Granted Patent B2

US 12,307,719 · App. 18/229,309 · Granted May 20, 2025

Inventors: Guan Chen (Ningde, CN); Fei Chen (Ningde, CN); Guannan Jiang (Ningde, CN)

Assignee: CONTEMPORARY AMPEREX TECHNOLOGY (HONG KONG) LIMITED

G06T7/85G03B35/04G03B37/00G06T3/40G06T3/4038G06T5/50H04N13/246G06T2207/10012G06T2207/20221H01M4/0404

Abstract

Claims (50)

1. A camera calibration method for image splicing, comprising

providing a calibration scale comprising a scale body and a calibration pattern arranged on the scale body, wherein:

the calibration pattern comprises at least two calibration pattern subsets arranged along a first direction of the scale body, and the at least two calibration pattern subsets comprise a plurality of first calibration blocks arranged at spacings along the first direction and staggered along a second direction of the scale body;

for each calibration pattern subset, projections of the plurality of first calibration blocks along the first direction have a first overlapping area, and a length of the first overlapping area along the second direction is less than or equal to a first preset threshold; and

projections of at least two first overlapping areas along the first direction have a second overlapping area;

arranging the calibration scale on a surface of a target object; and

for each of at least two cameras, determining a scan path of the camera based on at least one calibration pattern subset on the calibration scale, comprising:

adjusting a location of the camera to scan the calibration pattern subset;

adjusting a scan trajectory of the camera so that the camera sequentially scans all the first calibration blocks in the calibration pattern subset; and

determining, as the scan path, a scan trajectory obtained when projections of both a scan trajectory of the camera and a scan trajectory of an adjacent camera along the first direction completely fall within a second overlapping area.

2. The camera calibration method according to claim 1 , wherein the first direction is perpendicular to the second direction.

3. The camera calibration method according to claim 1 , wherein the at least two calibration pattern subsets each comprise a first pattern group, a second pattern group, and a third pattern group that are staggered along the second direction, wherein the first pattern group comprises at least two first calibration blocks with projections along the first direction completely overlapping, the second pattern group comprises at least one first calibration block shifted in a forward direction of the second direction relative to the first calibration blocks in the first pattern group, the third pattern group comprises at least one first calibration block shifted in a reverse direction of the second direction relative to the first calibration blocks in the first pattern group.

4. The camera calibration method according to claim 1 , wherein for each of at least one calibration pattern subset, a spacing distance between any two adjacent first calibration blocks along the first direction is equal to a preset value.

5. The camera calibration method according to claim 1 , wherein the scale body is a pressing roller of a roller press or a transmission roller of a conveyor.

6. The camera calibration method according to claim 1 , wherein the calibration scale further comprises a second calibration block used for splicing locating, wherein the second calibration block is located in a junction area between two adjacent calibration pattern subsets along the first direction of the scale body.

7. The camera calibration method according to claim 6 , wherein the scale body is transparent, a shape of the first calibration block is a rectangular shape, a square shape, or a circular shape, the first preset threshold is 0.5 mm, and a shape of the second calibration block is a rectangular shape, a square shape, or a circular shape.

8. The camera calibration method according to claim 1 , wherein:

the calibration scale further comprises a second calibration block that is used for splicing locating and located between two adjacent calibration pattern subsets along the first direction, and the at least two cameras are in a one-to-one correspondence with the at least two calibration pattern subsets;

for each of the at least two cameras, a scan path of the camera is determined based on the calibration pattern subset corresponding to the camera, wherein a calibrated image comprises the second calibration block; and

at least two calibrated images are spliced based on the second calibration block.

9. The camera calibration method according to claim 1 , further comprising:

obtaining at least two calibrated images respectively captured by the at least two cameras along the scan path;

splicing the at least two calibrated images to obtain a complete calibrated image; and

calculating a resolution of a sub-area in which one first calibration block in the complete calibrated image is located.

10. The camera calibration method according to claim 9 , wherein calculating the resolution of the sub-area in which the one first calibration block in the complete calibrated image is located comprises:

obtaining an actual dimension of the one first calibration block on the calibration scale along a direction of the scan path;

obtaining calibration coordinates of the one first calibration block in the complete calibrated image; and

calculating, based on the actual dimension and the calibration coordinates, the resolution of the sub-area in which the one first calibration block in the complete calibrated image is located.

11. An image splicing method, comprising:

obtaining at least two images respectively captured by at least two cameras calibrated by using the camera calibration method according to claim 1 ; and

splicing the at least two images to obtain a spliced image.

12. A film roll detection method, comprising:

providing a calibration scale comprising a scale body and a calibration pattern arranged on the scale body, wherein:

the calibration pattern comprises at least two calibration pattern subsets arranged along a first direction of the scale body, and the at least two calibration pattern subsets comprise a plurality of first calibration blocks arranged at spacings along the first direction and staggered along a second direction of the scale body;

for each calibration pattern subset, projections of the plurality of first calibration blocks along the first direction have a first overlapping area, and a length of the first overlapping area along the second direction is less than or equal to a first preset threshold; and

projections of at least two first overlapping areas along the first direction have a second overlapping area;

arranging the calibration scale in a surface area of a roller or a film roll wound around the roller;

providing at least two cameras, and calibrating the at least two cameras based on the calibration scale to obtain a scan path of the at least two cameras and a complete calibrated image, comprising:

adjusting the locations of the at least two cameras based on the at least two calibration pattern subsets, so that fields of view of the at least two cameras completely cover the at least two calibration pattern subsets;

adjusting respective scan trajectories of the at least two cameras based on a respective one of the at least two calibration pattern subsets; and

determining, as the scan path, a straight line obtained when projections of the respective scan trajectories along a first direction completely fall within the second overlapping area;

obtaining at least two sub-images of different areas of the film roll using the at least two calibrated cameras respectively, and splicing the at least two sub-images to obtain a panoramic image of the film roll; and

calculating a target parameter based on the complete calibrated image and the panoramic image.

13. The detection method according to claim 12 , wherein the first direction is parallel to an extension direction of the roller or a width direction of the film roll.

14. The detection method according to claim 12 , wherein providing the at least two cameras, and calibrating the at least two cameras based on the calibration scale to obtain the scan path of the at least two cameras and the complete calibrated image comprises:

determining the scan path of the at least two cameras based on the calibration scale;

obtaining at least two calibrated images captured by the at least two cameras along the scan path;

splicing the at least two calibrated images to obtain the complete calibrated image; and

calculating a resolution of a sub-area in which one first calibration block in the complete calibrated image is located.

15. The detection method according to claim 12 , wherein the target parameter comprises at least one of a coating width, a coating gap width, a coating edge width, and a coating defect dimension.

Assignments (3)

Priority Claims (1)

Continuity (2)

References Cited (48)