and accurate servo focus tracking control.

[0080] Figure 7 A flowchart of another focus tracking control method provided by an embodiment of the present invention, Figure 7 A specific embodiment is shown, which can be referred to Figure 7 The focus tracking control method may include the following steps:

[0081] S310, determining a current deviation correction value according to the position of the pole piece edge in the deviation correction sensor.

[0082] The current correction value is the position offset value of the edge of the pole piece.

[0083] S321, determining whether the current deviation correction value is within the limited deviation correction range of the deviation correction sensor.

[0084] If yes, execute S322, if no, execute S340.

[0085] S322: Determine whether the current deviation correction value is within a preset deviation correction value range.

[0086] If yes, execute S330 , if no, execute S340 .

[0087] S331. When the target area moves to the position of the lens, the lens is controlled to focus on the pole piece.

[0088] S332. Store the current deviation correction value as the pole piece deviation correction value determined when the current focus tracking action is executed.

[0089] S340: Stop executing the focus tracking action.

[0090] The specific implementation methods of the above steps can all refer to the above embodiments. After executing S332 (or S340), the current focus tracking ends, and S310 is executed again, and the focus tracking control method is executed cyclically according to the above process.

[0091] Based on the same inventive concept, an embodiment of the present invention further provides a focus tracking control device, which is used to execute the focus tracking control method provided by any embodiment of the present invention. The focus tracking control device can be integrated into the controller in the form of software and / or hardware. Figure 8 Schematic diagram of the structure of a focus tracking control device provided by an embodiment of the present invention. Figure 8 As shown, the focus tracking control device includes:

[0092] The correction value determination module 100 is used to determine the current correction value according to the position of the pole piece edge in the correction sensor; the current correction value is the position offset value of the pole piece edge.

[0093] The judging module 200 is used to judge whether the current deviation correction value is within a preset deviation correction value range.

[0094] The control module 300 is used to control the lens to focus on the pole piece when the current correction value is within a preset correction value range.

[0095] Through the above solution, a set of lenses can be used to achieve pole piece tracking, which can solve the scenario where dual cameras cannot be installed for detection due to limited equipment space. At the same time, it can reduce system costs and achieve burr detection in various scenarios. In addition, by comparing the current correction value with the preset correction value range, the tracking action is performed when the current correction value is within the preset correction value range, which can avoid interference noise affecting the tracking and repeated tracking, and improve the tracking accuracy. The clarity of the material pole piece detection image is guaranteed to meet the needs of online real-time burr detection.

[0096] Optionally, in some embodiments, the correction value determination module can also be used to: obtain a previous correction value; the previous correction value is the pole piece correction value determined when the previous focus tracking action was performed; the judgment module can also be used to: calculate the correction value difference between the current correction value and the previous correction value, and when the absolute value of the correction value difference is within a preset difference range, judge that the current correction value is within the preset correction value range.

[0097] Optionally, in some embodiments, the judgment module may also be used to: determine whether the current deviation correction value is within a limited deviation correction range of the deviation correction sensor.

[0098] Optionally, in some embodiments, the control module may also be used to: stop executing the focus tracking action when the current deviation correction value exceeds a limited deviation correction range of the deviation correction sensor, or when the current deviation correction value exceeds a preset deviation correction value range.

[0099] Optionally, in some embodiments, the focus tracking control device may further include a correction value recording module, which is used to: when the current correction value is within a preset correction value range, store the current correction value as the pole piece correction value determined when the current focus tracking action is executed.

[0100] Optionally, in some embodiments, the pole piece burr detection device further includes a conveying component for conveying the pole piece; wherein, along the pole piece conveying direction, the deflection correction sensor is located before the lens, and the current deflection correction value is a position offset value of the target area at the edge of the pole piece. The control module can be used to: determine that the current deflection correction value is within a preset deflection correction value range; and when the target area moves to the position of the lens, control the lens to focus on the pole piece.

[0101] Optionally, in some embodiments, the control module can be specifically used to: obtain a first distance between the correction sensor and the lens in the pole piece transmission direction; when the target area moves a first distance along the pole piece transmission direction from the position of the correction sensor, determine that the target area moves to the position of the lens; and control the lens to focus on the pole piece.

[0102] Optionally, in some embodiments, the focus tracking control device may further include a correspondence determination module for pre-calibrating the correspondence between the correction value and the servo motor position; the control module can be specifically used to: determine whether the current correction value is within a preset correction value range; determine the target motor position corresponding to the current correction value based on the correspondence between the correction value and the servo motor position; control the servo motor to move to the target motor position to control the lens to focus on the pole piece.

[0103] The embodiment of the present invention also provides a pole piece burr detection device, which can be further referred to Figure 1 and Figure 2 , including a correction sensor 10, a servo motor 20, a lens 30 and a controller (not shown in the figure); the correction sensor 10 is used to detect the position of the pole piece 40, the servo motor 20 drives the lens 30 to move, and the controller is used to execute the focus control method provided by any embodiment of the present invention.

[0104] The pole piece burr detection device also includes a camera 50. During the detection process, the camera 50 is relatively fixed to the lens 30. After the lens 30 is focused, the camera 50 captures the image of the pole piece 40. The pole piece burr detection device also includes a conveying assembly 60 for conveying the pole piece 40. Among them, the conveying assembly 60 can convey the pole piece 40 in the form of roller transmission, but is not limited to this, and the embodiments of the present invention do not elaborate on this and do not limit this. The lens 30 and the camera 50 can be located above the pole piece 40 to photograph the burrs on the edge, side or surface of the pole piece 40 from above the pole piece 40. The correction sensor 10 can be installed on the transmission path of the pole piece 40 to detect the position of the pole piece 40.

[0105] Exemplarily, the camera may be an area array camera, and the lens may be a telecentric lens, but is not limited thereto.

[0106] The pole piece burr detection device in the embodiment of the present invention includes all the technical features and corresponding beneficial effects of the focus tracking control method provided by any embodiment of the present invention, and the embodiment of the present invention will not be repeated here. In addition, the pole piece burr detection device provided by the embodiment of the present invention may also include any components known to those skilled in the art, and the present invention is also not limited to this.

[0107] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A focus tracking control method, characterized in that: Applicable to a pole piece burr detection device, the pole piece burr detection device comprises a deviation correction sensor, a servo motor and a lens, the deviation correction sensor is used to detect the position of the pole piece, and the servo motor drives the lens to move; The focus tracking control method comprises: Determine a current deviation correction value according to the position of the pole piece edge in the deviation correction sensor; the current deviation correction value is the position offset value of the pole piece edge; Determining whether the current deviation correction value is within a preset deviation correction value range; When the current deviation correction value is within the preset deviation correction value range, the lens is controlled to focus on the pole piece.

2. The focus tracking control method according to claim 1, characterized in that: Before determining whether the current deviation correction value is within the preset deviation correction value range, the method further includes: Obtaining a previous deviation correction value; the previous deviation correction value is a pole piece deviation correction value determined when a previous focus tracking action was performed; Determining whether the current deviation correction value is within a preset deviation correction value range includes: Calculating a deviation difference between the current deviation correction value and the previous deviation correction value; When the absolute value of the deviation correction value difference is within the preset difference range, it is determined that the current deviation correction value is within the preset deviation correction value range.

3. The focus tracking control method according to claim 1, characterized in that: Before determining whether the current deviation correction value is within the preset deviation correction value range, the method further includes: It is determined that the current deviation correction value is within a limited deviation correction range of the deviation correction sensor.

4. The focus tracking control method according to claim 3, characterized in that: When the current deviation correction value exceeds the limited deviation correction range of the deviation correction sensor, or when the current deviation correction value exceeds the preset deviation correction value range, the focus tracking action is stopped.

5. The focus tracking control method according to claim 1, characterized in that: The focus tracking control method further includes: When the current deviation correction value is within the preset deviation correction value range, the current deviation correction value is stored as the pole piece deviation correction value determined when the current focus tracking action is performed.

6. The focus tracking control method according to claim 1, characterized in that: The pole piece burr detection device further includes a conveying component for conveying the pole piece; wherein, along the pole piece conveying direction, the deflection correction sensor is located before the lens, and the current deflection correction value is a position offset value of a target area of ​​the pole piece edge; When the current deviation correction value is within the preset deviation correction value range, controlling the lens to focus on the pole piece includes: Determining that the current deviation correction value is within the preset deviation correction value range; When the target area moves to the position of the lens, the lens is controlled to focus on the pole piece.

7. The focus tracking control method according to claim 6, characterized in that: When the target area moves to the position of the lens, controlling the lens to focus on the pole piece includes: Acquire a first distance between the deflection correction sensor and the lens in the pole piece transmission direction; When the target area moves the first distance along the pole piece conveying direction from the position where the deviation correction sensor is located, determining that the target area moves to the position where the lens is located; The lens is controlled to focus on the pole piece.

8. The focus tracking control method according to claim 1, characterized in that: The focus tracking control method further includes: Pre-calibrate the corresponding relationship between the deviation correction value and the servo motor position; When the current deviation correction value is within the preset deviation correction value range, controlling the lens to focus on the pole piece includes: Determining that the current deviation correction value is within the preset deviation correction value range; Determine the target motor position corresponding to the current deviation correction value according to the corresponding relationship between the deviation correction value and the servo motor position; The servo motor is controlled to move to the target motor position to control the lens to focus on the pole piece.

9. A focus tracking control device, characterized in that: Used to execute the focus tracking control method as described in any one of claims 1 to 8 above, the focus tracking control device comprises: A deviation correction value determination module, used to determine a current deviation correction value according to the position of the pole piece edge in the deviation correction sensor; the current deviation correction value is a position offset value of the pole piece edge; A judging module, used to judge whether the current deviation correction value is within a preset deviation correction value range; The control module is used to control the lens to focus on the pole piece when the current deviation correction value is within the preset deviation correction value range.

10. A pole piece burr detection device, characterized in that: Including correction sensor, servo motor, lens and controller; The correction sensor is used to detect the position of the pole piece, the servo motor drives the lens to move, and the controller is used to execute the focus tracking control method as described in any one of claims 1 to 8 above.

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