Screen bonding methods, apparatus, equipment and storage media

Abstract

This invention belongs to the field of image processing technology and discloses a screen bonding method, apparatus, device, and storage medium. The method includes: acquiring bonding images of the screen and structural components in various local coordinate systems, with the structural components and screen facing each other vertically and vertically; extracting edge features from the bonding images to obtain the gap value between the screen and the structural components; when the gap value does not meet a preset threshold, obtaining the displacement to be adjusted in each local coordinate system based on the gap value, moving the screen according to the displacement to be adjusted until the gap value meets the preset threshold, and bonding the screen and structural components when the gap value meets the preset threshold. This invention acquires the screen position from multiple angles, accurately obtains the relative positional relationship between the screen and the structural components, and adjusts the position based on this relative positional relationship to keep the screen and platform consistent, thereby meeting the gap requirements of the envelope lines around the screen and the structural components, and realizing the alignment and bonding of large-size irregularly shaped screens.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to a screen bonding method, apparatus, device, and storage medium. Background Technology

[0002] With the development of smart cockpits, customers have increasingly higher demands for the sensory experience of in-vehicle infotainment systems. This has led to the emergence of dual-screen and triple-screen display modules. Unlike traditional rectangular structures, some screens have irregular shapes, such as curved edges. This multi-screen combination places higher demands on product manufacturing. Traditional manual bonding methods cannot meet the needs of automated production, failing to guarantee both yield and output. Furthermore, the rectangular bonding and alignment method assumes the screen is rectangular; while this method can achieve alignment, it cannot meet the precision requirements of bonding large, irregularly shaped screens, easily resulting in significant alignment errors.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a screen bonding method that addresses the technical problem that existing screen bonding technologies are prone to significant errors when bonding large-sized irregularly shaped screens, which seriously affects the accuracy and efficiency of irregularly shaped screen bonding.

[0005] To achieve the above objectives, the present invention provides a screen bonding method, the method comprising the following steps:

[0006] Acquire images of the screen and structural components in various local coordinate systems, with the structural components and the screen facing each other vertically and vertically.

[0007] Edge features are extracted from the fitted image to obtain the gap value between the screen and the structural component;

[0008] When the gap value does not meet the preset threshold, the displacement to be adjusted in each local coordinate system is obtained according to the gap value, and the screen is moved according to the displacement to be adjusted until the gap value meets the preset threshold. When the gap value meets the preset threshold, the screen and the structural component are fitted together.

[0009] Optionally, before acquiring the bonding images of the screen and structural components in each local coordinate system, and before the structural components are vertically aligned with the screen, the process further includes:

[0010] Multiple local movement distances are obtained by moving the calibration points according to multiple preset movement distances in different positions and directions. The calibration points are points that are preset in the actual coordinate system for calibrating the local coordinate system.

[0011] A displacement set is constructed based on multiple local displacement distances and multiple preset displacement distances;

[0012] Obtain the relative positional relationship between the calibration points, and obtain the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set.

[0013] Optionally, the step of moving the calibration point according to multiple preset moving distances at different positions and in different directions to obtain multiple local moving distances includes:

[0014] Obtain the local initial position of the calibration point, and select a preset movement distance from multiple preset movement distances in different positions and directions;

[0015] Move the calibration points according to the preset moving distance and obtain the local reference positions of multiple calibration points after the movement;

[0016] The local movement distance of the calibration point is obtained based on the local reference position and the local initial position;

[0017] The movement is performed according to each preset movement distance, resulting in multiple local movement distances.

[0018] Optionally, after obtaining the relative positional relationship between the calibration points and obtaining the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set, the method further includes:

[0019] Choose any one of the multiple local coordinate systems as the world coordinate system, obtain the reference displacement, and move the reference calibration point according to the reference displacement;

[0020] After moving the reference calibration point according to the reference displacement, obtain the local reference displacement of the reference calibration point in multiple local coordinate systems, obtain the world reference displacement of the reference calibration point in the world coordinate system, and obtain the true displacement of the reference calibration point.

[0021] The transformation relationship between the local coordinate system and the world coordinate system is obtained based on the local reference displacement, the world reference displacement, and the actual displacement.

[0022] Optionally, the step of extracting edge features from the bonding image to obtain the gap value between the screen and the structural component includes:

[0023] Edge features are extracted from the fitted image to obtain the edge feature vector of the screen and the edge feature vector of the structural component;

[0024] The gap value vector between the screen and the structural component is obtained based on the edge feature vector of the screen and the edge feature vector of the structural component;

[0025] The gap value between the screen and the structural component is obtained based on the gap value vector.

[0026] Optionally, when the gap value does not meet a preset threshold, obtaining the displacement to be adjusted in each local coordinate system based on the gap value, and moving the screen according to the displacement to be adjusted, includes:

[0027] When the gap value does not meet the preset threshold,

[0028] The gap values ​​in each local coordinate system are converted into multiple world displacements to be adjusted.

[0029] The total displacement to be adjusted is calculated based on multiple world displacements to be adjusted, and the total displacement to be adjusted in the actual coordinate system is calculated based on the transformation parameters between the world coordinate system and the actual coordinate system.

[0030] The screen is moved according to the displacement to be adjusted.

[0031] Optionally, the step of converting the gap value into multiple world displacements to be adjusted in various local coordinate systems includes:

[0032] The gap value is decomposed into various local coordinate systems to obtain the local gap value in each local coordinate system;

[0033] Calculate the local displacement to be adjusted based on the local gap value;

[0034] Obtain the transformation relationship between the local coordinate system and the world coordinate system, and based on the transformation relationship between the local coordinate system and the world coordinate system, obtain multiple world displacements to be adjusted in the world coordinate system for the local displacement to be adjusted.

[0035] Furthermore, to achieve the above objectives, the present invention also proposes a screen bonding device, the screen bonding device comprising:

[0036] The image acquisition module is used to acquire images of the screen and structural components in various local coordinate systems, wherein the structural components and the screen are vertically opposed to each other.

[0037] The feature extraction module is used to extract edge features from the bonding image to obtain the gap value between the screen and the structural component;

[0038] The detection module is used to obtain the displacement to be adjusted in each local coordinate system according to the gap value when the gap value does not meet the preset threshold, move the screen according to the displacement to be adjusted until the gap value meets the preset threshold, and fit the screen and the structural component when the gap value meets the preset threshold.

[0039] In addition, to achieve the above objectives, the present invention also proposes a screen bonding device, the screen bonding device comprising: a memory, a processor, and a screen bonding program stored in the memory and executable on the processor, the screen bonding program being configured to implement the steps of the screen bonding method as described above.

[0040] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a screen bonding program, wherein the screen bonding program, when executed by a processor, implements the steps of the screen bonding method as described above.

[0041] This invention collects screen positions from multiple angles, accurately obtains the relative positional relationship between the screen and structural components, and makes adjustments based on this relative positional relationship to ensure that the screen and platform are aligned. This satisfies the gap requirements of the envelope lines around the screen and structural components, enabling the alignment and bonding of large-size irregularly shaped screens. It solves the technical problem that existing screen bonding technologies are prone to large errors when bonding large-size irregularly shaped screens, which seriously affects the accuracy and efficiency of irregularly shaped screen bonding. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of the screen bonding device in the hardware operating environment involved in the embodiments of the present invention;

[0043] Figure 2 This is a flowchart illustrating the first embodiment of the screen bonding method of the present invention;

[0044] Figure 3 This is a schematic diagram of a screen bonding system according to an embodiment of the screen bonding method of the present invention;

[0045] Figure 4 This is a schematic diagram showing the relative positions of the screen and structural components in one embodiment of the screen bonding method of the present invention;

[0046] Figure 5 This is a flowchart illustrating the second embodiment of the screen bonding method of the present invention;

[0047] Figure 6 This is a schematic diagram of multiple local coordinate systems in an embodiment of the screen bonding method of the present invention;

[0048] Figure 7 This is a schematic diagram of world coordinate system calibration according to an embodiment of the screen bonding method of the present invention;

[0049] Figure 8 This is a flowchart illustrating the third embodiment of the screen bonding method of the present invention;

[0050] Figure 9 This is a structural block diagram of the first embodiment of the screen bonding device of the present invention.

[0051] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the screen bonding device structure in the hardware operating environment involved in the embodiments of the present invention.

[0054] like Figure 1 As shown, the screen bonding device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the screen bonding device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0056] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a screen bonding program.

[0057] exist Figure 1In the screen bonding device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the screen bonding device of the present invention can be set in the screen bonding device, and the screen bonding device calls the screen bonding program stored in the memory 1005 through the processor 1001 and executes the screen bonding method provided in the embodiment of the present invention.

[0058] This invention provides a screen bonding method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating a first embodiment of a screen bonding method according to the present invention.

[0059] In this embodiment, the screen bonding method includes the following steps:

[0060] It should be noted that the screen bonding method can be implemented in a screen bonding system, which may include an industrial computer, a switch, a lifting shaft, an alignment platform, a screen, structural components, and cameras. The number of cameras can be set according to actual needs. This embodiment uses 6 cameras as an example for illustration.

[0061] In practical implementation, this screen bonding system can refer to Figure 3 The diagram shows cameras 1-6, each positioned at a different location on the alignment platform. The relationship between the screen and structural components is as described in step S10; the structural components and screen are vertically aligned with each other. Detailed structural relationships can be found in [reference needed]. Figure 4 .

[0062] It should be further explained that the reference Figure 3 In the diagram, the alignment platform is fixed to the lifting shaft and can move up and down with it. The screen is placed above the alignment platform and can be held in place by vacuum adsorption or other methods. When the alignment platform rotates or moves in the plane, the screen rotates and moves with it. The structural component is above the screen and remains in a fixed position. Cameras 1-6 are fixed above the structural component, positioned at key locations on the component, primarily at curved sections. Cameras 1-6 are connected to an industrial control computer via a switch. The industrial control computer uses a vision algorithm to acquire images of the screen and structural component, calculate their relative positions, and convert the differences in positional relationships into the rotation and movement of the alignment platform. This controls the platform's rotation and movement, simultaneously causing the screen to rotate and move. This ensures that the screen and structural component maintain a consistent positional relationship, meeting the required gaps around their perimeters and enabling the alignment and bonding of large, irregularly shaped screens.

[0063] Step S10: Acquire the bonding images of the screen and structural components in each local coordinate system, wherein the structural components and the screen are vertically opposite each other with a gap between them.

[0064] Understandably, a local coordinate system can be a coordinate system established based on any one or more cameras.

[0065] It should be understood that, because the cameras are placed in different positions on the screen and structural components, a single camera cannot capture the entire fit gap between the screen and structural components.

[0066] It should be noted that images of the screen and structural components at certain locations are captured by one or more cameras, and a coordinate system is established using the cameras to describe the positional relationship between the screen and structural components.

[0067] Understandingly, the bonding image can be understood as a positional image of key locations between the screen and structural components that are prone to bonding errors, captured by the camera before the screen and structural components are bonded together. Simply put, it's an image of the position between the screen and structural components taken by the camera at a certain angle.

[0068] It should be noted that this is for reference only. Figure 3 The screen is fixed on the alignment platform in some way. During the production process, the structural component is moved to a preset position. The preset displacement is the position directly above the screen. After the structural component moves to the preset position, it stops moving. Cameras at different positions start to collect the positional relationship between the camera and the key parts of the screen at this time.

[0069] In practice, when the structural component is moved above the screen, because the screen is irregularly shaped, it is possible to identify which positions are prone to improper fitting during the bonding process. These error positions are then used as preset points. Cameras are set up around these preset points to collect data on whether the positions of the screen and the structural component correspond.

[0070] Step S20: Extract edge features from the bonding image to obtain the gap value between the screen and the structural component.

[0071] Understandably, edge feature extraction can be achieved by using algorithms or neural networks to extract the edge features of the screen and structural components in the image.

[0072] It should be noted that the edge feature extraction can be performed using the Canny edge detection algorithm.

[0073] Understandably, the gap value can be the distance between the screen edge and the structural edge in the mating image.

[0074] It should be noted that edge features are extracted from the fitted image to obtain the edge feature vector of the screen and the edge feature vector of the structural component; the gap value vector between the screen and the structural component is obtained based on the edge feature vector of the screen and the edge feature vector of the structural component; and the gap value between the screen and the structural component is obtained based on the gap value vector.

[0075] In the specific implementation, the screen is first placed on the alignment platform, which uses vacuum adsorption to ensure that the screen and the alignment platform are integrated. The structural component is placed above the screen and kept fixed so that even if the screen shifts, the structural component will remain in place. The camera captures images of the alignment, enabling omnidirectional imaging of the screen and structural component at key locations. The industrial control computer calls a vision algorithm to extract features at key locations of the screen and structural component. The industrial control computer then uses the vision algorithm to calculate the relative positional relationship of the key positional features of the screen and structural component, and calculates the gap value between the screen and the structural component based on the relative positional relationship.

[0076] Step S30: When the gap value does not meet the preset threshold, the displacement to be adjusted in each local coordinate system is obtained according to the gap value, and the screen is moved according to the displacement to be adjusted until the gap value meets the preset threshold. When the gap value meets the preset threshold, the screen and the structural component are fitted together.

[0077] Understandably, the preset threshold is a pre-set value used to determine whether the relative position between the screen and the structural components needs to be adjusted. The preset threshold can be adjusted according to the actual situation. For those with strict requirements on the gap between the screen and the structural components, the preset threshold can be set to a smaller value. For those with more lenient requirements on the gap between the screen and the structural components, the preset threshold can be set to a larger value. This embodiment does not limit this.

[0078] Understandably, the displacement to be adjusted can be a vector decomposed from the gap value into a local coordinate system, and the displacement to be adjusted can be calculated based on the vector in the local coordinate system.

[0079] It should be noted that the gap value obtained from the gap value vector can have a direction, but the gap value cannot be moved directly in a certain direction. Relative to the entire screen and structural components, the movement of one position will cause the gap value of the entire screen to change at all positions.

[0080] It should be emphasized that the gap value is decomposed into each local coordinate system to obtain the displacement of the gap value in the local coordinate system. If the gap value in multiple local coordinate systems does not meet the preset threshold, the gap value in each local coordinate system is decomposed into the corresponding coordinate system, and then the displacement in each local coordinate system is moved uniformly for adjustment.

[0081] This embodiment collects screen positions from multiple angles, accurately obtains the relative positional relationship between the screen and the structural components, and makes adjustments based on this relative positional relationship to keep the screen and platform consistent. This satisfies the gap requirements of the envelope lines around the screen and the structural components, achieving alignment and bonding of large-size irregularly shaped screens. It solves the technical problem that existing screen bonding technologies are prone to large errors when bonding large-size irregularly shaped screens, which seriously affects the accuracy and efficiency of irregularly shaped screen bonding.

[0082] refer to Figure 5 , Figure 5 This is a flowchart illustrating a second embodiment of a screen bonding method according to the present invention.

[0083] Based on the first embodiment described above, the screen bonding method of this embodiment further includes, before step S10:

[0084] Step S101: Move the calibration points according to multiple preset moving distances in different positions and directions to obtain multiple local moving distances. The calibration points are points that are preset in the actual coordinate system for calibrating the local coordinate system.

[0085] Understandably, before fitting the screen, it is necessary to unify the cameras in each local coordinate system, place a reference board on the alignment platform, and arbitrarily mark two points on the reference board as calibration points.

[0086] It should be understood that the preset movement distance is the direction and length of movement of the calibration point that is selected in advance by humans.

[0087] It should be noted that if the local coordinate system is calibrated only in one direction or by moving the same distance, there may be a large calibration error, and there may be special cases that lead to calibration errors. Therefore, in order to ensure accuracy and control and reduce calibration error, the local coordinate system is calibrated by repeatedly moving the calibration point at multiple different positions and directions with preset moving distances in different directions.

[0088] It should be noted that before alignment and bonding, errors in the manufacturing process of both the screen and structural components, as well as positional errors during placement, prevent proper alignment. This manifests as uneven gaps between the outer envelopes of the screen and structural components. To achieve proper alignment and bonding, and ensure uniform gaps between the outer envelopes of the screen and structural components after bonding, cameras are positioned at key locations on both the screen and structural components. For example... Figure 6 As shown, cameras 1-6 are positioned where the transition between the screen and the structural components is relatively large.

[0089] It should be further noted that due to the large screen and the significant distance between the camera positions, calibrating all six cameras simultaneously would result in substantial errors. Therefore, the six cameras were divided into three groups, with two cameras in each group. For example... Figure 3 As shown, cameras 1 and 2 form one group, cameras 3 and 4 form another, and cameras 5 and 6 form yet another. Local world coordinate system 1 is established for cameras 1 and 2, local world coordinate system 2 for cameras 3 and 4, and local world coordinate system 3 for cameras 5 and 6. Each camera is calibrated in its respective local world coordinate system, and finally, the three local world coordinate systems are unified into the global world coordinate system. This method ensures accuracy while unifying all cameras into the same coordinate system, facilitating the calculation of the screen's displacement to be adjusted.

[0090] It should be noted that moving the calibration points according to multiple preset movement distances at different positions and in different directions can be used to calibrate the positional relationship between two cameras in the local world coordinate system.

[0091] It should be noted that the process of moving the calibration point according to multiple preset moving distances at different positions and in different directions to obtain multiple local moving distances includes:

[0092] Obtain the local initial position of the calibration point, and select a preset movement distance from multiple preset movement distances in different positions and directions; move the calibration point according to the preset movement distance, and obtain the local reference positions of multiple calibration points after movement; obtain the local movement distance of the calibration point according to the local reference positions and the local initial position; move according to each preset movement distance to obtain multiple local movement distances.

[0093] In practice, the industrial control computer (ICC) controls the alignment platform to move to the origin and controls the camera to take pictures of the reference board. The ICC calls a vision algorithm to identify two circular reference points on the reference board, whose coordinates in the camera are (x10, y10) and (x20, y20), which can be understood as the initial local positions. The ICC controls the alignment platform to move a certain distance (a, b) relative to the origin, which can be understood as a preset movement distance. At this time, the reference board also moves with the alignment platform. The ICC controls the camera to take pictures of the reference board. The ICC calls the vision algorithm... The method identifies two circular reference points on the reference board, whose coordinates in the camera are (x11, y11) and (x12, y12), respectively. The displacement (a, b) of the circular reference point on the reference board corresponds to the displacements of the circular reference points identified in the two cameras as follows: (x1, y1) = (x11, y11) - (x10, y10); (x2, y2) = (x21, y21) - (x20, y20). Here, a displacement of a circular reference point can be understood as a local movement distance.

[0094] Step S102: Construct a displacement set based on multiple local movement distances and multiple preset movement distances.

[0095] Understandably, each time a preset movement distance is made, a corresponding local movement distance will exist in the local coordinate system at the movement calibration point.

[0096] It should be understood that the preset movement distance is the distance in the actual coordinate system established on the alignment platform.

[0097] In practical implementation, the moving distances (a, b) of multiple alignment platforms and the coordinate displacements (x1, y1) and (x2, y2) of the circular reference points in the two cameras constitute a displacement set, denoted as:

[0098] {(x1,y1), (x2,y2)->(a,b)}

[0099] Step S103: Obtain the relative positional relationship between the calibration points, and obtain the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set.

[0100] It is understandable that the relative positional relationship between calibration points is the positional relationship in the actual coordinate system of the alignment platform at that time.

[0101] It should be understood that the calculation principle for obtaining the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set can be simply understood as taking the same point, multiple moving positions and lengths in the actual coordinate system, and multiple moving distances and lengths in the local coordinate system, and obtaining the transformation parameters between the two based on the multiple corresponding positions and lengths. That is, the transformation parameters between the local coordinate system and the actual coordinate system. By obtaining the transformation parameters between all local coordinate systems and the actual coordinate system, the calibration of the local world coordinate system is completed.

[0102] It should be noted that the calibration of the local world coordinate system is mainly used to determine the positional relationship between two cameras in the local world coordinate system, as illustrated in the diagram below. Figure 7 As shown. During calibration, the reference plate is placed on and magnetically attached to the alignment platform, and can move with the alignment platform. The reference plate has two circular reference points with fixed positions, and their relative positional relationship is guaranteed during manufacturing; the positional relationship between the two reference points is (L1, L2). When placed on the alignment platform, the reference points are within the camera's field of view, facilitating camera recognition.

[0103] In practical implementation, the relationship between the alignment platform coordinate system and the dual-camera coordinate system is calculated using the following formula:

[0104]

[0105] in:

[0106]

[0107]

[0108] The positional relationship between the two calibration points is (L1, L2), the platform movement distance is (a, b), and the displacement of the calibration points in the local coordinate system is represented as (x1, y1) and (x2, y2). By solving the above formula using the displacement set, the transformation relationship between the local coordinate system and the actual coordinate system can be obtained, thus yielding the transformation parameters.

[0109] It should be noted that, after obtaining the relative positional relationship between the calibration points and obtaining the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set, the process further includes:

[0110] Choose one of multiple local coordinate systems as the world coordinate system, obtain the reference displacement, and move the reference calibration point according to the reference displacement. That is, draw a random point in the world coordinate system, which can be understood as the reference calibration point, and move the reference calibration point a certain distance. The direction and distance of the movement can be understood as the reference displacement. After moving the reference calibration point according to the reference displacement, obtain the local reference displacement of the reference calibration point in multiple local coordinate systems, obtain the world reference displacement of the reference calibration point in the world coordinate system, and obtain the actual displacement of the reference calibration point. Based on the local reference displacement, the world reference displacement, and the actual displacement, obtain the transformation relationship between the local coordinate system and the world coordinate system.

[0111] In practice, during the calibration process, three reference plates are placed on the alignment platform: camera 1 and camera 2 share one reference plate, camera 3 and camera 4 share one reference plate, and camera 5 and camera 6 share one reference plate. The calibration of local world coordinate system 1, local world coordinate system 2, and local world coordinate system 3 are represented as follows:

[0112]

[0113]

[0114]

[0115] In this equation, (X1, Y1) represents the camera's displacement in local world coordinate system 1 (Equation 1), (X2, Y2) represents the camera's displacement in local world coordinate system 2 (Equation 1), and (X3, Y3) represents the camera's displacement in local world coordinate system 3 (Equation 1). The transformation relationship between the camera coordinate system in local world coordinate system 1 and the alignment platform coordinate system is as follows:

[0116]

[0117] The transformation relationship between the local world coordinate system 2, the camera coordinate system, and the alignment platform coordinate system is as follows:

[0118]

[0119] The transformation relationship between the local world coordinate system, the camera coordinate system, and the alignment platform coordinate system is as follows:

[0120]

[0121] To achieve overall movement of the irregularly shaped screen on the alignment platform, it is necessary to integrate the transformation relationships of the three local world coordinate systems into the global world coordinate system. Since the three local world coordinate systems are calibrated simultaneously, the alignment platform ensures consistency in motion scale. Using local world coordinate system 2 as the reference, the transformation to the global world coordinate system is completed by subordinating local world coordinate systems 1 and 3 into local world coordinate system 2.

[0122] Since the displacement of the alignment platform coordinate system is constant (a, b) in both local world coordinate system 1 and local world coordinate system 2, the following formula can be obtained:

[0123]

[0124]

[0125] Furthermore, transforming both sides of the above formula yields:

[0126]

[0127]

[0128] The right sides of the two equations above represent the displacement in the world coordinate system, while the left sides represent the transformation parameters and displacement of the local coordinate system. The transformation from the local coordinate system to the global world coordinate system can be completed using the above formulas.

[0129] This embodiment calibrates the local coordinate system and the actual coordinate system using a reference plate and calibration points. By connecting the local coordinate systems with the actual coordinate system, it also connects the local coordinate systems with the world coordinate system. Furthermore, it calibrates the local coordinate system through multiple displacements in different directions. The more accurate calibration results make it easier to convert the gap value of the local coordinate system into the displacement to be adjusted in the world coordinate system, thereby making the fit between the structural components and the screen more accurate.

[0130] refer to Figure 8 , Figure 8 This is a flowchart illustrating a second embodiment of a screen bonding method according to the present invention.

[0131] Based on the first embodiment described above, the screen bonding method in this embodiment includes the following in step S30:

[0132] Step S31: When the gap value does not meet the preset threshold, the local gap value in each local coordinate system is converted into multiple world displacements to be adjusted.

[0133] It is understandable that the gap value is the gap distance between the structural component and the screen. It is also understandable that during the bonding process, there may be multiple gap values ​​that do not meet the preset threshold. Furthermore, the gap value at this time is identified in the local coordinate system and the alignment platform cannot be adjusted solely based on the gap value in the local coordinate system.

[0134] It should be understood that by converting the displacement of gap values ​​in multiple local coordinate systems into displacement in the world coordinate system, and moving in the world coordinate system, multiple gap values ​​can be adjusted simultaneously. This allows for more accurate and effective movement of the alignment platform, achieving precise fitting of the screen and structural components.

[0135] It should be noted that the process of converting the gap value into multiple world displacements to be adjusted in various local coordinate systems includes:

[0136] The gap value is decomposed into various local coordinate systems to obtain the local gap value in each local coordinate system. It can be understood that the decomposition of the gap value is carried out by the Pythagorean theorem. After decomposition, the displacement to be adjusted of the gap value in each local coordinate system is obtained.

[0137] The local displacement to be adjusted is calculated based on the local gap value. It should be noted that there are multiple local coordinate systems. After the multiple gap values ​​are decomposed, there are multiple displacements in each local coordinate system. The displacement to be adjusted in the local coordinate system is obtained by adding each displacement together. The displacement to be adjusted in the local coordinate system is then transformed into the world coordinate system.

[0138] Obtain the transformation relationship between the local coordinate system and the world coordinate system, and based on the transformation relationship between the local coordinate system and the world coordinate system, obtain multiple world displacements to be adjusted in the world coordinate system for the local displacement to be adjusted.

[0139] Step S32: Calculate the total displacement to be adjusted based on multiple world displacements to be adjusted, calculate the displacement to be adjusted in the actual coordinate system based on the transformation parameters between the world coordinate system and the actual coordinate system, and move the screen according to the displacement to be adjusted.

[0140] Understandably, the total displacement to be adjusted can be obtained by adding up multiple world displacements to be adjusted. The world coordinate system cannot be directly adjusted, and it is necessary to convert it into the displacement in the actual coordinate system. The displacement in the actual coordinate system is consistent with the displacement of the alignment platform. The displacement in the actual coordinate system is achieved by moving the alignment platform.

[0141] In practice, the industrial control computer controls six cameras to take pictures simultaneously and calls vision algorithms to extract the edge features of the screen and structural components in each camera and calculate the gap value between the screen and structural component features.

[0142] Since the structural components are not perfectly horizontal or perpendicular to the screen, the gap value needs to be decomposed in the x and y directions of each camera to obtain the camera displacement (X1,Y1), (X2,Y2), and (X3,Y3) in local world coordinate system 1, local world coordinate system 2, and local world coordinate system 3.

[0143] Calculate the camera displacement in the global world coordinate system for each local coordinate system. The specific calculation formula is as follows:

[0144]

[0145] Wherein, the right side of the equation represents the camera displacement in the global world coordinate system for each local coordinate system; this embodiment uses two local coordinate systems as an example for illustration, where local coordinate system 2 is used as the world coordinate system. The above formula calculates the camera displacement in local coordinate system 1 in the global world coordinate system, and the following formula calculates the camera displacement in local coordinate system 2 in the global world coordinate system:

[0146]

[0147] The displacement of the camera in the global world coordinate system is obtained by summing all the displacements after transformation. The calculation formula is as follows:

[0148]

[0149] Furthermore, the displacement of the alignment platform is calculated as follows:

[0150]

[0151] The right side of the equation represents the displacement of the alignment platform.

[0152] Step S33: Until the gap value meets the preset threshold, and when the gap value meets the preset threshold, the screen and the structural component are bonded together.

[0153] Understandably, after moving the screen according to the displacement to be adjusted, it cannot be guaranteed that the gap value between the screen and the structural component will meet the preset threshold after each adjustment. This can be achieved by obtaining the gap value between the structural component and the screen again after each movement according to the displacement to be adjusted, and then judging whether the preset threshold is met again. This process continues until the gap value between the screen and the structural component in the bonding image captured by each camera meets the preset threshold. At this point, the relatively stationary screen and structural component are bonded together, achieving more accurate and efficient bonding of large-sized irregular screens.

[0154] This embodiment obtains the gap value between the structural component and the screen by extracting edge features from the bonding image of the structural component and the screen. After decomposing the gap value in each local coordinate system, it is moved to the world coordinate system accordingly. After each movement, it is judged again whether the gap value is less than a preset threshold. The movement is repeated until the gap value meets the requirements, so that the gap between the structural component and the screen at each key position is less than the preset threshold, thereby making the large-size irregular screen and the structural component more accurately bonded.

[0155] Furthermore, embodiments of the present invention also propose a storage medium storing a screen bonding program, wherein the screen bonding program, when executed by a processor, implements the steps of the screen bonding method described above.

[0156] Reference Figure 9 , Figure 9 This is a structural block diagram of the first embodiment of the screen bonding device of the present invention.

[0157] like Figure 8 As shown, the screen bonding device proposed in this embodiment of the invention includes:

[0158] Image acquisition module 10 is used to acquire images of the screen and structural components in various local coordinate systems, wherein the structural components and the screen are vertically opposed to each other.

[0159] Feature extraction module 20 is used to extract edge features from the bonding image to obtain the gap value between the screen and the structural component;

[0160] The detection module 30 is used to obtain the displacement to be adjusted in each local coordinate system according to the gap value when the gap value does not meet the preset threshold, move the screen according to the displacement to be adjusted until the gap value meets the preset threshold, and fit the screen and the structural component when the gap value meets the preset threshold.

[0161] This embodiment collects screen positions from multiple angles, accurately obtains the relative positional relationship between the screen and the structural components, and makes adjustments based on this relative positional relationship to keep the screen and platform consistent. This satisfies the gap requirements of the envelope lines around the screen and the structural components, achieving alignment and bonding of large-size irregularly shaped screens. It solves the technical problem that existing screen bonding technologies are prone to large errors when bonding large-size irregularly shaped screens, which seriously affects the accuracy and efficiency of irregularly shaped screen bonding.

[0162] In one embodiment, the image acquisition module 10 is further configured to move calibration points according to multiple preset moving distances at different positions and in different directions to obtain multiple local moving distances, wherein the calibration points are points preset in the actual coordinate system for calibrating the local coordinate system;

[0163] A displacement set is constructed based on multiple local displacement distances and multiple preset displacement distances;

[0164] Obtain the relative positional relationship between the calibration points, and obtain the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set.

[0165] In one embodiment, the image acquisition module 10 is further configured to acquire the local initial position of the calibration point and select a preset movement distance from multiple preset movement distances at different positions and in different directions;

[0166] Move the calibration points according to the preset moving distance and obtain the local reference positions of multiple calibration points after the movement;

[0167] The local movement distance of the calibration point is obtained based on the local reference position and the local initial position;

[0168] The movement is performed according to each preset movement distance, resulting in multiple local movement distances.

[0169] In one embodiment, the image acquisition module 10 is further configured to select one of a plurality of local coordinate systems as the world coordinate system, obtain a reference displacement, and move the reference calibration point according to the reference displacement;

[0170] After moving the reference calibration point according to the reference displacement, obtain the local reference displacement of the reference calibration point in multiple local coordinate systems, obtain the world reference displacement of the reference calibration point in the world coordinate system, and obtain the true displacement of the reference calibration point.

[0171] The transformation relationship between the local coordinate system and the world coordinate system is obtained based on the local reference displacement, the world reference displacement, and the actual displacement.

[0172] In one embodiment, the feature extraction module 20 is further configured to extract edge features from the fitted image to obtain the edge feature vector of the screen and the edge feature vector of the structural component;

[0173] The gap value vector between the screen and the structural component is obtained based on the edge feature vector of the screen and the edge feature vector of the structural component;

[0174] The gap value between the screen and the structural component is obtained based on the gap value vector.

[0175] In one embodiment, the detection module 30 is further configured to, when the gap value does not meet a preset threshold,

[0176] The gap values ​​in each local coordinate system are converted into multiple world displacements to be adjusted.

[0177] The total displacement to be adjusted is calculated based on multiple world displacements to be adjusted. The total displacement to be adjusted in the actual coordinate system is calculated based on the transformation parameters between the world coordinate system and the actual coordinate system. The screen is then moved according to the displacement to be adjusted.

[0178] In one embodiment, the detection module 30 is further configured to decompose the gap value into various local coordinate systems to obtain local gap values ​​in each local coordinate system;

[0179] Calculate the local displacement to be adjusted based on the local gap value;

[0180] Obtain the transformation relationship between the local coordinate system and the world coordinate system, and based on the transformation relationship between the local coordinate system and the world coordinate system, obtain multiple world displacements to be adjusted in the world coordinate system for the local displacement to be adjusted.

[0181] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0182] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0183] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0184] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0185] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0186] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A screen bonding method, characterized in that, The screen bonding method includes: Acquire images of the screen and structural components in various local coordinate systems, with the structural components and the screen facing each other vertically and vertically. Edge features are extracted from the fitted image to obtain the gap value between the screen and the structural component; When the gap value does not meet the preset threshold, the displacement to be adjusted in each local coordinate system is obtained according to the gap value, and the screen is moved according to the displacement to be adjusted until the gap value meets the preset threshold. When the gap value meets the preset threshold, the screen and the structural component are fitted together. The process of acquiring the images of the screen and structural components in various local coordinate systems, before the structural components are positioned vertically relative to the screen, further includes: Multiple local movement distances are obtained by moving the calibration points according to multiple preset movement distances in different positions and directions. The calibration points are points that are preset in the actual coordinate system for calibrating the local coordinate system. A displacement set is constructed based on multiple local displacement distances and multiple preset displacement distances; Obtain the relative positional relationship between the calibration points, and obtain the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set; The step of obtaining the relative positional relationship between the calibration points and obtaining the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set further includes: Choose any one of the multiple local coordinate systems as the world coordinate system, obtain the reference displacement, and move the reference calibration point according to the reference displacement; After moving the reference calibration point according to the reference displacement, obtain the local reference displacement of the reference calibration point in multiple local coordinate systems, obtain the world reference displacement of the reference calibration point in the world coordinate system, and obtain the true displacement of the reference calibration point. The transformation relationship between the local coordinate system and the world coordinate system is obtained based on the local reference displacement, the world reference displacement, and the actual displacement. When the gap value does not meet a preset threshold, the step of obtaining the displacement to be adjusted in each local coordinate system based on the gap value, and moving the screen according to the displacement to be adjusted, includes: Wherein, when the gap value does not meet the preset threshold, obtaining the displacement to be adjusted in each local coordinate system based on the gap value, and moving the screen according to the displacement to be adjusted, includes: When the gap value does not meet the preset threshold, the local gap value in each local coordinate system is converted into multiple world displacements to be adjusted; The total displacement to be adjusted is calculated based on multiple world displacements to be adjusted, and the total displacement to be adjusted in the actual coordinate system is calculated based on the transformation parameters between the world coordinate system and the actual coordinate system. The screen is moved according to the displacement to be adjusted.

2. The screen bonding method as described in claim 1, characterized in that, The process of moving the calibration point according to multiple preset moving distances at different positions and in different directions to obtain multiple local moving distances includes: Obtain the local initial position of the calibration point, and select a preset movement distance from multiple preset movement distances in different positions and directions; Move the calibration points according to the preset moving distance and obtain the local reference positions of multiple calibration points after the movement; The local movement distance of the calibration point is obtained based on the local reference position and the local initial position; The movement is performed according to each preset movement distance, resulting in multiple local movement distances.

3. The screen bonding method as described in claim 1, characterized in that, The step of extracting edge features from the fitted image to obtain the gap value between the screen and the structural component includes: Edge features are extracted from the fitted image to obtain the edge feature vector of the screen and the edge feature vector of the structural component; The gap value vector between the screen and the structural component is obtained based on the edge feature vector of the screen and the edge feature vector of the structural component; The gap value between the screen and the structural component is obtained based on the gap value vector.

4. The screen bonding method as described in claim 1, characterized in that, The process of converting the gap value into multiple world displacements to be adjusted in various local coordinate systems includes: The gap value is decomposed into various local coordinate systems to obtain the local gap value in each local coordinate system; Calculate the local displacement to be adjusted based on the local gap value; Obtain the transformation relationship between the local coordinate system and the world coordinate system, and based on the transformation relationship between the local coordinate system and the world coordinate system, obtain multiple world displacements to be adjusted in the world coordinate system for the local displacement to be adjusted.

5. A screen bonding device, characterized in that, The screen bonding device includes: The image acquisition module is used to acquire images of the screen and structural components in various local coordinate systems, wherein the structural components and the screen are vertically opposed to each other. The feature extraction module is used to extract edge features from the bonding image to obtain the gap value between the screen and the structural component; The detection module is used to obtain the displacement to be adjusted in each local coordinate system according to the gap value when the gap value does not meet the preset threshold, move the screen according to the displacement to be adjusted until the gap value meets the preset threshold, and fit the screen and the structural component when the gap value meets the preset threshold. The process of acquiring the images of the screen and structural components in various local coordinate systems, before the structural components are positioned vertically relative to the screen, further includes: Multiple local movement distances are obtained by moving the calibration points according to multiple preset movement distances in different positions and directions. The calibration points are points that are preset in the actual coordinate system for calibrating the local coordinate system. A displacement set is constructed based on multiple local displacement distances and multiple preset displacement distances; Obtain the relative positional relationship between the calibration points, and obtain the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set; The step of obtaining the relative positional relationship between the calibration points and obtaining the transformation parameters between the local coordinate system and the actual coordinate system based on the relative positional relationship and the displacement set further includes: Choose any one of the multiple local coordinate systems as the world coordinate system, obtain the reference displacement, and move the reference calibration point according to the reference displacement; After moving the reference calibration point according to the reference displacement, obtain the local reference displacement of the reference calibration point in multiple local coordinate systems, obtain the world reference displacement of the reference calibration point in the world coordinate system, and obtain the true displacement of the reference calibration point. The transformation relationship between the local coordinate system and the world coordinate system is obtained based on the local reference displacement, the world reference displacement, and the actual displacement. When the gap value does not meet a preset threshold, the step of obtaining the displacement to be adjusted in each local coordinate system based on the gap value, and moving the screen according to the displacement to be adjusted, includes: Wherein, when the gap value does not meet the preset threshold, obtaining the displacement to be adjusted in each local coordinate system based on the gap value, and moving the screen according to the displacement to be adjusted, includes: When the gap value does not meet the preset threshold, the local gap value in each local coordinate system is converted into multiple world displacements to be adjusted; The total displacement to be adjusted is calculated based on multiple world displacements to be adjusted, and the total displacement to be adjusted in the actual coordinate system is calculated based on the transformation parameters between the world coordinate system and the actual coordinate system. The screen is moved according to the displacement to be adjusted.

6. A screen bonding device, characterized in that, The device includes: a memory, a processor, and a screen bonding program stored in the memory and executable on the processor, the screen bonding program being configured to implement the screen bonding method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores a screen bonding program, which, when executed by a processor, implements the screen bonding method as described in any one of claims 1 to 4.

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