Automatic alignment system for assembling mobile phone screen

Abstract

The application relates to the technical field of mobile phone screen assembling, and particularly discloses an automatic alignment system for mobile phone screen assembling, which comprises a mobile phone body, a mobile phone screen, a body photographing and collecting module, a reference model establishing module, a standard model database, a screen cleaning module, a screen photographing and collecting module, a size checking module, a data calculating module, an alignment correction module, a dimness recognizing module, an appearance contour recognizing module, a light supplementing module and an automatic assembling module. In the application, the actual image of the mobile phone screen to be assembled when placed for assembling is collected by the screen photographing and collecting module through a CCD camera, and the actual image is compared with the reference image of the standard mobile phone body stored in the standard model database. The mobile phone body and the mobile phone screen with the position offset are subjected to alignment correction of the position offset and the angle offset by a mechanical hand through the alignment correction module, so that the assembling alignment accuracy is higher, and the generation efficiency is higher.

Description

TECHNICAL FIELD

[0001] The application relates to a mobile phone screen assembling technology field, in particular to an automatic alignment system for mobile phone screen assembling. BACKGROUND

[0002] With the information globalization and the wide popularity of mobile phones, the demand for mobile phones is increasing, which further promotes the development of the mobile phone manufacturing industry. A crucial step in the production of mobile phones is the assembly of mobile phone screens. A mobile phone screen generally includes a display module for displaying images and colors and tempered glass attached to the surface of the display module to protect the display module from being scratched. The alignment and attachment of the mobile phone shell and the mobile phone screen are essential steps in the production and assembly of mobile phones. Machine vision can improve the flexibility and automation of production. In some dangerous working environments that are not suitable for manual work or where manual vision cannot meet the requirements, machine vision is often used to replace manual vision. Machine vision has four main functions, namely guidance and positioning, appearance detection, and high precision.

[0003] The existing mobile phone screen alignment mainly places the mobile phone body on a clamp, and then uses a mechanical hand to perform alignment and assembly through visual positioning. The positioning accuracy is low, and the surface flatness is not enough. The traditional alignment and attachment of the mobile phone shell and the mobile phone screen need to use a special calibration plate to calibrate the camera, resulting in low alignment and attachment accuracy and low production efficiency.

[0004] Therefore, we propose an automatic alignment system for mobile phone screen assembling to solve the above problems. SUMMARY

[0005] The application aims to provide an automatic alignment system for mobile phone screen assembling to solve the problems raised in the background.

[0006] To achieve the above-mentioned purpose, the application provides the following technical solutions:

[0007] An automatic alignment system for mobile phone screen assembling, characterized by comprising: a mobile phone body, a mobile phone screen, a body photographing and collecting module, a reference model establishing module, a standard model database, a screen cleaning module, a screen photographing and collecting module, a size checking module, a data calculating module, an alignment correction module, a dimness recognition module, an appearance contour recognition module, a light supplementing module, and an automatic assembling module.

[0008] The body photographing and collecting module is used to collect the reference image of the mobile phone body.

[0009] The reference model establishing module is used to establish a plane coordinate system according to the reference image, and the standard model database is used to store the reference image of each standard mobile phone body.

[0010] The dimness recognition module is configured to acquire the reference image and an actual image captured by the screen photographing and collecting module, and determine whether the current shooting scene is dim according to the reference image and the actual image. If the current shooting scene is dim, the dimness of the actual image is recognized based on the reference image to obtain a recognition result.

[0011] The light supplement module is configured to supplement light for the current shooting scene according to the recognition result.

[0012] The appearance contour recognition module is configured to recognize the clarity of the appearance contour of the actual image based on the reference image to obtain a clarity recognition result.

[0013] The screen cleaning module is configured to clean the screen of the mobile phone before the screen photographing and collecting module collects the actual image. The screen photographing and collecting module is configured to collect the actual image of the mobile phone screen when the mobile phone is placed for assembly. The size checking module is configured to check the actual image compared with the reference image of the standard mobile phone body stored in the standard model database to obtain a mobile phone body meeting the preset standard.

[0014] The data calculation module is configured to calculate the position offset and the angle offset between the actual image and the reference image. The alignment correction module is configured to correct the alignment of the mobile phone body and the mobile phone screen with the position offset according to the position offset and the angle offset.

[0015] In further embodiments, the alignment correction module includes an angle control unit and an offset control unit.

[0016] The angle control unit is configured to acquire first coordinate data of the reference image in a plane coordinate system and second coordinate data of the actual image in the plane coordinate system, and calculate the angle offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data. The angle control unit is also configured to adjust the actual angle of the mobile phone body and the mobile phone screen according to the angle offset.

[0017] The offset control unit is configured to calculate the position offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data, and displace the actual position of the mobile phone body and the mobile phone screen according to the position offset.

[0018] In further embodiments, the reference model establishing module is configured to establish a first plane coordinate system with the center of the reference image as the origin. When the angle control unit acquires the first coordinate data, the coordinate values of the four corner points of the reference image are acquired respectively, and the coordinate values of the four corner points are taken as the first coordinate data. The first coordinate data are A1(X1, Y1), A2(X2, Y2), A3(X3, Y3) and A4(X4, Y4) respectively.

[0019] The reference model establishing module is further configured to align the coordinate center of the actual image with the coordinate center of the reference image, and the angle control unit acquires the coordinate values of the four corner points of the actual image as the second coordinate data when acquiring the second coordinate data, wherein the second coordinate data are B1(X5, Y5), B2(X6, Y6), B3(X7, Y7) and B4(X8, Y8) respectively.

[0020] The angle control unit is further configured to calculate the angle offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data, wherein the calculation formula is:

[0021]

[0022] Q = R;

[0023] wherein,

[0024] wherein, cos ∠R represents the cosine value of the angle offset, and Q represents the angle offset.

[0025] The offset control unit is configured to calculate the position offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data, wherein the calculation formula is:

[0026] T(x, y) = [(A1-B1)+(A2-B2)+(A3-B3)+(A4-B4)] / 4;

[0027] wherein, T(x, y) represents the position offset, A1, A2, A3, A4 are the first coordinate data, and B1, B2, B3, B4 are the second coordinate data.

[0028] In further embodiments, the angle control unit comprises a mechanical hand, and the offset control unit comprises a three-axis platform, the mechanical hand is configured to adjust the angle offset of the mobile phone screen, and the three-axis platform is configured to adjust the position offset of the mobile phone screen.

[0029] In further embodiments, the offset control unit is configured to acquire the first coordinate data and the second coordinate data in the planar coordinate system from the reference image of the mobile phone body acquired by the body photographing acquisition module and the actual image of the mobile phone screen to be assembled when placed acquired by the screen photographing acquisition module, and transmit the first coordinate data and the second coordinate data to the three-axis platform to correct the actual image center of the mobile phone screen and the reference image center of the mobile phone body.

[0030] In a further embodiment, the angle control unit is configured to obtain first coordinate data and second coordinate data in a planar coordinate system from a reference image of the mobile phone body captured by the body photographing and capturing module and an actual image of the mobile phone screen to be assembled when placed for assembly captured by the screen photographing and capturing module, and transmit the first coordinate data and the second coordinate data to the mechanical arm control correction and offset control unit to adjust the angle offset between the mobile phone screen and the mobile phone body after correction.

[0031] In a further embodiment, the data calculation module is configured to transmit the position offset and the angle offset to the alignment correction module, and the alignment correction module is configured to determine whether the values of the position offset and the angle offset are zero.

[0032] If the values of the position offset and the angle offset are zero, it is determined that the reference image and the actual image coincide.

[0033] In a further embodiment, the automatic assembly module is configured to realize automatic assembly of the mobile phone body and the mobile phone screen after correction of the angle offset between the mobile phone body and the mobile phone screen by the angle control unit in the alignment correction module and correction of the position offset between the mobile phone body and the mobile phone screen by the offset control unit through the mechanical arm control.

[0034] In a further embodiment, the dimness recognition module is configured to recognize an actual light intensity of the actual image of the mobile phone screen to be assembled when placed for assembly captured by the screen photographing and capturing module and a reference light intensity of the reference image of the mobile phone body captured by the body photographing and capturing module.

[0035] If the actual light intensity is lower than the reference light intensity, it is determined that the current shooting scene is dim, and if the current shooting scene is dim, the dimness of the actual image is recognized based on the reference image, an identification result is obtained, and the identification result is transmitted to the light compensation module to compensate the current shooting scene.

[0036] In a further embodiment, the appearance contour recognition module is configured to recognize the contours of unclear images in the reference image and the actual image captured by the body photographing and capturing module and the screen photographing and capturing module through a contour extraction method.

[0037] The contour extraction method uses a method of removing internal points, including the following steps:

[0038] Step one, image binarization;

[0039] Step two, if the target pixel in the image is black and all the adjacent pixels are black, the target pixel is deleted;

[0040] Step three: traversing each pixel of the removed border to obtain a new target image;

[0041] If the actual image obtained by the screen photographing and collecting module is determined to be blurred through the contour extraction method, the appearance contour recognition module recognizes the picture definition and appearance contour of the actual image obtained by the screen photographing and collecting module, and compares the actual image with the reference image obtained by the body photographing and collecting module to obtain a definition recognition result.

[0042] Compared with the prior art, the present application has the following advantages:

[0043] In the present application, the screen photographing and collecting module compares the actual image of the to-be-assembled mobile phone screen when placed for assembly with the reference image of the standard mobile phone body stored in the standard model database in the established plane coordinate system through CCD camera photographing and collecting, so as to calculate the offset amount by using the offset amount calculation formula, facilitate subsequent positioning, and detect the angle and position offset amount by using double cameras, so as to achieve accurate positioning of the screen. The position offset amount and angle offset amount of the mobile phone body and the mobile phone screen with position offset amount are corrected by the alignment correction module through the mechanical hand, so that the assembly alignment accuracy is higher and the generation efficiency is higher. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of an automatic alignment system for mobile phone screen assembly.

[0045] Figure 2 It is a system flow diagram in the present application.

[0046] Figure 3 It is a reference image coordinate system diagram in the present application.

[0047] In the figure: 1, mobile phone body; 2, mobile phone screen; 3, body photographing and collecting module; 4, reference model establishing module; 5, standard model database; 6, screen cleaning module; 7, screen photographing and collecting module; 8, size checking module; 9, data calculation module; 10, alignment correction module; 11, angle control unit; 12, offset control unit; 13, dimness recognition module; 14, appearance contour recognition module; 15, light supplementing module; 16, automatic assembly module. DETAILED DESCRIPTION

[0048] In the description of the present application, it is to be understood by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0049] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0051] Please refer to Figure 1 One Figure 3The embodiment of the application discloses an automatic alignment system for assembling a mobile phone screen, which comprises a mobile phone body 1, a mobile phone screen 2, a body photographing and collecting module 3, a reference model establishing module 4, a standard model database 5, a screen cleaning module 6, a screen photographing and collecting module 7, a size checking module 8, a data calculating module 9, an alignment correction module 10, a dimness recognizing module 13, an appearance contour recognizing module 14, a light supplementing module 15 and an automatic assembling module 16. The body photographing and collecting module 3 is used for collecting a reference image of the mobile phone body 1. The reference model establishing module 4 is used for establishing a plane coordinate system according to the reference image. The standard model database 5 is used for storing the reference image of each standard mobile phone body. The dimness recognizing module 13 is used for obtaining the reference image and an actual image obtained by the screen photographing and collecting module 7, and judging whether the current photographing scene is dim according to the reference image and the actual image. If the current photographing scene is dim, the dimness of the actual image is recognized based on the reference image to obtain a recognition result. The light supplementing module 15 is used for supplementing light to the current photographing scene according to the recognition result. The appearance contour recognizing module 14 is used for recognizing the clarity of the appearance contour of the actual image based on the reference image to obtain a clarity recognition result. The screen cleaning module 6 is used for cleaning the mobile phone screen 2 before the screen photographing and collecting module 7 collects the actual image. The screen photographing and collecting module 7 is used for collecting the actual image of the mobile phone screen 2 to be assembled when the mobile phone screen 2 is placed for assembly. The size checking module 8 is used for checking the actual image compared with the reference image of the standard mobile phone body stored in the standard model database 5 to obtain the mobile phone body 1 meeting the preset standard. The data calculating module 9 is used for calculating the position offset and the angle offset between the actual image and the reference image. The alignment correction module 10 is used for correcting the position of the mobile phone body 1 and the mobile phone screen 2 with position offset according to the position offset and the angle offset. The screen photographing and collecting module collects the actual image of the mobile phone screen to be assembled when the mobile phone screen is placed for assembly by a CCD camera, and the actual image is positioned and compared with the reference image of the standard mobile phone body stored in the standard model database in the established plane coordinate system, so that the offset is calculated by using the calculation formula of the offset, the positioning is facilitated in the subsequent process, the angle and the position offset are detected by using the double cameras, the accurate positioning of the screen is achieved, the mobile phone body and the mobile phone screen with the position offset and the angle offset are corrected by the alignment correction module through the mechanical hand, the accuracy of the assembly alignment is higher, and the generation efficiency is higher.

[0052] In a further embodiment, the alignment correction module 10 comprises an angle control unit 11 and an offset control unit 12, the angle control unit 11 is configured to obtain first coordinate data of the reference image in the plane coordinate system and second coordinate data of the actual image in the plane coordinate system, and calculate the angle offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, and further configured to adjust the actual angle of the mobile phone body 1 and the mobile phone screen 2 according to the angle offset, the offset control unit 12 is configured to calculate the position offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, and further configured to displace the actual position of the mobile phone body 1 and the mobile phone screen 2 according to the position offset, the reference model establishing module 4 is configured to establish a first plane coordinate system with the center of the reference image as the origin, when the angle control unit 11 obtains the first coordinate data, the coordinate values of the four corner points of the reference image are obtained respectively, and the coordinate values of the four corner points are taken as the first coordinate data, wherein the first coordinate data are A1(X1, Y1), A2(X2, Y2), A3(X3, Y3) and A4(X4, Y4) respectively, the reference model establishing module 4 is further configured to coincide the coordinate center of the actual image with the coordinate center of the reference image, when the angle control unit 11 obtains the second coordinate data, the coordinate values of the four corner points of the actual image are obtained respectively, and the coordinate values of the four corner points are taken as the second coordinate data, wherein the second coordinate data are B1(X5, Y5), B2(X6, Y6), B3(X7, Y7) and B4(X8, Y8) respectively.

[0053] The angle control unit 11 is further configured to calculate the angle offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, wherein the calculation formula is:

[0054]

[0055] Q=R;

[0056] wherein,

[0057] wherein, cos ∠R represents the cosine value of the angle offset, and Q represents the angle offset.

[0058] The offset control unit 11 is configured to calculate the position offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, wherein the calculation formula is:

[0059] T(x, y) = [(A1-B1)+(A2-B2)+(A3-B3)+(A4-B4)] / 4;

[0060] Wherein, T(x, y) represents the position offset, A1, A2, A3, A4 are the first coordinate data, B1, B2, B3, B4 are the second coordinate data.

[0061] The angle control unit 11 comprises a mechanical hand, and the offset control unit 12 comprises a three-axis platform, the mechanical hand is used for adjusting the angle offset of the mobile phone screen 2, and the three-axis platform is used for adjusting the position offset of the mobile phone screen 2. The offset control unit 12 is used for acquiring first coordinate data and second coordinate data in a plane coordinate system respectively from a reference image of the mobile phone body 1 collected by the body photographing and collecting module 3 and an actual image of the mobile phone screen 2 to be assembled when placed for assembly collected by the screen photographing and collecting module 7, and transmitting the first coordinate data and the second coordinate data to the three-axis platform to correct the actual image center of the mobile phone screen 2 and the reference image center of the mobile phone body 1. The angle control unit 11 is used for acquiring first coordinate data and second coordinate data in a plane coordinate system respectively from a reference image of the mobile phone body 1 collected by the body photographing and collecting module 3 and an actual image of the mobile phone screen 2 to be assembled when placed for assembly collected by the screen photographing and collecting module 7, and transmitting the first coordinate data and the second coordinate data to the mechanical hand to correct the angle offset between the mobile phone screen 2 and the mobile phone body 1 after adjustment of the offset control unit 12. The data calculation module 9 is used for sending the position offset and the angle offset to the alignment correction module 10. The alignment correction module 10 is used for judging whether the values of the position offset and the angle offset are zero. If the values of the position offset and the angle offset are zero, it is determined that the reference image and the actual image coincide. The alignment correction module 10 comprises the mechanical hand and the three-axis platform. The mechanical hand is used for adjusting the angle offset of the mobile phone screen 2. The three-axis platform is used for adjusting the position offset of the mobile phone screen 2. After the position offset T and the angle offset R are calculated, the data is transmitted to the operating system. First, the plane coordinate system is established with the reference image center of the mobile phone body 1 as the origin. Then, the operating system finally analyzes and controls the alignment correction module 10 to correct the position offset and the angle offset of the mobile phone body 1 and the mobile phone screen 2 through the mechanical hand. After the input value is controlled, the coordinate data of the reference image of the mobile phone body 1 collected by the body photographing and collecting module 3 and the actual image of the mobile phone screen 2 to be assembled when placed for assembly collected by the screen photographing and collecting module 7 in the plane coordinate system are transmitted to the three-axis platform, and then the correction is realized. The reference image center of the mobile phone screen 2 coincides with the reference image center of the mobile phone body 1. Moreover, it is also necessary to adjust at least one point corresponding to the four corner coordinate points B1, B2, B3 and B4 of the mobile phone screen 2 on the reference image plane coordinate system to coincide with the four corner coordinate points A1, A2, A3 and A4 of the mobile phone body 1 on the reference image plane coordinate system.The coordinate data of the reference image of the mobile phone body 1 collected by the mobile phone body photographing and collecting module 3 and the actual image of the mobile phone screen 2 to be assembled placed at the time of assembly collected by the screen photographing and collecting module 7 in the plane coordinate system are transmitted to the mechanical hand, and then the angle control unit 11 realizes control correction, so that the angle deviation between the mobile phone screen 2 adjusted by the angle control unit 12 and the mobile phone body 1 has coincided with one corner, compared with the method of aligning each corner between the mobile phone screen 2 and the mobile phone body 1 one by one, this method can realize that the four corner coordinate points A1, A2, A3, A4 of the mobile phone body 1 on the reference image plane coordinate system and the four corner coordinate points B1, B2, B3, B4 of the mobile phone screen 2 on the reference image plane coordinate system can be more quickly and fully coincided, first make the position deviation 0, but the position deviation 0 does not mean that A1-A4 is fully coincided with B1-B4 respectively, it is possible that only one point is coincided but the other three points are not coincided, then calculate the angle deviation value, only when the angle deviation value and the position deviation are both 0, A1-A4 can be coincided with the corresponding B1-B4 to realize accurate alignment, the automatic assembly module 16 is used for realizing the automatic assembly of the mobile phone body 1 and the mobile phone screen 2 after the angle control unit 11 in the alignment correction module 10 controls and corrects the angle deviation between the mobile phone body 1 and the mobile phone screen 2 by the mechanical hand and the position deviation between the mobile phone body 1 and the mobile phone screen 2 is controlled and corrected by the mechanical hand, the position deviation and the angle deviation are calculated according to the mobile phone body and the mobile phone screen corner coordinate number, and then the displacement required to be adjusted is calculated by the calculation formula of the position deviation and the angle deviation, then the alignment correction module can be aligned and corrected, the dimness recognition module 13 is used for recognizing the actual light intensity of the actual image of the mobile phone screen 2 to be assembled placed at the time of assembly collected by the screen photographing and collecting module 7 and the reference light intensity of the reference image of the mobile phone body 1 collected by the mobile phone body photographing and collecting module 3, if the actual light intensity is lower than the reference light intensity, it is determined that the current shooting scene is dim, if the current shooting scene is dim, the dimness of the actual image based on the reference image is recognized, the recognition result is obtained and sent to the light supplement module 15 to supplement light to the current shooting scene, the appearance contour recognition module 14 is used for recognizing the unclear image by the contour extraction method based on the reference image and the actual image photographed by the mobile phone body photographing and collecting module 3 and the screen photographing and collecting module 7,

[0062] The contour extraction method adopts the method of hollowing internal points, including the following steps:

[0063] Step one, image binarization;

[0064] Step two, if the target pixel in the image is black, and the eight pixels adjacent to it are all black, then the target pixel is deleted;

[0065] Step three: traversing each pixel except the boundary to obtain a new target image;

[0066] If the actual image obtained by the screen photographing and collecting module 7 is determined to be blurred by the contour extraction method, the appearance contour recognition module 14 recognizes the picture definition and appearance contour of the actual image obtained by the screen photographing and collecting module 7, and compares it with the reference image obtained by the body photographing and collecting module 3 to obtain a definition recognition result.

[0067] The working principle of the present application is that: firstly, the body photographing and collecting module 3 is used for camera photographing and collecting the reference image of the mobile phone body 1, and then the coordinate values of the four corner points are selected as standard data coordinates A1(X1, Y1), A2(X2, Y2), A3(X3, Y3) and A4(X4, Y4); the reference model establishing module 4 establishes a plane coordinate system with the center of the reference image of the mobile phone body 1 as the origin according to the reference image standard data of the mobile phone body 1 collected by the body photographing and collecting module 3 through the CCD camera; the dimness recognition module 13 is used for recognizing the dimness of the reference image and the actual image photographed by the body photographing and collecting module 3 and the screen photographing and collecting module 7 when the shooting scene is gray and dim, and when the recognized dimness is poor, the gray and dim scene recognized by the dimness recognition module 13 is lighted by the light supplementing module 15, so that the reference image and the actual image photographed are clearer; the appearance contour recognition module 14 recognizes the unclear contour of the reference image and the actual image photographed by the body photographing and collecting module 3 and the screen photographing and collecting module 7, so as to better position and correct; then the size checking module 8 checks the actual image of the mobile phone screen 2 to be assembled when placed for assembly by the CCD camera photographing and collecting of the screen photographing and collecting module 7, compared with the reference image of the standard mobile phone body stored in the standard model database 5, so as to select the appropriate matching mobile phone body 1; then the screen cleaning module 6 cleans the mobile phone screen 2 before detection and collection, so as to facilitate the subsequent photographing and collecting to be clearer; the screen photographing and collecting module 7 selects the coordinate values of the four corner points as the to-be-detected data coordinates of the actual image of the mobile phone screen 2 to be assembled when placed for assembly by the CCD camera photographing and collecting, which are B1(X5, Y5), B2(X6, Y6), B3(X7, Y7) and B4(X8, Y8) respectively; the data calculation module 9 calculates the position offset T and the angle offset R between the actual image of the mobile phone screen 2 to be assembled when placed for assembly by the CCD camera photographing and collecting of the screen photographing and collecting module 7 and the reference image of the mobile phone body 1 collected by the CCD camera photographing and collecting of the body photographing and collecting module 3, and the position offset calculation formula is T(x, y) = [(A1_B1)+(A2_B2)+(A3_B3)+(A4_B4)] / 4. When the position offset T and the angle offset R are calculated, the data is transmitted to the operating system, and then the operating system finally analyzes and controls the position offset correction module 10 for correcting the position offset and the angle offset of the mobile phone body 1 and the mobile phone screen 2 by the mechanical hand, so that the input value is transmitted to the coordinate data of the reference image of the mobile phone body 1 collected by the body photographing and collecting module 3 and the actual image of the mobile phone screen 2 to be assembled placed at the time of assembly collected by the screen photographing and collecting module 7 in the plane coordinate system, and then the mechanical hand and the three-axis platform are controlled to correct the angle offset between the mobile phone body 1 and the mobile phone screen 2, and the offset control unit 12 transmits the coordinate data of the reference image of the mobile phone body 1 collected by the body photographing and collecting module 3 and the actual image of the mobile phone screen 2 to be assembled placed at the time of assembly collected by the screen photographing and collecting module 7 in the plane coordinate system to the mechanical hand and the three-axis platform, and then the mobile phone body 1 and the mobile phone screen 2 are controlled to correct the position offset, and after correction, the automatic assembly of the mobile phone body 1 and the mobile phone screen 2 is realized.

[0068] It is apparent to those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the claims to the features to which the reference signs are directed.

[0069] For the sake of description, the above device is described in various units by function. Of course, the functions of each unit can be implemented in the same or more software and / or hardware in the implementation of the present application, and those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0070] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flows and / or block diagram block or blocks. Figure 1 one or more flows and / or blocks Figure 1 one or more blocks

[0071] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart or flows and / or block diagram block or blocks. Figure 1 one or more flows and / or blocks

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flows and / or block diagram block or blocks. Figure 1 one or more flows and / or blocks ​ one or more blocks

Claims

1. An automatic alignment system for assembling a mobile phone screen, characterized in that, The application relates to a mobile phone automatic assembling device. The mobile phone automatic assembling device comprises a mobile phone body (1), a mobile phone screen (2), a mobile phone body photographing and collecting module (3), a standard model establishing module (4), a standard model database (5), a screen cleaning module (6), a screen photographing and collecting module (7), a size checking module (8), a data calculating module (9), a position correction module (10), a dimness recognizing module (13), an appearance contour recognizing module (14), a light supplementing module (15) and an automatic assembling module (16). The mobile phone body photographing and collecting module (3) is used for collecting a standard image of the mobile phone body (1). The standard model establishing module (4) is used for establishing a plane coordinate system according to the standard image, and the standard model database (5) is used for storing the standard image of each standard mobile phone body. The dimness recognizing module (13) is used for obtaining the standard image and an actual image obtained by the screen photographing and collecting module (7), and judging whether the current photographing scene is dim according to the standard image and the actual image; if the current photographing scene is dim, the dimness of the actual image is recognized based on the standard image to obtain a recognition result. The light supplementing module (15) is used for supplementing light to the current photographing scene according to the recognition result. The appearance contour recognizing module (14) is used for recognizing the clarity of the appearance contour of the actual image based on the standard image to obtain a clarity recognition result. The screen cleaning module (6) is used for cleaning the mobile phone screen (2) before the screen photographing and collecting module (7) collects the actual image, the screen photographing and collecting module (7) is used for collecting the actual image of the mobile phone screen (2) when the mobile phone screen (2) is placed for assembling, and the size checking module (8) is used for checking the actual image compared with the standard image of the standard mobile phone body stored in the standard model database (5) to obtain a mobile phone body (1) meeting a preset standard. The data calculating module (9) is used for calculating the position offset and the angle offset between the actual image and the standard image, and the position correction module (10) is used for correcting the position of the mobile phone body (1) and the mobile phone screen (2) according to the position offset and the angle offset. The position correction module (10) comprises an angle control unit (11) and an offset control unit (12). The angle control unit (11) is used for obtaining first coordinate data of the standard image in the plane coordinate system and second coordinate data of the actual image in the plane coordinate system, calculating the angle offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, and adjusting the actual angle of the mobile phone body (1) and the mobile phone screen (2) according to the angle offset. The offset control unit (12) is used for calculating the position offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, and shifting the actual position of the mobile phone body (1) and the mobile phone screen (2) according to the position offset. The reference model establishing module (4) is configured to establish a first plane coordinate system with the center of the reference image as the origin, and the angle control unit (11) is configured to obtain coordinate values of four corner points of the reference image as the first coordinate data when obtaining the first coordinate data, wherein the first coordinate data are A1 (X1, Y1), A2 (X2, Y2), A3 (X3, Y3) and A4 (X4, Y4) respectively. The reference model establishing module (4) is further configured to coincide the coordinate center of the actual image with the coordinate center of the reference image, and the angle control unit (11) is configured to obtain coordinate values of four corner points of the actual image as the second coordinate data when obtaining the second coordinate data, wherein the second coordinate data are B1 (X5, Y5), B2 (X6, Y6), B3 (X7, Y7) and B4 (X8, Y8) respectively. The angle control unit (11) is further configured to calculate the angle offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, wherein the calculation formula is: cos ∠R = cos (90° - θ) = sin θ ; Q=R. wherein , , wherein, cos ∠R represents a cosine value of the angle offset, and Q represents the angle offset; The offset control unit (11) is configured to calculate the position offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, wherein the calculation formula is: T (x, y) = [(A1-B1)+(A2-B2)+(A3-B3)+(A4-B4)] / 4; wherein T (x, y) represents the position offset, A1, A2, A3, A4 are the first coordinate data, and B1, B2, B3, B4 are the second coordinate data.

2. The automatic alignment system for assembling a mobile phone screen according to claim 1, wherein, The angle control unit (11) comprises a mechanical hand, and the offset control unit (12) comprises a three-axis platform, the mechanical hand is configured to adjust the angle offset of the mobile phone screen (2), and the three-axis platform is configured to adjust the position offset of the mobile phone screen (2).

3. The automatic alignment system for assembling a mobile phone screen according to claim 2, wherein, The offset control unit (12) is configured to obtain the first coordinate data and the second coordinate data in the plane coordinate system from the reference image of the mobile phone body (1) collected by the body photographing and collecting module (3) and the actual image of the mobile phone screen (2) to be assembled when placed for assembly collected by the screen photographing and collecting module (7), and transmit the first coordinate data and the second coordinate data to the three-axis platform to control and correct the actual image center of the mobile phone screen (2) and the reference image center of the mobile phone body (1).

4. The automatic alignment system for assembling a mobile phone screen according to claim 3, wherein, The angle control unit (11) is configured to obtain the first coordinate data and the second coordinate data in the plane coordinate system from the reference image of the mobile phone body (1) collected by the body photographing and collecting module (3) and the actual image of the mobile phone screen (2) to be assembled when placed for assembly collected by the screen photographing and collecting module (7), and transmit the first coordinate data and the second coordinate data to the mechanical hand to control and correct the angle offset between the mobile phone screen (2) and the mobile phone body (1) adjusted by the offset control unit (12).

5. The automatic alignment system for assembling a mobile phone screen according to claim 1, wherein, The data calculation module (9) is configured to send the position offset and the angle offset to a position correction module (10), and the position correction module (10) is configured to determine whether the values of the position offset and the angle offset are zero. If the values of the position offset and the angle offset are zero, it is determined that the reference image and the actual image coincide.

6. The automatic alignment system for assembling a mobile phone screen according to claim 5, wherein, The automatic assembly module (16) is configured to realize automatic assembly of the mobile phone body (1) and the mobile phone screen (2) after correction of the position offset and the angle offset between the mobile phone body (1) and the mobile phone screen (2) by the angle control unit (11) in the position correction module (10) and the offset control unit (12) through a three-axis platform.

7. The automatic alignment system for assembling a mobile phone screen according to claim 6, wherein, The dimness recognition module (13) is configured to identify the actual light intensity of the actual image of the mobile phone screen (2) in the actual shooting scene and the reference light intensity of the reference image of the mobile phone body (1) collected by the body photographing and collecting module (3). And determine whether the actual light intensity is lower than the reference light intensity. If the actual light intensity is lower than the reference light intensity, it is determined that the current shooting scene is dim, and the dimness of the actual image is identified based on the reference image to obtain a first identification result. The first identification result is sent to the light supplement module (15) to make the light supplement module supplement light for the current shooting scene.

8. The automatic alignment system for assembling a mobile phone screen according to claim 7, wherein, The appearance contour recognition module (14) is configured to recognize the unclear image through a contour extraction method based on the reference image and the actual image collected by the body photographing and collecting module (3) and the screen photographing and collecting module (7). The contour extraction method uses a method of removing internal points, including the following steps: Step one, image binarization; Step two, if the target pixel point in the image is black, and the eight adjacent pixel points are all black, the target pixel point is deleted; Step three: traverse each pixel excluding the boundary to obtain a new target image. If the actual image collected by the screen photographing and collecting module (7) is determined to be blurred through the contour extraction method, the appearance contour recognition module (14) identifies the picture clarity and the appearance contour of the actual image collected by the screen photographing and collecting module (7), and compares them with the reference image collected by the body photographing and collecting module (3) to obtain a clarity identification result.

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