CN102152595B - 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 PDFInfo
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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
Technical field
The present invention relates to touch-screen and flat-panel monitor processing and manufacturing field, be specifically related to the alignment method that uses in this field film coating process.The 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, usually need to will be fitted on another layer function film behind one deck functional film aligned position, 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 to being fitted on other one deck ITO film behind one deck ITO film (indium tin oxide transparent conductive semiconductor film) aligned position, consist of the touch circuit with this.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 adopting which kind of alignment method to satisfy pad pasting is the technical barrier in this area always.Existing alignment method is: making respectively two in advance on film and film or film and substrate can be for the identification point (rushing aperture) of observing identification, be fixed on the installing plate upper film motionless during pad pasting, lower film is placed on the school bit platform, then the operator is by the identification point in the film in camera or the magnifying glass manual observation and the alignment situation between the identification point on the lower film, can not adjust by manual adjustment means (X-direction, Y-direction and β angle) to the operator if find the position, until carry out next-step operation after the contraposition.Above-mentioned alignment method since adopt artificial in eye observe, error is often about 0.2mm, so aligning accuracy is poor and efficient is low.For this reason, the aligning accuracy and the efficient that how to improve pad pasting are the problems 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, the above 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.When the finger touch screen, two conductive layers has just had contact in the position, touch point, and controller detects this contact and calculates the position of (X, Y), and the mode according to analog mouse operates again.The most basic principle of Here it is resistive technologies touch-screen.
Summary of the invention
The invention provides the alignment method of pad pasting in a kind of touch-screen and the flat-panel monitor manufacturing process, the 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: the alignment method of pad pasting in a kind of touch-screen and the flat-panel monitor manufacturing process, and its innovation is:
(1) contraposition reference and alignment mode
In the residing horizontal mechanical coordinate system in pad pasting plane, take the first affixed object in described horizontal mechanical coordinate system the position and direction as target, the position by adjusting the second affixed object and direction realize the contraposition between the first affixed object and the second affixed object;
(2) method of adjustment
On the first affixed object and the second affixed object, make respectively in advance two identification points that are used for contraposition, this identification point can supply image recognition, thus the contraposition between the first affixed object and the second affixed object is converted into two identification points on the first affixed object and the contraposition between two identification points on the second affixed object;
Have in advance installing plate and the school bit platform that is used for installing the second affixed object that the first affixed object be used for to be installed, the school bit platform can be carried out in described horizontal mechanical coordinate system that X-direction moves, Y-direction moves and rotate around Z axis, is used for adjusting contraposition;
Have in advance a camera that is used for taking the identification point image, this camera is comprised of photographic head and the cephalomotor photograph of driving photograph travel mechanism, wherein be provided with image coordinate system in the camera lens of photographic head, photograph travel mechanism can make photographic head executive level in described horizontal mechanical coordinate system move;
Have in advance an image processing system, this image processing system is used for identifying in the captured identification point image, the position coordinates of identification point in image coordinate system;
During adjustment, first the first affixed object is positioned to installing plate by artificial or Manipulator Transportation, the second affixed object is positioned to the bit platform of school by artificial or Manipulator Transportation, be under the parallel state at the first affixed object and the second affixed object, two identification points of the first affixed object and two identification points of the second affixed object are dislocation and arrange, the spacing distance of this dislocation is set in advance, then utilize identification point, camera, image processing system, two identification points to the second affixed object carry out the position, school to the school bit platform take two identification points of the first affixed object as target, and concrete position, school step is as follows:
The first step, utilize photograph travel mechanism the photographic head center to be moved to the theoretical center position of identification point, the camera lens that this moment, identification point dropped on photographic head within sweep of the eye, then take the image of this identification point, adopt the 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 of the first affixed object and the second image coordinate system and corresponding to the 3rd identification point image of the 3rd image coordinate system of the 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 processed, find out respectively the image coordinate value of relative the first image coordinate system of the first identification point, the image coordinate value of relative the second image coordinate system of the 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;
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 the first image coordinate system of known the first identification point, X-direction coordinate, Y-direction coordinate and the anglec of rotation of known the first image coordinate system initial point in the horizontal mechanical coordinate system utilizes coordinate translation and rotation of coordinate formula that the image coordinate value of relative the first image coordinate system of the first identification point is converted into the first identification point with respect to the mechanical coordinate value of horizontal mechanical coordinate system;
The image coordinate value of relative the second image coordinate system of known the second identification point, X-direction coordinate, Y-direction coordinate and the anglec of rotation of known the second image coordinate system initial point in the horizontal mechanical coordinate system utilizes coordinate translation and rotation of coordinate formula that the image coordinate value of relative the second image coordinate system of the second identification point is converted into the second identification point with respect to the mechanical coordinate value of horizontal mechanical coordinate system;
By that analogy, obtain respectively the 3rd identification point 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 the first affixed object are respectively with respect to the mechanical coordinate value of horizontal mechanical coordinate system, two identification points of known the second affixed object are respectively with respect to the mechanical coordinate value of horizontal mechanical coordinate system, known school bit platform is the mechanical coordinate value around Z axis center of rotation relative level mechanical coordinate, utilizes analytic geometry and trigonometric function formula to calculate respectively two identification points of two relative the first affixed objects of identification point of the second affixed object around Z axis deflection angle, X-direction side-play amount and Y-direction side-play amount;
The 5th step, according to four-step calculation go out around Z axis deflection angle, X-direction side-play amount and Y-direction side-play amount, utilize the school bit platform that two identification points of the second affixed object are adjusted to two positions that identification point overlaps with the first affixed object, thereby guarantee the contraposition between the second affixed object and the first affixed object.
Related content in the technique scheme is explained as follows:
1. the present invention's so-called " pad pasting " refers to film and film applying or one of film and baseplate-laminating both of these case.In the such scheme, described " the first affixed object " can be film, also can be substrate.Described " the second affixed object " can be film, also can be substrate.The first identification point and the second identification point are used for two identification points on expression the first affixed object, and the 3rd identification point and the 4th identification point are used for two identification points on expression the second affixed object.The position that two identification points of the first affixed object overlap with two identification points of the second affixed object is contraposition position theoretical between the first affixed object and the second affixed object.
2. such scheme is in the first step, and described four identification points are taken can adopt a photographic head to finish by four shootings, perhaps adopts two photographic heads to finish by twice shooting, perhaps adopts four photographic heads to finish by once taking.
3. such scheme is in second step, the method of finding out respectively the image coordinate value employing of four identification points 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 then utilizes the intersection point of projection line and X-axis and Y-axis and scale relatively draws the image coordinate value.
4. such scheme utilizes following formula in the 3rd step, and the image coordinate value of the 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 the first identification point, B represents the 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 the X-direction coordinate of the first identification point A in horizontal mechanical coordinate system M;
Yma represents the Y-direction coordinate of the first identification point A in horizontal mechanical coordinate system M;
Xv1a represents the X-direction coordinate of the first identification point A in the first image coordinate system V1;
Yv1a represents the Y-direction coordinate of the first identification point A in the first image coordinate system V1;
Xmv1 represents the X-direction coordinate of the first image coordinate system V1 initial point in horizontal mechanical coordinate system M;
Ymv1 represents the Y-direction coordinate of the first image coordinate system V1 initial point in horizontal mechanical coordinate system M;
The relative mechanical coordinate of θ 1 expression the 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 the X-direction coordinate of the second identification point B in horizontal mechanical coordinate system M;
Ymb represents the Y-direction coordinate of the second identification point B in horizontal mechanical coordinate system M;
Xv2b represents the X-direction coordinate of the second identification point B in the second image coordinate system V2;
Yv2b represents the Y-direction coordinate of the second identification point B in the second image coordinate system V2;
Xmv2 represents the X-direction coordinate of the second image coordinate system V2 initial point in horizontal mechanical coordinate system M;
Ymv2 represents the Y-direction coordinate of the second image coordinate system V2 initial point in horizontal mechanical coordinate system M;
The relative mechanical coordinate of θ 2 expression the 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 the X-direction coordinate of the 3rd identification point C in horizontal mechanical coordinate system M;
Ymc represents the Y-direction coordinate of the 3rd identification point C in horizontal mechanical coordinate system M;
Xv3c represents the X-direction coordinate of the 3rd identification point C in the 3rd image coordinate system V3;
Yv3c represents the Y-direction coordinate of the 3rd identification point C in the 3rd image coordinate system V3;
Xmv3 represents the X-direction coordinate of the 3rd image coordinate system V3 initial point in horizontal mechanical coordinate system M;
Ymv3 represents the Y-direction coordinate of the 3rd image coordinate system V3 initial point in horizontal mechanical coordinate system M;
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 the X-direction coordinate of the 4th identification point D in horizontal mechanical coordinate system M;
Ymd represents the Y-direction coordinate of the 4th identification point D in horizontal mechanical coordinate system M;
Xv4d represents the X-direction coordinate of the 4th identification point D in the 4th image coordinate system V4;
Yv4d represents the Y-direction coordinate of the 4th identification point D in the 4th image coordinate system V4;
Xmv4 represents the X-direction coordinate of the 4th image coordinate system V4 initial point in horizontal mechanical coordinate system M;
Ymv4 represents the Y-direction coordinate of the 4th image coordinate system V4 initial point in horizontal mechanical coordinate system M;
The relative mechanical coordinate of θ 4 expression the 4th image coordinate system V4 is the anglec of rotation of M.
5. such scheme utilizes following formula to calculate respectively around Z axis deflection angle, X-direction side-play amount and Y-direction side-play amount in the 4th step:
(1) as follows around Z axis 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 around the Z axis deflection angle, if Δ β is for to clockwise rotate on the occasion of expression, negative value represents to rotate counterclockwise;
Xma and Yma represent that the first identification point A is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xmb and Ymb represent that the second identification point B is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xmc and Ymc represent that the 3rd identification point C is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xmd and Ymd represent that the 4th identification point D is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M.
Proof procedure around Z axis 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 the first identification point and the 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 rotates to A with B parallel position take E as the centre of gyration around Z axis with D.
If: be Δ β around the Z axis deflection angle, as shown in Figure 3, line segment CD rotated to the position parallel with line segment AB (being the position of line segment C1D1), it around the Z axis 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:
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:
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: be not unique around Z axis deflection angle computational methods and formula.The above computational methods that adopt of the present invention are that X-axis in the horizontal mechanical coordinate system M is as with reference to deriving the computing formula around Z axis deflection angle Δ β.Can adopt additive method, such as calculating respectively line segment AB and the line segment CD angle with respect to Y-axis among the horizontal mechanical coordinate system M, then draw the computing formula around Z axis deflection angle Δ β.
(2) X-direction side-play amount computing formula is as follows:
ΔX＝Xmb－Xme＋（Xme－Xmd）×cosΔβ－（Ymd－Yme）×sinΔβ
In the formula:
Δ X represents that the X-direction side-play amount is, if Δ X represents to the X-axis negative sense to move if Δ X is negative value for moving to the X-axis forward on the occasion of expression;
Xmd and Ymd represent that the 4th identification point D is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axis center of rotation E;
Xmb represents that the second identification point B is with respect to the X-direction coordinate figure of horizontal mechanical coordinate system M;
Δ β represents around the Z axis deflection angle.
The proof procedure of X-direction side-play amount computing formula is as follows:
Known:
The second identification point B is Xmb with respect to the X-direction coordinate figure 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;
Be Xme and Yme around Z axis center of rotation E with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Be Δ β around the Z axis deflection angle.
If:
The X-direction side-play amount is Δ X;
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 axis 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 axis 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 axis center of rotation E rotates to auxiliary magnet D1 because line segment C1D1 is parallel to line segment AB, so the X-direction 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
In right angled triangle ECD, according to the trigonometric function formula:
sinγ＝FD／DE
=
Formula (11)
cosγ＝FE／DE
=
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-direction side-play amount computational methods and formula are not unique.X-direction side-play amount computational methods of the present invention be the second identification point B of the 4th identification point D, the first affixed object take the second affixed object and around Z axis center of rotation E as with reference to deriving X-direction side-play amount computing formula.Can adopt additive method, such as take the first identification point A of the 3rd identification point C of the second affixed object, the first affixed object and around Z axis center of rotation E as with reference to deriving X-direction side-play amount computing formula, can also take the mid point of the mid point of line segment CD, line segment AB and around Z axis center of rotation E as with reference to deriving X-direction side-play amount computing formula.
(3) Y-direction side-play amount computing formula is as follows:
ΔY＝Ymb－Yme－（Ymd－Yme）×cosΔβ－（Xme－Xmd）×sinΔβ
In the formula:
Δ Y represents the Y-direction side-play amount, if Δ Y represents to the Y-axis negative sense to move if Δ Y is negative value for moving to the Y-axis forward on the occasion of expression;
Xmd and Ymd represent that the 4th identification point D is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axis center of rotation E;
Ymb represents that the second identification point B is with respect to the Y-direction coordinate figure of horizontal mechanical coordinate system M;
Δ β represents around the Z axis deflection angle.
The proof procedure of Y-direction side-play amount computing formula following (basic identical with X-direction side-play amount proof line):
Known:
The second identification point B is Ymb with respect to the Y-direction coordinate figure 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;
Be Xme and Yme around Z axis center of rotation E with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Be Δ β around the Z axis deflection angle.
If:
The Y-direction side-play amount is Δ Y;
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 axis 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 axis 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 axis center of rotation E rotates to auxiliary magnet D1 because line segment C1D1 is parallel to line segment AB, so the Y-direction 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
In right angled triangle ECD, according to the trigonometric function formula:
sinγ＝FD／DE
=
Formula (19)
cosγ＝FE／DE
=
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-direction side-play amount computational methods and formula are not unique.Y-direction side-play amount computational methods of the present invention be the second identification point B of the 4th identification point D, the first affixed object take the second affixed object and around Z axis center of rotation E as with reference to deriving Y-direction side-play amount computing formula.Can adopt additive method, such as take the first identification point A of the 3rd identification point C of the second affixed object, the first affixed object and around Z axis center of rotation E as with reference to deriving X-direction side-play amount computing formula, can also take the mid point of the mid point of line segment CD, line segment AB and around Z axis center of rotation E as with reference to deriving X-direction side-play amount computing formula.
Operation principle of the present invention and effect are: aligning accuracy and efficient when improving pad pasting, the present invention makes respectively two identification points that are used for contraposition in advance on the first affixed object and the second affixed object, after the first affixed object is carried to installing plate and the second affixed object and is transported to the school bit platform, two identification points of the first affixed object and two identification points dislocation of the second affixed object are arranged and the location, then utilize camera to take the image of four identification points, 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-direction side-play amount between two identification points that calculate two relative the first affixed objects of identification point finding out respectively the second affixed object, Y-direction side-play amount and around the Z axis deflection angle, utilize at last the school bit platform that two identification points of the second affixed object are adjusted to two positions that identification point overlaps with the first affixed object, thereby guarantee the contraposition between the second affixed object and the 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 greatly having improved pad pasting, and can satisfy the contraposition needs of this area high accuracy pad pasting.Simultaneously owing to adopting mechanized operation also greatly to improve contraposition efficient.
Description of drawings
Accompanying drawing 1 is the schematic diagram of film in the present invention and the front state of lower 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. photographic head; 7. image processing system; 8.PLC; 9. servo-driver; 10. the first X-direction travel mechanism; 11. the second X-direction travel mechanism; 12.Y to travel mechanism; 13.X to travel mechanism; 14.Y to travel mechanism; 15. around the Z axis rotating mechanism.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples:
Embodiment: the alignment method of pad pasting in a kind of touch-screen and the flat-panel monitor manufacturing process
The alignment mode of the above film of the present invention and lower film illustrates, and also can change the alignment mode of substrate and lower film into.
Fig. 1 is the schematic diagram of a upper film 1 and a front state of lower film 2 contrapositions, thes contents are as follows according to the alignment method of film in the present invention 1 with lower film 2:
(1) contraposition reference and alignment 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 the position by adjusting lower film 2 and direction realize the contraposition of upper film 1 and lower film 2.
(2) method of adjustment
Make two identification point (see figure 1)s that are used for contraposition at upper film 1 in advance, namely the first identification point A and the second identification point B make two the identification point (see figure 1)s that are used for contraposition, i.e. the 3rd identification point C and the 4th identification point D at lower film 2.These four identification points all can supply image recognition, the contraposition between two identification points (A, B) that thus contraposition of upper film 1 and lower film 2 are converted into upper film 1 and two identification points (C, D) of lower film 2.Identification point can adopt the mode of rushing aperture to realize, preferably utilizes the high accuracy Presser Dashing to go out the identification point aperture when rushing aperture, and the punching precision is higher, the image processing accuracy after more being conducive to.Also can adopt other modes to make identification point, such as printing the cross identification point.
In order to realize automatic aligning, the present invention needs following condition:
1. have in advance installing plate 4 and a school bit platform that is used for installing lower film 2 that is used for installing film 1, the school bit platform can be carried out in described horizontal mechanical coordinate system M that X-direction moves, Y-direction moves and rotate around Z axis, is used for adjusting contraposition.
2. have in advance a camera that is used for taking the identification point image, this camera is comprised of photographic head and the cephalomotor photograph of driving photograph travel mechanism, wherein be provided with image coordinate system in the camera lens of photographic head, photograph travel mechanism can make photographic head executive level in described horizontal mechanical coordinate system M move.
3. have in advance an image processing system, this image processing system is used for identifying in the captured identification point image, the position coordinates of identification point in image coordinate system.
During adjustment, first upper film 1 is positioned to installing plate 4 by artificial or Manipulator Transportation, lower film 2 is positioned to school bit platform 3 by artificial or Manipulator Transportation, under the parallel state of upper film 1 and lower film 2, two identification point (A of upper film 1, B) with two identification point (C of lower film 2, D) being dislocation in X-direction arranges, the spacing distance of this dislocation is set in advance, before the position, school why with two identification point (A of upper film 1, B) arranging it is for the ease of taking four identification points with the dislocation of two identification points (C, D) of lower film 2, is theoretical center position in order to obtain four identification points and to take and set the dislocation distance.Only in this way when the photographic head center moves to the theoretical center position of each identification point, the camera lens that the identification point that guarantee is corresponding drops on photographic head within sweep of the eye.Then utilize identification point, camera, image processing system, school bit platform, to be target carry out the position, school to two identification points (C, D) of lower film 2 to two identification points (A, B) of above film 1.
Concrete position, school step is as follows:
The first step, utilize photograph travel mechanism the photographic head center to be moved to the theoretical center position of identification point, the camera lens that this moment, identification point dropped on photographic head within sweep of the eye, then take the image of this identification point, adopt the 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 upper 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 lower film 2 and the 4th identification point image of the 4th image coordinate system V4.The quantity of photographic head can be one, two or four in the camera.Need to finish by four shootings four identification points when adopting a photographic head, need twice shooting to finish when adopting two photographic heads, need only when adopting four photographic heads by once taking and finish.The present embodiment is selected the scheme of two photographic heads.
Second step, utilize image processing system that the first identification point image to the four identification point images are processed, find out respectively the image coordinate value (Xv1a of relative the first image coordinate system V1 of the first identification point A, Yv1a), the image coordinate value (Xv2b of relative the 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 (Xv4d, Yv4d) of relative the 4th image coordinate system V4 of the 4th identification point D.The method of finding out respectively the image coordinate value employing of four identification points 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 then utilizes the intersection point of projection line and X-axis and Y-axis and scale 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 relative the first image coordinate system V1 of known the first identification point A, Yv1a), X-direction coordinate Xmv1, Y-direction coordinate Ymv1 and the anglec of rotation θ 1 of known the first image coordinate system V1 initial point in horizontal mechanical coordinate system M, utilize coordinate translation and the image coordinate value (Xv1a of rotation of coordinate formula with relative the 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 (Xma, Yma) of horizontal mechanical coordinate system M.
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 the X-direction coordinate of the first identification point A in horizontal mechanical coordinate system M;
Yma represents the Y-direction coordinate of the first identification point A in horizontal mechanical coordinate system M;
Xv1a represents the X-direction coordinate of the first identification point A in the first image coordinate system V1;
Yv1a represents the Y-direction coordinate of the first identification point A in the first image coordinate system V1;
Xmv1 represents the X-direction coordinate of the first image coordinate system V1 initial point in horizontal mechanical coordinate system M;
Ymv1 represents the Y-direction coordinate of the first image coordinate system V1 initial point in horizontal mechanical coordinate system M;
The relative mechanical coordinate of θ 1 expression the first image coordinate system V1 is the anglec of rotation of M.
2. the image coordinate value (Xv2b of relative the second image coordinate system V2 of known the second identification point B, Yv2b), X-direction coordinate Xmv2, Y-direction coordinate Ymv2 and the anglec of rotation θ 2 of known the second image coordinate system V2 initial point in horizontal mechanical coordinate system M, utilize coordinate translation and the image coordinate value (Xv2b of rotation of coordinate formula with relative the 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 (Xmb, Ymb) of horizontal mechanical coordinate system M.
The reduction formula of the second identification point (B) is as follows:
Xmb＝Xv2b×cosθ2－Yv2b×sinθ2＋Xmv2
Ymb＝Xv2b×sinθ2＋Yv2b×cosθ2＋Ymv2
In the formula:
Xmb represents the X-direction coordinate of the second identification point B in horizontal mechanical coordinate system M;
Ymb represents the Y-direction coordinate of the second identification point B in horizontal mechanical coordinate system M;
Xv2b represents the X-direction coordinate of the second identification point B in the second image coordinate system V2;
Yv2b represents the Y-direction coordinate of the second identification point B in the second image coordinate system V2;
Xmv2 represents the X-direction coordinate of the second image coordinate system V2 initial point in horizontal mechanical coordinate system M;
Ymv2 represents the Y-direction coordinate of the second image coordinate system V2 initial point in horizontal mechanical coordinate system M;
The relative mechanical coordinate of θ 2 expression the 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 (Xmc, Ymc) of horizontal mechanical coordinate system M.
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 the X-direction coordinate of the 3rd identification point C in horizontal mechanical coordinate system M;
Ymc represents the Y-direction coordinate of the 3rd identification point C in horizontal mechanical coordinate system M;
Xv3c represents the X-direction coordinate of the 3rd identification point C in the 3rd image coordinate system V3;
Yv3c represents the Y-direction coordinate of the 3rd identification point C in the 3rd image coordinate system V3;
Xmv3 represents the X-direction coordinate of the 3rd image coordinate system V3 initial point in horizontal mechanical coordinate system M;
Ymv3 represents the Y-direction coordinate of the 3rd image coordinate system V3 initial point in horizontal mechanical coordinate system M;
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 (Xmd, Ymd) of horizontal mechanical coordinate system M.
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 the X-direction coordinate of the 4th identification point D in horizontal mechanical coordinate system M;
Ymd represents the Y-direction coordinate of the 4th identification point D in horizontal mechanical coordinate system M;
Xv4d represents the X-direction coordinate of the 4th identification point D in the 4th image coordinate system V4;
Yv4d represents the Y-direction coordinate of the 4th identification point D in the 4th image coordinate system V4;
Xmv4 represents the X-direction coordinate of the 4th image coordinate system V4 initial point in horizontal mechanical coordinate system M;
Ymv4 represents the Y-direction coordinate of the 4th image coordinate system V4 initial point in horizontal mechanical coordinate system M;
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, two identification points (A, B) of known upper film 1 are respectively with respect to mechanical coordinate value (Xma, the Yma of horizontal mechanical coordinate system M; Xmb, Ymb), two identification points (C, D) of known lower film 2 are respectively with respect to mechanical coordinate value (Xmc, the Ymc of horizontal mechanical coordinate system M; Xmd, Ymd), known school bit platform is M mechanical coordinate value (Xme around Z axis center of rotation E relative level mechanical coordinate, 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 school bit platform forward 3 degree again, read coordinate, 6 degree that reverse again read coordinate, determine centers of circle according to 3, calculate actual pivot), two identification points (C, D) that utilize analytic geometry and trigonometric function formula to calculate respectively lower film 2 are gone up two identification points (A, B) of film 1 relatively around Z axis deflection angle Δ β, X-direction offset Δ X and Y-direction offset Δ Y.
1. as follows around Z axis 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 around the Z axis deflection angle, if Δ β is for to clockwise rotate on the occasion of expression, negative value represents to rotate counterclockwise;
Xma and Yma represent that the first identification point A is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xmb and Ymb represent that the second identification point B is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xmc and Ymc represent that the 3rd identification point C is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xmd and Ymd represent that the 4th identification point D is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M.
2. X-direction offset Δ X computing formula is as follows:
ΔX＝Xmb－Xme＋（Xme－Xmd）×cosΔβ－（Ymd－Yme）×sinΔβ
In the formula:
Δ X represents that the X-direction side-play amount is, if Δ X represents to the X-axis negative sense to move if Δ X is negative value for moving to the X-axis forward on the occasion of expression;
Xmd and Ymd represent that the 4th identification point D is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axis center of rotation E;
Xmb represents that the second identification point B is with respect to the X-direction coordinate figure of horizontal mechanical coordinate system M;
Δ β represents around the Z axis deflection angle.
3. Y-direction offset Δ Y computing formula is as follows:
ΔY＝Ymb－Yme－（Ymd－Yme）×cosΔβ－（Xme－Xmd）×sinΔβ
In the formula:
Δ Y represents the Y-direction side-play amount, if Δ Y represents to the Y-axis negative sense to move if Δ Y is negative value for moving to the Y-axis forward on the occasion of expression;
Xmd and Ymd represent that the 4th identification point D is with respect to the mechanical coordinate value of horizontal mechanical coordinate system M;
Xme and Yme represent the mechanical coordinate value with respect to horizontal mechanical coordinate system M around Z axis center of rotation E;
Ymb represents that the second identification point B is with respect to the Y-direction coordinate figure of horizontal mechanical coordinate system M;
Δ β represents around the Z axis deflection angle.
The 5th step, according to four-step calculation go out around Z axis deflection angle Δ β, X-direction offset Δ X and Y-direction offset Δ Y, utilize the school bit platform with two identification point (C of lower film 2, D) adjust to two identification point (A with upper film 1, B) position that overlaps, thereby the contraposition between the lower film 2 of assurance and the upper film 1.
Fig. 4 is the present embodiment laminator alignment system schematic diagram.As can be seen from the figure, alignment system is mainly by school bit platform 3, installing plate 4, photographic head 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 window of taking identification point is provided to photographic head 6, 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 lower film 2.Photographic head 6 is driven and can be moved at horizontal mechanical coordinate system M by photograph travel mechanism (not shown in FIG.).Image processing system 7 is used for identifying 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 schemes:
The first scheme as shown in Figure 5, the driving mechanism of this school bit platform 3 is comprised of the first X-direction travel mechanism 10, the second X-direction travel mechanism 11 and Y-direction travel mechanism 12.Motionless when Y-direction travel mechanism 12, and when the first X-direction travel mechanism 10 and the second X-direction travel mechanism 11 synchronizing moving, school bit platform 3 is done position, X-direction school.Motionless when the first X-direction travel mechanism 10 and the second X-direction travel mechanism 11, and Y-direction travel mechanism 12 is when moving, and school bit platform 3 is done position, Y-direction school.When Y-direction travel mechanism 12, the first X-direction travel mechanism 10 and the second X-direction travel mechanism 11 moved simultaneously, school bit platform 3 was done around Z axis and is rotated the position, school.The first scheme school bit platform 3 is done when position, Z axis 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 the first X axis;
X2 represents the amount of feeding of the second X axis;
Y represents the amount of feeding of Y-axis;
Δ β represents around the Z axis deflection angle;
R is illustrated in school bit platform 3 belows, and the theory rotation radius of a circle that the first X-direction travel mechanism 10, the second X-direction travel mechanism 11 and Y-direction travel mechanism 12 application points consist of can be measured 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.
First scheme as shown in Figure 6, the driving mechanism of this school bit platform 3 forms by X-direction travel mechanism 13, Y-direction travel mechanism 14 with around Z axis rotating mechanism 15.X-direction travel mechanism 13 makes school bit platform 3 position, X-direction school that takes charge of, and Y-direction travel mechanism 14 makes school bit platform 3 position, Y-direction school that takes charge of, and around Z axis rotating mechanism 15 school bit platform 3 is taken charge of around position, Z axis deflection angle school.
Although the present embodiment has only provided the alignment method between upper film 1 and the lower film 2, is equally applicable to the contraposition between film and the substrate.
Above-described embodiment only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage who is familiar with technique can understand content of the present invention and according to this enforcement, 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 (3)
1. the alignment method of pad pasting in a touch-screen and the flat-panel monitor manufacturing process is characterized in that:
(1) contraposition reference and alignment mode
In the residing horizontal mechanical coordinate system in pad pasting plane (M), take the first affixed object in described horizontal mechanical coordinate system (M) the position and direction as target, the contraposition that the position by adjusting the second affixed object and direction realize the first affixed object and the second affixed object;
(2) method of adjustment
On the first affixed object and the second affixed object, make respectively in advance two identification points that are used for contraposition, this identification point can supply image recognition, thus the contraposition between the first affixed object and the second affixed object is converted into two identification point (A on the first affixed object, B) with the second affixed object on two identification points (C, D) between contraposition;
Have in advance installing plate (4) and a school bit platform (3) that is used for installing the second affixed object that is used for installing the first affixed object, school bit platform (3) can be carried out in described horizontal mechanical coordinate system (M) that X-direction moves, Y-direction moves and rotate around Z axis, is used for adjusting contraposition;
Have in advance a camera that is used for taking the identification point image, this camera is comprised of photographic head (6) and the cephalomotor photograph of driving photograph travel mechanism, wherein be provided with image coordinate system in the camera lens of photographic head (6), photograph travel mechanism can make photographic head executive level in described horizontal mechanical coordinate system (M) move;
Have in advance an image processing system (7), this image processing system (7) is used for identifying in the captured identification point image, the position coordinates of identification point in image coordinate system;
During adjustment, first the first affixed object is positioned to installing plate (4) by artificial or Manipulator Transportation, the second affixed object is positioned to school bit platform (3) by artificial or Manipulator Transportation, be under the parallel state at the first affixed object and the second affixed object, two identification point (A of the first affixed object, B) with two identification point (C of the second affixed object, D) being dislocation arranges, the spacing distance of this dislocation is set in advance, then utilize identification point, camera, image processing system (7), school bit platform (3), two identification point (A with the first affixed object, B) be that target is to two identification point (C of the second affixed object, D) carry out the position, school, concrete position, school step is as follows:
The first step, utilize photograph travel mechanism photographic head (6) center to be moved to the theoretical center position of identification point, the camera lens that this moment, identification point dropped on photographic head (6) within sweep of the eye, then take the image of this identification point, adopt the 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 the first affixed object and the second image coordinate system (V2) and corresponding to the 3rd identification point image of the 3rd image coordinate system (V3) of the 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 processed, find out respectively the image coordinate value (Xv1a of relative the first image coordinate system of the first identification point (A) (V1), Yv1a), the image coordinate value (Xv2b of relative the second image coordinate system of the 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 (Xv4d, Yv4d) of relative the 4th image coordinate system of the 4th identification point (D) (V4);
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 the first image coordinate system of known the first identification point (A) (V1), Yv1a), X-direction coordinate (Xmv1), Y-direction coordinate (Ymv1) and the anglec of rotation (θ 1) of known the first image coordinate system (V1) initial point in horizontal mechanical coordinate system (M), utilize coordinate translation and the image coordinate value (Xv1a of rotation of coordinate formula with relative the first image coordinate system of the first identification point (A) (V1), Yv1a) be converted into the first identification point (A) with respect to the mechanical coordinate value (Xma, Yma) of horizontal mechanical coordinate system (M);
Image coordinate value (the Xv2b of relative the second image coordinate system of known the second identification point (B) (V2), Yv2b), X-direction coordinate (Xmv2), Y-direction coordinate (Ymv2) and the anglec of rotation (θ 2) of known the second image coordinate system (V2) initial point in horizontal mechanical coordinate system (M), utilize coordinate translation and the image coordinate value (Xv2b of rotation of coordinate formula with relative the second image coordinate system of the second identification point (B) (V2), Yv2b) be converted into the second identification point (B) with respect to the mechanical coordinate value (Xmb, Ymb) of horizontal mechanical coordinate system (M);
By that analogy, obtain respectively the 3rd identification point (C) with respect to the mechanical coordinate value (Xmc, Ymc) of horizontal mechanical coordinate system (M) and the 4th identification point (D) the mechanical coordinate value (Xmd, Ymd) with respect to horizontal mechanical coordinate system (M);
In the 3rd step, utilize following formula that the image coordinate value of the 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 the X-direction coordinate of the first identification point (A) in horizontal mechanical coordinate system (M);
Yma represents the Y-direction coordinate of the first identification point (A) in horizontal mechanical coordinate system (M);
Xv1a represents the X-direction coordinate of the first identification point (A) in the first image coordinate system (V1);
Yv1a represents the Y-direction coordinate of the first identification point (A) in the first image coordinate system (V1);
Xmv1 represents the X-direction coordinate of the first image coordinate system (V1) initial point in horizontal mechanical coordinate system (M);
Ymv1 represents the Y-direction coordinate of the first image coordinate system (V1) initial point in horizontal mechanical coordinate system (M);
θ 1 expression the 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 the X-direction coordinate of the second identification point (B) in horizontal mechanical coordinate system (M);
Ymb represents the Y-direction coordinate of the second identification point (B) in horizontal mechanical coordinate system (M);
Xv2b represents the X-direction coordinate of the second identification point (B) in the second image coordinate system (V2);
Yv2b represents the Y-direction coordinate of the second identification point (B) in the second image coordinate system (V2);
Xmv2 represents the X-direction coordinate of the second image coordinate system (V2) initial point in horizontal mechanical coordinate system (M);
Ymv2 represents the Y-direction coordinate of the second image coordinate system (V2) initial point in horizontal mechanical coordinate system (M);
θ 2 expression the 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 the X-direction coordinate of the 3rd identification point (C) in horizontal mechanical coordinate system (M);
Ymc represents the Y-direction coordinate of the 3rd identification point (C) in horizontal mechanical coordinate system (M);
Xv3c represents the X-direction coordinate of the 3rd identification point (C) in the 3rd image coordinate system (V3);
Yv3c represents the Y-direction coordinate of the 3rd identification point (C) in the 3rd image coordinate system (V3);
Xmv3 represents the X-direction coordinate of the 3rd image coordinate system (V3) initial point in horizontal mechanical coordinate system (M);
Ymv3 represents the Y-direction coordinate of the 3rd image coordinate system (V3) initial point in horizontal mechanical coordinate system (M);
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 the X-direction coordinate of the 4th identification point (D) in horizontal mechanical coordinate system (M);
Ymd represents the Y-direction coordinate of the 4th identification point (D) in horizontal mechanical coordinate system (M);
Xv4d represents the X-direction coordinate of the 4th identification point (D) in the 4th image coordinate system (V4);
Yv4d represents the Y-direction coordinate of the 4th identification point (D) in the 4th image coordinate system (V4);
Xmv4 represents the X-direction coordinate of the 4th image coordinate system (V4) initial point in horizontal mechanical coordinate system (M);
Ymv4 represents the Y-direction coordinate of the 4th image coordinate system (V4) initial point in horizontal mechanical coordinate system (M);
θ 4 expression the 4th image coordinate systems (V4) are the anglec of rotation of mechanical coordinate system (M) relatively;
In the 4th step, two identification points (A, B) of known the first affixed object are respectively with respect to mechanical coordinate value (Xma, the Yma of horizontal mechanical coordinate system (M); Xmb, Ymb), two identification points (C, D) of known the second affixed object are respectively with respect to mechanical coordinate value (Xmc, the Ymc of horizontal mechanical coordinate system (M); Xmd, Ymd), known school bit platform (3) is around (M) mechanical coordinate value (Xme of Z axis center of rotation (E) relative level mechanical coordinate system, Yme), utilize analytic geometry and trigonometric function formula to calculate respectively two identification point (C of the second affixed object, D) two of relative the first affixed object identification points (A, B) are around Z axis deflection angle (Δ β), X-direction side-play amount (Δ X) and Y-direction side-play amount (Δ Y);
In the 4th step, utilize following formula to calculate respectively around Z axis deflection angle (Δ β), X-direction side-play amount (Δ X) and Y-direction side-play amount (Δ Y):
(1) as follows around Z axis 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 around the Z axis deflection angle, if Δ β is for to clockwise rotate on the occasion of expression, negative value represents to rotate counterclockwise;
Xma and Yma represent that the first identification point (A) is with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M);
Xmb and Ymb represent that the second identification point (B) is with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M);
Xmc and Ymc represent that the 3rd identification point (C) is with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M);
Xmd and Ymd represent that the 4th identification point (D) is with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M);
(2) X-direction side-play amount computing formula is as follows:
ΔX＝Xmb－Xme＋（Xme－Xmd）×cosΔβ－（Ymd－Yme）×sinΔβ
In the formula:
Δ X represents the X-direction side-play amount, if Δ X represents to the X-axis negative sense to move if Δ X is negative value for moving to the X-axis forward on the occasion of expression;
Xmd and Ymd represent that the 4th identification point (D) is with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M);
Xme and Yme represent around the mechanical coordinate value of Z axis center of rotation (E) with respect to horizontal mechanical coordinate system (M);
Xmb represents that the second identification point (B) is with respect to the X-direction coordinate figure of horizontal mechanical coordinate system (M);
Δ β represents around the Z axis deflection angle;
(3) Y-direction side-play amount computing formula is as follows:
ΔY＝Ymb－Yme－（Ymd－Yme）×cosΔβ－（Xme－Xmd）×sinΔβ
In the formula:
Δ Y represents the Y-direction side-play amount, if Δ Y represents to the Y-axis negative sense to move if Δ Y is negative value for moving to the Y-axis forward on the occasion of expression;
Xmd and Ymd represent that the 4th identification point (D) is with respect to the mechanical coordinate value of horizontal mechanical coordinate system (M);
Xme and Yme represent around the mechanical coordinate value of Z axis center of rotation (E) with respect to horizontal mechanical coordinate system (M);
Ymb represents that the second identification point (B) is with respect to the Y-direction coordinate figure of horizontal mechanical coordinate system (M);
Δ β represents around the Z axis deflection angle;
The 5th step, according to four-step calculation go out around Z axis deflection angle (Δ β), X-direction side-play amount (Δ X) and Y-direction side-play amount (Δ Y), utilize school bit platform (3) with two identification point (C of the second affixed object, D) adjust to two identification point (A with the first affixed object, B) position that overlaps, thus contraposition between the second affixed object and the first affixed object guaranteed.
2. alignment method according to claim 1, it is characterized in that: in the first step, described four identification points are taken adopts a photographic head (6) to finish, and perhaps adopts two photographic heads (6) to finish, and perhaps adopts four photographic heads (6) to finish.
3. alignment method according to claim 1, it is characterized in that: in second step, the method of finding out respectively the image coordinate value employing of four identification points 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 then utilizes the intersection point of projection line and X-axis and Y-axis and scale relatively draws the image coordinate value.
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