Automatic control method and device for bottom shell laminating equipment

Abstract

The invention relates to the technical field of automatic control, and discloses an automatic control method and device for bottom shell laminating equipment, and the method comprises the steps: setting a preset positioning mark on a bottom shell, and setting a preset to-be-matched mark on an auxiliary material; converting the point cloud information of the bottom shell fitting area to obtain a plane figure; calculating the coordinate deviation and the skew angle of the bottom shell and the auxiliary material, and obtaining a control instruction through comparative analysis; according to the control instruction, the offset amount and the rotation amount between the bottom shell and the auxiliary material are obtained through calculation, conversion calculation is conducted, and the coordinate position of the bottom shell is obtained; whether dust exists on the bottom shell or not is judged, if yes, the dust is removed, and a fitting control instruction is obtained; if not, a fitting control instruction is obtained; and according to the fitting control instruction, fitting the bottom shell and the auxiliary material to complete the fitting process. Through automatic control of the bottom shell laminating equipment provided by the invention, the influence of dust on the laminating process is effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an automatic control method, device, electronic equipment and storage medium for bottom shell laminating equipment. Background Art

[0002] At present, with the increasing requirements of smartphones for waterproof, drop-proof and scratch-resistant performance, metal bottom shells have gradually replaced plastic bottom shells due to their excellent protective performance. In the manufacturing process of metal bottom shells, stamping and CNC processing are the two main processing methods. Stamping uses a stamping machine to punch the metal bottom shell body into various shapes, while CNC processing uses a computer to design the processing program and use the tools on the CNC machine tool to cut out fine lines and shapes. At present, the screen borders of smartphones are getting narrower and narrower, and the requirements for display modules are getting higher and higher. In the prior art, during the processing of the bottom shell, an auxiliary film needs to be attached to the bottom shell.

[0003] In one prior art, a bottom shell laminating device is composed of a feeding component, a pressing component and a flipping component. The feeding component includes a frame and a material conveying device, which is mounted on the frame and is located on opposite sides of the material bearing ends of the flipping component and the pressing component. Such a design enables the material conveying device to convey materials such as mobile phone shells and protective films to the bearing ends of the flipping component or the pressing component. In addition, the material conveying device also has an adjustment function, which can change the relative position between the protective film and the mobile phone shell to adapt to different laminating requirements. The pressing component is responsible for laminating the protective film to the mobile phone shell, and it includes a pressing mechanism and a pressing guide rod. The pressing mechanism is responsible for attaching the protective film, and the pressing guide rod drives the pressing mechanism to move up and down. Under the control of the driving mechanism, the pressing guide rod accurately controls the descent of the pressing mechanism to ensure that the protective film is tightly fitted with the mobile phone shell under pressure. However, the prior art is insufficient in dealing with the influence of dust on the laminating process. The presence of dust will seriously affect the laminating quality, resulting in problems such as bubbles and glue overflow.

[0004] In the prior art, since only the position accuracy of the bonding is focused on, and less attention is paid to the impact of dust on the bonding process, it is impossible to effectively solve the impact of dust on the bonding process, which in turn leads to the problem of low bonding quality between the bonding bottom shell and the auxiliary materials. Summary of the invention

[0005] The present invention provides an automatic control method, device, electronic device and storage medium of a bottom shell laminating device, so as to solve the problem of dust affecting the laminating process.

[0006] In a first aspect, in order to solve the above technical problems, the present invention provides an automatic control method of a bottom shell laminating device, comprising: Setting a preset positioning mark on the bottom shell and setting a preset to-be-matched mark on the auxiliary material; Acquire point cloud information of the bonding area of ​​the bottom shell, and project the point cloud information onto the same plane to obtain a plane figure of the bonding area of ​​the bottom shell; According to the plane figure, the preset positioning mark and the preset mark to be matched, a coordinate deviation and a skew angle are calculated, and the coordinate deviation and the skew angle are compared and analyzed to obtain a control instruction; According to the control instruction, the offset and the rotation amount between the bottom shell and the auxiliary material are calculated, and the offset and the rotation amount are transformed and calculated to obtain the coordinate position of the bottom shell; Determine whether there is dust on the bottom shell, if yes, remove the dust and obtain a fitting control instruction; if no, obtain a fitting control instruction; According to the laminating control instruction, the bottom shell and the auxiliary material are laminated to complete the laminating process.

[0007] In an optional embodiment, the step of setting a preset positioning mark on the bottom shell and setting a preset to-be-matched mark on the auxiliary material includes: Determining a fitting area of ​​the bottom shell; Setting a preset positioning mark on the fitting area of ​​the bottom shell; Setting a preset mark to be matched on the auxiliary material, wherein the preset mark to be matched is aligned with a preset positioning mark of the bottom shell; The preset positioning mark and the preset to-be-matched mark are marked with high-contrast colors and specific geometric shapes.

[0008] The step of projecting the point cloud information onto the same plane to obtain a plane figure of the bottom shell fitting area includes: Determine an XY projection plane; According to the point cloud information, the Z-axis coordinate of each point is set to 0, only the X-axis coordinate and Y-axis coordinate of each point of the point cloud information are retained, and each point of the point cloud information is projected onto the XY projection plane to obtain a plane figure of the bottom shell fitting area.

[0009] In an optional implementation, the coordinate deviation and the skew angle are calculated according to the plane figure, the preset positioning mark and the preset mark to be matched, and the coordinate deviation and the skew angle are compared and analyzed to obtain the control instruction, including: Constructing a coordinate axis with the center point of the plane figure as the origin, comparing the coordinates of the preset positioning mark and the preset mark to be matched on the plane figure, and obtaining the coordinate deviation between the bottom shell and the auxiliary material; Determine whether the coordinate deviation is greater than a preset coordinate deviation, and if so, output a first control instruction; if not, do not output control information; Determine whether the tilt angle of the bottom shell is greater than a first preset tilt angle, and if so, output a second control instruction; if not, do not output control information; A circular area is constructed with the center of gravity of the bottom shell as the center, and it is determined whether the skew angle of the center of gravity of the bottom shell is greater than a second preset skew angle. If so, a third control instruction is output; if not, no control information is output; Among them, the control instruction includes a first control instruction, a second control instruction and a third control instruction. The first control instruction is a control instruction for the auxiliary material to be offset to the center position of the bottom shell, the second control instruction is a control instruction for the bottom shell to deviate from the auxiliary material, and the third control instruction is a control instruction for the rotation of the auxiliary material.

[0010] In an optional implementation, the calculating the offset and rotation amount between the bottom shell and the auxiliary material includes: The centroid coordinates of the bottom shell and the auxiliary material are calculated. The centroid coordinate calculation formula of the auxiliary material is as follows: , ; in, and are the x-axis and y-axis coordinates of the centroid of the auxiliary material, n is the number of points, and are the x-axis and y-axis coordinates of the i-th point; The calculation formula of the center of mass coordinates of the bottom shell is as follows: , ; in, and are the x-axis and y-axis coordinates of the center of mass of the bottom shell, m is the number of points, and are the x-axis and y-axis coordinates of the kth point; The calculation formula of the offset is as follows: , ; in, and are the offsets on the x-axis and y-axis respectively, and are the x-axis and y-axis coordinates of the centroid of the auxiliary material, and are the x-axis and y-axis coordinates of the center of mass of the bottom shell; The calculation formula of the rotation amount is as follows: ; in, is the rotation amount, and They are the offsets on the x-axis and y-axis respectively.

[0011] In an optional implementation, the step of transforming and calculating the offset and the rotation to obtain the coordinate position of the bottom shell includes: The formula for calculating the first coordinate position of the bottom shell by applying the offset is as follows: , ; The formula for calculating the second coordinate position of the bottom shell by applying the rotation amount is as follows: , ; in, , m is the number of points, i is the i-th point on the bottom shell, and are the x-axis and y-axis coordinates of the first coordinate of the i-th point on the bottom shell after applying the offset, and are the x-axis and y-axis coordinates of the initial coordinates of the ith point on the bottom shell, and They are the offsets on the x-axis and y-axis respectively; and are the x-axis and y-axis coordinates of the second coordinate after the first coordinate is rotated by the amount, is the rotation amount.

[0012] In an optional implementation, the determining whether there is dust on the bottom shell, if yes, removing the dust to obtain a fitting control instruction; if no, obtaining a fitting control instruction includes: Acquire images of the bottom shell laminating area at different times; Setting a preset contour set according to the bottom shell fitting area, wherein the preset contour set includes a plurality of preset contours; Performing image preprocessing operations on the images of the bottom shell laminating area at different times to obtain a preprocessed image set; The image preprocessing operation includes adjusting brightness, enhancing contrast, eliminating image noise using a mean shift algorithm, and converting the image into a grayscale image; Performing Canny edge detection on the preprocessed image set to obtain the contour of the preprocessed image set; It is determined whether the number of images in the preprocessed image set that have contours that do not belong to the preset contour set exceeds a set threshold. If so, the dust discrimination result is that there is dust influence; if not, the dust discrimination result is that there is no dust influence.

[0013] In a second aspect, the present invention provides an automatic control device for a bottom shell laminating device, comprising: A mark setting module, used to set a preset positioning mark on the bottom shell and a preset to-be-matched mark on the auxiliary material; A point cloud information acquisition module, used to acquire point cloud information of the fitting area of ​​the bottom shell; A projection module, used for projecting the point cloud information onto the same plane to obtain a plane figure of the bottom shell fitting area; A measuring module is used to calculate the coordinate deviation and the skew angle according to the plane figure, the preset positioning mark and the preset mark to be matched, A control instruction acquisition module, used for comparing and analyzing the coordinate deviation and the skew angle to obtain a control instruction; An offset and rotation calculation module is used to calculate the offset and rotation between the bottom shell and the auxiliary material according to the control instruction. A coordinate position calculation module, used for transforming and calculating the offset and the rotation amount to obtain the coordinate position of the bottom shell; A dust judging module, used to judge whether there is dust on the bottom shell, if yes, remove the dust and obtain a fitting control instruction; if no, obtain a fitting control instruction; The laminating module is used to laminar the bottom shell and the auxiliary material according to the laminating control instruction to complete the laminating process.

[0014] In a third aspect, the present invention further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the automatic control method of the bottom shell bonding device described in any one of the above is implemented.

[0015] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned automatic control methods for the bottom shell bonding device.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an automatic control method for a bottom shell bonding device, comprising setting a preset positioning mark on the bottom shell and setting a preset mark to be matched on an auxiliary material; acquiring point cloud information of a bonding area of ​​the bottom shell, projecting the point cloud information onto the same plane, and obtaining a plane figure of the bonding area of ​​the bottom shell; calculating a coordinate deviation and a skew angle according to the plane figure, the preset positioning mark, and the preset mark to be matched, and performing comparative analysis on the coordinate deviation and the skew angle to obtain a control instruction; calculating an offset and a rotation amount between the bottom shell and the auxiliary material according to the control instruction, and transforming and calculating the offset and the rotation amount to obtain the coordinate position of the bottom shell; judging whether there is dust on the bottom shell, and if so, removing the dust to obtain a bonding control instruction; if not, obtaining a bonding control instruction; bonding the bottom shell and the auxiliary material according to the bonding control instruction to complete the bonding process.

[0017] The present invention provides an automatic control method for a bottom shell laminating device. First, a preset positioning mark is set on the bottom shell by a mark setting module, and a preset mark to be matched is set on the auxiliary material. Then, the point cloud information of the bottom shell laminating area is obtained by a point cloud information acquisition module, and the information is projected onto the same plane by a projection module to form a plane figure of the bottom shell laminating area. After the plane figure is obtained, the measurement module calculates the coordinate deviation and the skew angle according to the plane figure and the preset positioning mark and the preset mark to be matched. The control instruction acquisition module compares and analyzes these deviations and angles and generates a control instruction. The offset and rotation calculation module calculates the offset and rotation between the bottom shell and the auxiliary material according to the control instruction, and the coordinate position calculation module converts these transformations into specific coordinate positions of the bottom shell and the auxiliary material. The dust judgment module is a key part of the present invention, which is used to detect whether there is dust on the bottom shell. If dust is detected, the module automatically starts a cleaning program to ensure that the dust is removed before generating a laminating control instruction. If dust is not detected, the laminating control instruction is directly generated. Finally, the laminating module controls the laminating operation of the bottom shell and the auxiliary material according to the laminating control instruction to complete the entire laminating process. Through this series of operations, the present invention provides an intelligent and automated control solution for bottom shell bonding equipment, which greatly improves the bonding accuracy and efficiency. It also effectively solves the impact of dust on the bonding process through the dust judgment module, thereby ensuring the bonding quality.

[0018] The present invention provides an automatic control method and device for bottom shell laminating equipment, so as to solve the problem of dust affecting the laminating process and realize high-efficiency and high-precision automatic laminating. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of an automatic control method of a bottom shell laminating device provided by an embodiment of the present invention; Figure 2 It is a structural schematic diagram of an automatic control device of a bottom shell bonding device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0021] Reference Figure 1 The first embodiment of the present invention provides an automatic control method for a bottom shell laminating device, comprising the following steps: S11, setting a preset positioning mark on the bottom shell and setting a preset to-be-matched mark on the auxiliary material; S12, obtaining point cloud information of the bonding area of ​​the bottom shell, and projecting the point cloud information onto the same plane to obtain a plane figure of the bonding area of ​​the bottom shell; S13, calculating a coordinate deviation and a skew angle according to the plane figure, the preset positioning mark and the preset mark to be matched, and performing comparative analysis on the coordinate deviation and the skew angle to obtain a control instruction; S14, calculating the offset and rotation amount between the bottom shell and the auxiliary material according to the control instruction, and performing transformation calculation on the offset and the rotation amount to obtain the coordinate position of the bottom shell; S15, determining whether there is dust on the bottom shell, if yes, removing the dust and obtaining a laminating control instruction; if no, obtaining a laminating control instruction; S16, according to the laminating control instruction, laminating the bottom shell and the auxiliary material to complete the laminating process.

[0022] In step S11, a preset positioning mark is set on the bottom shell and a preset to-be-matched mark is set on the auxiliary material.

[0023] Among them, the bottom shell is a backlight panel with an LCD surface, the auxiliary material is blue-white glue with an ink surface, and the preset positioning mark and the preset mark to be matched are marked with high-contrast colors and specific geometric shapes, and these marks serve as reference points for the fitting operation.

[0024] It is worth noting that the shape of the preset positioning mark is a cross, which refers to two vertical straight lines, each of which has a length of 0.4-0.6mm. The length of the present invention is selected as 0.5mm. When the bottom shell bonding area is a plane, a coordinate system is established with the intersection of the two vertical straight lines as the origin, and the coordinate position of each preset positioning mark is determined by the coordinate system, that is, the preset positioning mark is a coordinate point formed by the straight line and the straight line of the preset bonding area. The shape of the preset mark to be matched is circular, with a diameter of 1.2-1.8mm. The diameter of the present invention is selected as 1.5mm. During the bonding process, these marks are identified, and the rotation amount and offset between the bottom shell and the auxiliary material are calculated according to their coordinate positions to adjust the bonding operation.

[0025] In step S12, the point cloud information of the fitting area of ​​the bottom shell is obtained, and the point cloud information is projected onto the same plane to obtain a plane figure of the fitting area of ​​the bottom shell.

[0026] Specifically, the point cloud information of the bottom shell is obtained by using a visual structured light sensor, which calculates the spatial coordinates of each point on the surface of the object by projecting a specific light pattern and capturing its variation on the surface of the object. The point cloud information is the spatial coordinates of each point.

[0027] Further, an XY projection plane is determined, the Z-axis coordinate of each point in the point cloud is set to 0, only the X-axis coordinate and the Y-axis coordinate of each point of the point cloud information are retained, and each point of the point cloud information is projected onto the XY projection plane to obtain a plane figure of the bottom shell fitting area. Using this plane figure, the skew angle of the bottom shell fitting area can be further calculated, which involves comparing and analyzing the positions of the preset positioning mark and the preset mark to be matched on the plane figure, as well as the relative offset and rotation between them.

[0028] In step S13, coordinate deviation and skew angle are calculated according to the plane figure, the preset positioning mark and the preset mark to be matched, and the coordinate deviation and the skew angle are compared and analyzed to obtain a control instruction.

[0029] The coordinate deviation is the plane coordinate position difference between the bottom shell and the auxiliary material, and the skew angle is the rotation angle difference between the bottom shell and the auxiliary material. The coordinate axis is constructed with the center point of the plane figure as the origin, and the coordinates of the preset positioning mark and the preset mark to be matched on the plane figure are compared to obtain the coordinate deviation between the bottom shell and the auxiliary material. Specifically, if the coordinates of mark A are ), the coordinates of marker B are ), then the deviation vector between them is The skew angle is obtained by analyzing the edge features in the plane figure. First, the edge direction of the plane figure is determined using the gradient calculation method. The direction of the gradient corresponds to the direction of the maximum rate of change of the edge, and the magnitude of the gradient corresponds to the magnitude of the rate of change. Specifically, the calculation of the skew angle first calculates the gradient field of the plane figure, and then determines the edge direction through the gradient field. For each pixel point of the plane figure, the following two 3×3 convolution kernels are used and Convolve the image and calculate the gradient of each pixel in the X and Y directions.

[0030] , ; Assume that the gradient vector of a point is , then the magnitude of the gradient is , the direction of the gradient is .

[0031] Further, it is determined whether the coordinate deviation is greater than the preset coordinate deviation. The present invention sets the preset coordinate deviation to 0.5 mm. If so, a first control instruction is output; if not, no control information is output; it is determined whether the skew angle of the bottom shell is greater than the first preset skew angle. The present invention sets the first preset skew angle to 0.5 degrees. If so, a second control instruction is output; if not, no control information is output; a circular area is constructed with the center of gravity of the bottom shell as the center, and it is determined whether the skew angle of the center of gravity of the bottom shell is greater than the second preset skew angle. The present invention sets the second preset skew angle to 1 degree. If so, a third control instruction is output; if not, no control information is output; wherein the control instructions include a first control instruction, a second control instruction and a third control instruction, the first control instruction is a control instruction for the auxiliary material to be offset to the center position of the bottom shell, the second control instruction is a control instruction for the bottom shell to deviate from the auxiliary material, and the third control instruction is a rotation control instruction for the auxiliary material.

[0032] It should be noted that the skew angle of the bottom shell and the skew angle of the center of gravity of the bottom shell are alignment issues in different spaces. The skew angle of the bottom shell describes the degree of inclination of the bottom shell as a whole relative to the fitting plane. If the bottom shell is not completely parallel to the fitting plane, there will be a skew angle. The skew angle of the center of gravity of the bottom shell describes the verticality of the center of gravity of the bottom shell relative to the fitting plane. Even if the bottom shell is parallel to the fitting plane as a whole, if its center of gravity is not perpendicular to the fitting plane, there will be a center of gravity skew angle. The detection and control of this angle ensures that the center of gravity of the bottom shell is perpendicular to the fitting plane, which is very important for maintaining the stability of the bottom shell and evenly distributing pressure.

[0033] In step S14, according to the control instruction, the offset and rotation amount between the bottom shell and the auxiliary material are calculated, and the offset and the rotation amount are transformed and calculated to obtain the coordinate position of the bottom shell.

[0034] It is worth noting that receiving a control instruction indicates that the position of the bottom shell or the auxiliary material needs to be adjusted, and it is necessary to first simulate and obtain the new coordinates of the bottom shell and the auxiliary material after the adjustment. First, the offset and rotation between the bottom shell and the auxiliary material are calculated. Specifically, the center of mass coordinates of the bottom shell and the auxiliary material are calculated. The calculation formula of the center of mass coordinates of the auxiliary material is as follows: , ; in, and are the x-axis and y-axis coordinates of the centroid of the auxiliary material, n is the number of points, and are the x-axis and y-axis coordinates of the i-th point; The calculation formula of the center of mass coordinates of the bottom shell is as follows: , ; in, and are the x-axis and y-axis coordinates of the center of mass of the bottom shell, m is the number of points, and are the x-axis and y-axis coordinates of the kth point; The calculation formula of the offset is as follows: , ; in, and are the offsets on the x-axis and y-axis respectively, and are the x-axis and y-axis coordinates of the centroid of the auxiliary material, and are the x-axis and y-axis coordinates of the center of mass of the bottom shell; The calculation formula of the rotation amount is as follows: ; in, is the rotation amount, and They are the offsets on the x-axis and y-axis respectively.

[0035] Furthermore, the offset and the rotation are transformed and calculated to obtain the coordinate position of the bottom shell. Specifically, taking a point on the bottom shell as an example, the offset is applied to calculate the first coordinate position of the bottom shell using the following formula: , ; The formula for calculating the second coordinate position of the bottom shell by applying the rotation amount is as follows: , ; in, , m is the number of points, i is the i-th point on the bottom shell, and are the x-axis and y-axis coordinates of the first coordinate of the i-th point on the bottom shell after applying the offset, and are the x-axis and y-axis coordinates of the initial coordinates of the ith point on the bottom shell, and They are the offsets on the x-axis and y-axis respectively; and are the x-axis and y-axis coordinates of the second coordinate after the first coordinate is rotated by the amount, is the rotation amount.

[0036] In step S15, it is determined whether there is dust on the bottom shell. If so, the dust is removed to obtain a fitting control instruction; if not, a fitting control instruction is obtained.

[0037] It should be noted that determining whether there is dust in the bonding process is a key step. Its presence may lead to uneven bonding, bubble generation, and reduced structural strength of the final product. According to the shape of the bonding area of ​​the bottom shell, a preset contour set is set, and the preset contour set includes multiple preset contours. The presence of dust will form abnormal contours on the image of the bottom shell, and these contours do not match the contours in the preset contour set. Therefore, it can be determined whether there is dust on the bottom shell by detecting these abnormal contours.

[0038] Specifically, an image of the bottom shell bonding area is acquired once a minute by a high-resolution camera; an image preprocessing operation is performed on the images of the bottom shell bonding area at different times to obtain a preprocessed image set; wherein the image preprocessing operation includes brightness adjustment, contrast enhancement, image noise elimination using a mean shift algorithm, and image conversion into a grayscale image. The brightness adjustment will increase or decrease the exposure of the image to ensure that the image is neither overexposed nor underexposed. The contrast of the image is enhanced by using histogram equalization, and the histogram of the image is adjusted so that the brightness distribution of the image is more uniform, thereby enhancing the contrast of different areas in the image. The mean shift algorithm is a nonlinear filtering technology for removing image noise while retaining edge information. Canny edge detection is performed on the preprocessed image set to obtain the contour of the preprocessed image set; it is determined whether the number of images in the preprocessed image set that have contours that do not belong to the preset contour set exceeds a set threshold, and the set threshold is half of the total number of images in the preprocessed image set. If so, the dust discrimination result is that there is dust influence; if not, the dust discrimination result is that there is no dust influence.

[0039] Furthermore, if the dust identification result is that there is dust influence, the cleaning program is started, and the dust on the bottom shell is removed by air purge, which uses the power of high-speed airflow to remove dust particles on the surface of the bottom shell. Specifically, select appropriate inert gases, which will not chemically react with the bottom shell material to ensure the safety of the cleaning process. Adjust the airflow rate to ensure that it is sufficient to remove the dust but will not cause physical damage to the bottom shell. The choice of airflow rate depends on the tolerance of the bottom shell material and the degree of dust adhesion. Determine the purge direction of the airflow and select the direction opposite to the dust particles on the surface of the bottom shell. Determine the length of the purge time, which needs to be adjusted according to the amount of dust and the size of the bottom shell. This process generally lasts from a few seconds to a few minutes. During the purge process, always pay attention to the changes on the surface of the bottom shell to ensure that it is clean. After the cleaning is completed, the bonding control instruction is obtained, and the bottom shell and the auxiliary materials will start the bonding operation after receiving the bonding control instruction.

[0040] In step S16, the bottom shell and the auxiliary material are bonded together according to the bonding control instruction to complete the bonding process.

[0041] It should be noted that before the bonding operation begins, the bottom shell and the auxiliary materials will be placed in the working area of ​​the bonding equipment. The bottom shell will be fixed on an adjustable platform, and the auxiliary materials will be placed on a dedicated feeding mechanism. After receiving the bonding control command, the bonding equipment will start the actuator. If there is a coordinate deviation, the bottom shell platform will move along the X-axis and Y-axis to adjust it to the correct position. If rotation adjustment is required, the bottom shell platform or the auxiliary material feeding mechanism will rotate around its center to ensure that the preset positioning mark of the bottom shell and the preset matching mark of the auxiliary material are completely aligned. Once the position adjustment of the bottom shell and the auxiliary material is completed, the bonding equipment will lower the auxiliary material feeding mechanism so that the auxiliary material gradually approaches the bottom shell. During the bonding process, the visual system will continuously monitor the bonding quality to ensure that no bubbles, wrinkles or other defects are generated. After the bonding is completed, the bottom shell and the auxiliary materials will be carefully removed from the bonding equipment for subsequent inspection and processing. The bonding equipment will perform a final quality inspection on the bonding results to ensure that the firmness and appearance of the bonding meet the quality standards.

[0042] In order to better illustrate the beneficial effects of the embodiments of the present invention, the working process of the present invention is described below with a practical example.

[0043] Assume that the bottom shell is a metal back plate of a smartphone, specifically the stainless steel middle frame of the iPhone X, and the auxiliary material is a PET (polyethylene terephthalate) film for screen protection. First, a cross mark is set on the bonding area of ​​the metal back plate, with each line length of 0.5 mm, and a circular mark is set on the film with a diameter of 1.5 mm. The point cloud information of the bonding area of ​​the metal back plate is obtained by the visual structured light sensor, and the point cloud information is converted into a plane figure on the XY plane. After a series of calculation operations, the coordinate information that needs to be updated for the metal back plate and the film is obtained. Before bonding, the image of the bonding area of ​​the metal back plate is regularly obtained and the dust judgment module is used to obtain the presence of dust on the metal back plate. The cleaning program is started to process the dust, and the cleaning time is set to a maximum of 4 minutes. During the cleaning process, the visual system will continue to monitor the dust on the metal back plate to ensure the cleaning effect. After cleaning, adjust the position and angle of the metal back plate and the film and perform the bonding operation. During the bonding process, the visual system will continue to monitor the bonding quality to ensure that no bubbles, wrinkles or other defects are generated.

[0044] In summary, the present invention provides an automatic control method for a bottom shell bonding device, comprising setting a preset positioning mark on the bottom shell and setting a preset mark to be matched on the auxiliary material; obtaining point cloud information of the bonding area of ​​the bottom shell, projecting the point cloud information onto the same plane, and obtaining a plane figure of the bonding area of ​​the bottom shell; calculating a coordinate deviation and a skew angle according to the plane figure, the preset positioning mark and the preset mark to be matched, and performing comparative analysis on the coordinate deviation and the skew angle to obtain a control instruction; calculating an offset and a rotation amount between the bottom shell and the auxiliary material according to the control instruction, transforming and calculating the offset and the rotation amount to obtain the coordinate position of the bottom shell; judging whether there is dust on the bottom shell, and if so, removing the dust to obtain a bonding control instruction; if not, obtaining a bonding control instruction; bonding the bottom shell and the auxiliary material according to the bonding control instruction to complete the bonding process.

[0045] The present invention provides an automatic control method for a bottom shell laminating device. First, a preset positioning mark is set on the bottom shell by a mark setting module, and a preset mark to be matched is set on the auxiliary material. Then, the point cloud information of the bottom shell laminating area is obtained by a point cloud information acquisition module, and the information is projected onto the same plane by a projection module to form a plane figure of the bottom shell laminating area. After the plane figure is obtained, the measurement module calculates the coordinate deviation and the skew angle according to the plane figure and the preset positioning mark and the preset mark to be matched. The control instruction acquisition module compares and analyzes these deviations and angles and generates a control instruction. The offset and rotation calculation module calculates the offset and rotation between the bottom shell and the auxiliary material according to the control instruction, and the coordinate position calculation module converts these transformations into specific coordinate positions of the bottom shell and the auxiliary material. The dust judgment module is a key part of the present invention, which is used to detect whether there is dust on the bottom shell. If dust is detected, the module automatically starts a cleaning program to ensure that the dust is removed before generating a laminating control instruction. If dust is not detected, the laminating control instruction is directly generated. Finally, the laminating module controls the laminating operation of the bottom shell and the auxiliary material according to the laminating control instruction to complete the entire laminating process. Through this series of operations, the present invention provides an intelligent and automated control solution for bottom shell bonding equipment, which greatly improves the bonding accuracy and efficiency. It also effectively solves the impact of dust on the bonding process through the dust judgment module, thereby ensuring the bonding quality.

[0046] The present invention provides an automatic control method and device for bottom shell laminating equipment, so as to solve the problem of dust affecting the laminating process and realize high-efficiency and high-precision automatic laminating.

[0047] Reference Figure 2 The second embodiment of the present invention provides an automatic control device for a bottom shell laminating device, comprising: A mark setting module 100, used to set a preset positioning mark on the bottom shell and a preset to-be-matched mark on the auxiliary material; A point cloud information acquisition module 101 is used to acquire point cloud information of the fitting area of ​​the bottom shell; A projection module 102, used to project the point cloud information onto the same plane to obtain a plane figure of the bottom shell fitting area; The measuring module 103 is used to calculate the coordinate deviation and the skew angle according to the plane figure, the preset positioning mark and the preset mark to be matched, A control instruction acquisition module 104 is used to compare and analyze the coordinate deviation and the skew angle to obtain a control instruction; The offset and rotation calculation module 105 is used to calculate the offset and rotation between the bottom shell and the auxiliary material according to the control instruction. A coordinate position calculation module 106, used for transforming and calculating the offset and the rotation amount to obtain the coordinate position of the bottom shell; The dust judging module 107 is used to judge whether there is dust on the bottom shell. If so, the dust is removed to obtain a fitting control instruction; if not, a fitting control instruction is obtained; The bonding module 108 is used to bond the bottom shell and the auxiliary material according to the bonding control instruction to complete the bonding process.

[0048] It should be noted that the automatic control device of a bottom shell bonding equipment provided in an embodiment of the present invention is used to execute all process steps of an automatic control method of a bottom shell bonding equipment in the above embodiment. The working principles and beneficial effects of the two correspond one to one, and thus will not be repeated here.

[0049] The embodiment of the present invention also provides an electronic device. The electronic device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned automatic control method embodiment of the bottom shell bonding device are implemented, such as Figure 1 Alternatively, when the processor executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are realized, such as the dust determination module.

[0050] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0051] The electronic device may be a computing device such as a desktop computer, a notebook, a PDA, and a smart tablet. The electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the above components are merely examples of electronic devices and do not constitute a limitation on the electronic device. The electronic device may include more or fewer components than the above components, or may combine certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0052] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0053] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the electronic device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0054] Wherein, if the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0055] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0056] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic control method for a bottom shell laminating device, characterized in that: include: Setting a preset positioning mark on the bottom shell and setting a preset to-be-matched mark on the auxiliary material; Acquire point cloud information of the bonding area of ​​the bottom shell, and project the point cloud information onto the same plane to obtain a plane figure of the bonding area of ​​the bottom shell; According to the plane figure, the preset positioning mark and the preset mark to be matched, a coordinate deviation and a skew angle are calculated, and the coordinate deviation and the skew angle are compared and analyzed to obtain a control instruction; According to the control instruction, the offset and the rotation amount between the bottom shell and the auxiliary material are calculated, and the offset and the rotation amount are transformed and calculated to obtain the coordinate position of the bottom shell; Determine whether there is dust on the bottom shell, if yes, remove the dust and obtain a fitting control instruction; if no, obtain a fitting control instruction; According to the laminating control instruction, the bottom shell and the auxiliary material are laminated to complete the laminating process.

2. The automatic control method of the bottom shell laminating equipment according to claim 1, characterized in that: The step of setting a preset positioning mark on the bottom shell and setting a preset to-be-matched mark on the auxiliary material comprises: Determining a fitting area of ​​the bottom shell; Setting a preset positioning mark on the fitting area of ​​the bottom shell; Setting a preset mark to be matched on the auxiliary material, wherein the preset mark to be matched is aligned with a preset positioning mark of the bottom shell; The preset positioning mark and the preset to-be-matched mark are marked with high-contrast colors and specific geometric shapes.

3. The automatic control method of the bottom shell laminating equipment according to claim 1, characterized in that: The step of projecting the point cloud information onto the same plane to obtain a plane figure of the bottom shell fitting area includes: Determine an XY projection plane; According to the point cloud information, the Z-axis coordinate of each point is set to 0, only the X-axis coordinate and Y-axis coordinate of each point of the point cloud information are retained, and each point of the point cloud information is projected onto the XY projection plane to obtain a plane figure of the bottom shell fitting area.

4. The automatic control method of the bottom shell laminating equipment according to claim 1, characterized in that: The step of calculating the coordinate deviation and the skew angle according to the plane figure, the preset positioning mark and the preset mark to be matched, and comparing and analyzing the coordinate deviation and the skew angle to obtain the control instruction includes: Constructing a coordinate axis with the center point of the plane figure as the origin, comparing the coordinates of the preset positioning mark and the preset mark to be matched on the plane figure, and obtaining the coordinate deviation between the bottom shell and the auxiliary material; Determine whether the coordinate deviation is greater than a preset coordinate deviation, and if so, output a first control instruction; if not, do not output control information; Determine whether the tilt angle of the bottom shell is greater than a first preset tilt angle, and if so, output a second control instruction; if not, do not output control information; A circular area is constructed with the center of gravity of the bottom shell as the center, and it is determined whether the skew angle of the center of gravity of the bottom shell is greater than a second preset skew angle. If so, a third control instruction is output; if not, no control information is output; Among them, the control instruction includes a first control instruction, a second control instruction and a third control instruction. The first control instruction is a control instruction for the auxiliary material to be offset to the center position of the bottom shell, the second control instruction is a control instruction for the bottom shell to deviate from the auxiliary material, and the third control instruction is a control instruction for the rotation of the auxiliary material.

5. The automatic control method of the bottom shell laminating equipment according to claim 1, characterized in that: The calculating the offset and rotation amount between the bottom shell and the auxiliary material includes: The centroid coordinates of the bottom shell and the auxiliary material are calculated. The centroid coordinate calculation formula of the auxiliary material is as follows: ， ； in, and are the x-axis and y-axis coordinates of the centroid of the auxiliary material, n is the number of points, and are the x-axis and y-axis coordinates of the i-th point; The calculation formula of the center of mass coordinates of the bottom shell is as follows: ， ； in, and are the x-axis and y-axis coordinates of the center of mass of the bottom shell, m is the number of points, and are the x-axis and y-axis coordinates of the kth point; The calculation formula of the offset is as follows: ， ； in, and are the offsets on the x-axis and y-axis respectively, and are the x-axis and y-axis coordinates of the centroid of the auxiliary material, and are the x-axis and y-axis coordinates of the center of mass of the bottom shell; The calculation formula of the rotation amount is as follows: ； in, is the rotation amount, and They are the offsets on the x-axis and y-axis respectively.

6. The automatic control method of the bottom shell laminating equipment according to claim 1, characterized in that: The step of transforming and calculating the offset and the rotation to obtain the coordinate position of the bottom shell includes: The formula for calculating the first coordinate position of the bottom shell by applying the offset is as follows: ， ； The formula for calculating the second coordinate position of the bottom shell by applying the rotation amount is as follows: ， ； in, , m is the number of points, i is the i-th point on the bottom shell, and are the x-axis and y-axis coordinates of the first coordinate of the i-th point on the bottom shell after applying the offset, and are the x-axis and y-axis coordinates of the initial coordinates of the ith point on the bottom shell, and They are the offsets on the x-axis and y-axis respectively; and are the x-axis and y-axis coordinates of the second coordinate after the first coordinate is rotated by the amount, is the rotation amount.

7. The automatic control method of the bottom shell laminating equipment according to claim 1, characterized in that: The determining whether there is dust on the bottom shell, if yes, removing the dust to obtain a fitting control instruction; if no, obtaining a fitting control instruction includes: Acquire images of the bottom shell laminating area at different times; Setting a preset contour set according to the bottom shell fitting area, wherein the preset contour set includes a plurality of preset contours; Performing image preprocessing operations on the images of the bottom shell laminating area at different times to obtain a preprocessed image set; The image preprocessing operation includes adjusting brightness, enhancing contrast, eliminating image noise using a mean shift algorithm, and converting the image into a grayscale image; Performing Canny edge detection on the preprocessed image set to obtain the contour of the preprocessed image set; It is determined whether the number of images in the preprocessed image set that have contours that do not belong to the preset contour set exceeds a set threshold. If so, the dust discrimination result is that there is dust influence; if not, the dust discrimination result is that there is no dust influence.

8. An automatic control device for bottom shell laminating equipment, characterized in that: include: A mark setting module, used to set a preset positioning mark on the bottom shell and a preset to-be-matched mark on the auxiliary material; A point cloud information acquisition module, used to acquire point cloud information of the fitting area of ​​the bottom shell; A projection module, used for projecting the point cloud information onto the same plane to obtain a plane figure of the bottom shell fitting area; A measuring module is used to calculate the coordinate deviation and the skew angle according to the plane figure, the preset positioning mark and the preset mark to be matched, A control instruction acquisition module, used for comparing and analyzing the coordinate deviation and the skew angle to obtain a control instruction; An offset and rotation calculation module is used to calculate the offset and rotation between the bottom shell and the auxiliary material according to the control instruction. A coordinate position calculation module, used for transforming and calculating the offset and the rotation amount to obtain the coordinate position of the bottom shell; A dust judging module, used to judge whether there is dust on the bottom shell, if yes, remove the dust and obtain a fitting control instruction; if no, obtain a fitting control instruction; The laminating module is used to laminar the bottom shell and the auxiliary material according to the laminating control instruction to complete the laminating process.

9. An electronic device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the automatic control method of the bottom shell bonding equipment as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the automatic control method of the bottom shell bonding device as described in any one of claims 1 to 7.

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