Assembly machine error correction method, system, storage medium and electronic device

Abstract

The present invention relates to an assembly machine error correction method, system, storage medium and electronic device, including: acquiring and processing the original test image containing each angular position of the assembled display screen to obtain the corresponding first test image; identifying the horizontal measurement value and the vertical measurement value in each first test image, and obtaining the measurement error value of each assembled display screen according to the target error calculation formula; determining the same type of measurement correction value according to the average value of n consecutive measurement error values ​​exceeding the corresponding error control range, so that the target assembly machine performs error correction according to the assembly machine control signal generated by the measurement correction value. The present invention ensures the accuracy of the measurement result by adopting a machine vision measurement method, effectively filters out the random assembly error of the assembly machine itself, and prevents the situation where a single assembly failure causes an error correction; the present invention greatly improves the production efficiency of the assembly machine while reducing labor costs.

Description

Background Art

[0002] The current industrial manufacturing field is becoming more and more automated. Compared with manual assembly, automated assembly machines have obvious advantages in terms of accuracy, speed, repeatability, reliability, and efficiency. Traditional assembly machines mainly rely on pre-programmed methods to perform repetitive actions. Despite the high reliability, assembly errors are still inevitable, and assembly errors may occur due to long-term operation of the machine. The original quality inspection method is manual measurement, but to ensure production efficiency, only sampling measurement or more manpower can be used, which will result in the omission of some products with assembly errors, and the need to manually calculate the error value and modify the programming to correct the assembly machine error. The assembly accuracy between the various components of the product is an important indicator of whether the product is qualified.

[0003] With the progress of industrial development and the advent of the Industrial 4.0 era, and the development of machine vision technology, the status of machine vision in intelligent manufacturing has become increasingly prominent, and it is the main driving force for the advancement of industries such as intelligent manufacturing. The assembly machine is an automated device that needs to be pre-programmed to perform repeated actions to attach the LCD panel to the backlight panel. It is impossible to determine whether the assembled product meets the specifications. The assembly accuracy between the various components of the product is an important indicator of whether the product is qualified. Therefore, it is urgent to solve the problems of low efficiency, missed detection, and complicated correction operations of manual inspection. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an assembly machine error correction method, system, storage medium and electronic device.

[0005] The technical solution of an assembly machine error correction method of the present invention is as follows:

[0006] Acquire and process the original images to be tested that include each angular position of any assembled display screen, respectively, to obtain all first images to be tested corresponding to any assembled display screen; wherein any assembled display screen is assembled by a target assembly machine, the number of angular positions is at least two, and when there are two original images to be tested acquired by any assembled display screen, the two angular positions respectively corresponding to the two original images to be tested are adjacent, until the first image to be tested corresponding to each assembled display screen is obtained;

[0007] Identify the horizontal measurement value and the vertical measurement value between the outer edge of the display area of ​​the liquid crystal panel and the outer edge of the backlight panel in each first image to be tested corresponding to any of the assembled display screens, and obtain at least one type of measurement error value of any of the assembled display screens according to a target error calculation formula and all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens, until at least one type of measurement error value of each of the assembled display screens is obtained.

[0008] When the measurement error values ​​of the same type of n consecutive assembled display screens all exceed the corresponding error control range, the measurement correction value of the same type is determined according to the average value of the n measurement error values ​​of the same type, where n is a positive integer;

[0009] An assembly machine control signal is generated according to the measurement correction value, so that the target assembly machine performs error correction according to the assembly machine control signal.

[0010] The beneficial effects of an assembly machine error correction method of the present invention are as follows:

[0011] The method of the present invention ensures the accuracy of the measurement results by adopting a machine vision measurement method, effectively filters out the random assembly errors of the assembly machine itself, and prevents the situation where a single assembly failure leads to an erroneous correction; the assembly machine error correction method of the present invention greatly improves the production efficiency of the assembly machine while reducing labor costs.

[0012] On the basis of the above scheme, the error correction method of an assembly machine of the present invention can also be improved as follows.

[0013] Furthermore, the types of the measurement error values ​​are: horizontal error value, vertical error value and rotation angle error value.

[0014] Further, when the number of original images to be measured acquired by any of the assembled display screens is two, the target error calculation formula is a target two-corner error calculation formula, then at least one type of measurement error value of any of the assembled display screens is obtained based on the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens, specifically including:

[0015] According to the two-corner horizontal error formula in the target two-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the two-corner horizontal error formula is: Δ X2 =(X 21 -X 23 ) / 2,X 21 and X 23 are two adjacent horizontal measurement values ​​of any assembled display screen, Δ X2 A horizontal error value obtained by using the two-corner horizontal error formula for any of the assembled display screens;

[0016] According to the two-corner vertical error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the two-corner vertical error formula is: Δ Y2 =Y 21 -Y 20 , Y21 is any vertical measurement value of any of the assembled display screens, Y 20 is the zero value of the vertical error, Δ Y2 A vertical error value obtained by using the two-corner vertical error formula for any of the assembled display screens;

[0017] According to the two-corner rotation angle error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the two-corner rotation angle error formula is: Δ θ2 =arcsin((Y 21 -Y 23 ) / AA_W), Y 21 and Y 23 are two adjacent vertical measurement values ​​of any assembled display screen, Δ θ2 is the rotation angle error value obtained by any of the assembled display screens according to the two-angle rotation angle error formula, and AA_W is the horizontal side length of the display area of ​​the liquid crystal panel.

[0018] Further, when the number of original images to be measured acquired by any assembled display screen is three, the target error calculation formula is a target triangular error calculation formula, then at least one type of measurement error value of any assembled display screen is obtained according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any assembled display screen, specifically including:

[0019] According to the triangular horizontal error formula in the target triangular error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of each assembled display screen is obtained; wherein the triangular horizontal error formula is: Δ X3 =(X 31 -X 33 ) / 2,X 31 and X 33 are two adjacent horizontal measurement values ​​in the horizontal direction of any assembled display screen, Δ X3 A horizontal error value obtained by the triangular horizontal error formula for any of the assembled display screens;

[0020] According to the triangular vertical error formula in the target triangular error calculation formula and all vertical measurement values ​​of each assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the triangular vertical error formula is: Δ Y3 =(Y 31 -Y 32 ) / 2,Y 31 and Y 33 are two adjacent vertical measurement values ​​in the vertical direction of any assembled display screen, Δ Y3A vertical error value obtained by any of the assembled display screens according to the triangular vertical error formula;

[0021] According to the triangular rotation angle error formula in the target triangular error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the triangular rotation angle error formula is: Δ θ3 =arcsin((Y 31 -Y 33 ) / AA_W), Y 31 and Y 33 are two adjacent vertical measurement values ​​in the horizontal direction of any assembled display screen, Δ θ3 The rotation angle error value is obtained for any of the assembled display screens according to the three rotation angle error formulas.

[0022] Further, when the number of original images to be measured acquired by any assembled display screen is four, the target error calculation formula is the target four-corner error calculation formula, then at least one type of measurement error value of any assembled display screen is obtained according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any assembled display screen, specifically including:

[0023] According to the four-corner horizontal error formula in the target four-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the four-corner horizontal error formula is: Δ X4 =(X 41 -X 43 +X 42 -X 44 ) / 4,X 41 and X 43 are two adjacent horizontal measurement values ​​in the upper horizontal direction of any assembled display screen, X 42 and X 44 are two adjacent horizontal measurement values ​​in the lower horizontal direction of any assembled display screen, Δ X4 is a horizontal error value obtained by the four-corner horizontal error formula for any of the assembled display screens;

[0024] According to the four-corner vertical error formula in the target four-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the four-corner vertical error formula is: Δ Y4 =(Y 41 -Y 42 +Y 43 -Y 44 ) / 4,Y 41 and Y 42are two adjacent vertical measurement values ​​in the left vertical direction of any assembled display screen, Y 43 and Y 44 are two adjacent vertical measurement values ​​in the right vertical direction of any assembled display screen, Δ Y4 is a vertical error value obtained by the four-corner vertical error formula for any of the assembled display screens;

[0025] According to the four-corner rotation angle error formula in the target four-corner error calculation formula, all vertical measurement values ​​of any assembled display screen and all horizontal measurement values ​​of each assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the four-corner rotation angle error formula is: Δ θ4 =(arcsin(Y 41 -Y 43 ) / AA_W)+arcsin((X 41 -X 42 ) / AA_H)-arcsin((Y 42 -Y 44 ) / AA_W)-arcsin((X 43 -X 44 ) / AA_H)) / 4, AA_H is the vertical side length of the display area of ​​the liquid crystal panel.

[0026] Further, the first image to be tested includes: a backlight panel, a liquid crystal panel display area and a liquid crystal panel; the original image to be tested including each angular position of any assembled display screen is processed separately to obtain all first images to be tested corresponding to any assembled display screen, specifically including:

[0027] Using an edge detection and segmentation method, processing each original image to be tested of any of the assembled display screens, and obtaining a backlight panel area of ​​each original image to be tested of any of the assembled display screens;

[0028] Traversing the pixel set of each original image to be tested of any assembled display screen to obtain the backlight panel boundary of each original image to be tested of any assembled display screen;

[0029] Using Gaussian blur method and image pyramid method to obtain the liquid crystal panel display area of ​​each original image to be tested of any assembled display screen, and using contour detection method to obtain the liquid crystal panel display area boundary of each original image to be tested of any assembled display screen;

[0030] All first images to be tested corresponding to any assembled display screen are obtained according to the backlight panel area, backlight panel boundary, liquid crystal panel display area and liquid crystal panel display area boundary of each original image to be tested of any assembled display screen.

[0031] Furthermore, it also includes:

[0032] Preset the error specification range of each type of measurement error value;

[0033] Within each type of error specification range, an error control range corresponding to each type of error specification range is determined.

[0034] The technical solution of an assembly machine error correction system of the present invention is as follows:

[0035] It includes: a pre-processing module, a first processing module, a second processing module and an operation module;

[0036] The preprocessing module is used to: acquire and process the original images to be tested that include each angular position of any assembled display screen, respectively, to obtain all first images to be tested corresponding to any assembled display screen; wherein any assembled display screen is assembled by a target assembly machine, the number of angular positions is at least two, and when there are two original images to be tested acquired by any assembled display screen, the two angular positions respectively corresponding to the two original images to be tested are adjacent, until the first image to be tested corresponding to each assembled display screen is obtained;

[0037] The first processing module is used to: identify the horizontal measurement value and the vertical measurement value between the outer edge of the liquid crystal panel display area and the outer edge of the backlight panel in each first image to be tested corresponding to any of the assembled display screens, and obtain at least one type of measurement error value of any of the assembled display screens according to a target error calculation formula and all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens, until at least one type of measurement error value of each assembled display screen is obtained.

[0038] The second processing module is used to: when the measurement error values ​​of the same type of n consecutive assembled display screens all exceed the corresponding error control range, determine the measurement correction value of the same type according to the average value of the n measurement error values ​​of the same type, wherein n is a positive integer;

[0039] The operation module is used to generate an assembly machine control signal according to the measurement correction value, so that the target assembly machine performs error correction according to the assembly machine control signal.

[0040] The beneficial effects of an assembly machine error correction system of the present invention are as follows:

[0041] The system of the present invention ensures the accuracy of the measurement results by adopting a machine vision measurement method, effectively filters out the random assembly errors of the assembly machine itself, and prevents the situation where a single assembly failure leads to an erroneous correction; the assembly machine error correction method of the present invention greatly improves the production efficiency of the assembly machine while reducing labor costs.

[0042] A technical solution of a storage medium of the present invention is as follows:

[0043] The storage medium stores instructions, and when a computer reads the instructions, the computer executes the steps of an assembly machine error correction method of the present invention.

[0044] The technical solution of an electronic device of the present invention is as follows:

[0045] It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that when the processor executes the computer program, the computer executes the steps of an assembly machine error correction method as described in the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic flow chart of an assembly machine error correction method according to an embodiment of the present invention;

[0047] Figure 2 A schematic diagram of the overall structure of an assembled display screen in an assembly machine error correction method according to an embodiment of the present invention;

[0048] Figure 3 A specific schematic diagram of each first image measurement value in an assembly machine error correction method according to an embodiment of the present invention;

[0049] Figure 4 A specific schematic diagram of error measurement in an assembly machine error correction method according to an embodiment of the present invention;

[0050] Figure 5 The present invention is a schematic structural diagram of an assembly machine error correction system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] like Figure 1 As shown, an assembly machine error correction method according to an embodiment of the present invention comprises the following steps:

[0052] S1. Acquire and process the original images to be tested at each angular position of any assembled display screen respectively, and obtain all first images to be tested corresponding to any assembled display screen; wherein any assembled display screen is assembled by a target assembly machine, the number of angular positions is at least two, and when the number of original images to be tested acquired by any assembled display screen is two, the two angular positions respectively corresponding to the two original images to be tested are adjacent, until the first image to be tested corresponding to each assembled display screen is obtained.

[0053] The product assembled by the target assembly machine is a display screen, and the specifications of the display screen are conventional display screens on the market, and there is no restriction here. The target assembly machine is specifically: an automated device that attaches a liquid crystal panel to a backlight panel according to a pre-programmed repeated action.

[0054] Among them, the overall structure of each assembled display screen is as follows Figure 2 As shown, any assembled display screen includes four corners.

[0055] Wherein, 2 to 4 cameras are used to obtain an image of each angular position of any assembled display screen, each camera obtains an image of one angular position, and the image of each angular position obtained is an original image to be tested of any assembled display screen.

[0056] It should be noted that, in order to facilitate the calculation of the errors existing in the assembly process of the target assembly machine, it is necessary to obtain images of at least two angular positions of any assembled display screen. When only two cameras are used to obtain images of any assembled display screen, the two angular positions obtained should be adjacent. When more than two cameras are used to obtain images of any assembled display screen, it is only necessary to ensure that each camera obtains different angular positions of any assembled display screen.

[0057] The solution of this embodiment sequentially acquires the image of each assembled display screen to perform error calculation and judgment, and the processing process of each assembled display screen is consistent.

[0058] The original image to be tested is the original image captured by the camera, and the first image to be tested is the image obtained after image processing, in which the regional contour is more obvious.

[0059] S2. Identify the horizontal measurement value and the vertical measurement value between the outer edge of the liquid crystal panel display area 30 and the outer edge of the backlight panel 20 in each first image to be tested corresponding to any of the assembled display screens, and obtain at least one type of measurement error value of any of the assembled display screens according to a target error calculation formula and all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens, until at least one type of measurement error value of each of the assembled display screens is obtained.

[0060] Among them, Figure 3 As shown, the horizontal distance X1 between the outer edge of the liquid crystal panel display area 30 and the outer edge of the backlight panel 20 is a horizontal measurement value, and the vertical distance Y1 between the outer edge of the liquid crystal panel display area and the outer edge of the backlight panel is a vertical measurement value.

[0061] When calculating the measurement error value of any assembled display screen, it is necessary to use the horizontal measurement values ​​and all the vertical measurement values ​​in all the first images to be measured corresponding to the assembled display screen.

[0062] It should be noted that the corresponding relationship in the measurement process is: target assembly machine→at least one assembled display screen→at least two original images to be measured→at least two horizontal measurement values ​​and at least two vertical measurement values.

[0063] S3. When the same type of measurement error values ​​of n consecutive assembled display screens all exceed the corresponding error control range, the same type of measurement correction value is determined according to the average value of the n same type of measurement error values, wherein n is a positive integer.

[0064] The value of n is set by the user according to actual needs and is not limited here.

[0065] Specifically, when the error control range is: -1 to 1, and the user sets n to 5, for example, when the five consecutive measurement error values ​​of the same type are: 1.2, 2, 1.5, 1.3, 2, then the average value of these five measurement error values, 1.6, is determined as the measurement correction value of this type; and if the five consecutive measurement error values ​​of the same type are: -1.5, -1.8, -2, -2.2, -1.5, then the average value of these five measurement error values, -1.8, is determined as the measurement correction value of this type.

[0066] It should be noted that, in this embodiment, there must be 5 consecutive measurement error values ​​of the same type that are greater than 1 or 5 consecutive measurement error values ​​that are less than -1 in order to calculate the measurement correction value of this type, and the target assembly machine is corrected according to the measurement correction value.

[0067] S4. Generate an assembly machine control signal according to the measurement correction value, so that the target assembly machine performs error correction according to the assembly machine control signal.

[0068] Among them, the assembly machine control signal is sent to the assembly machine in the form of a PLC signal to form automatic control feedback.

[0069] Specifically, when all types of measurement correction values ​​are obtained (if any, there may be no rotation angle correction value in some cases), all measurement correction values ​​are converted into assembly machine control signals to form control feedback, so that the target assembly machine can automatically correct according to the numerical value corresponding to the assembly machine control signal to reduce the occurrence of unqualified assembled display screens.

[0070] Preferably, the types of the measurement error values ​​are: horizontal error value, vertical error value and rotation angle error value.

[0071] Preferably, when there are two original images to be measured acquired by any of the assembled display screens, the target error calculation formula is a target two-corner error calculation formula, and then the at least one type of measurement error value of any of the assembled display screens is obtained according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens, specifically including:

[0072] According to the two-corner horizontal error formula in the target two-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the two-corner horizontal error formula is: Δ X2 =(X 21 -X 23 ) / 2,X 21 and X 23 are two adjacent horizontal measurement values ​​of any assembled display screen, Δ X2 A horizontal error value obtained by using the two-corner horizontal error formula for any of the assembled display screens;

[0073] According to the two-corner vertical error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the two-corner vertical error formula is: Δ Y2 =Y 21 -Y 20 , Y 21 is any vertical measurement value of any of the assembled display screens, Y 20 is the zero value of the vertical error, Δ Y2 A vertical error value obtained by using the two-corner vertical error formula for any of the assembled display screens;

[0074] According to the two-corner rotation angle error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the two-corner rotation angle error formula is: Δ θ2 =arcsin((Y 21 -Y 23 ) / AA_W), Y 21 and Y 23 are two adjacent vertical measurement values ​​of any assembled display screen, Δ θ2 is the rotation angle error value obtained by any of the assembled display screens according to the two-angle rotation angle error formula, and AA_W is the horizontal side length of the display area of ​​the liquid crystal panel.

[0075] Specifically, Figure 2As shown, when each assembled display screen acquires two original test images, two adjacent cameras are selected, such as the first camera 41 and the third camera 43, the first camera 41 and the second camera 42, and the second camera 42 and the fourth camera 44. In this embodiment, the first camera 41 and the third camera 43 are selected as an example.

[0076] Among them, ((X 21 -X0)+(X0-X 23 )) / 2=(X 21 -X 23 ) / 2,X 21 and X 23 The two adjacent horizontal measurement values ​​of each assembled display screen, where X0 is the zero value of the horizontal error, which is set by the customer. If X0 is 200um, and the LCD panel is now shifted 100um to the left, it is -100 according to the coordinate system. 21 The measured value is 200-100=100, X 23 The measured value is 200+100=300. (X 21 -X0) and (X0-X 23 ) is the horizontal displacement error of the LCD panel measured by camera 1 and camera 3. Since there may be errors in the measurement, and even errors in the processing of the LCD panel and the backlight panel itself, the errors measured by the two cameras are averaged to obtain a stable horizontal displacement error of the LCD panel. Through formula arrangement, the final formula for the horizontal error of the two corners is: Δ X2 =(X 21 -X 23 ) / 2. Similarly, the vertical error formula of the two angles is: Δ Y2 =Y 21 -Y 20 , the two-angle rotation angle error formula is: Δ θ2 =arcsin((Y 21 -Y 23 ) / AA_W).

[0077] Preferably, when the number of original images to be measured acquired by any assembled display screen is three, the target error calculation formula is a target triangular error calculation formula, and then at least one type of measurement error value of any assembled display screen is obtained according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any assembled display screen, specifically including:

[0078] According to the triangular horizontal error formula in the target triangular error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of each assembled display screen is obtained; wherein the triangular horizontal error formula is: Δ X3 =(X 31 -X 33 ) / 2,X31 and X 33 are two adjacent horizontal measurement values ​​in the horizontal direction of any assembled display screen, Δ X3 A horizontal error value obtained by the triangular horizontal error formula for any of the assembled display screens;

[0079] According to the triangular vertical error formula in the target triangular error calculation formula and all vertical measurement values ​​of each assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the triangular vertical error formula is: Δ Y3 =(Y 31 -Y 32 ) / 2,Y 31 and Y 33 are two adjacent vertical measurement values ​​in the vertical direction of any assembled display screen, Δ Y3 A vertical error value obtained by any of the assembled display screens according to the triangular vertical error formula;

[0080] According to the triangular rotation angle error formula in the target triangular error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the triangular rotation angle error formula is: Δ θ3 =arcsin((Y 31 -Y 33 ) / AA_W), Y 31 and Y 33 are two adjacent vertical measurement values ​​in the horizontal direction of any assembled display screen, Δ θ3 The rotation angle error value is obtained for any of the assembled display screens according to the three rotation angle error formulas.

[0081] Specifically, Figure 2 and Figure 4 As shown, when the number of original test images acquired by each assembled display screen is three, any three cameras can be selected. In this embodiment, the first camera 41, the second camera 42 and the third camera 43 are selected as examples.

[0082] Among them, the trigonometric horizontal error formula is: Δ X3 =(X 31 -X 33 ) / 2; the trigonometric vertical error formula is: Δ Y3 =(Y 31 -Y 32 ) / 2; the triangle rotation angle error formula is: Δ θ3 =arcsin((Y 31 -Y 33 ) / AA_W). In addition, the triangular rotation angle error formula can also be: Δ θ3=(arcsin((Y 31 -Y 33 ) / AA_W)+arcsin((X 31 -X 33 ) / AA-H)) / 2.

[0083] Preferably, when the number of original images to be measured acquired by any assembled display screen is four, the target error calculation formula is the target four-corner error calculation formula, and then the at least one type of measurement error value of any assembled display screen is obtained according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any assembled display screen, specifically including:

[0084] According to the four-corner horizontal error formula in the target four-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the four-corner horizontal error formula is: Δ X4 =(X 41 -X 43 +X 42 -X 44 ) / 4,X 41 and X 43 are two adjacent horizontal measurement values ​​in the upper horizontal direction of any assembled display screen, X 42 and X 44 are two adjacent horizontal measurement values ​​in the lower horizontal direction of any assembled display screen, Δ X4 is a horizontal error value obtained by the four-corner horizontal error formula for any of the assembled display screens;

[0085] According to the four-corner vertical error formula in the target four-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the four-corner vertical error formula is: Δ Y4 =(Y 41 -Y 42 +Y 43 -Y 44 ) / 4,Y 41 and Y 42 are two adjacent vertical measurement values ​​in the left vertical direction of any assembled display screen, Y 43 and Y 44 are two adjacent vertical measurement values ​​in the right vertical direction of any assembled display screen, Δ Y4 is a vertical error value obtained by the four-corner vertical error formula for any of the assembled display screens;

[0086] According to the four-corner rotation angle error formula in the target four-corner error calculation formula, all vertical measurement values ​​of any assembled display screen and all horizontal measurement values ​​of each assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the four-corner rotation angle error formula is: Δ θ4 =(arcsin(Y 41 -Y 43 ) / AA_W)+arcsin((X 41 -X 42 ) / AA_H)-arcsin((Y 42 -Y 44 ) / AA_W)-arcsin((X 43 -X 44 ) / AA_H)) / 4, AA_H is the vertical side length of the display area of ​​the liquid crystal panel.

[0087] It should be noted that in the four-corner rotation angle error formula, the last two values ​​are subtracted because the coordinate system direction Y 41 -Y 43 =-(Y 42 -Y 44 ).

[0088] Preferably, the first image to be tested includes: a backlight panel 20, a liquid crystal panel display area 30 and a liquid crystal panel 10; the original image to be tested including each angular position of any assembled display screen is processed separately to obtain all first images to be tested corresponding to any assembled display screen, specifically including:

[0089] The edge detection segmentation method is adopted to process each original image to be tested of any assembled display screen to obtain the backlight panel 20 area of ​​each original image to be tested of any assembled display screen.

[0090] The image edge indicates the end of one area and the beginning of another area in the original image to be tested, and is a collection of pixels where the image grayscale undergoes a spatial mutation. Therefore, the backlight panel 20 area of ​​each original image to be tested of any assembled display screen is obtained by using the edge detection segmentation method.

[0091] The pixel set of each original image to be tested of any assembled display screen is traversed to obtain the boundary of the backlight plate 20 of each original image to be tested of any assembled display screen.

[0092] Since the background outside the product is a uniform grayscale, the set of pixels with large changes found by traversing the image in the horizontal and vertical directions is the outer contour of the product, that is, the boundary of the backlight panel 20.

[0093] The Gaussian blur method and the image pyramid method are used to obtain the display area of ​​the liquid crystal panel 10 of each original image to be tested of any assembled display screen, and the contour detection method is used to obtain the boundary of the liquid crystal panel display area 30 of each original image to be tested of any assembled display screen.

[0094] Among them, Gaussian blur method and image pyramid method are conventional technical means in this field. Specifically, Gaussian blur and image pyramid are used to convert the grayscale non-uniform LCD display area into a continuous area with uniform grayscale, and then the boundary of the LCD display area 30 of each original image to be tested is found through contour detection.

[0095] According to the backlight panel 20 area, the backlight panel 20 boundary, the liquid crystal panel display area 30 and the liquid crystal panel display area 30 boundary of each original image to be tested of any assembled display screen, all first images to be tested corresponding to any assembled display screen are obtained.

[0096] Preferably, it also includes:

[0097] The error specification range for each type of measurement error value is preset.

[0098] The error specification range of each type is set by the user. Whether the product is qualified is determined by judging whether the error of the product is within the error specification range.

[0099] Within each type of error specification range, an error control range corresponding to each type of error specification range is determined.

[0100] The error control range is the upper and lower control limits. The upper and lower specification limits are determined based on the user-defined proportional coefficient. The coefficient is between 0 and 1. The smaller the coefficient, the stricter the error control.

[0101] The technical solution of this embodiment ensures the accuracy of the measurement results by adopting a machine vision measurement method, effectively filters out the random assembly errors of the assembly machine itself, and prevents the situation where a single assembly failure leads to error correction. The assembly machine error correction method of the present invention greatly improves the production efficiency of the assembly machine while reducing labor costs.

[0102] like Figure 5 As shown, an assembly machine error correction system 200 according to an embodiment of the present invention includes: a pre-processing module 210, a first processing module 220, a second processing module 230 and an operation module 240;

[0103] The preprocessing module 210 is used to: acquire and process the original images to be tested that include each angular position of any assembled display screen, respectively, to obtain all first images to be tested corresponding to any assembled display screen; wherein any assembled display screen is assembled by a target assembly machine, the number of angular positions is at least two, and when there are two original images to be tested acquired by any assembled display screen, the two angular positions respectively corresponding to the two original images to be tested are adjacent, until the first image to be tested corresponding to each assembled display screen is obtained;

[0104] The first processing module 220 is used to: identify the horizontal measurement value and the vertical measurement value between the outer edge of the liquid crystal panel display area 30 and the outer edge of the backlight panel 20 in each first image to be tested corresponding to any of the assembled display screens, and obtain at least one type of measurement error value of any of the assembled display screens according to the target error calculation formula and all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens, until at least one type of measurement error value of each assembled display screen is obtained.

[0105] The second processing module 230 is used to: when the measurement error values ​​of the same type of n consecutive assembled display screens all exceed the corresponding error control range, determine the measurement correction value of the same type according to the average value of the n measurement error values ​​of the same type, wherein n is a positive integer;

[0106] The operation module 240 is used to generate an assembly machine control signal according to the measurement correction value, so that the target assembly machine performs error correction according to the assembly machine control signal.

[0107] The technical solution of this embodiment ensures the accuracy of the measurement results by adopting a machine vision measurement method, effectively filters out the random assembly errors of the assembly machine itself, and prevents the situation where a single assembly failure leads to error correction. The assembly machine error correction method of the present invention greatly improves the production efficiency of the assembly machine while reducing labor costs.

[0108] The above-mentioned parameters and steps for each module to implement corresponding functions in an assembly machine error correction system 200 of this embodiment can refer to the parameters and steps in the embodiment of an assembly machine error correction method above, and will not be repeated here.

[0109] A storage medium provided by an embodiment of the present invention includes: instructions are stored in the storage medium, and when a computer reads the instructions, the computer executes steps such as a method for correcting an error in an assembly machine. For details, please refer to the parameters and steps in the embodiment of a method for correcting an error in an assembly machine above, which will not be repeated here.

[0110] Computer storage media such as USB flash drives, mobile hard disks, etc.

[0111] An electronic device provided by an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The electronic device is characterized in that when the processor executes the computer program, the computer executes steps of an assembly machine error correction method. For details, please refer to the parameters and steps in the embodiment of an assembly machine error correction method mentioned above, which will not be elaborated here.

[0112] Those skilled in the art will appreciate that the present invention may be implemented as a method, a system, a storage medium, and an electronic device.

[0113] Therefore, the present invention can be specifically implemented in the following forms, that is, it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Any combination of one or more computer-readable media can be used. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present invention, and those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for correcting an error in an assembly machine, characterized in that: include: Acquire and process the original images to be tested that include each angular position of any assembled display screen, respectively, to obtain all first images to be tested corresponding to any assembled display screen; wherein any assembled display screen is assembled by a target assembly machine, the number of angular positions is at least two, and when there are two original images to be tested acquired by any assembled display screen, the two angular positions respectively corresponding to the two original images to be tested are adjacent, until the first image to be tested corresponding to each assembled display screen is obtained; Identify the horizontal measurement value and the vertical measurement value between the outer edge of the display area of ​​the liquid crystal panel and the outer edge of the backlight panel in each first image to be tested corresponding to any of the assembled display screens, and obtain at least one type of measurement error value of any of the assembled display screens according to a target error calculation formula and all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens, until at least one type of measurement error value of each of the assembled display screens is obtained; When the measurement error values ​​of the same type of n consecutive assembled display screens all exceed the corresponding error control range, the measurement correction value of the same type is determined according to the average value of the n measurement error values ​​of the same type, where n is a positive integer; generating an assembly machine control signal according to the measurement correction value, so that the target assembly machine performs error correction according to the assembly machine control signal; The types of the measurement error values ​​are: horizontal error value, vertical error value and rotation angle error value; When the number of original images to be measured acquired by any of the assembled display screens is two, the target error calculation formula is a target two-corner error calculation formula, and then the method of obtaining at least one type of measurement error value of any of the assembled display screens according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any of the assembled display screens specifically includes: According to the two-corner horizontal error formula in the target two-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the two-corner horizontal error formula is: Δ X2 =(X 21 -X 23 ) / 2,X 21 and X 23 are two adjacent horizontal measurement values ​​of any assembled display screen, Δ X2 A horizontal error value obtained by using the two-corner horizontal error formula for any of the assembled display screens; According to the two-corner vertical error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the two-corner vertical error formula is: Δ Y2 =Y 21 -Y 20 , Y 21 is any vertical measurement value of any of the assembled display screens, Y 20 is the zero value of the vertical error, Δ Y2 A vertical error value obtained by using the two-corner vertical error formula for any of the assembled display screens; According to the two-corner rotation angle error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the two-corner rotation angle error formula is: Δ θ2 =arcsin((Y 21 -Y 23 ) / AA_W), Y 21 and Y 23 are two adjacent vertical measurement values ​​of any assembled display screen, Δ θ2 is the rotation angle error value obtained by the two-angle rotation angle error formula for any of the assembled display screens, and AA_W is the horizontal side length of the display area of ​​the liquid crystal panel; When the number of original images to be measured acquired by any assembled display screen is three, the target error calculation formula is a target triangular error calculation formula, and then at least one type of measurement error value of any assembled display screen is obtained according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any assembled display screen, specifically including: According to the triangular horizontal error formula in the target triangular error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of each assembled display screen is obtained; wherein the triangular horizontal error formula is: Δ X3 =(X 31 -X 33 ) / 2,X 31 and X 33 are two adjacent horizontal measurement values ​​in the horizontal direction of any assembled display screen, Δ X3 A horizontal error value obtained by the triangular horizontal error formula for any of the assembled display screens; According to the triangular vertical error formula in the target triangular error calculation formula and all vertical measurement values ​​of each assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the triangular vertical error formula is: Δ Y3 =(Y 31 -Y 32 ) / 2,Y 31 and Y 33 are two adjacent vertical measurement values ​​in the vertical direction of any assembled display screen, Δ Y3 A vertical error value obtained by any of the assembled display screens according to the triangular vertical error formula; According to the triangular rotation angle error formula in the target triangular error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the triangular rotation angle error formula is: Δ θ3 =arcsin((Y 31 -Y 33 ) / AA_W), Y 31 and Y 33 are two adjacent vertical measurement values ​​in the horizontal direction of any assembled display screen, Δ θ3 A rotation angle error value obtained by the triangular rotation angle error formula for any of the assembled display screens; When the number of original images to be measured acquired by any assembled display screen is four, the target error calculation formula is the target four-corner error calculation formula, then the method of obtaining at least one type of measurement error value of any assembled display screen according to the target error calculation formula, all horizontal measurement values ​​and all vertical measurement values ​​of any assembled display screen specifically includes: According to the four-corner horizontal error formula in the target four-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the four-corner horizontal error formula is: Δ X4 =(X 41 -X 43 +X 42 -X 44 ) / 4,X 41 and X 43 are two adjacent horizontal measurement values ​​in the upper horizontal direction of any assembled display screen, X 42 and X 44 are two adjacent horizontal measurement values ​​in the lower horizontal direction of any assembled display screen, Δ X4 is a horizontal error value obtained by the four-corner horizontal error formula for any of the assembled display screens; According to the four-corner vertical error formula in the target four-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the four-corner vertical error formula is: Δ Y4 =(Y 41 -Y 42 +Y 43 -Y 44 ) / 4,Y 41 and Y 42 are two adjacent vertical measurement values ​​in the left vertical direction of any assembled display screen, Y 43 and Y 44 are two adjacent vertical measurement values ​​in the right vertical direction of any assembled display screen, Δ Y4 is a vertical error value obtained by the four-corner vertical error formula for any of the assembled display screens; According to the four-corner rotation angle error formula in the target four-corner error calculation formula, all vertical measurement values ​​of any assembled display screen and all horizontal measurement values ​​of each assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the four-corner rotation angle error formula is: Δ θ4 =(arcsin(Y 41 -Y 43 ) / AA_W)+arcsin((X 41 -X 42 ) / AA_H)-arcsin((Y 42 -Y 44 ) / AA_W)-arcsin((X 43 -X 44 ) / AA_H)) / 4, AA_H is the vertical side length of the display area of ​​the liquid crystal panel.

2. The assembly machine error correction method according to claim 1, characterized in that: The first image to be tested includes: a backlight panel, a liquid crystal panel display area and a liquid crystal panel; the original image to be tested at each angular position of any assembled display screen is processed separately to obtain all first images to be tested corresponding to any assembled display screen, specifically including: Using an edge detection and segmentation method, processing each original image to be tested of any of the assembled display screens, and obtaining a backlight panel area of ​​each original image to be tested of any of the assembled display screens; Traversing the pixel set of each original image to be tested of any assembled display screen to obtain the backlight panel boundary of each original image to be tested of any assembled display screen; Using Gaussian blur method and image pyramid method to obtain the liquid crystal panel display area of ​​each original image to be tested of any assembled display screen, and using contour detection method to obtain the liquid crystal panel display area boundary of each original image to be tested of any assembled display screen; All first images to be tested corresponding to any assembled display screen are obtained according to the backlight panel area, backlight panel boundary, liquid crystal panel display area and liquid crystal panel display area boundary of each original image to be tested of any assembled display screen.

3. The assembly machine error correction method according to claim 1 or 2, characterized in that: Also includes: Preset the error specification range for each type of measurement error value; Within each type of error specification range, an error control range corresponding to each type of error specification range is determined.

4. An assembly machine error correction system, characterized in that: include: A pre-processing module, a first processing module, a second processing module and an operation module; The preprocessing module is used to: acquire and process the original images to be tested that include each angular position of any assembled display screen, respectively, to obtain all first images to be tested corresponding to any assembled display screen; wherein any assembled display screen is assembled by a target assembly machine, the number of angular positions is at least two, and when there are two original images to be tested acquired by any assembled display screen, the two angular positions respectively corresponding to the two original images to be tested are adjacent, until the first image to be tested corresponding to each assembled display screen is obtained; The first processing module is used to: identify the horizontal measurement value and the vertical measurement value between the outer edge of the display area of ​​the liquid crystal panel and the outer edge of the backlight panel in each first image to be tested corresponding to the any assembled display screen, and obtain at least one type of measurement error value of the any assembled display screen according to the target error calculation formula and all the horizontal measurement values ​​and all the vertical measurement values ​​of the any assembled display screen, until at least one type of measurement error value of each assembled display screen is obtained; The second processing module is used to: when the measurement error values ​​of the same type of n consecutive assembled display screens all exceed the corresponding error control range, determine the measurement correction value of the same type according to the average value of the n measurement error values ​​of the same type, wherein n is a positive integer; The operation module is used to: generate an assembly machine control signal according to the measurement correction value, so that the target assembly machine performs error correction according to the assembly machine control signal; The types of the measurement error values ​​are: horizontal error value, vertical error value and rotation angle error value; When there are two original images to be tested acquired by any assembled display screen, the target error calculation formula is a target two-corner error calculation formula, and the first processing module is specifically used for: According to the two-corner horizontal error formula in the target two-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the two-corner horizontal error formula is: Δ X2 =(X 21 -X 23 ) / 2,X 21 and X 23 are two adjacent horizontal measurement values ​​of any assembled display screen, Δ X2 A horizontal error value obtained by using the two-corner horizontal error formula for any of the assembled display screens; According to the two-corner vertical error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the two-corner vertical error formula is: Δ Y2 =Y 21 -Y 20 , Y 21 is any vertical measurement value of any of the assembled display screens, Y 20 is the zero value of the vertical error, Δ Y2 A vertical error value obtained by using the two-corner vertical error formula for any of the assembled display screens; According to the two-corner rotation angle error formula in the target two-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the two-corner rotation angle error formula is: Δ θ2 =arcsin((Y 21 -Y 23 ) / AA_W), Y 21 and Y 23 are two adjacent vertical measurement values ​​of any assembled display screen, Δ θ2 is the rotation angle error value obtained by the two-angle rotation angle error formula for any of the assembled display screens, and AA_W is the horizontal side length of the display area of ​​the liquid crystal panel; When the number of original images to be tested acquired by any assembled display screen is three, the target error calculation formula is a target triangular error calculation formula, and the first processing module is specifically used for: According to the triangular horizontal error formula in the target triangular error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of each assembled display screen is obtained; wherein the triangular horizontal error formula is: Δ X3 =(X 31 -X 33 ) / 2,X 31 and X 33 are two adjacent horizontal measurement values ​​in the horizontal direction of any assembled display screen, Δ X3 A horizontal error value obtained by the triangular horizontal error formula for any of the assembled display screens; According to the triangular vertical error formula in the target triangular error calculation formula and all vertical measurement values ​​of each assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the triangular vertical error formula is: Δ Y3 =(Y 31 -Y 32 ) / 2,Y 31 and Y 33 are two adjacent vertical measurement values ​​in the vertical direction of any assembled display screen, Δ Y3 A vertical error value obtained by any of the assembled display screens according to the triangular vertical error formula; According to the triangular rotation angle error formula in the target triangular error calculation formula and all vertical measurement values ​​of any assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the triangular rotation angle error formula is: Δ θ3 =arcsin((Y 31 -Y 33 ) / AA_W), Y 31 and Y 33 are two adjacent vertical measurement values ​​in the horizontal direction of any assembled display screen, Δ θ3 A rotation angle error value obtained by the triangular rotation angle error formula for any of the assembled display screens; When there are four original images to be tested acquired by any assembled display screen, the target error calculation formula is the target four-corner error calculation formula, and the first processing module is specifically used for: According to the four-corner horizontal error formula in the target four-corner error calculation formula and all horizontal measurement values ​​of any assembled display screen, the horizontal error value of any assembled display screen is obtained; wherein the four-corner horizontal error formula is: Δ X4 =(X 41 -X 43 +X 42 -X 44 ) / 4,X 41 and X 43 are two adjacent horizontal measurement values ​​in the upper horizontal direction of any assembled display screen, X 42 and X 44 are two adjacent horizontal measurement values ​​in the lower horizontal direction of any assembled display screen, Δ X4 is a horizontal error value obtained by the four-corner horizontal error formula for any of the assembled display screens; According to the four-corner vertical error formula in the target four-corner error calculation formula and all vertical measurement values ​​of any assembled display screen, the vertical error value of any assembled display screen is obtained; wherein the four-corner vertical error formula is: Δ Y4 =(Y 41 -Y 42 +Y 43 -Y 44 ) / 4,Y 41 and Y 42 are two adjacent vertical measurement values ​​in the left vertical direction of any assembled display screen, Y 43 and Y 44 are two adjacent vertical measurement values ​​in the right vertical direction of any assembled display screen, Δ Y4 is a vertical error value obtained by the four-corner vertical error formula for any of the assembled display screens; According to the four-corner rotation angle error formula in the target four-corner error calculation formula, all vertical measurement values ​​of any assembled display screen and all horizontal measurement values ​​of each assembled display screen, the rotation angle error value of any assembled display screen is obtained; wherein the four-corner rotation angle error formula is: Δ θ4 =(arcsin(Y 41 -Y 43 ) / AA_W)+arcsin((X 41 -X 42 ) / AA_H)-arcsin((Y 42 -Y 44 ) / AA_W)-arcsin((X 43 -X 44 ) / AA_H)) / 4, AA_H is the vertical side length of the display area of ​​the liquid crystal panel.

5. A storage medium, characterized in that: The storage medium stores instructions, and when a computer reads the instructions, the computer executes the assembly machine error correction method according to any one of claims 1 to 3.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the processor causes the computer to execute the assembly machine error correction method according to any one of claims 1 to 3.

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