CN102012571B - A location method of pasting ACF membrane on screen substrate of flat-panel display - Google Patents
A location method of pasting ACF membrane on screen substrate of flat-panel display Download PDFInfo
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Abstract
The invention provides a location method of pasting ACF membrane on screen substrate of flat-panel display, which is characterized by: defining two identification points on the screen substrate in advance; after the screen substrate is moved onto calibrating countertop, performing initial location by the appearance of the substrate, capturing images of the two identification points by a camera, translating images of the two identification points into position coordinates of image coordinate system by image processing system, translating the image coordinate value of the two identification points into machinery coordinate value in machinery coordinate system according to the correspondent relationship between image coordinate system and machinery coordinate system, determining the offset between practical position and theoretical position in the direction of X axis, the offset in the direction of Y axis, and the angular deflection around Z axis by calculating, adjusting the position of the two identification points to theoretical position by using the motion mechanism in the direction of X axis, the motion mechanism in the direction of Y axis, the rotating mechanism around Z axis, thereby ensuring that the position of driving terminal area on the screen substrate and the position of the ACF membrane required to be pasted are aligned. The present invention greatly improves the location accuracy of the ACF membrane pasted.
Description
Technical field
The present invention relates to flat-panel monitor processing and manufacturing field, particularly stick on LCD or the PDP display screen substrate ACF film to method for position.
Background technology
In the manufacture process of LCD (liquid crystal), PDP flat-panel monitors (FPD) such as (plasmas); Is an important process with driver IC or FPC driving circuit correct assembling such as (Flexible Printed Circuit) to the drive end subarea of display screen substrate, and its purpose is exactly in order to drive correct display text of display screen and pattern-information.The ACF film sticks exactly and on the drive end subarea of display screen substrate, sticks the ACF film, is used for carrying the operation of driving circuits such as driver IC or FPC.ACF film (AnisotropicConductive Film) is an anisotropic conductive film, and he is a kind of film that on the tackness resin, is scattered with conducting particles.Principle and process that LCD or PDP display screen substrate carry driver IC or FPC through the ACF film are shown in Fig. 1～2; Earlier ACF film 1 is applied in drive terminal 5 districts of LCD liquid crystal panel 4 accurately; Then IC chip 3 is fitted on the ACF film 1; Make ACF film 1 between the drive terminal 5 and IC chip 3 of LCD liquid crystal panel 4; When ACF film 1 was carried out thermo-compressed, the dielectric films on conducting particles in the ACF film 12 surfaces were destroyed, between the driving pin 6 of IC chip 3 and the drive terminal 5 of LCD liquid crystal panel 4 through conducting particles 2 corresponding formation electrical connections; Heating simultaneously makes that the tackness resin is able to IC chip 3 is fixed on sticking in the district of LCD liquid crystal panel 4, thereby reaches the purpose of correct assembling.
Japanese Patent Laid is opened 2009-187037 (P2009-187037A) and is disclosed the patent of invention that a kind of name is called " ACF applying method and ACF stick device " on August 20th, 2009.In the disclosed ACF applying method of this patent, it is to rely on the profile of LCD liquid crystal panel to locate that the ACF film is applied to LCD drive end subarea.Because there is deviation in the profile of LCD liquid crystal panel, the position deviation that therefore causes the ACF film to stick easily.Especially the development of the As IC technology of loading, it is increasingly high that the ACF film is sticked accuracy requirement, and the positional precision that generally requires the ACF film to stick is X, Y direction ± 0.5mm, and the error in length of ACF film is ± 0.1mm.The method that above-mentioned Jap.P. relies on LCD liquid crystal panel profile to locate can not guarantee the accuracy requirement that the ACF film sticks; Wherein, The defective products that site error may directly cause IC to load occurs; And the ACF film of unnecessary length sticks the ACF film waste that not only can cause high price, and can cause short circuit.Therefore, how improving the ACF film, to stick precision be the problem that the present invention studies.
Summary of the invention
The present invention provide stick on a kind of display screen substrate of flat-panel monitor the ACF film to method for position; Its objective is that will improve the ACF film is applied to the positional precision on the display screen substrate drive end subarea, guarantee that later process can be with driving circuit correct assembling such as IC to the drive end subarea of display screen.
For achieving the above object, the technical scheme that the present invention adopts is: stick on a kind of display screen substrate of flat-panel monitor the ACF film to method for position, its innovation is:
(1) contraposition reference and contraposition mode
Sticking in the residing mechanical coordinate system of plane at the ACF film, is target with the position and the direction of ACF film in said mechanical coordinate is, realizes the contraposition in the drive end subarea on ACF film and the display screen substrate through position and the direction of adjusting display screen substrate;
(2) method of adjustment
On display screen substrate, make two identification points that can supply image recognition in advance; The contraposition in ACF film and drive end subarea is converted into the physical location of two identification points and the contraposition between the theoretical position; Need stick on the line of these two identification points and the display screen substrate between the drive end subarea of ACF film and have known position and direction relations; The theoretical position that makes these two identification points in mechanical coordinate system, need adjust to can be known; Promptly the relative mechanical coordinate cording of the first identification point theoretical position has known coordinate figure, and the relative mechanical coordinate cording of the second identification point theoretical position has known coordinate figure;
Have position, school table top in advance, this position, school table top is arranged in said mechanical coordinate system, and through with X to travel mechanism, Y to travel mechanism and around adjusting position and the direction of display screen substrate in mechanical coordinate system cooperating of Z axle rotating mechanism;
Have a photograph mechanism in advance; This photograph mechanism is arranged in said mechanical coordinate; Said photograph mechanism by take a picture head with drive the cephalomotor photograph travel mechanism of taking a picture and form, be provided with image coordinate system in the camera lens of the head of taking a picture, taking a picture is used for taking the identification point image;
Have an image processing system in advance, this image processing system is used for discerning in the captured identification point image, the position coordinates of identification point in image coordinate system;
During adjustment; At first display screen substrate is carried to through manual work or mechanical arm and carries out location just on the table top of position, school; Utilize then identification point, photograph mechanism, image processing system, X to travel mechanism, Y to travel mechanism, the position, school is carried out in the drive end subarea around Z axle rotating mechanism, concrete position, school step is following:
The first step; Move to the first identification point theoretical position in the mechanical coordinate system through a photograph travel mechanism center of will taking a picture; The camera lens that this moment, first identification point dropped on the head of taking a picture is taken the first identification point image that first identification point obtains first image coordinate system within sweep of the eye then;
Second step; Move to the second identification point theoretical position in the mechanical coordinate system through a photograph travel mechanism center of will taking a picture; The camera lens that this moment, second identification point dropped on the head of taking a picture is taken the second identification point image that second identification point obtains second image coordinate system within sweep of the eye then;
The 3rd step, utilize image processing system that the first identification point image and the second identification point image are handled, find out the image coordinate value of relative first image coordinate system of first identification point and the image coordinate value of relative second image coordinate system of second identification point respectively;
The 4th step; The image coordinate value of relative first image coordinate system of known first identification point; The X of the known first image coordinate system initial point in mechanical coordinate system to the coordinate and the anglec of rotation, utilizes coordinate translation and rotation of coordinate formula that the image coordinate value of relative first image coordinate system of first identification point is converted into the mechanical coordinate value of first identification point with respect to mechanical coordinate system to coordinate, Y; The image coordinate value of relative second image coordinate system of known second identification point; The X of the known second image coordinate system initial point in mechanical coordinate system to the coordinate and the anglec of rotation, utilizes coordinate translation and rotation of coordinate formula that the image coordinate value of relative second image coordinate system of second identification point is converted into the mechanical coordinate value of second identification point with respect to mechanical coordinate system to coordinate, Y;
The 5th step; The mechanical coordinate value that known first identification point and second identification point with respect to mechanical coordinate are respectively; The coordinate figure of the respectively relative mechanical coordinate of the known first identification point theoretical position and second identification point theoretical position system; Position, known school table top is around the coordinate figure of the relative mechanical coordinate of Z axle center of rotation system, utilizes cartesian geometry and trigonometric function formula to calculate respectively around Z axle deflection angle, X to side-play amount and Y to side-play amount;
The 6th step; According to the 5th step calculate around Z axle deflection angle, X to side-play amount and Y to side-play amount; Utilize X to travel mechanism, Y to travel mechanism, first identification point and second identification point are adjusted to the first identification point theoretical position and the first identification point theoretical position of relative mechanical coordinate system around Z axle rotating mechanism, thereby guarantee the drive end subarea and the ACF film contraposition that need stick on the display screen substrate.
Related content in the technique scheme is explained as follows:
1. such scheme is in the 3rd step; The said image coordinate value of relative first image coordinate system of first identification point and the image coordinate value of relative second image coordinate system of second identification point found out respectively; The method that adopts is: X axle and Y axle in the image coordinate system are marked with scale; Make a check mark the respectively some projection line of X axle and Y axle of software in the said image processing system, utilize then projection line and X axle and Y axle intersection point and scale relatively draw the image coordinate value.
2. such scheme utilizes formula in the 4th step, and the image coordinate value of first identification point and second identification point is converted into the mechanical coordinate value with respect to mechanical coordinate system.
Referring to shown in Figure 4, S representes first identification point, and P representes second identification point, and Xm and Ym represent that mechanical coordinate is X axle and a Y axle among the M, and Xv1 and Yv1 represent X axle and the Y axle of the first image coordinate system V1, and Xv2 and Yv2 represent X axle and the Y axle of the second image coordinate system V2.According to coordinate translation and rotation of coordinate formula:
The reduction formula of (1) first identification point S is following:
Xms＝Xv1s×cosθ-Yv1s×sinθ+Xmv1
Yms＝Xv1s×sinθ+Yv1s×cosθ+Ymv1
In the formula:
Xms representes that the first identification point S is that X among the M is to coordinate at mechanical coordinate;
Yms representes that the first identification point S is that Y among the M is to coordinate at mechanical coordinate;
Xv1s representes that the X of the first identification point S in the first image coordinate system V1 is to coordinate;
Yv1s representes that the Y of the first identification point S in the first image coordinate system V1 is to coordinate;
Xmv1 representes that the first image coordinate system V1 initial point is that X among the M is to coordinate at mechanical coordinate;
Ymv1 representes that the first image coordinate system V1 initial point is that Y among the M is to coordinate at mechanical coordinate;
θ representes that the relative mechanical coordinate of the first image coordinate system V1 is the rotation angle of M;
The reduction formula of (2) second identification point P is following:
Xmp＝Xv2p×cosθ-Yv2p×sinθ+Xmv2
Ymp＝Xv2p×sinθ+Yv2p×cosθ+Ymv2
In the formula:
Xmp representes that the second identification point P is that X among the M is to coordinate at mechanical coordinate;
Ymp representes that the second identification point P is that Y among the M is to coordinate at mechanical coordinate;
Xv2p representes that the X of the second identification point P in the second image coordinate system V2 is to coordinate;
Yv2p representes that the Y of the second identification point P in the second image coordinate system V2 is to coordinate;
Xmv2 representes that the second image coordinate system V2 initial point is that X among the M is to coordinate at mechanical coordinate;
Ymv2 representes that the second image coordinate system V2 initial point is that Y among the M is to coordinate at mechanical coordinate;
θ representes that the relative mechanical coordinate of the second image coordinate system V2 is the rotation angle of M.
3. such scheme is in the 5th step, utilizes formula to calculate respectively around Z axle deflection angle, X to side-play amount and Y to side-play amount:
(1) following around Z axle deflection angle computing formula:
β＝arctan[(Ymp-Yms)÷(Xmp-Xms)]+arctan[(Yms2-Ymp2)÷(Xmp2-Xms2)]
In the formula:
β representes around Z axle deflection angle;
Xms and Yms represent that the first identification point S is the mechanical coordinate value of M with respect to mechanical coordinate;
Xmp and Ymp represent that the second identification point P is the mechanical coordinate value of M with respect to mechanical coordinate;
Xms2 and Yms2 represent that the relative mechanical coordinate of the first identification point theoretical position S2 is the coordinate figure of M;
Xmp2 and Ymp2 represent that the relative mechanical coordinate of the second identification point theoretical position P2 is the coordinate figure of M.
Proof procedure around Z axle deflection angle computing formula is following:
Known:
The first identification point S is that the mechanical coordinate value of M is Xms and Yms with respect to mechanical coordinate;
The second identification point P is that the mechanical coordinate value of M is Xmp and Ymp with respect to mechanical coordinate;
The relative mechanical coordinate of the first identification point theoretical position S2 is that the coordinate figure of M is Xms2 and Yms2;
The relative mechanical coordinate of the second identification point theoretical position P2 is that the coordinate figure of M is Xmp2 and Ymp2.
Fig. 5 adjusts position, school schematic diagram for the present invention; S and P represent the physical location of first identification point and second identification point in Fig. 5; S2 and P2 represent the theoretical position of first identification point and second identification point, and S1 representes that with P1 S and P are that the centre of gyration rotates to the position parallel with P2 with S2 around the Z axle with A.
If:
Around Z axle deflection angle is β;
The relative mechanical coordinate of line SP of the first identification point S and the second identification point P is that the angle of X axle is β 1;
The relative mechanical coordinate of line S2P2 of the first identification point theoretical position S2 and the second identification point theoretical position P2 is that the angle of X axle is β 2;
The intersection point along between the long line along long line and line segment S1P1 of line segment SP is B;
The intersection point along long line and line segment AS1 of line segment SP is C.
Referring to Fig. 5, in triangle BCS1 and triangle ACS:
∠ BCS1=∠ ACS (vertical angle equate);
∠ BS1C=180 °-∠ AS1P1, ∠ ASC=180 °-∠ ASP, because triangle AS1P1 and triangle ASP congruence, ∠ AS1P1=∠ ASP (corresponding angles equate), so ∠ BS1C=∠ ASC;
So ∠ CAS=∠ S1BC=β
Can know that by Fig. 5 line SP is rotated to the position parallel with line S2P2, it around Z axle deflection angle is:
β=β 1+ β 2 formulas (1)
According to cartesian geometry and trigonometric function formula:
The ÷ (Xmp-Xms) of tan (β 1)=opposite side/adjacent side=(Ymp-Yms)
The ÷ (Xmp2-Xms2) of tan (β 2)=opposite side/adjacent side=(Yms2-Ymp2)
β 2=arctan [(Yms2-Ymp2) ÷ (Xmp2-Xms2)] formula (3)
Formula (2) and formula (3) substitution formula (1) are got:
β＝arctan[(Ymp-Yms)÷(Xmp-Xms)]+arctan[(Yms2-Ymp2)÷(Xmp2-Xms2)]
(2) X is following to the side-play amount computing formula:
ΔX＝Xma+cosβ·(Xms-Xma)-sinβ·(Yma-Yms)-Xms2
In the formula:
Δ X representes that X to side-play amount does;
Xms and Yms represent that the first identification point S is the mechanical coordinate value of M with respect to mechanical coordinate;
Xma and Yma represent that around the relative mechanical coordinate of Z axle center of rotation A be the coordinate figure of M;
Xms2 representes that the relative mechanical coordinate of the first identification point theoretical position S2 is that the X of M is to coordinate figure;
β representes around Z axle deflection angle.
X is following to the proof procedure of side-play amount computing formula:
Known:
The first identification point S is that the mechanical coordinate value of M is Xms and Yms with respect to mechanical coordinate;
The relative mechanical coordinate of the first identification point theoretical position S2 is that the X of M is Xms2 to coordinate figure;
Around the relative mechanical coordinate of Z axle center of rotation A is that the coordinate figure of M is Xma and Yma;
Around Z axle deflection angle is β.
If:
X is Δ X to side-play amount;
The first identification point S is γ with the angle that is the X axle around the relative mechanical coordinate of line SA of Z axle center of rotation A;
It is that the coordinate figure of M is Xms1 and Yms1 that the first identification point S rotates to behind the auxiliary point S1 mechanical coordinate relatively;
Auxiliary point S1 is W perpendicular to the projection line of X axle and around Z axle center of rotation A perpendicular to the intersection point between the projection line of Y;
The first identification point S is U perpendicular to the projection line of X axle and around Z axle center of rotation A perpendicular to the intersection point between the projection line of Y;
Can know that by Fig. 5 after the first identification point S rotated to auxiliary point S1, because line S1P1 is parallel to line S2P2, so X to side-play amount was:
Δ X=Xms1-Xms2 formula (4)
According to the cartesian geometry principle, get referring to Fig. 5:
Xms1=Xma+AW formula (5)
Because triangle AWS1 is right-angle triangle, according to the trigonometric function formula:
AW＝AS1×cos(β+γ)
According to two jiaos of trigonometric functions and formula:
AW=AS1 * (cos β * cos γ-sin β * sin γ) formula (6)
Because the length of line segment AS1 equals the length of line segment AS, so the line segment AS1 in the formula (6) is:
AS1＝AS
Because triangle AUS is right-angle triangle, according to Pythagorean theorem:
(AS)
2＝(SU)
2+(UA)
2
In right-angle triangle AUS, according to the trigonometric function formula:
Formula (7), formula (8) and formula (9) substitution formula (6) are got:
AW=cos β (Xms-Xma)-sin β (Yma-Yms) formula (10)
Formula (10) substitution formula (5) is got:
Xms1=Xma+cos β (Xms-Xma)-sin β (Yma-Yms) formula (11)
Formula (11) substitution formula (4) is got:
ΔX＝Xma+cosβ·(Xms-Xma)-sinβ·(Yma-Yms)-Xms2
(3) Y is following to the side-play amount computing formula:
ΔY＝Yms2-Yma+sinβ·(Xms-Xma)+cosβ·(Yma-Yms)
In the formula:
Δ Y representes that Y is to side-play amount;
Xms and Yms represent that the first identification point S is the mechanical coordinate value of M with respect to mechanical coordinate;
Xma and Yma represent that around the relative mechanical coordinate of Z axle center of rotation A be the coordinate figure of M;
Yms2 representes that the relative mechanical coordinate of the first identification point theoretical position S2 is that the Y of M is to coordinate figure;
β representes around Z axle deflection angle.
Y is to the proof procedure of side-play amount computing formula (basic identical to the side-play amount proof line with X) as follows:
Known:
The first identification point S is that the mechanical coordinate value of M is Xms and Yms with respect to mechanical coordinate;
The relative mechanical coordinate of the first identification point theoretical position S2 is that the Y of M is Yms2 to coordinate figure;
Around the relative mechanical coordinate of Z axle center of rotation A is that the coordinate figure of M is Xma and Yma;
Around Z axle deflection angle is β.
If:
Y is Δ Y to side-play amount;
The first identification point S is γ with the angle that is the X axle around the relative mechanical coordinate of line SA of Z axle center of rotation A;
It is that the coordinate figure of M is Xms1 and Yms1 that the first identification point S rotates to behind the auxiliary point S1 mechanical coordinate relatively;
Auxiliary point S1 is W perpendicular to the projection line of X axle and around Z axle center of rotation A perpendicular to the intersection point between the projection line of Y;
The first identification point S is U perpendicular to the projection line of X axle and around Z axle center of rotation A perpendicular to the intersection point between the projection line of Y.
Can know that by Fig. 5 after the first identification point S rotated to auxiliary point S1, because line S1P1 is parallel to line S2P2, so Y to side-play amount was:
Δ Y=Yms2-Yms1 formula (12)
According to the cartesian geometry principle, get referring to Fig. 5:
Yms1=Yma-WS1 formula (13)
Because triangle AWS1 is right-angle triangle, according to the trigonometric function formula:
WS1＝AS1×sin(β+γ)
According to two jiaos of trigonometric functions and formula:
WS1=AS1 * (sin β * cos γ+cos β * sin γ) formula (14)
Because the length of line segment AS1 equals the length of line segment AS, so the line segment AS1 in the formula (14) is:
AS1＝AS
Because triangle AUS is right-angle triangle, according to Pythagorean theorem:
(AS)
2＝(SU)
2+(UA)
2
In right-angle triangle AUS, according to the trigonometric function formula:
Formula (15), formula (16) and formula (17) substitution formula (14) are got:
WS1=sin β (Xms-Xma)+cos β (Yma-Yms) formula (18)
Formula (18) substitution formula (13) is got:
Yms1=Yma-sin β (Xms-Xma)-cos β (Yma-Yms) formula (19)
Formula (19) substitution formula (12) is got:
ΔY＝Yms2-Yma+sinβ·(Xms-Xma)+cosβ·(Yma-Yms)
Principle of work of the present invention and effect are: in order to improve the precision that sticks of ACF film, when sticking the ACF film, only rely on the profile of LCD liquid crystal panel to come contraposition in the past, thisly rough can not satisfy high-precision requirement to method for position.This programme has designed two identification points that are used for contraposition specially in advance on the LCD liquid crystal panel; After the LCD liquid crystal panel is carried to position, school table top; At first utilize the profile of LCD liquid crystal panel to carry out location just; And with the sorption of LCD liquid crystal panel on the table top of position, school; Utilize photograph head in the photograph mechanism to take the image of two identification points then; And utilize image processing system that the image of two identification points is converted into the position coordinates in the image coordinate system, then utilize the relation of image coordinate system and mechanical coordinate system to convert the image coordinate of two identification points in the mechanical coordinate system mechanical coordinate value, and through calculate the physical location of finding out two identification points respectively and the X between the theoretical position to side-play amount, Y to side-play amount with around Z axle deflection angle; Utilize at last X to travel mechanism, Y to travel mechanism, two identification points adjustment are corrected on the theoretical position around Z axle rotating mechanism, thereby guarantee the drive end subarea and the ACF film contraposition that need stick on the display screen substrate.The present invention has compared with prior art improved the positional precision that the ACF film sticks greatly, adopt the present invention after its precision can reach X (long limit) direction: ± 0.3mm, Y (broadside) direction: ± 0.2mm can satisfy the needs of this area high precision contraposition.
Description of drawings
Accompanying drawing 1 carries the schematic diagram of driver IC through the ACF film for LCD display;
Accompanying drawing 2 is the A-A cut-open view of Fig. 1;
Accompanying drawing 3 is contraposition mechanism principle figure of the present invention;
Accompanying drawing 4 converts the mechanical coordinate schematic diagram into for image coordinate of the present invention;
Accompanying drawing 5 is adjusted position, school schematic diagram for the present invention.
In the above accompanying drawing: 1, ACF film; 2, conducting particles; 3, IC chip; 4, LCD liquid crystal panel; 5, drive terminal; 6, drive pin; 7, position, school table top; 8, X is to travel mechanism; 9, Y is to travel mechanism; 10, around Z axle rotating mechanism; 11, photograph head; 12, photograph travel mechanism.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described:
Embodiment:
Stick on a kind of display screen substrate of flat-panel monitor the ACF film to method for position, it thes contents are as follows:
(1) contraposition reference and contraposition mode
Sticking the residing mechanical coordinate in plane at ACF film 1 (seeing Fig. 1 and Fig. 2) is among the M (seeing the mechanical coordinate system of drawing among Fig. 1 and Fig. 2); Is that position and direction among the M is target with ACF film 1 at said mechanical coordinate, and position and the direction through adjustment display screen substrate (like the LCD liquid crystal panel 4 among Fig. 1) realizes the contraposition in the drive end subarea (zone that is made up of drive terminal 5) on ACF film 1 and the display screen substrate.
(2) method of adjustment
Make two identification points (like S among Fig. 1 and P) that can supply image recognition in the same technology of the drive terminal on making display screen substrate in advance; The contraposition in ACF film 1 and drive end subarea is converted into the physical location of two identification points (S and P) and the contraposition between the theoretical position; Need stick on line of these two identification points (S and P) and the display screen substrate between the drive end subarea of ACF film 1 and have known position and direction relations; Make that these two identification points (S and P) are that the theoretical position that need adjust among the M can be known at mechanical coordinate; Referring to shown in Figure 5, promptly the relative mechanical coordinate of the first identification point theoretical position S2 be M have known coordinate figure (Xms2, Yms2); The relative mechanical coordinate of the second identification point theoretical position P2 be M have known coordinate figure (Xmp2, Ymp2).Present embodiment designs the right ends in the drive end subarea with two identification point S and P; See Fig. 1; But the present invention is not limited to this design; Can be with two punctuate designs in any position, as long as there be position and the direction relations of confirming between these two identification points and the drive end subarea, even the line between these two identification points is that oblique line is also passable.
In order to realize automatic contraposition, the present invention needs following condition:
1. have position, school table top 7 (see figure 3)s in advance; It is M that this position, school table top 7 is arranged in said mechanical coordinate, and position, said school table top 7 is through being position and direction in M to travel mechanism 9 and around adjusting display screen substrate cooperating of Z axle rotating mechanism 10 at mechanical coordinate to travel mechanism 8, Y with X.Wherein, Position, school table top 7 is used for sorption display screen substrate (being LCD liquid crystal panel 4); Directly be connected (among Fig. 3, be blocked school position table top 7 below around Z axle rotating mechanism 10 therefore invisible) with position, school table top 7 around Z axle rotating mechanism 10, be used for proofreading and correct around Z axle deflection angle β; Y is used for proofreading and correct Y to offset Y to travel mechanism 9 with being connected around Z axle rotating mechanism 10; X is used for corrected X to offset X to travel mechanism 8; X has two kinds of types of attachment to travel mechanism 8; First kind is that X is connected to travel mechanism's 9 stacks with Y to travel mechanism 8, moves to promoting position, school table top 7 at X, and second kind is to travel mechanism 8 and position, school table top 7, arranged apart to travel mechanism 9 around Z axle rotating mechanism 10 and Y with X; Make the carrying task of X after travel mechanism 8 not only bears correction tasks but also bears correction; Promptly, utilize X to carry the display screen substrate on position, the school table top 7, and in carrying, come corrected X to offset X at X to travel mechanism 8 proofreading and correct around Z axle deflection angle β and Y behind offset Y.Shown in Figure 3 is above-mentioned second kind of situation.
2. have a photograph mechanism in advance; As shown in Figure 3; It is M that this photograph mechanism is arranged in said mechanical coordinate; Said photograph mechanism by take a picture 11 with drive the cephalomotor photograph travel mechanism 12 of taking a picture and form, be provided with image coordinate system in 11 the camera lens of taking a picture, photograph 11 is used for taking the identification point image.Present embodiment photograph shown in Figure 3 travel mechanism 12 be one drive the head of taking a picture along X to the mechanism that moves because the line of two identification point S of present embodiment and P is parallel to the X axle, do not need Y to mobile mechanism.When the line of two identification point S and P was oblique line, for the image of taking two identification points just needs X to moving the cooperating between moving with Y, the travel mechanism of taking a picture this moment needed Y to the mechanism that moves.If a linear moving mechanism and oblique line SP are laterally arranged, also as long as a linear moving mechanism.
3. have an image processing system in advance, this image processing system is used for discerning in the captured identification point image, the position coordinates of identification point in image coordinate system.
When the present invention adjusts; At first display screen substrate (being LCD liquid crystal panel 4) is carried to through manual work or mechanical arm and carries out location (sorption) just on position, the school table top 7; Utilize then identification point, photograph mechanism, image processing system, X to travel mechanism 8, Y to travel mechanism 9, carry out the position, school around 10 pairs of drive end subareas of Z axle rotating mechanism, concrete position, school step is following:
The first step; To take a picture through photograph travel mechanism 12, to move to mechanical coordinate be the first identification point theoretical position S2 (see figure 4) among the M at 11 center (optical center); The first identification point S dropped on and took a picture a camera lens of 11 within sweep of the eye this moment, took the first identification point image that the first identification point S obtains the first image coordinate system V1 then.
Second step; To take a picture through photograph travel mechanism 12, to move to mechanical coordinate be the second identification point theoretical position P2 (see figure 4) among the M at 11 center; The second identification point P dropped on and took a picture a camera lens of 11 within sweep of the eye this moment, took the second identification point image that the second identification point P obtains the second image coordinate system V2 then.
The 3rd step; Utilize image processing system that the first identification point image and the second identification point image are handled; Find out the image coordinate value (Xv1s of the relative first image coordinate system V1 of the first identification point S respectively; Yv1s) and the image coordinate value of the relative second image coordinate system V2 of the second identification point P (Xv2p, Yv2p).The concrete method that adopts is: X axle and Y axle in the image coordinate system are marked with scale; Software in the said image processing system makes a check mark respectively and a little arrives the projection line of X axle and Y axle; Utilize then projection line and X axle and Y axle intersection point and scale relatively draw image coordinate value (Xv1s; Yv1s, Xv2p, Yv2p).
The 4th step; Image coordinate value (the Xv1s of the relative first image coordinate system V1 of the known first identification point S; Yv1s); The known first image coordinate system V1 initial point (the first identification point theoretical position S2 point) is that (anglec of rotation θ is that take a picture the head back first image coordinate system V1 and mechanical coordinate are installed is the anglec of rotation between the M to coordinate Ymv1 and anglec of rotation θ to coordinate Xmv1, Y for X among the M at mechanical coordinate; This anglec of rotation θ just decided after the head of taking a picture was installed adjustment); Utilize coordinate translation and rotation of coordinate formula with the image coordinate value of the relative first image coordinate system V1 of the first identification point S (Xv1s, Yv1s) be converted into the first identification point S with respect to mechanical coordinate be M the mechanical coordinate value (Xms, Yms); In like manner; Image coordinate value (the Xv2p of the relative second image coordinate system V2 of the known second identification point P; Yv2p), the known second image coordinate system V2 initial point mechanical coordinate be X among the M to coordinate Xmv2, Y to coordinate Ymv2 and anglec of rotation θ, utilize coordinate translation and rotation of coordinate formula image coordinate value (Xv2p with the relative second image coordinate system V2 of the second identification point P; Yv2p) be converted into the second identification point P with respect to mechanical coordinate be M the mechanical coordinate value (Xmp, Ymp).
With the image coordinate value of the first identification point S and the second identification point P (Xv1s, Yv1s, Xv2p, Yv2p) be converted into respect to mechanical coordinate be M the mechanical coordinate value (Xms, Yms, Xmp, Ymp) can adopt following formula:
1. the reduction formula of the first identification point S is following:
Xms＝Xv1s×cosθ-Yv1s×sinθ+Xmv1
Yms＝Xv1s×sinθ+Yv1s×cosθ+Ymv1
In the formula:
Xms representes that the first identification point S is that X among the M is to coordinate at mechanical coordinate;
Yms representes that the first identification point S is that Y among the M is to coordinate at mechanical coordinate;
Xv1s representes that the X of the first identification point S in the first image coordinate system V1 is to coordinate;
Yv1s representes that the Y of the first identification point S in the first image coordinate system V1 is to coordinate;
Xmv1 representes that the first image coordinate system V1 initial point is that X among the M is to coordinate at mechanical coordinate;
Ymv1 representes that the first image coordinate system V1 initial point is that Y among the M is to coordinate at mechanical coordinate;
θ representes that the relative mechanical coordinate of the first image coordinate system V1 is the rotation angle of M;
2. the reduction formula of the second identification point P is following:
Xmp＝Xv2p×cosθ-Yv2p×sinθ+Xmv2
Ymp＝Xv2p×sinθ+Yv2p×cosθ+Ymv2
In the formula:
Xmp representes that the second identification point P is that X among the M is to coordinate at mechanical coordinate;
Ymp representes that the second identification point P is that Y among the M is to coordinate at mechanical coordinate;
Xv2p representes that the X of the second identification point P in the second image coordinate system V2 is to coordinate;
Yv2p representes that the Y of the second identification point P in the second image coordinate system V2 is to coordinate;
Xmv2 representes that the second image coordinate system V2 initial point is that X among the M is to coordinate at mechanical coordinate;
Ymv2 representes that the second image coordinate system V2 initial point is that Y among the M is to coordinate at mechanical coordinate;
θ representes that the relative mechanical coordinate of the second image coordinate system V2 is the rotation angle of M.
When θ equals zero, more than the reduction formula of the first identification point S and the second identification point P can also simplify.
In the 5th step, the known first identification point S and the second identification point P are respectively mechanical coordinate value (Xms, the Yms of M with respect to mechanical coordinate; Xmp, Ymp), the known first identification point theoretical position S2 and the second identification point theoretical position P2 are relative respectively, and mechanical coordinate is the coordinate figure (Xms2 of M; Yms2; Xmp2, Ymp2), position, known school table top 7 is the coordinate figure (Xma of M around the relative mechanical coordinate of Z axle center of rotation A; Yma), utilize cartesian geometry and trigonometric function formula to calculate respectively around Z axle deflection angle β, X to offset X and Y to offset Y:
1. following around Z axle deflection angle computing formula:
β＝arctan[(Ymp-Yms)÷(Xmp-Xms)]+arctan[(Yms2-Ymp2)÷(Xmp2-Xms2)]
In the formula:
β representes around Z axle deflection angle;
Xms and Yms represent that the first identification point S is the mechanical coordinate value of M with respect to mechanical coordinate;
Xmp and Ymp represent that second identification point (P) is the mechanical coordinate value of M with respect to mechanical coordinate;
Xms2 and Yms2 represent that the relative mechanical coordinate of the first identification point theoretical position (S2) is the coordinate figure of M;
Xmp2 and Ymp2 represent that the relative mechanical coordinate of the second identification point theoretical position P2 is the coordinate figure of M.
2. X is following to the side-play amount computing formula:
ΔX＝Xma+cosβ·(Xms-Xma)-sinβ·(Yma-Yms)-Xms2
In the formula:
Δ X representes that X to side-play amount does;
Xms and Yms represent that the first identification point S is the mechanical coordinate value of M with respect to mechanical coordinate;
Xma and Yma represent that around the relative mechanical coordinate of Z axle center of rotation A be the coordinate figure of M;
Xms2 representes that the relative mechanical coordinate of the first identification point theoretical position S2 is that the X of M is to coordinate figure;
β representes around Z axle deflection angle.
3. Y is following to the side-play amount computing formula:
ΔY＝Yms2-Yma+sinβ·(Xms-Xma)+cosβ·(Yma-Yms)
In the formula:
Δ Y representes that Y is to side-play amount;
Xms and Yms represent that the first identification point S is the mechanical coordinate value of M with respect to mechanical coordinate;
Xma and Yma represent that around the relative mechanical coordinate of Z axle center of rotation A be the coordinate figure of M;
Yms2 representes that the relative mechanical coordinate of the first identification point theoretical position S2 is that the Y of M is to coordinate figure;
β representes around Z axle deflection angle.
The 6th step; According to the 5th step calculate around Z axle deflection angle β, X to offset X and Y to offset Y; Utilize X to travel mechanism 8, Y to travel mechanism 9, the first identification point S and the second identification point P are adjusted to the first identification point theoretical position S2 and the first identification point theoretical position P2 that relative mechanical coordinate is M around Z axle rotating mechanism 10, thereby guarantee the drive end subarea and the ACF film contraposition that need stick on the display screen substrate.
The foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to let the personage who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (2)
1. stick on the display screen substrate of a flat-panel monitor ACF film to method for position, it is characterized in that:
(1) contraposition reference and contraposition mode
Sticking in the plane residing mechanical coordinate system (M) at the ACF film, be that position and direction in (M) is target with the ACF film at said mechanical coordinate, realizes the contraposition in the drive end subarea on ACF film and the display screen substrate through position and the direction of adjusting display screen substrate;
(2) method of adjustment
On display screen substrate, make two identification points that can supply image recognition in advance; The contraposition in ACF film and drive end subarea is converted into the physical location of two identification points and the contraposition between the theoretical position; Need stick on the line of these two identification points and the display screen substrate between the drive end subarea of ACF film and have known position and direction relations; The theoretical position that makes these two identification points in mechanical coordinate system (M), need adjust to can be known; Promptly the relative mechanical coordinate system of the first identification point theoretical position (S2) (M) has known coordinate figure (Xms2; Yms2), the second identification point theoretical position (P2) relatively mechanical coordinate system (M) have known coordinate figure (Xmp2, Ymp2);
Have position, school table top (7) in advance; This position, school table top (7) is arranged in said mechanical coordinate system (M), and through with X to travel mechanism (8), Y to travel mechanism (9) and around adjusting position and the direction of display screen substrate in mechanical coordinate system (M) cooperating of Z axle rotating mechanism (10);
Have a photograph mechanism in advance; This photograph mechanism is arranged in said mechanical coordinate system (M); Said photograph mechanism by take a picture head (11) with drive the cephalomotor photograph travel mechanism of photograph (12) and form; Be provided with image coordinate system in the camera lens of photograph head (11), the head (11) of taking a picture is used for taking the identification point image;
Have an image processing system in advance, this image processing system is used for discerning in the captured identification point image, the position coordinates of identification point in image coordinate system;
During adjustment; At first display screen substrate is carried to through manual work or mechanical arm and carries out location just on position, the school table top (7); Utilize then identification point, photograph mechanism, image processing system, X to travel mechanism (8), Y to travel mechanism (9), the position, school is carried out in the drive end subarea around Z axle rotating mechanism (10), concrete position, school step is following:
The first step; Move to the first identification point theoretical position (S2) in the mechanical coordinate system (M) through photograph travel mechanism (12) head (11) center of will taking a picture; The camera lens that first identification point this moment (S) drops on the head (11) of taking a picture is taken the first identification point image that first identification point (S) obtains first image coordinate system (V1) within sweep of the eye then;
Second step; Move to the second identification point theoretical position (P2) in the mechanical coordinate system (M) through photograph travel mechanism (12) head (11) center of will taking a picture; The camera lens that second identification point this moment (P) drops on the head (11) of taking a picture is taken the second identification point image that second identification point (P) obtains second image coordinate system (V2) within sweep of the eye then;
The 3rd step; Utilize image processing system that the first identification point image and the second identification point image are handled; Find out the image coordinate value (Xv1s of relative first image coordinate system of first identification point (S) (V1) respectively; Yv1s) and the image coordinate value of relative second image coordinate system of second identification point (P) (V2) (Xv2p, Yv2p);
The 4th step; Image coordinate value (the Xv1s of relative first image coordinate system of known first identification point (S) (V1); Yv1s); The X of known first image coordinate system (V1) initial point in mechanical coordinate system (M) to coordinate (Xmv1), Y to the coordinate (Ymv1) and the anglec of rotation (θ); Utilize coordinate translation and rotation of coordinate formula with the image coordinate value of relative first image coordinate system of first identification point (S) (V1) (Xv1s, Yv1s) be converted into first identification point (S) with respect to the mechanical coordinate value of mechanical coordinate system (M) (Xms, Yms); Image coordinate value (the Xv2p of relative second image coordinate system of known second identification point (P) (V2); Yv2p); The X of known second image coordinate system (V2) initial point in mechanical coordinate system (M) to coordinate (Xmv2), Y to the coordinate (Ymv2) and the anglec of rotation (θ); Utilize coordinate translation and rotation of coordinate formula with the image coordinate value of relative second image coordinate system of second identification point (P) (V2) (Xv2p, Yv2p) be converted into second identification point (P) with respect to the mechanical coordinate value of mechanical coordinate system (M) (Xmp, Ymp);
In the 4th step, utilize formula, with the image coordinate value of first identification point (S) and second identification point (P) (Xv1s, Yv1s, Xv2p, Yv2p) be converted into respect to mechanical coordinate be (M) the mechanical coordinate value (Xms, Yms, Xmp, Ymp):
The reduction formula of (1) first identification point (S) is following:
Xms＝Xv1s×cosθ-Yv1s×sinθ+Xmv1
Yms＝Xv1s×sinθ+Yv1s×cosθ+Ymv1
In the formula:
Xms representes that the X of first identification point (S) in mechanical coordinate system (M) is to coordinate;
Yms representes that the Y of first identification point (S) in mechanical coordinate system (M) is to coordinate;
Xv1s representes that the X of first identification point (S) in first image coordinate system (V1) is to coordinate;
Yv1s representes that the Y of first identification point (S) in first image coordinate system (V1) is to coordinate;
Xmv1 representes that the X of first image coordinate system (V1) initial point in mechanical coordinate system (M) is to coordinate;
Ymv1 representes that the Y of first image coordinate system (V1) initial point in mechanical coordinate system (M) is to coordinate;
θ representes first image coordinate system (V1) rotation angle of mechanical coordinate system (M) relatively;
The reduction formula of (2) second identification points (P) is following:
Xmp＝Xv2p×cosθ-Yv2p×sinθ+Xmv2
Ymp＝Xv2p×sinθ+Yv2p×cosθ+Ymv2
In the formula:
Xmp representes that the X of second identification point (P) in mechanical coordinate system (M) is to coordinate;
Ymp representes that the Y of second identification point (P) in mechanical coordinate system (M) is to coordinate;
Xv2p representes that the X of second identification point (P) in second image coordinate system (V2) is to coordinate;
Yv2p representes that the Y of second identification point (P) in second image coordinate system (V2) is to coordinate;
Xmv2 representes that the X of second image coordinate system (V2) initial point in mechanical coordinate system (M) is to coordinate;
Ymv2 representes that the Y of second image coordinate system (V2) initial point in mechanical coordinate system (M) is to coordinate;
θ representes second image coordinate system (V2) rotation angle of mechanical coordinate system (M) relatively;
In the 5th step, known first identification point (S) and second identification point (P) are respectively mechanical coordinate value (Xms, the Yms of (M) with respect to mechanical coordinate; Xmp, Ymp), the coordinate figure (Xms2 of the respectively relative mechanical coordinate system of the known first identification point theoretical position (S2) and the second identification point theoretical position (P2) (M); Yms2; Xmp2, Ymp2), position, known school table top (7) is around the coordinate figure (Xma of the relative mechanical coordinate system of Z axle center of rotation (A) (M); Yma), utilize cartesian geometry and trigonometric function formula to calculate respectively around Z axle deflection angle (β), X to side-play amount (Δ X) and Y to side-play amount (Δ Y);
In the 5th step, utilize formula to calculate respectively around Z axle deflection angle (β), X to side-play amount (Δ X) and Y to side-play amount (Δ Y):
(1) following around Z axle deflection angle computing formula:
β＝arctan[(Ymp-Yms)÷(Xmp-Xms)]+arctan[(Yms2-Ymp2)÷(Xmp2-Xms2)]
In the formula:
β representes around Z axle deflection angle;
Xms and Yms represent the mechanical coordinate value of first identification point (S) with respect to mechanical coordinate system (M);
Xmp and Ymp represent the mechanical coordinate value of second identification point (P) with respect to mechanical coordinate system (M);
Xms2 and Yms2 represent the first identification point theoretical position (S2) coordinate figure of mechanical coordinate system (M) relatively;
Xmp2 and Ymp2 represent the second identification point theoretical position (P2) coordinate figure of mechanical coordinate system (M) relatively;
(2) X is following to the side-play amount computing formula:
ΔX＝Xma+cosβ·(Xms-Xma)-sinβ·(Yma-Yms)-Xms2
In the formula:
Δ X representes that X is to side-play amount;
Xms and Yms represent the mechanical coordinate value of first identification point (S) with respect to mechanical coordinate system (M);
Xma and Yma represent the coordinate figure around the relative mechanical coordinate system of Z axle center of rotation (A) (M);
Xms2 representes that the X of the relative mechanical coordinate system of the first identification point theoretical position (S2) (M) is to coordinate figure;
β representes around Z axle deflection angle;
(3) Y is following to the side-play amount computing formula:
ΔY＝Yms2-Yma+sinβ·(Xms-Xma)+cosβ·(Yma-Yms)
In the formula:
Δ Y representes that Y is to side-play amount;
Xms and Yms represent the mechanical coordinate value of first identification point (S) with respect to mechanical coordinate system (M);
Xma and Yma represent the coordinate figure around the relative mechanical coordinate system of Z axle center of rotation (A) (M);
Yms2 representes that the Y of the relative mechanical coordinate system of the first identification point theoretical position (S2) (M) is to coordinate figure;
β representes around Z axle deflection angle;
The 6th step; According to the 5th step calculate around Z axle deflection angle (β), X to side-play amount (Δ X) and Y to side-play amount (Δ Y); Utilize X to travel mechanism (8), Y to travel mechanism (9), first identification point (S) and second identification point (P) are adjusted to the first identification point theoretical position (S2) and the first identification point theoretical position (P2) of relative mechanical coordinate system (M) around Z axle rotating mechanism (10), thereby guarantee drive end subarea on the display screen substrate and the ACF film contraposition that need stick.
2. according to claim 1 to method for position; It is characterized in that: in the 3rd step; The said image coordinate value (Xv1s that finds out relative first image coordinate system of first identification point (S) (V1) respectively; Yv1s) and the image coordinate value of relative second image coordinate system of second identification point (P) (V2) (Xv2p, Yv2p), the method for employing is: X axle and Y axle in the image coordinate system are marked with scale; Make a check mark the respectively some projection line of X axle and Y axle of software in the said image processing system, utilize then projection line and X axle and Y axle intersection point and scale relatively draw the image coordinate value.
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