Mobile terminal key assembly control method and mobile terminal key assembly equipment

Abstract

The present invention discloses an assembly control method for mobile terminal keys and a mobile terminal key assembly device, the method comprising: controlling a manipulator to move to a feeding position, and controlling a first CCD camera at the end of the manipulator to capture an image of the mobile terminal key to obtain its position information; according to the position information, controlling the manipulator to grab the mobile terminal key; controlling the manipulator to drive the mobile terminal key to move to a detection position, and controlling a second CCD camera to capture a bottom surface image of the mobile terminal key; according to the bottom surface image, obtaining an image of a logo; according to the image of the logo, determining whether the mobile terminal key is a pre-assembled key; if so, controlling the manipulator to move to an assembly position and assemble the mobile terminal key; if not, controlling the manipulator to move to a material unloading position and unloading the mobile terminal key. The assembly control method for mobile terminal keys of the present invention can ensure that the assembled mobile terminal keys are of the correct color, and prevent the occurrence of wrong keys being installed.

Description

Technical Field

[0001] The present invention relates to the field of mobile terminal assembly, and in particular to an assembly control method for mobile terminal keys and mobile terminal key assembly equipment. Background Art

[0002] The sides of mobile terminals such as mobile phones are usually provided with a volume + key, a volume - key and a power key. During the production process of mobile terminals, the keys of the mobile terminals are usually assembled automatically to meet the needs of high-efficiency production.

[0003] Mobile terminals with the same appearance color in the same batch are usually uniformly equipped with mobile terminal keys, and the assembled mobile terminal keys have the same color. However, if there are some keys in the supplied keys that do not match the color of the pre-assembled keys due to factors such as manual loading errors, the wrong keys will be installed, which will require rework and reinstallation, affecting production efficiency. Summary of the invention

[0004] The main purpose of the present invention is to provide an assembly control method for mobile terminal keys, aiming to solve the current technical problem that mobile terminal keys are easily misassembled.

[0005] To achieve the above object, the present invention provides a method for controlling the assembly of keys of a mobile terminal, the method comprising:

[0006] Controlling the manipulator to move to the feeding position of the mobile terminal key, and controlling the first CCD camera at the end of the manipulator to capture the image of the mobile terminal key located at the feeding position, so as to obtain the position information of the mobile terminal key;

[0007] According to the acquired position information of the mobile terminal key, controlling the manipulator to grab the mobile terminal key located at the feeding position;

[0008] Control the manipulator to drive the grasped mobile terminal key to move to the detection position, and control the second CCD camera below the detection position to capture the bottom surface image of the mobile terminal key grasped by the manipulator;

[0009] According to the captured bottom surface image of the mobile terminal key, an image of a mark at the bottom of the mobile terminal key used to represent the color of the mobile terminal key is obtained;

[0010] Determining whether the key of the mobile terminal is a pre-assembled key according to the acquired marked image;

[0011] If it is determined that the mobile terminal key is a pre-assembled key, the manipulator is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key;

[0012] If it is determined that the mobile terminal key is not a pre-assembled key, the manipulator is controlled to drive the grasped mobile terminal key to move to the unloading position and unload the mobile terminal key.

[0013] In some embodiments, the step of determining whether the key of the mobile terminal is a pre-assembled key according to the acquired identified image includes:

[0014] Comparing the acquired image of the mark with a first preset mark, wherein the first preset mark is used to represent the color of the pre-assembled key;

[0015] If the comparison is the same, it is determined that the key of the mobile terminal is a pre-assembled key;

[0016] If the comparison is not the same, it is determined that the mobile terminal key is not a pre-assembled key.

[0017] In some embodiments, if it is determined that the mobile terminal key is not a pre-assembled key, the step of controlling the manipulator to drive the grasped mobile terminal key to move to the unloading position and unloading the mobile terminal key includes:

[0018] If it is determined that the key of the mobile terminal is not a pre-assembled key, determining the color of the key of the mobile terminal according to the acquired image of the mark;

[0019] According to the determined color of the mobile terminal key, the manipulator is controlled to drive the grasped mobile terminal key to move to the unloading position, and unload the mobile terminal key into an unloading box for placing mobile terminal keys of the same color as the mobile terminal key.

[0020] In some embodiments, if it is determined that the key of the mobile terminal is not a pre-assembled key, the step of determining the color of the key of the mobile terminal according to the acquired identified image includes:

[0021] If it is determined that the mobile terminal key is not a pre-assembled key, comparing the acquired image of the mark with a plurality of second preset marks in a preset mark library, wherein each of the second preset marks is used to represent a color of the mobile terminal key;

[0022] The color of the key of the mobile terminal is determined according to a second preset mark in the preset mark library that is successfully compared with the image of the acquired mark.

[0023] In some embodiments, it also includes:

[0024] Controlling the detection mechanism to detect the loading status in the material box;

[0025] When it is determined that the material box is full of materials according to the information fed back by the detection mechanism, the alarm mechanism is controlled to give an alarm prompt.

[0026] In some embodiments, the control detection mechanism detects the loading status of the material box, including:

[0027] Controlling the detection mechanism to detect the amount of material loaded in the material box; and / or,

[0028] Controlling the detection mechanism to detect the loading weight of the material box; and / or,

[0029] The control detection mechanism detects the filling height of the material box.

[0030] In some embodiments, the logo includes characters or patterns.

[0031] In some embodiments, if it is determined that the mobile terminal key is a pre-assembled key, the step of controlling the manipulator to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key includes:

[0032] Acquire an outer contour image of the mobile terminal key according to the captured bottom surface image of the mobile terminal key;

[0033] Judging whether there is a deviation in the assembly angle of the key of the mobile terminal according to the acquired outer contour image;

[0034] If it is determined that there is no deviation in the assembly angle of the mobile terminal key, the manipulator is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key;

[0035] If it is determined that there is a deviation in the assembly angle of the mobile terminal key, the manipulator is controlled to correct the assembly angle of the grasped mobile terminal key, and then the manipulator is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key.

[0036] In some embodiments, the step of determining whether there is a deviation in the assembly angle of the mobile terminal key according to the acquired outer contour image comprises:

[0037] Comparing the angle of the acquired outer contour image with the preset outer contour image, wherein the angle of the preset outer contour image corresponds to the standard assembly angle of the mobile terminal key;

[0038] If the comparison is the same, it is determined that there is no deviation in the assembly angle of the key of the mobile terminal;

[0039] If the comparison is not the same, it is determined that there is a deviation in the assembly angle of the key of the mobile terminal;

[0040] And, if it is determined that there is a deviation in the assembly angle of the mobile terminal key, the steps of controlling the manipulator to correct the assembly angle of the grasped mobile terminal key, and then controlling the manipulator to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key include:

[0041] Calculating an angle deviation value between the acquired outer contour image and a preset outer contour image;

[0042] The robot is controlled to adjust the assembly angle of the mobile terminal key according to the angle deviation value, so as to correct the assembly angle of the mobile terminal key.

[0043] The present invention also proposes a mobile terminal key assembly device, which includes a controller and a manipulator electrically connected to the controller, a first CCD camera, and a second CCD camera; the manipulator is used to grab the mobile terminal keys, and assemble or unload the grabbed mobile terminal keys; the first CCD camera is connected to the end of the manipulator, and is used to capture the image of the mobile terminal keys at the feeding position; the second CCD camera is arranged at the detection position, and is used to capture the bottom surface image of the mobile terminal keys; the controller is used to execute the steps of the assembly control method of the mobile terminal keys as described above.

[0044] The assembly control method of the mobile terminal key of the present invention first controls a manipulator to move to a feeding position of the mobile terminal key, and controls a first CCD camera at the end of the manipulator to capture an image of the mobile terminal key at the feeding position to obtain position information of the mobile terminal key; then, according to the acquired position information of the mobile terminal key, controls the manipulator to grab the mobile terminal key and move to a detection position of the mobile terminal key, and controls a second CCD camera at the detection position to capture a bottom surface image of the mobile terminal key; then, according to the captured bottom surface image of the mobile terminal key, obtains an image of a mark at the bottom of the mobile terminal key for characterizing the color of the mobile terminal key; then, according to the acquired mark image, determines whether the mobile terminal key is a pre-assembled key; if it is determined that the mobile terminal key is a pre-assembled key, controls the manipulator to move to the assembly position and assembles the mobile terminal key; if it is determined that the mobile terminal key is not a pre-assembled key, controls the manipulator to move to the unloading position and unloads the mobile terminal key. That is, when grabbing mobile terminal keys for assembly, the assembly control method of the mobile terminal keys of the present invention identifies whether the grabbed mobile terminal keys are mobile terminal keys of the required assembly color, and assembles or cuts the grabbed mobile terminal keys according to the identification results, thereby ensuring that the assembled mobile terminal keys are of the correct color, preventing the occurrence of wrong keys being installed, avoiding rework and reassembly, and helping to improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1It is a structural schematic diagram of a mobile terminal key assembly device in one embodiment of the present invention;

[0046] Figure 2 It is a flow chart of a method for controlling the assembly of keys of a mobile terminal according to an embodiment of the present invention;

[0047] Figure 3 It is a flow chart of a method for controlling assembly of keys of a mobile terminal according to another embodiment of the present invention;

[0048] Figure 4 It is a flow chart of a method for controlling the assembly of keys of a mobile terminal in another embodiment of the present invention;

[0049] Figure 5 It is a flow chart of a method for controlling the assembly of keys of a mobile terminal in another embodiment of the present invention;

[0050] Figure 6 It is a flow chart of a method for controlling the assembly of keys of a mobile terminal in another embodiment of the present invention;

[0051] Figure 7 It is a flow chart of a method for controlling the assembly of keys of a mobile terminal in another embodiment of the present invention;

[0052] Figure 8 It is a flow chart of a method for controlling the assembly of keys of a mobile terminal in another embodiment of the present invention;

[0053] Fig. 9 The figure is a flow chart of a method for controlling assembly of keys of a mobile terminal in another embodiment of the present invention. DETAILED DESCRIPTION

[0054] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. 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.

[0055] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0057] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0058] The embodiment of the present invention provides a method for controlling the assembly of mobile terminal buttons, which can be applied to a mobile terminal button assembly device. The mobile terminal button assembly device implements the assembly operation of the mobile terminal buttons based on the method for controlling the assembly of mobile terminal buttons of the present embodiment. The mobile terminal involved can be a mobile phone, a tablet computer, etc., and the mobile terminal button can be a volume + button, a volume - button, a power button, etc.

[0059] In the assembly work scenario, a button hole is reserved on the mobile terminal, and the mobile terminal button assembly device assembles the mobile terminal button in the button hole of the mobile terminal to realize the button assembly. Figure 1As shown, the mobile terminal key assembly device may include a manipulator 100, a first CCD camera 200, a second CCD camera 300, and a controller, etc. The manipulator 100 is used to grab the mobile terminal keys and assemble or unload the mobile terminal keys, wherein a grabbing mechanism 110 may be provided at the end of the manipulator 100 to pick up and place the mobile terminal keys through the grabbing mechanism 110. Optionally, the grabbing mechanism 110 may be an adsorption-type grabbing mechanism, such as the grabbing mechanism 110 including a suction nozzle 111 for adsorbing the mobile terminal keys. The first CCD camera 200 may be used to capture an image of the mobile terminal keys at the feeding position of the mobile terminal keys and feed it back to the controller, so that the controller can locate the mobile terminal keys according to the image information of the mobile terminal keys captured at the feeding position fed back by the first CCD camera 200. The bottom of the mobile terminal button is provided with a mark for representing the color of the mobile terminal button. The second CCD camera 300 is used to capture the image of the bottom of the mobile terminal button and feed it back to the controller, so that the controller can obtain the image of the mark from the image information of the bottom of the mobile terminal button fed back by the second CCD camera 300, and identify the type of the mobile terminal button according to the represented image, such as determining the color of the mobile terminal button. Among them, the first CCD camera 200 and the second CCD camera 300 are both digital cameras with charge-coupled device image sensors. CCD is the abbreviation of charge-coupled device, which can convert light into electric charge and store and transfer the electric charge, and can also take out the stored electric charge to change the voltage. Therefore, it is an ideal CCD camera element. The CCD camera formed by it has the characteristics of small size, light weight, unaffected by magnetic field, and anti-vibration and impact, and is widely used. In addition, the mobile terminal key assembly equipment may also include other components such as a mobile terminal key feeding device, a mobile terminal conveying device, etc. For example, the manipulator 100 and the mobile terminal key loading device are arranged beside the mobile terminal conveying device, and the mobile terminal conveying device conveys the mobile terminal. The manipulator 100 grabs the mobile terminal keys from the mobile terminal key loading device and assembles them on the mobile terminal conveyed by the mobile terminal conveying device.

[0060] Reference Figure 2 , the assembly control method of the mobile terminal key comprises:

[0061] Step S100: Control the manipulator 100 to move to the feeding position of the mobile terminal buttons, and control the first CCD camera 200 at the end of the manipulator 100 to capture the image of the mobile terminal buttons at the feeding position to obtain the position information of the mobile terminal buttons. The manipulator 100 involved is used to grab, assemble or unload the mobile terminal buttons. A grabbing mechanism can be set at the end of the manipulator 100 to pick up and place the mobile terminal buttons through the grabbing mechanism. Optionally, the grabbing mechanism can be an adsorption grabbing mechanism, such as a grabbing mechanism including a suction nozzle. The manipulator 100 can move between the feeding position, the detection position, the assembly position and the unloading position to perform corresponding process operations. Among them, the positional relationship between the feeding position, the detection position, the assembly position and the unloading position can be set by itself, as long as they are all within the working space of the manipulator 100, and it is not limited here. The first CCD camera 200 provided at the end of the manipulator 100 can photograph the mobile terminal keys to be grasped at the feeding position when the manipulator 100 moves to the feeding position, thereby locating the position of the mobile terminal keys. The feeding position involved is a position for providing mobile terminal keys. As an example, a material tray is provided at the feeding position, and a plurality of placement slots arranged in an array are provided on the material tray, and the placement slots are placed with mobile terminal keys. In this implementation step, when assembling the mobile terminal keys, the manipulator 100 is first controlled to move to the feeding position, and then the image of the mobile terminal keys is photographed by the first CCD camera 200 to locate the position of the mobile terminal keys at the feeding position.

[0062] Step S200: According to the acquired position information of the mobile terminal key, the manipulator 100 is controlled to grab the mobile terminal key located at the feeding position. In this implementation step, after locating the position of the mobile terminal key at the feeding position, the manipulator 100 is controlled to grab the mobile terminal key, which can achieve accurate grabbing of the mobile terminal key.

[0063] Step S300: Control the manipulator 100 to drive the grasped mobile terminal key to move to the detection position, and control the second CCD camera 300 below the detection position to shoot the bottom surface image of the mobile terminal key grasped by the manipulator 100. The detection position involved is a position for detecting the mobile terminal key (for example, detecting whether the mobile terminal key is a pre-assembled key). Specifically, a second CCD camera 300 is arranged below the detection position, and the second CCD camera 300 can shoot the mobile terminal key from the bottom of the mobile terminal key grasped by the manipulator 100. In this implementation step, after grasping the mobile terminal key, the manipulator 100 is controlled to drive the grasped mobile terminal key to move to the detection position, and then the bottom surface image of the mobile terminal key is shot by the second CCD camera 300.

[0064] Step S400: Based on the captured image of the bottom surface of the mobile terminal key, an image of a mark at the bottom of the mobile terminal key for representing the color of the mobile terminal key is obtained. The bottom of the mobile terminal key has a mark, and the mark is used to correspond to the color information representing the mobile terminal key. Different marks correspond to different colors, and the mark can be in the form of characters, patterns, etc. In this implementation step, after capturing the image of the bottom surface of the mobile terminal key, an image of the mark at the bottom of the mobile terminal key is obtained from the captured image of the bottom surface of the mobile terminal key.

[0065] Step S500: judging whether the key of the mobile terminal is a pre-assembled key according to the acquired identified image.

[0066] Step S600: If it is determined that the mobile terminal key is a pre-assembled key, the manipulator 100 is controlled to drive the captured mobile terminal key to move to the assembly position and assemble the mobile terminal key. The assembly position involved is a position for assembling mobile terminal keys. For example, a mobile terminal is transferred to the assembly position for the manipulator 100 to assemble the captured mobile terminal key. In this implementation step, when it is determined that the mobile terminal key is a pre-assembled key, the manipulator 100 is controlled to drive the mobile terminal key to move to the assembly position for assembly.

[0067] Step S700: If it is determined that the mobile terminal key is not a pre-assembled key, the manipulator 100 is controlled to drive the grasped mobile terminal key to move to the unloading position and unload the mobile terminal key. The unloading position involved is a position for unloading mobile terminal keys, for example, a material box is provided at the unloading position, and the unloaded mobile terminal key is loaded through the material box. In this implementation step, when it is determined that the mobile terminal key is not a pre-assembled key, the manipulator 100 is controlled to drive the mobile terminal key to move to the unloading position to unload.

[0068] The assembly control method of the mobile terminal keys of the present invention identifies whether the grabbed mobile terminal keys are mobile terminal keys of the required assembly color when grabbing the mobile terminal keys for assembly, and assembles or cuts the grabbed mobile terminal keys according to the identification result, thereby ensuring that the assembled mobile terminal keys are of the correct color, preventing the occurrence of wrong keys being assembled, avoiding rework and reassembly, and helping to improve production efficiency.

[0069] Reference Figure 3 In some embodiments, step S500 includes:

[0070] Step S510: comparing the acquired image of the logo with a first preset logo, wherein the first preset logo is used to represent the color of the pre-assembled key;

[0071] Step S520: If the comparison is the same, it is determined that the mobile terminal button is a pre-assembled button;

[0072] Step S530: If the comparison is not the same, it is determined that the mobile terminal button is not a pre-assembled button.

[0073] The first preset identifier is pre-stored in a local database to be used as a comparison object for the obtained identifier to be compared when determining whether the mobile terminal button is a pre-assembled button. Among them, the first preset identifier can be customized or changed. In this implementation step, after obtaining the image of the identifier at the bottom of the mobile terminal button, the image of the obtained identifier is compared with the first preset identifier, and whether the mobile terminal button is a pre-assembled button is determined according to the comparison result. Specifically, when the image of the identifier at the bottom of the mobile terminal button is the same as the first preset identifier, the mobile terminal button is a pre-assembled button; when the image of the identifier at the bottom of the mobile terminal button is different from the second preset identifier, the mobile terminal button is not a pre-assembled button. Taking the first preset identifier as the character R, and the color representing the pre-assembled button is red as an example, if the image of the identifier obtained is the character R, it is the same as the first preset identifier, and the captured mobile terminal button is a pre-assembled button. If the image of the identifier obtained is other, such as the characters G, B, etc., it is different from the first preset identifier, and the captured mobile terminal button is not a pre-assembled button.

[0074] Reference Figure 4 In some embodiments, step S700 includes:

[0075] Step S710: if it is determined that the key of the mobile terminal is not a pre-assembled key, the color of the key of the mobile terminal is determined according to the acquired image of the mark;

[0076] Step S720: according to the determined color of the mobile terminal key, control the manipulator 100 to move the grasped mobile terminal key to the unloading position, and unload the mobile terminal key into a material box for placing mobile terminal keys of the same color as the mobile terminal key.

[0077] At least two material boxes can be provided, each for loading mobile terminal buttons of different colors. For example, three material boxes are provided, one of which is used to load green mobile terminal buttons, and the other two are used to load black and white mobile terminal buttons, respectively. In this implementation step, when it is determined that the mobile terminal button is not a pre-assembled button, the color of the mobile terminal button is determined according to the image of the obtained mark, and according to the color of the mobile terminal, the manipulator 100 is controlled to unload the mobile terminal button into the corresponding material box. Taking the color of the pre-assembled button as red as an example, when the mobile terminal button grabbed by the manipulator 100 is not a pre-assembled button, if the image of the obtained mark is G, it is determined that the color of the mobile terminal button is green, then the manipulator 100 is controlled to drive the grabbed mobile terminal button to move to the unloading position, and unload the mobile terminal button into the material box where the green mobile terminal button is placed; if the image of the obtained mark is B, it is determined that the color of the mobile terminal button is black, then the manipulator 100 is controlled to drive the grabbed mobile terminal button to move to the unloading position, and unload the mobile terminal button into the material box where the black mobile terminal button is placed. That is, in this embodiment, the mobile terminal keys that are not pre-assembled keys are separated by color and fed into different material boxes, thereby eliminating the need for staff to sort the mobile terminal keys in subsequent processing, thereby saving time and effort.

[0078] Reference Figure 5 In some embodiments, step S710 includes:

[0079] Step S711: if it is determined that the mobile terminal button is not a pre-assembled button, the image of the acquired logo is compared with a plurality of second preset logos in a preset logo library, wherein each second preset logo is used to represent a color of the mobile terminal button;

[0080] Step S712: Determine the color of the key of the mobile terminal according to a second preset mark in the preset mark library that is successfully compared with the image of the acquired mark.

[0081] In this implementation step, a plurality of second preset identifiers are stored in the preset identifier library, which are used as comparison objects for the obtained identifier to be compared when identifying the color of the mobile terminal button. Among them, the user can change the identifier type and increase or decrease the number of the second preset identifiers in the preset identifier library. In this implementation step, when it is determined that the mobile terminal button is not a pre-assembled button, the image of the obtained identifier is compared with the plurality of second preset identifiers in the preset identifier library, and the color of the mobile terminal button is determined according to the comparison result. Specifically, the color of the mobile terminal button is determined according to the second preset identifier in the preset identifier library that is successfully compared with the image of the obtained identifier. For example, the preset identifier library has a plurality of second preset identifiers such as characters G and B. If the image of the obtained identifier is successfully compared with the character G in the preset identifier library, the color of the mobile terminal button is determined to be green; if the image of the obtained identifier is successfully compared with the character B in the preset identifier library, the color of the mobile terminal button is determined to be black.

[0082] Reference Figure 6 In some embodiments, the assembly control method of the mobile terminal key further includes:

[0083] Step S800: Control the detection mechanism to detect the loading status in the material box. In this implementation step, the loading status of the material box is detected in real time by controlling the detection mechanism, so that subsequent operations can be performed according to the loading status in the material box. Among them, the mechanism type and detection form of the detection mechanism can be various, which will be further explained in the subsequent embodiments.

[0084] Step S900: When the material box is determined to be full according to the information fed back by the detection mechanism, the alarm mechanism is controlled to give an alarm prompt. In this implementation step, based on the information fed back by the detection mechanism, when the material box is determined to be full, the alarm mechanism is controlled to give an alarm prompt so that the staff can clean the material box in time. The alarm mechanism may include a warning light, a buzzer, etc.

[0085] Optionally, in some embodiments, controlling the detection mechanism to detect the loading status in the material box includes:

[0086] Control the detection mechanism to detect the loading quantity of the material box. In this embodiment, the detection mechanism can be a counting mechanism, which counts the number of times the manipulator 100 unloads the mobile terminal keys of the color loaded in the material box to determine the loading quantity of the material box; for example, the number of times the manipulator 100 unloads the mobile terminal keys of the color loaded in the material box is 20 times, and the counting mechanism counts it as 20 times accordingly, so it can be known that there are 20 mobile terminal keys in the material box. And / or,

[0087] Control the detection mechanism to detect the loading weight of the material box. In this embodiment, the detection mechanism can be a weighing mechanism. Since the weight of each mobile terminal button is basically the same, the weighing mechanism weighs the total weight of the material box and all the mobile terminal buttons in the material box. According to the weight of the material box and the weight of the mobile terminal, the number of mobile terminal buttons in the material box can be calculated, and then the loading situation in the material box can be determined; for example, the material box weighs m, the mobile terminal button weighs n, and the weight weighed by the weighing mechanism is m+10n, so it can be known that there are 10 mobile terminal buttons in the material box. And / or,

[0088] The detection mechanism is controlled to detect the loading height of the material box. In this embodiment, the detection mechanism may be a height measuring mechanism, which measures the height of the mobile terminal buttons loaded in the material box, and then determines the loading status in the material box. The height measuring mechanism may be an infrared sensor, which is arranged at the full height position of the material box. When the infrared sensor detects the mobile terminal buttons in the material box, it indicates that the material box is full.

[0089] In actual application, the user can arbitrarily select any one of the above detection forms or a combination of multiple detection forms to detect the filling condition of the material box.

[0090] In some embodiments, the logo includes a character or a pattern. The logo on the mobile terminal button can be any one of a character and a pattern. For example, the logo on the mobile terminal button is a character, and different characters correspond to different colors, such as R for red, G for green, and B for black. For another example, the logo on the mobile terminal button is a pattern, and different patterns correspond to different colors, such as a triangular pattern for red, a square pattern for green, and a circular pattern for black. The specific types of characters and patterns illustrated above are only exemplary and not restrictive.

[0091] Reference Figure 7 In some embodiments, step S600 includes:

[0092] Step S610: acquiring an outer contour image of the mobile terminal key according to the captured bottom surface image of the mobile terminal key;

[0093] Step S620: judging whether there is a deviation in the assembly angle of the key of the mobile terminal according to the acquired outer contour image;

[0094] Step S630: if it is determined that there is no deviation in the assembly angle of the mobile terminal key, control the manipulator 100 to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key;

[0095] Step S640: If it is determined that there is a deviation in the assembly angle of the mobile terminal key, the robot 100 is controlled to correct the assembly angle of the grasped mobile terminal key, and then the robot 100 is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key.

[0096] Among them, after determining that the mobile terminal key is a pre-assembled key, during the process of assembling the mobile terminal key, the assembly angle of the mobile terminal key needs to be detected so that the mobile terminal key can be assembled according to the standard assembly angle. In this implementation step, according to the bottom surface image of the mobile terminal key taken, the outer contour image of the mobile terminal key is obtained, and then according to the obtained outer contour image, it is determined whether there is a deviation in the assembly angle of the mobile terminal key, and according to the judgment result, it is determined to control the manipulator 100 to directly assemble the mobile terminal key or control the manipulator 100 to correct the assembly angle of the grasped mobile terminal key before assembling the mobile terminal key. Specifically, if it is determined that there is no deviation in the assembly angle of the mobile terminal key, the manipulator 100 is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key; if it is determined that there is a deviation in the assembly angle of the mobile terminal key, the manipulator 100 is controlled to correct the assembly angle of the grasped mobile terminal key, and then the manipulator 100 is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key. This embodiment enables the mobile terminal buttons to be aligned with the button holes of the mobile terminal for assembly, thereby improving assembly accuracy.

[0097] The end of the manipulator 100 is provided with a rotating grasping mechanism, which can control the grasped mobile terminal key to rotate in a horizontal plane, thereby adjusting the assembly angle of the mobile terminal key. The rotating grasping mechanism can adopt a variety of structural forms, for example, the rotating grasping mechanism includes a driving component, a rotating shaft and a suction nozzle, the suction nozzle is installed at one end of the rotating shaft and is used to absorb the mobile terminal key, and the driving component is used to drive the rotating shaft to rotate. When it is necessary to adjust the assembly angle of the mobile terminal key, the rotating shaft is driven to rotate by the driving component to drive the suction nozzle to rotate, and the mobile terminal key absorbed by the suction nozzle rotates with the suction nozzle to change the angle position, thereby realizing the adjustment of the assembly angle of the mobile terminal key.

[0098] Reference Figure 8 and Fig. 9 In some embodiments, step S620 includes:

[0099] Step S621: comparing the angle of the acquired outer contour image with the preset outer contour image, wherein the angle of the preset outer contour image corresponds to the standard assembly angle of the mobile terminal key;

[0100] Step S622: If the comparison is the same, it is determined that there is no deviation in the assembly angle of the key of the mobile terminal;

[0101] Step S623: If the comparison is not the same, it is determined that there is a deviation in the assembly angle of the mobile terminal key.

[0102] In this implementation step, the preset outer contour image is pre-stored in a local database to be used as a comparison object for comparison with the acquired outer contour image when determining whether there is a deviation in the assembly angle of the mobile terminal key. In this implementation step, after the outer contour image is acquired, the acquired outer contour image is compared with the preset outer contour image for angle comparison, and it is determined whether there is a deviation in the assembly angle of the mobile terminal key based on the comparison result. Specifically, when the angle of the acquired outer contour image is the same as the angle of the preset outer contour image, there is no deviation in the assembly angle of the mobile terminal key; when the angle of the acquired outer contour image is different from the angle of the preset outer contour image, there is a deviation in the assembly angle of the mobile terminal key.

[0103] And step S640 includes:

[0104] Step S641: calculating an angle deviation value between the acquired outer contour image and a preset outer contour image;

[0105] Step S642: controlling the manipulator 100 to adjust the assembly angle of the mobile terminal key according to the angle deviation value, so as to correct the assembly angle of the mobile terminal key.

[0106] In this implementation step, by calculating the angle deviation value between the acquired outer contour image and the preset outer contour image, the manipulator 100 is controlled to adjust the assembly angle of the mobile terminal key according to the angle deviation value, and the assembly angle of the mobile terminal key is corrected to the standard assembly angle. For example, taking the clockwise direction as the reference direction, the angle deviation value between the acquired outer contour image and the preset outer contour image is n°, and the manipulator 100 is controlled to rotate the grasped mobile terminal key in the counterclockwise direction by n°, thereby correcting the assembly angle of the mobile terminal key to the standard assembly angle.

[0107] The present invention also proposes a mobile terminal key assembly device, which includes a controller and a manipulator 100 electrically connected to the controller, a first CCD camera 200, and a second CCD camera 300; the manipulator 100 is used to grab the mobile terminal keys, and assemble or unload the grabbed mobile terminal keys; the first CCD camera 200 is connected to the end of the manipulator 100, and is used to take images of the mobile terminal keys at the feeding position; the second CCD camera 300 is set at the detection position, and is used to take images of the bottom surface of the mobile terminal keys; the controller is used to execute the steps of the assembly control method of the mobile terminal keys as described above. As the main control part of the mobile terminal key assembly device, the controller can control the manipulator 100, the first CCD camera 200, the second CCD camera 300, etc. according to instructions and sensor information to complete certain actions or work tasks.

[0108] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A method for controlling the assembly of a mobile terminal key, characterized in that: include: Controlling the manipulator to move to the feeding position of the mobile terminal key, and controlling the first CCD camera at the end of the manipulator to capture the image of the mobile terminal key located at the feeding position, so as to obtain the position information of the mobile terminal key; According to the acquired position information of the mobile terminal key, controlling the manipulator to grab the mobile terminal key located at the feeding position; Control the manipulator to drive the grasped mobile terminal key to move to the detection position, and control the second CCD camera below the detection position to capture the bottom surface image of the mobile terminal key grasped by the manipulator; According to the captured bottom surface image of the mobile terminal key, an image of a mark at the bottom of the mobile terminal key used to represent the color of the mobile terminal key is obtained; Determining whether the key of the mobile terminal is a pre-assembled key according to the acquired marked image; If it is determined that the mobile terminal key is a pre-assembled key, the manipulator is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key; If it is determined that the mobile terminal key is not a pre-assembled key, the manipulator is controlled to drive the grasped mobile terminal key to move to the unloading position and unload the mobile terminal key.

2. The assembly control method of a mobile terminal key according to claim 1, characterized in that: The step of judging whether the key of the mobile terminal is a pre-assembled key according to the acquired marked image includes: Comparing the acquired image of the mark with a first preset mark, wherein the first preset mark is used to represent the color of the pre-assembled key; If the comparison is the same, it is determined that the key of the mobile terminal is a pre-assembled key; If the comparison is not the same, it is determined that the mobile terminal key is not a pre-assembled key.

3. The assembly control method of mobile terminal buttons according to claim 1, characterized in that: If it is determined that the mobile terminal key is not a pre-assembled key, the step of controlling the manipulator to drive the grasped mobile terminal key to move to the unloading position and unloading the mobile terminal key includes: If it is determined that the key of the mobile terminal is not a pre-assembled key, determining the color of the key of the mobile terminal according to the acquired image of the mark; According to the determined color of the mobile terminal key, the manipulator is controlled to drive the grasped mobile terminal key to move to the unloading position, and unload the mobile terminal key into a material box for placing mobile terminal keys of the same color as the mobile terminal key.

4. The assembly control method of mobile terminal keys according to claim 3, characterized in that: If it is determined that the key of the mobile terminal is not a pre-assembled key, the step of determining the color of the key of the mobile terminal according to the acquired identified image includes: If it is determined that the mobile terminal key is not a pre-assembled key, comparing the acquired image of the mark with a plurality of second preset marks in a preset mark library, wherein each of the second preset marks is used to represent a color of the mobile terminal key; The color of the key of the mobile terminal is determined according to a second preset mark in the preset mark library that is successfully compared with the image of the acquired mark.

5. The assembly control method of mobile terminal keys according to claim 3, characterized in that: Also includes: Controlling the detection mechanism to detect the loading status in the material box; When it is determined that the material box is full according to the information fed back by the detection mechanism, the alarm mechanism is controlled to give an alarm prompt.

6. The assembly control method of mobile terminal keys according to claim 5, characterized in that: The control detection mechanism detects the loading condition in the material box, including: Controlling the detection mechanism to detect the amount of material loaded in the material box; and / or, Controlling the detection mechanism to detect the loading weight of the material box; and / or, The control detection mechanism detects the filling height of the material box.

7. The method for controlling the assembly of a mobile terminal key according to any one of claims 1 to 6, characterized in that: The logo includes characters or patterns.

8. The method for controlling the assembly of a mobile terminal key according to any one of claims 1 to 6, characterized in that: If it is determined that the mobile terminal key is a pre-assembled key, the steps of controlling the manipulator to drive the grasped mobile terminal key to move to the assembly position and assembling the mobile terminal key include: Acquire an outer contour image of the mobile terminal key according to the captured bottom surface image of the mobile terminal key; Judging whether there is a deviation in the assembly angle of the key of the mobile terminal according to the acquired outer contour image; If it is determined that there is no deviation in the assembly angle of the mobile terminal key, the manipulator is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key; If it is determined that there is a deviation in the assembly angle of the mobile terminal key, the manipulator is controlled to correct the assembly angle of the grasped mobile terminal key, and then the manipulator is controlled to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key.

9. The assembly control method of mobile terminal keys according to claim 8, characterized in that: The step of judging whether there is a deviation in the assembly angle of the key of the mobile terminal according to the acquired outer contour image comprises: Comparing the angle of the acquired outer contour image with the preset outer contour image, wherein the angle of the preset outer contour image corresponds to the standard assembly angle of the mobile terminal key; If the comparison is the same, it is determined that there is no deviation in the assembly angle of the key of the mobile terminal; If the comparison is not the same, it is determined that there is a deviation in the assembly angle of the key of the mobile terminal; And, if it is determined that there is a deviation in the assembly angle of the mobile terminal key, the steps of controlling the manipulator to correct the assembly angle of the grasped mobile terminal key, and then controlling the manipulator to drive the grasped mobile terminal key to move to the assembly position and assemble the mobile terminal key include: Calculating an angle deviation value between the acquired outer contour image and a preset outer contour image; The robot is controlled to adjust the assembly angle of the mobile terminal key according to the angle deviation value, so as to correct the assembly angle of the mobile terminal key.

10. A mobile terminal key assembly device, characterized in that: It includes a controller and a manipulator electrically connected to the controller, a first CCD camera, and a second CCD camera; the manipulator is used to grab mobile terminal keys and assemble or unload the grabbed mobile terminal keys; the first CCD camera is connected to the end of the manipulator and is used to capture images of the mobile terminal keys at the feeding position; the second CCD camera is set at the detection position and is used to capture the bottom surface image of the mobile terminal keys; the controller is used to execute the steps of the assembly control method of the mobile terminal keys as described in any one of claims 1 to 9.

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