CN103645743A - Vision alignment control system and method thereof - Google Patents
Vision alignment control system and method thereof Download PDFInfo
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- CN103645743A CN103645743A CN201310674958.4A CN201310674958A CN103645743A CN 103645743 A CN103645743 A CN 103645743A CN 201310674958 A CN201310674958 A CN 201310674958A CN 103645743 A CN103645743 A CN 103645743A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims description 33
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000013178 mathematical model Methods 0.000 claims description 8
- 239000012528 membrane Substances 0.000 abstract description 34
- 238000009434 installation Methods 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 abstract 1
- 238000004088 simulation Methods 0.000 abstract 1
- 239000000758 substrate Substances 0.000 description 36
- 239000000463 material Substances 0.000 description 4
- 238000003491 array Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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Abstract
The invention relates to the field of display technology and particularly relates to a vision alignment control system capable of realizing high precision alignment installation and a method thereof. According to the vision alignment control system, through a fixed device detection lens, a mobile device detection lens, a simulation calculation device and a mechanical execution device, the high precision attachment of a membrane is realized, and the limitation of low precision of the traditional working is completely solved. The detection lens is employed, the precision can reach 0.002mm, the precision is raised by more than 100 times compared with the mechanical positioning, and the product attachment precision reaches 0.05mm. The rapid attachment and accurate attachment are realized at the same time so as to realize the high quality requirement of the product, the condition of invested products can be monitored in real time, the influence of a bad product on the quality requirement is eliminated, and the system and the method completely keep pace with the rapid development of the electronics industry.
Description
Technical field
The present invention relates to display technique field, particularly a kind of visual-alignment control system and method that can realize high precision contraposition installation.
Background technology
At present, in display device manufacturing technology field, in industry, backlight film material is attached, backlight and LCD attaching waits the also manual work mode based on traditional of work, the not high product of some accuracy requirements is coordinated to customization tool, can meet basic attaching quality requirements, but the fast development along with electron trade, product quality requirement more and more higher, existing manual working is by tool or mechanical module, moving device first to be positioned, immobilising device is placed on fixing positioning fixture, by mechanical arm, moving device product is attached on immobilising device product, the advantage of the method is that cost is not high, can meet the product that precision is not high and attach requirement, but, this kind of operating type is along with the raising of product requirement, weak point is embodying gradually also, existing operating type mainly contains the following aspects deficiency:
The first, tool is made and is had trueness error, and stability is not high;
The second, personnel's operation randomness is larger, and personnel state and experience are larger on the impact of production quality;
The 3rd, operating efficiency is not high, and product operation is difficult to realize pipeline system mode;
The 4th, can not show in time half-finished quality situation that drops into.
Be subject to the restriction of above several aspects factor, make the benefit of enterprise not high, manual work mode cannot be realized the quality requirements of high-precision product, cannot meet the growing requirement of electron trade, has seriously limited the development of enterprise.
Therefore, need to provide a kind of high-precision visual-alignment control system and method to address the above problem.
Summary of the invention
Technical matters solved by the invention is to provide a kind of visual-alignment control system and method; This visual-alignment control system has realized accurate laminating by immobilising device detector lens, moving device detector lens and analogy computing device.
The object of the invention is to be achieved through the following technical solutions: a kind of visual-alignment control system, this visual-alignment control system comprises:
Immobilising device detector lens, for detection of reference angle gauge point coordinate and the target angle gauge point coordinate of immobilising device;
Moving device detector lens, for detection of reference angle gauge point coordinate and the rotation angle gauge point coordinate of moving device;
Analogy computing device, be used for according to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate calculate the displacement to be adjusted of angle to be adjusted and the described moving device of described moving device, and edit steering order;
Mechanical actuating unit, for installing moving device and immobilising device contraposition according to steering order.
Further, at least comprise two described immobilising device detector lens, the corresponding reference angle gauge point coordinate that detects described immobilising device of immobilising device detector lens described in one of them, the corresponding target angle gauge point coordinate that detects described immobilising device of immobilising device detector lens described in another.
Further, at least comprise two described moving device detector lens, the corresponding reference angle gauge point coordinate that detects described moving device of moving device detector lens described in one of them, the corresponding rotation angle gauge point coordinate that detects described moving device of moving device detector lens described in another.
Further, described analogy computing device is provided with the angle mathematical model to be adjusted of the moving device of setting up according to following mathematical formulae;
θ=θ
2-θ
1
Wherein, θ
1angle on target for immobilising device; θ
2misalignment angle for moving device; θ is the angle to be adjusted of moving device; X1 is the X-direction coordinate figure of the reference angle gauge point of immobilising device; Y1 is the Y-direction coordinate figure of the reference angle gauge point of immobilising device; X2 is the X-direction coordinate figure of the target angle gauge point of immobilising device; Y2 is the Y-direction coordinate figure of the target angle gauge point of immobilising device; X3 is the X-direction coordinate figure of the reference angle gauge point of moving device; Y3 is the Y-direction coordinate figure of the reference angle gauge point of moving device; X4 is the X-direction coordinate figure of the rotation angle gauge point of moving device; Y4 is the Y-direction coordinate figure of the rotation angle gauge point of moving device.
Further, described mechanical actuating unit comprises moving device rotating mechanism, for according to the rotation angle gauge point coordinate of moving device described in the angular setting to be adjusted of described moving device, the angle of moving device and described immobilising device is consistent.
Further, described analogy computing device is provided with the displacement mathematical model to be adjusted of the moving device of setting up according to following mathematical formulae;
X=X5—X2，Y=Y5—Y2；
Wherein, the X-direction displacement to be adjusted that X is moving device; Y is the Y-direction of moving device displacement to be adjusted; X2 is the X-direction coordinate figure of the target angle gauge point of immobilising device; Y2 is the Y-direction coordinate figure of the target angle gauge point of immobilising device; X5 is the X-direction coordinate figure of the rotation angle gauge point of the rear moving device of rotation; Y5 is the Y-direction coordinate figure of the rotation angle gauge point of the rear moving device of rotation.
Further, described mechanical actuating unit also comprises moving device displacement mechanism, for adjust the position of described moving device according to the displacement to be adjusted of described moving device, make the reference angle gauge point coordinate of described moving device consistent with reference angle gauge point coordinate and the target angle gauge point coordinate of described immobilising device respectively with rotation angle gauge point coordinate.
Further, described immobilising device detector lens is all connected with described analogy computing device with described moving device detector lens, and described mechanical actuating unit is connected with described analogy computing device.
Further, described moving device rotating mechanism is all connected with described analogy computing device with described moving device displacement mechanism.
The present invention also provides a kind of visual-alignment control method, it is characterized in that, comprises the steps:
By immobilising device detector lens, detect reference angle gauge point coordinate and the target angle gauge point coordinate of immobilising device, and by moving device detector lens, detect reference angle gauge point coordinate and the rotation angle gauge point coordinate of moving device;
According to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate, by analogy computing device, calculate the angle to be adjusted of described moving device;
Mechanical actuating unit rotates moving device according to angle to be adjusted, makes the angle on target of immobilising device and the misalignment angle of moving device consistent;
According to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate, by analogy computing device, calculate the displacement to be adjusted of described moving device;
Mechanical actuating unit by moving device displacement, installs immobilising device and moving device contraposition according to displacement to be adjusted.
The present invention compared with prior art has advantages of following: visual-alignment control system of the present invention, by immobilising device detector lens, moving device detector lens, analogy computing device and mechanical actuating unit, the high precision that has realized film material attaches, solved the not high restriction of traditional work precision completely, adopt detector lens, precision can reach 0.002mm, more mechanical positioning precision has improved more than 100 times, product attaches precision and has reached 0.05mm, realize fast simultaneously, accurately attach, to realize the high-quality requirement of product, can drop into product situation by Real-Time Monitoring, throw except the impact of bad product on quality requirements, catch up with the paces of electron trade high speed development completely.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the coordinate schematic diagram of immobilising device of the present invention;
Fig. 2 is the coordinate schematic diagram of moving device of the present invention;
Fig. 3 is the block diagram of visual-alignment control method of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
The present embodiment specifically provides a kind of visual-alignment control system, and this visual-alignment control system comprises:
Immobilising device detector lens for detection of reference angle gauge point coordinate and the target angle gauge point coordinate of immobilising device;
Moving device detector lens for detection of reference angle gauge point coordinate and the rotation angle gauge point coordinate of moving device;
Analogy computing device, be used for according to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate calculate the displacement to be adjusted of angle to be adjusted and the described moving device of described moving device, and edit steering order;
Mechanical actuating unit, for installing moving device and immobilising device contraposition according to steering order.
Described immobilising device detector lens is all connected with described analogy computing device with described moving device detector lens, and described mechanical actuating unit is connected with described analogy computing device.
By visual-alignment control system of the present invention, can realize the work such as electron trade film material attaches, backlight and LCD laminating, take color membrane substrates and illustrate visual-alignment control system of the present invention as example below.
As depicted in figs. 1 and 2, wherein, Fig. 1 is color membrane substrates, and Fig. 2 is array base palte, can be that color membrane substrates is immobilising device, array base palte is moving device, by visual-alignment control system of the present invention, array base palte being fitted on color membrane substrates, can be also that array base palte is immobilising device, and color membrane substrates is moving device, by visual-alignment control system, color membrane substrates is fitted on array base palte, moving device is relative corresponding relation with immobilising device.The present embodiment be take color membrane substrates as immobilising device, and array base palte is that moving device is described in detail visual-alignment control system of the present invention.
Visual-alignment control system of the present invention comprises two color membrane substrates detector lens, choose two corner mark coordinates of color membrane substrates, according to 2 principles of determining a straight line, can select any two angles, the present embodiment be take A1 angle and B1 angle and is described as example, wherein A1 is reference angle, and B1 is target angle.
The corresponding reference angle gauge point coordinate that detects color membrane substrates of one of them color membrane substrates detector lens is (X1, Y1) that the corresponding target angle gauge point coordinate that detects color membrane substrates of another color membrane substrates detector lens, is (X2, Y2).
Corresponding with color membrane substrates detector lens, be also provided with two array base palte detector lens, choose two corner mark corresponding with color membrane substrates, be respectively A2 angle and B2 angle, wherein A2 is reference angle, B2 is rotation angle.
The reference angle gauge point coordinate of the corresponding detection arrays substrate of one of them array base palte detector lens is (X3, Y3) that the rotation angle gauge point coordinate of the corresponding detection arrays substrate of another array base palte detector lens, is (X4, Y4).
Analogy computing device is provided with the angle mathematical model to be adjusted of the array base palte of setting up according to following mathematical formulae;
θ=θ
2-θ
1
Wherein, θ
1angle on target for color membrane substrates; θ
2misalignment angle for array base palte; θ is the angle to be adjusted of array base palte; X1 is the X-direction coordinate figure of the reference angle gauge point of color membrane substrates; Y1 is the Y-direction coordinate figure of the reference angle gauge point of color membrane substrates; X2 is the X-direction coordinate figure of the target angle gauge point of color membrane substrates; Y2 is the Y-direction coordinate figure of the target angle gauge point of color membrane substrates; X3 is the X-direction coordinate figure of the reference angle gauge point of array base palte; Y3 is the Y-direction coordinate figure of the reference angle gauge point of array base palte; X4 is the X-direction coordinate figure of the rotation angle gauge point of array base palte; Y4 is the Y-direction coordinate figure of the rotation angle gauge point of array base palte.
Analogy computing device is also provided with the displacement mathematical model to be adjusted of the array base palte of setting up according to following mathematical formulae;
X=X5—X2，Y=Y5—Y2；
Wherein, the X-direction displacement to be adjusted that X is array base palte; Y is the Y-direction of array base palte displacement to be adjusted; X2 is the X-direction coordinate figure of the target angle gauge point of color membrane substrates; Y2 is the Y-direction coordinate figure of the target angle gauge point of color membrane substrates; X5 is the X-direction coordinate figure of the rotation angle gauge point of the rear array base palte of rotation; Y5 is the Y-direction coordinate figure of the rotation angle gauge point of the rear array base palte of rotation.
Be in particular: analogy computing device comprises: PLC control system and vision control system.PLC control system mainly realizes the whole control flow of visual-alignment control system, according to received signal instruction, carries out action accordingly; Vision control system is mainly that each position coordinates of product is carried out to mark, and draws angle and the displacement of institute's conduct according to angle mathematical model to be adjusted and displacement mathematical model to be adjusted, thereby reaches high-precision vision location.
Described mechanical actuating unit comprises array base palte rotating mechanism and array base palte displacement mechanism, and array base palte rotating mechanism is all connected with analogy computing device with color membrane substrates displacement mechanism.Array base palte rotating mechanism, for according to the rotation angle gauge point coordinate of the angular setting array base palte to be adjusted of array base palte, is consistent the angle of array base palte and color membrane substrates.Array base palte displacement mechanism is for adjusting the position of array base palte according to the displacement to be adjusted of array base palte, make the reference angle gauge point coordinate of array base palte consistent with reference angle gauge point coordinate and the target angle gauge point coordinate of color membrane substrates respectively with rotation angle gauge point coordinate, the coordinate that is A2 and A1 is consistent, and the coordinate of B2 and B1 is consistent.
By above-mentioned visual-alignment control system make color membrane substrates and array base palte contraposition accurate, reach accurate laminating, to realize the high-quality requirement of product, can drop into product situation by Real-Time Monitoring, throw except the impact of bad product on quality requirements, principle of work is particularly: first visual-alignment control system of the present invention needs to store the characteristic image of captured parts, be memory image, each characteristic image of taking can contrast with memory image later, whether the similarity judgement product by two images is qualified, it is qualified that similarity degree is more judged to be, similarity degree is less be judged to be defective, by mechanical actuating unit, substandard product is thrown and removed, realized mechanized operation completely, improved operating efficiency, automaticity is high.
As shown in Figure 3, take color membrane substrates and array base palte as example detailed description a kind of visual-alignment control method of the present invention, the method specifically comprises the steps:
By color membrane substrates detector lens, detect reference angle gauge point coordinate and the target angle gauge point coordinate of color membrane substrates, and by reference angle gauge point coordinate and the rotation angle gauge point coordinate of array base palte detector lens detection arrays substrate;
According to the reference angle gauge point coordinate of color membrane substrates and target angle gauge point coordinate, and the reference angle gauge point coordinate of array base palte and rotation angle gauge point coordinate, by analogy computing device, calculate the angle to be adjusted of array base palte;
Mechanical actuating unit rotates array base palte according to angle to be adjusted, makes the angle on target of color membrane substrates and the misalignment angle of array base palte consistent;
According to the reference angle gauge point coordinate of color membrane substrates and target angle gauge point coordinate, and the reference angle gauge point coordinate of array base palte and rotation angle gauge point coordinate, by analogy computing device, calculate the displacement to be adjusted of array base palte;
Mechanical actuating unit by array base palte displacement, installs color membrane substrates and array base palte contraposition according to displacement to be adjusted.
In sum, visual-alignment control system of the present invention, by immobilising device detector lens, moving device detector lens, analogy computing device and mechanical actuating unit, the high precision that has realized film material attaches, solved the not high restriction of traditional work precision completely, adopt detector lens, precision can reach 0.002mm, more mechanical positioning precision has improved more than 100 times, product attaches precision and has reached 0.05mm, realize fast simultaneously, accurately attach, to realize the high-quality requirement of product, can drop into product situation by Real-Time Monitoring, throw except the impact of bad product on quality requirements, catch up with the paces of electron trade high speed development completely.
The above is only several preferred implementation of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (10)
1. a visual-alignment control system, is characterized in that, comprising:
Immobilising device detector lens, for detection of reference angle gauge point coordinate and the target angle gauge point coordinate of immobilising device;
Moving device detector lens, for detection of reference angle gauge point coordinate and the rotation angle gauge point coordinate of moving device;
Analogy computing device, be used for according to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate calculate the displacement to be adjusted of angle to be adjusted and the described moving device of described moving device, and edit steering order;
Mechanical actuating unit, for installing moving device and immobilising device contraposition according to steering order.
2. visual-alignment control system according to claim 1, it is characterized in that, at least comprise two described immobilising device detector lens, the corresponding reference angle gauge point coordinate that detects described immobilising device of immobilising device detector lens described in one of them, the corresponding target angle gauge point coordinate that detects described immobilising device of immobilising device detector lens described in another.
3. visual-alignment control system according to claim 2, it is characterized in that, at least comprise two described moving device detector lens, the corresponding reference angle gauge point coordinate that detects described moving device of moving device detector lens described in one of them, the corresponding rotation angle gauge point coordinate that detects described moving device of moving device detector lens described in another.
4. visual-alignment control system according to claim 3, is characterized in that, described analogy computing device is provided with the angle mathematical model to be adjusted of the moving device of setting up according to following mathematical formulae;
θ=θ
2-θ
1
Wherein, θ
1angle on target for immobilising device; θ
2misalignment angle for moving device; θ is the angle to be adjusted of moving device; X1 is the X-direction coordinate figure of the reference angle gauge point of immobilising device; Y1 is the Y-direction coordinate figure of the reference angle gauge point of immobilising device; X2 is the X-direction coordinate figure of the target angle gauge point of immobilising device; Y2 is the Y-direction coordinate figure of the target angle gauge point of immobilising device; X3 is the X-direction coordinate figure of the reference angle gauge point of moving device; Y3 is the Y-direction coordinate figure of the reference angle gauge point of moving device; X4 is the X-direction coordinate figure of the rotation angle gauge point of moving device; Y4 is the Y-direction coordinate figure of the rotation angle gauge point of moving device.
5. visual-alignment control system according to claim 4, it is characterized in that, described mechanical actuating unit comprises moving device rotating mechanism, for according to the rotation angle gauge point coordinate of moving device described in the angular setting to be adjusted of described moving device, the angle of moving device and described immobilising device is consistent.
6. visual-alignment control system according to claim 5, is characterized in that, described analogy computing device is provided with the displacement mathematical model to be adjusted of the moving device of setting up according to following mathematical formulae;
X=X5—X2，Y=Y5—Y2；
Wherein, the X-direction displacement to be adjusted that X is moving device; Y is the Y-direction of moving device displacement to be adjusted; X2 is the X-direction coordinate figure of the target angle gauge point of immobilising device; Y2 is the Y-direction coordinate figure of the target angle gauge point of immobilising device; X5 is the X-direction coordinate figure of the rotation angle gauge point of the rear moving device of rotation; Y5 is the Y-direction coordinate figure of the rotation angle gauge point of the rear moving device of rotation.
7. visual-alignment control system according to claim 6, it is characterized in that, described mechanical actuating unit also comprises moving device displacement mechanism, for adjust the position of described moving device according to the displacement to be adjusted of described moving device, make the reference angle gauge point coordinate of described moving device consistent with reference angle gauge point coordinate and the target angle gauge point coordinate of described immobilising device respectively with rotation angle gauge point coordinate.
8. according to arbitrary described visual-alignment control system in claim 1-7, it is characterized in that, described immobilising device detector lens is all connected with described analogy computing device with described moving device detector lens, and described mechanical actuating unit is connected with described analogy computing device.
9. visual-alignment control system according to claim 8, is characterized in that, described moving device rotating mechanism is all connected with described analogy computing device with described moving device displacement mechanism.
10. a method of controlling according to the arbitrary described visual-alignment control system of claim 1-9, is characterized in that, comprises the steps:
By immobilising device detector lens, detect reference angle gauge point coordinate and the target angle gauge point coordinate of immobilising device, and by moving device detector lens, detect reference angle gauge point coordinate and the rotation angle gauge point coordinate of moving device;
According to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate, by analogy computing device, calculate the angle to be adjusted of described moving device;
Mechanical actuating unit rotates moving device according to angle to be adjusted, makes the angle on target of immobilising device and the misalignment angle of moving device consistent;
According to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate, by analogy computing device, calculate the displacement to be adjusted of described moving device;
Mechanical actuating unit by moving device displacement, installs immobilising device and moving device contraposition according to displacement to be adjusted.
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| CN201310674958.4A CN103645743B (en) | 2013-12-11 | 2013-12-11 | Visual-alignment controls system and method |
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| CN201310674958.4A CN103645743B (en) | 2013-12-11 | 2013-12-11 | Visual-alignment controls system and method |
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| CN105607651A (en) * | 2015-11-05 | 2016-05-25 | 深圳市华汉伟业科技有限公司 | Rapid aligning system and method via visual guiding |
| CN107839789A (en) * | 2016-09-20 | 2018-03-27 | 本田技研工业株式会社 | Assembling device |
| CN110010019A (en) * | 2019-04-15 | 2019-07-12 | 珠海格力智能装备有限公司 | A kind of control method and device for assembling LED screen |
| CN116009297A (en) * | 2023-03-28 | 2023-04-25 | 苏州普锐沐电子科技有限公司 | Automatic assembling method for backlight plate |
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| CN105607651A (en) * | 2015-11-05 | 2016-05-25 | 深圳市华汉伟业科技有限公司 | Rapid aligning system and method via visual guiding |
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| CN107839789B (en) * | 2016-09-20 | 2020-02-14 | 本田技研工业株式会社 | Assembling device |
| CN110010019A (en) * | 2019-04-15 | 2019-07-12 | 珠海格力智能装备有限公司 | A kind of control method and device for assembling LED screen |
| CN116009297A (en) * | 2023-03-28 | 2023-04-25 | 苏州普锐沐电子科技有限公司 | Automatic assembling method for backlight plate |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103645743B (en) | 2016-06-22 |
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