CN102328493A - Positioning method in novel silk screen printing CCD (charge coupled device) image identification - Google Patents
Positioning method in novel silk screen printing CCD (charge coupled device) image identification Download PDFInfo
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- CN102328493A CN102328493A CN201110254692A CN201110254692A CN102328493A CN 102328493 A CN102328493 A CN 102328493A CN 201110254692 A CN201110254692 A CN 201110254692A CN 201110254692 A CN201110254692 A CN 201110254692A CN 102328493 A CN102328493 A CN 102328493A
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Abstract
The invention discloses a positioning method in novel silk screen printing CCD (charge coupled device) image identification, comprising the following steps of: (a) conveying PCBs (printed circuit boards) to an operating platform part to be initially positioned and clamped by virtue of an introducing part and an operating platform conveying part; (b) obtaining a CCD positioning identification template by adopting a manually programming method; (c) calculating angular deviation and distance deviation by virtue of the PCBs and MARK points on a silk screen, controlling the operating platform to correspondingly adjust position and angle; and (d) moving an image acquisition device to the position above the PCBs and the MARK points, respectively shooting the PCBs and the MARK points of the silk screen by virtue of a CCD camera, matching the obtained image with the CCD positioning identification template, and carrying out automatic printing after a matching requirement is achieved. The invention provides a whole set of system, the system can automatically detect offset between the center of an object window required to be retrieved by a user and the center of any pattern, the offset is namely correction, the correction is added during counterpoint calculation, and counterpoint actuating quantity is calculated and a counterpoint action is executed. For various patterns used for counterpoint of a base plate, the various patterns can be simply counterpointed without high correction proficiency requirement, and printing counterpoint accuracy can be improved.
Description
Technical field
The present invention relates to the ccd image distinguishment technical field, especially related to the localization method of a kind of novel silk screen seal ccd image identification.
Background technology
In the SMT industry, silk-screen printing device is an important component devices.General silk-screen printing device is divided into: import board transport portion into, have elevating mechanism and substrate clamping location workbench portion, spread out of substrate transmission portion, with the corresponding web plate of substrate portion, scraper, extension cutter head, the control device of controlling each mechanism, CCD recognition device with scraper elevating mechanism and horizontal mobile mechanism.When substrate arrives workbench portion through importing the transport part into; Workbench portion carries out a clamping to substrate temporarily to be fixed, and secondly, utilizes CCD identification substrate and the both sides' sign with web plate corresponding with substrate pattern; Calculate both sides' side-play amount; Then, workbench carries out position adjustment revisal according to side-play amount, makes web plate corresponding with substrate position.At last; Workbench portion rises and makes web plate contact with substrate; Through scraper while making the web plate contact substrate fill pastes such as solder(ing) paste at the opening part of web plate; Scraper is walked the whole blocks substrate, and workbench descend to separate web plate and the substrate that has paste such as solder(ing) paste, spreads out of the substrate that prints through spreading out of transmission portion.Whole printing process is accomplished.Most important link is exactly both sides' sign of CCD identification substrate pattern and corresponding web plate in whole printing process, and calculates both sides' deviation.General ccd image identification and localization method can not be realized the accurate identification and accurate location of substrate pattern with corresponding web plate has been influenced the precision of printing.
Summary of the invention
The present invention has overcome deficiency of the prior art; The both sides that provide a kind of CCD accurately to discern substrate pattern and corresponding web plate identify and realize the accurately method of location, thereby make that just can obtain high-precision aligning accuracy prints out high-quality pcb board to user's simple operations.
Technical scheme of the present invention is:
The localization method of a kind of novel silk screen seal ccd image identification comprises the steps: that (a) pcb board is sent to workbench portion through portion of importing into and workbench transport part and carries out the initial alignment clamping; (b) obtain CCD location recognition template through the method for manually doing program; (c) calculate angular deviation and range deviation through the point of the MARK on pcb board and the silk screen, the control workbench is made corresponding position and angle adjustment; (d) image collecting device is moved to pcb board MARK point top, take the MARK point of pcb board and silk screen respectively, image that obtains and CCD location recognition template are mated, reach and print automatically after mating requirement by the CCD camera;
And; The method that passing through described in the step (b) manually cooked program obtains the MARK point top that CCD location recognition template comprises the steps: image collecting device is moved to pcb board; Open down light source, mobile CCD makes the center of view overlap with MARK dot center; Move silk screen, the MARK point of silk screen is tried one's best in the center of CCD view; Ready-made MARK dot image is preserved the template as the identification of CCD location;
And angular deviation described in the step (c) and range deviation calculate through the point of the MARK on pcb board and the silk screen.
And the images match described in the step (d) adopts the template matches method of identification to realize.
The invention has the beneficial effects as follows:
The invention provides a whole set of system; This system can detect the side-play amount that the user needs the center and the arbitrary graphic pattern center of searching object window automatically; This side-play amount promptly is a correction, and when contraposition is calculated, adds correction, calculates the contraposition actuating quantity and carries out the contraposition action.And, there is no need to require the proficiency of position correction and can simply tackle, and can improve the printing aligning accuracy for the various patterns in the contraposition that is used in substrate.
Description of drawings
Fig. 1 is the structural representation of a kind of novel silk screen seal ccd image recognition device of the present invention.
Fig. 2 is the printing-flow figure of the localization method of a kind of novel silk screen seal ccd image of the present invention identification.
Fig. 3 is the template recognition principle figure of the localization method of a kind of novel silk screen seal ccd image of the present invention identification.
Fig. 4 be a kind of novel silk screen seal ccd image recognition device of the present invention silk screen and substrate to bitmap.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
As shown in Figure 1 is the structural representation of whole silk-screen printing device.1 be frame for movement shown in Fig. 1,20 is control section, and control is divided into host computer (PC) control and controls with slave computer (PLC).Host computer provides the calculating of human-computer interaction interface and treatment of picture and MARK position deviation; Slave computer is accepted the instruction driving device part correlation motion of host computer.The structure that adopts is that hop has three parts: import portion 6 into, workbench transport part 12 spreads out of portion 7.Workbench portion 10, major function has location pcb board 9 and worktable lifting portion 13.Image collecting device 8, its critical piece have CCD camera 15 and light source 14 up and down, employing be the two light source alignment systems of one camera.When gathering the MARK point of pcb board, following light source is opened, and CCD gathers the MARK dot image of PCB; When gathering the MARK point on the silk screen 5, last light source is opened, and CCD gathers the MARK dot image of silk screen.Above steel mesh, be furnished with scraper head 2, scraper 3 is installed on scraper head 2, the travel mechanism and the elevating mechanism that moves both vertically of control horizontal motion arranged respectively on 2.
Specify the motion flow of printing element of the present invention below.
Concrete motion flow is as shown in Figure 2.Pcb board 9 is sent to workbench portion 10 through the portion of importing into 6 with workbench transport part 12 and carries out the initial alignment clamping, and its purpose mainly is that fixedly pcb board can not be moved it.If do pcb board for the first time, then want manually to do program earlier and obtain MARK dot image template; If program is carried out, then just can begin to print automatically pcb board.When doing program, at first image collecting device 8 is moved to the top that pcb board MARK is ordered, open light source 14 times, mobile CCD15 makes the center of view overlap with the center that MARK is ordered, and moves silk screen, and silk screen MARK point is tried one's best in the center of CCD view.The purpose of doing like this is the accuracy of identification when improving printing automatically, enhances productivity.Ready-made MARK dot image is preserved the template as the identification of CCD location.After finishing, program can print automatically; The CCD camera will move to PCB version MARK point top automatically; Take the MARK point of silk screen and PCB respectively, the To Template of resulting image when doing program mated, if the coupling score value reaches requirement; Then print automatically, until accomplishing everything; Otherwise provide corresponding prompting, spread out of the PCB version subsequently.
The principle and the method for image object identification are a lot, general template matching method and the neutral net method of adopting in practice.Because the neutral net method is difficult to reach the real-time requirement because of its bigger amount of calculation, the recognition methods of adopting in the present invention is based on the template matches method of identification.Main principle is:
As shown in Figure 3, the image template of establishing the known target object is T, and size is n * m, image S to be investigated, size be W * H (W>n, H>m).The process of coupling is to manage a template T to be superimposed upon on the S, and compares the subimage S of the S under T and its covering
I, jDifference.If difference is then thought the subimage S of T at this place and S less than certain prior preset threshold
I, jCoupling is preferably arranged, promptly found destination object.To entire image individual element to be matched scanning and implement aforesaid operations, then can confirm whether to exist in the image I or have what determined destination objects of template T.The mathematical description of matching process is:
Or
First and the 3rd the corresponding subclass of presentation video S and the autocorrelation of template T respectively wherein.Second cross correlation that has then provided both.This more greatly then
Value more little, the expression image field subimage S
I, jGood more with the matching degree of template T.
be zero explanation both mate fully.The method is simple and practical, but amount of calculation is bigger, and light is required than higher.But because MARK point itself is less, computational speed can reach requirement fully in the present invention.And at a relatively dim environment, light also is smaller to its influence.
As shown in Figure 4, the MARK1 on the silk screen, the centre coordinate of MARK2 is respectively (x
M1, y
M1), (x
M2, y
M2); MARK3 on the substrate, the centre coordinate of MARK4 is respectively (x
B1, y
B1), (x
B2, y
B2).At first, calculate the angle of deviation of silk screen and platform, calculate the angle of deviation of substrate and platform again, two differential seat angles are exactly the angle of deviation of silk screen and substrate.Because silk screen is fixed, so workbench is as long as this angle of deviation of adjustment just can make that the angle of substrate and silk screen is zero.The range deviation of last calculated level and vertical direction.Concrete computing formula is as follows:
The angle of deviation of silk screen and platform:
(2)
The angle of deviation of substrate and platform:
(3)
The angle of deviation of silk screen and substrate:
(4)
Calculate silk screen MARK and the level of substrate MARK and the deviation of vertical direction below:
Wherein,
,
is the constant of an origin.
(9)
With the offset distance of web plate be:
The angle and distance of movable workbench is:
Whole identification positioning process is accomplished, and workbench is made corresponding angle and position adjustment, just can print out respond well pcb board then.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.The scope of application of the present invention is extensive, is applicable to any type of MARK point shape.This method not only can be used for silk-screen printing device, also can use the contraposition between each device in the SMT line, even can be used for the occasion that any need are used for the CCD location.
The present invention does not relate to all identical with the prior art prior art that maybe can adopt of part and realizes.
Claims (4)
1. the localization method of novel silk screen seal ccd image identification is characterized in that, comprises step:
Pcb board (9) is sent to workbench portion (10) through the portion of importing into (6) and workbench transport part (12) and carries out the initial alignment clamping;
Obtain CCD location recognition template through the method for manually doing program;
MARK point through on pcb board (9) and the silk screen (5) calculates angular deviation and range deviation, and control workbench (10) is made corresponding position and angle adjustment;
Image collecting device (8) is moved to pcb board MARK point top; Take the MARK point of pcb board (9) and silk screen (5) respectively by CCD camera (15); Image that obtains and CCD location recognition template are mated, reach and print automatically after coupling requires.
2. the localization method of novel silk screen seal ccd image according to claim 1 identification is characterized in that: the method that passing through described in the step (b) manually cooked program obtains CCD location recognition template and comprises step:
Image collecting device (8) is moved to above the MARK point of pcb board (9), open light source under the light source (14), move CCD (15) center of view is overlapped with MARK dot center;
Move silk screen (5), the MARK point of silk screen (5) is tried one's best in the center of CCD view;
Ready-made MARK dot image is preserved the template as the identification of CCD location.
3. the localization method of novel silk screen seal ccd image according to claim 1 identification is characterized in that angular deviation described in the step (c) and range deviation calculate through the MARK point on pcb board (9) and the silk screen (5).
4. the localization method of novel silk screen seal ccd image according to claim 1 identification is characterized in that the images match described in the step (d) adopts the template matches method of identification to realize.
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| CN102873420A (en) * | 2012-09-28 | 2013-01-16 | 廖怀宝 | Method for positioning Mark points of PCB (printed circuit board) by image matching |
| CN102878941A (en) * | 2012-09-28 | 2013-01-16 | 廖怀宝 | Method for positioning Mark points of PCB (printed circuit board) by circular profile method |
| CN102927903A (en) * | 2012-10-23 | 2013-02-13 | 罗艺 | Method and device for checking surface-mounted-technology (SMT)-based printed circuit board (PCB) |
| CN102990179A (en) * | 2012-10-19 | 2013-03-27 | 廖怀宝 | Method for improving programming speed and precision of soldering robot by using computer-aided design (CAD) file |
| CN102990178A (en) * | 2012-10-19 | 2013-03-27 | 廖怀宝 | Method for improving programming speed and precision of soldering robot by using Gerber file |
| CN103252989A (en) * | 2013-04-15 | 2013-08-21 | 东莞市瑾耀精密设备有限公司 | Silk-screen printing machine based on CCD (charge coupled device) automatic alignment printing system |
| CN103383574A (en) * | 2013-06-03 | 2013-11-06 | 上海索广映像有限公司 | High-accuracy motion compensation positioning system and high-accuracy motion compensation positioning method |
| CN103419487A (en) * | 2013-09-04 | 2013-12-04 | 昆山市三星机械制造有限公司 | Full-automatic printing machine with deviation rectifying device |
| CN104494288A (en) * | 2014-11-28 | 2015-04-08 | 李峰 | Full-automatic solder paste printer with double-camera single-cleaning three-section type transporting guide rail |
| CN105196723A (en) * | 2015-11-05 | 2015-12-30 | 东莞市科隆威自动化设备有限公司 | Automatic steel mesh alignment method of silicon wafer printer |
| CN106979759A (en) * | 2017-04-16 | 2017-07-25 | 合肥芯碁微电子装备有限公司 | A kind of measurement apparatus and its measuring method of half tone plate-making silk screen angle |
| CN107525477A (en) * | 2016-06-22 | 2017-12-29 | 大族激光科技产业集团股份有限公司 | A kind of 5 points of identification CCD methods |
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| CN108364313A (en) * | 2018-01-16 | 2018-08-03 | 深圳市科视创科技有限公司 | A kind of method of automatic aligning, system and terminal device |
| CN108712826A (en) * | 2018-08-09 | 2018-10-26 | 深圳凯世光研股份有限公司 | A kind of pcb board Mark point identification devices and its recognition methods |
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Application publication date: 20120125 |