WO2023131177A1 - 一种图像获取系统、方法及显示面板加工设备 - Google Patents

一种图像获取系统、方法及显示面板加工设备 Download PDF

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Publication number
WO2023131177A1
WO2023131177A1 PCT/CN2023/070398 CN2023070398W WO2023131177A1 WO 2023131177 A1 WO2023131177 A1 WO 2023131177A1 CN 2023070398 W CN2023070398 W CN 2023070398W WO 2023131177 A1 WO2023131177 A1 WO 2023131177A1
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WIPO (PCT)
Prior art keywords
image acquisition
image
target
control
preset
Prior art date
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PCT/CN2023/070398
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English (en)
French (fr)
Inventor
周全国
朱学辉
徐丽蓉
王志东
唐浩
张青
周丽佳
Original Assignee
京东方科技集团股份有限公司
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Application filed by 京东方科技集团股份有限公司 filed Critical 京东方科技集团股份有限公司
Priority to US18/283,931 priority Critical patent/US20240163560A1/en
Publication of WO2023131177A1 publication Critical patent/WO2023131177A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/94—Investigating contamination, e.g. dust
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Definitions

  • the present application relates to the technical field of display devices, in particular to an image acquisition system, an image acquisition method and a display panel processing equipment.
  • the embodiment of the present application proposes an image acquisition system, an image acquisition method and a display panel processing device, aiming to automatically capture clear images.
  • An embodiment of the present application provides an image acquisition system, and the image acquisition system includes: a control device, an object loading device, and an image acquisition device;
  • the loading device is used to fix the target object
  • the image acquisition device is configured to acquire the image signal of the target object at preset time intervals and send it to the control device in real time;
  • the control device is configured to obtain a target displacement value between the object-carrying device and the image acquisition device according to the image signal, and generate a control command carrying the target displacement value and send it to the object-carrying device and at least one of said image acquisition devices;
  • At least one of the object loading device and the image acquisition device moves according to the control command of the control device until the definition of the image signal received in real time is greater than a preset definition threshold.
  • control device includes: a target displacement value calculation module
  • the target displacement value calculation module is used to obtain the current distance value between the object-carrying device and the image acquisition device, and is also used to obtain the object-carrying device and the image according to the image signal analysis. Acquiring a target distance value between the devices, and also used to obtain a target displacement value between the object-carrying device and the image acquisition device according to the current distance value and the target distance value;
  • the target distance value is a preset distance value within the focal length threshold range of the image acquisition device
  • the current distance value is based on the current position coordinates of the object-carrying device and the current position coordinates of the image acquisition device calculated.
  • the object carrying device includes: a stage and a three-dimensional mobile module
  • the carrier is used to fix the target object
  • the three-dimensional moving module is used to move the stage along one or more directions of the xyz three axes according to the displacement distance value of the stage corresponding to the control command of the control device.
  • the loading device further includes: a rotating module
  • the rotation module is configured to rotate the carrier according to the angular displacement value of the carrier corresponding to the control command of the control device.
  • the image acquisition device includes: an optical component and a 3D motor;
  • the optical component is used to acquire the image signal of the target object;
  • the optical component includes at least: a camera, a lens and a light source;
  • the 3D motor is used to control at least one of the camera, the lens and the light source along one or more of the xyz axes according to the displacement value of the optical component corresponding to the control command of the control device direction to move.
  • the image acquisition system further includes: a transmission device; the transmission device is configured to transmit the target object.
  • the image acquisition system further includes: a first transfer device; the object loading device is arranged on the conveyor belt of the conveyor belt and moves with the conveyor belt, and the image acquisition device is arranged on the front of the conveyor belt above;
  • the first transferring device is used for transferring and placing the target object on the object-carrying device.
  • the image acquisition system further includes: a second transfer device; the object-carrying device is arranged outside the conveyor belt of the conveying device, and the image acquisition device is arranged directly above the object-carrying device;
  • the second transferring device is configured to transfer and place the target object on the conveyor belt onto the loading device.
  • control device further includes: an image storage module and a position storage module;
  • the image storage module is used to store target image signals whose definition is greater than a preset definition threshold
  • the position storage module is configured to store a shooting distance value between the object-carrying device and the image acquisition device when the image acquisition device acquires the target image signal.
  • control device further includes: a shooting displacement value calculation module and a shooting control module;
  • the shooting displacement value calculation module is configured to obtain the current distance value between the object-carrying device and the image acquisition device according to the image signal analysis, and is also used to obtain the current distance value between the object-carrying device and the image acquisition device according to the current distance value and the shooting displacement value.
  • the distance value obtains the shooting displacement value between the object-carrying device and the image acquisition device;
  • the photographing control module is configured to control at least one of the object-carrying device and the image acquisition device to move according to the photographing displacement value, and send a photographing control command to the image acquisition device; wherein, the photographing The control command is used to control the image acquisition device to acquire a clear image signal of the target object.
  • control device further includes: a clarity judgment module
  • the sharpness judging module is configured to judge that the sharpness of the image signal received in real time is greater than the preset sharpness threshold when the preset sharpness condition is met;
  • the preset sharpness condition is: the contrast of the image signal is within the preset contrast threshold range, and the contour edge gradient of the image signal is within the preset contour edge gradient threshold range, and the image signal’s
  • the image frequency is within the preset image frequency threshold range, and the phase information of the image signal conforms to the preset phase information.
  • the embodiment of the present application also provides an image acquisition method, the image acquisition method comprising:
  • the object carrying device fixes the target object
  • the image acquisition device acquires image signals of the target object at preset time intervals.
  • An embodiment of the present application further provides a display panel processing device, the display panel processing device includes the image acquisition system described in any one of the foregoing embodiments.
  • the embodiment of the present application also provides a computing processing device, including:
  • One or more processors when the computer-readable code is executed by the one or more processors, the computing processing device executes the image acquisition method described above.
  • the embodiment of the present application also provides a computer-readable medium, in which computer-readable codes are stored, and when the computer-readable codes are run on a computing processing device, the computing processing device is caused to execute the above-mentioned image acquisition method.
  • the present application provides an image acquisition system, an image acquisition method, and a display panel processing equipment.
  • the image acquisition system automatically adjusts the loading device and image
  • the relative position of the device is acquired until the resolution of the image signal received in real time is greater than a preset resolution threshold. Accordingly, the embodiment of the present application includes the following advantages:
  • the image acquisition system proposed in the embodiment of the present application can automatically adjust the parameters such as the angle and height of the loading device and the image acquisition device for the image detection requirements of display panels, which are easy to reflect light and difficult to focus clearly, so that the camera can be taken
  • the advanced image acquisition device can quickly acquire clear image signals on the surface of the target object, which can effectively save or reduce the time for engineers to adjust the equipment, improve the equipment utilization rate and the efficiency of the image appearance inspection production line, and then improve the automation of display panel production and preparation level and production efficiency.
  • Fig. 1 is a structural block diagram of an image acquisition system provided by an embodiment of the present application.
  • Fig. 2 is a structural block diagram of a control device provided by an embodiment of the present application.
  • Fig. 3 is a structural block diagram of an object loading device provided by an embodiment of the present application.
  • Fig. 4 is a structural block diagram of an image acquisition device provided by an embodiment of the present application.
  • Fig. 5 is a structural block diagram of an image acquisition system provided by an embodiment of the present application.
  • FIG. 6 is a structural block diagram of another image acquisition system provided by an embodiment of the present application.
  • Fig. 7 is a structural block diagram of a control device provided by an embodiment of the present application.
  • FIG. 8 is a flow chart of the steps of an image acquisition method provided by an embodiment of the present application.
  • Fig. 9 schematically shows a block diagram of a computing processing device for performing a method according to the present disclosure.
  • Fig. 10 schematically shows a storage unit for holding or carrying program codes for realizing the method according to the present disclosure.
  • FIG. 1 is a structural block diagram of an image acquisition system 1000 provided in an embodiment of the present application.
  • an embodiment of the present application provides an image acquisition system 1000
  • the image acquisition system 1000 includes: a control device 1200 , an object loading device 1100 and an image acquisition device 1300 .
  • the object carrying device 1100 is used to fix the target object.
  • the object loading device 1100 is also the object loading platform.
  • the loading platform in the embodiment of the present application includes a loading platform 1120, preferably an automatic adjustment loading platform that can adjust the position and angle of the loading platform 1120, and can move and/angle in the x/y/z direction by controlling the loading platform 1120 Transformation, so that the stage 1120 can carry the target object to move the position arbitrarily and change the angle to be photographed.
  • the carrier 1120 is used to carry the target object.
  • the target object may be a detected object that requires appearance detection through images, and further, may be a display panel that requires appearance detection through images.
  • the object carrying device 1100 can fix the target object at a preset position on the object carrying device 1100 through the preset alignment mark and the alignment mark on the target object.
  • the alignment mark on the object carrying device 1100 may be a cross mark on the surface of the stage 1120, and the alignment mark on the target object may be a cross mark on the surface of the target object.
  • the image acquiring device 1300 is configured to acquire image signals of the target object at preset time intervals and send them to the control device 1200 in real time.
  • the object-carrying device 1100 can be arranged directly under the image acquisition device 1300 , and after the target object to be detected is placed on the object-carrying device 1100 and fixed, the image acquisition device 1300 can take pictures of the target object.
  • the object-carrying device 1100 and the image acquisition device 1300 can also send the current position signal to the control device 1200 in real time, so that the control device 1200 can understand the relative position of the object-carrying device 1100 and the image acquisition device 1300 in real time. Location.
  • the image acquisition device 1300 may be an optical system or an optical platform, and may include: a camera 1321 , a lens 1322 , a light source 1323 , a signal receiving module, an optical system bracket, and a 3D motor 1310 .
  • the light source 1323 and the camera 1321 can be installed on the optical system bracket.
  • the signal receiving device can receive the position adjustment signal of the optical platform sent by the control device 1200, so that the camera 1321, the lens 1322, the light source 1323 and other components in the image acquisition device 1300 can be adjusted in position or angle in the x/y/z direction.
  • the signal receiving module may be a wireless signal receiving device.
  • the component type of the optical platform can be set according to the type of the detected object or other needs.
  • the optical bracket can be used to set up components such as the camera 1321, the lens 1322, the signal receiving device, and the 3D motor 1310; the lens 1322 and the camera 1321 are used to capture the image of the target object, that is, to obtain the image signal of the target object; After receiving the position adjustment signal of the optical platform sent by the control device 1200 , it is ensured that the incident light from the light source 1323 can be reflected to the camera 1321 to generate a clear image.
  • the control device 1200 is configured to obtain a target displacement value between the object-carrying device 1100 and the image acquisition device 1300 according to the image signal, and control the object-carrying device 1100 and the image acquisition device 1300 At least one of them moves according to the target displacement value until the definition of the image signal received in real time is greater than a preset definition threshold.
  • the target displacement value may be set according to a preset adjustment step value, and the target displacement value may include a target displacement distance value and a target angular displacement value.
  • the step value of the target displacement distance may be (0, 2mm, 0)
  • the step value of the target angular displacement may be a clockwise rotation of 0.5°.
  • the adjustment of the target displacement value can be completed by the object-carrying device 1100 , can also be completed by the image acquisition device 1300 , or can be completed by a combination of the object-carrying device 1100 and the image acquisition device 1300 .
  • FIG. 2 is a structural block diagram of a control device 1200 provided in an embodiment of the present application.
  • the determination of image definition can be completed according to at least one of image contrast, contour edge gradient, image frequency, and phase information. Therefore, in an optional implementation manner, the present application further provides a control device 1200 , and the control device 1200 further includes: a clarity judgment module 1220 .
  • the sharpness judging module 1220 is configured to judge that the sharpness of the image signal received in real time is greater than a preset sharpness threshold if the preset sharpness condition is met.
  • the preset sharpness condition is: the contrast of the image signal is within the preset contrast threshold range, and the contour edge gradient of the image signal is within the preset contour edge gradient threshold range, and the image signal’s
  • the image frequency is within the preset image frequency threshold range, and the phase information of the image signal conforms to the preset phase information.
  • the sharpness judging module 1220 can adopt a central processing unit CPU (central processing unit) chip or a micro logic control unit MCU (Microcontroller Unit) chip as an information processing device, and a program for judging the sharpness of an image signal can be burned in the chip,
  • the clarity judging module 1220 is made to realize the functions of the embodiments of the present application, and the realization of these functions can be achieved by utilizing existing technologies.
  • the control device 1200 may be a wireless control system. Further, it may be a distributed wireless control system, which may include a wireless control subsystem respectively arranged on the object-carrying device 1100 and the image acquisition device 1300 and a separately arranged central control system.
  • the wireless control subsystem on the acquisition device 1300 controls, moves and adjusts the object-carrying device 1100 and the image acquisition device 1300 respectively, and the central control system performs centralized scheduling control.
  • the present application can automatically adjust the angles of the loading device 1100 and the image acquisition device 1300 according to the image signal transmitted by the image acquisition device 1300 in real time for the image detection requirements of display panels, which are easily reflective and difficult to focus. , height and other parameters, so that the image acquisition device 1300 for taking pictures can quickly acquire clear image signals on the surface of the target object, which can effectively save or reduce the time for engineers to adjust equipment, improve equipment utilization rate and image detection efficiency, and further improve The production efficiency of products such as display panels.
  • the embodiment of the present application can be applied to the image appearance detection of the target object. Therefore, in an optional implementation manner, the present application also provides an image detection device, and the image detection device can obtain the definition from the control device 1200 Image signals greater than a preset sharpness threshold to perform appearance detection on target objects in clear image signals.
  • the image acquisition system 1000 may also include a display device, and after the control device 1200 acquires the image whose resolution is greater than the preset sharpness threshold The signal is sent to the display device, and the display device can display the target object in the clear image signal, and the appearance detection of the target object is performed manually.
  • the present application further provides a control device 1200 , and the control device 1200 includes: a target displacement value calculation module 1210 .
  • the target displacement value calculation module 1210 is configured to obtain the current distance value between the object-carrying device 1100 and the image acquisition device 1300, and is also used to obtain the object-carrying device 1100 according to the image signal analysis. and the target distance value between the image acquisition device 1300, and is also used to obtain the target between the object-carrying device 1100 and the image acquisition device 1300 according to the current distance value and the target distance value displacement value.
  • the target distance value is a preset distance value within the focus threshold range of the image acquisition device 1300
  • the current distance value is based on the current position coordinates of the object-carrying device 1100 and the image acquisition device 1300 The current position coordinates are calculated.
  • the current distance value, the target distance value and the target displacement value may be represented by three-dimensional coordinate values and/or angular coordinate values.
  • the target displacement value calculation module 1210 can use a central processing unit CPU chip or a micro-logic control unit MCU chip as an information processing device, and a program for calculating a target displacement value can be burned in the chip, so that the target displacement value calculation module 1210 realizes
  • a central processing unit CPU chip or a micro-logic control unit MCU chip as an information processing device, and a program for calculating a target displacement value can be burned in the chip, so that the target displacement value calculation module 1210 realizes
  • the functions of the embodiments of the present application may be realized by using existing technologies.
  • the target distance value may be set according to the preset step displacement value according to the focal length threshold range of the image acquisition device 1300, and the preset step displacement value may include a preset step distance value and a preset step distance value.
  • Angular displacement value Exemplarily, the preset advance distance value can be 2mm, and the current distance value is (x1, y1, z1), then the target distance value can be (x1, y1, z1+2mm), and the target distance value can be The device 1300 is within the focus threshold range.
  • the target displacement value may be the difference between the target distance value and the current distance value.
  • the current distance value between the object-carrying device 1100 and the image acquisition device 1300 is (x1, y1, z1)
  • the target distance between the object-carrying device 1100 and the image acquisition device 1300 is The value is (x2, y2, z2)
  • FIG. 3 is a structural block diagram of an object carrying device 1100 provided in an embodiment of the present application.
  • this application considers that the module that can adjust the position of the stage 1120 can be used to adjust the position of the target object on the object loading device 1100. Therefore, in an optional embodiment, the application also provides An object-carrying device 1100 , the object-carrying device 1100 includes: a stage 1120 and a three-dimensional moving module 1110 .
  • the carrier 1120 is used to fix the target object.
  • the carrier 1120 can be a transparent carrier 1120, and the surface of the transparent carrier 1120 can be provided with a transparent scratch-resistant conductive film by electroplating. Therefore, the transparent carrier 1120 can use the principle of electrostatic adsorption to absorb and fix the 3D protective glass of the display panel. On the auto-alignment stage.
  • the three-dimensional moving module 1110 is configured to move the stage 1120 along one or more directions of the xyz three axes according to the displacement distance value of the stage 1120 corresponding to the control command of the control device 1200 .
  • the three-dimensional moving module 1110 can preferably be a three-dimensional position moving device, and the three-dimensional position moving device can move the stage 1120 in one or more directions in the xyz three axes, so that the three-dimensional moving module 1110 realizes the functions of the embodiments of the present application , and these functions can be realized using existing technologies.
  • the displacement distance value of the stage 1120 may be determined according to the control command generated by the analysis and calculation of the control device 1200 .
  • the sum of the displacement distance of the stage 1120 and the displacement distance of the optical component 1320 is equal to the target displacement distance.
  • the characterization of the target displacement distance needs to control the object-carrying device 1100 and the image acquisition device 1300 away from 4mm, which can be accomplished by controlling the downward displacement of the stage 1120 by 4mm by the three-dimensional movement module 1110, or by controlling the stage by the three-dimensional movement module 1110 1120 is displaced 2 mm downward and optical assembly 1320 is displaced 2 mm upward to accomplish this.
  • the present application also considers that the module that can adjust the angle of the stage 1120 can be used to adjust the angle of the target object on the object carrying device 1100. Therefore, in an optional embodiment, the present application also provides an object carrying device 1100.
  • the object loading device 1100 further includes: a rotation module 1130.
  • the rotation module 1130 is configured to rotate the carrier 1120 according to the angular displacement value of the carrier 1120 corresponding to the control command of the control device 1200 .
  • the rotation module 1130 may include a rotation shaft and a rotation driving unit. Driven by the rotation driving unit, the rotation shaft may drive the stage to rotate around the rotation axis at an angle corresponding to the control command.
  • the object-carrying device 1100 may also include an object-carrying bracket, which may be used to set the stage 1120 and the three-dimensional moving module 1110 .
  • the angular displacement value of the stage 1120 may be determined according to the control command generated by the analysis and calculation of the control device 1200 .
  • the sum of the angular displacement value of the stage 1120 and the angular displacement value of the optical assembly 1320 is equal to the target angular displacement value.
  • the characterization of the target displacement value needs to control the object carrier device 1100 to rotate clockwise by 1° relative to the image acquisition device 1300, which can be completed by controlling the rotation module 1130 to control the This is done by rotating stage 1120 clockwise by 0.5° and optical assembly 1320 by rotating counterclockwise by 0.5°.
  • the automatic adjustment stage in this application can use the three-dimensional movement module 1110 and the rotation module 1130 to complete the adjustment of the position and angle of the stage 1120 and the target object on the stage 1120 according to the control command.
  • FIG. 4 is a structural block diagram of an image acquisition device 1300 provided in an embodiment of the present application. As shown in Figure 4, the present application also considers using a 3D motor 1310 to complete the position adjustment of the image acquisition device 1300. In an optional embodiment, the present application also provides an image acquisition device 1300, the image acquisition device 1300 includes: an optical assembly 1320 and a 3D motor 1310 .
  • the optical component 1320 is configured to acquire the image signal of the target object; the optical component 1320 at least includes: a camera 1321 , a lens 1322 and a light source 1323 .
  • the 3D motor 1310 is configured to control at least one of the camera 1321, the lens 1322 and the light source 1323 along the xyz axis according to the displacement value of the optical component 1320 corresponding to the control command of the control device 1200. Axis movement in one or more directions.
  • the 3D motor 1310 can also be used to realize the angular rotation of the optical assembly 1320 .
  • the 3D motor 1310 is used to drive any part of the camera 1321, the lens 1322, and the light source 1323 in x/y/z according to the optical table position adjustment signal and the displacement value of the optical assembly 1320 corresponding to the optical table position adjustment signal.
  • the direction is moved, and finally the light emitted by the light source 1323 can be reflected by the detected display panel and enter the camera 1321 to generate a clear image.
  • the camera 1321 may be one of the following: an area scan camera 1321 , a line scan camera 1321 , a 3D camera 1321 , and a smart camera 1321 .
  • the image sensor in the camera 1321 can be one of the following: CMOS, CCD.
  • the lens 1322 can be selected according to the focal length, including one of the following: a fixed focus lens 1322, a zoom lens 1322; the lens 1322 can also be selected according to the aperture, and can be one of the following: a fixed aperture, a variable aperture; Field selection, can be one of the following: telephoto lens 1322, ordinary lens 1322, wide-angle lens 1322; lens 1322 can also be selected according to the purpose, can be one of the following: telecentric lens 1322, micro lens 1322, macro lens 1322 , the ultraviolet lens 1322, the infrared lens 1322.
  • FIG. 5 is a structural block diagram of an image acquisition system 1000 provided by an embodiment of the present application.
  • the present application also provides an image acquisition system 1000, and the image acquisition system 1000 further includes: Apparatus 1400; the conveying apparatus 1400, configured to convey the target object.
  • the present application can allow the target object to be captured when the image is directly conveyed on the conveying device 1400. Therefore, as shown in FIG. 5 , in an optional implementation manner, the present application also provides a An image acquisition system 1000, the image acquisition system 1000 further includes: a first transfer device 1500.
  • the first transfer device 1500 may be a mechanical arm grasped by vacuum suction.
  • the object carrying device 1100 is arranged on the conveyor belt of the conveying device 1400 and moves with the conveyor belt, and the image acquisition device 1300 is arranged directly above the conveyor belt.
  • the first transfer device 1500 is used to transfer and place the target object on the object carrying device 1100 .
  • multiple object loading devices 1100 may be arranged at equal intervals on the conveyor belt of the conveying device 1400 at the same time.
  • the hovering time interval of the conveyor belt can be preset, and the first transfer device 1500 transfers and places the target object on the loading device 1100, and controls the conveyor belt to transfer within the preset hovering time interval.
  • the object carrying device 1100 on the conveying device 1400 is just hovering directly under the image acquisition device 1300, during the hovering period, the control device 1200 controls and adjusts the object carrying device 1100 and the image acquisition device 1300 position and angle to obtain a clear image signal.
  • FIG. 6 is a structural block diagram of another image acquisition system 1000 provided by an embodiment of the present application.
  • the above embodiment can use multiple object-carrying devices 1100 to complete image acquisition during the transmission process.
  • the target object can be transferred in the conveying device 1400 After the image is taken, therefore, in an optional implementation manner, the present application also provides an image acquisition system 1000, and the image acquisition system 1000 also includes: a second transfer device 1600; the object-carrying device 1100 It is arranged on the outside of the conveyor belt of the conveying device 1400, and the image acquisition device 1300 is arranged directly above the object loading device 1100;
  • the second transfer device 1600 is used to transfer and place the target object on the conveyor belt onto the object-carrying device 1100 .
  • the second transfer device 1600 may be a mechanical arm grasped by vacuum suction.
  • the hovering time interval of the conveyor belt can be preset, and the conveyor belt is controlled to transmit a preset length within the preset hovering time interval.
  • the second transfer device 1600 transfers the target object Place it on the object-carrying device 1100, and control and adjust the positions and angles of the object-carrying device 1100 and the image acquisition device 1300 by the control device 1200 to obtain clear image signals.
  • the present application further provides a conveying device 1400, the conveying device 1400 includes a conveying belt, and the conveying belt is made of metal.
  • the conveyor belt may be a metal chain belt.
  • the transmission device 1400 may also include at least one set of rollers, the conveyor belt forms a closed loop around the rollers, and a set of rollers can drive the conveyor belt for transmission.
  • the transmission device 1400 can also be equipped with a mechanical port of the carrier 1120 , a data port for receiving control commands, a motor for driving the rollers to rotate, and guide rail grooves on the chain.
  • the transmission device 1400 is driven by two motors at a preset frequency to rotate the rollers, and the rollers drive the chain to run around the rollers.
  • the conveyor belt can be made of steel or titanium alloy.
  • the conveyor belt may be a steel chain belt or a titanium alloy chain belt.
  • FIG. 7 is a structural block diagram of a control device 1200 provided in an embodiment of the present application.
  • the present application further provides a control device 1200 , and the control device 1200 further includes: an image storage module 1230 and a position storage module 1240 .
  • the image storage module 1230 is configured to store target image signals whose resolution is greater than a preset resolution threshold.
  • the position storage module 1240 is configured to store the shooting distance value between the object-carrying device 1100 and the image acquiring device 1300 when the image acquiring device 1300 acquires the target image signal.
  • any one of the image storage module 1230 and the position storage module 1240 can use a memory, such as a read-only memory, as an information processing device, and a program that responds to a storage instruction to store image signals or position information can be burned in the memory, so that the image
  • a memory such as a read-only memory
  • a program that responds to a storage instruction to store image signals or position information can be burned in the memory, so that the image
  • the storage module 1230 and the location storage module 1240 implement the functions of the embodiments of the present application, and the implementation of these functions can be realized by utilizing existing technologies.
  • the shooting distance value is the distance value between the object-carrying device 1100 and the image acquisition device 1300 that can be used to obtain a clear image signal by subsequent shooting of a target object of the same type.
  • the shooting distance value may include a distance value represented by three-dimensional coordinates and an angle value represented by angular coordinates.
  • this application also provides A control device 1200 , the control device 1200 further includes: a shooting displacement value calculation module 1250 and a shooting control module 1260 .
  • the shooting displacement value calculation module 1250 is configured to obtain the current distance value between the object-carrying device 1100 and the image acquisition device 1300 according to the image signal analysis, and is also used to obtain the current distance value according to the current distance value and the The shooting distance value obtains the shooting displacement value between the object-carrying device 1100 and the image acquisition device 1300 .
  • the shooting control module 1260 is configured to control at least one of the object-carrying device 1100 and the image acquisition device 1300 to move according to the shooting displacement value, and send a shooting control command to the image acquisition device 1300; wherein , the shooting control command is used to control the image acquisition device 1300 to acquire a clear image signal of the target object.
  • the shooting displacement value is a parameter for position adjustment and an angle adjustment parameter for the target object to take a clear image.
  • the shooting displacement value may be the difference between the shooting distance value and the current distance value.
  • the current distance value between the object loading device 1100 and the image acquisition device 1300 is (x1, y1, z1)
  • the shooting distance between the object loading device 1100 and the image acquisition device 1300 is The value is (x3, y3, z3)
  • any one of the shooting displacement value calculation module 1250 and the shooting control module 1260 can use a central processing unit CPU chip or a micro logic control unit MCU chip as an information processing device, and the chip can be programmed to calculate the shooting displacement value or control
  • the shooting program enables the displacement value calculation module 1250 and the shooting control module 1260 to realize the functions of the embodiments of the present application, and the realization of these functions can be realized by using existing technologies.
  • the image acquisition system 1000 provided by the present application can adjust the distance between the object loading device 1100 and the image acquisition device 1300 in real time according to the image signal received in real time when the model of the product is changed on the production line, and store the captured image.
  • the shooting distance value between the object loading device 1100 and the image acquisition device 1300 of the clear image is used as a positional relationship parameter, so that when the target object of the same type needs to be detected in the image appearance, the stored shooting distance value is directly used, combined with the current distance, By controlling the displacement of one of the object loading device 1100 and the image acquisition device 1300, a clear image can be directly captured, which further improves image acquisition efficiency and product production efficiency.
  • the embodiment of the application also exemplarily provides a method for acquiring a display panel sample image on the conveying device 1400:
  • Step S501 transferring the display panel sample from the feeding port to the side of the loading device 1100 .
  • step S502 the display panel sample is transferred and hovered over the object loading device 1100 by the first transfer device 1500 .
  • the first transfer device 1500 may be a manipulator with a suction cup.
  • step S503 the alignment system of the camera 1321 captures the alignment mark on the display panel sample and the alignment mark on the loading device 1100, and calculates the distance value in any direction in the three-dimensional direction that the display panel sample needs to move.
  • Step S504 through the first transfer device 1500, the display panel sample is controlled to move a corresponding distance in the corresponding direction, and the alignment mark on the display panel sample and the alignment mark on the object loading device 1100 are re-transformed by the camera 1321 alignment system To perform fine alignment, place the display panel sample on the stage 1120 of the loading device 1100 according to the fine alignment position, so that the alignment mark on the display panel sample and the alignment mark on the loading device 1100 coincide.
  • step S505 the loading device 1100 is loaded with electrostatic charge, and the sample display panel is adsorbed on the carrier 1120 .
  • Step S506 through the three-dimensional moving module 1110 of the object loading device 1100, control the stage 1120 to carry the display panel sample to move under the image acquisition device 1300, and through the image acquisition system 1000 provided in the above embodiment, the automatically obtained resolution is greater than the preset resolution The image signal of the degree threshold.
  • Step S507 storing the image signal whose resolution is greater than the preset resolution threshold; and storing the shooting distance value between the object loading device 1100 and the image obtaining device 1300 when the image obtaining device 1300 obtains a clear image signal.
  • the shooting distance value represents the distance parameter and angle parameter between the stage 1120 and the optical shooting system.
  • the embodiment of the present application also exemplarily provides an independent The method for acquiring sample images on the object loading device 1100:
  • step S601 the display panel sample is transferred from the feeding port to the side of the loading device 1100 by the transfer device 1400 .
  • Step S602 transfer and hover the display panel sample from the transfer device 1400 to the object loading device 1100 by the second transfer device 1600 .
  • the second transfer device 1600 may be a manipulator with a suction cup.
  • Step 603 Capture the alignment mark on the display panel sample and the alignment mark on the loading device 1100 through the alignment system of the camera 1321, and calculate the distance value in any direction in the three-dimensional direction that the display panel sample needs to move.
  • Step S604 through the second transfer device 1600, the display panel sample is controlled to move a corresponding distance in the corresponding direction, and the alignment mark on the display panel sample and the alignment mark on the object loading device 1100 are re-transformed by the camera 1321 alignment system To perform fine alignment, place the display panel sample on the stage 1120 of the loading device 1100 according to the fine alignment position, so that the alignment mark on the display panel sample and the alignment mark on the loading device 1100 coincide.
  • step S605 the loading device 1100 is loaded with an electrostatic charge, and the sample display panel is adsorbed on the carrier 1120 .
  • Step S606 through the three-dimensional movement module 1110 of the object loading device 1100, control the stage 1120 to carry the display panel sample to move under the image acquisition device 1300, and through the image acquisition system 1000 provided in the above embodiment, the automatically obtained resolution is greater than the preset resolution The image signal of the degree threshold.
  • Step S607 storing the image signal whose resolution is greater than the preset resolution threshold; and storing the shooting distance value between the object loading device 1100 and the image obtaining device 1300 when the image obtaining device 1300 obtains a clear image signal.
  • the shooting distance value represents the distance parameter and angle parameter between the stage 1120 and the optical shooting system.
  • the exemplary method provided in this application is aimed at the image acquisition system 1000 in which the object-carrying device 1100 is fixed on the conveyor belt of the conveyor 1400 and moves with the conveyor belt, and the object-carrying device 1100 is set on the side of the conveyor 1400 and does not move with the conveyor belt.
  • the image acquisition system 1000 of the company provides a solution for obtaining clear image signals of display panel samples, and can automatically adjust the distance between the object loading device 1100 and the image acquisition device 1300 after the display panel model is replaced, so as to realize the appearance image and shooting of the sample Acquisition and storage of the position parameters are used for image appearance inspection of the display panel, which greatly improves the efficiency of the appearance inspection of the display panel, and further improves the automation degree and production efficiency of the production and preparation of the display panel.
  • FIG. 8 is a flowchart of steps of an image acquisition method provided by an embodiment of the present application. As shown in Figure 8, based on the same inventive concept, the embodiment of the present application also provides an image acquisition method that can be applied to the control device 1200 in the image acquisition system, the image acquisition method includes:
  • Step S801 acquiring the image signal of the target object in real time
  • Step S802 obtaining a target displacement value between the object loading device 1100 and the image acquisition device 1300 according to the image signal;
  • Step S803 controlling at least one of the object-carrying device 1100 and the image acquisition device 1300 to move based on the target displacement value until the resolution of the image signal received in real time is greater than a preset resolution threshold;
  • the object carrying device 1100 fixes the target object
  • the image acquisition device 1300 acquires image signals of the target object at preset time intervals.
  • an embodiment of the present application further provides a display panel processing device, where the display panel processing device includes the image acquisition system 1000 described in any one of the foregoing embodiments.
  • the various component embodiments of the present application may be realized in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the computing processing device according to the embodiments of the present application.
  • DSP digital signal processor
  • the present application can also be implemented as an apparatus or apparatus program (eg, computer program and computer program product) for performing a part or all of the methods described herein.
  • Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals.
  • Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.
  • FIG. 9 illustrates a computing processing device that may implement methods according to the present application.
  • the computing processing device conventionally includes a processor 1010 and a computer program product or computer readable medium in the form of memory 1020 .
  • Memory 1020 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has a storage space 1030 for program code 1031 for performing any method steps in the methods described above.
  • the storage space 1030 for program codes may include respective program codes 1031 for respectively implementing various steps in the above methods. These program codes can be read from or written into one or more computer program products.
  • These computer program products comprise program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
  • Such a computer program product is typically a portable or fixed storage unit as described with reference to FIG. 10 .
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 9 .
  • the program code can eg be compressed in a suitable form.
  • the storage unit includes computer readable code 1031', i.e. code readable by, for example, a processor such as 1010, which code, when executed by a computing processing device, causes the computing processing device to perform the above-described methods. each step.
  • any reference signs placed between parentheses shall not be construed as limiting the claim.
  • the word “comprising” does not exclude the presence of elements or steps not listed in a claim.
  • the word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.
  • the application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware.
  • the use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

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Abstract

在显示器件技术领域，显示面板的加工过程中存在图像外观检测效率低下的问题。为此，提供了一种图像获取系统（1000），包括:控制装置（1200）、载物装置（1100）和图像获取装置（1300）。控制装置（1200），用于根据图像信号，得到载物装置（1100）和图像获取装置（1300）之间的目标位移值，并生成携带目标位移值的控制命令发送给载物装置（1100）和图像获取装置（1300）中的至少一者；载物装置（1100）和图像获取装置（1300）中的至少一者按照控制命令移动，直到控制装置（1200）实时接收的图像信号的清晰度大于预设清晰度阈值。能自动拍摄出不易对焦物体的清晰图像，提高显示面板的图像外观检测效率。

Description

一种图像获取系统、方法及显示面板加工设备
本申请要求在2022年1月7日提交中国专利局、申请号为202210017415.4、发明名称为“一种图像获取系统、方法及显示面板加工设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及显示器件技术领域，特别是涉及一种图像获取系统、一种图像获取方法和一种显示面板加工设备。
背景技术
显示面板在生产制备的过程中，往往涉及到多次外观检查，比如，对显示面板进行封装的过程中，通过外观检查，判断显示面板的保护玻璃层表面无脏污异物或破损，才能在保护玻璃层表面贴膜，目前的外观检查一般通过高效、对加工环境低污染的光学平台对加工品进行拍照完成。然而，针对显示面板这样容易反光、不易对焦的被检测物体，需要人工对设备进行反复调试，才能让光学平台拍摄到清晰的显示面板图像，不仅耗费大量人力成本，还导致显示面板的生产效率降低。
概述
为了解决上述问题，本申请实施例提出了一种图像获取系统、一种图像获取方法和一种显示面板加工设备，旨在自动拍摄出清晰图像。
本申请实施例提供了一种图像获取系统，所述图像获取系统包括：控制装置、载物装置和图像获取装置；
所述载物装置，用于固定目标物体；
所述图像获取装置，用于按照预设时间间隔获取所述目标物体的图像信号，并实时发送给所述控制装置；
所述控制装置，用于根据所述图像信号，得到所述载物装置和所述图像 获取装置之间的目标位移值，并生成携带所述目标位移值的控制命令发送给所述载物装置和所述图像获取装置中的至少一者；
所述载物装置和所述图像获取装置中的至少一者按照所述控制装置的控制命令移动，直到实时接收的图像信号的清晰度大于预设清晰度阈值。
可选的，所述控制装置包括：目标位移值计算模块；
所述目标位移值计算模块，用于获取所述载物装置和所述图像获取装置之间的当前距离值，以及，还用于根据所述图像信号分析得到所述载物装置和所述图像获取装置之间的目标距离值，以及，还用于根据所述当前距离值和所述目标距离值，得到所述载物装置和所述图像获取装置之间的目标位移值；
其中，所述目标距离值是所述图像获取装置的焦距阈值范围内的预设距离值，所述当前距离值是根据所述载物装置的当前位置坐标和所述图像获取装置的当前位置坐标计算得到的。
可选的，所述载物装置包括：载台和三维移动模块；
所述载台，用于固定所述目标物体；
所述三维移动模块，用于按照与所述控制装置的控制命令相对应的载台位移距离值，沿xyz三轴中一个或多个方向移动所述载台。
可选的，所述载物装置还包括：旋转模块；
所述旋转模块，用于按照与所述控制装置的控制命令相对应的载台角位移值，旋转所述载台。
可选的，所述图像获取装置包括：光学组件和3D马达；
所述光学组件，用于获取所述目标物体的图像信号；所述光学组件至少包括：相机、镜头和光源；
所述3D马达，用于按照与所述控制装置的控制命令相对应的光学组件位移值，控制所述相机、所述镜头和所述光源中的至少一者沿xyz三轴中一个或多个方向移动。
可选的，所述图像获取系统还包括：传送装置；所述传送装置，用于传送所述目标物体。
可选的，所述图像获取系统还包括：第一转移装置；所述载物装置设置 在所述传送装置的传送带上随所述传送带移动，且所述图像获取装置设置在所述传送带的正上方；
所述第一转移装置，用于将所述目标物体转移放置到所述载物装置上。
可选的，所述图像获取系统还包括：第二转移装置；所述载物装置设置在所述传送装置的传送带的外侧，且所述图像获取装置设置在所述载物装置的正上方；
所述第二转移装置，用于将所述传送带上的所述目标物体转移放置到所述载物装置上。
可选的，所述控制装置还包括：图像存储模块和位置存储模块；
所述图像存储模块，用于存储清晰度大于预设清晰度阈值的目标图像信号；
所述位置存储模块，用于存储所述图像获取装置在获取所述目标图像信号时，所述载物装置和所述图像获取装置之间的拍摄距离值。
可选的，所述控制装置还包括：拍摄位移值计算模块和拍摄控制模块；
所述拍摄位移值计算模块，用于根据所述图像信号分析得到所述载物装置和所述图像获取装置之间的当前距离值，以及，还用于根据所述当前距离值和所述拍摄距离值得到所述载物装置和所述图像获取装置之间的拍摄位移值；
所述拍摄控制模块，用于控制所述载物装置和所述图像获取装置中的至少一者按照所述拍摄位移值移动，并向所述图像获取装置发送拍摄控制命令；其中，所述拍摄控制命令用于控制所述图像获取装置获取所述目标物体的清晰图像信号。
可选的，所述控制装置还包括：清晰度判断模块；
所述清晰度判断模块，用于在符合预设清晰度条件的情况下，判断实时接收的图像信号的清晰度大于预设清晰度阈值；
其中，所述预设清晰度条件是：所述图像信号的对比度在预设对比度阈值范围内，且所述图像信号的轮廓边缘梯度在预设轮廓边缘梯度阈值范围内，且所述图像信号的图像频率在预设图像频率阈值范围内，且所述图像信号的相位信息符合预设相位信息。
本申请实施例还提供了一种图像获取方法，所述图像获取方法包括：
实时获取目标物体的图像信号；
根据所述图像信号，得到所述载物装置和所述图像获取装置之间的目标位移值；
控制载物装置和图像获取装置中的至少一者基于所述目标位移值移动，直到实时接收的图像信号的清晰度大于预设清晰度阈值；
其中，所述载物装置固定所述目标物体，所述图像获取装置按照预设时间间隔获取所述目标物体的图像信号。
本申请实施例还提供了一种显示面板加工设备，所述显示面板加工设备包括上述任一项实施例所述的图像获取系统。
本申请实施例还提供了一种计算处理设备，包括：
存储器，其中存储有计算机可读代码；
一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行上述的图像获取方法。
本申请实施例还提供了一种计算机可读介质，其中存储了计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行上述的图像获取方法。
通过上述实施例，本申请提供了一种图像获取系统、一种图像获取方法和一种显示面板加工设备，所述图像获取系统根据图像获取装置实时传输的图像信号，自动调整载物装置和图像获取装置的相对位置，直到实时接收的图像信号的清晰度大于预设清晰度阈值。据此，本申请实施例包括以下优点：
本申请实施例提出的图像获取系统，可以针对显示面板这类容易反光、难清晰对焦拍摄的加工品的图像检测需求，自动调整载物装置和图像获取装置的角度、高度等参数，使得进行拍照的图像获取装置能快速获取清晰的目标物体表面的图像信号，能够有效省去或减少工程师调整设备的时间，提高了设备稼动率和图像外观检测产线效率，进而提高显示面板生产制备的自动化程度和生产效率。
附图简述
图1是本申请实施例提供的一种图像获取系统的结构框图；
图2是本申请实施例提供的一种控制装置的结构框图；
图3是本申请实施例提供的一种载物装置的结构框图；
图4是本申请实施例提供的一种图像获取装置的结构框图；
图5是本申请实施例提供的一种图像获取系统的结构框图；；
图6是本申请实施例提供的又一种图像获取系统的结构框图；
图7是本申请实施例提供的一种控制装置的结构框图；
图8是本申请实施例提供的一种图像获取方法的步骤流程图；
图9示意性地示出了用于执行根据本公开的方法的计算处理设备的框图。
图10示意性地示出了用于保持或者携带实现根据本公开的方法的程序代码的存储单元。
详细描述
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面参考说明书附图，对本申请实施例进行说明：
参照图1，图1是本申请实施例提供的一种图像获取系统1000的结构框图。如图1所示，本申请实施例提供了一种图像获取系统1000，所述图像获取系统1000包括：控制装置1200、载物装置1100和图像获取装置1300。
所述载物装置1100，用于固定目标物体。
其中，所述载物装置1100，也即载物平台。本申请实施例中的载物平台包括载台1120，优选的是可以调节载台1120的位置和角度的自动调整载台，可以通过控制载台1120进行x/y/z方向的移动和/角度变换，使载台1120可以携带目标物体任意移动位置和改变被拍摄的角度。其中，载台1120用于搭载目标物体。
其中，目标物体可以是需要通过图像进行外观检测的被检测物体，进一 步的，可以是需要通过图像进行外观检测的显示面板。
在本申请实施例中，载物装置1100可以通过预先设置的对位标识，与目标物体上的对位标识，将目标物体固定在载物装置1100上的预设位置。载物装置1100上的对位标志可以是载台1120表面的十字标识，目标物体上的对位标识可以是目标物体表面的十字标识。
所述图像获取装置1300，用于按照预设时间间隔获取所述目标物体的图像信号，并实时发送给所述控制装置1200。
其中，载物装置1100可以设置在图像获取装置1300正下方，载物装置1100上放置需要被检测的目标物体后并固定后，图像获取装置1300可以对目标物体进行取景拍摄。
在可选的一种实施方式中，载物装置1100和图像获取装置1300还可以将当前位置信号实时发送给控制装置1200，以使控制装置1200实时了解载物装置1100和图像获取装置1300的相对位置。
在本申请实施例中，图像获取装置1300可以是光学系统或光学平台，可以包括：相机1321、镜头1322、光源1323、信号接收模块、光学系统支架、3D马达1310。其中，光源1323与相机1321可以安装在光学系统支架上。信号接收装置可以接收控制装置1200发送的光学平台位置调整信号，让图像获取装置1300中的相机1321、镜头1322、光源1323等组件在x/y/z方向进行位置调整或角度调整。信号接收模块可以是无线信号接收装置。
其中，光学平台的组件类型可以根据被检测物体的类型或其他需要进行设置。
其中，光学支架可以用于设置相机1321、镜头1322、信号接收装置、3D马达1310等组件；镜头1322和相机1321用于拍摄目标物体的图像，即，获得目标物体的图像信号；信号接收模块用于接收控制装置1200发出的光学平台位置调整信号，确保光源1323入射的光能够反射到相机1321，生成清晰图像。
所述控制装置1200，用于根据所述图像信号，得到所述载物装置1100和所述图像获取装置1300之间的目标位移值，并控制所述载物装置1100和所述图像获取装置1300中的至少一者按照所述目标位移值移动，直到实时接收的图像信号的清晰度大于预设清晰度阈值。
其中，目标位移值可以是根据预设调节步进值设置的，目标位移值可以包括目标位移距离值和目标角位移值。示例性的，目标位移距离步进值可以是(0，2mm，0)，目标角位移步进值可以是顺时针旋转0.5°。
其中，目标位移值的调节可以由载物装置1100完成，也可以由图像获取装置1300完成，还可以由所述载物装置1100和所述图像获取装置1300组合完成。
参照图2，图2是本申请实施例提供的一种控制装置1200的结构框图。如图2所示，具体的，图像清晰度的判断可以根据图像的对比度、轮廓边缘梯度、图像频率、相位信息中的至少一者完成。因此，在一种可选的实施方式中，本申请还提供了一种控制装置1200，所述控制装置1200还包括：清晰度判断模块1220。
所述清晰度判断模块1220，用于在符合预设清晰度条件的情况下，判断实时接收的图像信号的清晰度大于预设清晰度阈值。
其中，所述预设清晰度条件是：所述图像信号的对比度在预设对比度阈值范围内，且所述图像信号的轮廓边缘梯度在预设轮廓边缘梯度阈值范围内，且所述图像信号的图像频率在预设图像频率阈值范围内，且所述图像信号的相位信息符合预设相位信息。
进一步地，清晰度判断模块1220可以采用中央处理器CPU(central processing unit)芯片或微型逻辑控制单元MCU(Microcontroller Unit)芯片作为信息处理装置，该芯片中可以烧录判断图像信号清晰度的程序，使得该清晰度判断模块1220实现本申请实施例的功能，而这些功能的实现利用现有技术即可。
在本申请实施例中，控制装置1200可以是无线控制系统。更进一步的，可以是分布式无线控制系统，可以包括分别设置在载物装置1100和图像获取装置1300上的无线控制子系统和单独设置的中央控制系统，由分别设置在载物装置1100和图像获取装置1300上的无线控制子系统分别对载物装置1100和图像获取装置1300进行控制移动和调整，由中央控制系统进行集中调度控制。
通过上述实施例，本申请可以针对显示面板这类容易反光、难对焦的加工品的图像检测需求，根据图像获取装置1300实时传输的图像信号，自动 调整载物装置1100和图像获取装置1300的角度、高度等参数，使得进行拍照的图像获取装置1300能快速获取清晰的目标物体表面的图像信号，能够有效省去或减少工程师调整设备的时间，提高了设备稼动率和图像检测效率，进而提高显示面板这类产品的生产效率。
本申请实施例可以应用于目标物体的图像外观检测，因此，在一种可选的实施方式中，本申请还提供了一种图像检测装置，所述图像检测装置可以从控制装置1200获取清晰度大于预设清晰度阈值的图像信号，以对清晰的图像信号中的目标物体进行外观检测。
当然，在一种可选的实施方式中，图像获取系统1000还可以包括显示装置，控制装置1200在获取清晰度大于预设清晰度阈值之后，还可以将清晰度大于预设清晰度阈值的图像信号发送给显示装置，显示装置可以对清晰的图像信号中的目标物体进行显示，由人工进行目标物体的外观检测。
如图2所示，在一种可选的实施方式中，本申请还提供了一种控制装置1200，所述控制装置1200包括：目标位移值计算模块1210。
所述目标位移值计算模块1210，用于获取所述载物装置1100和所述图像获取装置1300之间的当前距离值，以及，还用于根据所述图像信号分析得到所述载物装置1100和所述图像获取装置1300之间的目标距离值，以及，还用于根据所述当前距离值和所述目标距离值，得到所述载物装置1100和所述图像获取装置1300之间的目标位移值。
其中，所述目标距离值是所述图像获取装置1300的焦距阈值范围内的预设距离值，所述当前距离值是根据所述载物装置1100的当前位置坐标和所述图像获取装置1300的当前位置坐标计算得到的。
其中，当前距离值，目标距离值和目标位移值，可以用三维坐标值和/或角坐标值表示。
进一步地，目标位移值计算模块1210可以采用中央处理器CPU芯片或微型逻辑控制单元MCU芯片作为信息处理装置，该芯片中可以烧录计算目标位移值的程序，使得该目标位移值计算模块1210实现本申请实施例的功能，而这些功能的实现利用现有技术即可。
在本申请实施例中目标距离值可以是根据图像获取装置1300的焦距阈值范围，按预设步进位移值设置的，预设步进位移值可以包括预设步进距离 值和预设步进角位移值。示例性的，预设进步进距离值可以为2mm，当前距离值为(x1，y1，z1)，则目标距离值可以为(x1，y1，z1+2mm)，且该目标距离值在图像获取装置1300的焦距阈值范围内。
进一步的，目标位移值可以是目标距离值与当前距离值的差值。示例性的，所述载物装置1100和所述图像获取装置1300之间的当前距离值为(x1，y1，z1)，所述载物装置1100和所述图像获取装置1300之间的目标距离值为(x2，y2，z2)，需要移动的目标位移值(x0，y0，z0)，其中，x0＝x2－x1，y0＝y2－y1，,z0＝z2－z1。
参照图3，图3是本申请实施例提供的一种载物装置1100的结构框图。如图3所示，本申请考虑可以使用可调节载台1120位置的模块，进行载物装置1100上目标物体的位置的调节，因此，在一种可选的实施方式中，本申请还提供了一种载物装置1100，所述载物装置1100包括：载台1120和三维移动模块1110。
所述载台1120，用于固定所述目标物体。
具体的，载台1120可以是透明载台1120，透明载台1120的表面可以通过电镀设置透明耐刮擦导电薄膜，因此，透明载台1120可以利用静电吸附原理将显示面板的3D保护玻璃吸附固定在自动调整载台上。
所述三维移动模块1110，用于按照与所述控制装置1200的控制命令相对应的载台1120位移距离值，沿xyz三轴中一个或多个方向移动所述载台1120。
其中，三维移动模块1110优选的可以是三维位置移动装置，三维位置移动装置可以使载台1120在xyz三轴中一个或多个方向上移动，使得该三维移动模块1110实现本申请实施例的功能，而这些功能的实现利用现有技术即可。
其中，载台1120位移距离值可以是根据控制装置1200分析计算生成的控制命令确定的。载台1120位移距离值和光学组件1320位移距离值之和等于目标位移距离值。通过分配载台1120进行位移和光学组件1320进行位移同时可以提高设备调整的效率。示例性的，目标位移距离值表征需要控制载物装置1100和图像获取装置1300远离4mm，可以由三维移动模块1110控制载台1120向下位移4mm来完成，还可以由三维移动模块1110控制载台 1120向下位移2mm、且光学组件1320向上位移2mm来完成。
本申请还考虑可以使用可调节载台1120角度的模块，进行载物装置1100上目标物体的角度的调节，因此，在一种可选的实施方式中，本申请还提供了一种载物装置1100，所述载物装置1100还包括：旋转模块1130。
所述旋转模块1130，用于按照与所述控制装置1200的控制命令相对应的载台1120角位移值，旋转所述载台1120。
具体的，旋转模块1130可以包括旋转轴和旋转驱动单元，旋转轴在旋转驱动单元的带动下，可以带动载台绕旋转轴心进行与控制命令相对应的角度的旋转。
进一步的，载物装置1100还可以包括载物支架，载物支架可以用于设置载台1120和三维移动模块1110。
其中，载台1120角位移值可以是根据控制装置1200分析计算生成的控制命令确定的。载台1120角位移值和光学组件1320角位移值之和等于目标角位移值。示例性的，目标位移值表征需要控制载物装置1100相对图像获取装置1300顺时针旋转1°，可以由旋转模块1130控制载台1120顺时针旋转1°来完成，还可以由旋转模块1130控制载台1120台顺时针旋转0.5°、且光学组件1320逆时针旋转0.5°来完成。
通过上述实施例，本申请中的自动调整载台可以根据控制命令，分别利用三维移动模块1110和旋转模块1130完成载台1120以及载台1120上目标物体的位置和角度的调节。
参照图4，图4是本申请实施例提供的一种图像获取装置1300的结构框图。如图4所示，本申请还考虑利用3D马达1310完成图像获取装置1300的位置调节，在一种可选的实施方式中，本申请还提供了一种图像获取装置1300，所述图像获取装置1300包括：光学组件1320和3D马达1310。
所述光学组件1320，用于获取所述目标物体的图像信号；所述光学组件1320至少包括：相机1321、镜头1322和光源1323。
所述3D马达1310，用于按照与所述控制装置1200的控制命令相对应的光学组件1320位移值，控制所述相机1321、所述镜头1322和所述光源1323中的至少一者沿xyz三轴中一个或多个方向移动。
进一步的，3D马达1310还可以用于实现光学组件1320的角度旋转。
其中，3D马达1310用于根据光学平台位置调整信号，按照与光学平台位置调整信号相对应的光学组件1320位移值，带动相机1321、镜头1322、光源1323中的任一部件在x/y/z方向进行移动，最终能够使得光源1323发出的光经被检测的显示面板反射后入射到相机1321，生成清晰图像。
具体的，相机1321可以是以下其中一者：面阵相机1321、线阵相机1321、3D相机1321、智能相机1321。相机1321中的图像传感器可以是以下其中一者：CMOS、CCD。镜头1322可以按焦距选择，包括以下其中一者：定焦镜头1322、变焦镜头1322；镜头1322也可以按光圈选择，可以是以下其中一者：固定光圈、可变光圈；镜头1322也可以按视场选择，可以是以下其中一者：摄远镜头1322、普通镜头1322、广角镜头1322；镜头1322还可以按用途选择，可以是以下其中一者：远心镜头1322、显微镜头1322、微距镜头1322、紫外镜头1322、红外镜头1322。
参照图5，图5是本申请实施例提供的一种图像获取系统1000的结构框图。如图5所示，考虑到图像获取系统1000实际应用于加工场景，在一种可选的实施方式中，本申请还提供了一种图像获取系统1000，所述图像获取系统1000还包括：传送装置1400；所述传送装置1400，用于传送所述目标物体。
本申请考虑到便捷性和生产效率，可以让目标物体直接在传送装置1400上传送时被摄取图像，因此，如图5所示，在一种可选的实施方式中，本申请还提供了一种图像获取系统1000，所述图像获取系统1000还包括：第一转移装置1500。
其中，第一转移装置1500可以是通过真空吸附抓取的机械手臂。
所述载物装置1100设置在所述传送装置1400的传送带上随所述传送带移动，且所述图像获取装置1300设置在所述传送带的正上方。
所述第一转移装置1500，用于将所述目标物体转移放置到所述载物装置1100上。
在本申请实施例中，为提高图像获取效率，进而提高生产效率，可以同时在所述传送装置1400的传送带上等间距设置多个载物装置1100。
具体的，在本申请实施例中，可以预先设置传送带的悬停时间间隔，第一转移装置1500将目标物体转移放置到所述载物装置1100上，控制传送带 在预设悬停时间间隔内传送预设长度，通过预先对位，使传送装置1400上的载物装置1100刚好悬停在图像获取装置1300正下方，在悬停期间，由控制装置1200控制调节载物装置1100和图像获取装置1300的位置和角度，获取清晰图像信号。
参照图6，图6是本申请实施例提供的又一种图像获取系统1000的结构框图。如图6所示，上述实施例可以使用多个载物装置1100在传送过程中完成图像获取，考虑到载物装置1100的成本问题，同时兼顾生产效率，可以让目标物体在传送装置1400完成传送后被摄取图像，因此，在一种可选的实施方式中，本申请还提供了一种图像获取系统1000，所述图像获取系统1000还包括：第二转移装置1600；所述载物装置1100设置在所述传送装置1400的传送带的外侧，且所述图像获取装置1300设置在所述载物装置1100的正上方；
所述第二转移装置1600，用于将所述传送带上的所述目标物体转移放置到所述载物装置1100上。
其中，第二转移装置1600可以是通过真空吸附抓取的机械手臂。
具体的，在本申请实施例中，可以预先设置传送带的悬停时间间隔，控制传送带在预设悬停时间间隔内传送预设长度，在传送带悬停期间，第二转移装置1600将目标物体转移放置到载物装置1100上，由控制装置1200控制调节载物装置1100和图像获取装置1300的位置和角度，获取清晰图像信号。
考虑到类似显示面板这类对清洁度要求较高、且较为光滑的目标物体，在传送过程中容易产生打滑、抖动、及磨损等情况，为了减少了传送系统在传送过程中产生的灰尘颗粒，降低对产品的污染，在一种可选的实施方式中，本申请还提供了一种传送装置1400，所述传送装置1400包括传送带，所述传送带是金属材质。
具体的，传送带可以是金属链带。传送装置1400还可以包括至少一组滚轮，传送带围绕滚轮形成一圈闭环，一组滚轮可以带动传送带传动。示例性的，传送装置1400在链条上还可以装置载台1120的机械端口，接收控制命令的数据端口，，驱动滚轮转动的电机，以及，导轨槽。该传送装置1400由两台电机按预设频率带动滚轮转动，滚轮带动链条绕着滚轮运转。
进一步的，所述传送带可以是钢材质或钛合金材质。具体的，传送带可以是钢链带或钛合金链带。
参照图7，图7是本申请实施例提供的一种控制装置1200的结构框图。如图7所示，在实际生产过程中，如果图像获取装置1300的光学系统性能足够优秀，针对同型号尺寸的目标物体，在相同的合适位置上均可以得到清晰图像。则只需要在目标物体产品换型号后，利用上述实施例中的图像获取系统1000调试一次载物装置1100和图像获取装置1300的相对位置和角度即可，无需每一个目标物体均调整一次，这种情况下，在目标物体为测试样品的时候，存储调试好的位置和角度的参数即可。因此，在一种可选的实施方式中，本申请还提供了一种控制装置1200，所述控制装置1200还包括：图像存储模块1230和位置存储模块1240。
所述图像存储模块1230，用于存储清晰度大于预设清晰度阈值的目标图像信号。
所述位置存储模块1240，用于存储所述图像获取装置1300在获取所述目标图像信号时，所述载物装置1100和所述图像获取装置1300之间的拍摄距离值。
进一步地，图像存储模块1230和位置存储模块1240中任一者可以采用存储器，比如只读存储器作为信息处理装置，该存储器中可以烧录响应存储指令对存储图像信号或位置信息的程序，使得图像存储模块1230和位置存储模块1240实现本申请实施例的功能，而这些功能的实现利用现有技术即可。
其中，拍摄距离值，即是可以用于后续同型号的目标物体拍摄得到清晰图像信号的载物装置1100和图像获取装置1300之间的距离值。其中，拍摄距离值可以包括用三维坐标表示的距离值和角坐标表示的角度值。
进一步的，在样品调试完成后，后续该型号的产品均直接使用上述实施例中得到的拍摄距离值作为目标位移值即可，因此，在一种可选的实施方式中，本申请还提供了一种控制装置1200，所述控制装置1200还包括：拍摄位移值计算模块1250和拍摄控制模块1260。
所述拍摄位移值计算模块1250，用于根据所述图像信号分析得到所述载物装置1100和所述图像获取装置1300之间的当前距离值，以及，还用于根 据所述当前距离值和所述拍摄距离值得到所述载物装置1100和所述图像获取装置1300之间的拍摄位移值。
所述拍摄控制模块1260，用于控制所述载物装置1100和所述图像获取装置1300中的至少一者按照所述拍摄位移值移动，并向所述图像获取装置1300发送拍摄控制命令；其中，所述拍摄控制命令用于控制所述图像获取装置1300获取所述目标物体的清晰图像信号。
其中，拍摄位移值是目标物体需要拍摄清晰图像，而进行的位置调节的参数和角度调节的参数。
进一步的，拍摄位移值可以是拍摄距离值与当前距离值的差值。示例性的，所述载物装置1100和所述图像获取装置1300之间的当前距离值为(x1，y1，z1)，所述载物装置1100和所述图像获取装置1300之间的拍摄距离值为(x3，y3，z3)，需要移动的拍摄位移值(x4，y4，z4)，其中，x4＝x3－x1，y4＝y3－y1，z4＝z4－z1。
进一步地，拍摄位移值计算模块1250和拍摄控制模块1260中任一者可以采用中央处理器CPU芯片或微型逻辑控制单元MCU芯片作为信息处理装置，该芯片中可以烧录计算拍摄位移值或的控制拍摄的程序，使得该位移值计算模块1250和拍摄控制模块1260实现本申请实施例的功能，而这些功能的实现利用现有技术即可。
通过上述实施例，本申请提供的图像获取系统1000可以在产线上产品更换型号时，根据实时接收的图像信号，实时调节载物装置1100和图像获取装置1300之间的距离，并存储拍摄出清晰图像的载物装置1100和图像获取装置1300之间的拍摄距离值作为位置关系参数，以在后续同型号的目标物体需要进行图像外观检测时，直接使用存储的拍摄距离值，结合当前距离，控制载物装置1100和图像获取装置1300中其中一者位移，即可直接拍摄得到清晰图像，进一步提高了图像获取效率和产品生产效率。
结合上述实施例，针对容易反光、难清晰对焦拍摄的显示面板样品图像获取，以进一步实现显示面板的图像外观检测需求，应用于载物装置1100设置于传送装置1400上的图像获取系统1000，本申请实施例还示例性地提供了一种在传送装置1400上获取显示面板样品图像的方法：
步骤S501，将显示面板样品从投料口传送至载物装置1100旁侧。
步骤S502，通过第一转移装置1500将显示面板样品转移悬停到载物装置1100上方。其中，第一转移装置1500可以是带吸盘的机械手。
步骤S503，通过相机1321对位系统，抓取显示面板样品上的对位标识和载物装置1100上的对位标识，计算出显示面板样品需移动的三维方向上任一方向的距离值。
步骤S504，通过第一转移装置1500，控制显示面板样品在对应方向上移动相应的距离，并通过相机1321对位系统再次将显示面板样品上的对位标识和载物装置1100上的对位标识进行精对位，按照精对位位置将显示面板样品放置在载物装置1100的载台1120上，使显示面板样品上的对位标识和载物装置1100上的对位标识重合。
步骤S505，载物装置1100加载静电电荷，将样品显示面板吸附在载台1120上。
步骤S506，通过载物装置1100的三维移动模块1110，控制载台1120搭载显示面板样品移动到图像获取装置1300的下方，通过上述实施例提供的图像获取系统1000，自动获取清晰度大于预设清晰度阈值的图像信号。
步骤S507、存储清晰度大于预设清晰度阈值的图像信号；以及，存储图像获取装置1300在获取清晰的图像信号时，载物装置1100和图像获取装置1300之间的拍摄距离值。拍摄距离值表征载台1120与光学拍照系统的距离参数和角度参数。
以及，同样为进一步实现显示面板的图像外观检测需求，应用于载物装置1100设置于传送装置1400一侧的图像获取系统1000，进一步的，本申请实施例还示例性地提供了一种在独立的载物装置1100上获取样品图像的方法：
步骤S601，通过传送装置1400，将显示面板样品从投料口传送至载物装置1100旁侧。
步骤S602，通过第二转移装置1600，将显示面板样品从传送装置1400转移悬停到载物装置1100上方。其中，第二转移装置1600可以是带吸盘的机械手。
步骤603，通过相机1321对位系统，抓取显示面板样品上的对位标识和载物装置1100上的对位标识，计算出显示面板样品需移动的三维方向上任 一方向的距离值。
步骤S604，通过第二转移装置1600，控制显示面板样品在对应方向上移动相应的距离，并通过相机1321对位系统再次将显示面板样品上的对位标识和载物装置1100上的对位标识进行精对位，按照精对位位置将显示面板样品放置在载物装置1100的载台1120上，使显示面板样品上的对位标识和载物装置1100上的对位标识重合。
步骤S605，载物装置1100加载静电电荷，将样品显示面板吸附在载台1120上。
步骤S606，通过载物装置1100的三维移动模块1110，控制载台1120搭载显示面板样品移动到图像获取装置1300的下方，通过上述实施例提供的图像获取系统1000，自动获取清晰度大于预设清晰度阈值的图像信号。
步骤S607、存储清晰度大于预设清晰度阈值的图像信号；以及，存储图像获取装置1300在获取清晰的图像信号时，载物装置1100和图像获取装置1300之间的拍摄距离值。拍摄距离值表征载台1120与光学拍照系统的距离参数和角度参数。
通过上述实施例，本申请提供的示例方法，分别针对载物装置1100固定在传送装置1400传送带上随传送带移动的图像获取系统1000，以及，载物装置1100设置于传送装置1400一侧不随传送带移动的图像获取系统1000，提供了显示面板样品的清晰图像信号获取的解决方案，能够在显示面板型号更换后通过自动调节载物装置1100和图像获取装置1300之间的距离，实现样品外观图像和拍摄位置参数的获取和存储，以用于显示面板的图像外观检测，极大提高了显示面板外观检测的效率，进一步提高了显示面板的生产制备的自动化程度和生产效率。
参照图8，图8是本申请实施例提供的一种图像获取方法的步骤流程图。如图8所示，基于同一发明构思，本申请实施例还提供了一种图像获取方法可以应用于图像获取系统中的控制装置1200，所述图像获取方法包括：
步骤S801，实时获取目标物体的图像信号；
步骤S802，根据所述图像信号，得到所述载物装置1100和所述图像获取装置1300之间的目标位移值；
步骤S803，控制载物装置1100和图像获取装置1300中的至少一者基于所述目标位移值移动，直到实时接收的图像信号的清晰度大于预设清晰度阈值；
其中，所述载物装置1100固定所述目标物体，所述图像获取装置1300按照预设时间间隔获取所述目标物体的图像信号。
基于同一发明构思，本申请实施例还提供了一种显示面板加工设备，所述显示面板加工设备包括上述任一项实施例所述的图像获取系统1000。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的计算处理设备中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图9示出了可以实现根据本申请的方法的计算处理设备。该计算处理设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序 代码载体。这样的计算机程序产品通常为如参考图10所述的便携式或者固定存储单元。该存储单元可以具有与图9的计算处理设备中的存储器1020类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由计算处理设备运行时，导致该计算处理设备执行上面所描述的方法中的各个步骤。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
以上对本申请所提供的一种图像获取系统、方法和显示面板加工设备进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。
本文中所称的“一个实施例”、“实施例”或者“一个或者多个实施例”意味着，结合实施例描述的特定特征、结构或者特性包括在本申请的至少一 个实施例中。此外，请注意，这里“在一个实施例中”的词语例子不一定全指同一个实施例。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下被实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (15)

  1. 一种图像获取系统，其中，所述图像获取系统包括：控制装置、载物装置和图像获取装置；
    所述载物装置用于固定目标物体；
    所述图像获取装置用于按照预设时间间隔获取所述目标物体的图像信号，并实时发送给所述控制装置；
    所述控制装置用于根据所述图像信号得到所述载物装置和所述图像获取装置之间的目标位移值，并生成携带所述目标位移值的控制命令发送给所述载物装置和所述图像获取装置中的至少一者；
    所述载物装置和所述图像获取装置中的至少一者按照所述控制装置的控制命令移动，直到实时接收的图像信号的清晰度大于预设清晰度阈值。
  2. 根据权利要求1所述的图像获取系统，其中，所述控制装置包括：目标位移值计算模块；
    所述目标位移值计算模块用于获取所述载物装置和所述图像获取装置之间的当前距离值，以及，还用于根据所述图像信号分析得到所述载物装置和所述图像获取装置之间的目标距离值，以及，还用于根据所述当前距离值和所述目标距离值，得到所述载物装置和所述图像获取装置之间的目标位移值；
    其中，所述目标距离值是所述图像获取装置的焦距阈值范围内的预设距离值，所述当前距离值是根据所述载物装置的当前位置坐标和所述图像获取装置的当前位置坐标计算得到的。
  3. 根据权利要求1所述的图像获取系统，其中，所述载物装置包括载台和三维移动模块；
    所述载台用于固定所述目标物体；
    所述三维移动模块用于按照与所述控制装置的控制命令相对应的载台位移距离值，沿xyz三轴中一个或多个方向移动所述载台。
  4. 根据权利要求3所述的图像获取系统，其中，所述载物装置还包括旋转模块；
    所述旋转模块，用于按照与所述控制装置的控制命令相对应的载台角位移值，旋转所述载台。
  5. 根据权利要求1所述的图像获取系统，其中，所述图像获取装置包括光学组件和3D马达；
    所述光学组件用于获取所述目标物体的图像信号；所述光学组件至少包括：相机、镜头和光源；
    所述3D马达用于按照与所述控制装置的控制命令相对应的光学组件位移值，控制所述相机、所述镜头和所述光源中的至少一者沿xyz三轴中一个或多个方向移动。
  6. 根据权利要求1所述的图像获取系统，其中，所述图像获取系统还包括传送装置；
    所述传送装置用于传送所述目标物体。
  7. 根据权利要求6所述的图像获取系统，其中，所述图像获取系统还包括第一转移装置；
    所述载物装置设置在所述传送装置的传送带上随所述传送带移动，且所述图像获取装置设置在所述传送带的正上方；
    所述第一转移装置用于将所述目标物体转移放置到所述载物装置上。
  8. 根据权利要求6所述的图像获取系统，其中，所述图像获取系统还包括第二转移装置；所述载物装置设置在所述传送装置的传送带的外侧，且所述图像获取装置设置在所述载物装置的正上方；
    所述第二转移装置用于将所述传送带上的所述目标物体转移放置到所述载物装置上。
  9. 根据权利要求1所述的图像获取系统，其中，所述控制装置还包括图像存储模块和位置存储模块；
    所述图像存储模块用于存储清晰度大于预设清晰度阈值的目标图像信号；
    所述位置存储模块用于存储所述图像获取装置在获取所述目标图像信号时，所述载物装置和所述图像获取装置之间的拍摄距离值。
  10. 根据权利要求9所述的图像获取系统，其中，所述控制装置还包括拍摄位移值计算模块和拍摄控制模块；
    所述拍摄位移值计算模块用于根据所述图像信号分析得到所述载物装置和所述图像获取装置之间的当前距离值，以及，还用于根据所述当前距离 值和所述拍摄距离值得到所述载物装置和所述图像获取装置之间的拍摄位移值；
    所述拍摄控制模块用于控制所述载物装置和所述图像获取装置中的至少一者按照所述拍摄位移值移动，并向所述图像获取装置发送拍摄控制命令；其中，所述拍摄控制命令用于控制所述图像获取装置获取所述目标物体的清晰图像信号。
  11. 根据权利要求1所述的图像获取系统，其中，所述控制装置还包括清晰度判断模块；
    所述清晰度判断模块用于在符合预设清晰度条件的情况下，判断实时接收的图像信号的清晰度大于预设清晰度阈值；
    其中，所述预设清晰度条件是：所述图像信号的对比度在预设对比度阈值范围内，且所述图像信号的轮廓边缘梯度在预设轮廓边缘梯度阈值范围内，且所述图像信号的图像频率在预设图像频率阈值范围内，且所述图像信号的相位信息符合预设相位信息。
  12. 一种图像获取方法，其中，所述图像获取方法包括：
    实时获取目标物体的图像信号；
    根据所述图像信号得到所述载物装置和所述图像获取装置之间的目标位移值；
    控制载物装置和图像获取装置中的至少一者基于所述目标位移值移动，直到实时接收的图像信号的清晰度大于预设清晰度阈值；
    其中，所述载物装置固定所述目标物体，所述图像获取装置按照预设时间间隔获取所述目标物体的图像信号。
  13. 一种显示面板加工设备，其中，所述显示面板加工设备包括如权利要求1-11任一项所述的图像获取系统。
  14. 一种计算处理设备，其特征在于，包括：
    存储器，其中存储有计算机可读代码；
    一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行如权利要求12所述的图像获取方法。
  15. 一种计算机可读介质，其中存储了计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据权利要 求12所述的图像获取方法。
PCT/CN2023/070398 2022-01-07 2023-01-04 一种图像获取系统、方法及显示面板加工设备 WO2023131177A1 (zh)

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