A product alignment film laminating method, system, processing equipment and storage medium

Abstract

The present invention discloses a method, system, processing equipment and storage medium for aligning and pasting films on products. The method comprises the following steps: using a calibration plate, and using the calibration plate to obtain mechanical coordinates and image coordinates of calibration points, and obtaining coordinate conversion matrix parameters based on the mechanical coordinates and image coordinates; obtaining a current position image and a standard position image of the product; identifying images of parts on the product that need to be pasted with films for both the current position image and the standard position image of the product, and obtaining image coordinates of the current position positioning points and the standard position positioning points of the product, converting the mechanical coordinates, and subtracting the two mechanical coordinates to obtain a position offset difference A for adjusting the product; obtaining a current position image of the film, and obtaining a standard position image of the film after the film is moved and adjusted to a suitable pasting position; obtaining the current position image of the film and the image coordinates of the standard position positioning points of the film, converting the mechanical coordinates, and subtracting the two mechanical coordinates to obtain a position offset difference B for adjusting the film; and adjusting the film placement position and the film placement position of the product based on A and B.

Description

Technical Field

[0001] The invention relates to a product alignment film lamination method, system, processing equipment and storage medium. Background Art

[0002] The protective film can effectively protect the product to prevent the product from being affected by the external environment during transportation, causing damage to the product's appearance, function and structure, thus affecting the product's arrival in the hands of the customer, and causing customer dissatisfaction due to defects in the product's appearance, function and structure.

[0003] The existing film laminating equipment still has many manually operated parts, and the manual operation parts are often closely related to human efficiency. If the human efficiency is low, it will directly lead to stagnation of the equipment's operation, thereby affecting the production efficiency of the entire product. In addition, manual operation often has many uncertainties, resulting in some deviations in the overall appearance of the product, thereby affecting the product's qualification rate. Summary of the invention

[0004] The purpose of the present invention is to provide a product alignment film lamination method to solve the problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A product alignment film pasting method is based on an intelligent film pasting platform, wherein the intelligent film pasting platform is provided with a visual camera, a movable product film pasting placement position, and a suction head for sucking the film, and comprises the following steps:

[0006] S1: Place the calibration plate at the product film placement position, move the calibration plate, place the i calibration points of the calibration plate at the visual camera to obtain j pictures, each picture corresponds to the image coordinates, and obtain the mechanical coordinates of the i calibration points on the smart film platform;

[0007] S2: Based on the image coordinates and the mechanical coordinates, the corresponding parameters of the coordinate transformation matrix are obtained through the matrix conversion formula;

[0008] S3: placing the product at the product film placement position, moving the product to the visual camera to capture the product's current position image, and moving the product to a suitable film placement position to capture the product's standard position image;

[0009] S4: Based on the image of the product's current position, an image of the part of the product to be filmed is identified and the image coordinates of the product's current position positioning point are obtained; based on the image of the product's standard position, an image of the part of the product to be filmed is identified and the image coordinates of the product's standard position positioning point are obtained; the image coordinates of the product's current position positioning point are converted into the mechanical coordinates of the product's current position positioning point through a coordinate conversion matrix; the image coordinates of the product's standard position positioning point are converted into the mechanical coordinates of the product's standard position positioning point through a coordinate conversion matrix; the mechanical coordinates of the product's current position positioning point are subtracted from the mechanical coordinates of the product's standard position positioning point to obtain a position offset difference A for product adjustment;

[0010] S5: Move the film to the visual camera through the suction head to obtain the current position image of the film, and then adjust the film to a suitable pasting position and then take a picture to obtain the standard position image of the film;

[0011] S6: based on the current position image recognition of the film, the image coordinates of the positioning point of the standard position of the film are obtained based on the standard position image recognition of the film, the image coordinates of the positioning point of the current position of the film are converted into the mechanical coordinates of the positioning point of the current position of the film through a coordinate conversion matrix, the image coordinates of the positioning point of the standard position of the film are converted into the mechanical coordinates of the positioning point of the standard position of the film through a coordinate conversion matrix, and the mechanical coordinates of the positioning point of the current position of the film are subtracted from the mechanical coordinates of the positioning point of the standard position of the film to obtain the position offset difference B of the film adjustment;

[0012] S7: Based on A and B, adjust the product film placement position and the film placement position.

[0013] Furthermore, i is 9, and the image coordinates corresponding to each picture are (x1, y1), (x2, y2), (x3, y3)...(x9, y9); the mechanical coordinates of the 9 calibration points of the calibration plate based on the smart film platform are (X1, Y1), (X2, Y2), (X3, Y3)...(X9, Y9);

[0014] The corresponding parameters of the coordinate transformation matrix are a, b, c, d, e, and f; the matrix conversion formula is as follows:

[0015]

[0016] Furthermore, the positioning points of the film and the image of the part to be filmed are obtained through image processing and edge positioning operators.

[0017] Furthermore, the image preprocessing includes binarization or BCG filtering.

[0018] The present invention also provides a product alignment film laminating system, comprising:

[0019] The coordinate acquisition module is used to place the calibration plate at the product film placement position, move the calibration plate, and place the i calibration points of the calibration plate at the visual camera to obtain j pictures. Each picture corresponds to the image coordinates, and the mechanical coordinates of the i calibration points on the smart film platform are obtained;

[0020] The matrix parameter acquisition module is used to obtain the corresponding parameters of the coordinate transformation matrix based on the image coordinates and the mechanical coordinates through the matrix conversion formula;

[0021] The first image acquisition module is used to place the product at the product film placement position, move the product to the visual camera to capture the product's current position image, and move the product to a suitable film placement position and capture the product's standard position image;

[0022] A product position adjustment offset module is used to identify the image of the part of the product that needs to be filmed based on the product's current position image and obtain the image coordinates of the product's current position positioning point, identify the image of the part of the product that needs to be filmed based on the product's standard position image and obtain the image coordinates of the product's standard position positioning point, convert the image coordinates of the product's current position positioning point into the mechanical coordinates of the product's current position positioning point through a coordinate conversion matrix, convert the image coordinates of the product's standard position positioning point into the mechanical coordinates of the product's standard position positioning point through a coordinate conversion matrix, and subtract the mechanical coordinates of the product's current position positioning point from the mechanical coordinates of the product's standard position positioning point to obtain a position offset difference A for product adjustment;

[0023] The second image acquisition module is used to move the film to the visual camera through the suction head to obtain the current position image of the film, and to move the film to a suitable pasting position and then take a picture to obtain the standard position image of the film;

[0024] A film position adjustment offset module is used to identify the image coordinates of the current position positioning point based on the current position image of the film, obtain the image coordinates of the standard position positioning point of the film based on the standard position image of the film, convert the image coordinates of the current position positioning point of the film into the mechanical coordinates of the current position positioning point of the film through a coordinate conversion matrix, convert the image coordinates of the standard position positioning point of the film into the mechanical coordinates of the standard position positioning point of the film through a coordinate conversion matrix, and subtract the mechanical coordinates of the current position positioning point of the film from the mechanical coordinates of the standard position positioning point of the film to obtain the position offset difference B of the film adjustment;

[0025] The equipment adjustment module is used to adjust the product film placement position and the film placement position in the equipment based on A and B.

[0026] The present invention also provides a processing device, comprising: a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor implements the above-mentioned product alignment and film pasting method when executing the computer program.

[0027] The present invention also provides a storage medium, on which a computer program is stored. When the computer program is run by a controller, the above-mentioned product alignment and film pasting method is executed.

[0028] The beneficial effect of the present invention is that through image acquisition and image processing, the accuracy of the film laminating process is improved to within 0.2 mm, thereby improving the yield and quality of the product, effectively reducing the project cycle and bringing benefits to the enterprise more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the film-applying structure of the product of the present invention;

[0030] Figure 2 It is a schematic diagram of the membrane structure in the present invention. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0033] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0034] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0036] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0037] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0038] The present invention provides a product alignment film pasting method, which is based on an intelligent film pasting platform, wherein the intelligent film pasting platform is provided with a visual camera, a movable product film pasting placement position, and a suction head for sucking the film, and comprises the following steps:

[0039] S1: Place the calibration plate at the product film placement position, move the calibration plate, and place the i calibration points of the calibration plate at the visual camera to obtain j pictures. Each picture corresponds to the image coordinates, and obtain the mechanical coordinates of the i calibration points on the smart film platform;

[0040] Specifically, i is 9, and the image coordinates corresponding to each picture are (x1, y1), (x2, y2), (x3, y3)...(x9, y9); the mechanical coordinates of the 9 calibration points of the calibration plate based on the smart film platform are (X1, Y1), (X2, Y2), (X3, Y3)...(X9, Y9);

[0041] S2: Based on the image coordinates and the mechanical coordinates, the corresponding parameters of the coordinate transformation matrix are obtained through the matrix conversion formula;

[0042] Specifically, the coordinate transformation matrix corresponds to parameters a, b, c, d, e, and f; the matrix conversion formula is as follows:

[0043]

[0044] S3: placing the product at the product film placement position, moving the product to the visual camera to capture the product's current position image, and moving the product to a suitable film placement position to capture the product's standard position image;

[0045] S4: Based on the image of the product's current position, the image of the part on the product to be filmed is identified and the image coordinates of the product's current position positioning point are obtained; based on the image of the product's standard position, the image of the part on the product to be filmed is identified and the image coordinates of the product's standard position positioning point are obtained; based on the image coordinates of the product's current position positioning point, the image coordinates are converted into the mechanical coordinates of the product's current position positioning point through a coordinate conversion matrix; based on the image coordinates of the product's standard position positioning point, the image coordinates are converted into the mechanical coordinates of the product's standard position positioning point through a coordinate conversion matrix; the mechanical coordinates of the product's current position positioning point are subtracted from the mechanical coordinates of the product's standard position positioning point to obtain the position offset difference A (X1, Y1, R1) of the product adjustment;

[0046] S5: Move the film to the visual camera through the suction head to obtain the current position image of the film, and then adjust the film to a suitable pasting position and then take a picture to obtain the standard position image of the film;

[0047] S6: based on the current position image recognition of the film, the image coordinates of the standard position positioning point of the film are obtained based on the standard position image recognition of the film, the image coordinates of the current position positioning point of the film are converted into the mechanical coordinates of the current position positioning point of the film through a coordinate conversion matrix, the image coordinates of the standard position positioning point of the film are converted into the mechanical coordinates of the standard position positioning point of the film through a coordinate conversion matrix, and the mechanical coordinates of the current position positioning point of the film are subtracted from the mechanical coordinates of the standard position positioning point of the film to obtain the position offset difference B (X2, Y2, R2) of the film adjustment;

[0048] S7: Based on A and B, adjust the product film placement position and the film placement position.

[0049] As a further solution of the present invention: the positioning points of the film and the image of the part to be filmed are obtained by image preprocessing and edge positioning operator. Image preprocessing includes binarization or BCG filtering. Figure 1 As shown in the figure, the edge positioning operator obtains two positioning points P1 and P2 of the film part through four lines. Figure 2 , and the positioning point of the membrane is also obtained.

[0050] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form.

[0051] The protection scope of the present invention shall be based on the protection scope of the claims. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A product alignment film laminating method, characterized in that: Based on the intelligent film sticking platform, the intelligent film sticking platform is provided with a visual camera, a movable product film sticking placement position, and a suction head for sucking the film, including the following steps: S1: Place the calibration plate at the product film placement position, move the calibration plate, place the i calibration points of the calibration plate at the visual camera to obtain j pictures, each picture corresponds to the image coordinates, and obtain the mechanical coordinates of the i calibration points on the smart film platform; S2: Based on the image coordinates and the mechanical coordinates, the corresponding parameters of the coordinate transformation matrix are obtained through the matrix conversion formula; S3: placing the product at the product film placement position, moving the product to the visual camera to capture the product's current position image, and moving the product to a suitable film placement position to capture the product's standard position image; S4: Based on the image of the product's current position, an image of the part of the product to be filmed is identified and the image coordinates of the product's current position positioning point are obtained; based on the image of the product's standard position, an image of the part of the product to be filmed is identified and the image coordinates of the product's standard position positioning point are obtained; the image coordinates of the product's current position positioning point are converted into the mechanical coordinates of the product's current position positioning point through a coordinate conversion matrix; the image coordinates of the product's standard position positioning point are converted into the mechanical coordinates of the product's standard position positioning point through a coordinate conversion matrix; the mechanical coordinates of the product's current position positioning point are subtracted from the mechanical coordinates of the product's standard position positioning point to obtain a position offset difference A for product adjustment; S5: Move the film to the visual camera through the suction head to obtain the current position image of the film, and then adjust the film to a suitable pasting position and then take a picture to obtain the standard position image of the film; S6: based on the current position image recognition of the film, the image coordinates of the positioning point of the standard position of the film are obtained based on the standard position image recognition of the film, the image coordinates of the positioning point of the current position of the film are converted into the mechanical coordinates of the positioning point of the current position of the film through a coordinate conversion matrix, the image coordinates of the positioning point of the standard position of the film are converted into the mechanical coordinates of the positioning point of the standard position of the film through a coordinate conversion matrix, and the mechanical coordinates of the positioning point of the current position of the film are subtracted from the mechanical coordinates of the positioning point of the standard position of the film to obtain the position offset difference B of the film adjustment; S7: Based on the position offset difference A and the position offset difference B, adjust the product film placement position and the film placement position; i is 9, and the image coordinates corresponding to each picture are (x1, y1), (x2, y2), (x3, y3)...(x9, y9); the mechanical coordinates of the 9 calibration points of the calibration plate based on the smart film platform are (X1, Y1), (X2, Y2), (X3, Y3)...(X9, Y9); The corresponding parameters of the coordinate transformation matrix are a, b, c, d, e, and f; the matrix conversion formula is as follows: 。 2. A product alignment film laminating method according to claim 1, characterized in that: The positioning points of the film and the image of the part to be filmed are obtained through image preprocessing and edge positioning operators.

3. A product alignment film laminating method according to claim 2, characterized in that: Image preprocessing includes binarization or BCG filtering.

4. A product alignment film laminating system, which executes the product alignment film laminating method according to claim 1, characterized in that: include The coordinate acquisition module is used to place the calibration plate at the product film placement position, move the calibration plate, and place the i calibration points of the calibration plate at the visual camera to obtain j pictures. Each picture corresponds to the image coordinates, and the mechanical coordinates of the i calibration points on the smart film platform are obtained; The matrix parameter acquisition module is used to obtain the corresponding parameters of the coordinate transformation matrix based on the image coordinates and the mechanical coordinates through the matrix conversion formula; The first image acquisition module is used to place the product at the product film placement position, move the product to the visual camera to capture the product's current position image, and move the product to a suitable film placement position and capture the product's standard position image; A product position adjustment offset module is used to identify the image of the part of the product that needs to be filmed based on the product's current position image and obtain the image coordinates of the product's current position positioning point, identify the image of the part of the product that needs to be filmed based on the product's standard position image and obtain the image coordinates of the product's standard position positioning point, convert the image coordinates of the product's current position positioning point into the mechanical coordinates of the product's current position positioning point through a coordinate conversion matrix, convert the image coordinates of the product's standard position positioning point into the mechanical coordinates of the product's standard position positioning point through a coordinate conversion matrix, and subtract the mechanical coordinates of the product's current position positioning point from the mechanical coordinates of the product's standard position positioning point to obtain a position offset difference A for product adjustment; The second image acquisition module is used to move the film to the visual camera through the suction head to obtain the current position image of the film, and to move the film to a suitable pasting position and then take a picture to obtain the standard position image of the film; A film position adjustment offset module is used to identify the image coordinates of the current position positioning point based on the current position image of the film, obtain the image coordinates of the standard position positioning point of the film based on the standard position image of the film, convert the image coordinates of the current position positioning point of the film into the mechanical coordinates of the current position positioning point of the film through a coordinate conversion matrix, convert the image coordinates of the standard position positioning point of the film into the mechanical coordinates of the standard position positioning point of the film through a coordinate conversion matrix, and subtract the mechanical coordinates of the current position positioning point of the film from the mechanical coordinates of the standard position positioning point of the film to obtain the position offset difference B of the film adjustment; The equipment adjustment module is used to adjust the product film placement position and the film placement position in the equipment based on the position offset difference A and the position offset difference B.

5. A processing device, characterized in that: include: A memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, a product alignment and film pasting method as described in any one of claims 1 to 3 is implemented.

6. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is run by the controller, the product alignment and film pasting method as claimed in any one of claims 1 to 3 is executed.

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