CN116258702A - Automatic alignment system for assembling mobile phone screen - Google Patents
Automatic alignment system for assembling mobile phone screen Download PDFInfo
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- CN116258702A CN116258702A CN202310186668.9A CN202310186668A CN116258702A CN 116258702 A CN116258702 A CN 116258702A CN 202310186668 A CN202310186668 A CN 202310186668A CN 116258702 A CN116258702 A CN 116258702A
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- 230000005477 standard model Effects 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 19
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- 238000004140 cleaning Methods 0.000 claims description 11
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- 238000006073 displacement reaction Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G06T2207/10—Image acquisition modality
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention relates to the technical field of mobile phone screen assembly, and particularly discloses an automatic alignment system for mobile phone screen assembly, which comprises the following components: according to the invention, the actual image of the mobile phone screen to be assembled is photographed and acquired through the screen photographing and acquisition module when being assembled and placed by a CCD camera and is compared with the standard image of the standard mobile phone body stored in the standard model database, and the mobile phone body with the position offset and the mobile phone screen are aligned and corrected by the alignment and correction module through the manipulator, so that the accuracy of assembly alignment is higher and the generation efficiency is higher.
Description
Technical Field
The invention relates to the technical field of mobile phone screen assembly, in particular to an automatic alignment system for mobile phone screen assembly.
Background
Along with the globalization of information, the mobile phone is widely popularized, the demand of the mobile phone is increased, the development of the mobile phone manufacturing industry is further promoted, the mobile phone screen is assembled in a critical step in the mobile phone production process, the mobile phone screen generally comprises a display module for displaying images and colors and toughened glass attached to the surface of the display module for protecting the display module from being scratched, the alignment attachment of the mobile phone shell and the mobile phone screen is an essential link in the mobile phone production assembly process, and the machine vision can improve the flexibility and the automation degree of production. Machine vision is often used to replace manual vision in some dangerous work environments that are not suitable for manual work or where manual vision is difficult to meet requirements. The machine vision has four main functions, namely guiding and positioning, appearance detection and high precision.
The existing mobile phone screen alignment is mainly characterized in that a mobile phone body is placed on a clamp, then alignment assembly is carried out through a visual positioning operation manipulator, positioning accuracy is low, surface flatness is insufficient, a specific calibration plate is required to be adopted for calibrating a camera for alignment and lamination of a traditional mobile phone shell and a mobile phone screen, and accordingly alignment and lamination accuracy is low and generation efficiency is low.
Therefore, we propose an automatic alignment system for assembling a mobile phone screen to solve the above problems.
Disclosure of Invention
The invention aims to provide an automatic alignment system for assembling a mobile phone screen, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an automatic alignment system for assembling a mobile phone screen, comprising: the mobile phone comprises a mobile phone body, a mobile phone screen, a body photographing acquisition module, a reference model building module, a standard model database, a screen cleaning module, a screen photographing acquisition module, a size checking module, a data calculation module, an alignment correction module, a darkness identification module, an appearance contour identification module, a light supplementing module and an automatic assembly module;
the camera body photographing and collecting module is used for collecting a reference image of the mobile phone body;
the standard model building module is used for building a plane coordinate system according to the standard images, and the standard model database is used for storing the standard images of each standard mobile phone body;
the darkness identification module is used for acquiring the reference image and the actual image obtained by shooting by the screen shooting acquisition module, judging whether the current shooting scene is darkish according to the reference image and the actual image, and identifying the darkness of the actual image based on the reference image if the current shooting scene is darkish to obtain an identification result;
the light supplementing module is used for supplementing light to the current shooting scene according to the identification result;
the appearance contour recognition module is used for carrying out definition recognition on the appearance contour of the actual image based on the reference image to obtain a definition recognition result;
the screen cleaning module is used for cleaning the mobile phone screen before the screen photographing and collecting module collects the actual image, the screen photographing and collecting module is used for collecting the actual image of the mobile phone screen to be assembled when the mobile phone screen is assembled and placed, and the size checking module is used for checking that the actual image is compared with the reference image of the standard mobile phone body stored in the standard model database to obtain the mobile phone body meeting the preset standard;
the data calculation module is used for calculating the position offset and the angle offset between the actual image and the reference image, and the alignment correction module is used for performing alignment correction on the mobile phone body and the mobile phone screen with the position offset according to the position offset and the angle offset.
In a further embodiment, the alignment correction module includes an angular control unit and an offset control unit;
the angle control unit is used for acquiring first coordinate data of a reference image in a plane coordinate system and second coordinate data of an actual image in the plane coordinate system, calculating an angle offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data, and adjusting actual angles of the mobile phone body and the mobile phone screen according to the angle offset;
the offset control unit is used for calculating the position offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data, and carrying out displacement on the actual positions of the mobile phone body and the mobile phone screen according to the position offset.
In a further embodiment, the reference model building module is configured to build a first plane coordinate system based on a reference image center as an origin, and when the angle control unit obtains first coordinate data, obtain coordinate values of four corner points of the reference image, and take the coordinate values of the four corner points as the first coordinate data, where the first coordinate data are A1 (X1, Y1), A2 (X2, Y2), A3 (X3, Y3), and A4 (X4, Y4), respectively;
the reference model building module is further configured to coincide a coordinate center of the actual image with a coordinate center of the reference image, and when the angle control unit obtains second coordinate data, obtain coordinate values of four corner points of the actual image, and use the coordinate values of the four corner points as the second coordinate data, where the second coordinate data are B1 (X5, Y5), B2 (X6, Y6), B3 (X7, Y7), and B4 (X8, Y8), respectively.
The angle control unit is further configured to calculate an angle offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data, where a calculation formula is as follows:
Q＝R；
wherein ,
wherein cos < R > represents the cosine value of the angle offset, and Q represents the angle offset.
The offset control unit is used for calculating the position offset between the mobile phone body and the mobile phone screen according to the first coordinate data and the second coordinate data, wherein the calculation formula is as follows:
T(x，y)＝[(A1-B1)+(A2-B2)+(A3-B3)+(A4-B4)]/4；
where T (x, y) represents a positional shift amount, A1, A2, A3, A4 are first coordinate data, and B1, B2, B3, B4 are second coordinate data.
In a further embodiment, the angle control unit includes a manipulator, and the offset control unit includes a three-axis platform, where the manipulator is used to adjust an angular offset of the mobile phone screen, and the three-axis platform is used to adjust a position offset of the mobile phone screen.
In a further embodiment, the offset control unit is configured to acquire, by using the body photographing and acquiring module, a reference image of the mobile phone body and an actual image of the mobile phone screen to be assembled acquired by the screen photographing and acquiring module, where the actual image is assembled and placed, respectively, and transmit the first coordinate data and the second coordinate data to the triaxial platform to control and correct an actual image center of the mobile phone screen and a reference image center of the mobile phone body.
In a further embodiment, the angle control unit is configured to acquire, by using the camera body photographing and acquiring module, a reference image of the mobile phone body and an actual image of the mobile phone screen to be assembled acquired by the screen photographing and acquiring module, where the mobile phone screen to be assembled is assembled and placed, respectively, and transmit the first coordinate data and the second coordinate data to the manipulator to control and correct an angle offset between the mobile phone screen and the mobile phone body, where the angle offset is adjusted by the offset control unit.
In a further embodiment, the data calculation module is configured to send a position offset and an angle offset to a alignment correction module, where the alignment correction module is configured to determine whether the values of the position offset and the angle offset are zero;
and if the values of the position offset and the angle offset are zero, judging that the reference image and the actual image are overlapped.
In a further embodiment, the automatic assembly module is configured to correct the angle offset between the mobile phone body and the mobile phone screen by controlling the angle control unit in the alignment correction module through a manipulator, and the offset control unit corrects the position offset between the mobile phone body and the mobile phone screen by controlling the manipulator, so as to realize automatic assembly of the mobile phone body and the mobile phone screen.
In a further embodiment, the darkness identifying module is configured to identify an actual light intensity of an actual image of the mobile phone screen to be assembled acquired by the screen photographing and acquiring module when the mobile phone screen to be assembled is assembled and placed and a reference light intensity of a reference image of the mobile phone body acquired by the body photographing and acquiring module;
and if the actual light intensity is lower than the reference light intensity, judging that the current shooting scene is dim, and if the current shooting scene is dim, identifying the darkness of the actual image based on the reference image to obtain an identification result and sending the identification result to the light supplementing module to supplement light to the current shooting scene.
In a further embodiment, the appearance contour recognition module is used for performing contour recognition on the unclear image through a contour extraction method on the reference image and the actual image which are obtained through shooting by the body shooting acquisition module and the screen shooting acquisition module;
the contour extraction method adopts a method for hollowing out internal points, and comprises the following steps:
step one, binarizing an image;
if the target pixel in the image is black and all the adjacent pixel points are black, deleting the target pixel point;
step three: traversing each pixel with the boundary removed to obtain a new target image;
if the actual image shot by the screen shooting and collecting module is fuzzy through a contour extraction method, the appearance contour recognition module recognizes the picture definition and the appearance contour of the actual image shot by the screen shooting and collecting module and compares the picture definition and the appearance contour with the reference image shot by the body shooting and collecting module to obtain a definition recognition result.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the screen photographing and collecting module photographs and collects the actual image of the mobile phone screen to be assembled when the mobile phone screen is assembled and placed through the CCD camera, and the actual image is compared with the reference image of the standard mobile phone body stored in the standard model database, which is positioned in the established plane coordinate system, so that the offset is calculated conveniently by adopting an offset calculation formula, the subsequent positioning is facilitated, meanwhile, the angle and the position offset are detected by adopting the double camera, the accurate positioning of the screen can be achieved, and the mobile phone body and the mobile phone screen with the position offset are aligned and corrected through the manipulator through the alignment and correction module, so that the accuracy of assembly alignment is higher and the generation efficiency is higher.
Drawings
FIG. 1 is a schematic diagram of an automatic alignment system for assembling a mobile phone screen;
FIG. 2 is a schematic diagram of a system flow in the present invention;
FIG. 3 is a diagram of a reference image coordinate system according to the present invention.
In the figure: 1. a mobile phone body; 2. a mobile phone screen; 3. the camera body shooting and collecting module; 4. a reference model building module; 5. a standard model database; 6. a screen cleaning module; 7. the screen shooting and collecting module; 8. a size checking module; 9. a data calculation module; 10. an alignment correction module; 11. an angle control unit; 12. an offset control unit; 13. a darkness identification module; 14. an appearance outline identification module; 15. a light supplementing module; 16. and (5) automatically assembling the module.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 3, in an embodiment of the present invention, an automatic alignment system for assembling a mobile phone screen includes: the mobile phone body 1, the mobile phone screen 2, the body photographing acquisition module 3, the reference model establishment module 4, the standard model database 5, the screen cleaning module 6, the screen photographing acquisition module 7, the size checking module 8, the data calculation module 9, the alignment correction module 10, the darkness identification module 13, the appearance contour identification module 14, the light supplementing module 15 and the automatic assembly module 16, wherein the body photographing acquisition module 3 is used for acquiring a reference image of the mobile phone body 1, the reference model establishment module 4 is used for establishing a plane coordinate system according to the reference image, the standard model database 5 is used for storing the reference image of each standard mobile phone body, the darkness identification module 13 is used for acquiring the actual images obtained by photographing by the reference image and the screen photographing acquisition module 7 and judging whether the current photographing scene is darkness or not according to the reference image and the actual images, if the current shooting scene is dim, the darkness of the actual image is identified based on the reference image to obtain an identification result, the light supplementing module 15 is used for supplementing light to the current shooting scene according to the identification result, the appearance outline identification module 14 is used for carrying out definition identification on the appearance outline of the actual image based on the reference image to obtain a definition identification result, the screen cleaning module 6 is used for cleaning the mobile phone screen 2 before the screen shooting acquisition module 7 acquires the actual image, the screen shooting acquisition module 7 is used for acquiring the actual image of the mobile phone screen 2 to be assembled when being assembled and placed, the size checking module 8 is used for checking the comparison between the actual image and the reference image of the standard mobile phone body stored in the standard model database 5 to obtain the mobile phone body 1 meeting the preset standard, the data calculation module 9 is used for calculating the position offset and the angle offset between the actual image and the reference image, the alignment correction module 10 is used for carrying out alignment correction on the mobile phone body 1 and the mobile phone screen 2 with the position offset according to the position offset and the angle offset, the screen photographing acquisition module photographs and acquires the actual image of the mobile phone screen to be assembled when the mobile phone screen is assembled and placed by using the CCD camera, and compared with the reference image of the standard mobile phone body stored in the standard model database, which is positioned in the established plane coordinate system, so that the offset is calculated by using a calculation formula of the offset conveniently, the subsequent positioning is conveniently carried out, and meanwhile, the two-camera alignment angle and the position offset are adopted for detection, so that the accurate positioning of the screen can be achieved, and the alignment correction of the position offset and the angle offset is carried out on the mobile phone body and the mobile phone screen with the position offset by using a manipulator through the alignment correction module, so that the accuracy of assembly alignment is higher and the generation efficiency is higher.
In a further embodiment, the alignment correction module 10 includes an angle control unit 11 and an offset control unit 12, where the angle control unit 11 is configured to obtain first coordinate data of a reference image in a plane coordinate system and second coordinate data of an actual image in the plane coordinate system, calculate an angular offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, adjust actual angles of the mobile phone body 1 and the mobile phone screen 2 according to the angular offset, and the offset control unit 12 is configured to calculate a position offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, and perform displacement on actual positions of the mobile phone body 1 and the mobile phone screen 2 according to the position offset, the reference model establishing module 4 is configured to establish a first plane coordinate system based on a reference image center as an origin, the angle control unit 11 acquires coordinate values of four corner points of the reference image when acquiring first coordinate data, and takes the coordinate values of the four corner points as first coordinate data, wherein the first coordinate data are A1 (X1, Y1), A2 (X2, Y2), A3 (X3, Y3), and A4 (X4, Y4), respectively, the reference model establishing module 4 is further configured to coincide the coordinate center of the actual image with the coordinate center of the reference image, the angle control unit 11 acquires coordinate values of four corner points of the actual image when acquiring second coordinate data, and takes the coordinate values of the four corner points as second coordinate data, wherein the second coordinate data are B1 (X5, y5), B2 (X6, Y6), B3 (X7, Y7) and B4 (X8, Y8).
The angle control unit 11 is further configured to calculate an angle offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, where a calculation formula is:
Q＝R；
wherein ,
wherein cos < R > represents the cosine value of the angle offset, and Q represents the angle offset.
The offset control unit 11 is configured to calculate a position offset between the mobile phone body 1 and the mobile phone screen 2 according to the first coordinate data and the second coordinate data, where a calculation formula is:
T(x，y)＝[(A1-B1)+(A2-B2)+(A3-B3)+(A4-B4)]/4；
where T (x, y) represents a positional shift amount, A1, A2, A3, A4 are first coordinate data, and B1, B2, B3, B4 are second coordinate data.
The angle control unit 11 comprises a manipulator, the offset control unit 12 comprises a three-axis platform, the manipulator is used for adjusting the angle offset of the mobile phone screen 2, the three-axis platform is used for adjusting the position offset of the mobile phone screen 2, the offset control unit 12 is used for respectively acquiring a first coordinate data and a second coordinate data in a plane coordinate system through a reference image of the mobile phone body 1 acquired by the body photographing acquisition module 3 and an actual image of the mobile phone screen 2 to be assembled acquired by the screen photographing acquisition module 7 when the mobile phone screen 2 to be assembled is assembled and placed, transmitting the first coordinate data and the second coordinate data to the three-axis platform to control and correct the actual image center of the mobile phone screen 2 and the reference image center of the mobile phone body 1, the angle control unit 11 is configured to acquire, by using the reference image of the mobile phone body 1 acquired by the body photographing acquisition module 3 and the actual image of the mobile phone screen 2 to be assembled acquired by the screen photographing acquisition module 7 during assembly and placement, respectively acquire first coordinate data and second coordinate data in a plane coordinate system, and transmit the first coordinate data and the second coordinate data to a manipulator for controlling and correcting an angle offset between the mobile phone screen 2 and the mobile phone body 1 adjusted by the offset control unit 12, the data calculation module 9 is configured to send the position offset and the angle offset to the alignment correction module 10, the alignment correction module 10 is configured to determine whether the values of the position offset and the angle offset are zero, if the values of the position offset and the angle offset are zero, determine that the reference image and the actual image overlap, the alignment correction module 10 is a manipulator and a triaxial platform, and the manipulator is configured to adjust the angle offset of the mobile phone screen 2, the three-axis platform is used for adjusting the position offset of the mobile phone screen 2, after the position offset T and the angle offset R are calculated, by transmitting data to an operation system, firstly, a plane coordinate system is established by taking the center of a reference image of the mobile phone body 1 as an origin, then the operation system finally analyzes and controls the position offset and the angle offset by an alignment correction module 10 for carrying out alignment correction on the mobile phone body 1 and the mobile phone screen 2 with the position offset through a manipulator, so that the control system after inputting the values can acquire the reference image of the mobile phone body 1 acquired by an offset control unit 12 through a camera acquisition module 3 and the coordinate data of an actual image of the mobile phone screen 2 to be assembled acquired by a screen acquisition module 7 in a plane coordinate system, then, control correction is realized when the coordinate data of the mobile phone screen 2 to be assembled in the plane coordinate system is transmitted to the three-axis platform, so that the center of the reference image of the mobile phone screen 2 coincides with the center of the reference image of the mobile phone body 1, and at least the four corner coordinates B1, B2, B3 and B4 of the mobile phone screen 2 on the reference image plane coordinate system are required to be adjusted, after the mobile phone screen 2 is acquired by the camera acquisition module 1 is at least to be ensured, the four corner points A1, A2 and B4 of the mobile phone screen 2 on the coordinate system are overlapped, and the angle of the mobile phone 1 on the coordinate system, and the coordinate system is acquired by the coordinate system after the coordinate system is adjusted by the camera acquisition module, and the camera module is adjusted to realize that the angle correction is completed when the coordinate data acquisition of the mobile phone screen 1 is adjusted by the coordinate system and the camera module is positioned, and the coordinate acquisition of the mobile phone 1 after the coordinate data is adjusted and the coordinate system is adjusted to be matched, compared with the method that each corner between the mobile phone screen 2 and the mobile phone body 1 is aligned one by one, the method can realize that four corner coordinate points A1, A2, A3 and A4 of the mobile phone body 1 on a reference image plane coordinate system and four corner coordinate points B1, B2, B3 and B4 of the mobile phone screen 2 on the reference image plane coordinate system can be completely overlapped more quickly, firstly, the position offset is 0, but the position offset is 0 and cannot represent that all the corners A1-A4 are overlapped with the corners B1-B4 respectively, it is possible to only one point of the corners is overlapped but the other three points are not overlapped, at this time, the angle offset value is calculated again, only when the angle offset value and the position offset are all 0, the corners A1-A4 are overlapped with the corresponding corners B1-B4 respectively, the automatic assembly module 16 is used for controlling the angle offset between the mobile phone body 1 and the mobile phone screen 2 through a manipulator, the angle control unit 11 in the alignment correction module 10 can realize that the position offset of the mobile phone body 1 and the mobile phone screen 2 is controlled through the manipulator, the position offset of the mobile phone body 1 and the mobile phone can be adjusted through the automatic assembly module 12 through the correction of the mobile phone screen 2, and then the position offset of the mobile phone body 1 can be adjusted through the correction module 1 and the correction module, and the mobile phone body position offset can be calculated according to the formula, and the position offset of the mobile phone body can be further obtained, the darkness identification module 13 is configured to identify an actual light intensity of an actual image of the mobile phone screen 2 to be assembled acquired by the screen photographing acquisition module 7 during assembly and placement and a reference light intensity of a reference image of the mobile phone body 1 acquired by the body photographing acquisition module 3, determine that a current photographing scene is darkish if the actual light intensity is lower than the reference light intensity, identify the darkness of the actual image based on the reference image if the current photographing scene is darkish, obtain an identification result, send the identification result to the light supplementing module 15 for supplementing light to the current photographing scene, and the appearance contour identification module 14 is configured to identify an unclear image by a contour extraction method from the reference image and the actual image obtained by the body photographing acquisition module 3 and the screen photographing acquisition module 7;
the contour extraction method adopts a method for hollowing out internal points, and comprises the following steps:
step one, binarizing an image;
if the target pixel in the image is black and all 8 adjacent pixel points are black, deleting the target pixel point;
step three: traversing each pixel with the boundary removed to obtain a new target image;
if the actual image captured by the screen capturing and collecting module 7 is determined to be blurred by a contour extraction method, the appearance contour recognition module 14 recognizes the picture definition and the contour of the actual image captured by the screen capturing and collecting module 7 and compares the picture definition and the contour with the reference image captured by the body capturing and collecting module 3 to obtain a definition recognition result.
The working principle of the invention is as follows: firstly, the camera body photographing and collecting module 3 is used for photographing and collecting a reference image of the mobile phone body 1 through a camera, then coordinate values of four corner points are respectively selected as standard data coordinates of A1 (X1, Y1), A2 (X2, Y2), A3 (X3, Y3) and A4 (X4, Y4), a plane coordinate system is established by taking the center of the reference image of the mobile phone body 1 as the original standard data of the reference image of the mobile phone body 1 obtained through photographing and collecting the camera body 3 through the reference model establishing module 4 according to the CCD camera, the darkness identification module 13 is used for carrying out darkness identification on the reference image and the actual image obtained through photographing and collecting the camera body photographing and collecting module 3 and the screen photographing and collecting module 7 when the photographing scene is darkness is dark, when the darkness is bad, at this time, the light supplementing module 15 supplements the gray dim scene identified by the dim level identification module 13, so that the reference image and the actual image which are conveniently obtained by shooting are clearer, the appearance contour identification module 14 identifies the contour of the image which is unclear in appearance contour and is generated by the reference image and the actual image which are obtained by shooting by the camera acquisition module 3 and the screen camera acquisition module 7, so that better positioning correction is facilitated, then the size checking module 8 checks that the actual image which is obtained by shooting by the screen camera acquisition module 7 through a CCD camera when the mobile phone screen 2 to be assembled is assembled and placed is compared with the reference image of the standard mobile phone body stored in the standard model database 5, so that the mobile phone body 1 which is properly matched is conveniently selected is convenient to select, and then the mobile phone screen 2 is fed in before detection and acquisition through the screen cleaning module 6The line is cleaned, so that the subsequent photographing and collecting are clearer, the screen photographing and collecting module 7 photographs and collects the actual image of the mobile phone screen 2 to be assembled in assembling and placing through a CCD camera, coordinate values of four corner points are respectively selected as data coordinates to be detected, namely B1 (X5, Y5), B2 (X6, Y6), B3 (X7, Y7) and B4 (X8, Y8), the data calculating module 9 calculates the position offset T and the angle offset R between the actual image of the mobile phone screen 2 to be assembled in assembling and placing through the screen photographing and collecting module 7 and the reference image of the mobile phone body 1 obtained through the camera photographing and collecting module 3 and the CCD camera, and the calculation formula of the position offset is mainly T (X, Y) = [ (A1_B1) + (A2-B2) + (A3-B3) + (A4-B4)]/4；
After the position offset T and the angle offset R are calculated, the data are transmitted to the operating system, and then the operating system finally analyzes and controls the position offset and the angle offset of the mobile phone body 1 and the mobile phone screen 2 with the position offset through the position correction module 10 through the manipulator, so that the control system after inputting the numerical value, through the angle control unit 11, transmits the coordinate data of the reference image of the mobile phone body 1 acquired through the body photographing acquisition module 3 and the actual image of the mobile phone screen 2 to be assembled in the plane coordinate system acquired through the screen photographing acquisition module 7 to the manipulator and the triaxial platform, thereby realizing the control and correction of the angle offset between the mobile phone body 1 and the mobile phone screen 2, and the offset control unit 12, through the transmission of the coordinate data of the reference image of the mobile phone body 1 acquired through the body photographing acquisition module 3 and the actual image of the mobile phone screen 2 to be assembled in the plane coordinate system acquired through the screen photographing acquisition module 7, thereby realizing the control and correction of the position offset between the mobile phone body 1 and the mobile phone screen 2, and realizing the automatic assembly of the mobile phone body 1 and the mobile phone screen 2 after correction.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in the same piece or pieces of software and/or hardware when implementing the present application, and those skilled in the art will appreciate that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. An automatic alignment system for assembling a mobile phone screen, comprising: the mobile phone comprises a mobile phone body (1), a mobile phone screen (2), a body photographing acquisition module (3), a reference model building module (4), a standard model database (5), a screen cleaning module (6), a screen photographing acquisition module (7), a size checking module (8), a data calculation module (9), an alignment correction module (10), a darkness identification module (13), an appearance contour identification module (14), a light supplementing module (15) and an automatic assembly module (16);
the camera body photographing and collecting module (3) is used for collecting a reference image of the mobile phone body (1);
the reference model building module (4) is used for building a plane coordinate system according to the reference images, and the standard model database (5) is used for storing the reference images of each standard mobile phone body;
the darkness identification module (13) is used for acquiring the reference image and an actual image obtained by shooting by the screen shooting acquisition module (7), judging whether a current shooting scene is darkish according to the reference image and the actual image, and identifying the darkness of the actual image based on the reference image if the current shooting scene is darkish to obtain an identification result;
the light supplementing module (15) is used for supplementing light to the current shooting scene according to the identification result;
the appearance contour recognition module (14) is used for carrying out definition recognition on the appearance contour of the actual image based on the reference image to obtain a definition recognition result;
the screen cleaning module (6) is used for cleaning the mobile phone screen (2) before the screen photographing and collecting module (7) collects the actual image, the screen photographing and collecting module (7) is used for collecting the actual image of the mobile phone screen (2) to be assembled when the mobile phone screen is assembled and placed, and the size checking module (8) is used for checking the comparison of the actual image and the reference image of the standard mobile phone body stored in the standard model database (5) to obtain the mobile phone body (1) meeting the preset standard;
the data calculation module (9) is used for calculating the position offset and the angle offset between the actual image and the reference image, and the alignment correction module (10) is used for performing alignment correction on the mobile phone body (1) and the mobile phone screen (2) with the position offset according to the position offset and the angle offset.
2. The automatic alignment system for assembling a mobile phone screen according to claim 1, wherein the alignment correction module (10) comprises an angle control unit (11) and an offset control unit (12);
the angle control unit (11) is used for acquiring first coordinate data of a reference image in a plane coordinate system and second coordinate data of an actual image in the plane coordinate system, calculating an angle offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, and adjusting actual angles of the mobile phone body (1) and the mobile phone screen (2) according to the angle offset;
the offset control unit (12) is used for calculating the position offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, and displacing the actual positions of the mobile phone body (1) and the mobile phone screen (2) according to the position offset.
3. The automatic alignment system for assembling a mobile phone screen according to claim 2, wherein the reference model building module (4) is configured to build a first plane coordinate system based on a reference image center as an origin, and when the angle control unit (11) obtains first coordinate data, obtain coordinate values of four corner points of the reference image, respectively, and use the coordinate values of the four corner points as the first coordinate data, where the first coordinate data are A1 (X1, Y1), A2 (X2, Y2), A3 (X3, Y3), and A4 (X4, Y4), respectively;
the reference model building module (4) is further configured to coincide a coordinate center of the actual image with a coordinate center of the reference image, and when the angle control unit (11) obtains second coordinate data, obtain coordinate values of four corner points of the actual image, and take the coordinate values of the four corner points as the second coordinate data, where the second coordinate data are B1 (X5, Y5), B2 (X6, Y6), B3 (X7, Y7), and B4 (X8, Y8), respectively.
The angle control unit (11) is further configured to calculate an angle offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, where a calculation formula is as follows:
Q＝R；
wherein ,
wherein cos < R > represents the cosine value of the angle offset, and Q represents the angle offset.
The offset control unit (11) is configured to calculate a position offset between the mobile phone body (1) and the mobile phone screen (2) according to the first coordinate data and the second coordinate data, where a calculation formula is as follows:
T(x，y)＝[(A1-B1)+(A2-B2)+(A3-B3)+(A4-B4)]/4；
where T (x, y) represents a positional shift amount, A1, A2, A3, A4 are first coordinate data, and B1, B2, B3, B4 are second coordinate data.
4. An automatic alignment system for assembling a mobile phone screen according to claim 2, wherein the angle control unit (11) comprises a manipulator, and the offset control unit (12) comprises a three-axis platform, wherein the manipulator is used for adjusting the angular offset of the mobile phone screen (2), and the three-axis platform is used for adjusting the position offset of the mobile phone screen (2).
5. The automatic alignment system for assembling a mobile phone screen according to claim 4, wherein the offset control unit (12) is configured to acquire a first coordinate data and a second coordinate data in a plane coordinate system respectively from a reference image of the mobile phone body (1) acquired by the body photographing and acquiring module (3) and an actual image of the mobile phone screen (2) to be assembled acquired by the screen photographing and acquiring module (7) during assembling and placing, and transmit the first coordinate data and the second coordinate data to a triaxial platform control correction mobile phone screen (2) actual image center and a mobile phone body (1) reference image center.
6. The automatic alignment system for assembling a mobile phone screen according to claim 4, wherein the angle control unit (11) is configured to acquire a first coordinate data and a second coordinate data in a plane coordinate system from a reference image of the mobile phone body (1) acquired by the body photographing and acquiring module (3) and an actual image of the mobile phone screen (2) to be assembled acquired by the screen photographing and acquiring module (7) when the mobile phone screen is assembled and placed, and transmit the first coordinate data and the second coordinate data to the manipulator to control and correct an angle offset between the mobile phone screen (2) and the mobile phone body (1) after being adjusted by the offset control unit (12).
7. The automatic alignment system for assembling a mobile phone screen according to claim 1, wherein the data calculation module (9) is configured to send a position offset and an angle offset to an alignment correction module (10), and the alignment correction module (10) is configured to determine whether the values of the position offset and the angle offset are zero;
and if the values of the position offset and the angle offset are zero, judging that the reference image and the actual image are overlapped.
8. The automatic alignment system for assembling a mobile phone screen according to claim 7, wherein the automatic assembly module (16) is configured to correct an angular offset between the mobile phone body (1) and the mobile phone screen (2) by controlling a manipulator through an angle control unit (11) in the alignment correction module (10), and to correct a positional offset between the mobile phone body (1) and the mobile phone screen (2) by controlling the offset control unit (12) through a triaxial platform, so as to realize automatic assembly of the mobile phone body (1) and the mobile phone screen (2).
9. The automatic alignment system for assembling a mobile phone screen according to claim 8, wherein the darkness identification module (13) is configured to identify an actual light intensity of an actual image of the mobile phone screen (2) to be assembled acquired by the screen photographing acquisition module (7) when the mobile phone screen is assembled and placed and a reference light intensity of a reference image of the mobile phone body (1) acquired by the body photographing acquisition module (3);
judging whether the actual light intensity is lower than the reference light intensity or not;
if the actual light intensity is lower than the reference light intensity, judging that the current shooting scene is dim, and identifying the darkness of the actual image based on the reference image to obtain a first identification result;
and sending the first identification result to a light supplementing module (15) so that the light supplementing module supplements light for the current shooting scene.
10. The automatic alignment system for assembling a mobile phone screen according to claim 9, wherein the appearance contour recognition module (14) is configured to perform contour recognition on the unclear image by using a contour extraction method on a reference image and an actual image obtained by shooting through the body shooting acquisition module (3) and the screen shooting acquisition module (7);
the contour extraction method adopts a method for hollowing out internal points, and comprises the following steps:
step one, binarizing an image;
if the target pixel in the image is black and all 8 adjacent pixel points are black, deleting the target pixel point;
step three: traversing each pixel with the boundary removed to obtain a new target image;
if the actual image shot by the screen shooting and collecting module (7) is fuzzy through a contour extraction method, the appearance contour identifying module (14) identifies the picture definition and the appearance contour of the actual image shot by the screen shooting and collecting module (7) and compares the picture definition and the appearance contour with the reference image shot by the body shooting and collecting module (3) to obtain a definition identifying result.
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