CN116513576A - Film pasting method and device, electronic equipment and storage medium - Google Patents
Film pasting method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN116513576A CN116513576A CN202310588415.4A CN202310588415A CN116513576A CN 116513576 A CN116513576 A CN 116513576A CN 202310588415 A CN202310588415 A CN 202310588415A CN 116513576 A CN116513576 A CN 116513576A
- Authority
- CN
- China
- Prior art keywords
- film
- image
- platform
- target
- pose
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 239000013072 incoming material Substances 0.000 claims abstract description 20
- 238000012937 correction Methods 0.000 claims description 23
- 239000011159 matrix material Substances 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 16
- 238000010030 laminating Methods 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 abstract description 17
- 230000006872 improvement Effects 0.000 abstract description 5
- 239000011521 glass Substances 0.000 description 19
- 230000009466 transformation Effects 0.000 description 15
- 238000004891 communication Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000013519 translation Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 101000822695 Clostridium perfringens (strain 13 / Type A) Small, acid-soluble spore protein C1 Proteins 0.000 description 1
- 101000655262 Clostridium perfringens (strain 13 / Type A) Small, acid-soluble spore protein C2 Proteins 0.000 description 1
- 101000655256 Paraclostridium bifermentans Small, acid-soluble spore protein alpha Proteins 0.000 description 1
- 101000655264 Paraclostridium bifermentans Small, acid-soluble spore protein beta Proteins 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007888 film coating Substances 0.000 description 1
- 238000009501 film coating Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B33/00—Packaging articles by applying removable, e.g. strippable, coatings
- B65B33/02—Packaging small articles, e.g. spare parts for machines or engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Image Processing (AREA)
Abstract
The application discloses a film pasting method, a film pasting device, electronic equipment and a storage medium. The method specifically comprises the following steps: acquiring an image of a film to be adhered and an incoming image of a target object; determining the pose of the target film according to the relative position relation between the film to be adhered image and the pre-calibrated image; correcting the position of a placement platform of the target object according to the incoming material image and the target film pasting pose; and performing film pasting treatment on the target object according to the corrected platform position. The position relation is transformed by acquiring images of the film and the target object, the pose of the target film is determined, and the position of a placing platform for lifting the target object is corrected, so that the accurate film pasting of the target object is facilitated, and the film pasting precision is improved; the efficiency of pad pasting has also been promoted to automation level's improvement. In order to prevent the film from being damaged in the operation process and affecting the operation progress, the target film pasting pose of the film is aligned by adjusting the platform for preventing the target object, and the film pasting efficiency and quality are further ensured.
Description
Technical Field
The application relates to the technical field of automation, in particular to a film pasting method, a film pasting device, electronic equipment and a storage medium.
Background
With the development of society, various industries are developing, and in order to improve productivity, more and more manufacturers are beginning to introduce automation technology to improve productivity and production efficiency. In the electronic article industry, a glass article passing through a screen such as a tablet personal computer needs to be subjected to film pasting treatment.
In order to meet the requirement of film sticking precision, the object and the film need to be positioned and corrected before being placed on the film sticking. The traditional film pasting positioning adopts a baffle plate structure to fix the object, the optical fiber sensor is used for sensing the film, the film pasting precision is ensured through a manual adjustment structure, and because the film pasting precision requirement error needs to be controlled within 0.05mm, the error is overlarge, which can cause the film plating abnormality of a post-process photosensitive hole, and the object performance is influenced, so the adjustment time is long, the precision is low, and the object quality is difficult to ensure by adopting the method.
Disclosure of Invention
The application provides a film pasting method, a film pasting device, electronic equipment and a storage medium, so that film pasting precision and efficiency are improved, and film pasting quality is guaranteed.
According to an aspect of the present application, there is provided a film-sticking method, the method including:
acquiring an image of a film to be adhered and an incoming image of a target object;
determining the pose of the target film according to the relative position relation between the film to be adhered image and the pre-calibrated image;
correcting the position of a placement platform of the target object according to the incoming material image and the target film pasting pose;
and performing film pasting treatment on the target object according to the corrected platform position.
According to another aspect of the present application, there is provided a film sticking apparatus comprising:
the image acquisition module is used for acquiring an image of the film to be stuck and an incoming image of the target object;
the position determining module is used for determining the pose of the target film according to the film to be adhered image and the pre-calibrated relative position relation;
the position correction module is used for correcting the position of the placement platform of the target object according to the incoming material image and the target film pasting pose;
and the film pasting processing module is used for pasting the film to the target object according to the corrected platform position.
According to another aspect of the present application, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the film-attachment method of any of the embodiments of the present application.
According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the film-bonding method according to any embodiment of the present application.
In the technical scheme of the embodiment of the application, through acquiring the images of the film and the target object, analyzing the transformation of the position relation, determining the pose of the target film and correcting the position of the placing platform for lifting the target object, thereby helping the target object to accurately film and improving the film pasting precision; the efficiency of pad pasting has also been promoted to automation level's improvement. In order to prevent the film from being damaged in the operation process and affecting the operation progress, the target film pasting pose of the film is aligned by adjusting the platform for preventing the target object, and the film pasting efficiency and quality are further ensured.
It should be understood that the description of this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1A is a flowchart of a film laminating method according to an embodiment of the present application;
FIG. 1B is a schematic illustration of an automated film according to one embodiment of the present application;
fig. 2 is a flowchart of a film laminating method according to a second embodiment of the present application;
FIG. 3 is a schematic diagram of an article pose correction process applicable according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of a film laminating device according to a fourth embodiment of the present application
Fig. 5 is a schematic structural diagram of an electronic device implementing the film laminating method according to the embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1A is a flowchart of a film laminating method according to an embodiment of the present application, where the method may be performed by a film laminating device, and the film laminating device may be implemented in hardware and/or software, and the film laminating device may be configured in an electronic device. As shown in fig. 1A, the method includes:
s110, acquiring an image of the film to be adhered and an incoming image of the target object.
The image of the film to be adhered can be an image of the film to be adhered obtained through a visual camera, the target object can be a product to be adhered, such as glass products, screens and the like, and the incoming image of the target object can be an image obtained by the visual camera when the target object is fed before being adhered. It can be understood that the film to be adhered and the target object are fed from two directions, the film adhering operation is carried out on a platform at a certain position, images of the film and the product in feeding can be acquired before the film adhering, and the attitude conditions of the film and the product in feeding can be determined through image processing. Of course, the application is not limited to the film to be adhered and the target object, the texture of the film can be soft or hard, and the target object to be adhered is not limited to a certain product.
For example, as shown in fig. 1B, the left side of fig. 1B is the feeding direction of the film (i.e. from left to right in fig. 1B), the right side is the feeding direction of the glass product (i.e. from right to left in fig. 1B), and of course, the gestures of the film and the glass product shown in fig. 1B are only a special case, and the general gestures of the film and the glass product may be random. The lower camera and the upper camera in fig. 1B are provided and named only for better distinction, and in practice, the positions of both cameras may be arranged according to the actual situation; the lower camera is used for shooting an image of a film to be adhered, the upper camera is used for shooting an incoming material image of a glass product, and a position between two shooting positions is used for carrying out film adhering treatment. Thus, first acquiring an image of the film to be adhered and an image of the incoming material of the target article helps to determine the position and attitude of the film and the product when adhering the film.
S120, determining the target film pasting pose according to the to-be-pasted film image and the pre-calibrated relative position relation.
The relative positional relationship between the film to be adhered and the platform for lifting the target object can be determined by coordinate transformation between different image coordinate systems and platform coordinate systems, and even if the platform moves, the coordinate transformation is also controllable due to controllable movement. Of course, the relative positional relationship should be calibrated in advance before the film pasting operation, which is not limited in the embodiment of the present application. It can be understood that after the image of the film to be adhered is obtained by the camera, an image coordinate system based on the image of the film to be adhered can be determined according to the image, and the coordinate of the film to be adhered is converted through the relative position relationship, so as to obtain the position coordinate of the pose of the target film to be adhered. For example, the relative positional relationship may be a positional transformation matrix, and the coordinates of the film to be adhered are converted into a matrix form and calculated with the positional transformation matrix, so as to obtain the coordinates of the pose of the target film.
In an alternative embodiment, the determining the target film pose according to the to-be-adhered film image and the pre-calibrated relative position relationship may include: determining a first positioning coordinate of a positioning point in the film to be adhered in a platform coordinate system based on a first coordinate conversion relation between the first image coordinate system of the film to be adhered and the platform coordinate system of the placement platform; and determining the pose of the target film according to the first positioning coordinates and the relative position relation.
The first image coordinate system is an image coordinate system corresponding to the film to be adhered, and the platform coordinate system is established by taking a placing platform for lifting the target object as a reference. Taking fig. 1B as an example, the coordinate system of the image corresponding to the lower camera is the first image coordinate system. The first coordinate transformation relationship between the first image coordinate system and the stage coordinate system is determined on the basis of the film image to be attached acquired in the foregoing step, and may be, for example, in the form of a coordinate transformation matrix. And converting the coordinates of the positioning points in the image to be laminated into a platform coordinate system from the first image coordinate system through the first coordinate transformation relation to obtain first positioning coordinates of the positioning points in the platform coordinate system. And obtaining the coordinates of the target film laminating pose in the platform coordinate system through calculation between the first positioning coordinates and the relative position relation.
It will be appreciated that the overall pose of the film to be applied is cumbersome to express, since complex three-dimensional rotations of the film and platform will not occur during the film application process, and in short, the plane on which the film lies and the surface of the target object on the platform should be parallel in space. It is then more convenient to take one or more anchor points for coordinate determination for calculation. For example, the target object and the film to be adhered are provided with two positioning holes, and the circle centers of the two positioning holes can be used as positioning points, and the midpoint of the connecting line between the circle centers of the two positioning holes can also be used as the positioning points. The coordinates of the positioning points can be formed by combining the abscissa, the ordinate and the angular coordinate of the coordinate system. Taking two positioning holes on the film to be adhered as an example, the included angle between the straight line where the connecting line of the centers of the two holes is positioned and the abscissa axis can be used for defining the angle coordinate of the connecting line central point of the two positioning holes. Of course, the angular coordinate may be replaced by other manners, for example, an included angle between a connecting line between the angular coordinate and the origin and a coordinate axis, which is not limited in the embodiment of the present application.
And the determination of the target film pasting pose through coordinate transformation is simple and direct, the specific position of the film pasting can be rapidly and accurately determined, and particularly, the pose of the film pasting process does not need to be determined when the material of the film to be pasted is not needed, or the position of the film pasting process in space is determined through the method, so that the correction of the film pose is saved, and the loss of the film due to the correction of the pose is reduced in the film pasting process due to different materials of the film, and the efficiency and quality of the film pasting process are improved.
Further, the relative positional relationship includes a relative relationship matrix, and determining the target film pose according to the first positioning coordinate and the relative positional relationship may include: and determining the pose of the target film according to the difference between the first positioning coordinates and the relative relation matrix.
The relative positional relationship may take the form of a matrix, which may be, for example, a matrix of combinations of abscissa, ordinate and angular coordinates. The first positioning coordinates can also be converted into a matrix of the combination of the abscissa, the ordinate and the angle coordinates, the relative relation matrix transformation is subtracted from the first positioning coordinates, and the obtained difference is the coordinate of the target film pasting pose.
In an alternative embodiment, the relative positional relationship is pre-calibrated by: acquiring a random film image and a platform image of a placement platform; and determining the relative position relationship according to the random film image, the platform image and the horizontal movement distance of the placement platform during film pasting.
The random film image can be any image of a film to be adhered, and it can be understood that in the calibration process, in order to reduce the calculation amount, the gestures of the film to be adhered and the target object during feeding can be adjusted so as to simplify the calibration process. The film to be adhered and the target object can be preset to have the same posture, namely, the film to be adhered and the target object can be aligned only through translation, and film adhering is carried out. And the translation distance is the horizontal movement distance. Because the camera needs to shoot the image of the film and the image of the target object on the placement platform, in the practical situation, it is inconvenient to carry out film pasting near the camera, so that the range of the camera is quite suitable to move out by translating the placement platform, the horizontal moving distance of the placement platform during film pasting can refer to fig. 1B, the placement platform uvw moves leftwards for a section of horizontal moving distance, and the film is aligned with the placement platform uvw from left to right, so that the calculation is carried out according to the random film image, the platform image and the horizontal moving distance, and the relative position relation (for example, the calculation is carried out according to a matrix form, and the obtained relative relation matrix is the relative position relation matrix) for transforming the position coordinates.
By calibrating the relative position relationship in advance, an accurate film pasting alignment basis is provided for subsequent continuous film pasting operation, the accuracy of film pasting operation is improved, and meanwhile, the automation level of film pasting operation is improved.
S130, correcting the position of the placement platform of the target object according to the incoming material image and the target film pose.
The incoming image is an image of a target object to be laminated, which is photographed when incoming, and in practical situations, a product (target object) is in a random posture when being conveyed to a placement platform, so that in order to adapt to the target laminating posture of the film, the placement platform needs to be horizontally rotated by translation, so that the product can be aligned with the target laminating posture. Thus, position correction refers to correcting the target article from a random pose to be aligned with the target film-attachment pose. The correction mode and the calculation of correction distance can be carried out according to the coordinate position of the target object in the platform coordinate system and the coordinate between the target film pasting pose in the incoming material image, so that the distance of translation of the placing platform and the angle of rotation of the plane can be obtained, and the alignment with the target film pasting pose can be achieved.
And S140, performing film pasting treatment on the target object according to the corrected platform position.
And correcting the random gesture of the target article when the target article is fed in the previous step, and aligning the random gesture with the target film pasting gesture, so that film pasting is carried out. The film pasting process is a mature operation mode in the related art, and the embodiments of the present application are not described herein.
In the technical scheme of the embodiment of the application, through acquiring the images of the film and the target object, analyzing the transformation of the position relation, determining the pose of the target film and correcting the position of the placing platform for lifting the target object, thereby helping the target object to accurately film and improving the film pasting precision; the efficiency of pad pasting has also been promoted to automation level's improvement. In order to prevent the film from being damaged in the operation process and affecting the operation progress, the target film pasting pose of the film is aligned by adjusting the platform for preventing the target object, and the film pasting efficiency and quality are further ensured.
Example two
Fig. 2 is a flowchart of a film laminating method provided in a second embodiment of the present application, where the operation of performing position correction on a placement platform of a target object is refined based on the foregoing embodiment. As shown in fig. 2, the method includes:
s210, acquiring an image of the film to be adhered and an incoming image of the target object.
S220, determining the target film pasting pose according to the to-be-pasted film image and the pre-calibrated relative position relation.
S230, determining second positioning coordinates of positioning points in the incoming material image in the platform coordinate system based on a second coordinate conversion relation between the second image coordinate system of the incoming material image and the platform coordinate system of the placement platform.
The incoming image may be an image of the target object sent to the placement platform for shooting, and the target object may be in a random posture. The second image coordinate system may be an image coordinate system established based on the incoming material image, and the coordinate system and the platform coordinate system of the platform for placing the target object also have a coordinate conversion relationship, which is called a second coordinate conversion relationship. And according to the second coordinate conversion relation, converting the coordinates of the positioning point of the target object in the incoming material image in the second image coordinate system into the second positioning coordinates in the platform coordinate system. Similar to the first positioning coordinates of the previous embodiments, the second positioning coordinates may also be combined from an abscissa, an ordinate, and an angular coordinate. Taking two positioning holes on the plane of the target object to be film-adhered as an example, the included angle between the straight line where the connecting line of the centers of the two holes is located and the abscissa axis can be used for defining the angle coordinate of the connecting line central point of the two positioning holes. Of course, the angular coordinate may be replaced by other manners, for example, an included angle between a connecting line between the angular coordinate and the origin and a coordinate axis, which is not limited in the embodiment of the present application.
S240, correcting the position of the placement platform of the target object according to the second positioning coordinates and the target film pasting pose.
The second positioning coordinate can be understood as a position of the target object when the material is supplied, and the lifting target object can be rotated together due to the capability of preventing the platform from rotating in a plane, so that the target object and the target film pasting pose achieve the same pose, and then the translation is performed to align the target object with the target film pasting pose. It can be understood that the target film pasting pose (the position and the pose are known), the current second positioning coordinate and the pose of the target object obtained according to the incoming material image are known, and the movement of the placing platform can be helped by calculating the direction and the angle required to be rotated, the direction and the distance required to be translated and the like.
In an optional embodiment, the performing position correction on the placement platform of the target object according to the second positioning coordinates and the target film pose may include: determining the offset of the placement platform according to the second positioning coordinates and the film pasting coordinates of the target film pasting pose under the platform coordinate system; and correcting the position of the placement platform of the target object according to the offset.
The film pasting coordinates are coordinates of the target film pasting pose under a platform coordinate system of the placement platform, and the coordinates can also comprise an abscissa, an ordinate and an angle coordinate. The second positioning coordinate and the film pasting coordinate have a certain distance, so that the offset between the pose of the target film pasting and the pose of the current target object can be determined. Based on this offset, the placement platform is moved to eliminate cheapness so that the target item can be aligned with the target film pose.
In an alternative embodiment, the offset includes an angular offset and a positional offset; the correcting the position of the placement platform of the target object according to the offset may include: rotating the placing platform according to the angle offset to obtain a target posture of the placing platform; and keeping the target posture unchanged, and translating the placing platform according to the position offset to correct the position.
It is understood that the target film-sticking position and posture simultaneously cover the position and posture when sticking the film. Thus, the offset also includes a positional offset related to the position, and an angular offset related to the posture. The placement platform is rotated first, and the angle offset is compensated, so that the target object on the placement platform reaches the same pose as the target film pasting pose. And then, compensating the position offset by translating the placement platform so as to lead the target object to be completely aligned with the target film pasting pose.
S250, performing film pasting treatment on the target object according to the corrected platform position.
The corrected platform position is aligned with the target film pasting pose, and the film to be pasted can be pasted on a target object.
According to the technical scheme, the position correction is carried out on the placing platform for lifting the target object, so that the target object can be aligned with the target pasting pose, the film pasting incoming pose is not required, the incoming pose of the target object is not required, the placing platform is moved to align the placing platform with the target object, and the film pasting efficiency and accuracy can be further guaranteed.
Example III
In the embodiment of the application, the film is adhered to the surface of the glass product in a practical situation, and the surface of the glass product is provided with two positioning holes, and the corresponding film to be adhered is also provided with two positioning holes. In this application scenario, this embodiment describes how to make the placement platform lift the glass product and align with the target film-sticking pose by means of coordinate transformation, offset correction, and the like, so that the film-sticking operation is completed, which is specifically as follows:
as shown in fig. 1B, in this application scenario, the lower camera is used to acquire an image of the film; the upper camera is used for acquiring an image of a glass product, and the placement platform is a UVW platform. The affine transformation relation between the upper camera and the UVW platform is set as HS, and the affine transformation relation between the lower camera and the UVW platform is set as HX.
First, the fixed relative relationship M of the film to the glass is determined: the film sticking machine takes a film, the film moves to a photographing position, the hole circle coordinates of the film in the lower camera view field are identified, and the center point pixel coordinates P of the two hole circle coordinates are obtained MM (px mm ,py mm ) Conversion to UVW platform coordinate System lower coordinate Q by HX MM (x mm ,y mm ) Angle pr between two hole circle coordinates mm Can be used as the angle coordinate r after coordinate conversion mm . Of course, the angle between the coordinates of two circles of the two holes can be the included angle between the line of the connecting line of the centers of the two circles of the two holes and the intersection of the x-axis in the image coordinate system of the lower camera.
In the process of calibrating the relative position relation M between the film and the glass product, the film is attached to the product, the product is moved back to the photographing position after the attachment is completed, the two-hole circle coordinates of the film in the upper camera visual field are identified, and the pixel coordinate P of the center point of the two-hole circle coordinates is calculated GM (px gm ,py gm ) Conversion to UVW platform coordinate System lower coordinate Q through HS GM (x gm ,y gm ) Angle pr between two hole circle coordinates gm I.e. angle r gm 。
From this, a fixed relative relationship M of film to glass can be determined:
by the aboveIn the embodiment, the relative position relation M between the film and the glass of the current film sticking machine is obtained, and at the moment, the center point pixel coordinate P of the two image circle coordinates can be obtained by identifying the two image circle coordinates of the film in the lower camera view Mi (px mi ,py mi ) Conversion to UVW platform coordinate System lower coordinate Q by HX Mi (x mi ,y mi ) Angle pr between two hole circle coordinates mi I.e. can be regarded as angle r mi 。
Then calculate the glass film pasting position Q of the current film by using M i (x i ,y i ,r i ) Namely the position coordinates of the target film pasting pose.
As shown in fig. 3, the photosensitive hole of the glass is identified as two-hole circle coordinates in the upper camera field of view, and the center point pixel coordinate P of the two-hole circle coordinates is obtained gi (px gi ,py gi ) Conversion from HS to UVW platform coordinate system lower coordinate Q Gi (x Gi ,y Gi ) Angle pr between two hole circle coordinates gi Can be used as the angle coordinate r under the coordinate system of the placement platform Gi 。
Reading the current UVW platform coordinate as R i (u i ,v i ,r i ) Then the UVW platform movement coordinate R can be calculated t i (u t i ,v t i ,r t i ). First, Q is Gi (x Gi ,y Gi ,r Gi ) By θ= (r) i -r Gi ) Around R i (u i ,v i ) Rotate to Q t Gi (x t Gi ,y t Gi ) The glass feeding position and the glass film pasting position of the current film are under the same angle (gesture), and then Q is calculated i (x i ,y i ) And Q t Gi (x t Gi ,y t Gi ) Deviation.
Finally compensate to R i (u i ,v i ) Obtaining the position R to which the UVW platform needs to be shifted t i (u t i ,v t i ,r t i )：
Example IV
Fig. 4 is a schematic structural diagram of a film laminating device according to a fourth embodiment of the present application. As shown in fig. 4, the apparatus 400 includes:
an image acquisition module 410, configured to acquire an image of a film to be adhered and an incoming image of a target object;
the position determining module 420 is configured to determine a target film pose according to the film to be adhered image and a pre-calibrated relative position relationship;
the position correction module 430 is configured to perform position correction on the placement platform of the target object according to the incoming material image and the target film pose;
the film pasting processing module 440 is used for pasting film to the target object according to the corrected platform position.
In the technical scheme of the embodiment of the application, through acquiring the images of the film and the target object, analyzing the transformation of the position relation, determining the pose of the target film and correcting the position of the placing platform for lifting the target object, thereby helping the target object to accurately film and improving the film pasting precision; the efficiency of pad pasting has also been promoted to automation level's improvement. In order to prevent the film from being damaged in the operation process and affecting the operation progress, the target film pasting pose of the film is aligned by adjusting the platform for preventing the target object, and the film pasting efficiency and quality are further ensured.
In an alternative embodiment, the location determination module 420 may include:
the first positioning coordinate determining unit is used for determining the first positioning coordinate of the positioning point in the platform coordinate system in the film-sticking image based on a first coordinate conversion relation between the first image coordinate system of the film-sticking image and the platform coordinate system of the placement platform;
and the target film pasting pose determining unit is used for determining the target film pasting pose according to the first positioning coordinates and the relative position relation.
In an optional implementation manner, the relative positional relationship includes a relative relationship matrix, and the target film laminating pose determining unit may specifically be configured to:
and determining the pose of the target film according to the difference between the first positioning coordinates and the relative relation matrix.
In an alternative embodiment, the position correction module 430 may include:
the second positioning coordinate determining unit is used for determining second positioning coordinates of positioning points in the incoming material image in the platform coordinate system based on a second coordinate conversion relation between the second image coordinate system of the incoming material image and the platform coordinate system of the placement platform;
and the position correction unit is used for correcting the position of the placement platform of the target object according to the second positioning coordinates and the target film pasting pose.
In an alternative embodiment, the position correction unit may include:
the offset determining subunit is used for determining the offset of the placement platform according to the second positioning coordinate and the film pasting coordinate of the target film pasting pose under the platform coordinate system;
and the position correction subunit is used for correcting the position of the placement platform of the target object according to the offset.
In an alternative embodiment, the offset includes an angular offset and a positional offset; the position correction subunit may include:
the rotation correction slave unit is used for rotating the placement platform according to the angle offset to obtain a target posture of the placement platform;
and the translation correction slave unit is used for keeping the target posture unchanged, and translating the placing platform according to the position offset so as to correct the position.
In an alternative embodiment, the relative positional relationship is pre-calibrated by:
acquiring a random film image and a platform image of a placement platform;
and determining the relative position relationship according to the random film image, the platform image and the horizontal movement distance of the placement platform during film pasting.
The film sticking device provided by the embodiment of the application can execute the film sticking method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of executing the film sticking methods.
Example five
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement embodiments of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the application described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as a film-sticking method.
In some embodiments, the film-coating method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the film-attachment method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the film-attachment method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application specific standard Articles (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host object in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solutions of the present application are achieved, and the present application is not limited herein.
The above embodiments do not limit the scope of the application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application are intended to be included within the scope of the present application.
Claims (10)
1. A method of film attachment, the method comprising:
acquiring an image of a film to be adhered and an incoming image of a target object;
determining the pose of the target film according to the relative position relation between the film image to be adhered and the pre-calibrated image;
correcting the position of a placement platform of the target object according to the incoming material image and the target film pose;
and carrying out film pasting treatment on the target object according to the corrected platform position.
2. The method according to claim 1, wherein determining the target film-attaching pose based on the to-be-attached film image and a pre-calibrated relative positional relationship comprises:
determining a first positioning coordinate of a positioning point in the image to be laminated in a platform coordinate system based on a first coordinate conversion relation between the first image coordinate system of the image to be laminated and the platform coordinate system of the placement platform;
and determining the target film pasting pose according to the first positioning coordinates and the relative position relation.
3. The method of claim 2, wherein the relative positional relationship comprises a relative relationship matrix, and wherein determining the target film pose based on the first positional coordinates and the relative positional relationship comprises:
and determining the target film pasting pose according to the difference between the first positioning coordinates and the relative relation matrix.
4. A method according to any one of claims 1-3, wherein the performing position correction on the placement platform of the target object according to the incoming material image and the target film pose comprises:
determining second positioning coordinates of positioning points in the incoming material image in a platform coordinate system based on a second coordinate conversion relation between the second image coordinate system of the incoming material image and the platform coordinate system of the placement platform;
and correcting the position of the placement platform of the target object according to the second positioning coordinates and the target film pasting pose.
5. The method of claim 4, wherein the performing position correction on the placement platform of the target object according to the second positioning coordinates and the target film pose comprises:
determining the offset of the placement platform according to the second positioning coordinates and the film pasting coordinates of the target film pasting pose under the platform coordinate system;
and correcting the position of the placement platform of the target object according to the offset.
6. The method of claim 5, wherein the offset comprises an angular offset and a positional offset; and correcting the position of the placement platform of the target object according to the offset, wherein the method comprises the following steps:
rotating the placing platform according to the angle offset to obtain a target posture of the placing platform;
and keeping the target posture unchanged, and translating the placing platform according to the position offset to correct the position.
7. A method according to any one of claims 1-3, wherein the relative positional relationship is pre-calibrated by:
acquiring a random film image and a platform image of the placement platform;
and determining the relative position relation according to the random film image, the platform image and the horizontal movement distance of the placing platform during film pasting.
8. A film laminating apparatus, comprising:
the image acquisition module is used for acquiring an image of the film to be stuck and an incoming image of the target object;
the position determining module is used for determining the pose of the target film according to the film to be adhered image and the pre-calibrated relative position relation;
the position correction module is used for correcting the position of the placement platform of the target object according to the incoming material image and the target film pasting pose;
and the film pasting processing module is used for carrying out film pasting processing on the target object according to the corrected platform position.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the film-attachment method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the film attachment method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310588415.4A CN116513576A (en) | 2023-05-23 | 2023-05-23 | Film pasting method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310588415.4A CN116513576A (en) | 2023-05-23 | 2023-05-23 | Film pasting method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116513576A true CN116513576A (en) | 2023-08-01 |
Family
ID=87399441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310588415.4A Pending CN116513576A (en) | 2023-05-23 | 2023-05-23 | Film pasting method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116513576A (en) |
-
2023
- 2023-05-23 CN CN202310588415.4A patent/CN116513576A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10334239B2 (en) | Image processing apparatus, calibration method, and calibration program | |
| CN106570907B (en) | Camera calibration method and device | |
| WO2021223416A1 (en) | Position point compensation method, apparatus and device, and storage medium | |
| CN115272291A (en) | Film-sticking defect detection method, device, equipment and storage medium | |
| CN111210392B (en) | Hub valve hole positioning method based on digital image processing | |
| WO2023010565A1 (en) | Method and apparatus for calibrating monocular speckle structured light system, and terminal | |
| CN112902961B (en) | Calibration method, medium, calibration equipment and system based on machine vision positioning | |
| CN116513576A (en) | Film pasting method and device, electronic equipment and storage medium | |
| CN114734444B (en) | Target positioning method and device, electronic equipment and storage medium | |
| CN109177138B (en) | Method and device for aligning glass and membrane | |
| CN115311624B (en) | Slope displacement monitoring method and device, electronic equipment and storage medium | |
| CN110570414B (en) | Method and device for acquiring alignment reference, electronic equipment and storage medium | |
| CN110675445B (en) | Visual positioning method, device and storage medium | |
| CN113837950A (en) | Crystal fillet degree correction method, system and storage medium | |
| CN117115233B (en) | Dimension measurement method and device based on machine vision and electronic equipment | |
| CN118096897A (en) | Product laminating method, device, equipment and storage medium | |
| CN105759559A (en) | Movement control method for focusing dispensing device | |
| CN115830147B (en) | Pad printing dispensing rotation center calibration method based on monocular vision | |
| CN117119115B (en) | Calibration method and device based on machine vision, electronic equipment and storage medium | |
| CN117406562A (en) | Current compensation method and device for exposure machine, electronic equipment and storage medium | |
| CN118052750A (en) | Correction method and device for vertical angle, electronic equipment and storage medium | |
| CN117067772A (en) | Method, device, equipment and medium for generating jet printing image | |
| CN115294217B (en) | Visual experiment platform calibration method, positioning method and related equipment | |
| CN117000540A (en) | Dispensing positioning method, device, equipment and storage medium | |
| CN116331622A (en) | Paste positioning method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |