Dispensing detection method, dispensing detection system and electronic equipment

Abstract

The invention discloses a dispensing detection method and system and electronic equipment, and relates to the technical field of dispensing testing, and the dispensing detection method comprises the following steps: converting depth map data into a point cloud data set; and segmenting the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector of the cloud data set. And carrying out multi-plane segmentation on the horizontal point cloud, and taking the maximum plane in multiple planes as a target plane. And fitting the target plane to obtain a plane equation. And visualizing the plane equation, and selecting a reference frame and a frame to be measured. Obtaining a height threshold range according to the reference frame, and obtaining the number of detection points of the to-be-detected frame in accordance with the height threshold range. And when the detection point number accords with the point number threshold range, determining that the to-be-detected frame is successfully dispensed. Based on the scheme, whether dispensing succeeds or not is determined by detecting whether the number of the point clouds meeting the height threshold range exists in the to-be-detected panel or not, so that the dispensing condition of the to-be-detected panel can be more accurately detected, and the production quality of the electronic equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of glue dispensing testing, and in particular, to a glue dispensing detection method, a detection system and an electronic device. Background Art

[0002] During the assembly of electronic devices, glue dispensing equipment is often required to dispense glue on certain parts of the circuit board in order to paste the electronic components. When the glue dispensing equipment is dispensing glue, due to the adhesive force of the glue, it is very likely that the glue will be pulled away by the glue dispensing valve. However, although the glue on the circuit board will be pulled away by the glue dispensing valve, it will still leave traces of residual glue on the circuit board.

[0003] At present, a 2D dispensing inspection system is generally used to detect whether dispensing is successful. However, this 2D dispensing inspection system generally determines whether dispensing is successful by whether the dispensing trace matches the 2D template, that is, as long as there is a dispensing trace on the circuit board that matches the 2D template, the dispensing can be judged to be successful, resulting in many circuit boards that are judged to be successfully dispensed but only have residual glue, which greatly affects the production quality of electronic equipment.

[0004] Therefore, a new solution is urgently needed to solve the above problems. Summary of the invention

[0005] The present application provides a glue dispensing detection method, a detection system and an electronic device, which obtains depth map data of a panel to be tested, processes the depth map data to obtain a point cloud height of the panel to be tested, and then determines whether the glue dispensing of the panel to be tested is successful based on the number of point clouds that meet a height threshold range. This allows for more accurate detection of the glue dispensing of the panel to be tested, thereby improving the production quality of electronic equipment.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions: In a first aspect, a dispensing detection method is provided, comprising: obtaining depth map data of a panel to be tested, and converting the depth map data into a point cloud data set. Obtaining a normal vector of the point cloud data set, and dividing the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector. Performing multi-plane segmentation on the horizontal point cloud, and taking the largest plane in the multi-plane as the target plane. Fitting the target plane to obtain a plane equation. Visualizing the plane equation, and selecting a reference frame and a frame to be tested. Obtaining a height threshold range according to the reference frame, and obtaining the number of detection points of the frame to be tested that meet the height threshold range. When the number of detection points meets the point number threshold range, it is determined that the dispensing of the frame to be tested is successful.

[0007] In an embodiment of the present application, the depth map data of the panel to be tested is first obtained, and the depth map data is converted into a point cloud data set. Then the normal vector of the point cloud data set is obtained, and the point cloud data set is divided into a vertical point cloud and a horizontal point cloud according to the normal vector. The horizontal point cloud is then segmented into multiple planes, and the largest plane in the multiple planes is used as the target plane. The target plane is then fitted to obtain the plane equation. The plane equation is then visualized, and the reference frame and the frame to be tested are framed. Then the height threshold range is obtained according to the reference frame, and the number of detection points that meet the height threshold range of the frame to be tested is obtained. Finally, when the number of detection points meets the point number threshold range, it is determined that the glue dispensing of the frame to be tested is successful. Thereby, the glue dispensing of the panel to be tested is detected from a three-dimensional level, and the detection result is more accurate, thereby effectively improving the production quality of electronic equipment.

[0008] Optionally, a random sampling consensus algorithm may be used to fit the target plane to determine the plane equation of the target plane.

[0009] Optionally, the height threshold range may include an upper height threshold, a lower height threshold and an average height value. The maximum value of the height threshold range is the average height value + the upper height threshold, and the minimum value of the height threshold range is the average height value - the lower height threshold, thereby effectively locking the qualified height range for dispensing.

[0010] In combination with the first aspect, in certain implementation methods of the first aspect, before obtaining the depth map data of the panel to be tested, it also includes: determining whether the number of preset parameters is correct; the preset parameters include an upper height threshold, a lower height threshold, and a point threshold; when the number of preset parameters is correct, continuing the detection process; when the number of preset parameters is incorrect, ending the detection process.

[0011] In this implementation, before obtaining the depth map data of the panel to be tested, it is also possible to first detect whether the number of preset parameters input by the user is correct. When the number of preset parameters is correct, the detection process continues. On the contrary, when the number of preset parameters is incorrect, the detection process is terminated, thereby ensuring that the preset parameters can be accurately input and will not affect the subsequent process of the dispensing detection method.

[0012] It should be noted that the preset parameters may include an upper height threshold, a lower height threshold, a point threshold, and a frame selection template for the reference frame and the frame to be measured.

[0013] In combination with the first aspect, in some implementations of the first aspect, before terminating the detection process, the method further includes: issuing an alarm and outputting an error message.

[0014] In this implementation, before the number of preset parameters is incorrect and the detection process is terminated, an alarm can be sounded to prompt the detection personnel, and an error message can be output or printed at the same time, so that the detection personnel can understand the link where the problem occurs in the dispensing detection method and correct it in time.

[0015] In combination with the first aspect, in certain implementations of the first aspect, before converting the depth map data into a point cloud data set, the method further includes: traversing the depth map data and removing invalid values.

[0016] In this implementation, before converting the depth map data into a point cloud data set, the depth map data may be traversed and invalid values ​​may be removed, thereby ensuring the authenticity and validity of the depth map data.

[0017] In combination with the first aspect, in certain implementations of the first aspect, before converting the depth map data into a point cloud data set, the method further includes: downsampling the depth map data.

[0018] In this implementation, in order to shorten the detection time and improve the detection efficiency, only the key spatial information of the panel to be tested and the glue may be retained, and the depth map data may be downsampled.

[0019] In combination with the first aspect, in some implementations of the first aspect, before visualizing the plane equation, the method further includes: performing spatial leveling correction on the maximum plane according to the plane equation.

[0020] In this implementation, in order to obtain more accurate reference frames and test frames and prevent irregular plane equations from affecting the detection results, the maximum plane may be spatially leveled according to the plane equations before the plane equations are visualized.

[0021] In combination with the first aspect, in some implementations of the first aspect, before acquiring the height threshold range according to the reference frame, the method further includes: performing local filtering on the reference frame and the frame to be measured.

[0022] In this implementation, before obtaining the height threshold range according to the reference frame, local filtering is performed on the reference frame and the frame to be tested, which can avoid a large-area filtering process, thereby reducing the detection time of the dispensing detection method.

[0023] In combination with the first aspect, in some implementations of the first aspect, the point count threshold range includes a maximum point count threshold and a minimum point count threshold. When the detection point count is less than the minimum point count threshold, it is determined that the glue of the frame to be tested is pulled away. When the detection point count is greater than the maximum point count threshold, it is determined that the glue of the frame to be tested is wired.

[0024] In this implementation, when the number of detection points is less than the minimum point threshold, it means that there are too few detection points that meet the height threshold range, and the glue of the frame to be tested is pulled away, leaving only traces of residual glue. When the number of detection points is greater than the maximum point threshold, it means that there are too many detection points that meet the height threshold range, the glue of the frame to be tested is pulled, and the glue height is too high.

[0025] In a second aspect, a detection system is provided, comprising an assembly line module, a three-dimensional camera module and a control module. The assembly line module is used to transport the panel to be tested at a preset speed. The three-dimensional camera module is arranged above the assembly line module, and the three-dimensional camera module is used to capture a depth map of the panel to be tested. The control module is connected to the assembly line module and the three-dimensional camera module respectively, and the control module is used to control the operation of the assembly line module, and determine whether the dispensing of the panel to be tested is successful according to the depth map of the panel to be tested.

[0026] In this implementation, the control module first controls the assembly line module to work, and the assembly line module controls the panel to be tested to move at a preset speed. Then, the control module controls the 3D camera module to work, and the 3D camera module captures the depth map of the panel to be tested. Finally, the control module determines whether the glue dispensing of the panel to be tested is successful based on the depth map of the panel to be tested, thereby realizing the detection of the glue dispensing of the panel to be tested from a three-dimensional level, and the detection result is more accurate, which effectively improves the production quality of electronic equipment.

[0027] Optionally, the 3D camera module includes a 3D structured light camera.

[0028] In conjunction with the second aspect, in some implementations of the second aspect, the detection system further includes an alarm module. The alarm module is connected to the control module, and is used to alarm when the glue dispensing of the panel to be tested is not successful.

[0029] In this implementation, the alarm module sounds an alarm when the panel to be tested is not successfully glued, thereby reminding the inspection personnel to promptly check the panel to be tested that is not successfully glued, thereby improving the production quality of the panel to be tested.

[0030] In conjunction with the second aspect, in certain implementations of the second aspect, the detection system further includes a support module. The support module is disposed above the assembly line module, and the three-dimensional camera module is disposed on the support module.

[0031] In this implementation, the 3D camera module can be disposed above the assembly line module via the bracket module, so that the 3D camera module can conveniently capture the 3D image of the panel to be tested and detect the glue dispensing condition of the panel to be tested from a 3D level.

[0032] In a third aspect, an electronic device is provided, the electronic device comprising: one or more processors and a memory. The memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code comprises computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method.

[0033] In a fourth aspect, a chip system is provided. The chip system is applied to an electronic device, and the chip system includes one or more processors. The one or more processors are used to call computer instructions so that the electronic device executes the described method.

[0034] According to a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes instructions, and when the instructions are executed on an electronic device, the electronic device executes the described method. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a dispensing scenario provided in an embodiment of the present application; Figure 2 A schematic diagram of an application scenario of a traditional dispensing detection method provided in another embodiment of the present application; Figure 3 A schematic diagram of glue being pulled away on a circuit board provided by an embodiment of the present application; Figure 4 A flow chart of a dispensing detection method provided in an embodiment of the present application; Figure 5 A flowchart of a dispensing detection method provided by another embodiment of the present application; Figure 6 A flowchart of a dispensing detection method provided by another embodiment of the present application; Figure 7 A flowchart of a dispensing detection method provided by another embodiment of the present application; Figure 8 A flowchart of a dispensing detection method provided by another embodiment of the present application; Fig. 9 A schematic diagram of the structure of a detection system provided in an embodiment of the present application; Fig.10 A schematic diagram of the structure of a detection system provided in another embodiment of the present application; Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0037] The terms "first", "second", etc. are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0038] In order to facilitate the understanding of the embodiments of the present application, the relevant concepts involved in the embodiments of the present application are first briefly described.

[0039] 1. Glue dispensing In the field of electronic technology, dispensing refers to an operation process, also known as gluing, coating, pouring, dripping, etc. Dispensing refers to applying, pouring, or dripping electronic glue, oil, or other liquids onto products to make them stick, pour, insulate, fix, or smooth the surface.

[0040] The application range of glue dispensing is very wide. From large aircraft and ships to small clothes and toys, glue dispensing may be needed in the production process. The methods of glue dispensing are: manually using a manual glue dispenser to dispense glue on electronic products; using automated equipment, such as an automatic glue dispenser or a robot, to dispense glue; applying glue directly on the surface of a stationary workpiece; applying glue on the surface of a moving workpiece; applying glue in the form of pulses; applying glue in the form of a continuous glue line, etc. The appropriate dispensing valve can be selected according to the specific dispensing requirements; some glues can only achieve optimal performance at a specific temperature, so the temperature during the dispensing process needs to be controlled. At the same time, for mass production, dispensing molds can also be used to maintain consistent dispensing shapes and sizes, etc.

[0041] 2. 3D structured light camera In the field of electronic technology, 3D structured light cameras, also known as 3D scanning cameras, are advanced digital photography devices that are mainly used for three-dimensional reconstruction and detection. 3D structured light cameras use optical principles and image processing algorithms to achieve three-dimensional scanning of the surface of an object. 3D structured light cameras emit a beam of specially coded structured light (usually gratings or triangular stripes) onto the surface of an object, and use the camera to record the image after the light is reflected by the object. By analyzing subtle differences such as light distortion and deformation in the image, the geometric information of the object surface can be calculated, and then the three-dimensional model of the object can be derived. This information includes the shape, depth, texture, etc. of the object surface. At the same time, in this process, the tilt of the lens can be used to achieve clear imaging of the entire photographed surface, which is called the Scheimpflug principle, which causes the image directly shot by the 3D structured light camera to be tilted.

[0042] 3. Depthmap In the field of electronic technology, a depth map refers to an image used to represent the three-dimensional information of a scene. In a depth map, the value of each pixel represents the depth or distance of the pixel in the visual scene, usually expressed in grayscale or color levels from near to far. At the same time, depth maps are widely used in computer vision and image processing, such as: 3D reconstruction: The 3D structure of the scene can be restored through the depth map, thereby realizing the reconstruction of the 3D model. Augmented reality: Depth maps can be used for scene understanding and object interaction in augmented reality. Video editing: Depth maps can be used for deep editing of videos, such as changing the background, adding special effects, etc.

[0043] 4. Point cloud In the field of electronic technology, a point cloud is a collection of massive points that characterize the surface of a target. Specifically, a point cloud is a data set in which each point represents a set of X, Y, Z geometric coordinates and an intensity value. Sometimes it also contains color information (RGB). In addition, a point cloud can also contain other attributes, such as normal vectors, texture coordinates, and intensity values, which are used to describe the shape and properties of the points. Point clouds can be obtained in a variety of ways, mainly divided into two methods: sensor scanning and computer model conversion. For example, sensor scanning can include: LiDAR: By emitting a laser beam and detecting the time it takes to reflect back, the distance is calculated to obtain point cloud information. Depth camera: Use infrared radiation and image sensors to detect the distance of objects in the scene, and then generate a point cloud. Computer model conversion can include: Using computer vision and image processing technology to convert a two-dimensional image or a three-dimensional model into point cloud data. For example, a three-dimensional point cloud is recovered from an image by structured light, stereo vision, or multi-view image shooting.

[0044] 5. Random sample consensus (RANSAC) algorithm In the field of electronic technology, RANSAC is an iterative method for estimating mathematical model parameters. It is particularly suitable for data sets containing outliers. It fits the model by randomly selecting a subset of data, and statistically analyzing the deviation between the model and other data, and finally filtering out data that meets a certain threshold for estimating parameters.

[0045] Specifically, the input of the RANSAC algorithm is a set of observations, a parameterized model that can explain or adapt to the observations, and some credible parameters. The RANSAC algorithm achieves its goal by repeatedly selecting a set of random subsets from the data. The selected subsets are assumed to be inliers and verified by the following method: (1) There is a model that fits the assumed inliers, that is, all unknown parameters can be calculated from the assumed inliers. (2) Use the model obtained in (1) to test all other data. If a point is suitable for the estimated model, it is considered to be an inlier. (3) If enough points are classified as assumed inliers, then the estimated model is reasonable enough. (4) Then, use all the assumed inliers to re-estimate the model, because it has only been estimated by the initial assumed inliers. (5) Finally, the model is evaluated by estimating the error rate between the inliers and the model. This process is repeated a fixed number of times, and the model generated each time is either discarded because there are too few inliers or selected because it is better than the existing model.

[0046] 6. Region of interest (ROI) In the field of detection, ROI refers to the image area that the user pays special attention to in image processing or computer vision tasks. By focusing on these specific areas, processing efficiency and accuracy can be improved. For example, in object detection, ROI can help the algorithm focus on areas that may contain objects, thereby reducing the amount of calculation and improving detection performance.

[0047] 7. Traversal Traversal refers to the process of accessing the elements in a collection one by one in a certain order or performing an operation. Traversal is usually implemented using a loop structure to process each element in a collection. In programming, traversal is often used to process data structures (such as arrays, linked lists, trees, etc.) or iteratively access a range of elements. Through traversal, we can access the elements in a collection one by one and perform operations such as reading, modifying, and printing.

[0048] 8. Downsampling Downsampling is the process of reducing the sampling rate of a particular signal, usually to reduce the data transmission rate or data size. The downsampling factor (usually represented by the symbol M) is generally an integer or rational number greater than 1. This factor expresses how many times the sampling period has become larger than the original, or equivalently, how much the sampling rate has become smaller than the original. Since downsampling reduces the sampling rate, it is necessary to ensure that the Nyquist sampling theorem still holds at the new lower sampling rate.

[0049] Among them, the Nyquist sampling theorem means that in the process of analog / digital signal conversion, when the sampling frequency fs.max is greater than twice the highest frequency fmax in the signal (fs.max>=2fmax), the digital signal after sampling completely retains the information in the original signal. Generally, in practical applications, the sampling frequency is guaranteed to be 5 to 10 times the highest frequency of the signal.

[0050] The above is a brief introduction to the nouns involved in the embodiments of the present application, which will not be repeated below.

[0051] Combine the following Figures 1 to 3 Before explaining the dispensing detection method provided in the embodiment of the present application in detail, the application scenarios of the dispensing detection method and the problems existing in the traditional dispensing detection method are first explained.

[0052] Figure 1 A schematic diagram of a dispensing scenario provided in an embodiment of the present application.

[0053] like Figure 1 As shown, exemplarily, in the embodiment of the present application, during the assembly process of the electronic device, the user can use the dispensing device 10 to dispense glue on the circuit board 20 in the electronic device. The embodiment of the present application does not specifically limit the type of electronic device. In some specific embodiments, the electronic device can be a straight-plate mobile phone, a folding mobile phone, a wearable device (such as a smart bracelet, a smart watch, a headset, etc.), a tablet computer, a laptop computer (laptop), a handheld computer, a notebook computer, an ultra-mobile personal computer (UMPC), a cellular phone, a personal digital assistant (PDA), an augmented reality (AR)\virtual reality (VR) device and other IOT (internet of things, Internet of Things) devices, and can also be a television, a large screen, a printer, a projector and other devices.

[0054] Exemplarily, the dispensing device 10 may be a thermally conductive gel device.

[0055] Figure 2A schematic diagram of an application scenario of a traditional dispensing detection method provided in an embodiment of the present application.

[0056] like Figure 2 As shown, exemplarily, in the embodiment of the present application, the application scenario of the traditional glue dispensing detection method includes a circuit board 20 and a two-dimensional (2 dimensional, 2D) glue dispensing detection device 30, and the 2D glue dispensing detection device 30 is used to detect the glue dispensing result of the circuit board 20. Specifically, the 2D glue dispensing detection device 30 may include a 2D area array industrial camera, and an industrial lens is provided at one end of the 2D area array industrial camera close to the circuit board 20 to enhance the shooting effect. An external power supply is provided on one side of the 2D area array industrial camera to illuminate the shooting process of the 2D area array industrial camera.

[0057] The 2D glue dispensing detection device 30 takes a picture of the glue dispensing interface of the circuit board 20 to obtain a two-dimensional test image, and matches the two-dimensional test image with the glue dispensing template pre-set in the 2D glue dispensing detection device 30. If there are glue dispensing traces in the two-dimensional test image that match the glue dispensing template, it is considered that the circuit board 20 is successfully glued. If there are no glue dispensing traces in the two-dimensional test image that match the glue dispensing template, it is considered that the circuit board 20 is failed to be glued.

[0058] It should be noted that the 2D glue dispensing detection device 30 is generally directly arranged in the production equipment of the circuit board 20. When the 2D glue dispensing detection device 30 fails, other production processes of the circuit board 20 may be affected.

[0059] Figure 3 This is a schematic diagram of glue being pulled away on a circuit board provided in an embodiment of the present application.

[0060] like Figure 3 As shown, exemplarily, in an embodiment of the present application, in order to paste a variety of electronic devices on the circuit board 20, it is necessary to dispense glue on the circuit board 20. Exemplarily, the shape of the glue can be a variety of shapes such as round, square, I-shaped, etc. For example, in the assembly process of the electronic device, generally, the dispensing valve of the dispensing device 10 is used to dispense glue at the preset position of the circuit board 20, and then the dispensing detection device 30 is used to detect whether there are dispensing traces at the preset position of the circuit board 20. Specifically, if there are dispensing traces at the preset position of the circuit board that match the dispensing template, it is determined that the dispensing of the circuit board 20 is successful. On the contrary, if there are no dispensing traces at the preset position of the circuit board that match the dispensing template, it is determined that the dispensing of the circuit board 20 has failed.

[0061] However, due to the strong adhesive force of glue, it is very likely that the glue will be pulled away by the dispensing valve. Figure 3As shown, although the glue is taken away by the glue dispensing valve, it will still leave traces of residual glue on the circuit board 20, thereby affecting the detection result of the glue dispensing detection device 30, causing the circuit board 20 with only traces of residual glue to be misjudged as successful glue dispensing, thereby reducing the production quality of the electronic equipment. At the same time, since the 2D glue dispensing detection device 30 is generally directly set in the main production line and is set together with the glue dispensing machine, when the 2D glue dispensing detection device 30 is down, it cannot be directly isolated, thereby affecting other production processes of the circuit board 20. In addition, the 2D glue dispensing detection device 30 needs to adjust different detection methods and lighting effects for glue materials of different colors or materials, which is not conducive to improving the assembly production rhythm of electronic devices such as folding mobile phones, straight-screen phones, and tablets.

[0062] It should be noted that there are two possible reasons why the glue is brought up by the dispensing valve at a single point: (1) Glue dispensing height variation. For example, assuming the standard value of the glue dispensing height is 0.8±0.2mm. When the real-time glue dispensing height is set to 0.9mm, and the measured circuit board / single board deformation is 0.3mm, the actual height of the glue dispensing is 1.2mm, which exceeds the standard range of the glue dispensing height, making it easy for the glue to be taken away by the glue dispensing valve.

[0063] (2) Differences in dispensing needles. For example, the TT-16G needle generally has two outer diameter specifications: 1.75mm and 2.1mm. Among them, 2.1mm is generally used for problematic equipment. Dispensing needles with different outer diameters have different anti-glue capabilities. At the same time, when the dispensing needle is glued to a single point, it is easy to pull the glue.

[0064] In view of this, an embodiment of the present application provides a glue dispensing detection method, which obtains depth map data of the panel to be tested and processes the depth map data to obtain the point cloud height of the panel to be tested, and then determines whether the glue dispensing of the panel to be tested is successful based on the number of point clouds that meet the height threshold range. This can more accurately detect the glue dispensing situation of the panel to be tested and improve the production quality of electronic equipment.

[0065] Combine the following Figures 4 to 8, and then a detailed introduction is given to the dispensing detection method for using 3D point cloud data to detect whether the dispensing of the panel to be tested is successful, provided in an embodiment of the present application. In an embodiment of the present application, the connection between two electrical modules / electronic devices includes a communication connection and an electrical connection. The communication connection here refers to a connection that can transmit a communication signal. The communication signal can be an electrical signal or an optical signal, which is not limited here. An electrical connection refers to a connection that can transmit an electrical signal. Electrical connections include direct connections and indirect connections. For example, a direct connection between device A and device B means that device A and device B are connected through a wire to transmit an electrical signal. An indirect connection between device A and device B means that a first end of device A and device C are connected through a wire, and a second end of device C and device B are connected through a wire, so that device A and device B can transmit an electrical signal through device C. For ease of understanding, in the following description, "electrical connection" is referred to as connection.

[0066] First embodiment: Figure 4 This is a flow chart of a dispensing detection method provided in an embodiment of the present application.

[0067] like Figure 4 As shown, illustratively, the embodiment of the present application provides a dispensing detection method 40, which may specifically include the following steps: S401 : The electronic device obtains depth map data of the panel to be tested, and converts the depth map data into a point cloud data set.

[0068] For example, when it is necessary to detect the glue dispensing of the panel to be tested, the depth map data of the panel to be tested can be first captured and stored by a 3D area array structured light camera, and then the depth map data can be obtained from the 3D area array structured light camera by the glue dispensing detection method 40, and the depth map data can be converted into a point cloud data set. Therefore, the use of a 3D area array structured light camera does not require additional lighting, and does not need to consider the shape and color of the glue, which greatly improves the robustness of the detection system.

[0069] It should be understood that a depth map is a two-dimensional image that can represent three-dimensional information, generally represented by grayscale or color levels from near to far. A point cloud is a data set containing multiple points, where each point represents a set of X, Y, Z geometric coordinates and an intensity value.

[0070] S402: The electronic device obtains a normal vector of the point cloud data set, and divides the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector.

[0071] For example, since the point cloud data set of the panel to be tested is also a data point set of the shape of the panel to be tested, the normal vector of the point cloud data set of the shape of the panel to be tested can be obtained, and the point cloud data set can be divided into a vertical point cloud and a horizontal point cloud according to the normal vector of the point cloud data set.

[0072] It should be understood that a vertical point cloud is a set of point clouds that are parallel to the normal vector of the point cloud data set, and a horizontal point cloud is a set of point clouds that are perpendicular to the normal vector of the point cloud data set.

[0073] S403: The electronic device performs multi-plane segmentation on the horizontal point cloud, and uses the largest plane among the multi-planes as the target plane.

[0074] For example, in order to detect the height value of the glue point in the panel to be tested, the horizontal point cloud can be segmented into multiple planes to obtain a horizontal point cloud of multiple planes. Then, the plane with the largest area can be found in the multiple planes and used as the target plane for subsequent use as a reference plane in the detection process.

[0075] It should be understood that the largest plane among the multiple planes is generally the lowest plane of the panel to be tested (ie, the substrate or single board). When electronic components are arranged on the substrate, the plane area composed of the electronic components is generally smaller than the area of ​​the substrate.

[0076] S404: The electronic device fits the target plane to obtain a plane equation.

[0077] For example, after the target plane is determined, fitting can be performed according to the set of points in the target plane to obtain a plane equation that conforms to the target plane model. For example, the plane equation can be a three-variable linear equation: ax+by+cz-d=0. Fitting the target plane to obtain the plane equation is equivalent to obtaining the coefficients of the three-variable linear equation.

[0078] Optionally, the target plane may be fitted using a RANSAC algorithm to determine the plane equation coefficients of the target plane.

[0079] S405: The electronic device visualizes the plane equation and selects a reference frame and a frame to be measured.

[0080] For example, the plane equation is visualized, that is, the point cloud of the plane equation is rendered in real time, so that the inspector can see and touch, enlarge or move the 3D model of the panel to be tested on the computer. For example, the inspector can enlarge or move the 3D model of the panel to be tested through the touch all-in-one machine, interact with the 3D form of the panel to be tested in real time, and quickly locate the abnormal dispensing position.

[0081] At the same time, you can also use the frame selection software to select two ROIs in the visualized 3D model of the panel to be tested, one ROI as the reference frame and the other ROI as the detection frame. By comparing the reference frame and the detection frame, you can determine the glue dispensing condition of the detection frame.

[0082] S406: The electronic device obtains a height threshold range according to the reference frame, and obtains the number of detection points of the frame to be detected that meet the height threshold range.

[0083] Exemplarily, a standard height threshold range can be obtained based on the point cloud dataset in the reference frame, and then the point cloud dataset in the frame to be tested is compared with the height threshold range to obtain the number of detection points (account) of the frame to be tested that meet the height threshold range.

[0084] It should be understood that the height threshold range may include an upper height threshold (diff1), a lower height threshold (diff2), and an average height value (average height), and the maximum value of the height threshold range is the average height value + the upper height threshold, i.e., average height + diff1. The minimum value of the height threshold range is the average height value - the lower height threshold, i.e., average height - diff2.

[0085] S407: The electronic device determines whether the detection points meet the point threshold range.

[0086] Exemplarily, the electronic device may determine whether the glue dispensing of the frame to be tested is qualified by judging whether the number of detection points meets the point threshold range.

[0087] S408: When the number of detection points of the electronic device meets the point threshold range, it is determined that the glue dispensing of the frame to be tested is successful.

[0088] Exemplarily, when the number of points detected by the electronic device meets the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range meets the point threshold range, and the glue dispensing of the frame to be tested is successful.

[0089] S409: When the number of detection points of the electronic device does not meet the point threshold range, it is determined that the dispensing of the frame to be tested has failed.

[0090] Exemplarily, when the number of points detected by the electronic device does not meet the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range does not meet the point threshold range, and the dispensing of the frame to be tested fails.

[0091] It should be noted that, since the glue generally forms an irregular three-dimensional column on the panel to be tested, multiple plane layers will be obtained after multi-plane segmentation, so it can be judged whether the number of detection points in the frame to be tested that meet the height threshold range meets the threshold range. If it meets the threshold range, it can be determined that the glue dispensing of the frame to be tested is successful. On the contrary, if it does not meet the threshold range, it can be determined that the glue dispensing of the frame to be tested has failed.

[0092] It should be understood that the point count threshold range may include a maximum point count threshold (maxcount) and a minimum point count threshold (mincount). When the detection point count account is less than the minimum point count threshold mincount, it means that the number of detection points that meet the height threshold range is too small, and the glue of the frame to be tested is pulled away, leaving only traces of residual glue, and the glue dispensing fails.

[0093] When the number of detection points account is greater than the maximum point threshold maxcount, it means that there are too many detection points that meet the height threshold range, the frame to be tested has glue drawing, and the glue height is too high, so the glue fails.

[0094] When the number of detection points account is greater than the minimum point count threshold mincoun and less than the maximum point count threshold maxcount, it means that the number of detection points that meet the height range is appropriate and the dispensing is successful. Therefore, the dispensing detection method 40 can more accurately detect the dispensing condition of the panel to be tested and improve the production quality of electronic equipment.

[0095] Second embodiment: Figure 5 This is a flow chart of another dispensing detection method provided in an embodiment of the present application. The solution of determining preset parameters in advance in the dispensing detection method provided in an embodiment of the present application is introduced.

[0096] like Figure 5 As shown, illustratively, the embodiment of the present application provides a dispensing detection method 40, which may specifically include the following steps: S400: The electronic device determines whether the number of preset parameters is correct.

[0097] Exemplarily, when starting the dispensing detection method 40, it is possible to first determine whether the number of preset parameters required to be input by the dispensing detection method 40 is correct before proceeding to other subsequent steps. For example, the preset parameters may include an upper height threshold, a lower height threshold, a point number threshold, and a frame selection template for a reference frame and a frame to be tested. When the number of preset parameters is correct, the detection process continues. For example, S401.

[0098] S4001. When the number of preset parameters is incorrect, the detection process ends.

[0099] Exemplarily, when the number of preset parameters is incorrect, it indicates that there is a problem with the parameter setting of the dispensing detection method 40 , and the dispensing detection process cannot be completed, so the detection process needs to be terminated.

[0100] In addition, if the number of preset parameters is incorrect and before the detection process ends, an audible and visual alarm can be used to remind the detection personnel, and an error message can be output or printed at the same time, so that the detection personnel can understand the link where the problem occurs in the dispensing detection method and correct it in time.

[0101] S401 : The electronic device obtains depth map data of the panel to be tested, and converts the depth map data into a point cloud data set.

[0102] For example, when it is necessary to detect the glue dispensing of the panel to be tested, the depth map data of the panel to be tested can be first captured and stored by a 3D area array structured light camera, and then the depth map data can be obtained from the 3D area array structured light camera by the glue dispensing detection method 40, and the depth map data can be converted into a point cloud data set. Therefore, the use of a 3D area array structured light camera does not require additional lighting, and does not need to consider the shape and color of the glue, which greatly improves the robustness of the detection system.

[0103] It should be understood that a depth map is a two-dimensional image that can represent three-dimensional information, generally represented by grayscale or color levels from near to far. A point cloud is a data set containing multiple points, where each point represents a set of X, Y, Z geometric coordinates and an intensity value.

[0104] S402: The electronic device obtains a normal vector of the point cloud data set, and divides the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector.

[0105] For example, since the point cloud data set of the panel to be tested is also a data point set of the shape of the panel to be tested, the normal vector of the point cloud data set of the shape of the panel to be tested can be obtained, and the point cloud data set can be divided into a vertical point cloud and a horizontal point cloud according to the normal vector of the point cloud data set.

[0106] It should be understood that a vertical point cloud is a set of point clouds that are parallel to the normal vector of the point cloud data set, and a horizontal point cloud is a set of point clouds that are perpendicular to the normal vector of the point cloud data set.

[0107] S403: The electronic device performs multi-plane segmentation on the horizontal point cloud, and uses the largest plane among the multi-planes as the target plane.

[0108] For example, in order to detect the height value of the glue point in the panel to be tested, the horizontal point cloud can be segmented into multiple planes to obtain a horizontal point cloud of multiple planes. Then, the plane with the largest area can be found in the multiple planes and used as the target plane for subsequent use as a reference plane in the detection process.

[0109] It should be understood that the largest plane among the multiple planes is generally the lowest plane of the panel to be tested (ie, the substrate or single board). When electronic components are arranged on the substrate, the plane area composed of the electronic components is generally smaller than the area of ​​the substrate.

[0110] S404: The electronic device fits the target plane to obtain a plane equation.

[0111] For example, after the target plane is determined, fitting can be performed according to the set of points in the target plane to obtain a plane equation that conforms to the target plane model. For example, the plane equation can be a three-variable linear equation: ax+by+cz-d=0. Fitting the target plane to obtain the plane equation is equivalent to obtaining the coefficients of the three-variable linear equation.

[0112] Optionally, the target plane may be fitted using a RANSAC algorithm to determine the plane equation coefficients of the target plane.

[0113] S405: The electronic device visualizes the plane equation and selects a reference frame and a frame to be measured.

[0114] For example, the plane equation is visualized, that is, the point cloud of the plane equation is rendered in real time, so that the inspector can see and touch, enlarge or move the 3D model of the panel to be tested on the computer. For example, the inspector can enlarge or move the 3D model of the panel to be tested through the touch all-in-one machine, interact with the 3D form of the panel to be tested in real time, and quickly locate the abnormal dispensing position.

[0115] At the same time, you can also use the frame selection software to select two ROIs in the visualized 3D model of the panel to be tested, one ROI as the reference frame and the other ROI as the detection frame. By comparing the reference frame and the detection frame, you can determine the glue dispensing condition of the detection frame.

[0116] S406: The electronic device obtains a height threshold range according to the reference frame, and obtains the number of detection points of the frame to be detected that meet the height threshold range.

[0117] Exemplarily, a standard height threshold range can be obtained based on the point cloud dataset in the reference frame, and then the point cloud dataset in the frame to be tested is compared with the height threshold range to obtain the number of detection points (account) of the frame to be tested that meet the height threshold range.

[0118] It should be understood that the height threshold range may include an upper height threshold (diff1), a lower height threshold (diff2), and an average height value (average height), and the maximum value of the height threshold range is the average height value + the upper height threshold, i.e., average height + diff1. The minimum value of the height threshold range is the average height value - the lower height threshold, i.e., average height - diff2.

[0119] S407: The electronic device determines whether the detection points meet the point threshold range.

[0120] Exemplarily, the electronic device may determine whether the glue dispensing of the frame to be tested is qualified by judging whether the number of detection points meets the point threshold range.

[0121] S408: When the number of detection points of the electronic device meets the point threshold range, it is determined that the glue dispensing of the frame to be tested is successful.

[0122] Exemplarily, when the number of points detected by the electronic device meets the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range meets the point threshold range, and the glue dispensing of the frame to be tested is successful.

[0123] S409: When the number of detection points of the electronic device does not meet the point threshold range, it is determined that the dispensing of the frame to be tested has failed.

[0124] Exemplarily, when the number of points detected by the electronic device does not meet the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range does not meet the point threshold range, and the dispensing of the frame to be tested fails.

[0125] It should be noted that, since the glue generally forms an irregular three-dimensional column on the panel to be tested, multiple plane layers will be obtained after multi-plane segmentation, so it can be judged whether the number of detection points in the frame to be tested that meet the height threshold range meets the threshold range. If it meets the threshold range, it can be determined that the glue dispensing of the frame to be tested is successful. On the contrary, if it does not meet the threshold range, it can be determined that the glue dispensing of the frame to be tested has failed.

[0126] It should be understood that the point count threshold range may include a maximum point count threshold (maxcount) and a minimum point count threshold (mincount). When the detection point count account is less than the minimum point count threshold mincount, it means that the number of detection points that meet the height threshold range is too small, and the glue of the frame to be tested is pulled away, leaving only traces of residual glue, and the glue dispensing fails.

[0127] When the number of detection points account is greater than the maximum point threshold maxcount, it means that there are too many detection points that meet the height threshold range, the frame to be tested has glue drawing, and the glue height is too high, so the glue fails.

[0128] When the number of detection points account is greater than the minimum point count threshold mincoun and less than the maximum point count threshold maxcount, it means that the number of detection points that meet the height range is appropriate and the dispensing is successful. Therefore, the dispensing detection method 40 can more accurately detect the dispensing condition of the panel to be tested and improve the production quality of electronic equipment.

[0129] The third embodiment: Figure 6 This is a flow chart of another dispensing detection method provided in an embodiment of the present application. The solution of removing invalid values ​​in advance and downsampling in the dispensing detection method provided in an embodiment of the present application is introduced.

[0130] like Figure 6As shown, illustratively, the embodiment of the present application provides a dispensing detection method 40, which may specifically include the following steps: S4011. The electronic device obtains depth map data of the panel to be tested.

[0131] For example, when it is necessary to detect the glue dispensing of the panel to be tested, the depth map data of the panel to be tested can be first captured and stored by a 3D area array structured light camera, and then the depth map data can be obtained from the 3D area array structured light camera by the glue dispensing detection method 40. Therefore, the use of the 3D area array structured light camera does not require additional lighting, and does not need to consider the shape and color of the glue, which greatly improves the robustness of the detection system.

[0132] It should be understood that a depth map is a two-dimensional image that can represent three-dimensional information, generally represented by grayscale or color levels from near to far. A point cloud is a data set containing multiple points, where each point represents a set of X, Y, Z geometric coordinates and an intensity value.

[0133] S4012. The electronic device traverses the depth map data and removes invalid values.

[0134] Exemplarily, before converting the depth map data into a point cloud data set, all the depth map data may be traversed and invalid values ​​(not a number, NAN) may be removed, thereby further ensuring the authenticity and validity of the depth map data.

[0135] S4013. The electronic device downsamples the depth map data.

[0136] For example, in order to shorten the detection time and improve the detection efficiency, only the key spatial information of the panel and glue to be tested can be retained, and the depth map data can be downsampled, thereby greatly reducing the glue dispensing detection time and ensuring the board passing rhythm of the production line.

[0137] S4014. The electronic device converts the depth map data into a point cloud data set.

[0138] Exemplarily, the point cloud data set is a 3D point cloud, and the electronic device converts the depth map data into a point cloud data set so that other subsequent steps can perform three-dimensional processing.

[0139] S402: The electronic device obtains a normal vector of the point cloud data set, and divides the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector.

[0140] For example, since the point cloud data set of the panel to be tested is also a data point set of the shape of the panel to be tested, the normal vector of the point cloud data set of the shape of the panel to be tested can be obtained, and the point cloud data set can be divided into a vertical point cloud and a horizontal point cloud according to the normal vector of the point cloud data set.

[0141] It should be understood that a vertical point cloud is a set of point clouds that are parallel to the normal vector of the point cloud data set, and a horizontal point cloud is a set of point clouds that are perpendicular to the normal vector of the point cloud data set.

[0142] S403: The electronic device performs multi-plane segmentation on the horizontal point cloud, and uses the largest plane among the multi-planes as the target plane.

[0143] For example, in order to detect the height value of the glue point in the panel to be tested, the horizontal point cloud can be segmented into multiple planes to obtain a horizontal point cloud of multiple planes. Then, the plane with the largest area can be found in the multiple planes and used as the target plane for subsequent use as a reference plane in the detection process.

[0144] It should be understood that the largest plane among the multiple planes is generally the lowest plane of the panel to be tested (ie, the substrate or single board). When electronic components are arranged on the substrate, the plane area composed of the electronic components is generally smaller than the area of ​​the substrate.

[0145] S404: The electronic device fits the target plane to obtain a plane equation.

[0146] For example, after the target plane is determined, fitting can be performed according to the set of points in the target plane to obtain a plane equation that conforms to the target plane model. For example, the plane equation can be a three-variable linear equation: ax+by+cz-d=0. Fitting the target plane to obtain the plane equation is equivalent to obtaining the coefficients of the three-variable linear equation.

[0147] Optionally, the target plane may be fitted using a RANSAC algorithm to determine the plane equation coefficients of the target plane.

[0148] S405: The electronic device visualizes the plane equation and selects a reference frame and a frame to be measured.

[0149] For example, the plane equation is visualized, that is, the point cloud of the plane equation is rendered in real time, so that the inspector can see and touch, enlarge or move the 3D model of the panel to be tested on the computer. For example, the inspector can enlarge or move the 3D model of the panel to be tested through the touch all-in-one machine, interact with the 3D form of the panel to be tested in real time, and quickly locate the abnormal dispensing position.

[0150] At the same time, you can also use the frame selection software to select two ROIs in the visualized 3D model of the panel to be tested, one ROI as the reference frame and the other ROI as the detection frame. By comparing the reference frame and the detection frame, you can determine the glue dispensing condition of the detection frame.

[0151] S406: The electronic device obtains a height threshold range according to the reference frame, and obtains the number of detection points of the frame to be detected that meet the height threshold range.

[0152] Exemplarily, a standard height threshold range can be obtained based on the point cloud dataset in the reference frame, and then the point cloud dataset in the frame to be tested is compared with the height threshold range to obtain the number of detection points (account) of the frame to be tested that meet the height threshold range.

[0153] It should be understood that the height threshold range may include an upper height threshold (diff1), a lower height threshold (diff2), and an average height value (average height), and the maximum value of the height threshold range is the average height value + the upper height threshold, i.e., average height + diff1. The minimum value of the height threshold range is the average height value - the lower height threshold, i.e., average height - diff2.

[0154] S407: The electronic device determines whether the detection points meet the point threshold range.

[0155] Exemplarily, the electronic device may determine whether the glue dispensing of the frame to be tested is qualified by judging whether the number of detection points meets the point threshold range.

[0156] S408: When the number of detection points of the electronic device meets the point threshold range, it is determined that the glue dispensing of the frame to be tested is successful.

[0157] Exemplarily, when the number of points detected by the electronic device meets the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range meets the point threshold range, and the glue dispensing of the frame to be tested is successful.

[0158] S409: When the number of detection points of the electronic device does not meet the point threshold range, it is determined that the dispensing of the frame to be tested has failed.

[0159] Exemplarily, when the number of points detected by the electronic device does not meet the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range does not meet the point threshold range, and the dispensing of the frame to be tested fails.

[0160] It should be noted that, since the glue generally forms an irregular three-dimensional column on the panel to be tested, multiple plane layers will be obtained after multi-plane segmentation, so it can be judged whether the number of detection points in the frame to be tested that meet the height threshold range meets the threshold range. If it meets the threshold range, it can be determined that the glue dispensing of the frame to be tested is successful. On the contrary, if it does not meet the threshold range, it can be determined that the glue dispensing of the frame to be tested has failed.

[0161] It should be understood that the point count threshold range may include a maximum point count threshold (maxcount) and a minimum point count threshold (mincount). When the detection point count account is less than the minimum point count threshold mincount, it means that the number of detection points that meet the height threshold range is too small, and the glue of the frame to be tested is pulled away, leaving only traces of residual glue, and the glue dispensing fails.

[0162] When the number of detection points account is greater than the maximum point threshold maxcount, it means that there are too many detection points that meet the height threshold range, the frame to be tested has glue drawing, and the glue height is too high, so the glue fails.

[0163] When the number of detection points account is greater than the minimum point count threshold mincoun and less than the maximum point count threshold maxcount, it means that the number of detection points that meet the height range is appropriate and the dispensing is successful. Therefore, the dispensing detection method 40 can more accurately detect the dispensing condition of the panel to be tested and improve the production quality of electronic equipment.

[0164] Fourth embodiment: Figure 7 This is a flow chart of another dispensing detection method provided in an embodiment of the present application. The solution of performing spatial leveling correction on the maximum plane in the dispensing detection method provided in an embodiment of the present application is introduced.

[0165] like Figure 7 As shown, illustratively, the embodiment of the present application provides a dispensing detection method 40, which may specifically include the following steps: S401 : The electronic device obtains depth map data of the panel to be tested, and converts the depth map data into a point cloud data set.

[0166] For example, when it is necessary to detect the glue dispensing of the panel to be tested, the depth map data of the panel to be tested can be first captured and stored by a 3D area array structured light camera, and then the depth map data can be obtained from the 3D area array structured light camera by the glue dispensing detection method 40, and the depth map data can be converted into a point cloud data set. Therefore, the use of a 3D area array structured light camera does not require additional lighting, and does not need to consider the shape and color of the glue, which greatly improves the robustness of the detection system.

[0167] It should be understood that a depth map is a two-dimensional image that can represent three-dimensional information, generally represented by grayscale or color levels from near to far. A point cloud is a data set containing multiple points, where each point represents a set of X, Y, Z geometric coordinates and an intensity value.

[0168] S402: The electronic device obtains a normal vector of the point cloud data set, and divides the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector.

[0169] For example, since the point cloud data set of the panel to be tested is also a data point set of the shape of the panel to be tested, the normal vector of the point cloud data set of the shape of the panel to be tested can be obtained, and the point cloud data set can be divided into a vertical point cloud and a horizontal point cloud according to the normal vector of the point cloud data set.

[0170] It should be understood that a vertical point cloud is a set of point clouds that are parallel to the normal vector of the point cloud data set, and a horizontal point cloud is a set of point clouds that are perpendicular to the normal vector of the point cloud data set.

[0171] S403: The electronic device performs multi-plane segmentation on the horizontal point cloud, and uses the largest plane among the multi-planes as the target plane.

[0172] For example, in order to detect the height value of the glue point in the panel to be tested, the horizontal point cloud can be segmented into multiple planes to obtain a horizontal point cloud of multiple planes. Then, the plane with the largest area can be found in the multiple planes and used as the target plane for subsequent use as a reference plane in the detection process.

[0173] It should be understood that the largest plane among the multiple planes is generally the lowest plane of the panel to be tested (ie, the substrate or single board). When electronic components are arranged on the substrate, the plane area composed of the electronic components is generally smaller than the area of ​​the substrate.

[0174] S404: The electronic device fits the target plane to obtain a plane equation.

[0175] For example, after the target plane is determined, fitting can be performed according to the set of points in the target plane to obtain a plane equation that conforms to the target plane model. For example, the plane equation can be a three-variable linear equation: ax+by+cz-d=0. Fitting the target plane to obtain the plane equation is equivalent to obtaining the coefficients of the three-variable linear equation.

[0176] Optionally, the target plane may be fitted using a RANSAC algorithm to determine the plane equation coefficients of the target plane.

[0177] S4041. The electronic device performs spatial leveling correction on the maximum plane according to the plane equation.

[0178] For example, due to the special imaging principle of 3D structured light cameras, the imaging may be tilted. In order to obtain more accurate reference frames and test frames and prevent irregular plane equations from affecting the detection results, the maximum plane can be spatially leveled according to the plane equation before the plane equation is visualized. This can correct the problems of one side being high and the other side being low caused by 3D array structured light imaging, track vibration of the board platform, and unstable docking of the single board to a certain extent, so that only one reference frame, that is, the reference plane detection frame (base), can be drawn to determine the reference plane of all the test frames (detect) of the entire single board, without the need to repeatedly draw multiple reference frames.

[0179] S405: The electronic device visualizes the plane equation and selects a reference frame and a frame to be measured.

[0180] For example, the plane equation is visualized, that is, the point cloud of the plane equation is rendered in real time, so that the inspector can see and touch, enlarge or move the 3D model of the panel to be tested on the computer. For example, the inspector can enlarge or move the 3D model of the panel to be tested through the touch all-in-one machine, interact with the 3D form of the panel to be tested in real time, and quickly locate the abnormal dispensing position.

[0181] At the same time, you can also use the frame selection software to select two ROIs in the visualized 3D model of the panel to be tested, one ROI as the reference frame and the other ROI as the detection frame. By comparing the reference frame and the detection frame, you can determine the glue dispensing condition of the detection frame.

[0182] S406: The electronic device obtains a height threshold range according to the reference frame, and obtains the number of detection points of the frame to be detected that meet the height threshold range.

[0183] Exemplarily, a standard height threshold range can be obtained based on the point cloud dataset in the reference frame, and then the point cloud dataset in the frame to be tested is compared with the height threshold range to obtain the number of detection points (account) of the frame to be tested that meet the height threshold range.

[0184] It should be understood that the height threshold range may include an upper height threshold (diff1), a lower height threshold (diff2), and an average height value (average height), and the maximum value of the height threshold range is the average height value + the upper height threshold, i.e., average height + diff1. The minimum value of the height threshold range is the average height value - the lower height threshold, i.e., average height - diff2.

[0185] S407: The electronic device determines whether the detection points meet the point threshold range.

[0186] Exemplarily, the electronic device may determine whether the glue dispensing of the frame to be tested is qualified by judging whether the number of detection points meets the point threshold range.

[0187] S408: When the number of detection points of the electronic device meets the point threshold range, it is determined that the glue dispensing of the frame to be tested is successful.

[0188] Exemplarily, when the number of points detected by the electronic device meets the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range meets the point threshold range, and the glue dispensing of the frame to be tested is successful.

[0189] S409: When the number of detection points of the electronic device does not meet the point threshold range, it is determined that the dispensing of the frame to be tested has failed.

[0190] Exemplarily, when the number of points detected by the electronic device does not meet the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range does not meet the point threshold range, and the dispensing of the frame to be tested fails.

[0191] It should be noted that, since the glue generally forms an irregular three-dimensional column on the panel to be tested, multiple plane layers will be obtained after multi-plane segmentation, so it can be judged whether the number of detection points in the frame to be tested that meet the height threshold range meets the threshold range. If it meets the threshold range, it can be determined that the glue dispensing of the frame to be tested is successful. On the contrary, if it does not meet the threshold range, it can be determined that the glue dispensing of the frame to be tested has failed.

[0192] It should be understood that the point count threshold range may include a maximum point count threshold (maxcount) and a minimum point count threshold (mincount). When the detection point count account is less than the minimum point count threshold mincount, it means that the number of detection points that meet the height threshold range is too small, and the glue of the frame to be tested is pulled away, leaving only traces of residual glue, and the glue dispensing fails.

[0193] When the number of detection points account is greater than the maximum point threshold maxcount, it means that there are too many detection points that meet the height threshold range, the frame to be tested has glue drawing, and the glue height is too high, so the glue fails.

[0194] When the number of detection points account is greater than the minimum point count threshold mincoun and less than the maximum point count threshold maxcount, it means that the number of detection points that meet the height range is appropriate and the dispensing is successful. Therefore, the dispensing detection method 40 can more accurately detect the dispensing condition of the panel to be tested and improve the production quality of electronic equipment.

[0195] The fifth embodiment: Figure 8 This is a flow chart of another dispensing detection method provided in an embodiment of the present application. The solution of performing local filtering on the reference frame and the frame to be detected in the dispensing detection method provided in an embodiment of the present application is introduced.

[0196] like Figure 8 As shown, illustratively, the embodiment of the present application provides a dispensing detection method 40, which may specifically include the following steps: S401 : The electronic device obtains depth map data of the panel to be tested, and converts the depth map data into a point cloud data set.

[0197] For example, when it is necessary to detect the glue dispensing of the panel to be tested, the depth map data of the panel to be tested can be first captured and stored by a 3D area array structured light camera, and then the depth map data can be obtained from the 3D area array structured light camera by the glue dispensing detection method 40, and the depth map data can be converted into a point cloud data set. Therefore, the use of a 3D area array structured light camera does not require additional lighting, and does not need to consider the shape and color of the glue, which greatly improves the robustness of the detection system.

[0198] It should be understood that a depth map is a two-dimensional image that can represent three-dimensional information, generally represented by grayscale or color levels from near to far. A point cloud is a data set containing multiple points, where each point represents a set of X, Y, Z geometric coordinates and an intensity value.

[0199] S402: The electronic device obtains a normal vector of the point cloud data set, and divides the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector.

[0200] For example, since the point cloud data set of the panel to be tested is also a data point set of the shape of the panel to be tested, the normal vector of the point cloud data set of the shape of the panel to be tested can be obtained, and the point cloud data set can be divided into a vertical point cloud and a horizontal point cloud according to the normal vector of the point cloud data set.

[0201] It should be understood that a vertical point cloud is a set of point clouds that are parallel to the normal vector of the point cloud data set, and a horizontal point cloud is a set of point clouds that are perpendicular to the normal vector of the point cloud data set.

[0202] S403: The electronic device performs multi-plane segmentation on the horizontal point cloud, and uses the largest plane among the multi-planes as the target plane.

[0203] For example, in order to detect the height value of the glue point in the panel to be tested, the horizontal point cloud can be segmented into multiple planes to obtain a horizontal point cloud of multiple planes. Then, the plane with the largest area can be found in the multiple planes and used as the target plane for subsequent use as a reference plane in the detection process.

[0204] It should be understood that the largest plane among the multiple planes is generally the lowest plane of the panel to be tested (ie, the substrate or single board). When electronic components are arranged on the substrate, the plane area composed of the electronic components is generally smaller than the area of ​​the substrate.

[0205] S404: The electronic device fits the target plane to obtain a plane equation.

[0206] For example, after the target plane is determined, fitting can be performed according to the set of points in the target plane to obtain a plane equation that conforms to the target plane model. For example, the plane equation can be a three-variable linear equation: ax+by+cz-d=0. Fitting the target plane to obtain the plane equation is equivalent to obtaining the coefficients of the three-variable linear equation.

[0207] Optionally, the target plane may be fitted using a RANSAC algorithm to determine the plane equation coefficients of the target plane.

[0208] S405: The electronic device visualizes the plane equation and selects a reference frame and a frame to be measured.

[0209] For example, the plane equation is visualized, that is, the point cloud of the plane equation is rendered in real time, so that the inspector can see and touch, enlarge or move the 3D model of the panel to be tested on the computer. For example, the inspector can enlarge or move the 3D model of the panel to be tested through the touch all-in-one machine, interact with the 3D form of the panel to be tested in real time, and quickly locate the abnormal dispensing position.

[0210] At the same time, you can also use the frame selection software to select two ROIs in the visualized 3D model of the panel to be tested, one ROI as the reference frame and the other ROI as the detection frame. By comparing the reference frame and the detection frame, you can determine the glue dispensing condition of the detection frame.

[0211] S4051. The electronic device performs local filtering on the reference frame and the frame to be measured.

[0212] Exemplarily, before obtaining the height threshold range according to the reference frame, local filtering is performed on the reference frame and the frame to be tested, which can avoid a large-area filtering process, thereby reducing the detection time of the dispensing detection method and further compressing the detection time of the computed tomography image (CT).

[0213] S406: The electronic device obtains a height threshold range according to the reference frame, and obtains the number of detection points of the frame to be detected that meet the height threshold range.

[0214] Exemplarily, a standard height threshold range can be obtained based on the point cloud dataset in the reference frame, and then the point cloud dataset in the frame to be tested is compared with the height threshold range to obtain the number of detection points (account) of the frame to be tested that meet the height threshold range.

[0215] It should be understood that the height threshold range may include an upper height threshold (diff1), a lower height threshold (diff2), and an average height value (average height), and the maximum value of the height threshold range is the average height value + the upper height threshold, i.e., average height + diff1. The minimum value of the height threshold range is the average height value - the lower height threshold, i.e., average height - diff2.

[0216] S407: The electronic device determines whether the detection points meet the point threshold range.

[0217] Exemplarily, the electronic device may determine whether the glue dispensing of the frame to be tested is qualified by judging whether the number of detection points meets the point threshold range.

[0218] S408: When the number of detection points of the electronic device meets the point threshold range, it is determined that the glue dispensing of the frame to be tested is successful.

[0219] Exemplarily, when the number of points detected by the electronic device meets the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range meets the point threshold range, and the glue dispensing of the frame to be tested is successful.

[0220] S409: When the number of detection points of the electronic device does not meet the point threshold range, it is determined that the dispensing of the frame to be tested has failed.

[0221] Exemplarily, when the number of points detected by the electronic device does not meet the point threshold range, it means that the number of points within the frame to be tested that meet the height threshold range does not meet the point threshold range, and the dispensing of the frame to be tested fails.

[0222] It should be noted that, since the glue generally forms an irregular three-dimensional column on the panel to be tested, multiple plane layers will be obtained after multi-plane segmentation, so it can be judged whether the number of detection points in the frame to be tested that meet the height threshold range meets the threshold range. If it meets the threshold range, it can be determined that the glue dispensing of the frame to be tested is successful. On the contrary, if it does not meet the threshold range, it can be determined that the glue dispensing of the frame to be tested has failed.

[0223] It should be understood that the point count threshold range may include a maximum point count threshold (maxcount) and a minimum point count threshold (mincount). When the detection point count account is less than the minimum point count threshold mincount, it means that the number of detection points that meet the height threshold range is too small, and the glue of the frame to be tested is pulled away, leaving only traces of residual glue, and the glue dispensing fails.

[0224] When the number of detection points account is greater than the maximum point threshold maxcount, it means that there are too many detection points that meet the height threshold range, the frame to be tested has glue drawing, and the glue height is too high, so the glue fails.

[0225] When the number of detection points account is greater than the minimum point count threshold mincoun and less than the maximum point count threshold maxcount, it means that the number of detection points that meet the height range is appropriate and the dispensing is successful. Therefore, the dispensing detection method 40 can more accurately detect the dispensing condition of the panel to be tested and improve the production quality of electronic equipment.

[0226] Therefore, the dispensing detection method 40 provided in the embodiment of the present application first obtains the depth map data of the panel to be tested, and converts the depth map data into a point cloud data set. Then the normal vector of the point cloud data set is obtained, and the point cloud data set is divided into a vertical point cloud and a horizontal point cloud according to the normal vector. Then the horizontal point cloud is segmented into multiple planes, and the largest plane in the multiple planes is used as the target plane. Then the target plane is fitted to obtain the plane equation. Then the plane equation is visualized, and the reference frame and the frame to be tested are selected. Then the height threshold range is obtained according to the reference frame, and the number of detection points that meet the height threshold range of the frame to be tested is obtained. Finally, when the number of detection points meets the point number threshold range, it is determined that the dispensing of the frame to be tested is successful. Thereby, the dispensing situation of the panel to be tested is detected from a three-dimensional level, and the detection result is more accurate, thereby effectively improving the production quality of electronic equipment.

[0227] Combine the following Figures 9 and 10 , and then a detection system using 3D point cloud data to detect whether the glue dispensing of the panel to be tested is successful is introduced in detail.

[0228] First embodiment: Fig. 9 A schematic diagram of the structure of a detection system provided in an embodiment of the present application.

[0229] like Fig. 9 As shown, illustratively, an embodiment of the present application provides a detection system 50, which may include an assembly line module 501, a three-dimensional camera module 502 and a control module 503. The assembly line module 501 is used to transport the panel to be tested at a preset speed. The three-dimensional camera module 502 is arranged above the assembly line module 501, and the three-dimensional camera module 502 is used to capture a depth map of the panel to be tested. The control module 503 is connected to the assembly line module 501 and the three-dimensional camera module 502, respectively, and the control module 503 is used to control the operation of the assembly line module 501, and determine whether the dispensing of the panel to be tested is successful according to the depth map of the panel to be tested.

[0230] Exemplarily, the 3D camera module 502 may be a 3D structured light camera.

[0231] Exemplarily, the control module 503 may be an electronic device such as an all-in-one machine or a computer with data analysis and calculation functions.

[0232] In the embodiment of the present application, the control module 503 is first used to control the assembly line module 501 to operate, so that the assembly line module 501 controls the panel to be tested to move at a preset speed, thereby facilitating the detection of the dispensing conditions at different positions of the panel to be tested. Then, the control module 503 controls the three-dimensional camera module 502 to operate, and the three-dimensional camera module 502 captures a depth map of the panel to be tested. Finally, the control module 503 determines whether the dispensing of the panel to be tested is successful based on the depth map of the panel to be tested. In other words, the detection system 50, combined with the above-mentioned dispensing detection method 40, can reconstruct the point cloud information on a three-dimensional level based on the real-time thermal conductive gel of the panel to be tested on the assembly line module 501, thereby realizing dispensing error detection and alarm.

[0233] Exemplarily, the detection system 50 may also include a buzzer, which is electrically connected to the control module 503. When the control module 503 detects that the dispensing of the panel to be tested fails, the buzzer sounds an alarm.

[0234] The detection process of the detection system 50 includes: when the panel to be tested fails to pass the detection, the detection system 50 will suspend operation, and the buzzer will sound an alarm. At this time, the detection personnel need to check whether the panel to be tested has failed to dispense glue, such as leaking glue, only glue residue or glue drawing. If the panel to be tested does fail to dispense glue, in addition to re-dispensing the current panel to be tested, it is also possible to trace back whether the previous two panels to be tested have failed to dispense glue.

[0235] It should be noted that, in the detection process of some panels to be tested, three groups of panels to be tested can be used as a unit for glue dispensing detection, so when a problem occurs in a certain panel to be tested, it is necessary to trace back to see whether the previous two panels to be tested have failed in glue dispensing.

[0236] If the panel to be tested does have a dispensing failure phenomenon, and the tester has finished processing the panel to be tested with an alarm, the alarm can be eliminated according to the reset button or reset icon in the detection system 50, so that the detection system 50 can resume operation. If the tester finds that the alarm is a false alarm and the panel to be tested does not have a dispensing failure phenomenon, the reset button or reset icon can be directly clicked to eliminate the alarm and resume operation of the detection system 50. In this way, the dispensing situation of the panel to be tested can be detected from a three-dimensional level, and the detection result is more accurate, which effectively improves the production quality of electronic equipment.

[0237] At the same time, since the detection system 50 adopts a miniaturized and modular detection method, it is compatible with a variety of electronic devices such as straight-screen machines, folding machines, and tablets, and can be promoted and used in outlets, with high versatility. In addition, the detection system 50 in the embodiment of the present application is separated from the dispensing machine, so that the function of a 3D detection system that costs tens of millions of yuan can be achieved at a very low cost, while not interfering with the main line production, and the downtime can be isolated at any time, which can further improve the production quality and production efficiency of electronic equipment.

[0238] Second embodiment: Fig.10 This is a schematic diagram of the structure of another detection system provided in an embodiment of the present application. The solution of adding an alarm module and a bracket module to the detection system provided in an embodiment of the present application is introduced.

[0239] like Fig.10 As shown, illustratively, an embodiment of the present application provides a detection system 50, which may include an assembly line module 501, a three-dimensional camera module 502, a control module 503, an alarm module 504 and / or a bracket module 505. The assembly line module 501 is used to transport the panel to be tested at a preset speed. The three-dimensional camera module 502 is arranged above the assembly line module 501, and the three-dimensional camera module 502 is used to capture a depth map of the panel to be tested. The control module 503 is connected to the assembly line module 501 and the three-dimensional camera module 502, respectively, and the control module 503 is used to control the operation of the assembly line module 501, and determine whether the dispensing of the panel to be tested is successful based on the depth map of the panel to be tested.

[0240] Exemplarily, the 3D camera module 502 may be a 3D structured light camera.

[0241] Exemplarily, the control module 503 may be an electronic device such as an all-in-one machine or a computer with data analysis and calculation functions.

[0242] It should be noted that the alarm module 504 is connected to the control module 503, and the alarm module 504 is used to alarm when the panel to be tested fails to dispense glue, so as to remind the inspection personnel to check the panel to be tested that has not dispensed glue successfully in time, and improve the production quality of the panel to be tested. The bracket module 505 is arranged above the assembly line module 501, and the three-dimensional camera module 502 is arranged on the bracket module, so that the three-dimensional camera module 502 can be convenient to capture the three-dimensional image of the panel to be tested. Exemplarily, the bracket module 505 can be a magnetic gantry, and an isolation switch can be set on the magnetic gantry. When the isolation switch is set to "0", the isolation process of the three-dimensional camera module 502 can be realized.

[0243] In the embodiment of the present application, the control module 503 is first used to control the assembly line module 501 to operate, so that the assembly line module 501 controls the panel to be tested to move at a preset speed, thereby facilitating the detection of the dispensing conditions at different positions of the panel to be tested. Then, the control module 503 controls the three-dimensional camera module 502 to operate, and the three-dimensional camera module 502 captures a depth map of the panel to be tested. Finally, the control module 503 determines whether the dispensing of the panel to be tested is successful based on the depth map of the panel to be tested. In other words, the detection system 50, combined with the above-mentioned dispensing detection method 40, can reconstruct the point cloud information on a three-dimensional level based on the real-time thermal conductive gel of the panel to be tested on the assembly line module 501, thereby realizing dispensing error detection and alarm.

[0244] Exemplarily, the detection system 50 may also include a buzzer, which is electrically connected to the control module 503. When the control module 503 detects that the dispensing of the panel to be tested fails, the buzzer sounds an alarm.

[0245] The detection process of the detection system 50 includes: when the panel to be tested fails to pass the detection, the detection system 50 will suspend operation, and the alarm light of the alarm module 504 will sound, and the buzzer will sound an alarm. At this time, the detection personnel need to check whether the panel to be tested has failed to dispense glue, such as leaking glue, only glue residue or glue drawing. If the panel to be tested does fail to dispense glue, in addition to re-dispensing the current panel to be tested, it is also possible to trace back whether the previous two panels to be tested have failed to dispense glue.

[0246] It should be noted that, in the detection process of some panels to be tested, three groups of panels to be tested can be used as a unit for glue dispensing detection, so when a problem occurs in a certain panel to be tested, it is necessary to trace back to see whether the previous two panels to be tested have failed in glue dispensing.

[0247] If the panel to be tested does have a dispensing failure phenomenon, and the tester has finished processing the panel to be tested with an alarm, the alarm can be eliminated according to the reset button or reset icon in the detection system 50, so that the detection system 50 can resume operation. If the tester finds that the alarm is a false alarm and the panel to be tested does not have a dispensing failure phenomenon, the reset button or reset icon can be directly clicked to eliminate the alarm and resume operation of the detection system 50. In this way, the dispensing situation of the panel to be tested can be detected from a three-dimensional level, and the detection result is more accurate, which effectively improves the production quality of electronic equipment.

[0248] At the same time, since the detection system 50 adopts a miniaturized and modular detection method, it is compatible with a variety of electronic devices such as straight-screen machines, folding machines, and tablets, and can be promoted and used in outlets, with high versatility. In addition, the detection system 50 in the embodiment of the present application is separated from the dispensing machine, so that the function of a 3D detection system that costs tens of millions of yuan can be achieved at a very low cost, while not interfering with the main line production, and the downtime can be isolated at any time, which can further improve the production quality and production efficiency of electronic equipment.

[0249] In addition, if the detection system 50 has continuous false alarms, affecting the normal production of electronic equipment, the isolation switch on the bracket module 505 (such as the magnetic gantry) can be set to "0" to complete the automatic switching to manual operation, realize the isolation detection equipment operation, and then contact the detection personnel for follow-up processing.

[0250] It should be noted that the above electronic device is embodied in the form of a functional module. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0251] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0252] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0253] The following is an introduction to the electronic equipment applicable to the dispensing detection method provided in the embodiment of the present application. Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.11 The dotted line in the figure indicates that the unit or the module is optional; the electronic device can be used to implement the dispensing detection method described in the above method embodiment.

[0254] Exemplarily, the embodiments of the present application do not specifically limit the type of electronic device. In some specific embodiments, the electronic device can be a straight-plate mobile phone, a folding mobile phone, a wearable device (such as a smart bracelet, a smart watch, a headset, etc.), a tablet computer, a laptop computer, a handheld computer, a notebook computer, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a cellular phone, a personal digital assistant (personal digital assistant, PDA), augmented reality (augmented reality, AR) \ virtual reality (virtual reality, VR) devices and other IOT (Internet of Things, Internet of Things) devices, and can also be televisions, large screens, printers, projectors and other devices. Here, the embodiments of the present application take the electronic device as a computer as an example for exemplary description.

[0255] Exemplarily, the electronic device may include one or more processors 110 and a memory 902. The memory 902 is coupled to the one or more processors 110, and the memory 902 is used to store computer program codes, the computer program codes include computer instructions, and the one or more processors 110 call the computer instructions to enable the electronic device to perform the above-mentioned dispensing detection method.

[0256] It should be noted that Fig.11 The structure shown does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device may include Fig.11 More or fewer components than those shown, or the electronic device may include Fig.11 Combinations of some of the components shown, or the electronic device may include Fig.11 Subassemblies of some of the components shown. Fig.11 The components shown may be implemented in hardware, software, or a combination of software and hardware.

[0257] Among them, the processor 110 can be a general-purpose processor or a special-purpose processor. For example, the processor 110 can be a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, a neural network processor (NPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, such as discrete gates, transistor logic devices or discrete hardware components. Different processors can be independent devices or integrated devices. The controller can generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0258] The processor 110 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may store instructions or data that the processor 110 has just used or cyclically used. If the processor 110 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0259] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is passed to the application processor. The application processor outputs a sound signal through an audio device, or displays an image or video through a display screen. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be arranged in the same device with other functional modules.

[0260] Optionally, the processor 110 may be used to control the electronic device, execute the software program, and process the data of the software program. The electronic device may also include a communication unit 905 to implement input (reception) and output (transmission) of signals.

[0261] For example, the electronic device may be a chip, and the communication unit 905 may be an input and / or output circuit of the chip, or the communication unit 905 may be a communication interface of the chip, and the chip may be a component of the electronic device or other electronic devices. For another example, the communication unit 905 may be a transceiver of the electronic device, or the communication unit 905 may include one or more memories 902 on which a program 904 is stored, and the program 904 may be executed by the processor 110 to generate an instruction 903, so that the processor 110 executes the dispensing detection method described in the above method embodiment according to the instruction 903.

[0262] Optionally, data may also be stored in the memory 902 .

[0263] Optionally, the processor 110 may also read data stored in the memory 902 . The data may be stored at the same storage address as the program 904 , or may be stored at a different storage address from the program 904 .

[0264] Optionally, the processor 110 and the memory 902 may be provided separately or integrated together, for example, integrated on a system on chip (SOC) of the electronic device.

[0265] Exemplarily, the memory 902 can be used to store the relevant program 904 of the dispensing detection method provided in the embodiment of the present application, and the processor 110 can be used to call the relevant program 904 of the dispensing detection method stored in the memory 902 when executing the dispensing detection method, so as to execute the dispensing detection method of the embodiment of the present application.

[0266] Optionally, the present application also provides a computer program product, which, when executed by the processor 110, implements the dispensing detection method in any method embodiment of the present application.

[0267] For example, the computer program product may be stored in the memory 902 , such as a program 904 , which is converted into an executable target file that can be executed by the processor 110 after preprocessing, compiling, assembling, and linking.

[0268] Optionally, the present application also provides a chip system, which is applied to an electronic device. The chip system includes one or more processors, and the one or more processors are used to call computer instructions to enable the electronic device to execute the dispensing detection method.

[0269] Optionally, the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a computer, the dispensing detection method described in any method embodiment of the present application is implemented. The computer program can be a high-level language program or an executable target program.

[0270] For example, the computer-readable storage medium is, for example, a memory 902. The memory 902 may be a volatile memory or a non-volatile memory, or the memory 902 may include both a volatile memory and a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0271] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0272] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0273] The beneficial effects that can be achieved by the electronic device provided in the above-mentioned embodiment of the present application can refer to the beneficial effects corresponding to the modules provided above, which will not be repeated here.

[0274] It should be understood that the above is only to help those skilled in the art to better understand the embodiments of the present application, rather than to limit the scope of the embodiments of the present application. According to the above examples given, those skilled in the art can obviously make various equivalent modifications or changes. For example, some steps in each embodiment of the above detection method may be unnecessary, or some steps may be newly added. Or a combination of any two or any multiple embodiments of the above. Such modifications, changes or combined solutions also fall within the scope of the embodiments of the present application. In addition, the coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0275] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0276] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0277] It should also be understood that the above description of the embodiments of the present application focuses on emphasizing the differences between the various embodiments. The same or similar points that are not mentioned can be referenced to each other. For the sake of brevity, they will not be repeated here.

[0278] It should also be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0279] It should also be understood that in the embodiments of the present application, "pre-setting" and "pre-definition" can be achieved by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in a device (for example, including an electronic device), and the present application does not limit its specific implementation method.

[0280] It should also be understood that the division of the methods, situations, categories and embodiments in the embodiments of the present application is only for the convenience of description and should not constitute a special limitation. The features of various methods, categories, situations and embodiments can be combined without contradiction.

[0281] It should also be understood that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0282] Finally, it should be noted that the above is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims. In short, the above is only a preferred embodiment of the technical solution of the present application, and is not used to limit the protection scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dispensing detection method, characterized in that: include: Acquire depth map data of the panel to be tested, and convert the depth map data into a point cloud data set; Acquire a normal vector of the point cloud data set, and divide the point cloud data set into a vertical point cloud and a horizontal point cloud according to the normal vector; Performing multi-plane segmentation on the horizontal point cloud, and taking the largest plane among the multi-planes as the target plane; Fitting the target plane to obtain a plane equation; Visualizing the plane equation and selecting a reference frame and a frame to be measured; Acquire a height threshold range according to the reference frame, and acquire the number of detection points of the frame to be detected that meet the height threshold range; When the number of detection points meets the point number threshold range, it is determined that the glue dispensing of the frame to be tested is successful.

2. The dispensing detection method according to claim 1, characterized in that: Before obtaining the depth map data of the panel to be tested, the method further includes: Determine whether the number of preset parameters is correct; the preset parameters include an upper height threshold, a lower height threshold, and a point threshold; When the number of the preset parameters is correct, the detection process continues; When the number of the preset parameters is incorrect, the detection process ends.

3. The dispensing detection method according to claim 2, characterized in that: Before the detection process is terminated, the following steps are also included: Alarm and output error information.

4. The dispensing detection method according to any one of claims 1 to 3, characterized in that: Before converting the depth map data into a point cloud data set, the method further includes: The depth map data is traversed and invalid values ​​are removed.

5. The dispensing detection method according to any one of claims 1 to 3, characterized in that: Before converting the depth map data into a point cloud data set, the method further includes: The depth map data is downsampled.

6. The dispensing detection method according to any one of claims 1 to 3, characterized in that: The target plane is fitted using a random sampling consensus algorithm.

7. The dispensing detection method according to any one of claims 1 to 3, characterized in that: Before visualizing the plane equation, the method further includes: Performing spatial leveling correction on the maximum plane according to the plane equation.

8. The dispensing detection method according to any one of claims 1 to 3, characterized in that: Before acquiring the height threshold range according to the reference frame, the method further includes: Local filtering is performed on the reference frame and the frame to be measured.

9. The dispensing detection method according to any one of claims 1 to 3, characterized in that: The altitude threshold range includes an upper altitude threshold, a lower altitude threshold and an average altitude value; The maximum value of the altitude threshold range is the average altitude value+the altitude upper limit threshold, and the minimum value of the altitude threshold range is the average altitude value-the altitude lower limit threshold.

10. The dispensing detection method according to any one of claims 1 to 3, characterized in that: The point threshold range includes a maximum point threshold and a minimum point threshold; When the number of detection points is less than the minimum point threshold, it is determined that the glue of the frame to be tested is pulled away; When the number of detection points is greater than the maximum point threshold, it is determined that the frame to be tested is glued and wired.

11. A detection system based on the dispensing detection method according to any one of claims 1 to 10, characterized in that: It includes an assembly line module, a three-dimensional camera module and a control module; The assembly line module is used to transport the panel to be tested at a preset speed; The three-dimensional camera module is arranged above the assembly line module, and the three-dimensional camera module is used to capture a depth map of the panel to be tested; The control module is connected to the assembly line module and the three-dimensional camera module respectively. The control module is used to control the operation of the assembly line module and determine whether the dispensing of the panel to be tested is successful according to the depth map of the panel to be tested.

12. The detection system according to claim 11, characterized in that: The detection system also includes an alarm module; The alarm module is connected to the control module, and is used for giving an alarm when the glue dispensing of the panel to be tested fails.

13. The detection system according to claim 11 or 12, characterized in that: The detection system also includes a bracket module; The support module is arranged above the assembly line module, and the three-dimensional camera module is arranged on the support module.

14. The detection system according to any one of claims 11 or 12, characterized in that: The three-dimensional camera module includes a three-dimensional structured light camera.

15. An electronic device, characterized in that: The electronic device includes: one or more processors, and a memory; The memory is coupled to the one or more processors, and the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method according to any one of claims 1 to 10.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes instructions, and when the instructions are executed on an electronic device, the electronic device executes the method according to any one of claims 1 to 10.

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