CN116543052A

CN116543052A - Alignment deviation processing method and electronic equipment

Info

Publication number: CN116543052A
Application number: CN202310712103.XA
Authority: CN
Inventors: 林有彪; 荆和平
Original assignee: Shenzhen Glory Intelligent Machine Co ltd
Current assignee: Shenzhen Glory Intelligent Machine Co ltd
Priority date: 2023-06-15
Filing date: 2023-06-15
Publication date: 2023-08-04
Anticipated expiration: 2043-06-15
Also published as: CN116543052B

Abstract

The application discloses an alignment deviation processing method and electronic equipment relates to the technical field of industrial automation equipment lamination, and is applied to an alignment lamination system, wherein the alignment lamination system comprises a control device, an image acquisition device, a movement device and a material placement device. The control device acquires the material image acquired by the image acquisition device, performs image recognition on the material image, and acquires the position deviation of the first material and the second material in the material image. The control device obtains a preset compensation amount of the alignment laminating system, and determines a mixed deviation value of the alignment laminating system according to the preset compensation amount and the position deviation. If the mixed deviation value does not meet the preset precision requirement, the control device controls the motion device to conduct alignment calibration based on the mixed deviation value, and returns to the step of acquiring the material image until the mixed deviation value meets the preset precision requirement, and the control device controls the motion device to conduct attaching operation. The scheme acts on the compensation quantity in advance, and improves the precision and accuracy of the alignment laminating system.

Description

Alignment deviation processing method and electronic equipment

Technical Field

The embodiment of the application relates to the technical field of industrial automation equipment lamination, in particular to a contraposition deviation processing method and electronic equipment.

Background

In industrial automation equipment, alignment bonding is a common process. In order to meet the alignment requirements in different scenes, the types of automation equipment for alignment and lamination are also increasing, for example, foam lamination equipment, battery cover assembly equipment, inner screen assembly equipment, outer screen assembly equipment, automatic feeding and discharging equipment and the like are included.

The automation device generally comprises an image acquisition device, a material placement device, a movement device, a control device and the like. The image acquisition device is used for acquiring a material image; the control device can calculate the laminating deviation according to the acquired material image, so that the motion device is controlled to move the material to perform contraposition according to the laminating deviation, and laminating treatment of the material is performed after the contraposition is completed.

Along with the continuous upgrading of the product process, the requirements on the laminating precision are also higher and higher. And the problem of low alignment laminating accuracy exists in the alignment laminating process of the existing automatic equipment.

Disclosure of Invention

The embodiment of the application provides an alignment deviation processing method and electronic equipment, wherein when a mixed deviation value for alignment calibration is calculated, the deviation value between materials and the motion compensation quantity of a mechanical structure of a motion device are considered, and after the mixed deviation value is determined to meet the preset precision requirement, the fitting operation is executed. The method comprises the steps of calculating a mixed deviation value based on a deviation value between motion compensation and materials of a motion device, applying a compensation quantity in advance, aligning and calibrating when the mixed deviation value does not meet a preset precision requirement, acquiring a new round of material image after aligning and calibrating, calculating and judging the mixed deviation value, and performing laminating operation after determining that the mixed deviation value meets the precision requirement, so that closed-loop control based on the mixed deviation value is realized in the aligning and laminating process, the problem that the compensation quantity is moved after determining that the deviation meets the preset precision requirement, and the position deviation among materials possibly does not meet the precision requirement is solved, and the aligning precision and accuracy of the materials under the working of an aligning and laminating system are improved.

In order to achieve the above purpose, the embodiments of the present application adopt the following technical solutions.

In a first aspect, a method for processing alignment deviation is provided, and the method is applied to an alignment laminating system, wherein the alignment laminating system comprises a control device, an image acquisition device, a motion device and a material placement device, and the material placement device and the motion device are covered in a view finding area of the image acquisition device; the material placing device is used for placing a first material, and the moving device is used for placing a second material.

The method comprises the following steps: the control device acquires a material image acquired by the image acquisition device, wherein the material image comprises a first material image of a first material and a second material image of a second material. The control device performs image recognition on the material image to acquire the position deviation of the first material and the second material in the material image. The control device obtains a preset compensation amount of the alignment laminating system, wherein the preset compensation amount is used for representing at least one of motion compensation of the alignment laminating system and position compensation between the first material and the second material. And the control device determines a mixed deviation value of the alignment laminating system according to the preset compensation quantity and the position deviation, if the mixed deviation value does not meet the preset precision requirement, the control device controls the motion device to perform alignment calibration based on the mixed deviation value, and returns to the step of acquiring the material image until the mixed deviation value meets the preset precision requirement, and the control device controls the motion device to perform laminating operation.

In the application, the control device obtains a preset compensation amount, wherein the compensation amount comprises at least one of deviation (motion compensation) caused by backlash of the motion device and position compensation between the first material and the second material. The control device performs image recognition on the acquired image, calculates the position deviation between the first material and the second material, and then calculates a mixed deviation value between the materials based on the position deviation and a preset compensation value. If the mixed deviation value meets the preset precision requirement, the control device controls the motion device to perform the attaching operation; if the mixed deviation value does not meet the preset precision requirement, the control device controls the motion device to conduct alignment calibration based on the mixed deviation value, and the image is obtained again to conduct image recognition and calculation of the mixed deviation value. Because the position deviation among materials, the motion compensation of the motion device and the position compensation among materials are considered in the mixed deviation value, the judgment of the preset precision requirement and the alignment calibration are carried out based on the mixed deviation value, the compensation quantity is acted in advance, the closed-loop control is realized, the accuracy and the precision of alignment laminating are improved, the alignment time can be reduced, and the alignment efficiency is improved.

In a possible implementation manner of the first aspect, the movement device includes an XY movement module; the positional deviation includes a positional deviation in an X movement direction and a positional deviation in a Y movement direction, wherein the X movement direction and the Y movement direction intersect each other.

The control device carries out image recognition on the material image, obtains the position deviation of the first material and the second material in the material image, and comprises the following steps:

the control device performs image recognition on the material images to acquire geometric data of a first material image and geometric data of a second material image in the material images; the geometric data includes at least one of geometric contours and vertex coordinates. The control device determines the position deviation of the first material and the second material in the X movement direction and the position deviation of the first material and the second material in the Y movement direction according to the geometric data of the first material image and the geometric data of the second material image.

In the application, the control device can perform image recognition on a first material image and a second material image in the acquired material images, acquire geometric data corresponding to the first material image and the second material image, and calculate and determine the position deviation of the first material and the second material according to geometric outlines or vertex coordinates in the geometric data. Because the shapes of the materials are too many regular shapes in the alignment and lamination scene, the position deviation between the materials is calculated accurately based on the geometric data between the materials.

In a possible implementation manner of the first aspect, the determining, by the control device, a positional deviation of the first material and the second material in the X movement direction and a positional deviation of the second material in the Y movement direction according to the geometric data of the first material image and the geometric data of the second material image includes:

the control device determines the geometric center of the first material image according to the geometric data of the first material image, and the control device determines the geometric center of the second material image according to the geometric data of the second material image. The control device determines the position deviation of the first material and the second material in the X movement direction and the position deviation of the first material and the second material in the Y movement direction according to the geometric center of the first material image and the geometric center of the second material image.

In the application, the control device can perform image recognition on a first material image and a second material image in the acquired material images, and acquire geometric data corresponding to the first material image and the second material image, so as to determine the geometric center of the first material and the geometric center of the second material. Because the shapes of the materials are too many regular shapes in the alignment and lamination scene, the position deviation between the materials is calculated accurately based on the geometric center between the materials.

In another possible implementation manner of the first aspect, the movement device includes an XYR movement module, and the position deviation includes a position deviation of an R movement direction, where the R movement direction moves around the center with a fixed radius and with an intersection point of the X movement direction and the Y movement direction as the center.

and the control device acquires the offset angle of the first material image relative to the target motion direction and the offset angle of the second material image relative to the target motion direction according to the geometric data of the first material image. Wherein the target movement direction includes an X movement direction or a Y movement direction.

The control device obtains the position deviation of the first material and the second material in the R motion direction according to the offset angle of the first material image relative to the target motion direction and the offset angle of the second material image relative to the target motion direction.

In this application, it is contemplated that the first material is of a regular shape, such as rectangular, etc. In the aligning process of the first material and the second material, besides displacement deviation in the X movement direction, angle deviation generated in the moving and rotating process may also be generated. In this way, the obtained positional deviations include positional deviations in the X movement direction, positional deviations in the Y movement direction and positional deviations in the R movement direction, and positional deviations in different directions make the accuracy of the deviations higher.

Optionally, the movement device may further include an XXYY movement module, where the positional deviations of the movement directions to be calculated corresponding to the different movement modules are different.

In another possible implementation manner of the first aspect, the preset compensation amount includes an X-motion direction compensation amount, a Y-motion direction compensation amount, and an R-motion direction compensation amount, and the mixed deviation value includes an X-motion direction mixed deviation seed value, a Y-motion direction mixed deviation seed value, and an R-motion direction mixed deviation seed value, where the X-motion direction and the Y-motion direction intersect each other, and the R-motion direction moves around the center of a circle with a fixed radius about the intersection point of the X-motion direction and the Y-motion direction as the center of the circle.

The control device determines a mixed deviation value of the alignment laminating system according to the preset compensation quantity and the position deviation, and the control device comprises the following components:

the control device acquires the offset of the first material image and the second material image in the X motion direction according to the offset angle of the first material image and the second material image in the R motion direction; the control device determines a mixed deviation seed value of the first material image and the second material image in the X moving direction by adding the offset, the compensation quantity of the X moving direction and the position deviation of the X moving direction.

The control device determines a mixed deviation seed value of the first material image and the second material image in the Y motion direction by adding the compensation quantity in the Y motion direction and the position deviation in the Y motion direction.

The control device determines a mixed deviation seed value of the first material image and the second material image in the R motion direction by adding the compensation quantity of the R motion direction and the position deviation of the R motion direction.

In the application, the control device still considers the angle offset caused by operations such as movement and rotation in the alignment process when calculating the mixed deviation value of the X movement direction, so that the obtained mixed deviation value of the X movement direction is more accurate. In addition, the mixed deviation values of the X movement direction, the Y movement direction and the R movement direction all consider the position deviation among materials in the material images and the preset compensation quantity, and the mixed deviation values can more effectively provide alignment basis for alignment operation, realize closed-loop control in the alignment process and improve alignment precision and efficiency.

In another possible implementation manner of the first aspect, the preset precision requirement includes a deviation interval of the X movement direction and a deviation interval of the Y movement direction; the method further comprises the steps of:

and the control device determines a deviation interval of the X movement direction and a deviation interval of the Y movement direction according to the preset compensation quantity and the preset threshold value.

In the application, the area corresponding to the preset precision requirement can be determined according to the preset compensation amount and the preset threshold value. The preset threshold value is related to the alignment and lamination system and is a fixed value.

In another possible implementation manner of the first aspect, the preset threshold value includes an upper limit value and a lower limit value of an X movement direction, and an upper limit value and a lower limit value of a Y movement direction.

The initial value of the deviation interval in the X movement direction is the difference value between the lower limit value of the X movement direction and the compensation quantity and the offset quantity of the X movement direction; the end value of the deviation zone in the X movement direction is the sum of the upper limit value in the X movement direction and the compensation amount in the X movement direction and the offset amount in the X movement direction.

The initial value of the deviation interval in the Y motion direction is the difference between the lower limit value in the Y motion direction and the compensation amount in the Y motion direction; the end value of the deviation interval in the Y movement direction is the sum of the upper limit value in the Y movement direction and the compensation amount in the Y movement direction.

In the method, the deviation interval of the preset precision requirement corresponding to the X movement direction and the Y movement direction is determined according to the compensation quantity and the threshold value, and the determined deviation interval is accurate, so that more effective judgment results can be obtained when judging whether the precision requirement is met or not.

In another possible implementation manner of the first aspect, the mixing deviation value does not meet a preset precision requirement, including: the mixed deviation value in the X movement direction is outside the deviation interval in the X movement direction, and the mixed deviation value in the Y movement direction is outside the deviation interval in the Y movement direction.

In the method, when the mixed deviation values of the X movement direction and the Y movement direction are in the deviation intervals corresponding to the movement directions, the preset precision requirement is considered not to be met, the judgment precision of the mixed deviation values is provided by the judgment mode, and the alignment precision is improved.

In another possible implementation manner of the first aspect, the method further includes:

the control device outputs the position deviation of the first material and the second material, the mixed deviation value of the alignment laminating system and the laminating operation result of the moving device on the display interface.

In the application, the control device can output the data related to the alignment laminating process on the display interface, so that an operator can check the calculation results of the position deviation and the mixed deviation value in time, further analysis can be carried out on the data, and the alignment precision of the alignment laminating system is higher and more accurate.

In a second aspect, an alignment and lamination system is provided, and the alignment and lamination system comprises a control device, an image acquisition device, a movement device and a material placement device; the image acquisition device is positioned above the material placement device, and the material placement device is positioned above the movement device; the material placing device is used for placing a first material, and the moving device is used for placing a second material.

Control means for performing the method of any of the first aspects.

In a third aspect, an electronic device is provided that includes a memory and one or more processors; the memory is coupled with the processor; the memory has stored therein computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to perform the method of any of the first aspects described above.

In another possible implementation manner of the third aspect, the electronic device is multiplexed into the image acquisition device and/or the motion device.

In a fourth aspect, an alignment and lamination system is provided, where the alignment and lamination system includes an electronic device, an image acquisition device, a motion device, and a material placement device; covering material placing device and moving device in view finding area of image acquisition device; the material placing device is used for placing a first material, and the moving device is used for placing a second material.

An electronic device, which is provided in the third aspect.

In a fifth aspect, there is provided a computer readable storage medium having instructions stored therein which, when run on an electronic device, cause the electronic device to perform the method of any of the first aspects described above.

In a sixth aspect, there is provided a computer program product comprising instructions which, when run on an electronic device, cause the electronic device to perform the method of any of the first aspects above.

In a seventh aspect, embodiments of the present application provide a chip comprising a processor for invoking a computer program in a memory to perform a method as in the first aspect.

It may be appreciated that, for the benefits achieved by the second aspect of the alignment bonding system, the electronic device of the third aspect, the fourth aspect of the alignment bonding system, the fifth aspect of the computer readable storage medium, the sixth aspect of the computer program product, and the seventh aspect of the chip, reference may be made to the benefits in the first aspect and any possible design manner thereof, which are not repeated herein.

Drawings

Fig. 1 is a schematic architecture diagram of an automation device according to an embodiment of the present application;

fig. 2 is a schematic diagram of a process of alignment lamination according to an embodiment of the present application;

fig. 3 is a schematic view of backlash in a screw according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

FIG. 5 is a flowchart of a method for processing a misalignment according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of calculating a deviation value in a method for processing a deviation of alignment according to an embodiment of the present application;

FIG. 7 is a schematic diagram of calculating a deviation value in another method for processing a misalignment deviation according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a position compensation amount according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an alignment bonding system according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a chip system according to an embodiment of the present application.

Detailed Description

In the description of the embodiments of the present application, the terminology used in the embodiments below is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the specification of this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary. It should also be understood that in the various embodiments herein below, "at least one", "one or more" means one or more than two (including two). The term "and/or" is used to describe an association relationship of associated objects, meaning that there may be three relationships; for example, a and/or B may represent: a alone, a and B together, and B alone, wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise. The term "coupled" includes both direct and indirect connections, unless stated otherwise. The terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

In the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In industrial automation equipment, alignment bonding is a common process. In order to meet the alignment requirements in different scenes, the types of automation devices (abbreviated as automation devices in the embodiment of the present application and also being an alignment and lamination system in the embodiment) that can be used for performing alignment and lamination are also increasing, for example, the automation devices include: twisted Pair (TP) assembling equipment, foam laminating equipment, ceramic sheet assembling equipment, soft package batteries, battery cover assembling equipment, inner screen assembling equipment, outer screen assembling equipment, film sticking machine, automatic feeding and discharging equipment and the like.

The automation device generally comprises an image acquisition device, a material placement device, a movement device, a control device and the like. Fig. 1 shows an exemplary schematic illustration of an automation device. Referring to fig. 1, the image capturing apparatus may include a camera for capturing images within a range of angles of view thereof; the material placing device is used for placing a first material A, wherein the material placing device can be a sucker; the moving device is used for placing the second material B and is also called an alignment device. Wherein, the material placing device and the moving device are both in the visual angle range of the image acquisition device, namely, the material placing device and the moving device are covered in the view-finding area of the image acquisition device. The motion device comprises a motion platform, and the types of the motion platform comprise an XY theta motion platform, a UVW motion platform, an XXYY motion platform and the like. Different motion platforms correspond to different mobile modules. For example, the motion platform shown in fig. 1 is a UVW motion platform. The UVW motion platform is also called as XXY motion platform or XYR motion platform. The UVW motion platform comprises an X-axis direction moving module, a Y-axis direction moving module and an R-direction moving module. The R direction may be understood as a rotation direction of a certain order in the XOY plane, such as a counterclockwise rotation direction as shown in fig. 1, or may also be a clockwise rotation direction. For another example, the XXYY motion platform comprises two moving modules in the X-axis direction and two moving modules in the Y-axis direction.

The process of aligning and attaching the first material a and the second material B by the automation device can be shown in fig. 2. After the first material A and the second material B are fed, namely, the first material A is placed on the material placement device, and the second material B is placed on the motion device, the image acquisition device acquires images in the view angle of the motion device, and the control device can acquire the material images acquired by the image acquisition device. The material images comprise a first material image of a first material A, an image of a material placing device for placing the first material A, a second material image of a second material B, an image of a moving device for placing the second material B and the like. The control device performs image recognition on the material image based on the obtained material image, and calculates a deviation value between the first material A and the second material B. Under the condition that the deviation value meets the preset precision requirement, the control device controls the movement device to move according to the preset compensation quantity, and then the control device controls the movement device to move up and down to finish the lamination of the first material A and the second material B. Under the condition that the deviation value does not meet the preset precision requirement, the control device needs to adjust the position of the second material B relative to the first material A, namely, the control device controls the moving module of the moving device to move in at least one direction of the X-axis moving direction, the Y-axis moving direction and the R-axis moving direction based on the deviation value, and alignment calibration of the first material A and the second material B is carried out. After alignment calibration, the control device controls the image acquisition device to acquire the material image again, and performs new-round image recognition and calculation of the deviation value until the deviation value meets the preset precision requirement.

Along with the continuous upgrading of the product process, the requirements on the laminating precision are also higher and higher. In the process of aligning and laminating by the automatic equipment, the control device determines that the deviation value between the first material A and the second material B meets the preset precision requirement, then performs motion compensation according to the preset compensation amount, and controls the motion device to perform laminating operation after performing motion compensation. In the existing alignment and lamination process, motion compensation is performed after the deviation value between materials meets the precision requirement, but whether the deviation value between the materials subjected to motion compensation still meets the precision requirement cannot be determined, so that the accuracy of an alignment result is reduced.

The reasons for the movement deviation generated in the process of controlling the up-and-down movement of the movement device by the control device include backlash in mechanical structures such as gears, screw rods and the like in the movement device. Referring to fig. 3, fig. 3 shows a schematic back clearance in a screw. Backlash (backlash), also known as lost motion or return stroke, is the gap between two workpieces when joined and may be defined as the "maximum displacement or amount of rotation of a part in a direction while maintaining the next part stationary in a mechanical system". Backlash is a dead zone in the machine. For example, there is a mechanical backlash in the gears and gear sets, which is the gap between meshing gear teeth and teeth. If the gears rotate clockwise and then rotate anticlockwise, the meshed gears do not rotate when the gears start to rotate anticlockwise, and the gears do not rotate until the gears rotate for a small angle. Like when the train turns around, the railway connector also sounds due to its backlash, another example is the tappet of the valve train, which needs to be maintained for a small amount of backlash to function properly. In many applications, it would be desirable to have no backlash, but in practice a small amount of backlash is still required to avoid the device from seizing. Reasons for the existence of backlash in the mechanical structure include: lubrication, mechanical tolerances, deflection under load, expansion and contraction, etc.

In some applications, back lash (anti-backlash) may be eliminated by a compensation amount. For example, manually operated machine tools, the operator compensates for backlash by using the same directional travel to achieve these precise positions where precise positioning is required. If the machine is going to the left, but is moving to a more right position, the machine will first go to the right and go beyond the original position to be reached, then go to the left, and go to the original position to be reached. Alternatively, the use of a device in the machine structure may also be modified, for example, by changing a common nut in the machine structure to a split nut. When the nut and the screw are engaged, half of the nut contacts the left side of the thread and the other half of the nut contacts the right side of the thread. The two halves of the gear generate thrust forces in different rotational directions, respectively. However, this split-nut-on-an-Acme-leafscan design that adjusts threads unless the design is very tight, otherwise not eliminating all backlash.

The improvement of the mechanical structure or the elimination of the back clearance of the control equipment in the alignment and lamination process can not well eliminate the motion deviation caused by the back clearance, so that the accuracy of alignment and lamination in the alignment and lamination process is reduced.

The embodiment of the application provides a method for processing alignment deviation, which comprises the steps that a control device performs image recognition on an obtained material image, after calculating the position deviation between a first material and a second material, the control device obtains a preset compensation amount, and a mixed deviation value between the materials is calculated based on the position deviation and the preset compensation amount. If the mixed deviation value meets the preset precision requirement, the control device controls the motion device to perform the attaching operation; if the mixed deviation value does not meet the preset precision requirement, the control device controls the motion device to conduct alignment calibration based on the mixed deviation value, and after the alignment calibration is conducted once, the control device obtains the material image again to conduct image recognition and calculation of the mixed deviation value. Unlike the prior art, it is impossible to determine whether the deviation value between the materials still meets the preset precision requirement after motion compensation. In the scheme, the position deviation and the compensation quantity between materials are considered when the mixed deviation value is calculated, when the mixed deviation value does not meet the precision requirement, the control device can perform alignment calibration operation between the materials based on the calculated mixed deviation value, then acquire the material image again, and calculate the mixed deviation value between the materials in a new round and judge whether the preset precision requirement is met or not. In the whole process, the mixed deviation value comprises the position deviation and the preset compensation quantity, the compensation quantity is acted in advance, and when the control device determines that the mixed deviation value does not meet the preset precision requirement, the control device can conduct alignment calibration based on the mixed deviation value and conduct calculation and judgment of the mixed deviation value for a new round, closed-loop control based on the mixed deviation value is achieved, the mixed deviation value among materials is ensured to meet the preset precision requirement before lamination is conducted, and therefore the accuracy of alignment lamination is improved.

The control device of the embodiment of the application can be deployed in electronic equipment. The electronic equipment communicates with the image acquisition device, the movement device and the material placement device in a wireless or wired communication mode.

The electronic device in the embodiment of the present application may be a notebook computer, a personal computer (personal computer, PC), a server cluster, or the like, and the specific form of the electronic device is not particularly limited in the following embodiments.

Referring to fig. 4, a block diagram of an electronic device (e.g., electronic device 100) according to an embodiment of the present application is provided. Among other things, the electronic device 100 may include a processor 310, an external memory interface 320, an internal memory 321, a universal serial bus (universal serial bus, USB) interface 330, an antenna 1, a communication module 360, an audio module 370, a speaker 370A, a receiver 370B, a microphone 370C, an ear-headphone interface 370D, a sensor module 380, a camera 393, a display 394, and the like.

The illustrated structure of the embodiment of the present invention does not constitute a limitation of the electronic apparatus 100. More or fewer components than shown may be included, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

Processor 310 may include one or more processing units. For example, the processor 310 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a memory, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural network processor (neural-network processing unit, NPU), etc. Wherein the different processing units may be separate devices or may be integrated in one or more processors.

The controller may be a decision maker that directs the various components of the electronic device 100 to coordinate their operations in accordance with instructions. Is the neural and command center of the electronic device 100. The controller generates an operation control signal according to the instruction operation code and the time sequence signal to finish the control of instruction fetching and instruction execution.

In some embodiments, the electronic device may send a control instruction to the image acquisition device, where the image acquisition device acquires the image of the material when receiving the control instruction; the electronic equipment can send an acquisition instruction to the image acquisition device to acquire the material image acquired by the image acquisition device. The electronic equipment can send a control instruction to the motion device to control the motion device to move along a certain direction for alignment calibration and the like.

A memory may also be provided in the processor 310 for storing instructions and data. In some embodiments, memory in the processor 310 is a cache memory that holds instructions or data that the processor 310 has just used or recycled. If the processor 310 needs to reuse the instruction or data, it may be called directly from the memory. Repeated accesses are avoided and the latency of the processor 310 is reduced, thereby improving the efficiency of the system.

In some embodiments, the processor 310 may include an interface. The interfaces may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous receiver transmitter (universal asynchronous receiver/transmitter, UART) interface, a mobile industry processor interface (mobile industry processor interface, MIPI), a general-purpose input/output (GPIO) interface, a SIM interface, and/or a USB interface, among others.

The I2C interface is a bi-directional synchronous serial bus comprising a Serial Data Line (SDL) and a serial clock line (derail clock line, SCL). In some embodiments, the processor 310 may contain multiple sets of I2C buses. The processor 310 may be coupled to the touch sensor 380K, charger, flash, camera 393, etc., respectively, via different I2C bus interfaces. For example: the processor 310 may couple the touch sensor 380K through an I2C interface, such that the processor 310 communicates with the touch sensor 380K through an I2C bus interface to implement a touch function of the electronic device 100.

The I2S interface may be used for audio communication. In some embodiments, the processor 310 may contain multiple sets of I2S buses. The processor 310 may be coupled to the audio module 370 via an I2S bus to enable communication between the processor 310 and the audio module 370. In some embodiments, the audio module 370 may communicate audio signals to the communication module 360 via the I2S interface to implement a function of answering a call via a bluetooth headset.

PCM interfaces may also be used for audio communication to sample, quantize and encode analog signals. In some embodiments, the audio module 370 and the communication module 360 may be coupled by a PCM bus interface. In some embodiments, the audio module 370 may also transmit audio signals to the communication module 360 via the PCM interface to enable the function of answering a call via the bluetooth headset. Both the I2S interface and the PCM interface may be used for audio communication, the sampling rates of the two interfaces being different.

The UART interface is a universal serial data bus for asynchronous communications. The bus is a bi-directional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, a UART interface is typically used to connect the processor 310 with the communication module 360. For example: the processor 310 communicates with the bluetooth module through a UART interface to implement a bluetooth function. In some embodiments, the audio module 370 may transmit an audio signal to the communication module 360 through a UART interface, implementing a function of playing music through a bluetooth headset.

The MIPI interface may be used to connect the processor 310 to peripheral devices such as the display screen 394, the camera 393, and the like. The MIPI interfaces include camera serial interfaces (camera serial interface, CSI), display serial interfaces (display serial interface, DSI), and the like. In some embodiments, processor 310 and camera 393 communicate through a CSI interface, implementing the photographing function of electronic device 100. The processor 310 and the display screen 394 communicate via a DSI interface to implement the display functions of the electronic device 100.

The GPIO interface may be configured by software. The GPIO interface may be configured as a control signal or as a data signal. In some embodiments, a GPIO interface may be used to connect processor 310 with camera 393, display 394, communication module 360, audio module 370, sensor module 380, and the like. The GPIO interface may also be configured as an I2C interface, an I2S interface, a UART interface, an MIPI interface, etc.

USB interface 330 may be a Mini USB interface, a Micro USB interface, a USB Type C interface, or the like. The USB interface 330 may be used to connect a charger to charge the electronic device 100, and may also be used to transfer data between the electronic device 100 and a peripheral device. And can also be used for connecting with a headset, and playing audio through the headset. But also for connecting other electronic devices, such as AR devices, etc.

The interface connection relationship between the modules illustrated in the embodiment of the present invention is only schematically illustrated, and does not limit the structure of the electronic device 100. The electronic device 100 may employ different interfacing means, or a combination of interfacing means, in embodiments of the present invention.

The wireless communication function of the electronic device 100 may be implemented by the antenna 1, the communication module 360, the baseband processor, and the like.

The antenna 1 is used for transmitting and receiving electromagnetic wave signals. Each antenna in the electronic device 100 may be used to cover a single or multiple communication bands. Different antennas may also be multiplexed to improve the utilization of the antennas. For example: the cellular network antennas may be multiplexed into wireless local area network diversity antennas. In some embodiments, the antenna may be used in conjunction with a tuning switch.

The communication module 360 may provide a communication processing module that is applied to the electronic device 100 and includes solutions for wireless communication such as wireless local area network (wireless local area networks, WLAN) (e.g., wireless fidelity (wireless fidelity, wi-Fi) network), bluetooth (BT), global navigation satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field wireless communication technology (near field communication, NFC), infrared technology (IR), and the like. The communication module 360 may be one or more devices integrating at least one communication processing module. The communication module 360 receives electromagnetic waves via the antenna 1, modulates the electromagnetic wave signals and filters the signals, and transmits the processed signals to the processor 310. The communication module 360 may also receive a signal to be transmitted from the processor 310, frequency modulate it, amplify it, and convert it to electromagnetic waves for radiation via the antenna 1.

In some embodiments, the antenna 1 and the communication module 360 of the electronic device 100 are coupled such that the electronic device 100 may communicate with a network and other devices through wireless communication techniques. The wireless communication techniques may include the Global System for Mobile communications (global system for mobile communications, GSM), general packet radio service (general packet radio service, GPRS), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (wideband code division multiple access, WCDMA), time division code division multiple access (time-division code division multiple access, TD-SCDMA), long term evolution (long term evolution, LTE), BT, GNSS, WLAN, NFC, FM, and/or IR techniques, among others. The GNSS may include a global satellite positioning system (satellite based augmentation systems, SBAS), a global navigation satellite system (global navigation satellite system, GLONASS), a beidou satellite navigation system (BeiDou navigation satellite system, BDS), a Quasi zenith satellite system (Quasi-Zenith satellite system, QZSS) and/or a satellite based augmentation system (satellite based augmentation systems, SBAS).

Camera 393 is used to capture still images or video. The object generates an optical image through the lens and projects the optical image onto the photosensitive element. The photosensitive element may be a charge coupled device (charge coupled device, CCD) or a Complementary Metal Oxide Semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, which is then transferred to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV, or the like format. In some embodiments, electronic device 100 may include 1 or N cameras 393, N being a positive integer greater than 1.

In some embodiments, the camera of the electronic device may be multiplexed as an image acquisition device in a fit-on-position system.

The electronic device 100 implements display functions through a GPU, a display screen 394, an application processor, and the like. The GPU is a microprocessor for image processing, connected to the display screen 394 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 310 may include one or more GPUs that execute program instructions to generate or change display information.

The display screen 394 is used for displaying images, videos, and the like. For example, the display 394 may display an incoming call alert interface and a voice call interface. In this embodiment of the present application, if the electronic device 100 receives an intra-application call request initiated by the opposite end in the first application, the display screen 394 of the electronic device 100 may display a voice call interface including service information of the first application. The display screen 394 includes a display panel. The display panel may employ a liquid crystal display (liquid crystal display, LCD), an organic light-emitting diode (OLED), an active-matrix organic light emitting diode (AMOLED), a flexible light-emitting diode (flex), a mini, a Micro-OLED, a quantum dot light-emitting diode (quantum dot light emitting diodes, QLED), or the like. In some embodiments, the electronic device 100 may include 1 or N display screens 394, N being a positive integer greater than 1.

In some embodiments, during the process of aligning and laminating the materials, the electronic device may display a software interface for aligning and laminating the materials on the display screen. For example, the software interface may include a model schematic diagram representing the image acquisition device, the material placement device, and the motion device, and may further include an interface area for outputting the calculated hybrid deviation value, a result of whether a preset accuracy requirement is satisfied, process data for controlling the motion device to perform alignment calibration, and the like.

The external memory interface 320 may be used to connect an external memory card, such as a Micro SD card, to enable expansion of the memory capabilities of the electronic device 100. The external memory card communicates with the processor 310 through an external memory interface 320 to implement data storage functions. For example, files such as music, video, etc. are stored in an external memory card.

The internal memory 321 may be used to store computer executable program code comprising instructions. The processor 310 executes various functional applications of the electronic device 100 and data processing by executing instructions stored in the internal memory 321. The memory 321 may include a stored program area and a stored data area. The storage program area may store an application program (such as a sound playing function, an image playing function, etc.) required for at least one function of the operating system, etc. The storage data area may store data created during use of the electronic device 100 (e.g., audio data, phonebook, etc.), and so on. In addition, the memory 321 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, other volatile solid-state storage device, universal flash memory (universal flash storage, UFS), and the like.

The electronic device 100 may implement audio functionality through an audio module 370, a speaker 370A, a receiver 370B, a microphone 370C, an ear-headphone interface 370D, and an application processor, among others. Such as music playing, recording, etc.

The audio module 370 is used to convert digital audio information into an analog audio signal output and also to convert an analog audio input into a digital audio signal. The audio module 370 may also be used to encode and decode audio signals. In some embodiments, the audio module 370 may be disposed in the processor 310, or some of the functional modules of the audio module 370 may be disposed in the processor 310.

Speaker 370A, also known as a "horn," is used to convert audio electrical signals into sound signals. The electronic device 100 may listen to music, or to hands-free conversations, through the speaker 370A.

A receiver 370B, also referred to as a "earpiece", is used to convert the audio electrical signal into a sound signal. When electronic device 100 is answering a telephone call or voice message, voice may be received by placing receiver 370B close to the human ear.

Microphone 370C, also referred to as a "microphone," is used to convert sound signals into electrical audio signals. When making a call or transmitting voice information, the user can sound near the microphone 370C through the mouth, inputting a sound signal to the microphone 370C. The electronic device 100 may be provided with at least one microphone 370C. In some embodiments, the electronic device 100 may be provided with two microphones 370C, and may implement a noise reduction function in addition to collecting sound signals. In some embodiments, the electronic device 100 may also be provided with three, four, or more microphones 370C to enable collection of sound signals, noise reduction, identification of sound sources, directional recording functions, etc.

The earphone interface 370D is for connecting a wired earphone. The earphone interface 370D may be a USB interface 330 or a 3.5mm open mobile terminal platform (open mobile terminal Platform, OMTP) standard interface, a american cellular telecommunications industry association (cellular telecommunications industry association of the USA, CTIA) standard interface.

Optionally, in some embodiments, the electronic device may further include a movement mechanism, where the movement mechanism in the electronic device may be multiplexed into a movement device, a material placement device, etc. in the alignment bonding system.

The alignment deviation processing method provided in the embodiment of the present application is described with reference to fig. 5 by using an electronic device (same control device) as an execution body, and includes:

s201, feeding the first material A and the second material B.

In this embodiment, when the electronic device detects that the first material a is placed on the material placement device and the second material B is placed on the motion device, it is determined that the first material a and the second material B complete the feeding. For example, the electronic device may detect whether the first material a has been placed by the sensor of the material placement device. For example, the sensor may be a pressure sensor, an infrared sensor, a light sensor, or the like. Similarly, the electronic device may also detect whether the second material B has been placed by the sensor of the movement means. For example, the sensor may be a pressure sensor, an infrared sensor, a light sensor, or the like.

Illustratively, the pressure sensor is configured to sense a pressure signal, which may be converted into an electrical signal. In some embodiments, the pressure sensor may be provided on a surface of the movement device or the material placement device. Pressure sensors are of many kinds, such as resistive pressure sensors, inductive pressure sensors, capacitive pressure sensors, etc. The capacitive pressure sensor may be a capacitive pressure sensor comprising at least two parallel plates with conductive material. When a force is applied to the pressure sensor, the capacitance between the electrodes changes. The electronics can determine the strength of the pressure from the change in capacitance.

The size of the first material A placed on the material placing device is smaller than that of the second material B placed on the moving device.

S202, the electronic equipment acquires a material image.

In this embodiment, after the electronic device determines that the first material a and the second material B are fed, a material image is acquired. Optionally, the electronic device may send an acquisition instruction to the image acquisition device, where the image acquisition device acquires the material image after receiving the acquisition instruction, and returns the material image to the electronic device. The image acquisition device can be a monocular camera, a binocular camera, a multi-view camera and the like.

In some embodiments, the first material image, the second material image, etc. should be included in the material images. Optionally, the material image may further include an image of a material placement device for placing the first material a, an image of a moving device for placing the second material B, and the like.

S203, the electronic equipment performs image recognition on the material images, and calculates the position deviation of the first material A and the second material B.

In this embodiment, the electronic device performs image recognition processing on the material images, and recognizes geometric data of the first material image a 'and the second material image B' in the material images. Wherein the geometric data may include at least one of geometric outline of the region, vertex coordinates of the region, and the like. The electronic device may determine image areas respectively corresponding to the first material a and the second material B based on the geometric data.

Optionally, the electronic device may convert the acquired material image from the camera coordinate system to the physical coordinate system according to the calibration parameters of the image capturing device. And calculating the position deviation between the first material image and the second material image under the physical coordinate system.

For example, after undergoing coordinate system conversion, the electronic device may determine a geometric shape of the first material image based on the identified contour or image region of the first material image, thereby determining a geometric center of the first material image. Similarly, for the second material image, the electronic device may also determine the geometric shape of the second material image based on the identified outline or image region of the second material image, thereby determining the geometric center of the second material image.

Referring to fig. 6, fig. 6 shows a schematic diagram of a physical image in a physical coordinate system (XOY coordinate system) after coordinate system conversion. The electronic equipment acquires the geometric center O of the first material image A' in the XOY coordinate system ₁ （x ₁ ,y ₁ ) Geometric center O of second material image B' in XOY coordinate system ₂ （x ₂ ,y ₂ ). According to the geometric centre O of the first material image A ₁ （x ₁ ,y ₁ ) And the geometric center O of the second material image B ₂ （x ₂ ,y ₂ ) Calculating the X movement direction and the Y movement direction of the first material image A' and the second material image BIs a positional deviation of (a). Wherein the position deviation D of X movement direction _x =x ₂ -x ₁ Position deviation D in Y movement direction _y =y ₂ -y ₁ 。

The position deviation of the first material image A 'and the second material image B' in the X movement direction and the Y movement direction is that of the first material A and the second material B in the X movement direction and the Y movement direction.

Optionally, the first material a has a rotation angle in the XOY plane, in which embodiment the electronic device may also calculate a positional deviation between the first material image a 'and the second material image B' in the R movement direction, i.e. an angular deviation D _r . Wherein D is _r =r ₂ -r ₁ 。

Illustratively r ₁ For the offset angle of the first material image a' with respect to the X movement direction, r is exemplary ₁ An included angle between the long side of the first material image A' and the X movement direction; r is (r) ₂ For the offset angle of the second object image B' relative to the X direction of motion, r is, for example ₂ Is the included angle between the long side of the second material image B' and the X movement direction. In the example provided in fig. 6, the long side of the second object image B' is at an angle of 0 ° to the X direction of motion. The included angle between the long side of the first material image A' and the X moving direction is r ₁ . The position deviation of the first material image A 'and the second material image B' in the R movement direction is that of the first material A and the second material B in the R movement direction.

Alternatively, r ₁ It is also possible to shift the first material image a' by an angle with respect to the Y movement direction, r is an example ₁ An included angle between the short side of the first material image A' and the Y movement direction; r is (r) ₂ For the offset angle of the second object image B' relative to the Y movement direction, r is exemplary ₂ Is the included angle between the short side of the second material image B' and the Y movement direction. In the example provided in FIG. 7, the long side of the second object image B' has an angle r with the Y movement direction ₂ Wherein _， r ₂ 90 deg.. The included angle between the long side of the first material image A' and the Y movement direction is r ₁ . First material image A' The positional deviation from the second material image B' in the R movement direction, that is, the positional deviation of the first material a and the second material B in the R movement direction.

Thus, the electronic device can calculate the position deviation D of the first material image and the second material image _x 、D _y 、D _r . Namely, the position deviation D of the first material and the second material is obtained _x 、D _y 、D _r 。

In some embodiments, the electronic device may also determine other specified points from the geometric data (e.g., at least one of geometric contours, vertex coordinates), and calculate a positional deviation between the first material image and the second material image based on the other specified points.

S204, the electronic equipment acquires a preset compensation amount.

The compensation amount comprises at least one compensation amount of motion compensation amount of the motion device (corresponding alignment and lamination system of the motion device) and position compensation amount of the first material A and the second material B required by the product.

The motion compensation amount of the motion device can be understood as the compensation amount tested for eliminating the backlash of the motion device; the motion compensation amount can be obtained by testing the motion device for a plurality of times, the motion compensation amounts of different motion devices are different, and after the motion compensation amount of the motion device is obtained by testing, the motion device and the motion compensation amount can be stored in a database of the electronic equipment in a mapping relation, so that the electronic equipment can conveniently obtain the motion compensation amount corresponding to the current motion device from the database.

The position compensation amount refers to the position compensation amount of the first material A and the second material B for the product in which the first material A and the second material B are positioned. The position compensation amount is determined according to the actual situation of the automation device. The position compensation amount refers to, for example, the initial positions of the first material a and the second material B in fig. 8 (a) (at this time, the solid geometric center O of the first material a ₁₁ Solid geometric center O with second material B ₂₂ Misalignment), and the electronic device calculates the positional deviation and performs alignment to obtain (b) of fig. 8. In FIG. 8 (b), the first material A is located in the second materialB, the position deviation of the first material A and the second material B meets the preset precision requirement (at the moment, the solid geometric center O of the first material A ₁₁ Solid geometric center O with second material B ₂₂ Coincidence). However, in reality, the product containing the first material a and the second material B requires that the first material a is located at a distance X from the left boundary X of the second material B, and when the first material a is moved to a distance X from the left boundary X of the second material B, the moved distance is the position compensation amount, refer to (c) of fig. 8. The X distance is the distance between the left boundary of the first material and the left boundary of the second material; the position compensation quantity can pass through the solid geometric center O of the first material A ₁₁ Solid geometric center O with second material B ₂₂ The distance between them is determined.

The position compensation amount is related to the product, and the automation equipment is often aligned and attached to a certain product, namely, the automation equipment, the product (comprising a first material and a second material) and the motion device have corresponding relations. The electronic equipment can form corresponding relations among the automation equipment, the motion device, the motion compensation quantity and the position compensation quantity, and store the corresponding relations into a database so as to acquire corresponding information such as the motion compensation quantity and the position compensation quantity according to the identification of the automation equipment or the identification of the motion device.

The compensation amount can be the sum of the position compensation amount and the motion compensation amount, and the compensation amounts of different motion directions can be expressed as O _x 、O _y 、O _r 。

S205, the electronic equipment calculates a mixed deviation value based on the position deviation and a preset compensation amount.

The electronic device calculates the position deviation (D _x 、D _y 、D _r ) And obtaining the compensation amount (O) corresponding to the motion device _x 、O _y 、O _r ) Thereafter, a mixed deviation value is calculated.

For example, the electronic device may determine the sum of the positional deviation and the compensation amount as the hybrid deviation value.

The mixed deviation values of the different motion directions can be expressed as C _x 、C _y 、C _r 。

Then:

C _x =D _x +O _x ；

C _y =D _y +O _y ；

C _r =D _r +O _r 。

optionally, the geometry of the first material a also needs to be considered when calculating the mixing deviation value of the X movement direction. For example, when the geometry of the first material a is rectangular, the movement of the first material a forms an angle during the alignment correction, and the mixing deviation value in the X movement direction should be taken into consideration.

Here, the mixed deviation value C in the X movement direction _x The method comprises the following steps:

C _x =D _x +O _x +length*sin(O _r )。

where length is the long side of the geometry of the first material a. length sin (O) _r ) The determined offset of the first material image and the second material image in the X-direction of motion can be understood as based on the offset angle of the first material image and the second material image in the R-direction of motion.

Alternatively, if the geometry of the first material A is circular, O _r Absent or not calculated, then the mixed deviation value C of the X direction of motion _x The method comprises the following steps:

C _x =D _x +O _x 。

in some embodiments, a calculation function F of the hybrid deviation value may be constructed based on the position deviation and the compensation amount, wherein the compensation amount in F is a constant in the calculation function, which is a determined value; the electronic device inputs the position deviation into the calculation function F, and can calculate a corresponding mixed deviation value.

Alternatively, in some embodiments, the electronic device may dynamically adjust the weight values of the compensation amounts in different directions based on the values of the position deviations in different directions; for example, if the positional deviation in the X-movement direction is large, the weight value of the compensation amount in the X-movement direction can be dynamically increased. And calculating a mixed deviation value based on the weight value of the dynamically adjusted compensation quantity, the compensation quantity and the position deviation, wherein the obtained mixed deviation value is closer to the actual deviation of the first material and the second material, so that the alignment calibration is more accurate.

S206, the electronic equipment judges whether the mixed deviation value meets the preset precision requirement, and if so, S207 is executed; if the preset accuracy requirement is not satisfied, S208 is performed.

In some embodiments, the motion device in the automation device has a correspondence relationship with the product subjected to alignment bonding, and different products (motion devices) correspond to different deviation upper limit values PUL and deviation lower limit values PDL. The electronic device may acquire the deviation upper limit value PUL and the deviation lower limit value PDL corresponding to the current product (moving device), and determine the preset precision requirement section according to the deviation upper limit value PUL, the deviation lower limit value PDL, and the preset compensation amount.

Illustratively, a preset accuracy requirement interval U of X movement direction _x Can be expressed as:

U _x =[P _x DL-O _x -length*sin(O _r )，P _x UL+O _x +length*sin(O _r )]。

the interval starting value is the difference value between the lower limit value of the X movement direction, the offset of the first material image and the second material image in the X movement direction and the compensation of the X movement direction; the end value of the interval is the sum of the upper limit value of the X movement direction and the compensation quantity of the X movement direction.

Here, in order to determine the predetermined accuracy requirement range of the X-motion direction, an angular shift due to movement or rotation during the alignment process when the first material is rectangular should be considered, that is, an offset of the first material image and the second material image in the X-motion direction should be considered.

Preset precision requirement interval U of Y motion direction _y Can be expressed as:

U _y =[P _y DL-O _y ,P _y DL-O _y ]。

wherein, the interval initial value is the difference value between the lower limit value of the Y movement direction and the compensation quantity of the Y movement direction; the end value of the interval is the sum of the upper limit value of the Y movement direction and the compensation amount of the Y movement direction.

If the mixed deviation value C _x Belonging to U _x And C _y Belonging to U _y The electronic equipment determines that the mixed deviation value meets the preset precision requirement; otherwise, the electronic device determines that the mixed deviation value does not meet the preset precision requirement.

In some embodiments, the electronic device may further adjust the upper limit value and the lower limit value of different movement directions according to the mixed deviation value of the first material and the second material, for example, when the mixed deviation value is smaller than the first threshold value, it is indicated that the actual deviation between the first material and the second material is smaller, and the upper limit value and the lower limit value of the first weight are used; for example, when the mixed deviation value is greater than the second threshold value, it is indicated that the deviation between the first material and the second material is greater, and an upper limit value of the second weight and a lower limit value of the second weight are used. Wherein the first weight is less than the second weight.

S207, the electronic equipment controls the motion device to conduct attaching operation.

In some embodiments, the electronic device determines that the mixing deviation value meets a preset precision requirement, that is, the current relative position of the first material and the second material meets the preset precision requirement of the product (the moving device), and the electronic device can perform the lamination operation of the first material and the second material, in this case, the electronic device controls the moving device to move up and down, so that the moving device and the material placing device perform adsorption lamination, and lamination operation of the first material a and the second material B is performed.

And S208, the electronic equipment controls the motion device to perform alignment calibration according to the mixed deviation value, and the S202 is executed again.

In some embodiments, if the electronic device determines that the mixed deviation value does not meet the preset precision requirement, the electronic device controls the movement of the motion device to perform alignment calibration once based on the mixed deviation value that does not meet the preset precision requirement. Wherein the moving distance of the X moving direction is C _x The movement distance in the Y movement direction is C _y The moving distance of the moving direction R is C _r . After the movement of the control motion device is completed, the electronic device returns to executingS202 and the subsequent steps, acquiring a new round of material images, carrying out image recognition on the material images, calculating the position deviation and the mixed deviation value of the first material A and the second material B, confirming whether the mixed deviation value of the first material A and the second material B after alignment calibration meets the preset precision requirement, carrying out the alignment calibration again, and carrying out the lamination operation of the first material A and the second material B after the cyclic closed-loop judgment until the mixed deviation value meets the preset precision requirement.

Optionally, the electronic device may further output information such as a mixed deviation value, a position deviation, a result of whether the preset precision requirement is met, and the like, on the display interface, which is used for providing the operator with the display of the data related in the alignment and lamination process.

In some embodiments, different automation devices are suitable for alignment lamination of different materials, and the alignment deviation processing method provided by the embodiment of the application is applicable to different automation devices and can meet alignment lamination operation among materials with different geometric shapes. The control device performs alignment calibration between materials based on the mixed deviation value, and because the mixed deviation value considers the position deviation between materials, the motion compensation of the motion device and the position compensation between materials, the control device performs judgment of the preset precision requirement and alignment calibration based on the mixed deviation value, and the compensation quantity is acted in advance, thereby realizing closed-loop control, improving the accuracy and precision of alignment laminating, reducing the alignment time and improving the alignment efficiency.

Fig. 9 shows a schematic diagram of one possible configuration of the alignment bonding system according to the above embodiment. The alignment and lamination system shown in fig. 9 includes an electronic device 1000, an image acquisition device 1101, a material placement device 1102, and a movement device 1103. The electronic device 1000 includes a processor 1001 and a storage module 1003. Optionally, the electronic device 1000 may also include a display 1002.

The processor 1001 may be a central processing unit (central processing unit, CPU), a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (field programmable gate array, FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processor may include an application processor and a baseband processor. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The memory module 1003 may be a memory.

For example, the processor 1001 may be the processor 310 shown in fig. 4; the display 1002 may be the display 394 as shown in fig. 4, and the storage module 1003 may be the internal memory 321 as shown in fig. 4. The electronic device provided in the embodiment of the present application may be the electronic device 100 shown in fig. 4.

Embodiments of the present application also provide a system-on-a-chip (SoC) including at least one processor 701 and at least one interface circuit 702, as shown in fig. 10. The processor 701 and the interface circuit 702 may be interconnected by wires. For example, interface circuit 702 may be used to receive signals from other devices (e.g., a memory of an electronic apparatus). For another example, interface circuit 702 may be used to send signals to other devices (e.g., processor 701 or a camera of an electronic device). The interface circuit 702 may, for example, read instructions stored in a memory and send the instructions to the processor 701. The instructions, when executed by the processor 701, may cause the electronic device to perform the various steps of the embodiments described above. Of course, the chip system may also include other discrete devices, which are not specifically limited in this embodiment of the present application.

Embodiments of the present application also provide a computer-readable storage medium including computer instructions that, when executed on an electronic device described above, cause the electronic device to perform the functions or steps performed by the electronic device 100 in the method embodiments described above.

Embodiments of the present application also provide a computer program product which, when run on a computer, causes the computer to perform the functions or steps performed by the electronic device 100 in the method embodiments described above. For example, the computer may be the electronic device 100 described above.

It will be apparent to those skilled in the art from this description that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and the parts displayed as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions for causing a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The alignment deviation processing method is characterized by being applied to an alignment laminating system, wherein the alignment laminating system comprises a control device, an image acquisition device, a motion device and a material placement device, and a view finding area of the image acquisition device covers the material placement device and the motion device; the material placing device is used for placing a first material, and the moving device is used for placing a second material; the method comprises the following steps:

the control device acquires the material image acquired by the image acquisition device; the material images comprise a first material image of a first material and a second material image of a second material;

the control device performs image recognition on the material image to acquire the position deviation of the first material and the second material;

the control device acquires a preset compensation amount of the alignment laminating system; the preset compensation quantity is used for representing at least one of motion compensation of the alignment laminating system and position compensation between the first material and the second material;

The control device determines a mixed deviation value of the alignment laminating system according to the preset compensation quantity and the position deviation;

if the mixed deviation value does not meet the preset precision requirement, the control device controls the motion device to perform alignment calibration based on the mixed deviation value, and returns to the step of acquiring the material image;

until the mixed deviation value meets the preset precision requirement, the control device controls the motion device to carry out laminating operation.

2. The method of claim 1, wherein the movement means comprises an XYR movement module; the preset compensation quantity comprises a compensation quantity in an X motion direction, a compensation quantity in a Y motion direction and a compensation quantity in an R motion direction; the mixed deviation value comprises a mixed deviation value in an X movement direction, a mixed deviation value in a Y movement direction and a mixed deviation value in an R movement direction, wherein the X movement direction and the Y movement direction are intersected, and the R movement direction takes an intersection point of the X movement direction and the Y movement direction as a circle center and moves around the circle center with a fixed radius;

the control device determines a mixed deviation value of the alignment laminating system according to the preset compensation quantity and the position deviation, and the control device comprises the following steps:

The control device acquires the offset of the first material image and the second material image in the X motion direction according to the offset angle of the first material image and the second material image in the R motion direction;

the control device determines a mixed deviation seed value of the first material image and the second material image in the X movement direction by adding the offset, the compensation quantity of the X movement direction and the position deviation of the X movement direction;

the control device determines a mixed deviation seed value of the first material image and the second material image in the Y motion direction by adding the compensation quantity in the Y motion direction and the position deviation in the Y motion direction;

3. The method according to claim 2, wherein the preset accuracy requirement comprises a deviation interval in the X-direction of motion and a deviation interval in the Y-direction of motion; the method further comprises the steps of:

and the control device determines a deviation interval of the X movement direction and a deviation interval of the Y movement direction according to the preset compensation quantity and a preset threshold value.

4. A method according to claim 3, wherein the preset threshold values comprise an upper limit value and a lower limit value of an X movement direction, and an upper limit value and a lower limit value of a Y movement direction;

the initial value of the deviation interval of the X movement direction is the difference value between the lower limit value of the X movement direction and the compensation quantity of the X movement direction and the offset quantity of the X movement direction;

the ending value of the deviation interval of the X movement direction is the sum of the upper limit value of the X movement direction, the compensation quantity of the X movement direction and the offset quantity of the X movement direction;

the initial value of the deviation interval in the Y motion direction is the difference between the lower limit value of the Y motion direction and the compensation amount in the Y motion direction;

the end value of the deviation interval in the Y movement direction is the sum of the upper limit value of the Y movement direction and the compensation amount of the Y movement direction.

5. The method of claim 2, wherein the hybrid deviation value does not meet a preset accuracy requirement, comprising: the mixed deviation value of the X movement direction is outside the deviation interval of the X movement direction, and the mixed deviation value of the Y movement direction is outside the deviation interval of the Y movement direction.

6. The method of claim 1, wherein the movement device comprises an XY movement module; the position deviation comprises a position deviation of an X movement direction and a position deviation of a Y movement direction, wherein the X movement direction and the Y movement direction are intersected with each other;

the control device performs image recognition on the material image to acquire the position deviation of the first material and the second material, and the control device comprises:

the control device performs image recognition on the material images to acquire geometric data of a first material image and geometric data of a second material image in the material images; the geometric data comprises at least one of geometric outlines and vertex coordinates;

the control device determines the position deviation of the first material and the second material in the X movement direction and the position deviation of the first material and the second material in the Y movement direction according to the geometric data of the first material image and the geometric data of the second material image.

7. The method of claim 6, wherein the controlling means determining the positional deviation of the first material and the second material in the X-movement direction and the positional deviation of the second material in the Y-movement direction based on the geometric data of the first material image and the geometric data of the second material image, comprises:

The control device determines the geometric center of the first material image according to the geometric data of the first material image;

the control device determines the geometric center of the second material image according to the geometric data of the second material image;

the control device determines the position deviation of the first material and the second material in the X movement direction and the position deviation of the first material and the second material in the Y movement direction according to the geometric center of the first material image and the geometric center of the second material image.

8. The method of claim 6, wherein the movement means comprises an XYR movement module; the position deviation comprises a position deviation of an R movement direction, wherein the R movement direction takes an intersection point of the X movement direction and the Y movement direction as a circle center and moves around the circle center with a fixed radius;

the control device acquires an offset angle of the first material image relative to the target motion direction and an offset angle of the second material image relative to the target motion direction according to the geometric data of the first material image; the target motion direction comprises an X motion direction or a Y motion direction;

9. The method according to any one of claims 1-8, further comprising:

and the control device outputs the position deviation of the first material and the second material, the mixed deviation value of the alignment laminating system and the laminating operation result of the motion device on a display interface.

10. The alignment and lamination system is characterized by comprising a control device, an image acquisition device, a movement device and a material placement device; the view finding area of the image acquisition device covers the material placing device and the movement device; the material placing device is used for placing a first material, and the moving device is used for placing a second material;

the control device for performing the method of any one of claims 1-9.

11. An electronic device comprising a memory and one or more processors; the memory is coupled with the processor; the memory has stored therein computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to perform the method of any of claims 1-9.

12. The alignment and lamination system is characterized by comprising electronic equipment, an image acquisition device, a movement device and a material placement device; the view finding area of the image acquisition device covers the material placing device and the movement device; the material placing device is used for placing a first material, and the moving device is used for placing a second material;

the electronic device is the electronic device of claim 11.

13. The fit-for-alignment system of claim 12, wherein the electronic device is multiplexed to the image acquisition device and/or the motion device.

14. A computer readable storage medium comprising computer instructions which, when run on an electronic device, cause the electronic device to perform the method of any of claims 1-9.