An edge printing method and device based on visual calibration, and an electronic device

Abstract

Embodiments of the present specification relate to an edge printing method and device based on visual calibration, and an electronic device, comprising: obtaining a product image of a product to be printed fixed on a mobile platform; identifying actual position coordinates of each of at least two feature points on the product to be printed in the product image, and obtaining position offset information of the product to be printed based on the actual position coordinates and theoretical position coordinates of each of the at least two feature points on the product to be printed; controlling the mobile platform to move based on the position offset information of the product to be printed; identifying an edge contour of the product to be printed in the product image, and obtaining printing path information of the product to be printed based on preset edge printing distance requirement information, the position offset information, and the identified edge contour of the product to be printed in the product image; and controlling a printing system to print on an edge of the product to be printed based on the printing path information of the product to be printed.

Description

Technical Field

[0001] Several embodiments of this specification relate to the field of printing technology, specifically to an edge printing method and apparatus based on visual calibration, and electronic equipment. Background Technology

[0002] Display modules, as devices that provide image display functions, are widely used in various display devices. Display modules include components such as glass cover plates, display panels, and flexible circuit boards. They are relatively fragile and easily damaged by external impacts. Therefore, a mid-frame is needed at the outer edge of the display module to protect it.

[0003] The current mainstream solution is to use injection molding, where the mid-frame is first injection molded and then snapped onto the display module. However, the actual dimensions of the mid-frame produced in this way may deviate from the dimensions of the display module, preventing a tight fit and resulting in poor waterproofing, dustproofing, and support protection. Furthermore, different sizes of display modules require different mid-frame molds, increasing the manufacturing cost of the mid-frame.

[0004] Currently, printing technology has also emerged for manufacturing mid-frames. This method simply requires pre-setting a printing path based on the screen size and printing according to that path, adapting to display modules of different sizes. To improve manufacturing efficiency, the display module is typically mounted on a carrier, and printed according to the pre-set path using a printing system. Display modules of the same design size are printed using the same pre-set printing path. However, even display modules of the same design size have certain production errors, resulting in variations in their edge contours. The mid-frame must maintain a pre-set distance from the display module's edge contours to ensure product quality. Furthermore, the mounting position of the display module on the carrier may also have some errors.

[0005] Furthermore, the aforementioned problems exist in the production of all products that require edge contour printing. Therefore, there is an urgent need for a method to perform error calibration when using printing technology to print the edge contours of products. Summary of the Invention

[0006] This specification provides an edge printing method, apparatus, and electronic device based on visual calibration, which can perform error calibration when edge printing products using printing technology.

[0007] The technical solution is as follows:

[0008] Firstly, embodiments of this specification provide a visually calibrated edge printing method, including:

[0009] Acquire a product image of the product to be printed, which is fixed on the moving platform;

[0010] Identify the actual position coordinates of at least two feature points on the product to be printed in the product image, and obtain the position offset information of the product to be printed based on the actual position coordinates and theoretical position coordinates of at least two feature points on the product to be printed in the product image.

[0011] The moving platform is controlled to move based on the position offset information of the product to be printed.

[0012] Identify the edge contour of the product to be printed in the product image, and obtain the printing path information of the product to be printed based on the preset edge printing distance requirement information, position offset information and the identified edge contour of the product to be printed in the product image.

[0013] The printing system is controlled to print on the edge of the product based on the printing path information of the product to be printed.

[0014] As a preferred embodiment, the execution time of the step of controlling the moving platform to move based on the position offset information of the product to be printed and the execution time of the step of identifying the edge contour of the product to be printed in the product image and obtaining the printing path information of the product to be printed based on the preset edge printing distance requirement information, position offset information and the identified edge contour of the product to be printed in the product image, at least partially overlap.

[0015] As a preferred embodiment, the step of identifying the actual position coordinates of at least two feature points on the product to be printed in the product image, and obtaining the position offset information of the product to be printed based on the actual position coordinates and theoretical position coordinates of the at least two feature points on the product to be printed in the product image, includes:

[0016] Identify the actual coordinates of the first and second feature points on the product to be printed in the product image;

[0017] The first actual vector is obtained based on the actual position coordinates of the first feature point and the second feature point in the product image, and the first theoretical vector is obtained based on the theoretical position coordinates of the first feature point and the second feature point in the product image.

[0018] Based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, and the first theoretical vector, the position offset information of the product to be printed is obtained.

[0019] As a preferred embodiment, the step of obtaining the position offset information of the product to be printed based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, and the first theoretical vector includes:

[0020] Based on the actual position coordinates of the first feature point in the product image and the theoretical position coordinates of the first feature point in the product image, obtain the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction;

[0021] Based on the first actual vector and the first theoretical vector, the overall angle offset information is obtained.

[0022] As a preferred embodiment, the step of identifying the edge contour of the product to be printed in the product image, and obtaining the printing path information of the product to be printed based on preset edge printing distance requirements, position offset information, and the identified edge contour of the product to be printed in the product image, includes:

[0023] Identify the edge contours of the product to be printed in the product image;

[0024] Based on the overall angle offset information, the offset distance information in the X-axis direction, and the offset distance information in the Y-axis direction, the edge contour position of the product to be printed in the product image is adjusted to obtain the adjusted edge contour of the product to be printed in the product image.

[0025] Based on the preset edge printing distance requirements and the adjusted edge contour of the product to be printed in the product image, the printing path information of the product to be printed is obtained.

[0026] As a preferred embodiment, the step of adjusting the edge contour position of the product to be printed in the product image based on the overall angle offset information, the X-axis offset distance information, and the Y-axis offset distance information to obtain the adjusted edge contour of the product to be printed in the product image includes:

[0027] Using the first feature point as the rotation center, and based on the overall angle offset information, the angle of the edge contour position of the product to be printed in the product image is adjusted;

[0028] Based on the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction, the edge contour position of the product to be printed in the product image after the angle adjustment is translated and adjusted.

[0029] The position of the edge contour of the product to be printed in the product image after translation adjustment is taken as the adjusted edge contour of the product to be printed in the product image.

[0030] As a preferred embodiment, after identifying the actual position coordinates of the first feature point and the second feature point on the product to be printed in the product image, the method further includes:

[0031] Identify the actual coordinates of the third feature point on the product to be printed in the product image;

[0032] The second actual vector is obtained based on the actual position coordinates of the first feature point and the third feature point in the product image, and the second theoretical vector is obtained based on the theoretical position coordinates of the first feature point and the third feature point in the product image.

[0033] The step of obtaining the position offset information of the product to be printed based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, and the first theoretical vector includes:

[0034] Based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector, the position offset information of the product to be printed is obtained.

[0035] Furthermore, the step of obtaining the position offset information of the product to be printed based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector includes:

[0036] Based on the actual position coordinates of the first feature point in the product image and the theoretical position coordinates of the first feature point in the product image, obtain the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction;

[0037] Based on the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector, the overall angle offset information is obtained.

[0038] As a preferred embodiment, obtaining the overall angle offset information based on the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector includes:

[0039] Based on the first actual vector and the first theoretical vector, obtain the first angle offset information;

[0040] Based on the second actual vector and the second theoretical vector, obtain the second angle offset information;

[0041] Based on the first angle offset information and the second angle offset information, the overall angle offset information is obtained.

[0042] Secondly, embodiments of this specification provide an edge printing device based on visual calibration, including a moving stage, a visual calibration system, and a printing system;

[0043] The visual calibration system includes a visual recognition module, an image processing module, and a control module;

[0044] The visual recognition module acquires a product image of the product to be printed that is fixed on the mobile platform.

[0045] The image processing module identifies the actual position coordinates of at least two feature points on the product to be printed in the product image, and obtains the position offset information of the product to be printed based on the actual position coordinates and theoretical position coordinates of at least two feature points on the product to be printed in the product image.

[0046] The image processing module also identifies the edge contour of the product to be printed in the product image, and obtains the printing path information of the product to be printed based on the preset edge printing distance requirement information, position offset information and the identified edge contour of the product to be printed in the product image.

[0047] The control module controls the movement of the mobile platform based on the position offset information of the product to be printed.

[0048] The control module also controls the printing system to print on the edge of the product based on the printing path information of the product to be printed.

[0049] Thirdly, embodiments of this specification provide an electronic device, including a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to perform the steps described in the first aspect of the above embodiments.

[0050] Fourthly, embodiments of this specification provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps described in the first aspect of the above embodiments.

[0051] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:

[0052] Based on the actual and theoretical coordinates of at least two feature points on the product to be printed in the product image, the positional offset information of the product to be printed is obtained. This positional offset information is then used to control the movement of the mobile stage, achieving overall positional offset error calibration. The edge contour of the product to be printed in the product image is identified. Based on preset edge printing distance requirements, positional offset information, and the identified edge contour, the printing path information of the product to be printed is obtained, achieving edge contour error calibration. In short, through overall positional offset error calibration and edge contour error calibration, error calibration is achieved when edge printing is performed on a product using printing technology.

[0053] Because the printing path information of the product to be printed is obtained based on preset edge printing distance requirements, position offset information, and the edge contour of the product in the product image, rather than by re-identifying the product image after the moving platform has moved, there is no need to perform image recognition twice when calibrating the edge contour error. Furthermore, the background algorithm processing speed is faster than the image recognition speed, thus accelerating product production.

[0054] Since the printing path information of the product to be printed is obtained based on preset edge printing distance requirements, position offset information, and the identified edge contour of the product in the product image, rather than by re-identifying the product image after the moving platform has moved, the execution time of the step of controlling the moving platform to move based on the position offset information of the product to be printed can at least partially overlap with the execution time of the step of identifying the edge contour of the product to be printed in the product image and obtaining the printing path information of the product based on the preset edge printing distance requirements, position offset information, and the identified edge contour of the product in the product image. That is, the two steps can be executed simultaneously, further accelerating the product production speed. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a flowchart illustrating a visual calibration-based edge printing method provided in the embodiments of this specification.

[0057] Figure 2This is a schematic diagram of a product image described in an edge printing method based on visual calibration provided in the embodiments of this specification.

[0058] Figure 3 This is a schematic diagram of the structure of an edge printing device based on visual calibration provided in the embodiments of this specification.

[0059] Figure 4 This is a schematic diagram of the structure of an electronic device provided in the embodiments of this specification.

[0060] In the diagram: 21. Product image; 22. Product to be printed; 31. Mobile carrier; 32. Printing system; 33. Main control system; 34. Visual recognition module. Detailed Implementation

[0061] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0062] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0063] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0064] Reference Figure 1 , Figure 2 , Figure 3 As shown, Figure 1 A flowchart illustrating a vision-calibrated edge printing method according to an embodiment of this specification may include at least the following steps:

[0065] Step 102: Obtain product image 21 of the product to be printed 22 fixed on the mobile platform 31;

[0066] Step 104: Identify the actual position coordinates of at least two feature points on the product to be printed 22 in the product image 21, and obtain the position offset information of the product to be printed 22 based on the actual position coordinates and theoretical position coordinates of at least two feature points on the product to be printed 22 in the product image 21 (Note: actual position coordinates represent the actual position coordinates of the feature points in the product image, and theoretical position coordinates represent the position coordinates that the feature points should present when the position of the product to be printed is without error. The theoretical position coordinates need to be obtained in advance).

[0067] Step 106: Control the moving platform 31 to move based on the position offset information of the product 22 to be printed;

[0068] Step 108: Identify the edge contour of the product to be printed 22 in the product image 21, and obtain the printing path information of the product to be printed 22 based on the preset edge printing distance requirement information (Note: This can be understood as needing to move the preset edge printing distance inward from the edge contour of the product to be printed 22 for printing), position offset information, and the identified edge contour of the product to be printed 22 in the product image 21.

[0069] Step 110: Based on the printing path information of the product to be printed 22, control the printing system 32 to print on the edge of the product to be printed 22.

[0070] In a vision-calibrated edge printing method provided in several embodiments of this specification, positional offset information of the product 22 is obtained based on the actual and theoretical position coordinates of at least two feature points on the product 22 in the product image 21. The moving stage 31 is then controlled to move based on this positional offset information, thus achieving overall positional offset error calibration of the product 22. The edge contour of the product 22 in the product image 21 is identified, and the printing path information of the product 22 is obtained based on preset edge printing distance requirements, positional offset information, and the identified edge contour, thus achieving edge contour error calibration. In other words, through overall positional offset error calibration and edge contour error calibration, error calibration is achieved when edge printing is performed on a product using printing technology.

[0071] Since the printing path information of the product to be printed 22 is obtained based on the preset edge printing distance requirements, position offset information, and the edge contour of the product to be printed 22 in the product image 21, rather than by re-identifying the product image after the moving platform 31 has moved, there is no need to perform two image recognitions when calibrating the edge contour error. Moreover, the background algorithm processing speed is faster than the image recognition speed, thereby speeding up the product production process.

[0072] In several embodiments of this specification, the execution time of the step of controlling the moving stage 31 to move based on the position offset information of the product to be printed 22 and the execution time of the step of identifying the edge contour of the product to be printed 22 in the product image 21 and obtaining the printing path information of the product to be printed 22 based on the preset edge printing distance requirement information, position offset information and the identified edge contour of the product to be printed 22 in the product image 21, at least partially overlap.

[0073] In the edge printing method based on visual calibration provided in several embodiments of this specification, the printing path information of the product to be printed 22 is obtained based on preset edge printing distance requirements, position offset information, and the edge contour of the product to be printed 22 in the product image 21, rather than by re-identifying the product image after the moving platform 31 has moved. Therefore, the execution time of the step of controlling the moving platform 31 to move based on the position offset information of the product to be printed 22 and the execution time of the step of identifying the edge contour of the product to be printed 22 in the product image 21 and obtaining the printing path information of the product to be printed 22 based on the preset edge printing distance requirements, position offset information, and the edge contour of the product to be printed 22 in the product image 21 can at least partially overlap, that is, the two steps can be executed simultaneously, further accelerating the product production speed.

[0074] Reference Figure 2 As shown in several embodiments of this specification, the step of identifying the actual position coordinates of at least two feature points on the product to be printed 22 in the product image 21, and obtaining the position offset information of the product to be printed 22 based on the actual position coordinates and theoretical position coordinates of the at least two feature points on the product to be printed 22 in the product image 21, includes:

[0075] Step 1042: Identify the actual position coordinates of the first feature point and the second feature point on the product to be printed 22 in the product image 21 (Note: that is, the actual identified positions in the product image 21, respectively). Figure 2 The actual position coordinates A' of the first feature point in the product image 21 and the actual position coordinates B' of the second feature point in the product image 21.

[0076] Step 1044: Obtain the first actual vector based on the actual position coordinates of the first feature point and the second feature point in the product image 21, and obtain the first actual vector based on the theoretical position coordinates of the first feature point and the second feature point in the product image 21 (Note: respectively). Figure 2The theoretical coordinates A of the first feature point in the product image 21 and the theoretical coordinates B of the second feature point in the product image 21 are used to obtain the first theoretical vector;

[0077] Step 1046: Based on the actual position coordinates of the first feature point in the product image 21, the theoretical position coordinates of the first feature point in the product image 21, the first actual vector, and the first theoretical vector, obtain the position offset information of the product 22 to be printed.

[0078] In several embodiments of this specification, obtaining the position offset information of the product 22 to be printed based on the actual position coordinates of the first feature point in the product image 21, the theoretical position coordinates of the first feature point in the product image 21, the first actual vector, and the first theoretical vector includes:

[0079] Step 10462: Based on the actual position coordinates of the first feature point in the product image 21 and the theoretical position coordinates of the first feature point in the product image 21, obtain the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction;

[0080] Assuming the actual position coordinates A' of the first feature point in the product image 21 are (x, y), and the theoretical position coordinates A' of the first feature point in the product image 21 are (x', y'), then the offset distance information in the X-axis direction is x-x', and the offset distance information in the Y-axis direction is y-y'.

[0081] Step 10464: Based on the first actual vector and the first theoretical vector, obtain the overall angle offset information.

[0082] Assuming the actual coordinates B' of the second feature point in product image 21 are (w, e), and the theoretical coordinates B of the second feature point in product image 21 are (w', e'), then:

[0083] The first actual vector is (wx, ey);

[0084] The first theoretical vector is (w'-x', e'-y');

[0085] The angle between the first actual vector and the first theoretical vector can be calculated using the following formula:

[0086]

[0087] Here, θ represents the angle between the first actual vector and the first theoretical vector, and the overall angle offset information can be obtained based on θ.

[0088] It should be noted that the feature point can be the corner point of the product 21 to be printed (i.e., Figure 2 (As shown in the image) or additional markers set at other locations on the product 21 to be printed, without limitation.

[0089] Furthermore, step 106, which involves controlling the movement of the moving stage 31 based on the position offset information of the product 22 to be printed, includes:

[0090] The position of the moving platform 31 is adjusted based on the offset distance information in the X-axis direction, the offset distance information in the Y-axis direction, and the overall angle offset information.

[0091] The mobile platform 31 can be translated based on the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction, and then the angle of the mobile platform 31 can be adjusted based on the overall angle offset information; or the mobile platform 31 can be adjusted based on the overall angle offset information, and then the mobile platform 31 can be translated based on the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction.

[0092] However, it should be noted that when adjusting the angle of the mobile platform 31 based on the overall angle offset information, the rotation center should be the actual position coordinates A' of the first feature point in the product image 21.

[0093] In several embodiments of this specification, the step of identifying the edge contour of the product to be printed 22 in the product image 21, and obtaining the printing path information of the product to be printed 22 based on preset edge printing distance requirements, position offset information, and the identified edge contour of the product to be printed in the product image 21, includes:

[0094] Step 1082: Identify the edge contour of the product to be printed 22 in the product image 21 (Note: i.e. Figure 2 The actual edge contour of the product 22 to be printed. The method for identifying the edge contour will not be elaborated here (as it is existing technology).

[0095] Step 1084: Based on the overall angle offset information, the offset distance information in the X-axis direction, and the offset distance information in the Y-axis direction, adjust the edge contour position of the product to be printed 22 in the product image 21 to obtain the adjusted edge contour of the product to be printed 22 in the product image 21.

[0096] Step 1086: Based on the preset edge printing distance requirement information and the adjusted edge contour of the product 22 to be printed in the product image 21, obtain the printing path information of the product 22 to be printed.

[0097] The adjustment of the edge contour position of the product to be printed 22 in the product image 21 based on the overall angle offset information, the X-axis offset distance information, and the Y-axis offset distance information, to obtain the adjusted edge contour of the product to be printed 22 in the product image 21, includes:

[0098] Step 10842: Using the first feature point as the rotation center, and based on the overall angle offset information, adjust the angle of the edge contour position of the product to be printed 22 in the product image 21 (that is, using A' as the rotation center, perform a rotation operation on the edge contour of the product to be printed 22 in the product image 21).

[0099] Step 10844: Based on the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction, the edge contour position of the product to be printed 22 after the angle adjustment is translated and adjusted in the product image 21;

[0100] Step 10846: The position of the edge contour of the product to be printed 22 in the product image 21 after translation adjustment is taken as the adjusted edge contour of the product to be printed 22 in the product image 21.

[0101] That is, through background image data processing, the edge contour that the product to be printed 22 should present in the product image 21 after the moving platform 31 is moved based on the position offset information of the product to be printed 22 can be obtained.

[0102] In several embodiments of this specification, after identifying the actual position coordinates of the first feature point and the second feature point on the product to be printed 22 in the product image 21, the method further includes:

[0103] Identify the actual position coordinates C' of the third feature point on the product to be printed 22 in the product image 21;

[0104] The second actual vector is obtained based on the actual position coordinates of the first and third feature points in the product image 21, and the second theoretical vector is obtained based on the theoretical position coordinates of the first and third feature points in the product image 21 (Note: the theoretical position coordinates of the third feature point in the product image 21 are...). Figure 2 (C) in the middle;

[0105] The method of obtaining the position offset information of the product 22 to be printed based on the actual position coordinates of the first feature point in the product image 21, the theoretical position coordinates of the first feature point in the product image 21, the first actual vector, and the first theoretical vector includes:

[0106] Based on the actual position coordinates of the first feature point in the product image 21, the theoretical position coordinates of the first feature point in the product image 21, the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector, the position offset information of the product 22 to be printed is obtained.

[0107] Furthermore, the step of obtaining the position offset information of the product 22 to be printed based on the actual position coordinates of the first feature point in the product image 21, the theoretical position coordinates of the first feature point in the product image 21, the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector includes:

[0108] Based on the actual position coordinates of the first feature point in the product image 21 and the theoretical position coordinates of the first feature point in the product image 21, obtain the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction;

[0109] Based on the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector, the overall angle offset information is obtained.

[0110] In several embodiments of this specification, obtaining the overall angular offset information based on the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector includes:

[0111] Based on the first actual vector and the first theoretical vector, obtain the first angle offset information;

[0112] Based on the second actual vector and the second theoretical vector, obtain the second angle offset information;

[0113] Based on the first angle offset information and the second angle offset information, the overall angle offset information is obtained.

[0114] It is understandable that obtaining the overall angle offset information using only two feature points is prone to random errors. Therefore, a third feature point is added. Then, a second actual vector is obtained based on the actual position coordinates of the first and third feature points in the product image 21, and a second theoretical vector is obtained based on the theoretical position coordinates of the first and third feature points in the product image 21. Further, the second angle offset information can be obtained based on the second actual vector and the second theoretical vector (Note: the method for obtaining the second angle offset information can refer to the method for obtaining θ described above, and will not be elaborated further here).

[0115] Then, based on the first angle offset information and the second angle offset information, the overall angle offset information can be obtained (Note: This can be obtained by angle averaging).

[0116] It should be noted that there is an image coordinate system in the product image 21, and each pixel in the image has its own corresponding coordinates. The acquisition of the coordinates of the first feature point, the second feature point, and the third feature point, as well as the translation adjustment and rotation adjustment, are all performed based on this image coordinate system.

[0117] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0118] Please refer to the following. Figure 3 , Figure 3 A schematic diagram of a vision-calibrated edge printing device provided in an embodiment of this specification is shown.

[0119] The edge printing device may include at least a moving stage 31, a vision calibration system, and a printing system 32;

[0120] The visual calibration system includes a visual recognition module 34 (Note: for ease of illustration, ...). Figure 3 The visual recognition module 34 described above is not located directly above the mobile platform 31. In practical applications, the visual recognition module 34 can be located directly above the mobile platform 31 to simplify the backend data processing of product images, image processing module (located in the main control system 33), and control module (located in the main control system 33).

[0121] The visual recognition module 34 acquires a product image 21 of the product to be printed 22 fixed on the mobile platform 31.

[0122] The image processing module identifies the actual position coordinates of at least two feature points on the product to be printed in the product image 21, and obtains the position offset information of the product to be printed based on the actual position coordinates and theoretical position coordinates of at least two feature points on the product to be printed in the product image 21.

[0123] The image processing module also identifies the edge contour of the product to be printed 22 in the product image 21, and obtains the printing path information of the product to be printed 22 based on the preset edge printing distance requirement information, position offset information and the identified edge contour of the product to be printed 22 in the product image 21.

[0124] The control module controls the moving platform 31 to move based on the position offset information of the product to be printed 22.

[0125] The control module also controls the printing system 32 to print on the edge of the product 22 based on the printing path information of the product 22 to be printed.

[0126] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the edge printing apparatus embodiments are basically similar to the edge printing method embodiments, so the description is relatively simple; relevant parts can be referred to the description of the edge printing method embodiments.

[0127] Please see Figure 4 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this specification.

[0128] like Figure 4 As shown, the electronic device 400 may include at least one processor 401, at least one network interface 404, a user interface 403, a memory 405, and at least one communication bus 402.

[0129] The communication bus 402 can be used to realize the connection and communication of the above components.

[0130] The user interface 403 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0131] Among them, network interface 404 may include, but is not limited to, Bluetooth module, NFC module, Wi-Fi module, etc.

[0132] The processor 401 may include one or more processing cores. The processor 401 connects to various parts within the electronic device 400 using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 405, and by calling data stored in the memory 405. Optionally, the processor 401 may be implemented using at least one hardware form of DSP, FPGA, or PLC. The processor 401 may integrate one or more of the following: CPU, GPU, and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 401 and may be implemented as a separate chip.

[0133] The memory 405 may include RAM or ROM. Optionally, the memory 405 may include a non-transitory computer-readable medium. The memory 405 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 405 may also be at least one storage device located remotely from the aforementioned processor 401. As a computer storage medium, the memory 405 may include an operating system, a network communication module, a user interface module, and an edge printing application. The processor 401 may be used to call the edge printing application stored in the memory 405 and execute the steps of the edge printing method mentioned in the foregoing embodiments.

[0134] This specification also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more steps in the above-described edge printing method embodiments. If the constituent modules of the above-described electronic device are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0135] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0136] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.

[0137] The embodiments described above are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Any modifications and improvements made by those skilled in the art to the technical solutions of this specification without departing from the spirit of this specification should fall within the protection scope defined by the claims of this specification.

Claims

1. A visual calibration-based edge printing method, applied to product edge printing scenarios, characterized in that, include: Acquire a product image of the product to be printed, which is fixed on the moving platform; Identify the actual position coordinates of at least two feature points on the product to be printed in the product image, and obtain the position offset information of the product to be printed based on the actual position coordinates and theoretical position coordinates of at least two feature points on the product to be printed in the product image. The moving platform is controlled to move based on the position offset information of the product to be printed. Identify the edge contour of the product to be printed in the product image, and obtain the printing path information of the product to be printed based on the preset edge printing distance requirement information, position offset information and the identified edge contour of the product to be printed in the product image. The printing system is controlled to print on the edge of the product based on the printing path information of the product to be printed. The process of identifying the actual position coordinates of at least two feature points on the product to be printed in the product image, and obtaining the position offset information of the product to be printed based on the actual and theoretical position coordinates of the at least two feature points on the product to be printed in the product image, includes: Identify the actual coordinates of the first and second feature points on the product to be printed in the product image; The first actual vector is obtained based on the actual position coordinates of the first feature point and the second feature point in the product image, and the first theoretical vector is obtained based on the theoretical position coordinates of the first feature point and the second feature point in the product image. Based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, and the first theoretical vector, the position offset information of the product to be printed is obtained. The step of obtaining the position offset information of the product to be printed based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, and the first theoretical vector includes: Based on the actual position coordinates of the first feature point in the product image and the theoretical position coordinates of the first feature point in the product image, obtain the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction; Based on the first actual vector and the first theoretical vector, the overall angle offset information is obtained.

2. The edge printing method based on visual calibration according to claim 1, characterized in that, The execution time of the step of controlling the moving platform to move based on the position offset information of the product to be printed is at least partially overlapping with the execution time of the step of recognizing the edge contour of the product to be printed in the product image and obtaining the printing path information of the product to be printed based on the preset edge printing distance requirement information, position offset information and the recognized edge contour of the product to be printed in the product image.

3. The edge printing method based on visual calibration according to claim 1, characterized in that, The process of identifying the edge contour of the product to be printed in the product image, and obtaining the printing path information of the product to be printed based on preset edge printing distance requirements, position offset information, and the identified edge contour of the product to be printed in the product image, includes: Identify the edge contours of the product to be printed in the product image; Based on the overall angle offset information, the offset distance information in the X-axis direction, and the offset distance information in the Y-axis direction, the position of the edge contour of the product to be printed in the product image is adjusted to obtain the adjusted edge contour of the product to be printed in the product image. Based on the preset edge printing distance requirements and the adjusted edge contour of the product to be printed in the product image, the printing path information of the product to be printed is obtained.

4. The edge printing method based on visual calibration according to claim 3, characterized in that, The process of adjusting the edge contour position of the product to be printed in the product image based on overall angular offset information, X-axis offset distance information, and Y-axis offset distance information to obtain the adjusted edge contour of the product to be printed in the product image includes: Using the first feature point as the rotation center, and based on the overall angle offset information, the angle of the edge contour position of the product to be printed in the product image is adjusted; Based on the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction, the edge contour position of the product to be printed in the product image after the angle adjustment is translated and adjusted. The position of the edge contour of the product to be printed in the product image after translation adjustment is taken as the adjusted edge contour of the product to be printed in the product image.

5. The edge printing method based on visual calibration according to claim 1, characterized in that, The step of obtaining the position offset information of the product to be printed based on the actual position coordinates of the first feature point in the product image, the theoretical position coordinates of the first feature point in the product image, the first actual vector, and the first theoretical vector includes: Identify the actual coordinates of the third feature point on the product to be printed in the product image; The second actual vector is obtained based on the actual position coordinates of the first feature point and the third feature point in the product image, and the second theoretical vector is obtained based on the theoretical position coordinates of the first feature point and the third feature point in the product image. Based on the actual position coordinates of the first feature point in the product image and the theoretical position coordinates of the first feature point in the product image, obtain the offset distance information in the X-axis direction and the offset distance information in the Y-axis direction; Based on the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector, the overall angle offset information is obtained.

6. The edge printing method based on visual calibration according to claim 5, characterized in that, The process of obtaining overall angular offset information based on the first actual vector, the first theoretical vector, the second actual vector, and the second theoretical vector includes: Based on the first actual vector and the first theoretical vector, obtain the first angle offset information; Based on the second actual vector and the second theoretical vector, obtain the second angle offset information; Based on the first angle offset information and the second angle offset information, the overall angle offset information is obtained.

7. A vision-calibrated edge printing apparatus, applied to product edge printing scenarios, based on the vision-calibrated edge printing method according to any one of claims 1 to 6, characterized in that, Includes a mobile platform, a vision calibration system, and a printing system; The visual calibration system includes a visual recognition module, an image processing module, and a control module; The visual recognition module acquires a product image of the product to be printed that is fixed on the mobile platform. The image processing module identifies the actual position coordinates of at least two feature points on the product to be printed in the product image, and obtains the position offset information of the product to be printed based on the actual position coordinates and theoretical position coordinates of at least two feature points on the product to be printed in the product image. The image processing module also identifies the edge contour of the product to be printed in the product image, and obtains the printing path information of the product to be printed based on the preset edge printing distance requirement information, position offset information and the identified edge contour of the product to be printed in the product image. The control module controls the moving platform to move based on the position offset information of the product to be printed. The control module also controls the printing system to print on the edge of the product based on the printing path information of the product to be printed.

8. An electronic device, characterized in that, Including the processor and memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code stored in the memory to perform the method as described in any one of claims 1 to 6.

Images