Cutting guiding method, device and system

Abstract

The embodiment of the invention provides a cutting guiding method, device and system. The method comprises the steps that image collection is conducted on a material to obtain a first image, the material comprises at least one reference object, the first image comprises a first reference object, and the material is located on a conveying device; processing the first image to obtain an edge state of the first reference object; determining a reference position of the first reference object according to the edge state; and according to the reference position, the target distance of the material moving to the cutting position is determined, so that the conveying equipment is controlled to enable the material to move by the target distance, and cutting is completed. And the accuracy of determining the moving distance of the battery material is improved, so that the accuracy of cutting the battery material is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of machine vision technology, and in particular to a cutting guidance method, device and system. Background Art

[0002] In the battery production process, it is necessary to cut the rolled battery material to obtain a single piece of battery material. The battery material on the conveyor belt can be photographed by a camera device, and the moving distance of the battery material can be determined based on the image obtained. The controller controls the conveyor belt to move the battery material by a corresponding moving distance, so that the cutting transposition is performed at a preset position to cut the battery material.

[0003] In actual application, after the camera device captures an image, it determines the preset position in the image as the reference position. And determines the moving distance of the battery material based on the reference position. In the above process, since the moving distance of the battery material is determined based on the preset position, if the position or angle of the battery material in the image captured by the camera does not match the position or angle of the battery material corresponding to the preset position, the moving distance determined based on the preset position will also have an error. In this way, the accuracy of determining the moving distance of the battery material is low, resulting in low accuracy in cutting the battery material. Summary of the invention

[0004] The embodiments of the present application provide a cutting guide method, device and system to solve the problem of low accuracy in cutting battery materials.

[0005] In a first aspect, an embodiment of the present application provides a cutting guidance method, comprising:

[0006] Capturing an image of a material to obtain a first image, wherein the material includes at least one reference object, the first image includes a first reference object, and the material is located on a conveying device;

[0007] Processing the first image to obtain an edge state of the first reference object;

[0008] determining a reference position of the first reference object according to the edge state;

[0009] The target distance for moving the material to the cutting position is determined according to the reference position, so as to control the conveying device to move the material to the target distance and complete the cutting.

[0010] In a second aspect, an embodiment of the present application provides a cutting guide device, the device comprising:

[0011] A collection module, used for collecting images of a material to obtain a first image, wherein the material includes at least one reference object, the first image includes a first reference object, and the material is located on a conveying device;

[0012] A processing module, used for processing the first image to obtain an edge state of the first reference object;

[0013] A first determining module, configured to determine a reference position of the first reference object according to the edge state;

[0014] The second determination module is used to determine the target distance for moving the material to the cutting position according to the reference position, so as to control the conveying device to move the material to the target distance and complete the cutting.

[0015] In a third aspect, an embodiment of the present application provides a processing device, including:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform any method described in the first aspect.

[0019] In a fourth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute any one of the methods described in the first aspect.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which implements any method in the first aspect when executed by a processor.

[0021] In a sixth aspect, an embodiment of the present application provides a cutting guidance system, including a machine vision device, a processing device, a transmission device, and a control device; wherein:

[0022] The machine vision device is used to capture images of the material on the transmission device and output a first image to the processing device;

[0023] The processing device is used to process the first image to obtain an edge state of a first reference object in the first image, determine a target distance for the material to move to a cutting position according to the edge state, and send the target distance to the control device;

[0024] The control device is used to control the transmission device to transmit the battery to the target distance to complete the cutting.

[0025] The cutting guidance method, device and system provided in the embodiments of the present application collect the material on the conveying equipment to obtain a first image. The first image is processed to obtain the edge state of the first reference object in the first image. According to the edge state of the first reference object, the reference position of the first reference object is determined, thereby determining the target distance for the material to move to the cutting position. The conveying equipment is controlled to move the material to the target distance and complete the cutting. In the above process, the target distance can be determined according to the reference position of the first reference object. Instead of determining the target distance for the material to move to the cutting position according to the preset position, it is avoided that the position or angle of the battery material in the image captured by the camera equipment does not match the position or angle of the battery material corresponding to the preset position, and the moving distance determined according to the preset position will also have errors. The accuracy of determining the moving distance of the battery material is improved, thereby improving the accuracy of cutting the battery material. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application;

[0027] Figure 2 A schematic diagram of a process flow of a cutting guidance method provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of a first image provided in an embodiment of the present application;

[0029] Figure 4 A schematic diagram of a flow chart of another cutting guidance method provided in an embodiment of the present application;

[0030] Figure 5 A schematic diagram of a process for determining a first reference area and a second reference area provided in an embodiment of the present application;

[0031] Fig. 6A A schematic diagram of a process for determining a reference position provided in an embodiment of the present application;

[0032] Figure 6B A schematic diagram of another process for determining a reference position provided in an embodiment of the present application;

[0033] Fig. 7A A schematic diagram of a process for determining a standard position provided in an embodiment of the present application;

[0034] Figure 7B A schematic diagram of another process for determining a standard position provided in an embodiment of the present application;

[0035] Figure 8 A schematic diagram of a process for determining a target distance provided in an embodiment of the present application;

[0036] Fig. 9A schematic diagram of the cutting guide process provided in an embodiment of the present application;

[0037] Fig.10 A schematic diagram of the structure of a cutting guide device provided in an embodiment of the present application;

[0038] Fig.11 A schematic diagram of the structure of a processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0040] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0041] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0042] For ease of understanding, below, combined Figure 1 , the application scenarios to which the embodiments of the present application are applicable are described.

[0043] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1, including a camera device 101 and a controller 102. The camera device 101 can be a camera, a smart camera, etc. The controller 102 can be a programmable logic controller (PLC). The camera device 101 is arranged above the conveyor belt, and the battery material is placed on the conveyor belt. A light source is arranged below the conveyor belt, and the light source and the camera device 101 are in the same vertical direction. The industrial computer is used to configure the controller 102, and the display is used to display the image acquired by the camera device 101. The controller 102 controls the movement of the conveyor belt, thereby moving the battery material on the conveyor belt. At the same time, a collection instruction is sent to the camera device 101, and the camera device 101 acquires the image corresponding to the battery material according to the collection instruction. The camera device 101 determines the moving distance of the battery material according to the image corresponding to the battery material. And sends the moving distance to the controller 102. After receiving the moving distance, the controller 102 controls the movement of the conveyor belt according to the moving distance.

[0044] In actual application, after the camera device captures an image, it determines the preset position in the image as the reference position. And the moving distance of the battery material is determined based on the reference position. In the above process, since the moving distance of the battery material is determined based on the preset position, if the position or angle of the battery material in the image captured by the camera device does not match the position or angle of the battery material corresponding to the preset position, the moving distance determined based on the preset position will also have an error. In this way, the accuracy of determining the moving distance of the battery material is low, resulting in low accuracy in cutting the battery material.

[0045] In an embodiment of the present application, the material on the conveying device is collected to obtain a first image. The first image is processed to obtain the edge state of the first reference object in the first image. According to the edge state of the first reference object, the reference position of the first reference object is determined, thereby determining the target distance for the material to move to the cutting position. The conveying device is controlled to move the material to the target distance and complete the cutting. In the above process, the target distance can be determined according to the reference position of the first reference object. Instead of determining the target distance for the material to move to the cutting position according to the preset position, it is avoided that the position or angle of the battery material in the image captured by the camera device does not match the position or angle of the battery material corresponding to the preset position, and the movement distance determined according to the preset position will also have errors. The accuracy of determining the movement distance of the battery material is improved, thereby improving the accuracy of cutting the battery material.

[0046] The method shown in the present application is described below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be described repeatedly in different embodiments.

[0047] Figure 2 A schematic diagram of a cutting guidance method provided in an embodiment of the present application. Figure 2 , the method may include:

[0048] S201, capturing an image of a material to obtain a first image.

[0049] The execution subject of the embodiment of the present application may be a processing device, or a cutting guide device set in the processing device. The cutting guide device may be implemented by software, or by a combination of software and hardware. The processing device or the processing device may be set in a cutting guide system. The cutting guide system may include a machine vision device, a processing device, a transmission device, and a control device.

[0050] The material includes at least one reference object, the first image includes a first reference object, and the material is located on a conveying device.

[0051] For example, if the material is a battery material, the first reference object may be a tab in the battery material, and the first image includes the first tab.

[0052] The conveying device may be a conveyor belt, and a sensor is provided on the transfer device. The sensor may detect the position of the material on the conveying device, and when it determines that the corresponding position in the material is directly below the machine vision device, it sends a target signal to the control device. After receiving the target signal, the control device sends a collection instruction to the machine vision determination device. After receiving the collection instruction sent by the control device, the machine vision device performs image collection on the material within the shooting range of the machine vision device to obtain a first image.

[0053] Next, combine Figure 3 , the first image is described. Figure 3 A schematic diagram of a first image provided in an embodiment of the present application. Figure 3 , including a first image 301. The first image 301 includes a battery material (black area), and the protruding areas in the middle and lower parts of the battery material are first tabs.

[0054] S202: Process the first image to obtain an edge state of a first reference object.

[0055] The edge state of the first reference object may be a complete state or an incomplete state.

[0056] The first image can be processed in the following manner to obtain the edge state of the first reference object: perform image recognition processing on the first image to obtain the first area occupied by the first reference object in the first image; perform segmentation processing on the first area to obtain the first reference area and the second reference area; process the first reference area and the second reference area to obtain the edge state of the first reference object.

[0057] A preset algorithm may be obtained, and image recognition processing may be performed on the first image through the preset algorithm to determine the first area occupied by the first electrode tab in the first image. The preset algorithm may be set in advance and stored in a preset storage space of the processing device.

[0058] For example, according to the above Figure 3 The first image 301 shown is identified and processed by a preset algorithm, and the first area occupied by the first electrode tab in the first image is obtained as area A.

[0059] It is possible to determine whether the first reference object is complete in the first image based on the first reference area and the second reference area, thereby determining the corresponding reference position. And according to the reference position, the offset of the current moving distance is determined. According to the offset of the moving distance, the target distance of the material moving to the cutting position is determined.

[0060] For example, according to the above Figure 3 The first image 301 shown can determine that the first area is area A. Area A is segmented and processed to obtain the first reference area as the left half of the first pole lug, and the second reference area as the right half of the first pole lug. According to the first pole lug displayed in the first reference area and the second reference area, it can be determined that the edge state of the first reference object is a complete state.

[0061] S203: Determine a reference position of the first reference object according to the edge state.

[0062] If the first reference object is displayed completely in the first image, the center position of the first reference object can be determined as the reference position. If the first reference object is displayed incompletely in the first image, the reference position is determined based on the complete area corresponding to the first reference object. In this way, it can be avoided that when the reference position is determined by the preset position, the position or angle of the material does not match the position or angle of the material corresponding to the preset position when determining the target distance, and the moving distance determined based on the preset position may also have errors.

[0063] For example, according to the above example, in the first image 301, the first pole lug is completely displayed. Then, the center position A of the first reference object can be determined as the reference position.

[0064] S204, determining a target distance for moving the material to the cutting position according to the reference position, and controlling the conveying device to move the material to the target distance and complete the cutting.

[0065] After receiving the target distance, the control device controls the material on the conveying device to move the target distance. In this way, the material in the first image can be moved to the cutting position corresponding to the cutting device according to the target distance. The cutting device can accurately cut the battery material to avoid damage to the parts in the material.

[0066] For example, according to the above example, the target distance is determined to be distance A. The processing device sends distance A to the control device. After receiving distance A, the control device controls the material on the conveying device to move distance A, so as to move the area captured by the first image in the battery material to the cutting device for cutting.

[0067] The distance determination method provided in the embodiment of the present application performs image acquisition on the material to obtain a first image. The first image is processed to obtain the edge state of the first reference object. The reference position of the first reference object is determined according to the edge state. The target distance for the material to move to the cutting position is determined according to the reference position, so as to control the conveying equipment to move the material to the target distance and complete the cutting. In the above process, the target distance can be determined according to the reference position of the first reference object. Instead of determining the target distance for the material to move to the cutting position according to the preset position, it is avoided that the position or angle of the battery material in the image captured by the camera equipment does not match the position or angle of the battery material corresponding to the preset position, and the movement distance determined according to the preset position will also have errors. The accuracy of determining the movement distance of the battery material is improved, thereby improving the accuracy of cutting the battery material.

[0068] Based on any of the above embodiments, Figure 4 , the detailed process of cutting guidance is explained.

[0069] Figure 4 A flowchart of another cutting guidance method provided in an embodiment of the present application. Figure 4 , the method comprising:

[0070] S401, capturing an image of a material to obtain a first image.

[0071] It should be noted that the execution process of S401 can refer to S201 and will not be repeated here.

[0072] S402: Perform image recognition processing on the first image to obtain a first area occupied by a first reference object in the first image.

[0073] It should be noted that the execution process of S402 can refer to S202 and will not be repeated here.

[0074] S403 , segment the first region to obtain a first reference region and a second reference region.

[0075] The first area can be segmented in the following manner to obtain the first reference area and the second reference area: in the first area, the center position is determined; based on the center position, the first area is segmented to obtain the first side area and the second side area corresponding to the center position; the first side area is determined as the first reference area, and the second side area is determined as the second reference area.

[0076] Next, combine Figure 5 , a process of determining a first reference area and a second reference area in a first image is described. Figure 5 A schematic diagram of the process of determining the first reference area and the second reference area provided in an embodiment of the present application. Figure 5 , including a first image 501. The first image 501 includes battery materials (black areas in the figure). The corresponding protruding area in the battery material is the area occupied by the first pole lug. In the first area, the center position is determined (white dot in the figure). And according to the center position, the first area is segmented to obtain the first side area and the second side area corresponding to the center position in the first image 501 as the left half area of ​​the first pole lug. The first side area and the second side area corresponding to the center position in the first image 501 are the right half area of ​​the first pole lug. The first reference area is determined to be the left half area of ​​the first pole lug of the first pole lug, and the second reference area is determined to be the right half area of ​​the first pole lug.

[0077] S404: Process the first reference area and the second reference area to obtain an edge state of the first reference object.

[0078] The first reference area and the second reference area can be processed in the following manner to obtain the edge state of the first reference object: obtain preset parameters; if the first reference area matches the preset parameters, and the second reference area matches the preset parameters, then determine that the edge state of the first reference object is a complete state; if there is a reference area in the first reference area and the second reference area that does not match the preset parameters, then determine that the edge state of the first reference object is an incomplete state.

[0079] The preset parameters at least include an area, an angle, at least one feature information of a preset reference area, etc. The preset parameters may be set in advance and stored in a preset storage space of the processing device.

[0080] For example, the preset reference area is a side area of ​​the battery material corresponding to the tab. The area of ​​the preset reference area can be 0.5 times the area of ​​the area occupied by the tab in the battery material.

[0081] When the preset parameters include the area, angle, and at least one feature information of the preset reference area, if the area of ​​the first reference area matches the area of ​​the preset reference area, the angle of the first reference area matches the angle of the preset reference area, and the at least one feature information of the first reference area matches the at least one feature information of the preset reference area, then it can be determined that the first reference area matches the preset parameters. If the area of ​​the first reference area does not match the area of ​​the preset reference area, and / or the angle of the first reference area does not match the angle of the preset reference area, and / or the at least one feature information of the first reference area does not match the at least one feature information of the preset reference area, then it can be determined that the first reference area does not match the preset parameters.

[0082] It should be noted that the process of determining whether the second reference area matches the preset parameters is the same as the process of determining whether the first reference area matches the preset parameters, which will not be described in detail here.

[0083] S405: Determine a reference position of the first reference object according to the edge state.

[0084] The reference position of the first reference object can be determined according to the edge state in the following manner: if the edge state of the first reference object is a complete state, the center position of the first area is determined as the reference position; if the edge state of the first reference object is an incomplete state, a target reference area and a preset position are determined in the first reference area and the second reference area, and the preset position is determined as the reference position in the target reference area, and the edge state of the first reference object in the target reference area is a complete state.

[0085] The preset position may be a corresponding position in the first reference object that is set in advance.

[0086] Optionally, the preset position can be determined in the following manner: determine the first position in the first image, where the first position is the center position of the first image; determine at least one intersection position of the first area and the second area, where the second area is the area in the first image corresponding to the battery material except the first area; determine a first distance between each intersection position and the first position; and among at least one intersection position, determine the intersection position with the smallest first distance as the preset position.

[0087] The first position, the reference position and the preset position may be represented by coordinates.

[0088] Next, combine Fig. 6A and Figure 6B , the process of determining the reference position is explained. Fig. 6A A schematic diagram of a process for determining a reference position provided in an embodiment of the present application. Fig. 6A, including a first image 601. The first image 601 includes battery materials (black areas in the figure). The corresponding protruding area in the battery material is the first area occupied by the first pole lug. The first reference area is the left area of ​​the first pole lug in the first image 601, and the second reference area is the right area of ​​the first pole lug in the first image 601. The first reference area and the second reference area are separated by a white vertical line. The preset parameters obtained in the preset storage space include the area 1 of the preset reference area and the angle 1 of the preset reference area. Determining the first parameter of the first reference area and the second parameter of the second reference area in the first image 601 can be specifically shown in Table 1:

[0089] Table 1

[0090]

[0091] For the first parameter, according to Table 1, if the area of ​​the first reference region matches the area of ​​the preset reference region, and the angle of the first reference region matches the angle of the preset reference region, then the first parameter can be determined to match the preset parameter. For the second parameter, according to Table 1, if the area of ​​the second reference region matches the area of ​​the preset reference region, and the angle of the second reference region matches the angle of the preset reference region, then the second parameter can be determined to match the preset parameter. Therefore, in the first image 601, the midpoint position of the first region is determined to be position B1. Position B1 is determined as the reference position.

[0092] Figure 6B This is another schematic diagram of a process for determining a reference position provided in an embodiment of the present application. Figure 6B , including a first image 602. The first image 602 includes battery materials (black areas in the figure). The corresponding protruding area in the battery material is the first area occupied by the first pole lug. The first reference area is the left area of ​​the first pole lug in the first image 602, and the second reference area is the right area of ​​the first pole lug in the first image 602. The first reference area and the second reference area are separated by a white vertical line. The preset parameters obtained in the preset storage space include the area 1 of the preset reference area and the angle 1 of the preset reference area. Determining the first parameter of the first reference area and the second parameter of the second reference area in the first image 602 can be specifically shown in Table 2:

[0093] Table 2

[0094]

[0095] For the first parameter, according to Table 2, it is determined that the area of ​​the first reference area does not match the area of ​​the preset reference area, and the angle of the first reference area matches the angle of the preset reference area, then it can be determined that the first parameter does not match the preset parameter. For the second parameter, according to Table 2, it is determined that the area of ​​the second reference area does not match the area of ​​the preset reference area, and the angle of the second reference area matches the angle of the preset reference area, then it can be determined that the second parameter does not match the preset parameter. Therefore, it is determined that in the first image 602, the first position is determined to be position A, and position A is the center position of the first image 602. In the first image 602, the area other than the first area in the area corresponding to the battery material is determined to be the second area. And at least one intersection position of the first area and the second area is determined to be any position on the line segment l. Determine the first distance between each intersection position and the first position. And determine that the intersection position with the smallest first distance in at least one intersection position is position B2. Determine the reference position to be position B2.

[0096] S406: Acquire a standard image corresponding to the first image.

[0097] In the standard image, the center position of the first reference object of the material and the center position of the material are on the same vertical line.

[0098] For example, in the standard image, the center position of the first electrode of the battery material is on the same vertical line as the center position of the battery material. Figure 3 A first image 301 is shown.

[0099] The standard image can be set in advance and stored in a preset storage space of the processing device. The standard images corresponding to different materials may be different, and this application does not limit this.

[0100] S407: In the standard image, determine a standard position corresponding to the reference position.

[0101] If the reference position is the center position of the first area, the standard position corresponding to the reference position is the center position of the area occupied by the first reference object in the standard image. If the reference position is the intersection position in the first reference area, the standard position corresponding to the reference position is the endpoint position on the first side of the first reference object in the standard image. If the reference position is the intersection position in the second reference area, the standard position corresponding to the reference position is the endpoint position on the second side of the first reference object in the standard image.

[0102] Next, combine Figure 7A-7B , the process of determining the standard position is explained. Fig. 7A A schematic diagram of a process for determining a standard position provided in an embodiment of the present application. Fig. 7A, including a first image 701. The first image 701 includes battery materials (black areas in the figure). The corresponding protruding area in the battery material is the first area occupied by the first pole lug. The first reference area is the left area of ​​the first pole lug in the first image 701, and the second reference area is the right area of ​​the first pole lug in the first image 702. The first reference area and the second reference area are separated by a white vertical line. The center position of the first area is position B3. Assuming that the first parameter matches the preset parameter and the second parameter matches the preset parameter, the midpoint position B3 of the first area is determined as the reference position. Obtain a standard image in the preset storage space. And in the standard image, determine that the standard position corresponding to the reference position is position O1 in the first image 701. Position O1 is the center position of the area occupied by the pole lug of the battery material in the standard image 701 (the gray area in the figure is the area occupied by the pole lug in the standard image).

[0103] Figure 7B This is another schematic diagram of the process of determining the standard position provided in the embodiment of the present application. Figure 7B , including a first image 702. The first image 702 includes a battery material (black area in the figure). The corresponding protruding area in the battery material is the first area occupied by the first pole lug. The first reference area is the left area of ​​the first pole lug in the first image 701, and the second reference area is the right area of ​​the first pole lug in the first image 702. The first reference area and the second reference area are separated by a white vertical line. Assuming that there is a parameter in the first parameter and the second parameter that does not match the preset parameter, the position B4 in at least one intersection position corresponding to the first area and the second area is determined as the reference position. Determine that position B is in the standard image, determine that position B4 is in the second reference area, and the second reference area is located on the right side (second side) of the first area. Therefore, in the standard image, the rightmost intersection position of the pole lug and the battery material is determined as the standard position corresponding to the reference position. In the first image 701, the rightmost intersection position of the pole lug and the battery material is position O2. Then it can be determined that the standard position corresponding to the reference position is position O2 (the gray area in the figure is the area occupied by the pole lug in the standard image).

[0104] S408: Determine the distance between the reference position and the standard position as a first offset distance.

[0105] For example, according to the above Fig. 7A As shown, the reference position can be determined as position B3, and the standard position corresponding to the reference position is position O1. The distance B1 between the reference position and the standard position is determined as the first offset distance.

[0106] S409: Determine a target distance for moving the material to the cutting position according to the first offset distance, and control the conveying device to move the material to the target distance and complete the cutting.

[0107] The target distance of the target object corresponding to the first image can be determined according to the first offset distance in the following manner: obtain a preset distance and a standard distance, the standard distance being the distance between two adjacent first reference objects in the material; obtain at least one historical moving distance according to the preset distance and the standard distance; determine the sum of the at least one historical moving distance as the second distance; determine the difference between the first offset distance and the second distance as the third distance; determine the sum of the third distance and the preset distance as the target offset distance; and determine the sum of the standard distance and the target offset distance as the target distance.

[0108] The preset distance may be the distance between the processing device and the cutting device. The preset distance may be set in advance and stored in a preset storage space of the processing device.

[0109] The historical moving distance is the moving distance of the conveyor belt controlled by the control device in the historical period. After controlling the conveyor belt to move once, the control device sends the moving distance to the processing device.

[0110] At least one historical moving distance can be obtained based on the preset distance and the standard distance in the following manner: the preset distance and the standard distance are divided to obtain a quotient of the preset distance and the standard distance, and the quotient of the preset distance and the standard distance is determined as a first quantity; based on the first quantity, at least one historical moving distance is obtained.

[0111] The first number is a first number between the processing device and the cutting device including a first reference.

[0112] For example, the preset distance is 50 and the standard distance is 20. Then, it can be determined that the distance between the processing device and the cutting device includes the first number of tabs, which is 2. Therefore, the historical moving distance includes the moving distance of the first tab by two tabs in front of it in the conveying direction.

[0113] According to the first quantity, obtaining at least one historical moving distance can make the processing device flexibly applicable to various battery materials and corresponding cutting devices. If the standard distance of the battery material or the preset distance between the processing device and the cutting device changes, the target distance can be directly determined by the above method. In this way, the processing device can be applicable to cutting systems of multiple battery materials.

[0114] Next, combine Figure 8 , the process of determining the target distance is explained. Figure 8 This is a schematic diagram of the process of determining the target distance provided by the embodiment of the present application. Figure 8, including a processing device 801 and a cutting device 802. The processing device 801 and the cutting device 802 are above the battery material. The cutting device 802 performs a cutting process on the battery material, and the cut battery material includes a pole ear. The processing device 801 obtains a preset distance and a standard distance in a preset storage space. And according to the preset distance and the standard distance, the first number is determined to be 3. The processing device 801 obtains the historical moving distances of the last three times, which are distance B2, distance B3 and distance B4 respectively. And the sum of at least one historical moving distance, distance B5, is determined as the second distance. The processing device 801 determines the difference between the first offset distance B1 and the second distance B5 as the third distance B4. The sum of the third distance B4 and the preset distance L is determined as the target offset distance B6. And the sum of the standard distance and the target offset distance B6 is determined as the target distance.

[0115] The cutting guidance method provided by the embodiment of the present application is to collect images of the material to obtain a first image. The first image is subjected to image recognition processing to obtain a first area occupied by the first reference object in the first image. The first area is segmented to obtain a first reference area and a second reference area. The first reference area and the second reference area are processed to obtain the edge state of the first reference object. The reference position of the first reference object is determined according to the edge state. A standard image corresponding to the first image is obtained. In the standard image, a standard position corresponding to the reference position is determined. The distance between the reference position and the standard position is determined as a first offset distance. According to the first offset distance, the target distance to be moved of the battery material is determined to control the conveying device to move the material to the target distance and complete the cutting. In the above process, the target distance can be determined according to the reference position of the first reference object. Instead of determining the target distance of the material moving to the cutting position according to the preset position, it is avoided that the position or angle of the battery material in the image captured by the camera device does not match the position or angle of the battery material corresponding to the preset position, and the moving distance determined according to the preset position will also have errors. The accuracy of determining the moving distance of the battery material is improved, thereby improving the accuracy of cutting the battery material.

[0116] Based on any of the above embodiments, Fig. 9 , the process of cutting guidance is explained with examples.

[0117] Fig. 9 A schematic diagram of the cutting guide process provided by the embodiment of the present application. Fig. 9, including a cutting guide system 900, wherein the cutting guide 900 includes a machine vision device 901, a processing device 902, and a control device 903. The machine vision device 901 may be a camera device, and the camera device in the camera device may be a planar array camera. The control device 903 may be a PLC. After the control device 903 controls the conveying device to move to the target position, it sends a collection instruction to the machine vision device 901. The camera device of the machine vision device 901 collects images of the battery material on the conveying device according to the collection instruction to obtain a first image.

[0118] The processing device 902 performs image recognition processing on the first image, and obtains that the first area occupied by the first pole ear in the first image is area C. And in area C, the center position is determined to be position C1. The processing device 902 performs segmentation processing on area C according to position C1, and obtains that the first reference area is the left half area of ​​area C, and the second reference area is the right half area of ​​area C. The processing device 902 obtains preset parameters in the preset storage space, and the preset parameters include the area and angle of the preset reference area. Among them, the area of ​​the preset reference area is area C, and the angle of the preset reference area is angle C. The processing device 902 determines that the first parameter of the first reference area and the second parameter of the second reference area can be specifically shown in Table 3:

[0119] Table 3

[0120]

[0121] For the first parameter, as shown in Table 3, the processing device 902 determines that the area of ​​the first reference region matches the area of ​​the preset reference region, and the angle of the first reference region matches the angle of the preset reference region, then it can be determined that the first parameter matches the preset parameter. For the second parameter, as shown in Table 3, the processing device 902 determines that the area of ​​the second reference region matches the area of ​​the preset reference region, and the angle of the second reference region matches the angle of the preset reference region, then it can be determined that the second parameter matches the preset parameter. Therefore, the processing device 902 determines that the center position C1 of the region C in the first image is the reference position.

[0122] The processing device 902 obtains the standard image corresponding to the first image in the preset storage space, and determines in the standard image that the standard position corresponding to the reference position is position O. The processing device 902 determines the distance C1 between position C1 and position O as the first offset distance. The processing device 902 obtains the preset distance and the standard distance in the preset storage space. Among them, the preset distance is L and the standard distance is S. The processing device 902 determines that the first number is 2 based on the preset distance and the standard distance. Therefore, the processing device 902 obtains the last two moving distances in the control device 903, and determines that the sum of the last two moving distances is a. The processing device 902 determines the target offset distance T=L+C1-a. And determines the target distance X=T+S. The processing device 902 sends the target distance to the control device 903. After receiving the target distance, the control device 903 controls the conveying device to drive the battery material to move the target distance X, and controls the cutting device to cut the battery material.

[0123] In the distance determination process provided by the embodiment of the present application, the image of the material is captured to obtain a first image. The first image is subjected to image recognition processing to obtain a first area occupied by the first reference object in the first image. The first area is segmented to obtain a first reference area and a second reference area. The first reference area and the second reference area are processed to obtain the edge state of the first reference object. The reference position of the first reference object is determined according to the edge state. A standard image corresponding to the first image is obtained. In the standard image, a standard position corresponding to the reference position is determined. The distance between the reference position and the standard position is determined as a first offset distance. According to the first offset distance, the target distance to be moved of the battery material is determined to control the conveying device to move the material by the target distance and complete the cutting. In the above process, the target distance can be determined according to the reference position of the first reference object. Instead of determining the target distance of the material moving to the cutting position according to the preset position, it is avoided that the position or angle of the battery material in the image captured by the camera device does not match the position or angle of the battery material corresponding to the preset position, and the moving distance determined according to the preset position will also have errors. The accuracy of determining the moving distance of the battery material is improved, thereby improving the accuracy of cutting the battery material.

[0124] Fig.10 This is a schematic diagram of the structure of the processing device provided in the embodiment of the present application. Fig.10 , the distance determining device 10 may include:

[0125] An acquisition module 11 is used to acquire an image of a material to obtain a first image, wherein the material includes at least one reference object, the first image includes a first reference object, and the material is located on a conveying device;

[0126] A processing module 12, configured to process the first image to obtain an edge state of the first reference object;

[0127] A first determining module 13, configured to determine a reference position of the first reference object according to the edge state;

[0128] The second determining module 14 is used to determine the target distance for moving the material to the cutting position according to the reference position, so as to control the conveying device to move the material to the target distance and complete the cutting.

[0129] In a possible implementation manner, the processing module 12 is specifically configured to:

[0130] Performing image recognition processing on the first image to obtain a first area occupied by the first reference object in the first image;

[0131] Segmenting the first region to obtain a first reference region and a second reference region;

[0132] The first reference area and the second reference area are processed to obtain an edge state of the first reference object.

[0133] In a possible implementation manner, the processing module 12 is specifically configured to:

[0134] Get preset parameters;

[0135] If the first reference area matches the preset parameter, and the second reference area matches the preset parameter, determining that the edge state of the first reference object is a complete state;

[0136] If there is a reference area in the first reference area and the second reference area that does not match the preset parameter, it is determined that the edge state of the first reference object is an incomplete state.

[0137] In a possible implementation manner, the processing module 12 is specifically configured to:

[0138] In the first area, determining a center position;

[0139] According to the central position, the first area is segmented to obtain a first side area and a second side area corresponding to the central position;

[0140] The first side region is determined as the first reference region, and the second side region is determined as the second reference region.

[0141] In a possible implementation manner, the first determining module 13 is specifically configured to:

[0142] If the edge state of the first reference object is a complete state, determining the center position of the first area as the reference position;

[0143] If the edge state of the first reference object is an incomplete state, a target reference area and a preset position are determined in the first reference area and the second reference area, and the preset position is determined as the reference position in the target reference area, and the edge state of the first reference object in the target reference area is a complete state.

[0144] In a possible implementation manner, the second determining module 14 is specifically configured to:

[0145] Acquire a standard image corresponding to the first image;

[0146] In the standard image, determining a standard position corresponding to the reference position;

[0147] Determine the distance between the reference position and the standard position as a first offset distance;

[0148] The target distance is determined according to the first offset distance.

[0149] In a possible implementation manner, the second determining module 14 is specifically configured to:

[0150] Obtaining a preset distance and a standard distance, wherein the preset distance is the distance between the machine vision device and the cutting device, and the standard distance is the distance between two adjacent first reference objects in the material;

[0151] Acquire at least one historical moving distance according to the preset distance and the standard distance;

[0152] Determine the sum of the at least one historical moving distance as a second distance;

[0153] determining a difference between the first offset distance and the second distance as a third distance;

[0154] Determine the sum of the third distance and the preset distance as the target offset distance;

[0155] The sum of the standard distance and the target offset distance is determined as the target distance.

[0156] In a possible implementation manner, the second determining module 14 is specifically configured to:

[0157] Performing a division process on the preset distance and the standard distance to obtain a quotient of the preset distance and the standard distance, and determining the quotient of the preset distance and the standard distance as a first quantity;

[0158] At least one historical moving distance is acquired according to the first quantity.

[0159] The distance determination device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0160] Fig.11 This is a schematic diagram of the structure of the processing device provided in the embodiment of the present application. The processing device is arranged in the cutting guide system, see Fig.11 The processing device 20 may include: a memory 21 and a processor 22. Exemplarily, the memory 21 and the processor 22 are interconnected via a bus 23.

[0161] The memory 21 is used to store program instructions;

[0162] The processor 22 is used to execute the program instructions stored in the memory, so as to enable the processing device 20 to execute the method shown in the above method embodiment.

[0163] The processing device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0164] An embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above method.

[0165] The embodiment of the present application may also provide a computer program product, including a computer program, which can implement the above method when executed by a processor.

[0166] The embodiment of the present application provides a cutting guidance system, including a machine vision device, a processing device, a transmission device, and a control device; wherein:

[0167] The machine vision device is used to capture images of the material on the transmission device and output a first image to the processing device;

[0168] The processing device is used to process the first image to obtain an edge state of a first reference object in the first image, determine a target distance for the material to move to a cutting position according to the edge state, and send the target distance to the control device;

[0169] The control device is used to control the transmission device to transmit the battery to the target distance to complete the cutting.

[0170] All or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions. The above-mentioned program can be stored in a readable memory. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the above-mentioned memory (storage medium) includes: read-only memory (ROM), random access memory (RAM), flash memory, hard disk, solid state drive, magnetic tape, floppy disk, optical disc and any combination thereof.

[0171] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processing unit of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0172] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0173] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0174] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0175] In the present application, the term "include" and its variations may refer to non-restrictive inclusion; the term "or" and its variations may refer to "and / or". The terms "first", "second", etc. in the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In the present application, "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

Claims

1. A cutting guidance method, characterized in that: include: Capturing an image of a material to obtain a first image, wherein the material includes at least one reference object, the first image includes a first reference object, and the material is located on a conveying device; Processing the first image to obtain an edge state of the first reference object; determining a reference position of the first reference object according to the edge state; The target distance for moving the material to the cutting position is determined according to the reference position, so as to control the conveying device to move the material to the target distance and complete the cutting.

2. The method according to claim 1, characterized in that Processing the first image to obtain an edge state of the first reference object includes: Performing image recognition processing on the first image to obtain a first area occupied by the first reference object in the first image; Segmenting the first region to obtain a first reference region and a second reference region; The first reference area and the second reference area are processed to obtain an edge state of the first reference object.

3. The method according to claim 2, characterized in that Processing the first reference area and the second reference area to obtain an edge state of the first reference object includes: Get preset parameters; If the first reference area matches the preset parameter, and the second reference area matches the preset parameter, determining that the edge state of the first reference object is a complete state; If there is a reference area in the first reference area and the second reference area that does not match the preset parameter, it is determined that the edge state of the first reference object is an incomplete state.

4. The method according to claim 2 or 3, characterized in that: Segmenting the first region to obtain a first reference region and a second reference region includes: In the first area, determining a center position; According to the central position, the first area is segmented to obtain a first side area and a second side area corresponding to the central position; The first side region is determined as the first reference region, and the second side region is determined as the second reference region.

5. The method according to any one of claims 1 to 4, characterized in that: Determining a reference position of the first reference object according to the edge state includes: If the edge state of the first reference object is a complete state, determining the center position of the first area as the reference position; If the edge state of the first reference object is an incomplete state, a target reference area and a preset position are determined in the first reference area and the second reference area, and the preset position is determined as the reference position in the target reference area, and the edge state of the first reference object in the target reference area is a complete state.

6. The method according to any one of claims 1 to 5, characterized in that: Determining a target distance for moving the material to a cutting position according to the reference position includes: Acquire a standard image corresponding to the first image; In the standard image, determining a standard position corresponding to the reference position; Determine the distance between the reference position and the standard position as a first offset distance; The target distance is determined according to the first offset distance.

7. The method according to claim 6, characterized in that Determining the target distance according to the first offset distance includes: Obtaining a preset distance and a standard distance, wherein the preset distance is the distance between the machine vision device and the cutting device, and the standard distance is the distance between two adjacent first reference objects in the material; Acquire at least one historical moving distance according to the preset distance and the standard distance; Determine the sum of the at least one historical moving distance as a second distance; determining a difference between the first offset distance and the second distance as a third distance; Determine the sum of the third distance and the preset distance as the target offset distance; The sum of the standard distance and the target offset distance is determined as the target distance.

8. The method according to claim 7, characterized in that Acquiring at least one historical moving distance according to the preset distance and the standard distance includes: Performing a division process on the preset distance and the standard distance to obtain a quotient of the preset distance and the standard distance, and determining the quotient of the preset distance and the standard distance as a first quantity; At least one historical moving distance is acquired according to the first quantity.

9. A cutting guide device, characterized in that: The device comprises: A collection module, used for collecting images of a material to obtain a first image, wherein the material includes at least one reference object, the first image includes a first reference object, and the material is located on a conveying device; A processing module, used for processing the first image to obtain an edge state of the first reference object; A first determining module, configured to determine a reference position of the first reference object according to the edge state; The second determination module is used to determine the target distance for moving the material to the cutting position according to the reference position, so as to control the conveying device to move the material to the target distance and complete the cutting.

10. A cutting guidance system, comprising a machine vision device, a processing device, a transmission device, and a control device; wherein: The machine vision device is used to capture images of the material on the transmission device and output a first image to the processing device; The processing device is used to process the first image to obtain an edge state of a first reference object in the first image, determine a target distance for the material to move to a cutting position according to the edge state, and send the target distance to the control device; The control device is used to control the transmission device to transmit the battery to the target distance to complete the cutting.

Images