CN111359890A - Mobile phone screen sorting equipment and mobile phone screen sorting method - Google Patents

Abstract

The invention relates to the technical field of mobile phone screen manufacturing, in particular to mobile phone screen sorting equipment and a mobile phone screen sorting method. The mobile phone screen sorting equipment comprises a master controller, a sorting system and a transferring system; the sorting system is used for measuring the mobile phone screen to obtain quality information and feeding the quality information back to the main controller; the transfer system comprises a platform structure, a transfer manipulator, a mobile phone screen positioning component, a material box positioning component and a plurality of material box openings which are arranged in sequence; the main controller is respectively in signal connection with the sorting system, the transferring manipulator, the quality detection assembly, the mobile phone screen positioning assembly and the material box positioning assembly; each material box opening corresponds to one mobile phone screen quality standard, an empty material box is placed in each material box opening, and a material box groove for accommodating at least one mobile phone screen is formed in each empty material box; the main controller obtains the moving path of the transferring manipulator according to the analysis of the quality information mobile phone positioning module and the material groove positioning module and controls the transferring manipulator to sort the mobile phone screen, and the sorting process is more accurate.

Description

Mobile phone screen sorting equipment and mobile phone screen sorting method

Technical Field

The invention relates to the technical field of mobile phone screen manufacturing, in particular to mobile phone screen sorting equipment and a mobile phone screen sorting method.

Background

With the rapid development of communication technology, smart phones have become an indispensable important part of people's daily life.

The mobile phone display screen is used as a main part of the smart phone, and various defects may occur in the production of the mobile phone display screen due to objective factors such as complicated manufacturing procedures and fine process. Particularly, the existing manufacturing process cannot realize full automation, and defects of products caused by manual sorting and picking and placing of the mobile phone screen account for a large proportion of all the defects. The traditional mobile phone screen sorting mode cannot ensure the accuracy and the standard uniformity and also cannot meet the requirements of high automation and batch rapid production of modern enterprises.

Disclosure of Invention

The invention discloses mobile phone screen sorting equipment and a mobile phone screen sorting method, which are used for accurately sorting mobile phone screens.

In order to achieve the purpose, the invention provides the following technical scheme:

a mobile phone screen sorting apparatus comprising:

the device comprises a main controller, a sorting system and a transferring system; the main controller is in signal connection with the sorting system, and the sorting system is used for detecting the mobile phone screen to obtain quality information and feeding the quality information back to the main controller;

the transfer system comprises a platform structure, a transfer manipulator, a mobile phone screen positioning component, a material box positioning component and a plurality of material box openings which are sequentially arranged; the main controller is respectively in signal connection with the transferring manipulator, the mobile phone screen positioning assembly and the material box positioning assembly;

the platform structure is used for placing the sorted mobile phone screen;

each material box opening corresponds to one mobile phone screen quality standard, an empty material box is placed in each material box opening, and a material box groove for accommodating at least one mobile phone screen is formed in each empty material box;

the material box positioning assembly corresponds to the plurality of material box openings so as to acquire images of material box grooves of the empty material boxes arranged at any one of the material box openings and send the images of the material box grooves to the main controller;

the mobile phone screen positioning component corresponds to the platform structure so as to acquire images of a mobile phone screen placed on the platform structure and send the images of the mobile phone screen to the master controller;

the main controller judges a material box opening corresponding to the mobile phone screen according to the quality information, analyzes the image of the material box groove to obtain position and posture information of all material box grooves, and analyzes the image of the mobile phone screen to obtain posture information of the mobile phone screen; the main controller forms a moving path of the transfer manipulator according to the material box groove position and posture information of the empty material box corresponding to the material box opening and the mobile phone screen posture information, controls the transfer manipulator to grab the mobile phone screen and then adjust the posture of the mobile phone screen according to the moving path, and controls the transfer manipulator to place the mobile phone screen in the material box groove of the empty material box corresponding to the material box opening.

The mobile phone screen sorting equipment sorts the quality of the mobile phone screen through the sorting system, the sorting system feeds back the quality information of the mobile phone screen to the main controller, and the main controller can judge and select the position of the material box opening corresponding to the mobile phone screen according to the quality information of the mobile phone screen; the mobile phone screen positioning assembly feeds back mobile phone screen images acquired by image acquisition of a mobile phone screen to the main controller, the main controller can acquire mobile phone screen posture information according to mobile phone screen image analysis, the material box positioning assembly feeds back material box groove images acquired by image acquisition of a material box groove of an empty material box positioned at the material box opening to the main controller, the main controller can acquire material box position and posture information according to the image analysis of the material box groove, and a moving path of a transfer manipulator can be acquired by combining the mobile phone screen posture information and the material box groove position and posture information through analysis, so that the posture of the mobile phone screen can be accurately adjusted, and the mobile phone screen is accurately placed in the material box groove of a proper empty material box. Therefore, the mobile phone screen sorting equipment has high accuracy and high automation degree in the quality sorting operation of the mobile phone screen, and can meet the requirements of modern production and batch production.

Optionally, the mobile phone screen positioning assembly comprises a bottom camera and a bottom light source, and the master controller is in signal connection with the bottom camera;

the bottom camera is arranged at the bottom of the side of the platform structure and used for collecting images of the mobile phone screen placed on the platform structure; the bottom light source is used for providing illumination for the bottom camera.

Optionally, the magazine positioning assembly comprises a sliding guide rail, a top camera and a top light source, and the master controller is in signal connection with the top camera;

the sliding guide rail is arranged above the material box openings and extends along the arrangement direction of the material box openings, and the top camera can be connected to the sliding guide rail in a sliding mode so as to move along the sliding guide rail to collect images of the material box grooves of any empty material box; the top light source is used for providing illumination for the top camera.

Optionally, the number of the top light sources is two, and the two top light sources are respectively disposed on two sides of the top camera.

Optionally, the platform structure comprises a moving platform and a moving guide rail;

the mobile guide rail extends along the arrangement direction of the material box openings, and the mobile platform is used for placing the mobile phone screen and can be connected with the mobile guide rail in a sliding mode.

Optionally, the transfer system further comprises an empty material box feeding port, a temporary storage port, a plurality of material receiving ports and a material box conveying channel;

the material box conveying channel is connected between the empty material box feeding port and the temporary storage port so as to convey the empty material box to the temporary storage port;

the temporary storage port is used for temporarily storing the mobile phone screen and the empty material box so as to provide the mobile phone screen for the sorting system and convey the empty material box to the material box port;

each receiving port corresponds to one material box port so as to output empty material boxes filled with the mobile phone screen.

Optionally, the mobile phone screen feeding device further comprises a mobile phone screen port, a mobile phone screen feeding port and a mobile phone screen conveying channel; the mobile phone screen port is used for conveying a mobile phone screen to the temporary storage port;

the mobile phone screen conveying channel is connected between the mobile phone screen feeding port and the mobile phone screen port so as to convey the mobile phone screen from the mobile phone screen feeding port to the mobile phone screen port.

Optionally, the sorting system comprises a sorting manipulator and a quality detection assembly;

the sorting manipulator is used for grabbing the mobile phone screen and transferring the mobile phone screen to the platform structure;

the quality detection assembly is arranged on the sorting manipulator and is in signal connection with the master controller, and is used for detecting the quality of the mobile phone screen and sending the quality information of the mobile phone screen to the master controller.

Optionally, the transfer system is provided with two sets, the two transfer systems share one sorting system, and the transfer manipulator, the mobile phone screen positioning assembly and the material box positioning assembly in each transfer system are respectively in signal connection with the master controller. A mobile phone screen sorting method is applied to any one of the mobile phone screen sorting devices, and comprises the following steps:

the sorting system detects the mobile phone screen to obtain quality information of the mobile phone screen and feeds the quality information back to the master controller;

the mobile phone screen positioning assembly acquires an image of the mobile phone screen and feeds the image back to the main controller, and the main controller obtains mobile phone screen posture information according to the image analysis of the mobile phone screen;

the material box positioning assembly collects images of material box grooves of the empty material boxes corresponding to all the material box openings and feeds the images back to the main controller, and the main controller analyzes the images of the material box grooves to obtain position and posture information of all the material box grooves; the main controller judges the material box opening corresponding to the mobile phone screen according to the quality information;

the main controller forms a moving path of the transferring manipulator according to the screen posture information and the position and posture information of the material box groove, controls the transferring manipulator to grasp the mobile phone screen and then adjust the posture of the mobile phone screen according to the moving path, and controls the transferring manipulator to place the mobile phone screen in the material box groove of the empty material box corresponding to the material box opening.

Optionally, the material box positioning assembly collects images of material box grooves of the empty material boxes corresponding to all the material box ports and feeds the images back to the main controller, and the main controller obtains position and posture information of all the material box grooves according to the image analysis of the material box grooves includes the following steps:

the material box positioning component collects an image of a material box groove of the empty material box;

the main controller positions the material box groove according to the image matching of the material box groove;

the main controller determines the center of the material box groove and the rotation angle of the material box groove;

repeating the steps until the complete material box groove is calculated.

Optionally, the determining, by the master controller, the center of the cartridge slot and the rotation angle of the cartridge slot comprises:

positioning a first material box groove corner point coordinate of the material box groove by using a first material box groove edge finding operator;

positioning a second material box groove corner point coordinate of the material box groove by using a second material box groove edge finding operator;

and calculating the center and the rotation angle of the material box groove according to the first material box groove angular point coordinate and the second material box groove angular point coordinate.

Optionally, the mobile phone screen positioning assembly acquires an image of the mobile phone screen and feeds the image back to the master controller, and the master controller obtains the posture information of the mobile phone screen according to the image analysis of the mobile phone screen includes the following steps:

the mobile phone screen positioning assembly acquires an image of the mobile phone screen and feeds the image back to the main controller;

the main controller determines a first mobile phone screen corner coordinate and a second mobile phone screen corner coordinate of the mobile phone screen according to the image of the mobile phone screen;

the main controller calculates the center point of the mobile phone screen according to the first mobile phone screen corner coordinate, the second mobile phone screen corner coordinate and the size of the mobile phone screen, and calculates the rotation angle of the mobile phone screen according to the first mobile phone screen corner coordinate and the second mobile phone screen corner coordinate.

Optionally, the determining, by the master controller, a first mobile phone screen corner coordinate and a second mobile phone screen corner coordinate of the mobile phone screen according to the image of the mobile phone screen includes:

roughly positioning a first mobile phone screen corner of the mobile phone screen by using a first template matching operator;

finely positioning coordinates of the first mobile phone screen corner points by adopting a first mobile phone screen edge finding operator and a second mobile phone screen edge finding operator to obtain coordinates of the first mobile phone screen corner points;

roughly positioning a second mobile phone screen corner of the mobile phone screen by using a second template matching operator;

and accurately positioning the coordinates of the screen corner point of the second mobile phone by using a third mobile phone screen edge finding operator in combination with the first mobile phone screen edge finding operator and the second mobile phone screen edge finding operator to obtain the coordinates of the screen corner point of the second mobile phone.

Optionally, before the sorting system detects a mobile phone screen to obtain quality information of the mobile phone screen and feeds the quality information back to the master controller, the method further includes the following steps:

the main controller controls the transfer manipulator to move the calibration plate to calibrate to obtain a calibration conversion matrix of the transfer manipulator.

Optionally, the calibrating the master using the calibration board to obtain the calibration transformation matrix includes the following steps:

controlling the transfer manipulator to grab the calibration plate and move to a set position;

determining the coordinates of the circle center of the calibration plate;

recording the actual coordinates of the transferring manipulator;

determining and obtaining the corresponding relation between the N groups of circle center coordinates and the actual coordinates;

and carrying out N-point calibration to obtain a calibration conversion matrix.

Optionally, the determining the coordinates of the center of the circle of the calibration board includes the following steps:

collecting an image of the calibration plate;

roughly positioning the characteristic circle of the calibration plate by using a template matching operator and finely positioning the center of the characteristic circle by using a circle finding operator;

rotating the calibration plate by 60 degrees clockwise;

determining the calibration times of the calibration plate as M;

and fitting the centers of the M groups of characteristic circles to obtain the center coordinates of the calibration plate.

Drawings

Fig. 1 is a schematic structural diagram of a mobile phone screen sorting device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a mobile phone screen positioning assembly of a mobile phone screen sorting device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a magazine slot positioning module of a mobile phone screen sorting device according to an embodiment of the present invention;

fig. 4 is a schematic control structure diagram of a mobile phone screen sorting apparatus according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of a working process of a mobile phone screen sorting device according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of another mobile phone screen sorting device provided in the embodiment of the present invention;

fig. 7 is a schematic flowchart of a mobile phone screen sorting method according to an embodiment of the present invention;

fig. 8 is a schematic flow chart of another method for sorting mobile phone screens according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a calibration board in another method for sorting mobile phone screens according to an embodiment of the present invention;

fig. 10 is a schematic diagram illustrating a calibration flow in another method for sorting mobile phone screens according to an embodiment of the present invention;

fig. 11 is a schematic flow chart illustrating the determination of a calibration board in a calibration flow process in another mobile phone screen sorting method according to an embodiment of the present invention;

fig. 12 is a schematic flow chart illustrating the process of determining the slot position and posture information of the material box in the mobile phone screen sorting method according to the embodiment of the present invention;

fig. 13 is a schematic flow chart illustrating the determination of the center and the rotation angle of the magazine slot in the process of determining the magazine slot position and posture information of the magazine slot in the mobile phone screen sorting method according to the embodiment of the present invention;

fig. 14 is a schematic flowchart illustrating a process of determining pose information of a mobile phone screen in a mobile phone screen sorting method according to an embodiment of the present invention;

fig. 15 is a schematic flow chart illustrating the process of determining coordinates of two corner points of a mobile phone screen in the process of determining pose information of the mobile phone screen in the mobile phone screen sorting method according to the embodiment of the present invention.

Reference numerals: 11-a sorting manipulator; 12-a quality detection component; 20-a master controller; 21-a platform structure; 211-a mobile platform; 212-a moving guide; 22-a transfer robot; 23-a mobile phone screen positioning component; 231-bottom camera; 232-bottom light source; 24-a cartridge positioning assembly; 241-a sliding guide rail; 242-top camera; 243-top light source; 25-a box opening; 31-empty feed box feed opening; 32-temporary storage port; 33-a material receiving port; 34-a cartridge delivery channel; 41-mobile phone screen port; 42-a feeding port of a mobile phone screen; 43-mobile phone screen conveying channel; 5-calibration plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 4, an embodiment of the present invention provides a mobile phone screen sorting apparatus, which includes a main controller 20, a sorting system and a transferring system, wherein the sorting system is configured to perform preliminary detection and sorting on mobile phone screens, the transferring system classifies the mobile phone screens into different batches according to the sorting result, and the main controller 20 is equivalent to a control unit of the entire apparatus and controls the sorting system and the transferring system to work in order. Specifically, the sorting system is used for detecting the quality of the mobile phone screen to obtain the quality information of the mobile phone screen, and specifically comprises a sorting manipulator 11 and a quality detection assembly 12 which are respectively in signal connection with the master controller 20, wherein the sorting manipulator 11 is used for transferring the mobile phone screen to the transfer system, and the quality detection assembly 12 is used for detecting the mobile phone screen to obtain the quality information of the mobile phone screen and feeding the quality information back to the master controller 20. The quality detection assembly 12 is arranged on the sorting manipulator 11, when the sorting manipulator 11 grabs the mobile phone screen, the quality detection assembly 12 can detect the quality of the mobile phone screen and feed back the quality information to the master controller 20, and the sorting manipulator 11 can transfer the mobile phone screen detected by the quality detection assembly 12 to the transfer system under the control of the master controller 20 to perform classification and induction on the next step.

The transfer system comprises a platform structure 21, a transfer manipulator 22, a mobile phone screen positioning component 23, a material box positioning component 24 and a plurality of material box openings 25 which are arranged in sequence; the main controller 20 is also in signal connection with the transfer manipulator 22, the quality detection assembly 12, the mobile phone screen positioning assembly 23 and the material box positioning assembly 24.

The platform structure 21 is used for placing the mobile phone screen sorted by the sorting system, that is, the sorting manipulator 11 transfers the mobile phone screen subjected to quality detection to the platform structure 21. Each material box opening 25 corresponds to a mobile phone screen quality standard, an empty material box is placed in each material box opening 25, a material box groove for containing a mobile phone screen is formed in each empty material box, and it needs to be noted that each empty material box can be provided with a plurality of material box grooves to contain a plurality of mobile phone screens simultaneously.

The mobile phone screen positioning component 23 corresponds to the platform structure 21, so as to acquire images of the mobile phone screen placed on the platform structure 21 and send the images of the mobile phone screen to the master controller 20; the material box positioning component 24 corresponds to a plurality of material box openings 25 so as to collect images of material box grooves of empty material boxes arranged in any one of the material box openings 25 and send the images of the material box grooves to the main controller 20. The main controller 20 can obtain the posture information of the mobile phone screen according to the image analysis of the mobile phone screen, and can also obtain the position and posture information of all material box slots according to the image analysis of all material box slots.

In operation, the main controller 20 may obtain quality detection information of the mobile phone screen by the quality detection component 12, determine the material box opening 25 corresponding to the mobile phone screen according to the quality detection information of the mobile phone screen, establish a position corresponding relationship between the material box groove and the mobile phone screen according to the material box groove position information of an empty material box of the material box opening 25 and the screen posture information of the mobile phone screen, thereby forming a transfer path of the transfer manipulator 22 according to the corresponding relationship, further control the transfer manipulator 22 to grasp the mobile phone screen and adjust the posture of the mobile phone screen along the transfer path, and then correspond the posture of the mobile phone screen to the material box groove position posture of the empty material box of the material box opening 25, thereby facilitating the transfer manipulator 22 to place the mobile phone screen in the material box groove of the empty material box of the material box opening 25. It should be noted that, when the empty magazine has a plurality of magazine slots, the main controller 20 needs to determine which magazine slot is empty of the target empty magazine according to magazine slot position information, and the main controller 20 can adjust the mobile phone screen posture and place the mobile phone screen in the magazine slot only according to magazine slot position information of one empty magazine slot.

It can be seen that the mobile phone screen sorting device can sort the quality of the mobile phone screen through the sorting system, the main controller 20 can judge and select the position of the material box opening 25 corresponding to the mobile phone screen according to the quality information of the mobile phone screen, screen posture information of the mobile phone screen is obtained by positioning the mobile phone screen through the mobile phone screen positioning component 23, silo posture information obtained by positioning the material box groove of an empty material box positioned at the material box opening 25 through the material box positioning component 24 is accurately adjusted in posture of the mobile phone screen, and therefore the mobile phone screen is accurately placed in the appropriate material box groove of the empty material box through the transfer manipulator 22. Therefore, the mobile phone screen sorting equipment has high accuracy and high automation degree in the quality sorting operation of the mobile phone screen, and can meet the requirements of modern production and batch production.

In the transfer system, the stage structure 21 includes a moving stage 211 and a moving guide 212; the moving rail 212 extends along the arrangement direction of the magazine opening 25, the moving platform 211 is used for placing the mobile phone screen, and the moving platform 211 is slidably connected to the moving rail 212. Specifically, the mobile platform 211 may "grab" the mobile phone screen in a vacuum adsorption manner, so that the mobile phone screen is temporarily fixed relative to the mobile platform 211; of course, other ways of placing the mobile phone screen on the platform structure 21 may be adopted; in the following embodiments, the mobile platform 211 is used to vacuum-adsorb the mobile phone screen as an example.

When the sorting manipulator 11 transfers the mobile phone screen to the platform structure 21 and is adsorbed by the moving platform 211, the moving platform 211 can move along the moving guide rail 212, so that the flexibility of the platform structure 21 is improved, and the moving platform 211 is conveniently butted with other structures.

As shown in fig. 2, the panel positioning module 23 in this embodiment includes a bottom camera 231 and a bottom light source 232, and the bottom camera 231 is in signal connection with the main controller 20. The bottom camera 231 is arranged at the bottom of the side of the platform structure 21 and is used for collecting images of a mobile phone screen adsorbed on the platform structure 21; the bottom light source 232 is used to provide illumination for the bottom camera 231.

Specifically, the moving rail 212 of the platform structure 21 extends along the arrangement direction of the magazine ports 25, the bottom camera 231 is disposed at one end of the moving rail 212, as shown in fig. 1, the bottom camera 231 may be disposed at the right end of the moving rail 212, and in operation, after the mobile platform 211 adsorbs the mobile phone screen, the moving platform 211 moves to the position where the bottom camera 231 is located at the right end of the moving rail 212 along the moving rail 212, and the bottom camera 231 photographs the mobile phone screen adsorbed on the moving platform 211 to perform image acquisition. When the bottom camera 231 takes a picture of the mobile phone screen, the bottom light source 232 disposed on one side of the bottom camera 231 provides light for the bottom camera 231.

As shown in fig. 3, the cartridge positioning assembly 24 comprises a sliding guide rail 241, a top camera 242 and a top light source 243, the top camera 242 being in signal connection with the master controller 20; the sliding guide rail 241 is arranged above the material box openings 25 and extends along the arrangement direction of the plurality of material box openings 25, and the top camera 242 is connected to the sliding guide rail 241 in a sliding manner so as to move along the sliding guide rail 241 to collect images of material box grooves of any empty material box; top light source 243 is used to provide illumination for top camera 242.

According to the above embodiment, the empty cartridges are placed in the positions of the cartridge openings 25 in a one-to-one correspondence manner, when the cartridge positioning assembly 24 collects images of the cartridge slot of an empty cartridge, the top camera 242 moves to the position of the cartridge opening 25 where the empty cartridge is located along the sliding guide rail 241, and the top camera 242 starts to photograph the cartridge slot of the empty cartridge at the position for image collection. During the taking of a picture by top camera 242, top light source 243 provides light to top camera 242.

In a specific embodiment, in order to improve the image capturing quality, two top light sources 243 are provided, and as shown in fig. 3, the two top light sources 243 are provided on two sides of the top camera 242 along the extending direction of the sliding guide rail 241.

As shown in fig. 1, the transfer system in the embodiment of the present invention further includes an empty magazine feeding port 31, a temporary storage port 32, a plurality of receiving ports 33, and a magazine conveying channel 34; the material box conveying channel 34 is connected between the empty material box feeding port 31 and the temporary storage port 32 so as to convey the empty material box to the temporary storage port 32; the temporary storage port 32 is used for temporarily storing the mobile phone screen and the empty material box so as to provide the mobile phone screen for the sorting manipulator 11 of the sorting system and convey the empty material box to the material box port 25; each receiving port 33 corresponds to one magazine port 25 to output empty magazines filled with the mobile phone screen.

During equipment use, empty material boxes for loading the mobile phone screen are thrown from an empty material box feeding port 31 and are transferred to a temporary storage port 32 through a material box conveying channel 34 for temporary storage, the temporary storage port 32 can receive a plurality of empty material boxes, and the empty material boxes can be stacked at the temporary storage port 32; the empty magazines temporarily stored in the temporary storage 32 can be transferred in turn to the magazine mouth 25 via the conveying track. Wherein, the magazine mouth 25 is provided with a plurality ofly and arranges the setting, and through the transfer orbit intercommunication between temporary storage port 32 and a plurality of magazine mouths 25 that arrange in proper order, the empty magazine in temporary storage port 32 can be transported each magazine mouth 25 from temporary storage port 32 in proper order through the transfer orbit. Specifically, referring to fig. 1, three magazine ports 25 are sequentially arranged on the magazine ports 25 from left to right, and the first magazine port 25 is closest to the temporary storage port 32; during operation, an empty magazine in the temporary storage port 32 reaches the third magazine port 25 through the first magazine port 25 and the second magazine port 25 via the conveying track, then another empty magazine in the temporary storage port 32 reaches the second magazine port 25 through the first magazine port 25 via the conveying track, and finally an empty magazine in the temporary storage port 32 reaches the first magazine port 25 via the conveying track. The cartridge transport channel 34 here may be embodied as a conveyor belt or a conveyor chain.

It should be noted that the temporary storage 32 may also temporarily store the mobile phone screen, and the mobile phone screen to be sorted is temporarily stored in the temporary storage 32 to wait for the sorting manipulator 11 to grab.

Certainly, the mobile phone screen sorting device provided by the embodiment of the invention further comprises a mobile phone screen port 41, a mobile phone screen feeding port 42 and a mobile phone screen conveying channel 43; the mobile phone screen port 41 is communicated with the temporary storage port 32 through a conveying track and is used for conveying a mobile phone screen to the temporary storage port 32; the mobile phone screen conveying channel 43 is connected between the mobile phone screen feeding port 42 and the mobile phone screen port 41 to convey the mobile phone screen from the mobile phone screen feeding port 42 to the mobile phone screen port 41.

When the mobile phone screen sorting machine works, mobile phone screens to be sorted are fed from the mobile phone screen feeding port 42 and then are conveyed to the mobile phone screen port 41 through the mobile phone screen conveying channel 43, when one of the mobile phone screens needs to be sorted, the mobile phone screen is conveyed from the mobile phone screen port 41 to the temporary storage port 32 through the conveying channel for temporary storage, and the mobile phone screens wait for being grabbed by the sorting manipulator 11.

The operation of the mobile phone screen distributing device shown in fig. 1 will be described in detail, and the operation steps of the mobile phone screen distributing device can be specifically shown in fig. 5.

S001: feeding the mobile phone screen from a mobile phone screen feeding port 42 to a mobile phone screen port 41;

s002: feeding empty material boxes from an empty material box feeding port 31 to a temporary storage port 32;

s003: the empty material boxes of the temporary storage port 32 are sequentially moved to each material box port 25 to be placed with an empty material box;

s004: moving the mobile phone screen of the mobile phone screen port 41 to the temporary storage port 32;

s005: the sorting manipulator 11 grabs the mobile phone screen from the temporary storage port 32 to the mobile platform 211, the quality detection assembly 12 detects the quality of the mobile phone screen and sends the quality result to the main controller 20, and the detection work of the quality detection assembly 12 can be performed in the process that the sorting manipulator 11 transfers the mobile phone screen.

S006: the main controller 20 judges a target material box opening 25 according to the quality information;

s007: the material box positioning component 24 collects the material box groove image of the empty material box of the target material box opening 25 and sends the material box groove image to the main controller 20;

s008: the main controller 20 obtains the position and posture information of the material box groove according to the image analysis of the material box groove;

s009: the mobile platform 211 adsorbs the mobile phone screen and moves to the position of the mobile phone screen positioning component 23 along the mobile guide rail 212;

s010: the mobile phone screen positioning component 23 collects the image of the mobile phone screen and sends the image of the mobile phone screen to the main controller 20;

s011: the main controller 20 obtains the attitude information of the mobile phone screen according to the image analysis of the mobile phone screen; the main controller 20 can analyze the movement path of the transfer manipulator 22 according to the magazine slot position information and the mobile phone screen position information, so as to control the transfer manipulator 22 to move according to the path;

s012: the main controller 20 controls the transferring manipulator 22 to grab the mobile phone screen from the mobile platform 211;

s013: the main controller 20 controls the transferring manipulator 22 to adjust the posture of the mobile phone screen;

s014: the main controller 20 transfers the mobile phone screen to the empty material box groove of the target material box opening 25 by the manipulator 22;

s015: the main controller 20 judges whether the mobile phone screen is filled in the empty magazine, if so, S016 is executed; if not, executing S005 to perform next mobile phone screen sorting;

s016: the empty material box filled with the mobile phone screen is output from the material receiving port 33.

In a specific embodiment, as shown in fig. 6, the two sets of transfer systems are symmetrically arranged about the sorting system, and have the performance of simultaneously operating the left side and the right side, so that the sorting efficiency can be improved during operation. Of course, the transfer manipulator 22, the mobile phone screen positioning module 23 and the material box positioning module 24 in each transfer system are respectively connected with the main controller 20 through signals and controlled by the main controller 20.

It should be noted that, since two transfer systems correspond to one sorting system, in order to improve efficiency, two sorting robots 11 may be provided, and each sorting robot 11 corresponds to one transfer system. Of course, two quality inspection units 12 are provided corresponding to the sorting robot 11. Moreover, the mobile phone screen port 41, the mobile phone screen feed port 42 and the mobile phone screen conveying channel 43 are only provided in one group, and the two conveying systems are bilaterally symmetrical with respect to the group of the mobile phone screen port 41, the mobile phone screen feed port 42 and the mobile phone screen conveying channel 43.

Based on the same invention idea, the embodiment of the invention also provides a mobile phone screen sorting method which is applied to the mobile phone screen sorting equipment. Referring to fig. 7, the mobile phone screen sorting method includes the following steps:

s1: the sorting system detects the cell phone screen to obtain quality information of the cell phone screen and feeds back the quality information to the master controller 20.

Specifically, the sorting manipulator 11 of the sorting system picks up the mobile phone screen in the temporary storage 32 and transfers the mobile phone screen to the platform structure 21 of the transfer system so that the mobile phone screen is adsorbed by the moving platform 211, and the quality detection assembly 12 detects the mobile phone screen to obtain the quality information of the mobile phone screen and sends the quality information to the main controller 20.

S2: the mobile phone screen positioning component 23 acquires an image of the mobile phone screen and feeds the image back to the main controller 20, and the main controller 20 obtains posture information of the mobile phone screen according to the image analysis of the mobile phone screen;

specifically, the mobile platform 211 in the mobile phone screen sorting device adsorbs the mobile phone screen to move to the position of the mobile phone screen positioning assembly 23 along the moving track 212, the mobile phone screen positioning assembly 23 takes a picture of the mobile phone screen through the bottom camera 231 and sends the picture to the master controller 20, and the master controller 20 analyzes the screen posture information of the mobile phone screen.

S3: the material box positioning component 24 collects images of material box grooves of empty material boxes corresponding to all the material box openings 25 and feeds the images back to the main controller 20, and the main controller 20 analyzes the images of the material box grooves to obtain position and posture information of all the material box grooves;

specifically, the top camera 242 in the material box positioning assembly 24 of the mobile phone screen sorting device moves along the sliding guide rail 241 to photograph the material box groove of an empty material box at each material box opening 25 position and send the image to the main controller 20, and the main controller 20 analyzes the image to obtain the pose information of the material box groove.

S4: the main controller 20 judges the material box opening 25 corresponding to the mobile phone screen according to the quality information;

s5: the main controller 20 forms a moving path of the transfer manipulator 22 according to the magazine slot position information and the screen position information, controls the transfer manipulator 22 to grab the mobile phone screen and adjusts the screen position of the mobile phone screen according to the moving path so as to place the mobile phone screen into the magazine slot of the empty magazine corresponding to the magazine port 25.

Specifically, the main controller 20 determines the position of the material box port 25 corresponding to the mobile phone screen according to the quality information of the mobile phone screen, and forms a moving path of the transferring manipulator 22 after analyzing the material box slot position information of the empty material box located in the material box port 25 and the screen posture information of the mobile phone screen, so that the main controller 20 can control the transferring manipulator 22 to grab the mobile phone screen according to the transferring path and correspondingly adjust the posture of the mobile phone screen, and finally place the mobile phone screen in the material box slot of the corresponding empty material box. In the process, the mobile phone screen is transferred and selected to be positioned with the corresponding material box groove of the empty material box through the mobile phone screen positioning component 23 and the material box positioning component 24, so that the mobile phone screen is transferred and placed more accurately.

Before the above step S1, as shown in fig. 8, it is preferable to further include a calibration step S0: the main controller 20 controls the transferring manipulator 22 to move the calibration plate 5 for calibration to obtain a calibration conversion matrix of the transferring manipulator 22. The structure of the calibration board 5 can be seen from fig. 9, a specific pattern is formed on the calibration board 5, and in the actual calibration operation, the master controller 20 controls the transfer robot 22 to capture the calibration board 5 for calibration and record to obtain a calibration transformation matrix, where the calibration transformation matrix is equivalent to establishing a moving path coordinate system of the transfer robot 22.

Specifically, as shown in fig. 10, the step S0 of controlling the transfer robot 22 to move the calibration board 5 to calibrate the calibration transformation matrix of the transfer robot 22 includes the following steps:

s01: controlling the transfer manipulator 22 to grab the calibration plate 5 and move to a set position; specifically, the master controller 20 controls the transfer robot 22 to grasp the calibration plate 5 and move to a set position and hold it at the position. The transfer robot 22 may grasp the calibration board 5 by vacuum suction, or may grasp the calibration board by a movable mechanical structure.

S02: determining the coordinates of the circle center of the calibration plate 5; specifically, the main controller 20 calculates the center coordinates of the calibration plate 5, which correspond to the image coordinates of the transfer robot 22.

S03: recording the actual coordinates of the transfer robot 22; specifically, the master controller 20 calculates the actual coordinates Q of the transfer robot 22, which corresponds to the relationship between the image coordinates and the actual coordinates of the movement path of the first pair of transfer robots 22.

S04: judging whether the corresponding relation between the N groups of circle center coordinates O' and the actual coordinates Q is obtained, if so, carrying out the next step S05; if not, repeating the above steps S01-S03 until the corresponding relationship between the circle center coordinates and the actual coordinates of the 9 sets is obtained, so that the relationship between the image coordinates and the actual coordinates of the movement paths of the nine sets of transfer robots 22 can be established. Of course, S04 determines the correspondence between N sets of circle center coordinates O' and actual coordinates Q. N here is preferably 9.

S05: and performing N-point calibration to obtain a calibration conversion matrix, that is, calculating according to the relationship between the image coordinates and the actual coordinates of the moving paths of the N groups of transfer manipulators 22 to obtain the calibration conversion matrix, and establishing a transfer path coordinate system of the transfer manipulator 22. The moving path coordinate system is stored in the main controller 20 for later reference when the mobile phone screen is sorted.

As shown in fig. 11, the step S02 of determining the coordinates of the center of the circle of the calibration plate 5 may include the following steps:

s021: collecting an image of the calibration plate 5; the camera can be used for image acquisition of the calibration plate 5 and feeding back the image of the calibration plate 5 to the master controller 20;

s022: roughly positioning the characteristic circle of the calibration plate 5 by using a template matching operator and finely positioning the circle center O of the characteristic circle by using a circle finding operator; the master controller 20 roughly locates the feature circle of the calibration plate 5 using the template matching operator and finely locates the center O of the feature circle using the circle finding operator.

S023: the calibration plate 5 is rotated clockwise by 60 °, which corresponds to the position of the calibration plate 5 being changed in a rotational manner; the main controller 20 controls the transfer robot 22 to rotate the calibration plate 5.

S024: and judging whether the calibration plate 5 is calibrated for M times, if not, repeating the steps S021-S023, if so (namely, the centers of the M groups of feature circles are obtained), and carrying out the next step S025. Finally obtaining the centers of the three groups of characteristic circles; specifically, setting M to be 3, the transferring manipulator 22 grabs the calibration plate 5 to acquire and calculate a group of feature circle centers O1 once at the initial position main controller 20, the main controller 20 acquires and calculates one side of the calibration plate 5 after rotating clockwise by 60 degrees to obtain a group of feature circle centers O2, the main controller 20 acquires and calculates one side of the calibration plate 5 after rotating clockwise by 60 degrees to obtain a group of feature circle centers O3, and finally, the calibration plate 5 rotates clockwise by 180 degrees, which may be continuous counterclockwise rotation. Of course, the S024 determines that the number of times of calibration of the master controller 20 to the calibration board 5 is M.

S025: fitting the centers of M groups of characteristic circles to obtain the coordinates of the circle center of the calibration plate 5; specifically, the master controller 20 calculates a center coordinate O' by fitting the centers O1, O2, and O3 of the 3 characteristic circles.

In a possible implementation manner, as shown in fig. 12, in the step S2, the acquiring, by the cartridge positioning assembly 24, images of cartridge slots of empty cartridges corresponding to all the cartridge ports 25 and feeding the images back to the master controller 20, and the obtaining, by the master controller 20, position information of all the cartridge slots according to the image analysis of the cartridge slots includes the following steps:

s31: the material box positioning component 24 collects an image of a material box groove of an empty material box and feeds the image back to the main controller 20; specifically, the top camera 242 in the magazine positioning assembly 24 moves along the sliding guide 241 to the position of one of the magazine openings 25, and the top camera 242 is started to photograph the empty magazine located in the magazine opening 25 and feed back the image of the magazine slot to the main controller 20.

S32: the main controller 20 positions the material box groove according to the image matching of the material box groove; the main controller 20 uses a template to match the position of the rough positioning material box groove according to the material box groove image.

S33: the main controller 20 determines the center of the material box groove and the rotation angle of the material box groove; further, the main controller 20 determines the center of the cartridge slot and the rotation angle of the cartridge slot according to the picture. The position, center and rotation angle of the magazine slot correspond to the magazine slot position information of the empty magazine.

S34: the main controller 20 judges whether to calculate the complete material box groove, if so, the material box groove position and posture information measurement is completed; if not, repeating the steps S31-S33 until all the magazine groove position information of the empty magazines is obtained.

As shown in fig. 13, the step S33 of determining the center of a cartridge slot of a hollow cartridge and the rotation angle of the cartridge slot by the master controller 20 specifically includes the following steps:

s331: using a first material box groove edge finding operator to position a first material box groove corner point coordinate of the material box groove; that is, the master controller 20 uses the first magazine slot edge finding operator to locate the first magazine slot corner point coordinate Q1 of the magazine slot.

S332: using a second material box groove edge finding operator to position a second material box groove corner point coordinate of the material box groove; that is, the master controller 20 uses the second magazine slot edge finding operator to locate the first magazine slot corner point coordinate Q2 of the magazine slot.

And S333, calculating the center of the material box groove and the rotation angle β according to the first material box groove angular point coordinate Q1 and the second material box groove angular point coordinate Q2, and calculating the center of the material box groove and the rotation angle β by the main controller 20 corresponding to the calibration conversion matrix according to the first material box groove angular point coordinate Q1 and the second material box groove angular point coordinate Q2.

Referring to fig. 14, step S4, the mobile phone screen positioning module 23 acquires an image of the mobile phone screen and feeds the image back to the master controller 20, and the master controller 20 obtains the posture information of the mobile phone screen according to the image analysis of the mobile phone screen includes the following steps:

s41: the mobile phone screen positioning component 23 acquires an image of the mobile phone screen and feeds the image back to the main controller 20; after the mobile platform 211 adsorbs the mobile phone screen, the mobile platform moves to the position of the mobile phone screen positioning component 23 along the mobile guide rail 212, the bottom light source 232 is started to emit light, and the bottom camera 231 is started to photograph the mobile phone screen and transmit an image to the main controller 20.

S42: the main controller 20 determines a first mobile phone screen corner coordinate and a second mobile phone screen corner coordinate of the mobile phone screen according to the image of the mobile phone screen; specifically, the main controller 20 obtains a first phone screen corner coordinate P1 and a second phone screen corner coordinate P2 according to the pictures taken by the bottom camera 231.

S43, the main controller 20 calculates the center point of the mobile phone screen according to the first mobile phone screen corner coordinate P1, the second mobile phone screen corner coordinate P2 and the size of the mobile phone screen, calculates the rotation angle α of the mobile phone screen according to the first mobile phone screen corner coordinate P1, the second mobile phone screen corner coordinate P2, concretely, the main controller 20 calculates the center point of the mobile phone screen according to the first mobile phone screen corner coordinate P1, the second mobile phone screen corner coordinate P2 and the size of the mobile phone screen, and calculates the rotation angle α of the mobile phone screen according to the first mobile phone screen corner coordinate P1 and the second mobile phone screen corner coordinate P2, wherein the center point of the mobile phone screen and the rotation angle of the mobile phone screen are equivalent to the attitude information of the mobile phone screen.

Referring to fig. 15, the master controller 20 determining first and second phone screen corner coordinates P1 and P2 of the phone screen from the image of the phone screen in relation to step S42 includes the steps of:

s421: roughly positioning a first mobile phone screen corner of the mobile phone screen by using a first template matching operator; the master controller 20 coarsely locates the first cell phone screen corner point of the cell phone screen in the picture of the bottom camera 231 using the first template matching operator.

S422: finely positioning coordinates of a first mobile phone screen corner point by adopting a first mobile phone screen edge finding operator and a second mobile phone screen edge finding operator to obtain coordinates P1 of the first mobile phone screen corner point; the main controller 20 uses the first mobile phone screen edge finding operator and the second mobile phone screen edge finding operator to finely position the coordinates of the first mobile phone screen corner point in the step S321 corresponding to the calibration transformation matrix to obtain the coordinates P1 of the first mobile phone screen corner point.

S423: roughly positioning a second mobile phone screen corner of the mobile phone screen by using a second template matching operator; the master controller 20 uses the second template matching operator to roughly position the second mobile phone screen corner point of the mobile phone screen in the image of the mobile phone screen.

S424: finely positioning coordinates of a second mobile phone screen corner point by using a third mobile phone screen edge finding operator in combination with the first mobile phone screen edge finding operator and the second mobile phone screen edge finding operator to obtain coordinates P2 of the second mobile phone screen corner point; the master controller 20 uses the third mobile phone screen edge finding operator to combine the coordinates of the second mobile phone screen corner point of the first mobile phone screen edge finding operator and the second mobile phone screen edge finding operator in step S422 to obtain the second mobile phone screen corner point coordinate P2.

It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (17)

1. A mobile phone screen sorting device, comprising: the device comprises a main controller, a sorting system and a transferring system; the main controller is in signal connection with the sorting system, and the sorting system is used for detecting the mobile phone screen to obtain quality information and feeding the quality information back to the main controller;

the transfer system comprises a platform structure, a transfer manipulator, a mobile phone screen positioning component, a material box positioning component and a plurality of material box openings which are sequentially arranged; the main controller is respectively in signal connection with the transferring manipulator, the mobile phone screen positioning assembly and the material box positioning assembly;

the platform structure is used for placing the sorted mobile phone screen;

each material box opening corresponds to one mobile phone screen quality standard, an empty material box is placed in each material box opening, and a material box groove for accommodating at least one mobile phone screen is formed in each empty material box;

the material box positioning assembly corresponds to the plurality of material box openings so as to acquire images of material box grooves of the empty material boxes arranged at any one of the material box openings and send the images of the material box grooves to the main controller;

the mobile phone screen positioning component corresponds to the platform structure so as to acquire images of a mobile phone screen placed on the platform structure and send the images of the mobile phone screen to the master controller;

the main controller judges a material box opening corresponding to the mobile phone screen according to the quality information, analyzes the image of the material box groove to obtain position and posture information of all material box grooves, and analyzes the image of the mobile phone screen to obtain posture information of the mobile phone screen; the main controller forms a moving path of the transfer manipulator according to the material box groove position and posture information of the empty material box corresponding to the material box opening and the mobile phone screen posture information, controls the transfer manipulator to grab the mobile phone screen and then adjust the posture of the mobile phone screen according to the moving path, and controls the transfer manipulator to place the mobile phone screen in the material box groove of the empty material box corresponding to the material box opening.

2. The mobile phone screen sorting device according to claim 1, wherein the mobile phone screen positioning assembly comprises a bottom camera and a bottom light source, and the main controller is in signal connection with the bottom camera;

the bottom camera is arranged at the bottom of the side of the platform structure and used for collecting images of the mobile phone screen placed on the platform structure; the bottom light source is used for providing illumination for the bottom camera.

3. The mobile phone screen sorting device according to claim 1, wherein the magazine positioning assembly comprises a sliding guide rail, a top camera and a top light source, and the master controller is in signal connection with the top camera;

the sliding guide rail is arranged above the material box openings and extends along the arrangement direction of the material box openings, and the top camera can be connected to the sliding guide rail in a sliding mode so as to move along the sliding guide rail to collect images of the material box grooves of any empty material box; the top light source is used for providing illumination for the top camera.

4. The mobile phone screen sorting device according to claim 3, wherein the number of the top light sources is two, and the two top light sources are respectively disposed on two sides of the top camera.

5. The mobile phone screen sorting apparatus of claim 1, wherein the platform structure comprises a moving platform and a moving guide rail;

the mobile guide rail extends along the arrangement direction of the material box openings, and the mobile platform is used for placing the mobile phone screen and can be connected with the mobile guide rail in a sliding mode.

6. The mobile phone screen sorting device according to claim 1, wherein the transfer system further comprises an empty magazine feeding port, a temporary storage port, a plurality of receiving ports and a magazine conveying channel;

the material box conveying channel is connected between the empty material box feeding port and the temporary storage port so as to convey the empty material box to the temporary storage port;

the temporary storage port is used for temporarily storing the mobile phone screen and the empty material box so as to provide the mobile phone screen for the sorting system and convey the empty material box to the material box port;

each receiving port corresponds to one material box port so as to output empty material boxes filled with the mobile phone screen.

7. The mobile phone screen sorting device according to claim 6, further comprising a mobile phone screen port, a mobile phone screen feeding port and a mobile phone screen conveying channel; the mobile phone screen port is used for conveying a mobile phone screen to the temporary storage port;

the mobile phone screen conveying channel is connected between the mobile phone screen feeding port and the mobile phone screen port so as to convey the mobile phone screen from the mobile phone screen feeding port to the mobile phone screen port.

8. The mobile phone screen sorting device of any one of claims 1-7, wherein the sorting system comprises a sorting manipulator and a quality detection assembly;

the sorting manipulator is used for grabbing the mobile phone screen and transferring the mobile phone screen to the platform structure;

the quality detection assembly is arranged on the sorting manipulator and is in signal connection with the master controller, and is used for detecting the quality of the mobile phone screen and sending the quality information of the mobile phone screen to the master controller quality detection assembly.

9. The mobile phone screen sorting device according to any one of claims 1 to 7, wherein the transfer systems are provided in two sets, two transfer systems share one sorting system, and a transfer manipulator, a mobile phone screen positioning assembly and a material box positioning assembly in each transfer system are respectively in signal connection with the master controller.

10. A mobile phone screen sorting method applied to the mobile phone screen sorting apparatus according to any one of claims 1 to 9, the mobile phone screen sorting method comprising the steps of:

the sorting system detects the mobile phone screen to obtain quality information of the mobile phone screen and feeds the quality information back to the master controller;

the mobile phone screen positioning assembly acquires an image of the mobile phone screen and feeds the image back to the main controller, and the main controller obtains mobile phone screen posture information according to the image analysis of the mobile phone screen;

the material box positioning assembly collects images of material box grooves of the empty material boxes corresponding to all the material box openings and feeds the images back to the main controller, and the main controller analyzes the images of the material box grooves to obtain position and posture information of all the material box grooves; the main controller judges the material box opening corresponding to the mobile phone screen according to the quality information;

the main controller forms a moving path of the transferring manipulator according to the screen posture information and the position and posture information of the material box groove, controls the transferring manipulator to grasp the mobile phone screen and then adjust the posture of the mobile phone screen according to the moving path, and controls the transferring manipulator to place the mobile phone screen in the material box groove of the empty material box corresponding to the material box opening.

11. The mobile phone screen sorting method according to claim 10, wherein the magazine positioning assembly collects images of magazine grooves of the empty magazines corresponding to all the magazine ports and feeds the images back to the master controller, and the master controller obtains the position and posture information of all the magazine grooves according to the image analysis of the magazine grooves comprises the following steps:

the material box positioning component collects an image of a material box groove of the empty material box;

the main controller positions the material box groove according to the image matching of the material box groove;

the main controller determines the center of the material box groove and the rotation angle of the material box groove;

repeating the steps until the complete material box groove is calculated.

12. The mobile phone screen sorting method of claim 11, wherein the determining, by the master controller, the center of the magazine slot and the rotation angle of the magazine slot comprises:

positioning a first material box groove corner point coordinate of the material box groove by using a first material box groove edge finding operator;

positioning a second material box groove corner point coordinate of the material box groove by using a second material box groove edge finding operator;

and calculating the center and the rotation angle of the material box groove according to the first material box groove angular point coordinate and the second material box groove angular point coordinate.

13. The mobile phone screen sorting method according to claim 10, wherein the mobile phone screen positioning component collects an image of the mobile phone screen and feeds the image back to the master controller, and the master controller obtains the attitude information of the mobile phone screen according to the image analysis of the mobile phone screen comprises the following steps:

the mobile phone screen positioning assembly acquires an image of the mobile phone screen and feeds the image back to the main controller;

the main controller determines a first mobile phone screen corner coordinate and a second mobile phone screen corner coordinate of the mobile phone screen according to the image of the mobile phone screen;

the main controller calculates the center point of the mobile phone screen according to the first mobile phone screen corner coordinate, the second mobile phone screen corner coordinate and the size of the mobile phone screen, and calculates the rotation angle of the mobile phone screen according to the first mobile phone screen corner coordinate and the second mobile phone screen corner coordinate.

14. The mobile phone screen sorting method according to claim 13, wherein the determining, by the master controller, the first mobile phone screen corner coordinates and the second mobile phone screen corner coordinates of the mobile phone screen according to the image of the mobile phone screen comprises:

roughly positioning a first mobile phone screen corner of the mobile phone screen by using a first template matching operator;

finely positioning coordinates of the first mobile phone screen corner points by adopting a first mobile phone screen edge finding operator and a second mobile phone screen edge finding operator to obtain coordinates of the first mobile phone screen corner points;

roughly positioning a second mobile phone screen corner of the mobile phone screen by using a second template matching operator;

and accurately positioning the coordinates of the screen corner point of the second mobile phone by using a third mobile phone screen edge finding operator in combination with the first mobile phone screen edge finding operator and the second mobile phone screen edge finding operator to obtain the coordinates of the screen corner point of the second mobile phone.

15. The mobile phone screen sorting method according to claim 10, further comprising the following steps before the sorting system detects the mobile phone screen to obtain quality information of the mobile phone screen and feeds the quality information back to the master controller:

the main controller controls the transfer manipulator to move the calibration plate to calibrate to obtain a calibration conversion matrix of the transfer manipulator.

16. The mobile phone screen sorting method of claim 15, wherein the step of calibrating the master controller by using a calibration board to obtain a calibration transformation matrix comprises the following steps:

controlling the transfer manipulator to grab the calibration plate and move to a set position;

determining the coordinates of the circle center of the calibration plate;

recording the actual coordinates of the transferring manipulator;

determining and obtaining the corresponding relation between the N groups of circle center coordinates and the actual coordinates;

and carrying out N-point calibration to obtain a calibration conversion matrix.

17. The mobile phone screen sorting method according to claim 16, wherein the determining of the coordinates of the center of the circle of the calibration plate comprises the following steps:

collecting an image of the calibration plate;

roughly positioning the characteristic circle of the calibration plate by using a template matching operator and finely positioning the center of the characteristic circle by using a circle finding operator;

rotating the calibration plate by 60 degrees clockwise;

determining the calibration times of the calibration plate as M;

and fitting the centers of the M groups of characteristic circles to obtain the center coordinates of the calibration plate.

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