A circular screen fitting alignment method, device, equipment and storage medium

Abstract

The application discloses a kind of circular screen adhering alignment method, device, equipment and storage medium, and one kind of circular screen adhering alignment method, comprising the following steps: obtaining alignment calibration parameter;Obtain alignment actual parameter;The offset that alignment platform needs to move is calculated by alignment calibration parameter and alignment actual parameter;The rear shell is moved to alignment position by the offset of alignment platform until the offset calculated is less than preset threshold;Screen is moved to adhering position by grabbing mechanism, so that the rear shell is adhered to screen and is completed.The application helps to solve the problem that the center symmetry of the shape of the current circular screen is generally adhered by manual alignment, which cannot guarantee the demand of high-precision stable production.

Description

Technical Field

[0001] This invention relates to the field of bonding and alignment technology, and more specifically to a method, apparatus, device, and storage medium for bonding and aligning a circular screen. Background Technology

[0002] With the increasing prevalence of automobiles, consumer demand for in-vehicle displays is rising, leading to a proliferation of display styles and more stringent manufacturing requirements. As production processes and consumer needs evolve, curved screens in various shapes, including round and others, have emerged. A crucial process in this is screen lamination, which requires precise positioning and bonding of the display to the back cover. The central symmetry of round screens makes lamination particularly challenging. Currently, the industry standard is manual alignment and lamination, but this method cannot guarantee the high-precision and stable production required. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method, apparatus, device and storage medium for bonding and aligning circular screens that can replace manual alignment and ensure high bonding accuracy.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a method for bonding and aligning a circular screen, comprising the following steps:

[0005] S1. Obtain alignment calibration parameters;

[0006] S2. Obtain the actual alignment parameters;

[0007] S3. Calculate the offset that the alignment platform needs to move by using the alignment calibration parameters and the actual alignment parameters;

[0008] S4. The alignment platform moves the rear shell to the alignment position according to the offset until the calculated offset is less than a preset threshold.

[0009] S5. The screen is grasped by the gripping mechanism and moved to the bonding position so that the back cover and the screen are bonded together.

[0010] Furthermore, S1 specifically includes:

[0011] S1.1. The gripping point P1, the screen capture point P2, and the screen back cover bonding point P3 of the gripping mechanism are preset.

[0012] S1.2, Calibrate the transformation matrix M1 from the pixel coordinates of the screen camera to the pixel coordinates of the rear camera;

[0013] S1.3, the transformation matrix M2 from the pixel coordinates of the camera on the calibrated back cover to the motion coordinates of the alignment platform;

[0014] S1.4 Save the transformation matrices M1 and M2 as alignment calibration parameters.

[0015] Furthermore, S1.2 specifically includes:

[0016] S1.21 Place a calibration board with N features, which is the same size as the screen, on the base;

[0017] S1.22, The grasping mechanism grasps the calibration plate and moves it to the screen capture point P2;

[0018] S1.23. The screen camera captures an image of the calibration board and records the pixel coordinates of the N specified features on the calibration board in the image, denoted as P. s ;

[0019] S1.24 The gripping mechanism maintains the same gripping state of the calibration plate and moves to the screen back shell bonding point P3;

[0020] S1.25. The rear cover camera captures an image of the calibration plate and records the pixel coordinates of the N specified features on the calibration plate in the image, denoted as P. b ;

[0021] S1.26, According to P s and P b Calculate the transformation matrix M1 from the pixel coordinates of the screen camera to the pixel coordinates of the rear camera.

[0022] Furthermore, S1.3 specifically includes:

[0023] S1.31 Place a calibration plate with N features that is the same size as the rear shell on the alignment platform;

[0024] S1.32. The alignment platform moves N points according to a pre-set action. At each point, the rear-shell camera captures an image, and the pixel coordinates of the N features specified on the calibration plate on each image are recorded, denoted as P. x Simultaneously, the coordinates of the points where the alignment platform moves are recorded and denoted as P. r ;

[0025] S1.33, according to P x and P r Calculate the transformation matrix M2 from the pixel coordinates of the rear shell camera to the motion coordinates of the alignment platform.

[0026] Furthermore, S2 specifically includes:

[0027] S2.1 The grasping mechanism grasps the screen to the screen capture point P2, the screen capture camera captures the screen, and calculates the pixel coordinates P of the center of the screen fitting circle at this time. sc and the specified feature center point pixel coordinates P sf ;

[0028] S2.2. Fix the rear shell onto the alignment platform, and use the rear shell imaging camera to capture images of the rear shell, calculating the pixel coordinates P of the center of the fitted circle of the rear shell at this time. bc and the specified feature center point pixel coordinates P bf ;

[0029] S2.3, according to P sc P sf P bc P bf Calculate the physical coordinates P corresponding to the center of the rear shell. bc_r The physical coordinates P corresponding to the posterior shell features bf_r The center of the screen corresponds to the physical coordinate P. sc_r and the physical coordinates P corresponding to the screen features sf_r .

[0030] Furthermore, S3 specifically includes:

[0031] S3.1, according to P sc_r and P bc_r Calculate P sc_r To P bc_r The coordinate difference ΔX along the X-axis and the coordinate difference ΔY along the Y-axis;

[0032] S3.2, Construction starting point is P bc_r The endpoint is P. bf_r The posterior shell feature plane vector V b The starting point is P. bc_r The endpoint is P. bf_r The posterior shell feature plane vector V b Calculate V s To V b The angle difference Δθ.

[0033] Furthermore, S4 specifically includes:

[0034] S3.1 Send the three values ​​ΔX, ΔY, and Δθ as the movement offset to the alignment platform, and determine whether the calculated ΔX, ΔY, and Δθ are less than a preset threshold.

[0035] S3.2 If ΔX, ΔY, and Δθ are less than or equal to the preset threshold, the alignment platform moves ΔX, ΔY, and Δθ in the x, y, and Rz directions respectively, and then proceeds to S5.

[0036] S3.3 If the value is greater than the preset threshold, the alignment platform moves ΔX, ΔY, and Δθ in the x, y, and Rz directions respectively, and then repeats S2-S3.

[0037] A circular screen bonding and alignment device includes an alignment platform for fixing a back cover and being able to move freely in space, a base for placing the screen, a gripping mechanism for gripping the screen and being able to move freely in space, a back cover camera for capturing the position of the back cover, a screen camera for capturing the position of the screen, and a host computer for receiving the shooting data from the back cover camera and the screen camera and for controlling the movement of the alignment platform through communication.

[0038] A circular screen bonding and alignment device, characterized in that it includes: a memory, a processor, and a circular screen bonding and alignment program stored in the memory and executable on the processor, wherein the circular screen bonding and alignment program is configured to implement the circular screen bonding and alignment method.

[0039] A storage medium storing a circular screen bonding and alignment program, wherein the circular screen bonding and alignment program is executed by a processor to implement the screen bonding and alignment method.

[0040] The beneficial effects of this invention are reflected in:

[0041] This invention obtains calibration parameters by position. During the bonding and alignment process, the offset that the alignment platform needs to move is calculated based on the calibration parameters. The alignment platform drives the back shell to move according to the offset. After the offset, the offset that the alignment platform needs to move is recalculated until the offset is less than a preset threshold and then the movement stops. The screen is then bonded to the back shell. This invention enables automated equipment to perform high-precision alignment and bonding of circular or similar screens through visual compensation. It has high precision and good stability. Attached Figure Description

[0042] Fig. 1 This is a schematic diagram of the device structure for bonding and aligning a circular screen according to the present invention.

[0043] Fig. 2 This is a step diagram of the circular screen bonding method of the present invention;

[0044] Fig. 3 This is a schematic diagram of the circular screen bonding process of the present invention.

[0045] The components in the attached diagram are labeled as follows: 1. Rear shell; 2. Screen; 3. Alignment platform; 4. Base; 5. Gripping mechanism; 6. Rear shell camera; 7. Screen camera; 8. Host computer. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] See Figs. 1-3 .

[0048] The present invention provides a method for aligning and bonding a circular screen, characterized by comprising the following steps:

[0049] S1. Obtain alignment calibration parameters;

[0050] S2. Obtain the actual alignment parameters;

[0051] S3. Calculate the offset that the alignment platform 3 needs to move by using the alignment calibration parameters and the actual alignment parameters;

[0052] S4. The alignment platform 3 drives the rear shell 1 to move towards the alignment position according to the offset until the calculated offset is less than the preset threshold.

[0053] S5. The gripping mechanism 5 grips the screen 2 and moves it to the fitting position so that the back cover 1 and the screen 2 are properly fitted.

[0054] In one embodiment, S1 specifically includes:

[0055] S1.1. The gripping point P1, the screen capture point P2, and the screen back cover bonding point P3 of the gripping mechanism 5 are preset; in this step, P2 is the position where the screen capture camera 7 can completely capture the screen 2.

[0056] S1.2, Calibrate the transformation matrix M1 from the 7-pixel coordinates of the screen camera to the 6-pixel coordinates of the rear camera;

[0057] S1.3, Transformation matrix M2 from the pixel coordinates of the calibrated rear shell camera 6 to the motion coordinates of the alignment platform 3;

[0058] S1.4 Save the transformation matrices M1 and M2 as alignment calibration parameters.

[0059] In one embodiment, S1.2 specifically includes:

[0060] S1.21 Place a calibration plate with N features that is the same size as screen 2 on base 4;

[0061] S1.22, The gripping mechanism 5 grips the calibration plate and moves it to the screen capture point P2;

[0062] S1.23. The screen camera 7 captures an image of the calibration board and records the pixel coordinates of the N specified features on the calibration board in the image, denoted as P. s ;

[0063] S1.24, The gripping mechanism 5 maintains the same gripping state of the calibration plate and moves to the screen back shell bonding point P3;

[0064] S1.25. The rear-shell camera 6 captures an image of the calibration plate and records the pixel coordinates of the N specified features on the calibration plate in the image, denoted as P. b ; and in this step, P b It contains N sets of x and y coordinates;

[0065] S1.26, According to P s and P b Calculate the transformation matrix M1 from the 7-pixel coordinates of the screen camera to the 6-pixel coordinates of the rear camera. And in this step, P... s P b M1 satisfies P b =P s ×M1.

[0066] In one embodiment, S1.3 specifically includes:

[0067] S1.31. Place a calibration plate with N features that is the same size as the rear shell 1 on the alignment platform 3;

[0068] S1.32. The alignment platform 3 moves N points according to a pre-set action. At each point, the rear shell camera 6 takes an image and records the pixel coordinates of the N features specified on the calibration plate on each image, denoted as P. x Simultaneously, the coordinates of the points where the alignment platform 3 moves are recorded and denoted as P. r ; and in this step, P r It contains N sets of x and y coordinates;

[0069] S1.33, according to P x and P r Calculate the transformation matrix M2 from the 6-pixel coordinates of the rear-shell camera to the motion coordinates of the alignment platform 3. And in this step, P... x P r M2 satisfies P r =P x ×M2.

[0070] In one embodiment, S2 specifically includes:

[0071] S2.1 The gripping mechanism 5 grips the screen 2 to the screen capture point P2, the screen capture camera 7 captures the screen 2, and calculates the pixel coordinates P of the center of the fitted circle of the screen 2 at this time. sc and the specified feature center point pixel coordinates P sf ;

[0072] S2.2. Fix the rear shell 1 onto the alignment platform 3, and use the rear shell camera to capture images of the rear shell 1. Calculate the pixel coordinates P of the center of the fitted circle of the rear shell 1 at this time. bc and the specified feature center point pixel coordinates P bf ;

[0073] S2.3, according to P sc P sf P bc P bf Calculate the physical coordinates P corresponding to the center of the rear shell 1 circle. bc_r The physical coordinates P corresponding to feature 1 of the posterior shell bf_r The center of circle 2 on screen corresponds to physical coordinate P. sc_r And the physical coordinates P corresponding to the features of screen 2 sf_r In this step, P bc_r =P bc ×M2、P bf_r =P bc ×M2、P sc_r =P sc ×M1×M2、P sf_r =P sf ×M1×M2.

[0074] In one embodiment, S3 specifically includes:

[0075] S3.1, according to P sc_r and P bc_r Calculate P sc_r To P bc_r The coordinate difference ΔX along the X-axis and the coordinate difference ΔY along the Y-axis; in this step,

[0076] S3.2, Construction starting point is P bc_r The endpoint is P. bf_r The posterior shell 1 feature plane vector V b The starting point is P. bc_r The endpoint is P. bf_r The posterior shell 1 feature plane vector V b Calculate V s To V b The angle difference Δθ. In this step, Δθ = Vs θ-V b θ.

[0077] In one embodiment, S4 specifically includes:

[0078] S3.1 Send the three values ​​ΔX, ΔY, and Δθ as the movement offset to the alignment platform 3, and determine whether the calculated ΔX, ΔY, and Δθ are less than a preset threshold.

[0079] S3.2 If ΔX, ΔY, and Δθ are less than or equal to the preset threshold, the alignment platform 3 moves ΔX, ΔY, and Δθ in the x, y, and Rz directions respectively, and then proceeds to S5.

[0080] S3.3 If the value is greater than the preset threshold, the alignment platform 3 moves ΔX, ΔY, and Δθ in the x, y, and Rz directions respectively, and then repeats S2-S3.

[0081] A circular screen bonding and alignment device includes an alignment platform 3 for fixing a back cover 1 and being able to move freely in space, a base 4 for placing a screen 2, a gripping mechanism 5 for gripping the screen 2 and being able to move freely in space, a back cover camera 6 for capturing images of the position of the back cover 1, a screen camera 7 for capturing images of the position of the screen 2, and a host computer 8 for receiving the shooting data from the back cover camera 6 and the screen camera 7 and controlling the movement of the alignment platform 3 through communication.

[0082] A circular screen bonding and alignment device includes: a memory, a processor, and a circular screen bonding and alignment program stored in the memory and executable on the processor, wherein the circular screen bonding and alignment program is configured to implement the circular screen bonding and alignment method.

[0083] A storage medium storing a circular screen bonding and alignment program, wherein the circular screen bonding and alignment program is executed by a processor to implement the screen bonding and alignment method.

[0084] In summary, this invention obtains calibration parameters by position. During the bonding and alignment process, the offset that the alignment platform 3 needs to move is calculated based on the calibration parameters. The alignment platform 3 drives the back shell 1 to move according to the offset. After the offset, the offset that the alignment platform 3 needs to move is recalculated until the offset is less than a preset threshold, at which point the movement stops, and the screen 2 is bonded to the back shell 1. This invention enables automated equipment to perform high-precision alignment and bonding of circular or similar screens through visual compensation, achieving high precision and good stability.

[0085] It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various modifications or changes based on them. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

[0086] It should be noted that if the embodiments of the present invention involve directional indicators such as up, down, left, right, front, back, etc., the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indicators will also change accordingly.

[0087] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

Claims

1. A method for bonding and aligning a circular screen, characterized in that, Includes the following steps: S1. Obtain alignment calibration parameters; S2. Obtain the actual alignment parameters; S3. Calculate the offset that the alignment platform needs to move using the alignment calibration parameters and the actual alignment parameters; S4. The alignment platform moves the rear shell to the alignment position according to the offset until the calculated offset is less than a preset threshold. S5. The screen is grasped by the gripping mechanism and moved to the bonding position so that the back cover and the screen are bonded together. S1 specifically includes: S1.

1. The gripping point P1, the screen capture point P2, and the screen back cover bonding point P3 of the gripping mechanism are preset. S1.2, Calibrate the transformation matrix M1 from the screen camera pixel coordinates to the rear camera pixel coordinates; S1.3, the transformation matrix M2 from the pixel coordinates of the camera on the calibrated back cover to the motion coordinates of the alignment platform; S1.4 Save the transformation matrices M1 and M2 as alignment calibration parameters; S2.1 The grasping mechanism grasps the screen to the screen capture point P2, the screen capture camera captures the screen, and calculates the pixel coordinates P of the center of the screen fitting circle at this time. sc and the specified feature center point pixel coordinates P sf ; S2.

2. Fix the rear shell onto the alignment platform, and use the rear shell imaging camera to capture images of the rear shell, calculating the pixel coordinates P of the center of the fitted circle of the rear shell at this time. bc and the specified feature center point pixel coordinates P bf ; S2.3, according to , , , Calculate the physical coordinates corresponding to the center of the rear shell. The physical coordinates of the posterior shell features The center of the screen corresponds to the physical coordinates and the physical coordinates corresponding to screen features ; S3.1, according to and Calculate arrive The coordinate difference ΔX along the X-axis and the coordinate difference ΔY along the Y-axis; S3.2, Construction starting point is The destination is The posterior shell feature plane vector V b The starting point is The destination is The rear shell feature plane vector Calculate arrive Angular difference Δθ; S3.1 Send the three values ​​ΔX, ΔY, and Δθ as the movement offset to the alignment platform, and determine whether the calculated ΔX, ΔY, and Δθ are less than a preset threshold. S3.2 If ΔX, ΔY, and Δθ are less than or equal to the preset threshold, the alignment platform moves ΔX, ΔY, and Δθ in the x, y, and Rz directions respectively, and then proceeds to S5. S3.3 If the value is greater than the preset threshold, the alignment platform moves ΔX, ΔY, and Δθ in the x, y, and Rz directions respectively, and then repeats S2-S3.

2. The circular screen bonding and alignment method according to claim 1, characterized in that, S1.2 specifically includes: S1.21 Place a calibration board with N features, which is the same size as the screen, on the base; S1.22, The grasping mechanism grasps the calibration plate and moves it to the screen capture point P2; S1.

23. The screen camera captures an image of the calibration board and records the pixel coordinates of the N specified features on the calibration board in the image, denoted as... ; S1.24 The gripping mechanism maintains the same gripping state of the calibration plate and moves to the screen back shell bonding point P3; S1.

25. The rear cover camera captures an image of the calibration plate and records the pixel coordinates of the N specified features on the calibration plate in the image, denoted as... ; S1.26, according to and Calculate the transformation matrix M1 from the pixel coordinates of the screen camera to the pixel coordinates of the rear camera.

3. The circular screen bonding and alignment method according to claim 2, characterized in that, S1.3 specifically includes: S1.31 Place a calibration plate with N features that is the same size as the rear shell on the alignment platform; S1.

32. The alignment platform moves N points according to a pre-set action. At each point, the rear-shell camera captures an image, and the pixel coordinates of the N features specified on the calibration plate on each image are recorded, denoted as... Simultaneously, the coordinates of the points where the alignment platform moved are recorded, denoted as and . ; S1.33, according to and Calculate the transformation matrix M2 from the pixel coordinates of the rear shell camera to the motion coordinates of the alignment platform.

4. A device for bonding and aligning a circular screen, capable of implementing the circular screen bonding and alignment method according to any one of claims 1 to 3, characterized in that, It includes an alignment platform for fixing the back cover and being able to move freely in space, a base for placing the screen, a gripping mechanism for gripping the screen and being able to move freely in space, a back cover camera for capturing the position of the back cover, a screen camera for capturing the position of the screen, and a host computer for receiving the shooting data from the back cover camera and the screen camera and controlling the movement of the alignment platform through communication.

5. A circular screen bonding and alignment device, characterized in that... The method includes: a memory, a processor, and a circular screen bonding and alignment program stored in the memory and executable on the processor, the circular screen bonding and alignment program being configured to implement the circular screen bonding and alignment method as described in any one of claims 1 to 3.

6. A storage medium, characterized in that... The storage medium stores a circular screen bonding and alignment program, which, when executed by a processor, implements the screen bonding and alignment method as described in any one of claims 1 to 3.

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