Correction method and apparatus for depth image, and method for welding inspection of shell assembly of battery
View Patent ↗A correction method for a depth image of a battery includes obtaining the depth image of the battery. The depth image includes two adjacent surfaces of a shell assembly of the battery and an intersecting line between the two adjacent surfaces. The method further includes extracting the intersecting line from the depth image, determining planes in the depth image in which the two adjacent surfaces are located, and obtaining a datum plane based on the intersecting line and the planes in which the two adjacent surfaces are located. The datum plane is parallel to the intersecting line, and included angles between the datum plane and the planes in which the two adjacent surfaces are located are equal to each other. The method also includes projecting and mapping points in the depth image to the datum plane, to obtain depth information of points in a corrected depth image.
1. A correction method for a depth image of a battery, comprising:
obtaining the depth image of the battery, wherein the depth image comprises two adjacent surfaces of a shell assembly of the battery and an intersecting line between the two adjacent surfaces;
extracting the intersecting line from the depth image;
determining planes in the depth image in which the two adjacent surfaces are located;
obtaining a datum plane based on the intersecting line and the planes in which the two adjacent surfaces are located, wherein the datum plane is parallel to the intersecting line, and included angles between the datum plane and the planes in which the two adjacent surfaces are located are equal to each other; and
projecting and mapping points in the depth image to the datum plane, to obtain depth information of points in a corrected depth image.
2. The method according to claim 1 , wherein extracting the intersecting line from the depth image comprises:
extracting a point with a largest depth value in each row from the depth image; and
obtaining an equation of a straight line for the intersecting line based on extracted points.
3. The method according to claim 2 , wherein obtaining the equation of the straight line for the intersecting line based on the extracted points comprises:
analyzing the extracted points by using a principal component analysis algorithm to obtain feature vectors, and obtaining the equation of the straight line based on the feature vectors.
4. The method according to claim 2 , wherein extracting the intersecting line from the depth image further comprises:
determining whether the equation of the straight line meets a set condition; and
in response to the equation of the straight line not meeting the set condition, performing screening on the points, and re-obtaining an equation of a straight line based on points remained after screening.
5. The method according to claim 1 , wherein obtaining the datum plane based on the intersecting line and the planes in which the two adjacent surfaces are located comprises:
calculating feature vectors of the planes in which the two adjacent surfaces are located; and
obtaining an equation for the datum plane based on the feature vectors of the planes in which the two adjacent surfaces are located and an equation of a straight line in which the intersecting line is located, wherein a normal vector to the datum plane is a sum of the feature vectors of the planes in which the two adjacent surfaces are located.
6. The method according to claim 1 , wherein determining the planes in the depth image in which the two adjacent surfaces are located comprises:
determining the planes in which the two adjacent surfaces are located based on an equation of a straight line in which the intersecting line is located.
7. A method for welding inspection of a shell assembly of a battery, comprising:
acquiring a depth image of the battery, wherein the battery comprises the shell assembly, the shell assembly comprises a first portion and a second portion connected to each other by means of welding, the depth image comprises two adjacent surfaces of the shell assembly of the battery and an intersecting line between the two adjacent surfaces, and there is a weld bead for the first portion and the second portion on at least one of the two adjacent surfaces;
correcting the depth image of the battery by using the correction method according to claim 1 , to obtain depth information of points in a corrected depth image; and
determining a welding quality of the weld bead based on the depth information of the points in the corrected depth image.
8. The method according to claim 7 , wherein acquiring the depth image of the battery comprises:
photographing the depth image of the battery by a depth camera, wherein an inclination angle θ between an image acquisition plane of the depth camera and at least one of the two adjacent surfaces of the shell assembly of the battery satisfies 30°≤0≤60°.
9. A control apparatus, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor to perform the correction method according to claim 1 .
10. A non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the correction method according to claim 1 .