Display panel film tearing control method and device, terminal equipment and storage medium

Abstract

The invention provides a film tearing control method and device for a display panel, terminal equipment and a storage medium, the method is applied to a laminating machine table, and the method comprises the steps that after the display panel to be subjected to film tearing is placed on a platform of the laminating machine table, a visual image of the display panel to be subjected to film tearing is acquired; identifying and analyzing the visual image, and determining actual pose information corresponding to the display panel to be subjected to film tearing; the actual pose information comprises an actual coordinate position and actual angle information; acquiring a preset reference pose; the preset reference pose is a preset and stored position which is fixed relative to a coordinate system of the laminating machine table; determining a pose deviation value according to the actual pose information and a preset reference pose; the pose deviation value comprises a coordinate deviation value and an angle deviation value; the platform is driven to move according to the pose deviation value, so that the actual pose information is aligned with a preset reference pose; and controlling the manipulator to carry out film tearing operation according to the preset fixed film tearing angle position. According to the method, the film tearing efficiency can be improved when the display panels with different sizes are subjected to film tearing.

Description

Technical Field

[0001] This application relates to the field of display panel technology, and in particular to a method, apparatus, terminal device and storage medium for controlling the peeling of a display panel. Background Technology

[0002] As the manufacturing processes for display panels have matured, using laminating machines to peel off the protective film from display panels has become a common industry practice. However, due to the diverse sizes and specifications of display panels, in actual production, it is necessary to pre-determine the corresponding peeling angle position for panels of different sizes, and then control the laminating machine to perform the peeling operation based on that position.

[0003] Combination Figure 1 The diagram illustrates the process of tearing the film based on the tearing corner position. In current technical solutions, determining the tearing corner position generally involves: pre-setting visual templates for display panels of different sizes and determining gripping points A and B within these templates; determining the midpoint C of line segment AB as a reference point; determining the tearing corner position within the visual template and calculating its offset relative to reference point C. During actual alignment, the actual gripping points a and b of the display panel to be peeled are acquired, and the actual center point c of line segment AB is determined; the motion control system drives the platform to move and rotate, aligning the actual center point c of the display panel to be peeled with the reference point C, and ensuring that the actual line segment AB is completely parallel to the standard line segment AB. Based on this, the actual tearing corner position is determined on the display panel according to the offset, and the tearing operation is performed based on this actual tearing corner position. In other words, the actual tearing angle position needs to be changed according to the size of the display panel for different display panels. This means that every time a different size display panel is replaced, the tearing angle position needs to be readjusted according to the size of the display panel, which makes the operation cumbersome and inefficient.

[0004] Therefore, improving the efficiency of film removal when peeling film off display panels of different sizes is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, terminal device, computer-readable storage medium, and computer program product for controlling the film removal of display panels, which aims to improve the film removal efficiency when removing film from display panels of different sizes.

[0006] In a first aspect, this application provides a method for controlling the peeling of a display panel. Applied to a lamination machine, the method includes: After placing the display panel with the film to be peeled on the platform of the bonding machine, a visual image of the display panel with the film to be peeled is obtained; The visual image is identified and analyzed to determine the actual pose information corresponding to the display panel to be peeled off; the actual pose information includes actual coordinate position and actual angle information. Obtain a preset reference pose; the preset reference pose is a pre-set and stored position fixed relative to the coordinate system of the fitting machine; the preset reference pose includes reference coordinates and reference angles; Based on the actual pose information and the preset reference pose, the pose deviation is determined; the pose deviation includes coordinate deviation and angle deviation. The platform is driven to move according to the pose deviation, so that the actual pose information is aligned with the preset reference pose. The robotic arm is controlled to perform the film-tearing operation at a preset fixed film-tearing angle position.

[0007] In one embodiment, the process of determining the preset reference pose includes: The positions with physical location characteristics on the bonding machine are calibrated to obtain the preset reference pose.

[0008] In one embodiment, the process of determining the preset reference pose includes: A preset position and a preset angle are set in the coordinate system of the bonding machine as the preset reference pose.

[0009] In one embodiment, after driving the platform to move according to the pose deviation to align the actual pose information with the preset reference pose, the method further includes: Obtain the alignment image of the display panel to be peeled off; The alignment image is identified and analyzed to determine the updated pose information corresponding to the display panel with the film to be peeled off; Determine the difference between the updated pose information and the preset reference pose; Determine whether the difference is greater than a preset difference threshold; If the difference is greater than the preset difference threshold, the pose deviation is determined based on the difference, and the process returns to the step of driving the platform to move based on the pose deviation to align the actual pose information with the preset reference pose.

[0010] In one embodiment, the step of recognizing and analyzing the visual image to determine the actual pose information corresponding to the display panel with the film to be peeled off includes: Multiple feature points of the display panel to be peeled off are identified in the visual image; Based on the multiple feature points, the estimated pose information corresponding to the display panel of the film to be peeled off is determined respectively; The actual pose information is determined based on multiple estimated pose information.

[0011] In one embodiment, determining the actual pose information based on a plurality of the estimated pose information includes: Obtain the weight value corresponding to each feature point; The actual pose information is calculated by weighting multiple estimated pose information and the weight values ​​of the feature points corresponding to each estimated pose information.

[0012] In one embodiment, after the controlled robotic arm performs the film-tearing operation at a preset fixed film-tearing angle position, the method further includes: The test checks whether the film on the display panel to be peeled off has been successfully separated. If the separation fails, a corresponding prompt message will be generated and sent.

[0013] Secondly, this application also provides a film-peeling control device for a display panel. Applied to a laminating machine, the device includes: The first acquisition module is used to acquire a visual image of the display panel to be peeled after placing the display panel to be peeled on the platform of the bonding machine. The actual pose information determination module is used to identify and analyze the visual image to determine the actual pose information corresponding to the display panel to be peeled off; the actual pose information includes actual coordinate position and actual angle information; The second acquisition module is used to acquire a preset reference pose; the preset reference pose is a pre-set and stored position fixed relative to the coordinate system of the fitting machine; the preset reference pose includes reference coordinates and reference angles; The pose deviation determination module is used to determine the pose deviation based on the actual pose information and the preset reference pose; the pose deviation includes coordinate deviation and angle deviation. The alignment module is used to drive the platform to move according to the pose deviation, so that the actual pose information is aligned with the preset reference pose. The control module is used to control the robotic arm to perform the film tearing operation according to the preset fixed film tearing angle position.

[0014] Thirdly, this application also provides a terminal device. The terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0015] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described above.

[0016] This application provides a method for controlling the peeling of film on a display panel. By pre-establishing a preset reference pose fixed relative to the coordinate system of the bonding machine, and acquiring a visual image of the display panel to be peeled, the method determines the actual pose information corresponding to the panel. Based on the actual pose information and the preset reference pose, the method determines the pose deviation and drives the platform to move according to the deviation, aligning the actual pose information with the preset reference pose. This allows the robotic arm to perform the peeling operation at a preset fixed peeling angle position. Therefore, when peeling film from display panels of different sizes using this method, it is not necessary to adjust the peeling angle position for each panel individually. Thus, this method can improve peeling efficiency when peeling film from display panels of different sizes.

[0017] It is understood that the display panel film peeling control device, terminal equipment, computer-readable storage medium and computer program product provided in the embodiments of this application have the same beneficial effects as the above-described display panel film peeling control method, and will not be repeated here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram illustrating the existing technology of tearing film based on the tearing corner position; Figure 2 A flowchart illustrating a method for controlling the peeling of a display panel, as provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the process of tearing film based on the tearing corner position in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a film-peeling control device for a display panel provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0021] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0022] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0024] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0026] The present application provides a method for controlling the peeling of a display panel, which can be executed by the controller of the laminating machine when running a corresponding computer program.

[0027] The laminating machine typically includes a platform, a robotic arm, a motion control system, a vision positioning device, and a controller. The platform is used to support and fix the display panel; the robotic arm is used to perform the film peeling operation; the motion control system is used to control the platform to adjust its coordinates and angles; and the vision positioning device is used to acquire a visual image of the display panel to be peeled and send it to the controller to determine the actual pose information of the display panel based on the visual image.

[0028] Figure 2 The flowchart illustrates a method for controlling the peeling of a display panel according to an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The method provided in this embodiment includes the following steps: S100: After placing the display panel to be peeled off on the platform of the laminating machine, obtain a visual image of the display panel to be peeled off.

[0029] Specifically, the display panel to be peeled off refers to a display panel with a film attached; the display panel can be a liquid crystal display panel such as TFT-LCD, an organic light-emitting diode display panel (OLED), a quantum dot display panel (QLED), or a micro-light-emitting diode display panel (Micro-LED panel), etc.; the film can be a protective film, a functional film, or a process auxiliary film, etc.; this embodiment does not limit the type of display panel or the type of film.

[0030] In practical applications, a robotic arm or feeding mechanism can be used to place the display panel to be peeled onto the predetermined position on the platform. After the platform detects that the display panel to be peeled has been placed, it triggers the vision positioning device to take a picture of the display panel to be peeled and obtain the corresponding visual image.

[0031] S200: Recognize and analyze the visual image to determine the actual pose information corresponding to the display panel to be peeled off; the actual pose information includes the actual coordinate position and the actual angle information.

[0032] In this embodiment, the actual state of the display panel to be peeled off is represented by actual coordinate position and actual angle information. The actual coordinate position refers to the precise coordinates of the display panel in the current machine coordinate system, such as the coordinate values ​​(X, Y); the actual angle information refers to the angle by which the display panel rotates around the normal axis perpendicular to the platform in its current state, such as θ.

[0033] In this step, the visual image is identified and analyzed to calculate the actual coordinate position and actual angle information of the display panel to be peeled off in the visual image.

[0034] S300: Obtain the preset reference pose; the preset reference pose is a pre-set and stored position fixed relative to the coordinate system of the fitting machine; the preset reference pose includes reference coordinates and reference angles.

[0035] The preset reference pose refers to fixed pose information pre-set based on the coordinate system of the fitting machine, which is a set of coordinate and angle data. In this embodiment, the preset reference pose includes reference coordinates and reference angles. The reference coordinates can be represented by coordinate points (X_target, Y_target), and the reference angle can be represented by θ_target.

[0036] Specifically, during the calibration phase, a preset reference pose is defined in advance and stored in a preset storage location; when it is necessary to peel off the film on the display panel to be peeled off, the preset reference pose is read from the preset storage location.

[0037] S400: Determine the pose deviation based on the actual pose information and the preset reference pose; the pose deviation includes coordinate deviation and angle deviation.

[0038] The pose deviation refers to the quantified value of the difference between the actual pose information of the display panel to be peeled off and the preset reference pose. Specifically, after determining the actual pose information and obtaining the preset reference pose, the difference between the actual pose information and the preset reference pose is calculated. The actual pose information includes the actual coordinate position and the actual angle information, while the preset reference pose includes the reference coordinates and the reference angle. Therefore, the difference between the actual coordinate position and the reference coordinates is calculated to obtain the coordinate deviation; the difference between the actual angle information and the reference angle is calculated to obtain the angle deviation.

[0039] In a specific example, assuming the actual coordinate position is (X, Y) and the actual angle information is θ; the reference coordinates are (X_target, Y_target) and the reference angle is θ_target; then the coordinate deviation is calculated as (ΔX, ΔY) based on the difference between the reference coordinates and the actual coordinate position, where ΔX = X_target - X and ΔY = Y_target - Y; the angle deviation is calculated as Δθ based on the difference between the reference angle and the actual angle information, where Δθ = θ_target - θ.

[0040] S500: Drives the platform to move according to the pose deviation, so that the actual pose information is aligned with the preset reference pose.

[0041] Specifically, after calculating the coordinate deviation (ΔX, ΔY) and angle deviation Δθ, the coordinate deviation (ΔX, ΔY) and angle deviation Δθ are sent to the motion control system of the bonding machine. The motion control system drives the platform to move according to the posture deviation, so that the actual posture information is aligned with the preset reference posture.

[0042] It should be noted that if ΔX is positive, it means that the X-coordinate of the display panel to be peeled off is less than the horizontal coordinate value in the reference coordinate system, and the platform needs to be moved ΔX distance in the positive X direction; conversely, if ΔX is negative, the platform needs to be moved ΔY distance in the positive Y direction. Similarly, if ΔY is positive, it means that the Y-coordinate of the display panel to be peeled off is less than the vertical coordinate value in the reference coordinate system, and the platform needs to be moved ΔY distance in the positive Y direction; conversely, if ΔY is negative, the platform needs to be moved ΔY distance in the positive Y direction.

[0043] Here, Δθ generally refers to the minimum rotation angle. If Δθ is positive, it means that the display panel to be peeled off needs to be rotated counterclockwise by Δθ angle to align with the reference angle; if Δθ is negative, it means that the display panel to be peeled off needs to be rotated clockwise by Δθ angle to align with the reference angle.

[0044] It is understandable that the driving platform moves to align the actual pose information with the preset reference pose, that is, to make the pose deviation close to 0. At this time, the display panel to be peeled is aligned with the preset reference pose, and its peeling angle is also located at the fixed peeling angle position corresponding to the fixed working point of the robot arm.

[0045] S600: Controls the robotic arm to perform film tearing operations according to the preset fixed film tearing angle position.

[0046] In this step, the fixed tearing angle position is a fixed position predefined in the machine coordinate system. In practical applications, the optimal position for the robot to perform the tearing operation can be determined through multiple trials or logical calculations, and this optimal position can be set as the fixed tearing angle position.

[0047] It should be noted that in practical applications, the robotic arm can move along a fixed path to a preset fixed tearing angle position, or the robotic arm can be already at the preset fixed tearing angle position without additional movement. This embodiment does not limit this.

[0048] In this step, after confirming that the actual pose information is aligned with the preset reference pose, the robotic arm is triggered to perform the film-tearing operation. Specifically, the robotic arm peels the film from the display panel to be peeled according to a preset, fixed film-tearing trajectory. It should be noted that the film-tearing speed can be preset, and the robotic arm can be controlled to perform the film-tearing operation at this speed. The film-tearing trajectory can be a linear motion, a circular motion, or other irregular path; this embodiment does not limit this.

[0049] Figure 3 This is a schematic diagram illustrating the film-tearing operation based on the tearing corner position in an embodiment of this application. For example... Figure 3 As shown, for display panels of different sizes with films to be peeled off, the preset reference pose and the fixed peeling angle position are the same.

[0050] This application provides a method for controlling the peeling of film on a display panel. By pre-establishing a preset reference pose fixed relative to the coordinate system of the bonding machine, and acquiring a visual image of the display panel to be peeled, the method determines the actual pose information corresponding to the panel. Based on the actual pose information and the preset reference pose, the method determines the pose deviation and drives the platform to move according to the deviation, aligning the actual pose information with the preset reference pose. This allows the robotic arm to perform the peeling operation at a preset fixed peeling angle position. Therefore, when peeling film from display panels of different sizes using this method, it is not necessary to adjust the peeling angle position for each panel individually. This method improves peeling efficiency when peeling film from display panels of different sizes.

[0051] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the process of determining the preset reference pose includes: The positions with physical location characteristics on the bonding machine are calibrated to obtain the preset reference pose.

[0052] In practical applications, locations near the film-tearing station and with stable mechanical structures, such as platform screws, pins, and right-angle points on the platform edge, can be used as locations with physical characteristics. A camera is used to calibrate these locations with physical characteristics, and their precise pixel positions are determined in the coordinate system of the vision system to obtain reference coordinates. Angles parallel to the X-axis or Y-axis of the machine coordinate system are set as reference angles, thereby determining the preset reference pose.

[0053] Alternatively, a fixed visual marker can be pre-set. A marker can be pasted at a fixed position near the tear corner of the film on the platform. The marker can be a QR code, a cross, a solid dot, etc. The center of this marker or a certain feature point is used as a fixed reference point, and its precise pixel position is determined in the coordinate system of the vision system to obtain the reference coordinates. Similarly, the angle parallel to the X-axis or Y-axis of the machine coordinate system is set as the reference angle, thereby determining the preset reference pose.

[0054] According to the scheme in this embodiment, the pose of the preset reference point can be determined efficiently and quickly.

[0055] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the process of determining the preset reference pose includes: Set a preset position and preset angle in the coordinate system of the fitting machine as a preset reference pose.

[0056] In this embodiment, a preset position and a preset angle are directly set in the coordinate system of the bonding machine, and the preset position and preset angle are respectively determined as the reference coordinates and reference angles, thereby obtaining the preset reference pose.

[0057] Specifically, you can set the origin of the machine coordinate system as the reference coordinate, or you can set the physical center point of the platform as the reference coordinate, or you can set the position with the best film-tearing effect as the reference coordinate.

[0058] Specifically, you can either set the reference angle to 0° or set a small, non-zero angle value as the reference angle.

[0059] Based on the preset position (reference coordinates) and preset angle (reference angle), the corresponding preset reference pose is obtained.

[0060] In this embodiment, a preset position and preset angle are directly set in the coordinate system of the bonding machine as a preset reference pose, which is simple to operate.

[0061] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, after driving the platform to move according to the pose deviation to align the actual pose information with the preset reference pose, the method further includes: Obtain the alignment image of the display panel to be peeled off; The alignment image is identified and analyzed to determine the updated pose information corresponding to the display panel to be peeled off; Determine the difference between the updated pose information and the preset reference pose; Determine whether the difference is greater than a preset difference threshold; If the difference is greater than the preset difference threshold, the pose deviation is determined based on the difference, and the process returns to the step of driving the platform to move according to the pose deviation to align the actual pose information with the preset reference pose.

[0062] The alignment image refers to the visual image captured again after the platform motion compensation is performed once; that is, after the platform is driven to move according to the pose deviation to align the actual pose information with the preset reference pose, the image of the display panel to be peeled off is captured again by the visual positioning device.

[0063] Among them, updating the pose information refers to the new actual pose information of the display panel to be peeled off after performing compensated motion, obtained by recognizing and analyzing the alignment image.

[0064] In this embodiment, after the motion control system completes the first compensation motion based on the pose deviation (ΔX, ΔY, Δθ), the visual positioning device triggers the capture of the image of the display panel to be peeled off, thus obtaining the positioning image; based on the positioning image, recognition and analysis are performed to obtain the updated pose information (X_updated, Y_updated, θ_updated) corresponding to the display panel to be peeled off.

[0065] Then, calculate the difference between the updated pose information and the preset reference pose: (ΔX_new, ΔY_new, Δθ_new); Where ΔX_new = X_target - X_updated; ΔY_new = Y_target - Y_updated; Δθ_new=θ_target-θ_updated.

[0066] After calculating the difference, the calculated difference is compared with a preset difference threshold to determine whether |ΔX_new|, |ΔY_new|, and |Δθ_new| are within the corresponding preset difference threshold range. The preset difference threshold is a pre-set maximum allowable alignment error; it includes x-coordinate difference threshold, y-coordinate difference threshold, and angle difference threshold, such as (0.005mm, 0.005mm, 0.01°).

[0067] If all three values ​​(|ΔX_new|, |ΔY_new|, and |Δθ_new|) are within their respective preset difference thresholds, it indicates that the completed platform motion has achieved the expected alignment between the actual pose information and the preset reference pose. If any one of the three values ​​exceeds its corresponding preset difference threshold, the currently determined difference (ΔX_new, ΔY_new, Δθ_new) is used as the new pose deviation, and the motion control system drives the platform to perform a second, more refined adjustment.

[0068] According to the method of this embodiment, if the adjustment of the display panel to be peeled off is inaccurate in a single adjustment, a fine adjustment can be made again to ensure that the actual position and pose information is aligned with the preset reference position and pose as expected, thus ensuring the peeling effect of the display panel to be peeled off.

[0069] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, visual images are identified and analyzed to determine the actual pose information corresponding to the display panel to be peeled off, including: Identify multiple feature points of the display panel to be peeled off in the visual image; The estimated pose information corresponding to the display panel with the film to be peeled off is determined based on multiple feature points; The actual pose information is determined based on multiple estimated pose information.

[0070] In this context, a feature point refers to a physical feature on the display panel with a clearly defined position. It can be a corner of the display panel, a specific pattern etched or printed on the display panel, or the center of the display panel. This embodiment does not limit this.

[0071] In this embodiment, for each feature point, corresponding pose information is determined based on that feature point. This pose information is the estimated pose information representing the display panel whose film is to be peeled off. It should be noted that the estimated pose information is a preliminary estimate of the pose information of the display panel whose film is to be peeled off.

[0072] Then, multiple estimated pose information are fused and calculated to obtain the actual pose information corresponding to the display panel to be peeled off.

[0073] According to the method of this embodiment, the corresponding actual pose information is calculated based on multiple feature points of the display panel to be peeled off, making the calculated actual pose information more accurate, thereby improving the accuracy of the peeling operation.

[0074] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the actual pose information is determined based on multiple estimated pose information, including: Obtain the weight value corresponding to each feature point; The actual pose information is calculated by weighting multiple estimated pose information and the weight values ​​of the feature points corresponding to each estimated pose information.

[0075] Specifically, weight values ​​can be set for each feature point based on its type or the confidence level of feature point recognition. For example, if feature point A is an etched cross mark and feature point B is a physical corner point, the weight value for feature point A can be set to 0.6, and the weight value for feature point B can be set to 0.4. Here, recognition confidence level refers to the confidence level when recognizing feature points based on visual images; the higher the recognition confidence level, the higher the corresponding weight value, and vice versa.

[0076] Specifically, after identifying multiple feature points based on the visual image, the weight value corresponding to each feature point is obtained; after determining the estimated pose information corresponding to each feature point, that is, determining the weight value corresponding to each estimated pose information; based on each estimated pose information and its corresponding weight value, the actual pose information corresponding to the display panel to be peeled off is obtained through weighted calculation.

[0077] The method described in this embodiment can more accurately calculate the actual pose information, thereby improving the accuracy of the film-tearing operation.

[0078] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, after controlling the robotic arm to perform the film-tearing operation according to the preset fixed film-tearing angle position, the method further includes: Check whether the film on the display panel to be peeled off has been successfully separated; If the separation fails, a corresponding prompt message will be generated and sent.

[0079] In this embodiment, after controlling the robotic arm to perform the film-tearing operation at a preset fixed film-tearing angle position, it is further detected whether the film on the display panel to be peeled off has been successfully peeled off.

[0080] Specifically, to determine whether the film on the display panel to be peeled off has been successfully separated, the vacuum sensor on the robotic arm can be used to determine in real time whether the film has been successfully gripped and removed; alternatively, the thickness of the film at the same location on the display panel to be peeled off can be measured before and after the peeling operation to determine whether the peeling was successful. If the difference between the thickness measured in the second measurement and the thickness measured in the first measurement is greater than the preset thickness threshold (film thickness), then the peeling was successful; if the thickness measured on both sides does not change or the thickness difference is less than the preset thickness threshold (film thickness), then the peeling was deemed unsuccessful.

[0081] In practical applications, after the film-peeling operation, further inspection can be performed on the display panel to be peeled to check for defects such as adhesive residue, scratches, contamination, and bubbles. If no defects such as adhesive residue, scratches, contamination, or bubbles are detected, it indicates that the film on the display panel to be peeled has been successfully separated, and the process ends or continues with subsequent processes. If defects such as adhesive residue, scratches, contamination, or bubbles are detected, it indicates that the film peeling has failed. Specifically, images of the area of ​​the display panel to be peeled after the film peeling operation can be acquired, and image algorithms can be used to determine whether defects such as adhesive residue, scratches, contamination, or bubbles exist on the display panel to be peeled.

[0082] In this embodiment, after determining that the film removal operation has failed, a corresponding prompt message is generated and sent to the corresponding prompting device to alert the technician that there is an abnormality in the current film removal operation.

[0083] According to the method of this embodiment, after performing the film-tearing operation, it is further determined whether the film-tearing operation is successful, which can further ensure the reliability of the film-tearing operation.

[0084] It should be understood that the sequence number of each step in the above embodiments does not imply 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 this application.

[0085] It should be noted that the information collection process (such as the facial image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is carried out with the user's knowledge and permission. That is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0086] Figure 4 The diagram shown is a structural schematic of a film-peeling control device for a display panel according to an embodiment of this application. Figure 4 As shown, the film-peeling control device for the display panel in this embodiment is applied to a laminating machine and includes a first acquisition module 410, an actual pose information determination module 420, a second acquisition module 430, a pose deviation determination module 440, an alignment module 450, and a control module 460; wherein, The first acquisition module 410 is used to acquire a visual image of the display panel to be peeled after placing the display panel to be peeled on the platform of the bonding machine. The actual pose information determination module 420 is used to identify and analyze the visual image to determine the actual pose information corresponding to the display panel to be peeled off; the actual pose information includes the actual coordinate position and the actual angle information. The second acquisition module 430 is used to acquire a preset reference pose; the preset reference pose is a pre-set and stored position fixed relative to the coordinate system of the fitting machine; the preset reference pose includes reference coordinates and reference angles; The pose deviation determination module 440 is used to determine the pose deviation based on the actual pose information and the preset reference pose; the pose deviation includes coordinate deviation and angle deviation. Alignment module 450 is used to drive the platform to move according to the pose deviation, so that the actual pose information is aligned with the preset reference pose. The control module 460 is used to control the robotic arm to perform the film tearing operation according to the preset fixed film tearing angle position.

[0087] The tear-off control device for a display panel provided in this application embodiment has the same beneficial effects as the tear-off control method for a display panel described above.

[0088] In one embodiment, the second acquisition module includes: The calibration setting submodule is used to calibrate the positions with physical positional characteristics on the bonding machine to obtain the preset reference pose.

[0089] In one embodiment, the second acquisition module includes: The pose setting submodule is used to set a preset position and preset angle in the machine tool coordinate system as a preset reference pose.

[0090] In one embodiment, a film-peeling control device for a display panel further includes: Alignment image acquisition module, used to acquire alignment images of the display panel to be peeled off; The updated pose information acquisition module is used to identify and analyze the alignment image to determine the updated pose information corresponding to the display panel to be peeled off. The difference determination module is used to determine the difference between the updated pose information and the preset reference pose. The judgment module is used to determine whether the difference is greater than a preset difference threshold. The execution module is used to determine the pose deviation based on the difference if it is greater than a preset difference threshold, and then call the alignment module.

[0091] In one embodiment, the actual pose information determination module includes: The multi-feature point determination submodule is used to determine multiple feature points of the display panel to be peeled off in the visual image; The estimated pose information determination submodule is used to determine the estimated pose information corresponding to the display panel to be peeled off based on multiple feature points; The actual pose information determination submodule is used to determine the actual pose information based on multiple estimated pose information.

[0092] In one embodiment, the actual pose information determination submodule includes: The weight value acquisition unit is used to acquire the weight value corresponding to each feature point; The actual pose information calculation unit is used to calculate the actual pose information by weighting multiple estimated pose information and the weight values ​​of the feature points corresponding to each estimated pose information.

[0093] In one embodiment, a film-peeling control device for a display panel further includes: The separation success judgment module is used to detect whether the film on the display panel to be peeled off has been successfully separated; The prompt module is used to generate and send corresponding prompt messages if the separation is unsuccessful.

[0094] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0095] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0096] Figure 5 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Figure 5 As shown, the terminal device 500 of this embodiment includes a memory 510, a processor 520, and a computer program 530 stored in the memory 510 and executable on the processor 520; when the processor 520 executes the computer program 530, it implements the steps in the above-described embodiments of the film-peeling control method for each display panel; or when the processor 520 executes the computer program 530, it implements the functions of each module / unit in the above-described embodiments of the devices.

[0097] For example, the computer program 530 can be divided into one or more modules / units, one or more of which are stored in the memory 510 and executed by the processor 520 to implement the method of the embodiments of this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 530 in the terminal device 500. For example, the computer program 530 can be divided into a first acquisition module, an actual pose information determination module, a second acquisition module, a pose deviation determination module, an alignment module, and a control module, with the specific functions of each module as follows: The first acquisition module is used to acquire a visual image of the display panel to be peeled after placing the display panel to be peeled on the platform of the bonding machine. The actual pose information determination module is used to identify and analyze visual images to determine the actual pose information corresponding to the display panel to be peeled off; the actual pose information includes actual coordinate position and actual angle information; The second acquisition module is used to acquire the preset reference pose; the preset reference pose is a pre-set and stored position fixed relative to the coordinate system of the fitting machine; the preset reference pose includes reference coordinates and reference angles; The pose deviation determination module is used to determine the pose deviation based on the actual pose information and the preset reference pose; the pose deviation includes coordinate deviation and angle deviation. The alignment module is used to drive the platform movement according to the pose deviation to align the actual pose information with the preset reference pose. The control module is used to control the robotic arm to perform the film tearing operation according to the preset fixed film tearing angle position.

[0098] Terminal device 500 may include, but is not limited to, memory 510 and processor 520. Those skilled in the art will understand that... Figure 5 This is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown, or combine certain components, or different components. For example, a terminal device may also include input / output devices, network access devices, buses, etc.; among which, input / output devices may include cameras, audio acquisition / playback devices, displays, etc.; network access devices may include communication modules for wireless communication with external devices.

[0099] In applications, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0100] In applications, memory can be an internal storage unit of a terminal device, such as its hard drive or RAM; it can also be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card; or it can include both internal and external storage units. Memory is used to store operating systems, applications, boot loaders, data, and other programs, such as computer program code. Memory can also be used to temporarily store data that has been output or will be output.

[0101] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0102] This application implements all or part of the processes in the methods of the above embodiments, which can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0103] The computer-readable storage medium provided in this application embodiment has the same beneficial effects as the above-described method for controlling the peeling of a display panel.

[0104] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps in the various method embodiments described above.

[0105] The computer program product provided in this application embodiment has the same beneficial effects as the above-described method for controlling the peeling of a display panel.

[0106] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0107] Those skilled in the art will recognize that the device and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the device may be indirectly coupled or communicated, and may be electrical, mechanical, or other forms.

[0109] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling the peeling of a display panel, characterized in that, Applied to a bonding machine, the method includes: After placing the display panel with the film to be peeled on the platform of the bonding machine, a visual image of the display panel with the film to be peeled is obtained; The visual image is identified and analyzed to determine the actual pose information corresponding to the display panel to be peeled off; the actual pose information includes actual coordinate position and actual angle information. Obtain a preset reference pose; the preset reference pose is a pre-set and stored position fixed relative to the coordinate system of the fitting machine; the preset reference pose includes reference coordinates and reference angles; Based on the actual pose information and the preset reference pose, the pose deviation is determined; the pose deviation includes coordinate deviation and angle deviation. The platform is driven to move according to the pose deviation, so that the actual pose information is aligned with the preset reference pose. The robotic arm is controlled to perform the film-tearing operation at a preset fixed film-tearing angle position.

2. The method according to claim 1, characterized in that, The process of determining the preset reference pose includes: The positions with physical location characteristics on the bonding machine are calibrated to obtain the preset reference pose.

3. The method according to claim 1, characterized in that, The process of determining the preset reference pose includes: A preset position and a preset angle are set in the coordinate system of the bonding machine as the preset reference pose.

4. The method according to claim 1, characterized in that, After driving the platform to move according to the pose deviation to align the actual pose information with the preset reference pose, the method further includes: Obtain the alignment image of the display panel to be peeled off; The alignment image is identified and analyzed to determine the updated pose information corresponding to the display panel with the film to be peeled off; Determine the difference between the updated pose information and the preset reference pose; Determine whether the difference is greater than a preset difference threshold; If the difference is greater than the preset difference threshold, the pose deviation is determined based on the difference, and the process returns to the step of driving the platform to move based on the pose deviation to align the actual pose information with the preset reference pose.

5. The method according to claim 1, characterized in that, The step of recognizing and analyzing the visual image to determine the actual pose information corresponding to the display panel with the film to be peeled off includes: Multiple feature points of the display panel to be peeled off are identified in the visual image; Based on the multiple feature points, the estimated pose information corresponding to the display panel of the film to be peeled off is determined respectively; The actual pose information is determined based on multiple estimated pose information.

6. The method according to claim 5, characterized in that, The step of determining the actual pose information based on multiple estimated pose information includes: Obtain the weight value corresponding to each feature point; The actual pose information is calculated by weighting multiple estimated pose information and the weight values ​​of the feature points corresponding to each estimated pose information.

7. The method according to any one of claims 1 to 6, characterized in that, After the robotic arm performs the film-tearing operation at a preset fixed film-tearing angle position, the method further includes: The test checks whether the film on the display panel to be peeled off has been successfully separated. If the separation fails, a corresponding prompt message will be generated and sent.

8. A film-peeling control device for a display panel, characterized in that, The device is used in a bonding machine and includes: The first acquisition module is used to acquire a visual image of the display panel to be peeled after placing the display panel to be peeled on the platform of the bonding machine. The actual pose information determination module is used to identify and analyze the visual image to determine the actual pose information corresponding to the display panel to be peeled off; the actual pose information includes actual coordinate position and actual angle information; The second acquisition module is used to acquire a preset reference pose; the preset reference pose is a pre-set and stored position fixed relative to the coordinate system of the fitting machine; the preset reference pose includes reference coordinates and reference angles; The pose deviation determination module is used to determine the pose deviation based on the actual pose information and the preset reference pose; the pose deviation includes coordinate deviation and angle deviation. The alignment module is used to drive the platform to move according to the pose deviation, so that the actual pose information is aligned with the preset reference pose. The control module is used to control the robotic arm to perform the film tearing operation according to the preset fixed film tearing angle position.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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