CN102152595A - Method for lamination alignment in manufacturing process of touch screen or flat-panel display - Google Patents

Method for lamination alignment in manufacturing process of touch screen or flat-panel display Download PDF

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CN102152595A
CN102152595A CN2010105835536A CN201010583553A CN102152595A CN 102152595 A CN102152595 A CN 102152595A CN 2010105835536 A CN2010105835536 A CN 2010105835536A CN 201010583553 A CN201010583553 A CN 201010583553A CN 102152595 A CN102152595 A CN 102152595A
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coordinate system
identification point
image
identification
coordinate
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CN102152595B (en
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刘宏宇
景建平
唐志稳
朱晓伟
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Suzhou Kti Semiconductor Manufacture Machine Co Ltd
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Suzhou Kti Semiconductor Manufacture Machine Co Ltd
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Abstract

The invention relates to a method for lamination alignment in the manufacturing process of a touch screen or a flat-panel display, which is characterized by comprising the following steps of: respectively making two identification points for alignment on a first laminated object and a second laminated object in advance; in the parallel positioning state, arranging the two pairs of identification points in a staggered mode; shooting images of the four identification points by using a camera; converting the images of the four identification points into position coordinates in an image coordinate system by an image processing system; converting the image coordinates into coordinate values in a mechanical coordinate system according to the relationship between the image coordinate system and the mechanical coordinate system; respectively obtaining X-direction offsets, Y-direction offsets and angles of deflection around a Z-axis of the two identification points of the second laminated object relative to the two identification points of the first laminated object by calculation; and finally regulating the two identification points of the first laminated object to the positions where the two identification points of the first laminated object are coincident with the two identification points of the first laminated object by an alignment platform. By the method, the alignment accuracy and the efficiency of lamination are greatly improved.

Description

Pad pasting to method for position in touch-screen and the flat-panel monitor manufacturing process
Technical field
The present invention relates to touch-screen and flat-panel monitor processing and manufacturing field, be specifically related to use in this field film coating process to method for position.This method is applicable to one deck functional film is fitted on another layer function film, also is applicable to one deck functional film is fitted on another piece functional base plate.
Background technology
In touch-screen and flat-panel monitor processing and manufacturing field, need will be fitted on another layer function film behind one deck functional film aligned position usually, perhaps will be fitted on another piece functional base plate behind one deck functional film aligned position.Such as in electric resistance touch screen is made, need constitute the touch circuit with this with being fitted on other one deck ITO film behind one deck ITO film (indium tin oxide transparent conductive semiconductor film) aligned position.Film coating process generally adopts laminator to finish, because high especially to the film coating process position accuracy demand in touch-screen and the flat-panel monitor manufacture process, the position accuracy demand when therefore which kind of adopting, method for position is satisfied pad pasting is the technical barrier in this area always.Existingly be: on film and film or film and substrate, make two identification points (towards aperture) that can discern for observation in advance respectively to method for position, to go up film during pad pasting is fixed on the installing plate motionless, to descend film to be placed on the school bit platform, the operator is by identification point in the film in camera or the magnifying glass manual observation and the alignment situation between the identification point on the following film then, if find the position not to the operator can adjust by manual adjustment means (X to, Y to the β angle), after contraposition, carry out next-step operation.Above-mentioned to method for position owing to adopt to observe in artificial and examine, error is often about 0.2mm, so aligning accuracy difference and efficient are low.For this reason, aligning accuracy and the efficient that how to improve pad pasting is the problem that the present invention studies.
The major part of electric resistance touch screen is a resistance film screen that cooperates very much with display surface, this is a kind of laminated film of multilayer, it with one deck glass or duroplasts flat board as basic unit, exterior view has layer of transparent oxidized metal (ITO indium oxide, transparent conductive resistance) conductive layer also scribbles one deck ITO coating, has the transparent isolating points of many tiny (less than 1/1000 inches) that two conductive layers is separated insulation between them being stamped one deck outer surface cure process, smooth anti-friction plastic layer, its inner surface above.When the finger touch screen, two conductive layers has just had contact in the position, touch point, and controller detects this contact and calculates that (mode according to analog mouse operates again for X, position Y).The most basic principle of Here it is resistive technologies touch-screen.
Summary of the invention
The invention provides pad pasting in a kind of touch-screen and the flat-panel monitor manufacturing process to method for position, aligning accuracy when its purpose is to improve pad pasting and efficient are to overcome the deficiencies in the prior art.
For achieving the above object, the technical solution used in the present invention is: in a kind of touch-screen and the flat-panel monitor manufacturing process pad pasting to method for position, its innovation is:
(1) contraposition reference and contraposition mode
In the residing horizontal mechanical coordinate system in pad pasting plane, be target with the position and the direction of first affixed object in described horizontal mechanical coordinate system, position by adjusting second affixed object and direction realize the contraposition between first affixed object and second affixed object;
(2) method of adjustment
On first affixed object and second affixed object, make in advance two identification points that are used for contraposition respectively, this identification point can supply image recognition, thus the contraposition between first affixed object and second affixed object is converted into two identification points on first affixed object and the contraposition between two identification points on second affixed object;
Have an installing plate and a school bit platform that is used to install second affixed object that is used to install first affixed object in advance, the school bit platform in described horizontal mechanical coordinate system, can carry out X to move, Y is to moving and rotating around the Z axle, is used for adjusting contraposition;
Have a photograph mechanism that is used to take the identification point image in advance, this photograph mechanism is made up of take a picture head and the cephalomotor photograph of driving photograph travel mechanism, wherein be provided with image coordinate system in the camera lens of photograph head, photograph travel mechanism can make the head executive level in described horizontal mechanical coordinate system of taking a picture move;
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, earlier first affixed object is transported on the installing plate by artificial or manipulator and positions, second affixed object is transported on the bit platform of school by artificial or manipulator positions, be under the parallel state at first affixed object and second affixed object, two identification points of first affixed object and two identification points of second affixed object are dislocation and arrange, the spacing distance of this dislocation is set in advance, utilize identification point then, photograph mechanism, image processing system, to be target with two identification points of first affixed object carry out the position, school to two identification points of second affixed object to the school bit platform, and concrete position, school step is as follows:
The first step, utilize a photograph travel mechanism center of will taking a picture to move to the theoretical center position of identification point, the camera lens that this moment, identification point dropped on the head of taking a picture within sweep of the eye, take the image of this identification point then, adopt this method that four identification points are taken, obtain respectively corresponding to the second identification point image of the first identification point image of first image coordinate system of first affixed object and second image coordinate system and corresponding to the 3rd identification point image of the 3rd image coordinate system of second affixed object and the 4th identification point image of the 4th image coordinate system;
Second step, utilize image processing system that the first identification point image to the, four identification point images are handled, find out the image coordinate value of relative first image coordinate system of first identification point, the image coordinate value of relative second image coordinate system of second identification point, the image coordinate value of relative the 3rd image coordinate system of the 3rd identification point and the image coordinate value of relative the 4th image coordinate system of the 4th identification point respectively;
The 3rd step was converted to the mechanical coordinate value with the image coordinate value of four identification points, and is specific as follows:
The image coordinate value of relative first image coordinate system of known first identification point, known first X of image coordinate system initial point in the horizontal 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 the horizontal mechanical coordinate system to coordinate, Y;
The image coordinate value of relative second image coordinate system of known second identification point, known second X of image coordinate system initial point in the horizontal 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 the horizontal mechanical coordinate system to coordinate, Y;
By that analogy, obtain the 3rd identification point respectively with respect to the mechanical coordinate value of horizontal mechanical coordinate system and the 4th identification point mechanical coordinate value with respect to the horizontal mechanical coordinate system;
The 4th step, two identification points of known first affixed object are respectively with respect to the mechanical coordinate value of horizontal mechanical coordinate system, two identification points of known second affixed object are respectively with respect to the mechanical coordinate value of horizontal mechanical coordinate system, known school bit platform is around the relative horizontal mechanical coordinate system of Z axle center of rotation mechanical coordinate value, utilize two identification points of two relative first affixed objects of identification point that analytic geometry and trigonometric function formula calculate second affixed object respectively around Z axle deflection angle, X to side-play amount and Y to side-play amount;
The 5th step, according to the 4th step calculate around Z axle deflection angle, X to side-play amount and Y to side-play amount, utilize the school bit platform that two identification points of second affixed object are adjusted to two positions that identification point overlaps with first affixed object, thereby guarantee the contraposition between second affixed object and first affixed object.
Related content in the technique scheme is explained as follows:
1. what is called of the present invention " pad pasting " is meant film and film applying or one of film and baseplate-laminating both of these case.In the such scheme, described " first affixed object " can be film, also can be substrate.Described " second affixed object " can be film, also can be substrate.First identification point and second identification point are used to represent two identification points on first affixed object, and the 3rd identification point and the 4th identification point are used to represent two identification points on second affixed object.The position that two identification points of first affixed object overlap with two identification points of second affixed object is contraposition position theoretical between first affixed object and second affixed object.
2. such scheme is in the first step, and described four identification points are taken can adopt the head of taking a picture to finish by four shootings, perhaps adopts two heads of taking a picture to finish by twice shooting, perhaps adopts four heads of taking a picture to finish by once taking.
3. such scheme is in second step, the method of finding out the image coordinate value employing of four identification points respectively is: X-axis and Y-axis in each image coordinate system are marked with scale, make a check mark the respectively some projection line of X-axis and Y-axis of software in the described image processing system, that utilizes the intersection point of projection line and X-axis and Y-axis and scale then relatively draws the image coordinate value.
4. such scheme utilizes following formula in the 3rd step, and the image coordinate value of first identification point to the, four identification points is converted into mechanical coordinate value with respect to the horizontal mechanical coordinate system.
Referring to shown in Figure 2, A represents first identification point, B represents second identification point, C represents the 3rd identification point, and D represents the 4th identification point, and Xm and Ym represent X-axis and the Y-axis among the horizontal mechanical coordinate system M, Xv1 and Yv1 represent X-axis and the Y-axis of the first image coordinate system V1, Xv2 and Yv2 represent X-axis and the Y-axis of the second image coordinate system V2, and Xv3 and Yv3 represent X-axis and the Y-axis of the 3rd image coordinate system V3, and Xv4 and Yv4 represent X-axis and the Y-axis of the 4th image coordinate system V4.According to coordinate translation and rotation of coordinate formula:
The reduction formula of (1) first identification point A is as follows:
Xma＝Xv1a×cosθ1－Yv1a×sinθ1＋Xmv1
Yma＝Xv1a×sinθ1＋Yv1a×cosθ1＋Ymv1
In the formula:
Xma represents that the X of the first identification point A in horizontal mechanical coordinate system M is to coordinate;
Yma represents that the Y of the first identification point A in horizontal mechanical coordinate system M is to coordinate;
Xv1a represents that the X of the first identification point A in the first image coordinate system V1 is to coordinate;
Yv1a represents that the Y of the first identification point A in the first image coordinate system V1 is to coordinate;
Xmv1 represents that first X of image coordinate system V1 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv1 represents that first Y of image coordinate system V1 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of the θ 1 expression first image coordinate system V1 is the anglec of rotation of M;
The reduction formula of (2) second identification point B is as follows:
Xmb＝Xv2b×cosθ2－Yv2b×sinθ2＋Xmv2
Ymb＝Xv2b×sinθ2＋Yv2b×cosθ2＋Ymv2
In the formula:
Xmb represents that the X of the second identification point B in horizontal mechanical coordinate system M is to coordinate;
Ymb represents that the Y of the second identification point B in horizontal mechanical coordinate system M is to coordinate;
Xv2b represents that the X of the second identification point B in the second image coordinate system V2 is to coordinate;
Yv2b represents that the Y of the second identification point B in the second image coordinate system V2 is to coordinate;
Xmv2 represents that second X of image coordinate system V2 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv2 represents that second Y of image coordinate system V2 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of the θ 2 expression second image coordinate system V2 is the anglec of rotation of M;
The reduction formula of (3) the 3rd identification point C is as follows:
Xmc＝Xv3c×cosθ3－Yv3c×sinθ3＋Xmv3
Ymc＝Xv3c×sinθ3＋Yv3c×cosθ3＋Ymv3
In the formula:
Xmc represents that the X of the 3rd identification point C in horizontal mechanical coordinate system M is to coordinate;
Ymc represents that the Y of the 3rd identification point C in horizontal mechanical coordinate system M is to coordinate;
Xv3c represents that the X of the 3rd identification point C in the 3rd image coordinate system V3 is to coordinate;
Yv3c represents that the Y of the 3rd identification point C in the 3rd image coordinate system V3 is to coordinate;
Xmv3 represents that the 3rd X of image coordinate system V3 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv3 represents that the 3rd Y of image coordinate system V3 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of θ 3 expression the 3rd image coordinate system V3 is the anglec of rotation of M;
The reduction formula of (4) the 4th identification point D is as follows:
Xmd＝Xv4d×cosθ4－Yv4d×sinθ4＋Xmv4
Ymd＝Xv4d×sinθ4＋Yv4d×cosθ4＋Ymv4
In the formula:
Xmd represents that the X of the 4th identification point D in horizontal mechanical coordinate system M is to coordinate;
Ymd represents that the Y of the 4th identification point D in horizontal mechanical coordinate system M is to coordinate;
Xv4d represents that the X of the 4th identification point D in the 4th image coordinate system V4 is to coordinate;
Yv4d represents that the Y of the 4th identification point D in the 4th image coordinate system V4 is to coordinate;
Xmv4 represents that the 4th X of image coordinate system V4 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv4 represents that the 4th Y of image coordinate system V4 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of θ 4 expression the 4th image coordinate system V4 is the anglec of rotation of M.
5. such scheme is in the 4th step, utilizes following formula to calculate respectively around Z axle deflection angle, X to side-play amount and Y to side-play amount:
(1) as follows around Z axle deflection angle computing formula:
Δβ＝arctan{[（Ymd－Ymc）×（Xmb－Xma）＋（Ymb－Yma）×（Xmd－Xmc）]/[?（Ymd－Ymc）×（Ymb－Yma）－（Xmd－Xmc）×（Xmb－Xma）]}
In the formula:
Δ β represents that around Z axle deflection angle, if Δ β is for to clockwise rotate on the occasion of expression, negative value is represented to rotate counterclockwise;
Xma and Yma represent the mechanical coordinate value of the first identification point A with respect to horizontal mechanical coordinate system M;
Xmb and Ymb represent the mechanical coordinate value of the second identification point B with respect to horizontal mechanical coordinate system M;
Xmc and Ymc represent the mechanical coordinate value of the 3rd identification point C with respect to horizontal mechanical coordinate system M;
Xmd and Ymd represent the mechanical coordinate value of the 4th identification point D with respect to horizontal mechanical coordinate system M.
Proof procedure around Z axle deflection angle computing formula is as follows:
Known:
The first identification point A is Xma and Yma with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
The second identification point B is Xmb and Ymb with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
The 3rd identification point C is Xmc and Ymc with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
The 4th identification point D is Xmd and Ymd with respect to the mechanical coordinate value of horizontal mechanical coordinate system M.
Referring to shown in Figure 3, A and B represent the position of first identification point and second identification point, and C and D represent the position of the 3rd identification point and the 4th identification point, and C1 represents that with D1 C and D are that the centre of gyration rotates to the position parallel with B with A around the Z axle with E.
If: around Z axle deflection angle is Δ β, as shown in Figure 3, line segment CD be rotated to the position parallel with line segment AB (being the position of line segment C1D1), and it around Z axle deflection angle is:
Tan Δ β=tan(β 2-β 1) formula (1)
Trigonometric function formula according to two angular differences:
Tan(β 2-β 1)=(tan β 2-tan β 1) formula (2)/(1+tan β 2 * tan β 1)
As shown in Figure 3, β 2=π-β 3
According to trigonometric function formula tan(π-α)=-tan α gets:
Tan β 2=tan(π-β 3)=-tan β 3 formulas (3)
Formula (3) and formula (2) substitution formula (1) are got:
tanΔβ＝（－tanβ3－tanβ1）/（1－tanβ3×tanβ1）
=(tan β 3+tan β 1)/(tan β 3 * tan β 1-1) formula (4)
According to the analytic geometry formula, as shown in Figure 3:
Tan β 1=(Ymb-Yma)/(Xmb-Xma) formula (5)
Tan β 3=(Ymd-Ymc)/(Xmd-Xmc) formula (6)
Formula (6) and formula (5) substitution formula (4) are got:
tanΔβ＝{（Ymd－Ymc）/（Xmd－Xmc）＋（Ymb－Yma）/（Xmb－Xma）}/?{[（Ymd－Ymc）/（Xmd－Xmc）]×[（Ymb－Yma）/（Xmb－Xma）]?－1}
Δβ＝arctan{[（Ymd－Ymc）×（Xmb－Xma）＋（Ymb－Yma）×（Xmd－Xmc）]/[?（Ymd－Ymc）×（Ymb－Yma）－（Xmd－Xmc）×（Xmb－Xma）]}
Here need to prove: around Z axle deflection angle computational methods and formula is not unique.The above computational methods that adopt of the present invention are to serve as with reference to deriving the computing formula around Z axle deflection angle Δ β with the X-axis among the horizontal mechanical coordinate system M.Can adopt additive method,, draw computing formula then around Z axle deflection angle Δ β such as calculating line segment AB and line segment CD angle respectively with respect to Y-axis among the horizontal mechanical coordinate system M.
(2) X is as follows to the side-play amount computing formula:
ΔX＝Xmb－Xme＋（Xme－Xmd）×cosΔβ－（Ymd－Yme）×sinΔβ
In the formula:
Δ X represents that X to side-play amount is, if Δ X represents to move to the X-axis negative sense if Δ X is a negative value for moving to the X-axis forward on the occasion of expression;
Xmd and Ymd represent the mechanical coordinate value of the 4th identification point D with respect to horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axle center of rotation E;
Xmb represent the second identification point B with respect to the X of horizontal mechanical coordinate system M to coordinate figure;
Δ β represents around Z axle deflection angle.
X is as follows to the proof procedure of side-play amount computing formula:
Known:
The second identification point B is Xmb with respect to the X of horizontal mechanical coordinate system M to coordinate figure;
The 4th identification point D is Xmd and Ymd with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Is Xme and Yme around Z axle center of rotation E with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Around Z axle deflection angle is Δ β.
If:
X is Δ X to side-play amount;
The 4th identification point D rotates to that the coordinate figure with respect to horizontal mechanical coordinate system M is Xmd1 and Ymd1 behind the auxiliary magnet D1;
Auxiliary magnet D1 is G perpendicular to the projection line of Y-axis and around Z axle center of rotation E perpendicular to the intersection point between the projection line of X;
The 4th identification point D is F perpendicular to the projection line of Y-axis and around Z axle center of rotation E perpendicular to the intersection point between the projection line of X;
Angle DEF is γ.
As shown in Figure 3, when the 4th identification point D when Z axle center of rotation E rotates to auxiliary magnet D1 because line segment C1D1 is parallel to line segment AB, so X to side-play amount is:
Δ X=Xmb-Xmd1 formula (7)
According to the analytic geometry principle, get referring to Fig. 3:
Xmd1=Xme-D1G formula (8)
Because triangle D1EG is right angled triangle, according to the trigonometric function formula:
D1G＝D1E×sin（γ－Δβ）
According to trigonometric function two angular difference formula:
D1G=D1E * (sin γ * cos Δ β-cos γ * sin Δ β) formula (9)
Because triangle ECD is congruent to triangle EC1D1, so the line segment D1E in the formula (9) is:
D1E＝DE
Because triangle ECD is right angled triangle, according to Pythagorean theorem:
（DE） 2＝（EF） 2＋（FD） 2
Figure 2010105835536100002DEST_PATH_IMAGE002
Figure DEST_PATH_IMAGE004
Formula (10)
In right angled triangle ECD, according to the trigonometric function formula:
sinγ＝FD／DE
=
Figure DEST_PATH_IMAGE006
Formula (11)
cosγ＝FE／DE
=
Figure DEST_PATH_IMAGE008
Formula (12)
Formula (10), formula (11) and formula (12) substitution formula (9) are got:
D1G=(Xme-Xmd) * cos Δ β-(Ymd-Yme) * sin Δ β formula (13)
Formula (13) substitution formula (8) is got:
Xmd1＝Xme－（Xme－Xmd）×cosΔβ＋（Ymd－Yme）×sinΔβ
Formula (14)
Formula (14) substitution formula (7) is got:
ΔX＝Xmb－Xme＋（Xme－Xmd）×cosΔβ－（Ymd－Yme）×sinΔβ
Here need to prove: X is not unique to side-play amount computational methods and formula.X of the present invention is second identification point B of the 4th identification point D, first affixed object with second affixed object and serves as with reference to deriving X to the side-play amount computing formula around Z axle center of rotation E to the side-play amount computational methods.Can adopt additive method, such as serving as with reference to deriving X, can also serve as with reference to deriving X with the mid point of the mid point of line segment CD, line segment AB and around Z axle center of rotation E to the side-play amount computing formula to the side-play amount computing formula with the first identification point A of the 3rd identification point C of second affixed object, first affixed object and around Z axle center of rotation E.
(3) Y is as follows to the side-play amount computing formula:
ΔY＝Ymb－Yme－（Ymd－Yme）×cosΔβ－（Xme－Xmd）×sinΔβ
In the formula:
Δ Y represents Y to side-play amount, if Δ Y represents to move to the Y-axis negative sense if Δ Y is a negative value for moving to the Y-axis forward on the occasion of expression;
Xmd and Ymd represent the mechanical coordinate value of the 4th identification point D with respect to horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axle center of rotation E;
Ymb represent the second identification point B with respect to the Y of horizontal mechanical coordinate system M to coordinate figure;
Δ β represents around Z axle deflection angle.
Y is to the proof procedure of side-play amount computing formula following (basic identical to the side-play amount proof line with X):
Known:
The second identification point B is Ymb with respect to the Y of horizontal mechanical coordinate system M to coordinate figure;
The 4th identification point D is Xmd and Ymd with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Is Xme and Yme around Z axle center of rotation E with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Around Z axle deflection angle is Δ β.
If:
Y is Δ Y to side-play amount;
The 4th identification point D rotates to that the coordinate figure with respect to horizontal mechanical coordinate system M is Xmd1 and Ymd1 behind the auxiliary magnet D1;
Auxiliary magnet D1 is G perpendicular to the projection line of Y-axis and around Z axle center of rotation E perpendicular to the intersection point between the projection line of X;
The 4th identification point D is F perpendicular to the projection line of Y-axis and around Z axle center of rotation E perpendicular to the intersection point between the projection line of X;
Angle DEF is γ.
As shown in Figure 3, when the 4th identification point D when Z axle center of rotation E rotates to auxiliary magnet D1 because line segment C1D1 is parallel to line segment AB, so Y to side-play amount is:
Δ Y=Ymb-Ymd1 formula (15)
According to the analytic geometry principle, get referring to Fig. 3:
Ymd1=Yme+EG formula (16)
Because triangle D1EG is right angled triangle, according to the trigonometric function formula:
EG＝D1E×cos（γ－Δβ）
According to trigonometric function two angular difference formula:
EG=D1E * (cos γ * cos Δ β+sin γ * sin Δ β) formula (17)
Because triangle ECD is congruent to triangle EC1D1, so the line segment D1E in the formula (17) is:
D1E＝DE
Because triangle ECD is right angled triangle, according to Pythagorean theorem:
（DE） 2＝（EF） 2＋（FD） 2
Figure 578442DEST_PATH_IMAGE002
Figure 433265DEST_PATH_IMAGE004
Formula (18)
In right angled triangle ECD, according to the trigonometric function formula:
sinγ＝FD／DE
=
Figure 150686DEST_PATH_IMAGE006
Formula (19)
cosγ＝FE／DE
=
Figure 412472DEST_PATH_IMAGE008
Formula (20)
Formula (18), formula (19) and formula (20) substitution formula (17) are got:
EG=(Ymd-Yme) * cos Δ β+(Xme-Xmd) * sin Δ β formula (21)
Formula (21) substitution formula (16) is got:
Ymd1＝Yme＋（Ymd－Yme）×cosΔβ＋（Xme－Xmd）×sinΔβ
Formula (22)
Formula (22) substitution formula (15) is got:
ΔY＝Ymb－Yme－（Ymd－Yme）×cosΔβ－（Xme－Xmd）×sinΔβ
Here need to prove: Y is not unique to side-play amount computational methods and formula.Y of the present invention is second identification point B of the 4th identification point D, first affixed object with second affixed object and serves as with reference to deriving Y to the side-play amount computing formula around Z axle center of rotation E to the side-play amount computational methods.Can adopt additive method, such as serving as with reference to deriving X, can also serve as with reference to deriving X with the mid point of the mid point of line segment CD, line segment AB and around Z axle center of rotation E to the side-play amount computing formula to the side-play amount computing formula with the first identification point A of the 3rd identification point C of second affixed object, first affixed object and around Z axle center of rotation E.
Operation principle of the present invention and effect are: aligning accuracy and efficient when improving pad pasting, the present invention makes two identification points that are used for contraposition in advance respectively on first affixed object and second affixed object, after first affixed object is carried to installing plate and second affixed object and is transported to the school bit platform, two identification points of first affixed object and two identification points dislocation of second affixed object are arranged and the location, utilize photograph mechanism to take the image of four identification points then, and utilize image processing system that the image of four identification points is converted into position coordinates in the image coordinate system, the relation of then utilizing image coordinate system and mechanical coordinate system converts the image coordinate of four identification points in the mechanical coordinate system mechanical coordinate value, and by the X between two identification points that calculate two relative first affixed objects of identification point finding out second affixed object respectively to side-play amount, Y is to side-play amount with around Z axle deflection angle, utilize the school bit platform that two identification points of second affixed object are adjusted to two positions that identification point overlaps with first affixed object at last, thereby guarantee the contraposition between second affixed object and first affixed object.The present invention compared with prior art, it is 0.05mm that aligning accuracy can reach overall error, the aligning accuracy when not only having improved pad pasting greatly, and can satisfy the contraposition needs of this area high accuracy pad pasting.Simultaneously owing to adopt mechanized operation also to improve contraposition efficient greatly.
Description of drawings
Accompanying drawing 1 is the schematic diagram of film in the present invention with the preceding state of following film contraposition;
Accompanying drawing 2 is converted to the mechanical coordinate schematic diagram for image coordinate of the present invention;
Accompanying drawing 3 is adjusted position, school schematic diagram for the present invention;
Accompanying drawing 4 is laminator alignment system schematic diagram of the present invention;
Accompanying drawing 5 is school of the present invention bit platform scheme one schematic diagram;
Accompanying drawing 6 is school of the present invention bit platform scheme two schematic diagrams.
In the above accompanying drawing: 1. go up film; 2. descend film; 3. school bit platform; 4. installing plate; 5. form; 6. photograph head; 7. image processing system; 8.PLC; 9. servo-driver; 10. an X is to travel mechanism; 11. the 2nd X is to travel mechanism; 12.Y to travel mechanism; 13.X to travel mechanism; 14.Y to travel mechanism; 15. around Z axle rotating mechanism.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is further described:
Embodiment: pad pasting to method for position in a kind of touch-screen and the flat-panel monitor manufacturing process
The above film of the present invention illustrates with the contraposition mode of following film, also can change the contraposition mode of substrate and following film into.
Fig. 1 is a schematic diagram of going up state before film 1 and following film 2 contrapositions, according to film in the present invention 1 and following film 2 method for position is theed contents are as follows:
(1) contraposition reference and contraposition mode
In the residing horizontal mechanical coordinate system M of pad pasting plane, position and the direction of above film 1 in described horizontal mechanical coordinate system M is target, and position by adjusting down film 2 and direction realize the contraposition of film 1 and following film 2.
(2) method of adjustment
Make two identification point (see figure 1)s that are used for contraposition in advance on last film 1, promptly the first identification point A and the second identification point B are making two identification point (see figure 1)s that are used for contraposition, i.e. the 3rd identification point C and the 4th identification point D on the film 2 down.These four identification points all can supply image recognition, will go up thus two identification points that film 1 and the contraposition of following film 2 be converted into film 1 (A, B) and two identification points (C, D) contraposition between of following film 2.Identification point can adopt towards the mode of aperture and realize, preferably utilizes the high accuracy punch press to go out the identification point aperture during towards aperture, and the punching precision is high more, the image processing accuracy after helping more.Also can adopt other modes to make identification point, such as printing the cross identification point.
In order to realize automatic contraposition, the present invention needs following condition:
1. have an installing plate 4 and a school bit platform that is used to install down film 2 that is used to install film 1 in advance, the school bit platform in described horizontal mechanical coordinate system M, can carry out X to move, Y is to moving and rotating around the Z axle, is used for adjusting contraposition.
2. have a photograph mechanism that is used to take the identification point image in advance, this photograph mechanism is made up of take a picture head and the cephalomotor photograph of driving photograph travel mechanism, wherein be provided with image coordinate system in the camera lens of photograph head, photograph travel mechanism can make the head executive level in described horizontal mechanical coordinate system M of taking a picture move.
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.
During adjustment, to go up film 1 earlier is transported on the installing plate 4 by artificial or manipulator and positions, to descend film 2 to be transported on the school bit platform 3 by artificial or manipulator positions, under the parallel state of last film 1 and following film 2, two identification point (A of last film 1, B) with two identification point (C of following film 2, D) arrange to being dislocation at X, the spacing distance of this dislocation is set in advance, before the position, school, why will go up two identification point (A of film 1, B) (C, D) dislocation arranges it is for the ease of taking four identification points, is theoretical center position when obtaining four identification points shootings and set the dislocation distance with two identification points of following film 2.Only in this way when a center of taking a picture moves to the theoretical center position of each identification point, could guarantee that camera lens that the corresponding identification point drops on photograph within sweep of the eye.Utilize identification point, photograph mechanism, image processing system, school bit platform then, (A, being target B), (C D) carries out the position, school to two identification points of above film 1 to two identification points of film 2 down.
Concrete position, school step is as follows:
The first step, utilize a photograph travel mechanism center of will taking a picture to move to the theoretical center position of identification point, the camera lens that this moment, identification point dropped on the head of taking a picture within sweep of the eye, take the image of this identification point then, adopt this method that four identification points are taken, obtain respectively corresponding to the second identification point image of the first identification point image of the first image coordinate system V1 of last film 1 and the second image coordinate system V2 and corresponding to the 3rd identification point image of the 3rd image coordinate system V3 of film 2 and the 4th identification point image of the 4th image coordinate system V4 down.The quantity of photograph head can be one, two or four in the photograph mechanism.Need finish by four shooting four identification points when adopting one to take a picture, need twice shooting to finish when adopting two to take a picture, need only when adopting four photograph by shooting once and finish.Present embodiment is selected the scheme of two heads of taking a picture for use.
Second step, utilize image processing system that the first identification point image to the, four identification point images are handled, find out the image coordinate value (Xv1a of the relative first image coordinate system V1 of the first identification point A respectively, Yv1a), the image coordinate value (Xv2b of the relative second image coordinate system V2 of the second identification point B, Yv2b), the image coordinate value (Xv3c of relative the 3rd image coordinate system V3 of the 3rd identification point C, Yv3c) and the image coordinate value of relative the 4th image coordinate system V4 of the 4th identification point D (Xv4d, Yv4d).The method of finding out the image coordinate value employing of four identification points respectively is: X-axis and Y-axis in each image coordinate system are marked with scale, make a check mark the respectively some projection line of X-axis and Y-axis of software in the described image processing system, that utilizes the intersection point of projection line and X-axis and Y-axis and scale then relatively draws the image coordinate value.
The 3rd step referring to shown in Figure 2, was converted to the mechanical coordinate value with the image coordinate value of four identification points, and is specific as follows:
1. the image coordinate value (Xv1a of the relative first image coordinate system V1 of the known first identification point A, Yv1a), known first X of image coordinate system V1 initial point in horizontal mechanical coordinate system M to coordinate Xmv1, Y to coordinate Ymv1 and anglec of rotation θ 1, utilize coordinate translation and the image coordinate value (Xv1a of rotation of coordinate formula with the relative first image coordinate system V1 of the first identification point A, Yv1a) be converted into the first identification point A with respect to the mechanical coordinate value of horizontal mechanical coordinate system M (Xma, Yma).
The reduction formula of the first identification point A is as follows:
Xma＝Xv1a×cosθ1－Yv1a×sinθ1＋Xmv1
Yma＝Xv1a×sinθ1＋Yv1a×cosθ1＋Ymv1
In the formula:
Xma represents that the X of the first identification point A in horizontal mechanical coordinate system M is to coordinate;
Yma represents that the Y of the first identification point A in horizontal mechanical coordinate system M is to coordinate;
Xv1a represents that the X of the first identification point A in the first image coordinate system V1 is to coordinate;
Yv1a represents that the Y of the first identification point A in the first image coordinate system V1 is to coordinate;
Xmv1 represents that first X of image coordinate system V1 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv1 represents that first Y of image coordinate system V1 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of the θ 1 expression first image coordinate system V1 is the anglec of rotation of M.
2. the image coordinate value (Xv2b of the relative second image coordinate system V2 of the known second identification point B, Yv2b), known second X of image coordinate system V2 initial point in horizontal mechanical coordinate system M to coordinate Xmv2, Y to coordinate Ymv2 and anglec of rotation θ 2, utilize coordinate translation and the image coordinate value (Xv2b of rotation of coordinate formula with the relative second image coordinate system V2 of the second identification point B, Yv2b) be converted into the second identification point B with respect to the mechanical coordinate value of horizontal mechanical coordinate system M (Xmb, Ymb).
The reduction formula of second identification point (B) is as follows:
Xmb＝Xv2b×cosθ2－Yv2b×sinθ2＋Xmv2
Ymb＝Xv2b×sinθ2＋Yv2b×cosθ2＋Ymv2
In the formula:
Xmb represents that the X of the second identification point B in horizontal mechanical coordinate system M is to coordinate;
Ymb represents that the Y of the second identification point B in horizontal mechanical coordinate system M is to coordinate;
Xv2b represents that the X of the second identification point B in the second image coordinate system V2 is to coordinate;
Yv2b represents that the Y of the second identification point B in the second image coordinate system V2 is to coordinate;
Xmv2 represents that second X of image coordinate system V2 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv2 represents that second Y of image coordinate system V2 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of the θ 2 expression second image coordinate system V2 is the anglec of rotation of M.
3. by that analogy, obtain the 3rd identification point C with respect to the mechanical coordinate value of horizontal mechanical coordinate system M (Xmc, Ymc).
The reduction formula of the 3rd identification point C is as follows:
Xmc＝Xv3c×cosθ3－Yv3c×sinθ3＋Xmv3
Ymc＝Xv3c×sinθ3＋Yv3c×cosθ3＋Ymv3
In the formula:
Xmc represents that the X of the 3rd identification point C in horizontal mechanical coordinate system M is to coordinate;
Ymc represents that the Y of the 3rd identification point C in horizontal mechanical coordinate system M is to coordinate;
Xv3c represents that the X of the 3rd identification point C in the 3rd image coordinate system V3 is to coordinate;
Yv3c represents that the Y of the 3rd identification point C in the 3rd image coordinate system V3 is to coordinate;
Xmv3 represents that the 3rd X of image coordinate system V3 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv3 represents that the 3rd Y of image coordinate system V3 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of θ 3 expression the 3rd image coordinate system V3 is the anglec of rotation of M.
4. by that analogy, obtain the 4th identification point D with respect to the mechanical coordinate value of horizontal mechanical coordinate system M (Xmd, Ymd).
The reduction formula of the 4th identification point D is as follows:
Xmd＝Xv4d×cosθ4－Yv4d×sinθ4＋Xmv4
Ymd＝Xv4d×sinθ4＋Yv4d×cosθ4＋Ymv4
In the formula:
Xmd represents that the X of the 4th identification point D in horizontal mechanical coordinate system M is to coordinate;
Ymd represents that the Y of the 4th identification point D in horizontal mechanical coordinate system M is to coordinate;
Xv4d represents that the X of the 4th identification point D in the 4th image coordinate system V4 is to coordinate;
Yv4d represents that the Y of the 4th identification point D in the 4th image coordinate system V4 is to coordinate;
Xmv4 represents that the 4th X of image coordinate system V4 initial point in horizontal mechanical coordinate system M is to coordinate;
Ymv4 represents that the 4th Y of image coordinate system V4 initial point in horizontal mechanical coordinate system M is to coordinate;
The relative mechanical coordinate of θ 4 expression the 4th image coordinate system V4 is the anglec of rotation of M.
In the 4th step, referring to shown in Figure 3, (A is B) respectively with respect to mechanical coordinate value (Xma, the Yma of horizontal mechanical coordinate system M for known two identification points going up film 1; Xmb, Ymb), (C is D) respectively with respect to mechanical coordinate value (Xmc, the Ymc of horizontal mechanical coordinate system M for two identification points of known down film 2; Xmd, Ymd), known school bit platform is around the relative horizontal mechanical coordinate system of Z axle center of rotation E M mechanical coordinate value (Xme, Yme) (in order to improve aligning accuracy, pivot E is by calculating in the practical application, concrete grammar is: such as getting an identification point, read coordinate, make the school bit platform just change 3 degree again, read coordinate, 6 degree that reverse again read coordinate, determine centers of circle according to 3, calculate actual pivot), utilize analytic geometry and trigonometric function formula calculate down respectively film 2 two identification points (C, (A is B) around Z axle deflection angle Δ β D) to go up two identification points of film 1 relatively, X to offset X and Y to offset Y.
1. as follows around Z axle deflection angle Δ β computing formula:
Δβ＝arctan{[（Ymd－Ymc）×（Xmb－Xma）＋（Ymb－Yma）×（Xmd－Xmc）]/[?（Ymd－Ymc）×（Ymb－Yma）－（Xmd－Xmc）×（Xmb－Xma）]}
In the formula:
Δ β represents that around Z axle deflection angle, if Δ β is for to clockwise rotate on the occasion of expression, negative value is represented to rotate counterclockwise;
Xma and Yma represent the mechanical coordinate value of the first identification point A with respect to horizontal mechanical coordinate system M;
Xmb and Ymb represent the mechanical coordinate value of the second identification point B with respect to horizontal mechanical coordinate system M;
Xmc and Ymc represent the mechanical coordinate value of the 3rd identification point C with respect to horizontal mechanical coordinate system M;
Xmd and Ymd represent the mechanical coordinate value of the 4th identification point D with respect to horizontal mechanical coordinate system M.
2. X is as follows to offset X computing formula:
ΔX＝Xmb－Xme＋（Xme－Xmd）×cosΔβ－（Ymd－Yme）×sinΔβ
In the formula:
Δ X represents that X to side-play amount is, if Δ X represents to move to the X-axis negative sense if Δ X is a negative value for moving to the X-axis forward on the occasion of expression;
Xmd and Ymd represent the mechanical coordinate value of the 4th identification point D with respect to horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axle center of rotation E;
Xmb represent the second identification point B with respect to the X of horizontal mechanical coordinate system M to coordinate figure;
Δ β represents around Z axle deflection angle.
3. Y is as follows to offset Y computing formula:
ΔY＝Ymb－Yme－（Ymd－Yme）×cosΔβ－（Xme－Xmd）×sinΔβ
In the formula:
Δ Y represents Y to side-play amount, if Δ Y represents to move to the Y-axis negative sense if Δ Y is a negative value for moving to the Y-axis forward on the occasion of expression;
Xmd and Ymd represent the mechanical coordinate value of the 4th identification point D with respect to horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axle center of rotation E;
Ymb represent the second identification point B with respect to the Y of horizontal mechanical coordinate system M to coordinate figure;
Δ β represents around Z axle deflection angle.
The 5th step, according to the 4th step calculate around Z axle deflection angle Δ β, X to offset X and Y to offset Y, utilize the school bit platform will descend two identification point (C of film 2, D) adjust to two identification point (A with last film 1, B) position of Chong Heing, thereby the contraposition between following film 2 of assurance and the last film 1.
Fig. 4 is a present embodiment laminator alignment system schematic diagram.As can be seen from the figure, alignment system mainly by school bit platform 3, installing plate 4, take a picture 6, image processing system 7, PLC(Programmable Logic Controller) 8 and servo-driver 9 form.Installing plate 4 is used for installing film 1, and installing plate 4 is provided with form 5 and gives to take a picture and 6 provide the window of taking identification point, installs 4 ends of film 1 front mounting plate up, again installing plate 4 is turned over turnback after installing film 1, makes film 1 face-to-face parallel relative with following film 2.Take a picture and 6 to drive and to move at horizontal mechanical coordinate system M by photograph travel mechanism (not drawing among the figure).Image processing system 7 is used for discerning in the captured identification point image, the position coordinates of identification point in image coordinate system.The PLC(Programmable Logic Controller) 8 are used for executive control program.Servo-driver 9 is used for controlling school bit platform 3 and carries out the motion of position, school.School bit platform 3 has following two kinds of schemes:
It is shown in Figure 5 that first kind of scheme seen, the driving mechanism of this school bit platform 3 is made up of to travel mechanism 12 to travel mechanism 11 and Y to travel mechanism 10, the 2nd X an X.When Y motionless to travel mechanism 12, and an X to travel mechanism 10 and the 2nd X to travel mechanism 11 during with moved further, school bit platform 3 is X to the position, school.Motionless to travel mechanism 11 to travel mechanism 10 and the 2nd X as an X, and Y is when travel mechanism 12 moves, and school bit platform 3 is Y to the position, school.When Y to travel mechanism 12, an X to travel mechanism 10 and the 2nd X when travel mechanism 11 moves simultaneously, school bit platform 3 is done around the Z axle and is rotated the position, school.First kind of scheme school bit platform 3 done when position, Z axle deflection angle Δ β school, and the formula of X1 axle, X2 axle and the required amount of feeding of Y-axis is as follows:
X1=R×cos（Δβ＋Δβ×X1）－R×cos（Δβ×X1）
X2=R×cos?(Δβ＋Δβ×X2)?－R×cos（Δβ×X2）
Y?=R×sin（Δβ＋Δβ×Y)?－R×sin（Δβ×Y）
In the formula:
X1 represents the amount of feeding of first X axis;
X2 represents the amount of feeding of second X axis;
Y represent Y-axis to the amount of feeding;
Δ β represents around Z axle deflection angle;
R is illustrated in school bit platform 3 belows, and an X rotates radius of a circle to travel mechanism 11 and Y to the theory that travel mechanism's 12 application points constitute to travel mechanism 10, the 2nd X, can measure actual rotational circle radius, correction error in order to improve precision.
Numerical value according to calculating is input to PLC, outputs to each servo-driver by PLC.The motion of servo-driver control servo motor feed screw.
It is shown in Figure 6 that second kind of scheme seen, the driving mechanism of this school bit platform 3 is made up of to travel mechanism 14 with around Z axle rotating mechanism 15 to travel mechanism 13, Y X.X makes school bit platform 3 take charge of X to the position, school to travel mechanism 13, and Y makes school bit platform 3 take charge of Y to the position, school to travel mechanism 14, around Z axle rotating mechanism 15 school bit platform 3 is taken charge of around position, Z axle deflection angle school.
Though present embodiment only provided between last film 1 and the following film 2 to method for position, be equally applicable to the contraposition between film and the substrate.
The foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow 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 essence is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.

Claims (5)

  1. In touch-screen and the flat-panel monitor manufacturing process pad pasting to method for position, it is characterized in that:
    (1) contraposition reference and contraposition mode
    In the residing horizontal mechanical coordinate system in pad pasting plane (M), with position and the direction of first affixed object in described horizontal mechanical coordinate system (M) is target, the contraposition that position by adjusting second affixed object and direction realize first affixed object and second affixed object;
    (2) method of adjustment
    On first affixed object and second affixed object, make in advance two identification points that are used for contraposition respectively, this identification point can supply image recognition, thus the contraposition between first affixed object and second affixed object is converted into two identification point (A on first affixed object, B) with second affixed object on two identification points (C, D) contraposition between;
    Have an installing plate (4) and a school bit platform (3) that is used to install second affixed object that is used to install first affixed object in advance, school bit platform (3) in described horizontal mechanical coordinate system (M), can carry out X to move, Y is to moving and rotating around the Z axle, is used for adjusting contraposition;
    Have a photograph mechanism that is used to take the identification point image in advance, this photograph mechanism is made up of take a picture head (6) and the cephalomotor photograph of driving photograph travel mechanism, wherein be provided with image coordinate system in the camera lens of photograph head (6), photograph travel mechanism can make the head executive level in described horizontal mechanical coordinate system (M) of taking a picture move;
    Have an image processing system (7) in advance, this image processing system (7) is used for discerning in the captured identification point image, the position coordinates of identification point in image coordinate system;
    During adjustment, earlier first affixed object is transported on the installing plate (4) by artificial or manipulator and positions, second affixed object is transported on the school bit platform (3) by artificial or manipulator positions, be under the parallel state at first affixed object and second affixed object, two identification point (A of first affixed object, B) with two identification point (C of second affixed object, D) being dislocation arranges, the spacing distance of this dislocation is set in advance, utilize identification point then, photograph mechanism, image processing system (7), school bit platform (3), two identification point (A with first affixed object, B) be two the identification point (Cs of target to second affixed object, D) carry out the position, school, concrete position, school step is as follows:
    The first step, utilize photograph travel mechanism head (6) center of will taking a picture to move to the theoretical center position of identification point, the camera lens that this moment, identification point dropped on the head (6) of taking a picture within sweep of the eye, take the image of this identification point then, adopt this method that four identification points are taken, obtain respectively corresponding to the second identification point image of the first identification point image of first image coordinate system (V1) of first affixed object and second image coordinate system (V2) and corresponding to the 3rd identification point image of the 3rd image coordinate system (V3) of second affixed object and the 4th identification point image of the 4th image coordinate system (V4);
    Second step, utilize image processing system (7) that the first identification point image to the, four identification point images are handled, find out the image coordinate value (Xv1a of relative first image coordinate system of first identification point (A) (V1) respectively, Yv1a), the image coordinate value (Xv2b of relative second image coordinate system of second identification point (B) (V2), Yv2b), the image coordinate value (Xv3c of relative the 3rd image coordinate system of the 3rd identification point (C) (V3), Yv3c) and the image coordinate value of relative the 4th image coordinate system of the 4th identification point (D) (V4) (Xv4d, Yv4d);
    The 3rd step was converted to the mechanical coordinate value with the image coordinate value of four identification points, and is specific as follows:
    Image coordinate value (the Xv1a of relative first image coordinate system of known first identification point (A) (V1), Yv1a), the X of known first image coordinate system (V1) initial point in horizontal mechanical coordinate system (M) to coordinate (Xmv1), Y to the coordinate (Ymv1) and the anglec of rotation (θ 1), utilize coordinate translation and the image coordinate value (Xv1a of rotation of coordinate formula with relative first image coordinate system of first identification point (A) (V1), Yv1a) be converted into first identification point (A) with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M) (Xma, Yma);
    Image coordinate value (the Xv2b of relative second image coordinate system of known second identification point (B) (V2), Yv2b), the X of known second image coordinate system (V2) initial point in horizontal mechanical coordinate system (M) to coordinate (Xmv2), Y to the coordinate (Ymv2) and the anglec of rotation (θ 2), utilize coordinate translation and the image coordinate value (Xv2b of rotation of coordinate formula with relative second image coordinate system of second identification point (B) (V2), Yv2b) be converted into second identification point (B) with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M) (Xmb, Ymb);
    By that analogy, obtain respectively the 3rd identification point (C) with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M) (Xmc, Ymc) and the 4th identification point (D) with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M) (Xmd, Ymd);
    In the 4th step, (A is B) respectively with respect to mechanical coordinate value (Xma, the Yma of horizontal mechanical coordinate system (M) for two identification points of known first affixed object; Xmb, Ymb), (C is D) respectively with respect to mechanical coordinate value (Xmc, the Ymc of horizontal mechanical coordinate system (M) for two identification points of known second affixed object; Xmd, Ymd), known school bit platform (3) is around relative horizontal mechanical coordinate system (M) mechanical coordinate value (Xme of Z axle center of rotation (E), Yme), utilize analytic geometry and trigonometric function formula to calculate two identification point (C of second affixed object respectively, D) two of relative first affixed object identification points (A, B) around Z axle deflection angle (Δ β), X to side-play amount (Δ X) and Y to side-play amount (Δ Y);
    The 5th step, according to the 4th step calculate around Z axle deflection angle (Δ β), X to side-play amount (Δ X) and Y to side-play amount (Δ Y), utilize two the identification point (Cs of school bit platform (3) with second affixed object, D) adjust to two identification point (A with first affixed object, B) position of Chong Heing, thus contraposition between second affixed object and first affixed object guaranteed.
  2. 2. according to claim 1 to method for position, it is characterized in that: in the first step, described four identification points are taken adopts the head (6) of taking a picture to finish, and perhaps adopts two heads (6) of taking a picture to finish, and perhaps adopts four heads (6) of taking a picture to finish.
  3. 3. according to claim 1 to method for position, it is characterized in that: in second step, the method of finding out the image coordinate value employing of four identification points respectively is: X-axis and Y-axis in each image coordinate system are marked with scale, make a check mark the respectively some projection line of X-axis and Y-axis of software in the described image processing system (7), that utilizes the intersection point of projection line and X-axis and Y-axis and scale then relatively draws the image coordinate value.
  4. 4. according to claim 1 to method for position, it is characterized in that: in the 3rd step, utilize following formula that the image coordinate value of first identification point (A) to the 4th identification point (D) is converted into respect to the mechanical coordinate value in the horizontal mechanical coordinate system (M):
    The reduction formula of (1) first identification point (A) is as follows:
    Xma＝Xv1a×cosθ1－Yv1a×sinθ1＋Xmv1
    Yma＝Xv1a×sinθ1＋Yv1a×cosθ1＋Ymv1
    In the formula:
    Xma represents that the X of first identification point (A) in horizontal mechanical coordinate system (M) is to coordinate;
    Yma represents that the Y of first identification point (A) in horizontal mechanical coordinate system (M) is to coordinate;
    Xv1a represents that the X of first identification point (A) in first image coordinate system (V1) is to coordinate;
    Yv1a represents that the Y of first identification point (A) in first image coordinate system (V1) is to coordinate;
    Xmv1 represents that the X of first image coordinate system (V1) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    Ymv1 represents that the Y of first image coordinate system (V1) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    θ 1 expression first image coordinate system (V1) is the anglec of rotation of mechanical coordinate system (M) relatively;
    The reduction formula of (2) second identification points (B) is as follows:
    Xmb＝Xv2b×cosθ2－Yv2b×sinθ2＋Xmv2
    Ymb＝Xv2b×sinθ2＋Yv2b×cosθ2＋Ymv2
    In the formula:
    Xmb represents that the X of second identification point (B) in horizontal mechanical coordinate system (M) is to coordinate;
    Ymb represents that the Y of second identification point (B) in horizontal mechanical coordinate system (M) is to coordinate;
    Xv2b represents that the X of second identification point (B) in second image coordinate system (V2) is to coordinate;
    Yv2b represents that the Y of second identification point (B) in second image coordinate system (V2) is to coordinate;
    Xmv2 represents that the X of second image coordinate system (V2) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    Ymv2 represents that the Y of second image coordinate system (V2) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    θ 2 expression second image coordinate systems (V2) are the anglec of rotation of mechanical coordinate system (M) relatively;
    The reduction formula of (3) the 3rd identification points (C) is as follows:
    Xmc＝Xv3c×cosθ3－Yv3c×sinθ3＋Xmv3
    Ymc＝Xv3c×sinθ3＋Yv3c×cosθ3＋Ymv3
    In the formula:
    Xmc represents that the X of the 3rd identification point (C) in horizontal mechanical coordinate system (M) is to coordinate;
    Ymc represents that the Y of the 3rd identification point (C) in horizontal mechanical coordinate system (M) is to coordinate;
    Xv3c represents that the X of the 3rd identification point (C) in the 3rd image coordinate system (V3) is to coordinate;
    Yv3c represents that the Y of the 3rd identification point (C) in the 3rd image coordinate system (V3) is to coordinate;
    Xmv3 represents that the X of the 3rd image coordinate system (V3) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    Ymv3 represents that the Y of the 3rd image coordinate system (V3) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    θ 3 expression the 3rd image coordinate systems (V3) are the anglec of rotation of mechanical coordinate system (M) relatively;
    The reduction formula of (4) the 4th identification points (D) is as follows:
    Xmd＝Xv4d×cosθ4－Yv4d×sinθ4＋Xmv4
    Ymd＝Xv4d×sinθ4＋Yv4d×cosθ4＋Ymv4
    In the formula:
    Xmd represents that the X of the 4th identification point (D) in horizontal mechanical coordinate system (M) is to coordinate;
    Ymd represents that the Y of the 4th identification point (D) in horizontal mechanical coordinate system (M) is to coordinate;
    Xv4d represents that the X of the 4th identification point (D) in the 4th image coordinate system (V4) is to coordinate;
    Yv4d represents that the Y of the 4th identification point (D) in the 4th image coordinate system (V4) is to coordinate;
    Xmv4 represents that the X of the 4th image coordinate system (V4) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    Ymv4 represents that the Y of the 4th image coordinate system (V4) initial point in horizontal mechanical coordinate system (M) is to coordinate;
    θ 4 expression the 4th image coordinate systems (V4) are the anglec of rotation of mechanical coordinate system (M) relatively.
  5. 5. according to claim 1 to method for position, it is characterized in that: in the 4th step, utilize following formula to calculate respectively around Z axle deflection angle (Δ β), X to side-play amount (Δ X) and Y to side-play amount (Δ Y):
    (1) as follows around Z axle deflection angle computing formula:
    Δβ＝arctan{[（Ymd－Ymc）×（Xmb－Xma）＋（Ymb－Yma）×（Xmd－Xmc）]/[?（Ymd－Ymc）×（Ymb－Yma）－（Xmd－Xmc）×（Xmb－Xma）]}
    In the formula:
    Δ β represents that around Z axle deflection angle, if Δ β is for to clockwise rotate on the occasion of expression, negative value is represented to rotate counterclockwise;
    Xma and Yma represent the mechanical coordinate value of first identification point (A) with respect to horizontal mechanical coordinate system (M);
    Xmb and Ymb represent the mechanical coordinate value of second identification point (B) with respect to horizontal mechanical coordinate system (M);
    Xmc and Ymc represent the mechanical coordinate value of the 3rd identification point (C) with respect to horizontal mechanical coordinate system (M);
    Xmd and Ymd represent the mechanical coordinate value of the 4th identification point (D) with respect to horizontal mechanical coordinate system (M);
    (2) X is as follows to the side-play amount computing formula:
    ΔX＝Xmb－Xme＋（Xme－Xmd）×cosΔβ－（Ymd－Yme）×sinΔβ
    In the formula:
    Δ X represents that X to side-play amount is, if Δ X represents to move to the X-axis negative sense if Δ X is a negative value for moving to the X-axis forward on the occasion of expression;
    Xmd and Ymd represent the mechanical coordinate value of the 4th identification point (D) with respect to horizontal mechanical coordinate system (M);
    Xme and Yme represent around the mechanical coordinate value of Z axle center of rotation (E) with respect to horizontal mechanical coordinate system (M);
    Xmb represent second identification point (B) with respect to the X of horizontal mechanical coordinate system (M) to coordinate figure;
    Δ β represents around Z axle deflection angle;
    (3) Y is as follows to the side-play amount computing formula:
    ΔY＝Ymb－Yme－（Ymd－Yme）×cosΔβ－（Xme－Xmd）×sinΔβ
    In the formula:
    Δ Y represents Y to side-play amount, if Δ Y represents to move to the Y-axis negative sense if Δ Y is a negative value for moving to the Y-axis forward on the occasion of expression;
    Xmd and Ymd represent the mechanical coordinate value of the 4th identification point (D) with respect to horizontal mechanical coordinate system (M);
    Xme and Yme represent around the mechanical coordinate value of Z axle center of rotation (E) with respect to horizontal mechanical coordinate system (M);
    Ymb represent second identification point (B) with respect to the Y of horizontal mechanical coordinate system (M) to coordinate figure;
    Δ β represents around Z axle deflection angle.
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