Manipulator movement compensation method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of visual alignment, in particular to a manipulator movement compensation method and device, computer equipment and a storage medium. Comprising the following steps: acquiring first image data of a target position on a to-be-detected sample in an image coordinate system of a first camera module and second image data of the target position in an image coordinate system of a second camera module; mapping the first image data into a manipulator coordinate system according to a predetermined first mapping relation to obtain first mapping data; mapping the second image data into a manipulator coordinate system according to a predetermined second mapping relation to obtain second mapping data; and compensating the moving coordinate of the manipulator according to the relative offset data between the first mapping data and the second mapping data. The relative deviation between the to-be-tested sample and the carrier is determined in the same coordinate system to compensate the moving coordinate of the manipulator, so that the crimping accuracy when the to-be-tested sample is crimped into the cavity of the carrier can be improved.

Description

technical field [0001] The invention relates to the technical field of visual alignment, in particular to a method, device, computer equipment and storage medium for manipulator movement compensation. Background technique [0002] In large-scale automated AR (Augmented Reality, Augmented Reality) screen testing equipment, the screen (DUT, Device Under Test, device under test) is accurately crimped into the carrier (carrier) for subsequent testing screen indicators to important. Before the screen is crimped into the carrier, the carrier needs to be grabbed into the tester, that is, there are two grabbing processes. However, the manipulator for grabbing the screen and the manipulator for grabbing the vehicle will have errors when grabbing, and the AR screen is small, and a small positional deviation may crush the screen. At the same time, the position of the carrier is not fixed, and the screen cannot be crimped into the carrier simply by pressing the fixed point with the ma...

AI Technical Summary

Problems solved by technology

[0003] Based on this, it is necessary to provide a manipulator movement compensation method, device, computer equipment and storage medium for the problem of poor crimping when the screen is captured and docked with the carrier in the jig cavity.

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