CN102636120A - Visual servo secondary locating system for LED (light emitting diode) chip and locating method of visual servo secondary locating system - Google Patents
Visual servo secondary locating system for LED (light emitting diode) chip and locating method of visual servo secondary locating system Download PDFInfo
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Abstract
The invention relates to a visual servo secondary locating system for an LED (light emitting diode) chip and a locating method of the visual servo secondary locating system. The system can increase the locating speed and the locating accuracy of the LED chip, reduce the false detection rate of the LED chip, and increase the productivity benefit. The visual servo secondary locating system for the LED chip comprises a base, an XY sliding table arranged on the base and used for placing the LED chip and driving the LED chip to move in X and Y directions, a driving device of the sliding table for driving the XY sliding table to move, a coarse locating camera installed at a fixed position opposite the base above the XY sliding table and capable of photographing more than two clear image signals of the LED chip on the XY sliding table within the same visual range each time, a fine locating camera installed at a fixed position opposite the base above the XY sliding table and capable of shooting one clear image signal of the LED chip on the XY sliding table within the same visual range each time, and a computer control device connected among the coarse locating camera, the fine locating camera and the driving device of the sliding table.
Description
Technical field
The present invention relates to the detection and location system of semi-conductor chip, particularly a kind of led chip visual servo second positioning system and localization method thereof that is suitable for led chip detection technique field is the positioning system of equipment such as machines, sorter, solid brilliant machine.
Background technology
At present, at international and domestic led chip detection range, the visual servo location technology is that focus is again a difficult point.Although developed equipment such as the led chip machines of moulding, solid brilliant machine abroad, it adopts the one camera location, and detection and location precision and accuracy are far from reaching below the 5um, particularly solid brilliant machine bearing accuracy, and present domestic bearing accuracy is about about 38um.It is poor that there is intrinsic bearing accuracy in the one-time positioning of a camera in theory, the chronic disease that locating speed is slow.Because a camera does not have thick fine positioning process, itself locating can not be accurately; And when the visual field changes (visual field must change when referring to scanning location and zero-point positioning here), adjust camera focus is the Z coordinate of motion platform, causes the time to be gone up and incurs loss through delay and the increase of motion platform expense.
Therefore, in application in the past, all adopt the one camera location, because the led chip location is inaccurate; Can't realize reliably that the accurate contraposition of led chip pin both positive and negative polarity detects; Therefore often make led chip good for use be the expense article by flase drop, artificially produce the subscription rate loss, one time direct loss are exactly more than 10,000 yuan.It is slow to add locating speed, and production efficiency is hanged down and waited loss, and year is with a toll of hundreds of thousands unit.
Summary of the invention
In order to solve in the prior art because the one camera bearing accuracy is low, locating speed is slow; Can't realize reliably that the accurate contraposition of led chip pin both positive and negative polarity detects, cause the false drop rate of chip to increase, artificially produce the big problem of subscription rate loss; The invention provides a kind of led chip visual servo second positioning system and localization method thereof; It can improve the locating speed and the bearing accuracy of led chip, reduces the false drop rate of led chip, improves productivity effect.
Technical scheme of the present invention is made up of following two parts:
One, scheme one:
A kind of led chip visual servo second positioning system is characterized in that: it comprises base, be installed on being used on the base place led chip and can drive led chip be XY to the XY slide unit that moves, be used for driving slide unit drive unit that the XY slide unit moves, be installed on XY slide unit top relatively the fixed position base place and at every turn can same take within sweep of the eye on the XY slide unit more than two clear led chip picture signal the coarse positioning camera, be installed on above the XY slide unit fixed position base place relatively and can take at the fine positioning camera of a clear led chip picture signal on the XY slide unit within sweep of the eye and be connected in the Computer Control Unit between coarse positioning camera, fine positioning camera and the slide unit drive unit same at every turn;
Said Computer Control Unit comprises with lower module: 1. template matches coarse positioning module: be connected with the coarse positioning camera; The each picture signal of taking of coarse positioning camera be can receive, and rough coordinates position Xc, the Yc at each led chip center of template matching algorithm rough calculation utilized according to this picture signal; 2. template matches fine positioning module: be connected with the fine positioning camera; The each picture signal of taking of fine positioning camera be can receive, and accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, the Δ Y at accurate coordinates position Xj, Yj and each led chip center at each led chip center of template matching algorithm accurate Calculation utilized according to this picture signal; 3. central processing module: be connected between template matches coarse positioning module, template matches fine positioning module and the slide unit drive unit; Can receive template matches coarse positioning module earlier calculates rough coordinates position Xc, the Yc at each led chip center that obtains and is stored to memory module; Then move through slide unit drive control device controls XY slide unit according to this rough coordinates position Xc, Yc; Make the XY slide unit drive the shooting center that each led chip center moves to the fine positioning camera successively; Drive the fine positioning camera and successively each led chip is taken and passed through accurate coordinates position Xj, Yj and accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, the Δ Y at each led chip center of template matches fine positioning module calculating; Accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, Δ Y according to each led chip center move through slide unit drive control device controls XY slide unit, make the XY slide unit drive each accurate contraposition in led chip center; 4. memory module: be connected with central processing module, can store rough coordinates position Xc, Yc, accurate coordinates position Xj, Yj and accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, the Δ Y of each led chip.
In the technique scheme of the present invention, said slide unit drive unit comprises servomotor, servo-driver, motion control card and grating chi; Servomotor, servo-driver and motion control card are connected in successively between XY slide unit and the central processing module and drive the XY slide unit according to the instruction of central processing module and move; The grating chi is installed on the XY slide unit to detect the displacement situation of XY slide unit; Grating chi and motion control card connection are to feed back to motion control card with its detected XY slide unit displacement situation.
Said coarse positioning camera adopts the camera lens of low enlargement ratio, and the fine positioning camera adopts the camera lens of high enlargement ratio.
Two, scheme two:
System carries out the pinpoint localization method of led chip with the described led chip visual servo second positioning of scheme one, and it is characterized in that: it may further comprise the steps:
(1) initialization: adjust the coarse positioning camera, make the visual field and the focal length of coarse positioning camera satisfy same take within sweep of the eye be positioned on the XY slide unit more than two clear led chip picture signal requirement; Adjust the fine positioning camera equally, make the visual field of fine positioning camera and focal length satisfy the requirement that is positioned at a clear led chip picture signal on the XY slide unit in same shooting within sweep of the eye;
(2) identification positioning:
1. at first carrying out the first time by the coarse positioning camera takes; And the image signal transmission of first group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned picture signal through template matches coarse positioning module, and utilizes the template matching algorithm rough calculation to go out rough coordinates position Xc, the Yc at each led chip center in first group of led chip;
2. central processing module moves through slide unit drive unit driving XY slide unit after; Make the XY slide unit drive second group of led chip and move to coarse positioning camera shooting area; Drive the coarse positioning camera and carry out the shooting second time; And the image signal transmission of second group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned picture signal through template matches coarse positioning module, and utilizes the template matching algorithm rough calculation to go out rough coordinates position Xc, the Yc at each led chip center in second group of led chip;
3. then by that analogy; According to step method 2. in identification positioning; Coarse positioning camera, central processing module, template matches coarse positioning module, slide unit drive unit and XY slide unit cooperatively interact behind the rough coordinates position Xc that takes and calculate all the other each led chip centers of respectively organizing led chip successively, the Yc, and the rough coordinates position Xc, the Yc that calculate each led chip center that obtains are deposited in the memory module;
(3) secondary identification positioning:
1. central processing module is transferred rough coordinates position Xc, the Yc that identification positioning obtained and deposited in each led chip center of memory module; Drive the XY slide unit according to this rough coordinates position Xc, Yc; Make first led chip center of first group of led chip move on to the shooting center of fine positioning camera, and as zero point; The fine positioning of central processing module triggering afterwards camera carries out the first time and takes; And the image signal transmission of first led chip of first group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned picture signal through template matches fine positioning module; Calculate accurate coordinates position Xj, the Yj at first led chip center of first group of led chip; Relatively obtain deviation coordinate Δ X, the Δ Y of accurate coordinates position Xj, Yj and rough coordinates position Xc, Yc again with former rough coordinates position Xc, Yc; Central processing module drives the XY slide unit through the slide unit drive unit and moves according to this deviation coordinate Δ X, Δ Y, makes the XY slide unit drive first accurate contraposition in led chip center of first group of led chip;
2. then central processing module drives the XY slide unit, makes second led chip center of first group of led chip move on to the shooting center of fine positioning camera; The fine positioning of central processing module triggering afterwards camera carries out the second time and takes; And the image signal transmission of second led chip of first group of led chip will taking is given Computer Control Unit; Picture signal is discerned through template matches fine positioning module by Computer Control Unit; Calculate accurate coordinates position Xj, the Yj at second led chip center of first group of led chip; Relatively obtain deviation coordinate Δ X, the Δ Y of accurate coordinates position Xj, Yj and rough coordinates position Xc, Yc again with former rough coordinates position Xc, Yc; Central processing module drives the XY slide unit through the slide unit drive unit and moves according to this deviation coordinate Δ X, Δ Y, makes the XY slide unit drive second accurate contraposition in led chip center of first group of led chip;
3. afterwards by that analogy; According to step method 2. in the secondary identification positioning, cooperatively interact all the other each led chip centers of accomplishing first group of led chip successively and all the other of central processing module, fine positioning camera, template matches fine positioning module, slide unit drive unit and XY slide unit are respectively organized the accurate contraposition at each led chip center of led chip.
Compared to prior art, the invention has the advantages that:
(1) the present invention not only can improve the locating speed and the bearing accuracy of led chip; Reduce the false drop rate of led chip, the qualification rate that makes detection and location very improves productivity effect; Can also be rotated the location to led chip, two cameras are thick smart to be detected and has reduced automatic focusing program and carry that to laugh at efficient true.
(2) the present invention has reduced the focusing z axle location of XY slide unit, has reduced the production cost of machine.Practice thrift 10,000 yuan of calculating of cost by every, produce 5000 of each machines per year, benefit is exactly 5,000 ten thousand, has improved productivity effect greatly.
Description of drawings
Fig. 1 is the image of single led chip, also is in order to the template of Matching Location in template matches coarse positioning module and the template matches fine positioning module.
Fig. 2 is the field range of typical coarse positioning camera, comprises 9 led chips among the figure.
Fig. 3 is the theory diagram of led chip visual servo second positioning of the present invention system.
Fig. 4 is the structural representation of led chip visual servo second positioning of the present invention system.
Fig. 5 is a kind of program flow diagram of template matching algorithm in template matches coarse positioning module and the template matches fine positioning module.
Label declaration among the figure: 1, base, 2, the XY slide unit, 3, the coarse positioning camera, 4, the fine positioning camera; 5, template matches coarse positioning module, 6, template matches fine positioning module, 7, central processing module, 8, memory module; 9, servomotor, 10, servo-driver, 11, motion control card, 12, the grating chi; 13, be loaded with the wafer of led chip, 14, the camera lens of coarse positioning camera, 15, the camera lens of fine positioning camera.
Embodiment
Below in conjunction with Figure of description and embodiment content of the present invention is elaborated:
One, embodiment one:
Like Fig. 3-shown in Figure 4 is a kind of led chip visual servo second positioning provided by the invention system, it is characterized in that: it comprises base 1, be installed on being used on the base 1 place led chip and can drive led chip be XY to the XY slide unit 2 that moves, be used for driving slide unit drive unit that XY slide unit 2 moves, be installed on relative base 1 stationkeeping place, XY slide unit 2 tops and at every turn can same take within sweep of the eye on the XY slide unit 2 more than two clear led chip picture signal coarse positioning camera 3, be installed on above the XY slide unit 2 base 1 stationkeeping place relatively and can take at the fine positioning camera 4 of a clear led chip picture signal on the XY slide unit 2 within sweep of the eye and be connected in the Computer Control Unit between coarse positioning camera 3, fine positioning camera 4 and the slide unit drive unit same at every turn;
Said Computer Control Unit comprises with lower module: 1. template matches coarse positioning module 5: be connected with coarse positioning camera 3; Coarse positioning camera 3 each picture signals of taking be can receive, and rough coordinates position Xc, the Yc at each led chip center of template matching algorithm rough calculation utilized according to this picture signal; 2. template matches fine positioning module 6: be connected with fine positioning camera 4; Fine positioning camera 4 each picture signals of taking be can receive, and accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, the Δ Y at accurate coordinates position Xj, Yj and each led chip center at each led chip center of template matching algorithm accurate Calculation utilized according to this picture signal; 3. central processing module 7: be connected between template matches coarse positioning module 5, template matches fine positioning module 6 and the slide unit drive unit; Can receive template matches coarse positioning module 5 earlier calculates rough coordinates position Xc, the Yc at each led chip center that obtains and is stored to memory module 8; Then move through slide unit drive control device controls XY slide unit 2 according to this rough coordinates position Xc, Yc; Make XY slide unit 2 drive the shooting center that each led chip center moves to fine positioning camera 4 successively; Drive fine positioning camera 4 and successively each led chip is taken and passed through accurate coordinates position Xj, Yj and accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, the Δ Y at template matches fine positioning module 6 each led chip centers of calculating; Accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, Δ Y according to each led chip center move through slide unit drive control device controls XY slide unit 2, make XY slide unit 2 drive each accurate contraposition in led chip center; 4. memory module 8: be connected with central processing module 7, can store rough coordinates position Xc, Yc, accurate coordinates position Xj, Yj and accurate coordinates position Xj, Yj and rough coordinates position Xc, the deviation coordinate Δ X of Yc, the Δ Y of each led chip.
Said slide unit drive unit comprises servomotor 9, servo-driver 10, motion control card 11 and grating chi 12; Servomotor 9, servo-driver 10 and motion control card 11 are connected in successively between XY slide unit 2 and the central processing module 7 and drive XY slide unit 2 according to the instruction of central processing module 7 and move; Grating chi 12 is installed on the XY slide unit 2 to detect the displacement situation of XY slide unit 2; Grating chi 12 is connected with motion control card 11 so that its detected XY slide unit 2 displacement situation are fed back to motion control card 11.
Said coarse positioning camera 3 adopts the camera lens (like the camera lens of 1 times of enlargement ratio) of low enlargement ratio, and fine positioning camera 4 adopts the camera lens (like the camera lens of 5 times of enlargement ratios) of high enlargement ratio.
Two, embodiment two:
System carries out the pinpoint localization method of led chip with the described led chip visual servo second positioning of embodiment one, and it is characterized in that: it may further comprise the steps:
1, initialization: adjust coarse positioning camera 3, make the visual field and the focal length of coarse positioning camera 3 satisfy same take within sweep of the eye be positioned on the XY slide unit 2 more than two clear led chip picture signal requirement; Adjust fine positioning camera 4 equally, make the visual field of fine positioning camera 4 and focal length satisfy the requirement that is positioned at a clear led chip picture signal on the XY slide unit 2 in same shooting within sweep of the eye;
2, identification positioning:
1. at first carrying out the first time by coarse positioning camera 3 takes; And the image signal transmission of first group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned through 5 pairs of picture signals of template matches coarse positioning module, and utilizes the template matching algorithm rough calculation to go out rough coordinates position Xc, the Yc at each led chip center in first group of led chip;
At every turn can be at the same coarse positioning camera 3 of clear led chip picture signal more than two be positioned on the XY slide unit 2 of taking within sweep of the eye
2. central processing module 7 moves through slide unit drive unit driving XY slide unit 2 after; Make XY slide unit 2 drive second group of led chip and move to coarse positioning camera 3 shooting areas; Drive coarse positioning camera 3 and carry out the shooting second time; And the image signal transmission of second group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned through 5 pairs of picture signals of template matches coarse positioning module, and utilizes the template matching algorithm rough calculation to go out rough coordinates position Xc, the Yc at each led chip center in second group of led chip;
3. then by that analogy; According to step method 2. in identification positioning; Coarse positioning camera 3, central processing module 7, template matches coarse positioning module 5, slide unit drive unit and XY slide unit 2 cooperatively interact behind the rough coordinates position Xc that takes and calculate all the other each led chip centers of respectively organizing led chip successively, the Yc, and the rough coordinates position Xc, the Yc that calculate each led chip center that obtains are deposited in the memory module 8;
During an identification positioning; The wafer 13 that is loaded with led chip is positioned on the XY slide unit 2; Can led chip be divided into many groups in the quantity of the same led chip of taking within sweep of the eye according to coarse positioning camera 3 at every turn, take successively, the quantity of the led chip that comprises in every group of led chip at every turn can be consistent in the quantity of the same led chip of shooting within sweep of the eye with coarse positioning camera 3; In Fig. 2, comprise 9 led chips in every group of led chip.
3, secondary identification positioning:
1. central processing module 7 is transferred rough coordinates position Xc, the Yc that identification positioning obtained and deposited in each led chip center of memory module 8; Drive XY slide unit 2 according to this rough coordinates position Xc, Yc; Make first led chip center of first group of led chip move on to the shooting center of fine positioning camera 4, and as zero point; Central processing module 7 triggering fine positioning cameras 4 carry out the shooting first time afterwards; And the image signal transmission of first led chip of first group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned through 6 pairs of picture signals of template matches fine positioning module; Calculate accurate coordinates position Xj, the Yj at first led chip center of first group of led chip; Relatively obtain deviation coordinate Δ X, the Δ Y of accurate coordinates position Xj, Yj and rough coordinates position Xc, Yc again with former rough coordinates position Xc, Yc; Central processing module 7 drives XY slide unit 2 through the slide unit drive unit and moves according to this deviation coordinate Δ X, Δ Y, makes XY slide unit 2 drive first accurate contraposition in led chip center of first group of led chip;
2. then central processing module 7 drives XY slide units 2, makes second led chip center of first group of led chip move on to the shooting center of fine positioning camera 4; Central processing module 7 triggering fine positioning cameras 4 carry out the shooting second time afterwards; And the image signal transmission of second led chip of first group of led chip will taking is given Computer Control Unit; Discern through 6 pairs of picture signals of template matches fine positioning module by Computer Control Unit; Calculate accurate coordinates position Xj, the Yj at second led chip center of first group of led chip; Relatively obtain deviation coordinate Δ X, the Δ Y of accurate coordinates position Xj, Yj and rough coordinates position Xc, Yc again with former rough coordinates position Xc, Yc; Central processing module 7 drives XY slide unit 2 through the slide unit drive unit and moves according to this deviation coordinate Δ X, Δ Y, makes XY slide unit 2 drive second accurate contraposition in led chip center of first group of led chip;
3. afterwards by that analogy; According to step method 2. in the secondary identification positioning, cooperatively interact all the other each led chip centers of accomplishing first group of led chip successively and all the other of central processing module 7, fine positioning camera 4, template matches fine positioning module 6, slide unit drive unit and XY slide unit 2 are respectively organized the accurate contraposition at each led chip center of led chip.
In template matches coarse positioning module 5 and template matches fine positioning module 6; Adopt following small echo point template matching algorithm as template matching algorithm: to utilize the db1 small echo that the led chip image of taking is carried out multiple dimensioned decomposition earlier, obtain level, vertical and cornerwise wavelet coefficient; Then, it is relevant that coefficient of dissociation is carried out the displacement of multiple dimensioned substep respectively, obtains the two-value location drawing of level, vertical and diagonal edges behind the thresholding; At last, utilize the level that obtains, the vertical and complete led chip angle point image of diagonal line picture construction, extract the angle point characteristic of led chip image; To the led chip image angle point that extracts; Take local coupling to add two step match search strategies of global registration; The accurate Calculation of utilizing least square method to carry out offset parameter realizes Point Pattern Matching; Utilize the VC programming to realize the specifically labelled Point Pattern Matching program of led chip, thereby realize hi-Fix.The program flow diagram of template matching algorithm is referring to shown in Figure 5.
In the specific implementation, template matches coarse positioning module 5 also can adopt existing gray scale template matching algorithm or geometric template matching algorithm or other various template matching algorithms with template matches fine positioning module 6.
Claims (5)
1. led chip visual servo second positioning system is characterized in that: it comprises base (1), be installed on being used on the base (1) place led chip and can drive led chip be XY to the XY slide unit (2) that moves, be used for driving slide unit drive unit that XY slide unit (2) moves, be installed on XY slide unit (2) top relatively base (1) stationkeeping place and at every turn can same take within sweep of the eye be positioned on the XY slide unit (2) more than two clear led chip picture signal coarse positioning camera (3), be installed on base (1) stationkeeping place and can be positioned at the fine positioning camera (4) of a clear led chip picture signal on the XY slide unit (2) and be connected in the Computer Control Unit between coarse positioning camera (3), fine positioning camera (4) and the slide unit drive unit same the shooting within sweep of the eye at every turn relatively, XY slide unit (2) top;
Said Computer Control Unit comprises with lower module: 1. template matches coarse positioning module (5): be connected with coarse positioning camera (3); Can receive the each picture signal of taking of coarse positioning camera (3), and utilize the rough coordinates position (Xc, Yc) at each led chip center of template matching algorithm rough calculation according to this picture signal; 2. template matches fine positioning module (6): be connected with fine positioning camera (4); The each picture signal of taking of fine positioning camera (4) be can receive, and accurate coordinates position (Xj, Yj) and the accurate coordinates position (Xj, Yj) at each led chip center and the deviation coordinate (Δ X, Δ Y) of rough coordinates position (Xc, Yc) at each led chip center of template matching algorithm accurate Calculation utilized according to this picture signal; 3. central processing module (7): be connected between template matches coarse positioning module (5), template matches fine positioning module (6) and the slide unit drive unit; Can receive template matches coarse positioning module (5) earlier calculates the rough coordinates position (Xc, Yc) at each led chip center that obtains and is stored to memory module (8); Then move through slide unit drive control device controls XY slide unit (2) according to this rough coordinates position (Xc, Yc); Make XY slide unit (2) drive the shooting center that each led chip center moves to fine positioning camera (4) successively; Drive that fine positioning camera (4) is taken each led chip successively and calculate the deviation coordinate (Δ X, Δ Y) of accurate coordinates position (Xj, Yj) and accurate coordinates position (Xj, Yj) and the rough coordinates position (Xc, Yc) at each led chip center through template matches fine positioning module (6); Accurate coordinates position (Xj, Yj) according to each led chip center is mobile through slide unit drive control device controls XY slide unit (2) with the deviation coordinate (Δ X, Δ Y) of rough coordinates position (Xc, Yc), makes XY slide unit (2) drive each accurate contraposition in led chip center; 4. memory module (8): be connected with central processing module (7), can store the deviation coordinate (Δ X, Δ Y) of rough coordinates position (Xc, Yc), accurate coordinates position (Xj, Yj) and accurate coordinates position (Xj, Yj) with the rough coordinates position (Xc, Yc) of each led chip.
2. led chip visual servo second positioning according to claim 1 system, it is characterized in that: said slide unit drive unit comprises servomotor (9), servo-driver (10), motion control card (11) and grating chi (12); Servomotor (9), servo-driver (10) and motion control card (11) are connected in successively between XY slide unit (2) and the central processing module (7) and drive XY slide unit (2) according to the instruction of central processing module (7) and move; Grating chi (12) is installed on XY slide unit (2) and goes up to detect the displacement situation of XY slide unit (2); Grating chi (12) is connected with motion control card (11) so that its detected XY slide unit (2) displacement situation is fed back to motion control card (11).
3. led chip visual servo second positioning according to claim 1 system is characterized in that: said coarse positioning camera (3) adopts the camera lens of low enlargement ratio, and fine positioning camera (4) adopts the camera lens of high enlargement ratio.
4. carry out the pinpoint localization method of led chip with each described led chip visual servo second positioning system among the claim 1-3, it is characterized in that: it may further comprise the steps:
(1) initialization: adjust coarse positioning camera (3), make the visual field and the focal length of coarse positioning camera (3) satisfy same take within sweep of the eye be positioned on the XY slide unit (2) more than two clear led chip picture signal requirement; Adjust fine positioning camera (4) equally, make the visual field of fine positioning camera (4) and focal length satisfy the requirement that is positioned at a clear led chip picture signal on the XY slide unit (2) in same shooting within sweep of the eye;
(2) identification positioning:
1. at first carrying out the first time by coarse positioning camera (3) takes; And the image signal transmission of first group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned picture signal through template matches coarse positioning module (5), and utilizes the template matching algorithm rough calculation to go out the rough coordinates position (Xc, Yc) at each led chip center in first group of led chip;
2. central processing module (7) moves through slide unit drive unit driving XY slide unit (2) after; Make XY slide unit (2) drive second group of led chip and move to coarse positioning camera (3) shooting area; Drive coarse positioning camera (3) and carry out the shooting second time; And the image signal transmission of second group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned picture signal through template matches coarse positioning module (5), and utilizes the template matching algorithm rough calculation to go out the rough coordinates position (Xc, Yc) at each led chip center in second group of led chip;
3. then by that analogy; According to step method 2. in identification positioning; After coarse positioning camera (3), central processing module (7), template matches coarse positioning module (5), slide unit drive unit and XY slide unit (2) cooperatively interact and take and calculate all the other rough coordinates positions of respectively organizing each led chip center of led chip (Xc, Yc) successively, the rough coordinates position (Xc, Yc) of calculating each led chip center that obtains is deposited in the memory module (8);
(3) secondary identification positioning:
1. central processing module (7) is transferred the rough coordinates position (Xc, Yc) that identification positioning obtained and deposited in each led chip center of memory module (8); Drive XY slide unit (2) according to this rough coordinates position (Xc, Yc); Make first led chip center of first group of led chip move on to the shooting center of fine positioning camera (4), and as zero point; Central processing module (7) triggering fine positioning camera (4) carries out the shooting first time afterwards; And the image signal transmission of first led chip of first group of led chip will taking is given Computer Control Unit; Computer Control Unit is discerned picture signal through template matches fine positioning module (6); Calculate the accurate coordinates position (Xj, Yj) at first led chip center of first group of led chip; Relatively obtain the deviation coordinate (Δ X, Δ Y) of accurate coordinates position (Xj, Yj) and rough coordinates position (Xc, Yc) again with former rough coordinates position (Xc, Yc); Central processing module (7) drives XY slide unit (2) according to this deviation coordinate (Δ X, Δ Y) through the slide unit drive unit and moves, and makes XY slide unit (2) drive first accurate contraposition in led chip center of first group of led chip;
2. then central processing module (7) drives XY slide unit (2), makes second led chip center of first group of led chip move on to the shooting center of fine positioning camera (4); Central processing module (7) triggering fine positioning camera (4) carries out the shooting second time afterwards; And the image signal transmission of second led chip of first group of led chip will taking is given Computer Control Unit; Picture signal is discerned through template matches fine positioning module (6) by Computer Control Unit; Calculate the accurate coordinates position (Xj, Yj) at second led chip center of first group of led chip; Relatively obtain the deviation coordinate (Δ X, Δ Y) of accurate coordinates position (Xj, Yj) and rough coordinates position (Xc, Yc) again with former rough coordinates position (Xc, Yc); Central processing module (7) drives XY slide unit (2) according to this deviation coordinate (Δ X, Δ Y) through the slide unit drive unit and moves, and makes XY slide unit (2) drive second accurate contraposition in led chip center of first group of led chip;
3. afterwards by that analogy; According to step method 2. in the secondary identification positioning, cooperatively interact all the other each led chip centers of accomplishing first group of led chip successively and all the other of central processing module (7), fine positioning camera (4), template matches fine positioning module (6), slide unit drive unit and XY slide unit (2) are respectively organized the accurate contraposition at each led chip center of led chip.
5. localization method according to claim 4; It is characterized in that: in template matches coarse positioning module (5) and template matches fine positioning module (6); Adopt following small echo point template matching algorithm as template matching algorithm: to utilize the db1 small echo that the led chip image of taking is carried out multiple dimensioned decomposition earlier, obtain level, vertical and cornerwise wavelet coefficient; Then, it is relevant that coefficient of dissociation is carried out the displacement of multiple dimensioned substep respectively, obtains the two-value location drawing of level, vertical and diagonal edges behind the thresholding; At last, utilize the level that obtains, the vertical and complete led chip angle point image of diagonal line picture construction, extract the angle point characteristic of led chip image; To the led chip image angle point that extracts; Take local coupling to add two step match search strategies of global registration; The accurate Calculation of utilizing least square method to carry out offset parameter realizes Point Pattern Matching; Utilize the VC programming to realize the specifically labelled Point Pattern Matching program of led chip, thereby realize hi-Fix.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210143219.8A CN102636120B (en) | 2012-05-10 | 2012-05-10 | Visual servo secondary locating system for LED (light emitting diode) chip and locating method of visual servo secondary locating system |
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| CN201210143219.8A CN102636120B (en) | 2012-05-10 | 2012-05-10 | Visual servo secondary locating system for LED (light emitting diode) chip and locating method of visual servo secondary locating system |
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| CN102636120A true CN102636120A (en) | 2012-08-15 |
| CN102636120B CN102636120B (en) | 2014-07-16 |
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| CN115628685B (en) * | 2022-08-15 | 2024-03-26 | 魅杰光电科技(上海)有限公司 | Method and equipment for measuring critical dimension and method for classifying and positioning critical dimension |
| CN117173389A (en) * | 2023-08-23 | 2023-12-05 | 无锡芯智光精密科技有限公司 | Visual positioning method of die bonder based on contour matching |
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