Alignment attaching method and device, computer device and storage medium

Abstract

This application relates to a method, apparatus, computer device, storage medium, and computer program product for alignment and bonding. The method includes: determining the platform deviation between the position coordinates and reference coordinates of the first object and a first object transmitted on a platform, based on a first image acquired by a platform camera; determining the non-platform horizontal deviation corresponding to the second object based on a planar image acquired by a non-platform planar camera of a second object transmitted on a non-platform; determining the non-platform vertical deviation and non-platform angular deviation corresponding to the second object based on an inclined plane image acquired by a non-platform inclined plane camera; calculating a platform movement value based on the non-platform angular deviation, non-platform vertical deviation, and platform deviation; and controlling the platform and non-platform to move the first and second objects to the alignment and bonding position according to the non-platform horizontal deviation and the platform movement value. This method can improve the accuracy of alignment and bonding.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, apparatus, computer device, storage medium, and computer program product for alignment and attachment. Background Technology

[0002] With the development of computer technology, machine vision can control the movement of platforms, allowing objects transported on the platform to fit onto objects transported outside the platform. However, when the platform is planar and the non-platform is inclined, it is difficult to associate the platform and the non-platform using the same coordinate system. This means it is difficult to determine the positional coordinates of objects on and off the platform within the same coordinate system, resulting in low accuracy in the alignment and attachment of objects on and off the platform. Therefore, improving the accuracy of the alignment and attachment of objects on and off the platform has become an urgent problem to be solved. Summary of the Invention

[0003] Therefore, it is necessary to provide an alignment and bonding method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can improve the bonding accuracy in response to the above-mentioned technical problems.

[0004] Firstly, this application provides an alignment and attachment method. The method includes:

[0005] Based on the first image of the first object transmitted on the platform captured by the platform camera, the platform deviation between the position coordinates of the first object and the reference coordinates is determined.

[0006] Based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera, the non-platform horizontal deviation corresponding to the second object is determined.

[0007] Based on the inclined plane image of the second object acquired by the non-platform inclined plane camera, the non-platform vertical deviation and non-platform angular deviation of the second object are determined.

[0008] The platform movement value is calculated based on the non-platform angle deviation, the non-platform vertical deviation, and the platform deviation.

[0009] Based on the non-platform horizontal deviation and the platform movement value, the platform and the non-platform are controlled to move the first object and the second object to the alignment and attachment position.

[0010] Secondly, this application also provides an alignment and attachment device. The device includes:

[0011] The determination module is used to determine the platform deviation between the position coordinates of the first object and the reference coordinates based on the first image acquired by the platform camera of the first object transmitted on the platform.

[0012] The determining module is further configured to determine the non-platform horizontal deviation corresponding to the second object based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera;

[0013] The determining module is further configured to determine the non-platform vertical deviation and non-platform angular deviation of the second object based on the inclined plane image acquired by the non-platform inclined plane camera.

[0014] The calculation module is used to calculate the platform movement value based on the non-platform angle deviation, the non-platform vertical deviation, and the platform deviation;

[0015] The control module is used to control the platform and the non-platform to move the first object and the second object to the alignment and attachment position according to the non-platform horizontal deviation and the platform movement value.

[0016] In one embodiment, the control module is further configured to:

[0017] Control the non-platform to move the second object according to the horizontal deviation of the non-platform;

[0018] Based on the platform movement value, the platform is controlled to move the first object to a position where it aligns and attaches with the moved second object.

[0019] In one embodiment, the platform movement value includes a horizontal platform movement value, a vertical platform movement value, and a platform rotation angle value; the control module is further configured to:

[0020] Based on the platform rotation angle value, control the platform to rotate over the first object;

[0021] Based on the platform's horizontal movement value, the platform is controlled to move horizontally on the rotated first object.

[0022] Based on the vertical movement value of the platform, the platform is controlled to move the first object vertically after horizontal movement, so as to achieve alignment and attachment between the first object after vertical movement and the second object after movement.

[0023] In one embodiment, the reference coordinates are platform reference coordinates set for the platform; the determining module is further configured to:

[0024] Based on the first image of the first object captured by the platform camera and transmitted on the platform, determine the pixel coordinates corresponding to the first object;

[0025] Based on the calibration matrix corresponding to the platform camera, the pixel coordinates are calculated to obtain the position coordinates of the first object;

[0026] The difference between the position coordinates and the platform reference coordinates is defined as the platform deviation.

[0027] In one embodiment, the apparatus further includes:

[0028] The control module is also used to control the platform to move in the target direction and to take pictures of the platform during the movement;

[0029] The determining module is also used to determine the direction of motion of the platform in the captured image;

[0030] The determining module is also used to determine the coordinate system type corresponding to the platform based on the relationship between the motion direction and the target direction, and to establish a platform coordinate system according to the coordinate system type;

[0031] The calibration module is used to calibrate the platform camera based on the platform coordinate system to obtain the calibration matrix corresponding to the platform camera.

[0032] In one embodiment, the platform deviation includes platform horizontal deviation, platform vertical deviation, and platform angular deviation; the platform movement value includes platform horizontal movement value, platform vertical movement value, and platform rotation angle value; the calculation module is further configured to:

[0033] Calculate the difference between the platform angle deviation and the non-platform angle deviation, and use the difference as the platform rotation angle value;

[0034] The platform's rotation angle and horizontal deviation are calculated to obtain the platform's horizontal movement value;

[0035] The platform's vertical movement value is obtained by calculating the platform's rotation angle, vertical deviation, and non-platform vertical deviation.

[0036] In one embodiment, the platform camera is a camera deployed perpendicular to the platform; the non-platform planar camera is a camera deployed perpendicular to the planar portion of the non-platform; and the non-platform inclined plane camera is a camera deployed perpendicular to the inclined portion of the non-platform.

[0037] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0038] Based on the first image of the first object transmitted on the platform captured by the platform camera, the platform deviation between the position coordinates of the first object and the reference coordinates is determined.

[0039] Based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera, the non-platform horizontal deviation corresponding to the second object is determined.

[0040] Based on the inclined plane image of the second object acquired by the non-platform inclined plane camera, the non-platform vertical deviation and non-platform angular deviation of the second object are determined.

[0041] The platform movement value is calculated based on the non-platform angle deviation, the non-platform vertical deviation, and the platform deviation.

[0042] Based on the non-platform horizontal deviation and the platform movement value, the platform and the non-platform are controlled to move the first object and the second object to the alignment and attachment position.

[0043] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0044] Based on the first image of the first object transmitted on the platform captured by the platform camera, the platform deviation between the position coordinates of the first object and the reference coordinates is determined.

[0045] Based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera, the non-platform horizontal deviation corresponding to the second object is determined.

[0046] Based on the inclined plane image of the second object acquired by the non-platform inclined plane camera, the non-platform vertical deviation and non-platform angular deviation of the second object are determined.

[0047] The platform movement value is calculated based on the non-platform angle deviation, the non-platform vertical deviation, and the platform deviation.

[0048] Based on the non-platform horizontal deviation and the platform movement value, the platform and the non-platform are controlled to move the first object and the second object to the alignment and attachment position.

[0049] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0050] Based on the first image of the first object transmitted on the platform captured by the platform camera, the platform deviation between the position coordinates of the first object and the reference coordinates is determined.

[0051] Based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera, the non-platform horizontal deviation corresponding to the second object is determined.

[0052] Based on the inclined plane image of the second object acquired by the non-platform inclined plane camera, the non-platform vertical deviation and non-platform angular deviation of the second object are determined.

[0053] The platform movement value is calculated based on the non-platform angle deviation, the non-platform vertical deviation, and the platform deviation.

[0054] Based on the non-platform horizontal deviation and the platform movement value, the platform and the non-platform are controlled to move the first object and the second object to the alignment and attachment position.

[0055] The aforementioned alignment and attachment method, apparatus, computer equipment, storage medium, and computer program product determine the platform deviation between the position coordinates of the first object and the reference coordinates based on a first image acquired by a platform camera of a first object transmitted on the platform. This allows the determination of the platform deviation between the current position of the first object and the reference position corresponding to the platform within the platform's coordinate system. Based on a planar image acquired by a non-platform planar camera of a second object transmitted on a non-platform, the non-platform horizontal deviation of the second object is determined. Based on an inclined plane image acquired by a non-platform inclined plane camera of the second object, the non-platform vertical deviation and non-platform angular deviation of the second object are determined. This allows for image acquisition of the second object by cameras deployed separately on the planar and inclined plane portions of the non-platform, and the determination of the horizontal, vertical, and angular deviations separately, avoiding errors caused by associating the position coordinates of the planar and inclined plane portions of the non-platform in the same coordinate system. Based on the non-platform angular deviation, non-platform vertical deviation, and platform deviation, a platform movement value is calculated; according to the non-platform horizontal deviation and platform movement value, the platform and non-platform are controlled to move the first and second objects to the alignment and attachment position, improving the accuracy of the alignment and attachment of the first and second objects. Attached Figure Description

[0056] Figure 1 This is a diagram illustrating the application environment of the alignment and attachment method in one embodiment;

[0057] Figure 2 This is a flowchart illustrating the alignment and attachment method in one embodiment;

[0058] Figure 3 This is a schematic diagram of the platform and platform camera in one embodiment;

[0059] Figure 4a This is a frontal view of a non-platform component in one embodiment;

[0060] Figure 4b This is a side view of a non-platform component in one embodiment;

[0061] Figure 5 This is a flowchart illustrating the method for controlling the movement of the platform and non-platform in one embodiment;

[0062] Figure 6 This is a flowchart illustrating a method for calculating platform deviation in one embodiment;

[0063] Figure 7 This is a schematic diagram of the coordinate system type in one embodiment;

[0064] Figure 8 This is a schematic diagram illustrating the platform and non-platform aspects in one embodiment;

[0065] Figure 9 This is a flowchart illustrating the alignment and attachment method in another embodiment;

[0066] Figure 10 This is a structural block diagram of the alignment and attachment device in one embodiment;

[0067] Figure 11 This is a structural block diagram of the alignment and attachment device in another embodiment;

[0068] Figure 12 This is an internal structural diagram of a computer device in one embodiment;

[0069] Figure 13 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0071] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0072] The alignment and attachment method provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, computer device 102 communicates with first platform 104 and second platform 106 via a network, and controls the movement of first platform 104 and second platform 106 through communication. A data storage system can store the data that computer device 102 needs to process. The data storage system can be integrated into computer device 102 or placed in the cloud or on other network servers. Computer device 102 determines the platform deviation between the position coordinates and reference coordinates of the first object based on a first image captured by a platform camera of the first object transmitted on platform 104; it determines the non-platform horizontal deviation corresponding to the second object based on a planar image captured by a non-platform planar camera of the second object transmitted on non-platform 106; it determines the non-platform vertical deviation and non-platform angular deviation corresponding to the second object based on an inclined plane image captured by a non-platform inclined plane camera; it calculates the platform movement value based on the non-platform angular deviation, non-platform vertical deviation, and platform deviation; and it controls the platform and non-platform to move the first and second objects to the aligned attachment position according to the non-platform horizontal deviation and platform movement value. Computer device 102 can be a terminal or a server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle systems, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. The server can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0073] In one embodiment, such as Figure 2 As shown, an alignment and attachment method is provided, which can be applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0074] S202, based on the first image of the first object captured by the platform camera and transmitted on the platform, determine the platform deviation between the position coordinates of the first object and the reference coordinates.

[0075] The platform camera is a camera used to acquire images of the platform and objects on it, including monochrome or color cameras. The platform camera is deployed in front of the platform to photograph it, for example, as... Figure 3As shown, the platform camera can be deployed perpendicular to the platform. The platform is a mechanical component in automated equipment; for example, it can be a three-axis component in automated equipment with X, Y, and θ axes, capable of parallel or perpendicular movement and rotation. Automated equipment can be, for example, a bonding machine, an assembly machine, or a cleaning machine. For instance, the platform can be a three-axis component in a polarizer bonding machine used to transport LCDs (Liquid Crystal Displays). Another example is a three-axis component in an assembly machine used to transport components to be assembled. Yet another example is a three-axis component in a cleaning machine used to transport objects to be cleaned. The first object is the object transported by the platform, such as an LCD.

[0076] The first image is an image captured by the platform's camera of the first object, including black and white or color images. The position coordinates of the first object are its coordinates in three-dimensional space, which can be determined based on the platform's coordinate system. For example, the position coordinates could be P(x1, y1, t1), where x1 is the horizontal position coordinate, y1 is the vertical position coordinate, and t1 is the rotation angle. The reference coordinates are the coordinates of a alignment reference point set for the platform; for example, the reference coordinates could be Q(x2, y2, t2). The platform deviation is the deviation between the first object's position coordinates and the platform's corresponding reference coordinates, which can include horizontal deviation, vertical deviation, and angular deviation.

[0077] In one embodiment, before S202, the method further includes: when the platform transmits the first object to the image acquisition location, triggering the platform camera to capture an image of the first object, thereby obtaining a first image. The image acquisition location is a pre-set location, which can be determined based on the deployment location of the platform camera.

[0078] S204, Based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera, determine the non-platform horizontal deviation corresponding to the second object.

[0079] Among these, non-platform components refer to mechanical parts in automated equipment. For example, these could be parts in automated equipment with X and Y axes that can move parallel or perpendicularly, but lack a theta axis and cannot rotate. For instance, such as... Figure 4a As shown, the non-platform can be a component in a polarizer attachment device used to transport the POL (polarizer). The POL is wound around a roller on the non-platform, and the roller moves the POL as it rotates. The front end of the POL extends out of the roller and is attached to the LCD at an angle, forming the angled portion of the non-platform; the rear end of the POL is placed on the non-platform in a flat manner, forming the flat portion of the non-platform.

[0080] Non-platform planar cameras are cameras deployed on planar surfaces that are not on a platform, including monochrome or color cameras. They are deployed in front of the non-platform planar surface and can be deployed perpendicular to it. For example, ... Figure 4b As shown, a non-platform planar camera is deployed perpendicular to the planar portion of the non-platform rear end to capture images of the planar portion of the POL. The second object is an object transported on the non-platform, such as the POL itself.

[0081] Among them, the planar image is the image captured by the non-platform planar camera of the second object, including black and white images or color images. The non-platform horizontal deviation is the horizontal deviation between the second object and the reference position corresponding to the non-platform.

[0082] In one embodiment, S204 specifically includes: establishing a planar coordinate system corresponding to the non-platform planar portion, using the plane containing the non-platform planar portion as a reference; determining the calibration matrix corresponding to the non-platform planar camera within the established planar coordinate system; determining the first pixel coordinates of the second object based on the planar image acquired by the non-platform planar camera of the second object transmitted on the non-platform; converting the first pixel coordinates into the first position coordinates of the second object using the calibration matrix corresponding to the non-platform planar camera; and determining the non-platform horizontal deviation corresponding to the second object based on the first position coordinates of the second object and the alignment reference point set for the non-platform planar portion.

[0083] S206, Based on the inclined plane image of the second object acquired by the non-platform inclined plane camera, determine the non-platform vertical deviation and non-platform angular deviation of the second object.

[0084] Among them, non-platform inclined plane cameras are cameras deployed on inclined plane sections that are not on a platform, including monochrome or color cameras. Non-platform inclined plane cameras are deployed in front of the inclined plane section and can be deployed perpendicular to the inclined plane section. For example, as... Figure 4b As shown, a non-platform inclined plane camera is deployed perpendicular to the inclined plane at the front end of the non-platform to capture images of the inclined plane portion of the POL. The inclined plane image is the image captured by the non-platform inclined plane camera of the second object, including black and white or color images. The non-platform vertical deviation is the vertical deviation between the second object and the reference position corresponding to the non-platform. The non-platform angular deviation is the angular deviation between the second object and the reference position corresponding to the non-platform.

[0085] In one embodiment, S206 specifically includes: establishing a slope coordinate system corresponding to the non-platform slope portion, using the plane containing the non-platform slope portion as a reference; determining the calibration matrix corresponding to the non-platform slope camera within the established slope coordinate system; determining the second pixel coordinates of the second object based on the slope image captured by the non-platform slope camera of the second object transmitted on the non-platform; converting the second pixel coordinates into the second position coordinates of the second object using the calibration matrix corresponding to the non-platform slope camera; and determining the non-platform vertical deviation and non-platform angular deviation of the second object based on the second position coordinates of the second object and the alignment reference point set for the non-platform slope portion.

[0086] S208. The platform movement value is calculated based on the non-platform angular deviation, the non-platform vertical deviation, and the platform deviation.

[0087] Among them, the platform movement value is the displacement value required to move the first object conveyed on the platform to attach with the second object, including the platform horizontal movement value, the platform vertical movement value, and the platform rotation angle value.

[0088] In one embodiment, the platform deviation includes the platform horizontal deviation, the platform vertical deviation, and the platform angle deviation; the platform movement value includes the platform horizontal movement value, the platform vertical movement value, and the platform rotation angle value; S208 specifically includes: calculating the difference between the platform angle deviation and the non-platform angle deviation, and using the difference as the platform rotation angle value; calculating the platform rotation angle value and the platform horizontal deviation to obtain the platform horizontal movement value; calculating the platform rotation angle value, the platform vertical deviation, and the non-platform vertical deviation to obtain the platform vertical movement value.

[0089] Assuming the platform's angular deviation is dt1 and the non-platform's angular deviation is dt2, the platform's rotation angle DT = dt1 - dt2. That is, the rotation angle difference between the platform and the non-platform is DT. To attach the platform and the non-platform, the rotation angle difference between them needs to be zero. If the platform can rotate but the non-platform cannot, the computer controls the platform's rotation angle DT; if the platform cannot rotate but the non-platform can, the computer controls the non-platform's rotation angle DT; if both the platform and the non-platform can rotate, the computer can control either the platform or the non-platform to rotate, so that the sum of their rotation angles is DT.

[0090] In one embodiment, the platform is a rotatable three-axis component, and the non-platform is a non-rotatable component. The computer device controls the platform to rotate according to the platform's rotation angle value. Based on the platform deviation and the platform rotation angle value, the computer device calculates the horizontal and vertical deviations between the platform and its corresponding reference coordinates after rotation, obtaining the horizontal and vertical deviations after rotation. Then, the platform movement value is determined based on the horizontal and vertical deviations after rotation.

[0091] Specifically, assuming the platform's horizontal deviation is dx1, its vertical deviation is dy1, the non-platform's horizontal deviation is dx2, and its vertical deviation is dy2. The computer calculates the horizontal deviation dX after rotation based on dx1 and the platform's rotation angle DT; and calculates the vertical deviation dY after rotation based on dy1 and DT. The computer can determine the platform's horizontal movement value as dX. Moving the platform horizontally by a distance of dX and the non-platform horizontally by a distance of dx2 will align the platform and the non-platform horizontally. The computer can also determine the platform's vertical movement value as dY. Moving the platform vertically by a distance of dY and the non-platform vertically by a distance of dy2 will align the platform and the non-platform vertically. If the non-platform cannot be moved vertically, the computer can also determine the platform's vertical movement value as dY - dy2. Moving the platform vertically by a distance of dY - dy2 will align the platform and the non-platform vertically.

[0092] S210, according to the non-platform horizontal deviation and the platform movement value, control the platform and non-platform to move the first object and the second object to the alignment and attachment position.

[0093] When the computer equipment calculates the non-platform horizontal deviation and the platform movement value, it can control the platform and the non-platform to move according to the non-platform horizontal deviation and the platform movement value until the first object and the second object can be accurately attached.

[0094] In the above embodiments, the platform deviation between the position coordinates of the first object and the reference coordinates is determined based on the first image captured by the platform camera of the first object transmitted on the platform. This allows the platform deviation between the current position of the first object and the reference position of the platform to be determined in the coordinate system corresponding to the platform. Based on the planar image captured by the non-platform planar camera of the second object transmitted on the non-platform, the non-platform horizontal deviation of the second object is determined. Based on the inclined image captured by the non-platform inclined plane camera of the second object, the non-platform vertical deviation and non-platform angular deviation of the second object are determined. This allows for image acquisition of the second object by cameras deployed separately on the planar and inclined plane portions of the non-platform, and the determination of the horizontal, vertical, and angular deviations respectively, avoiding errors caused by associating the position coordinates of the planar and inclined plane portions of the non-platform in the same coordinate system. Based on the non-platform angular deviation, non-platform vertical deviation, and platform deviation, the platform movement value is calculated; according to the non-platform horizontal deviation and platform movement value, the platform and non-platform are controlled to move the first and second objects to the alignment and attachment position, improving the accuracy of the alignment and attachment of the first and second objects.

[0095] In one embodiment, such as Figure 5 As shown, S210 specifically includes the following steps:

[0096] S502 controls the non-platform to move the second object according to the non-platform horizontal deviation.

[0097] S504, based on the platform movement value, controls the platform to move the first object to a position where it aligns and attaches with the moved second object.

[0098] The computer equipment first controls the non-platform to move according to its horizontal deviation, aligning the second object on the non-platform with a horizontal alignment reference position set on the non-platform. Then, it controls the platform to move according to the platform's movement value, aligning and attaching the first object on the platform to the second object on the non-platform. When the non-platform cannot move vertically or rotate, the first and second objects can be aligned and attached by moving and rotating the platform vertically.

[0099] In one embodiment, the platform movement value includes a platform horizontal movement value, a platform vertical movement value, and a platform rotation angle value; S504 specifically includes: controlling the platform to rotate the first object according to the platform rotation angle value; controlling the platform to move the rotated first object horizontally according to the platform horizontal movement value; and controlling the platform to move the horizontally moved first object vertically according to the platform vertical movement value, so as to achieve alignment and attachment between the vertically moved first object and the moved second object.

[0100] Specifically, the computer equipment first controls the platform to rotate according to the platform rotation angle value, and then moves it horizontally according to the platform horizontal movement value, so that the first object moves horizontally until it is attached to the second object. Then, the computer controls the platform to move vertically according to the platform vertical movement value, so that the first object moves vertically until it is attached to the second object.

[0101] In the above embodiments, the computer device controls the non-platform to move the second object according to the horizontal deviation of the non-platform. Based on the platform movement value, the control platform moves the first object to a position where it aligns and attaches with the moved second object. Thus, even when the platform and non-platform comprise a plane and an inclined plane respectively, the movement of the platform and non-platform allows for precise attachment of the first and second objects, improving attachment accuracy. Furthermore, even when the non-platform is immovable and non-rotatable in the vertical direction, the movement and rotation of the platform in the vertical direction can still allow for attachment of the first and second objects, achieving precise attachment.

[0102] In one embodiment, the reference coordinates are platform reference coordinates set for the platform; such as... Figure 6 As shown, S202 specifically includes the following steps:

[0103] S602, determine the pixel coordinates of the first object based on the first image of the first object transmitted on the platform by the platform camera.

[0104] Pixel coordinates are the coordinates in the image, expressed in pixels. For example, pixel coordinates are the coordinates of a pixel's position in the image, with the top-left corner as the origin, and expressed in pixels. For instance, pixel coordinates (240, 320) indicate that the pixel is the 240th pixel horizontally and the 320th pixel vertically in the image. The pixel coordinates corresponding to the first object can be the pixel coordinates of a specific point on the first object within the first image. Computer devices can determine the pixel coordinates corresponding to the first object using image recognition algorithms.

[0105] S604 calculates the pixel coordinates based on the calibration matrix corresponding to the platform camera to obtain the position coordinates of the first object.

[0106] The calibration matrix is ​​a matrix that converts the pixel coordinates in the image captured by the platform camera into spatial position coordinates. In one embodiment, S604 specifically includes: the computer device multiplies the calibration matrix by the pixel coordinates to obtain the position coordinates of the first object.

[0107] In one embodiment, before S604, the method further includes: controlling the platform to move in the target direction and taking pictures of the platform during the movement; determining the direction of movement of the platform in the captured image; determining the coordinate system type corresponding to the platform based on the relationship between the direction of movement and the target direction, and establishing a platform coordinate system according to the coordinate system type; calibrating the platform camera based on the platform coordinate system to obtain the calibration matrix corresponding to the platform camera.

[0108] The target direction can be the direction of a coordinate axis in the platform's mechanical coordinate system, and can be either the positive or negative direction of the coordinate axis. The mechanical coordinate system is set at the factory, with a specific point on the platform as the origin. For example, the target direction could be the positive direction of the X-axis in the platform's mechanical coordinate system. Another example is the positive direction of the Y-axis in the platform's mechanical coordinate system.

[0109] Specifically, the computer equipment can first use the platform's JOG (slow motion) function to move the platform in the positive X-axis direction, and then take pictures of the platform during this movement to determine the platform's direction of motion in the captured images. For example, as Figure 7 As shown, if the platform's motion direction in the captured image is consistent with the positive X-axis direction, the platform's coordinate system type can be Type 1 or Type 3; if the platform's motion direction in the captured image is opposite to the positive X-axis direction, the platform's coordinate system type can be Type 2 or Type 4. Then, the computer device can move the platform clockwise along the positive θ-axis. If the platform's motion direction in the captured image is clockwise, the platform's coordinate system type can be Type 1 or Type 4; if the platform's motion direction in the captured image is counterclockwise, the platform's coordinate system type can be Type 2 or Type 3. Similarly, when the platform moves in the positive Y-axis direction, the platform's coordinate system type can also be determined based on the platform's motion direction in the captured image.

[0110] The computer equipment establishes a platform coordinate system according to the coordinate system type. The plane determined by the X-axis and Y-axis of the established platform coordinate system can be perpendicular to the shooting direction of the plane camera and parallel to the plane on which the platform is located. The rotation directions of the X-axis, Y-axis and θ of the platform coordinate system are consistent with the rotation directions of the X-axis, Y-axis and θ corresponding to the coordinate system type.

[0111] The computer equipment calibrates the platform camera based on the platform coordinate system, obtaining the corresponding calibration matrix for the platform camera. For example, the computer equipment can calibrate the platform camera using the nine-point calibration method to obtain the corresponding calibration matrix for the platform camera.

[0112] S606 defines the difference between the position coordinates and the platform reference coordinates as the platform deviation.

[0113] Specifically, the position coordinates include horizontal position coordinates, vertical position coordinates, and rotation angle values, while the platform reference coordinates include horizontal reference coordinates, vertical reference coordinates, and angle reference values. The computer equipment uses the difference between the horizontal position coordinates and the horizontal reference coordinates as the platform's horizontal deviation; the difference between the vertical position coordinates and the vertical reference coordinates as the platform's vertical deviation; and the difference between the rotation angle value and the angle reference value as the platform's angular deviation.

[0114] In the above embodiments, the pixel coordinates of the first object are determined based on the first image captured by the platform camera of the first object transmitted on the platform. The position coordinates of the first object are calculated based on the calibration matrix determined according to the coordinate system type of the platform. The difference between the position coordinates and the platform reference coordinates is determined as the platform deviation. An independent platform coordinate system is set for the platform, and the difference between the position coordinates of the first object on the platform and the platform reference coordinates is determined within the platform coordinate system. The platform and non-platform are independently controlled, causing the platform to move to the position where it is attached to the second object according to the reference coordinates. By setting independent coordinate systems for the platform and non-platform, coordinate transformation between planes and inclined planes, which would otherwise be necessary if the platform and non-platform were associated with the same coordinate system, coordinate errors are avoided. This improves the attachment accuracy between the first and second objects.

[0115] In one embodiment, such as Figure 8 As shown, the platform is a planar mechanical component used to transport the LCD. The platform can adjust the position of the LCD in both the X and Y axes and can rotate in the θ axis. The platform moves from left to right, attaching the LCD to the POL (Portable Array of Optical Components). A camera is deployed perpendicular to the platform to capture images of the LCD transported on the platform, and the LCD is positioned using these images. The non-platform is a mechanical component used to transport the POL. The POL is wound around a rubber roller on the non-platform, and the rotation of the rubber roller moves the POL. The front end of the POL extends beyond rubber roller 1, forming a sloping portion of the non-platform, which is used to attach the POL to the LCD in a sloping manner; the POL between rubber rollers 3 and 4 forms a planar portion of the non-platform. Figure 4bAs shown, a non-platform inclined plane camera is deployed perpendicular to the plane containing the non-platform inclined portion to capture images of the front end of the POL. A non-platform planar camera is deployed perpendicular to the plane containing the non-platform planar portion to capture images of the rear end of the POL. Because the front end of the POL is inclined, it is difficult to determine the angle of the inclined plane, making it impossible to determine the horizontal (X-axis) position of the POL using images captured by the non-platform inclined plane camera, and it is also impossible to associate the inclined plane and the plane in the same coordinate system. To solve this problem, independent coordinate systems and alignment reference points are set for the plane containing the platform, the non-platform planar portion, and the non-platform inclined portion (assuming the reference point corresponding to the platform is point 1, the reference point corresponding to the non-platform planar portion is point 2, and the reference point corresponding to the non-platform inclined portion is point 3). The platform camera is calibrated based on the coordinate system corresponding to the platform, the non-platform planar camera is calibrated based on the coordinate system corresponding to the non-platform planar portion, and the non-platform inclined camera is calibrated based on the coordinate system corresponding to the non-platform inclined portion. The platform deviation (dx1, dy1, dt1) between the current position of the LCD and point 1 is determined using images captured by the platform camera on the LCD. The horizontal deviation (dx2) between the current position of the POL and point 2 is determined by the image captured by the non-platform planar camera. The vertical deviation (dy2) and angular deviation (dt2) between the current position of the POL and point 3 are determined by the image captured by the non-platform inclined camera. Since the non-platform can move the POL horizontally, the front end of the POL can be moved horizontally to the reference point by moving the POL a distance of dx2 using a roller. Then, the LCD and the POL are attached to each other along the Y-axis and θ-axis by moving and rotating the platform. The computer calculates the angular deviation DT = dt1 - dt2 between the platform and the non-platform, and rotates the platform by DT. Based on DT and the platform horizontal deviation dx1 between the platform and point 1 before rotation, the platform horizontal deviation dX between the platform and point 1 after rotation is calculated; based on DT and the platform vertical deviation dy1 between the platform and point 1 before rotation, the platform vertical deviation dY between the platform and point 1 after rotation is calculated. By moving the platform horizontally by dX and vertically by dY-dy2, the LCD and POL can be aligned and attached.

[0116] In one embodiment, such as Figure 9 As shown, the alignment and attachment method includes the following steps:

[0117] S902 controls the platform to move towards the target direction and takes pictures of the platform during the movement.

[0118] S904, determine the direction of motion of the platform in the captured image; based on the relationship between the direction of motion and the target direction, determine the coordinate system type corresponding to the platform, and establish the platform coordinate system according to the coordinate system type.

[0119] S906 calibrates the platform camera based on the platform coordinate system to obtain the calibration matrix corresponding to the platform camera.

[0120] S908: Based on the first image of the first object captured by the platform camera and transmitted on the platform, determine the pixel coordinates of the first object; based on the calibration matrix of the platform camera, calculate the pixel coordinates to obtain the position coordinates of the first object.

[0121] S910 defines the difference between the position coordinates and the platform reference coordinates as the platform deviation.

[0122] S912, based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera, determines the non-platform horizontal deviation corresponding to the second object.

[0123] S914, based on the inclined plane image of the second object acquired by the non-platform inclined plane camera, determines the non-platform vertical deviation and non-platform angular deviation of the second object.

[0124] S916, calculate the difference between the platform angle deviation and the non-platform angle deviation, and use the difference as the platform rotation angle value.

[0125] S918 calculates the platform rotation angle and platform horizontal deviation to obtain the platform horizontal movement value; calculates the platform rotation angle, platform vertical deviation, and non-platform vertical deviation to obtain the platform vertical movement value.

[0126] S920 controls the non-platform to move the second object according to the non-platform's horizontal deviation.

[0127] S922, based on the platform rotation angle value, control the platform to rotate the first object, and based on the platform horizontal movement value, control the platform to move the rotated first object horizontally;

[0128] S924, based on the platform's vertical movement value, controls the platform to move the first object vertically after horizontal movement, so as to achieve alignment and attachment between the first object after vertical movement and the second object after movement.

[0129] For details on S902 to S924 above, please refer to the specific implementation process described above.

[0130] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0131] Based on the same inventive concept, this application also provides an alignment and attachment apparatus for implementing the alignment and attachment method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, the specific limitations in one or more alignment and attachment apparatus embodiments provided below can be found in the limitations of the alignment and attachment method described above, and will not be repeated here.

[0132] In one embodiment, such as Figure 10 As shown, an alignment and attachment device is provided, including: a determining module 1002, a calculating module 1004, and a controlling module 1006, wherein:

[0133] The determination module 1002 is used to determine the platform deviation between the position coordinates of the first object and the reference coordinates based on the first image of the first object transmitted on the platform by the platform camera.

[0134] The determination module 1002 is also used to determine the non-platform horizontal deviation corresponding to the second object based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera.

[0135] The determination module 1002 is also used to determine the non-platform vertical deviation and non-platform angular deviation of the second object based on the inclined image of the second object acquired by the non-platform inclined plane camera.

[0136] The calculation module 1004 is used to calculate the platform movement value based on the non-platform angular deviation, the non-platform vertical deviation, and the platform deviation.

[0137] The control module 1006 is used to control the platform and the non-platform to move the first object and the second object to the alignment and attachment position according to the non-platform horizontal deviation and the platform movement value.

[0138] In the above embodiments, the platform deviation between the position coordinates of the first object and the reference coordinates is determined based on the first image captured by the platform camera of the first object transmitted on the platform. This allows the platform deviation between the current position of the first object and the reference position of the platform to be determined in the coordinate system corresponding to the platform. Based on the planar image captured by the non-platform planar camera of the second object transmitted on the non-platform, the non-platform horizontal deviation of the second object is determined. Based on the inclined image captured by the non-platform inclined plane camera of the second object, the non-platform vertical deviation and non-platform angular deviation of the second object are determined. This allows for image acquisition of the second object by cameras deployed separately on the planar and inclined plane portions of the non-platform, and the determination of the horizontal, vertical, and angular deviations respectively, avoiding errors caused by associating the position coordinates of the planar and inclined plane portions of the non-platform in the same coordinate system. Based on the non-platform angular deviation, non-platform vertical deviation, and platform deviation, the platform movement value is calculated; according to the non-platform horizontal deviation and platform movement value, the platform and non-platform are controlled to move the first and second objects to the alignment and attachment position, improving the accuracy of the alignment and attachment of the first and second objects.

[0139] In one embodiment, the control module 1006 is further configured to:

[0140] Control the non-platform to move the second object according to the horizontal deviation of the non-platform;

[0141] Based on the platform's movement value, the control platform moves the first object to a position where it aligns and attaches with the moved second object.

[0142] In one embodiment, the platform movement value includes the platform horizontal movement value, the platform vertical movement value, and the platform rotation angle value; the control module 1006 is further configured to:

[0143] Based on the platform rotation angle value, control the platform to rotate around the first object;

[0144] Based on the platform's horizontal movement value, control the platform to move the first object horizontally after rotation;

[0145] Based on the platform's vertical movement value, the control platform moves the first object vertically after horizontal movement, so as to achieve alignment and attachment between the first object after vertical movement and the second object after movement.

[0146] In one embodiment, the reference coordinates are platform reference coordinates set for the platform; the determining module 1002 is further configured to:

[0147] Based on the first image of the first object captured by the platform camera and transmitted on the platform, determine the pixel coordinates of the first object;

[0148] Based on the calibration matrix corresponding to the platform camera, the pixel coordinates are calculated to obtain the position coordinates of the first object;

[0149] The difference between the position coordinates and the platform reference coordinates is defined as the platform deviation.

[0150] In one embodiment, such as Figure 11 As shown, the device also includes:

[0151] The control module 1006 is also used to control the platform to move in the target direction and to take pictures of the platform during the movement.

[0152] The determining module 1002 is also used to determine the direction of motion of the platform in the captured image;

[0153] The determination module 1002 is also used to determine the coordinate system type corresponding to the platform based on the relationship between the motion direction and the target direction, and to establish the platform coordinate system according to the coordinate system type;

[0154] The calibration module 1008 is used to calibrate the platform camera based on the platform coordinate system and obtain the calibration matrix corresponding to the platform camera.

[0155] In one embodiment, the platform deviation includes platform horizontal deviation, platform vertical deviation, and platform angular deviation; the platform movement value includes platform horizontal movement value, platform vertical movement value, and platform rotation angle value; the calculation module 1004 is further configured to:

[0156] Calculate the difference between the platform angle deviation and the non-platform angle deviation, and use the difference as the platform rotation angle value;

[0157] The platform's horizontal movement value is obtained by calculating the platform's rotation angle and horizontal deviation.

[0158] The vertical movement value of the platform is obtained by calculating the platform rotation angle, the platform vertical deviation, and the non-platform vertical deviation.

[0159] In one embodiment, the platform camera is a camera deployed perpendicular to the platform; the non-platform planar camera is a camera deployed perpendicular to the planar portion of the non-platform; and the non-platform inclined plane camera is a camera deployed perpendicular to the inclined portion of the non-platform.

[0160] Each module in the above-mentioned alignment and attachment device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0161] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 12 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores alignment data. The I / O interfaces allow the processor to exchange information with external devices. The communication interface allows communication with external terminals via a network connection. When executed by the processor, the computer program implements an alignment method.

[0162] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 13 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a positioning and attachment method. The display unit of the computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0163] Those skilled in the art will understand that Figure 12 , 13The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0164] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0165] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0166] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0167] 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, data stored, data displayed, 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 related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0168] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0169] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An aligning and attaching method, characterized by, The method includes: Based on the first image of the first object transmitted on the platform captured by the platform camera, the platform deviation between the position coordinates of the first object and the reference coordinates is determined; the platform deviation includes the platform horizontal deviation, the platform vertical deviation, and the platform angular deviation. A planar coordinate system is established with the plane containing the non-platform plane as a reference. Based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera, the non-platform horizontal deviation of the second object is determined with the planar coordinate system as a reference. Using the plane containing the non-platform inclined surface as a reference, an inclined surface coordinate system is established. Based on the inclined surface image of the second object captured by the non-platform inclined surface camera, the non-platform vertical deviation and non-platform angular deviation of the second object are determined using the inclined surface coordinate system as a reference. The non-platform inclined surface camera is a camera deployed for the non-platform inclined surface. Calculate the difference between the platform angle deviation and the non-platform angle deviation, and use the difference as the platform rotation angle value; The platform's rotation angle and horizontal deviation are calculated to obtain the platform's horizontal movement value; The platform's vertical movement value is obtained by calculating the platform's rotation angle value, the platform's vertical deviation, and the non-platform vertical deviation. Based on the non-platform horizontal deviation, the platform rotation angle, the platform horizontal movement, and the platform vertical movement, the platform and the non-platform are controlled to move the first object and the second object to the aligned and attached position.

2. The method according to claim 1, characterized in that, The step of controlling the platform and the non-platform to move the first object and the second object to the alignment and attachment position according to the non-platform horizontal deviation, the platform rotation angle value, the platform horizontal movement value, and the platform vertical movement value includes: Control the non-platform to move the second object according to the horizontal deviation of the non-platform; Based on the platform rotation angle value, the platform horizontal movement value, and the platform vertical movement value, the platform is controlled to move the first object to a position where it aligns and attaches with the moved second object.

3. The method according to claim 2, characterized in that, The step of controlling the platform to move the first object to a position aligned and attached with the moved second object based on the platform rotation angle value, the platform horizontal movement value, and the platform vertical movement value includes: Based on the platform rotation angle value, control the platform to rotate over the first object; Based on the platform's horizontal movement value, the platform is controlled to move horizontally on the rotated first object. Based on the vertical movement value of the platform, the platform is controlled to move the first object vertically after horizontal movement, so as to achieve alignment and attachment between the first object after vertical movement and the second object after movement.

4. The method according to claim 1, characterized in that, The reference coordinates are platform reference coordinates set for the platform; determining the platform deviation between the position coordinates of the first object and the reference coordinates based on the first image captured by the platform camera of the first object transmitted on the platform includes: Based on the first image of the first object captured by the platform camera and transmitted on the platform, determine the pixel coordinates corresponding to the first object; Based on the calibration matrix corresponding to the platform camera, the pixel coordinates are calculated to obtain the position coordinates of the first object; The difference between the position coordinates and the platform reference coordinates is defined as the platform deviation.

5. The method according to claim 4, characterized in that, The method further includes: Control the platform to move in the target direction, and take pictures of the platform during the movement; Determine the direction of motion of the platform in the captured image; Based on the relationship between the direction of motion and the target direction, the coordinate system type corresponding to the platform is determined, and a platform coordinate system is established according to the coordinate system type; The platform camera is calibrated based on the platform coordinate system to obtain the calibration matrix corresponding to the platform camera.

6. The method according to claim 1, characterized in that, The non-platform refers to the mechanical components in automated equipment.

7. The method according to claim 1, characterized in that, The platform camera is a camera deployed perpendicular to the platform; the non-platform planar camera is a camera deployed perpendicular to the planar portion of the non-platform.

8. An alignment and attachment device, characterized in that, The device includes: The determination module is used to determine the platform deviation between the position coordinates of the first object and the reference coordinates based on the first image of the first object transmitted on the platform by the platform camera; the platform deviation includes the platform horizontal deviation, the platform vertical deviation, and the platform angular deviation. The determining module is further configured to establish a planar coordinate system based on the plane where the non-platform plane part is located, and determine the non-platform horizontal deviation corresponding to the second object based on the planar image of the second object transmitted on the non-platform by the non-platform planar camera and the planar coordinate system. The determining module is further configured to establish an inclined plane coordinate system based on the plane containing the non-platform inclined plane portion, and determine the non-platform vertical deviation and non-platform angular deviation corresponding to the second object based on the inclined plane image captured by the non-platform inclined plane camera, using the inclined plane coordinate system as a reference; the non-platform inclined plane camera is a camera deployed for the non-platform inclined plane portion; the calculation module is configured to calculate the difference between the platform angular deviation and the non-platform angular deviation, and use the difference as the platform rotation angle value; calculate the platform rotation angle value and the platform horizontal deviation to obtain the platform horizontal movement value; calculate the platform rotation angle value, the platform vertical deviation, and the non-platform vertical deviation to obtain the platform vertical movement value; The control module is used to control the platform and the non-platform to move the first object and the second object to the alignment and attachment position according to the non-platform horizontal deviation, the platform rotation angle value, the platform horizontal movement value, and the platform vertical movement value.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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