CN103645743B - Visual-alignment controls system and method - Google Patents
Visual-alignment controls system and method Download PDFInfo
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- CN103645743B CN103645743B CN201310674958.4A CN201310674958A CN103645743B CN 103645743 B CN103645743 B CN 103645743B CN 201310674958 A CN201310674958 A CN 201310674958A CN 103645743 B CN103645743 B CN 103645743B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000002372 labelling Methods 0.000 claims description 124
- 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
- 239000000463 material Substances 0.000 abstract description 5
- 239000012528 membrane Substances 0.000 description 33
- 239000000758 substrate Substances 0.000 description 33
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
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Abstract
The present invention relates to Display Technique field, can realize, particularly to a kind of, the visual-alignment control system and method that high accuracy para-position is installed。The visual-alignment of the present invention controls system, by immobilising device detector lens, moving device detector lens, analogy computing device and mechanical actuating unit, the high accuracy achieving film material attaches, completely solve the restriction that traditional work precision is not high, adopt detector lens, precision is up to 0.002mm, more mechanical positioning precision improves more than 100 times, product attaches precision and has reached 0.05mm, realize quickly simultaneously, delicate application, to realize product high-quality requirement, input product situation can be monitored in real time, throw except the impact on quality requirements of the bad product, catch up with the paces of electron trade high speed development completely。
Description
Technical field
The present invention relates to Display Technique field, can realize, particularly to a kind of, the visual-alignment control system and method that high accuracy para-position is installed。
Background technology
At present, in display device manufacturing technology field, in industry, backlight film material is attached, the work such as backlight and LCD attaching are additionally based upon traditional manual work mode, the product that some required precisions are not high is coordinated customization tool, basic attaching quality requirements can be met, but it is as the fast development of electron trade, product quality requirement more and more higher, existing manual working is by tool or machinery 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, the not high product of precision can be met and attach requirement, but, this kind of operating type is along with the raising of product requirement, weak point also embodying gradually, existing operating type mainly has the following aspects not enough:
First, tool makes exists trueness error, and stability is not high；
Second, personnel's operation randomness is relatively big, and personnel state and experience are bigger to production qualitative effects；
3rd, working performance is not high, and product operation is difficult to pipelined fashion；
4th, it is impossible to display in time puts into half-finished quality conditions。
It is subject to the restriction of above several aspect factor so that the benefit of enterprise is not high, and manual work mode cannot realize the quality requirements of high-precision product, it is impossible to meet the requirement that electron trade is growing, seriously limits the development of enterprise。
Accordingly, it is desirable to provide a kind of high-precision visual-alignment controls system and method to solve the problems referred to above。
Summary of the invention
Technical problem solved by the invention is to provide a kind of visual-alignment and controls system and method；This visual-alignment controls system and achieves accurate laminating by immobilising device detector lens, moving device detector lens and analogy computing device。
It is an object of the invention to be achieved through the following technical solutions: a kind of visual-alignment controls system, this visual-alignment controls system and includes:
Immobilising device detector lens, for detecting reference angle labelling point coordinates and the target angle labelling point coordinates of immobilising device；
Moving device detector lens, for detecting reference angle labelling point coordinates and the anglec of rotation labelling point coordinates of moving device；
Analogy computing device, for the reference angle labelling point coordinates according to immobilising device and target angle labelling point coordinates, and the reference angle labelling point coordinates of moving device and anglec of rotation labelling point coordinates calculate the angle to be adjusted of described moving device and the displacement to be adjusted of described moving device editor control instruction；
Mechanical actuating unit, for installing moving device with immobilising device para-position according to control instruction。
Further, at least include two described immobilising device detector lens, one of them described immobilising device detector lens correspondence detects the reference angle labelling point coordinates of described immobilising device, and another described immobilising device detector lens correspondence detects the target angle labelling point coordinates of described immobilising device。
Further, at least include two described moving device detector lens, one of them described moving device detector lens correspondence detects the reference angle labelling point coordinates of described moving device, and another described moving device detector lens correspondence detects the anglec of rotation labelling point coordinates of described moving device。
Further, described analogy computing device is provided with the angle mathematical model to be adjusted of the moving device set up according to following mathematical formulae；
θ=θ2-θ1
Wherein, θ1Angle on target for immobilising device；θ2Misalignment angle for moving device；θ is the angle to be adjusted of moving device；X1 is that the X of the reference angle labelling point of immobilising device is to coordinate figure；Y1 is the Y-direction coordinate figure of the reference angle labelling point of immobilising device；X2 is that the X of the target angle labelling point of immobilising device is to coordinate figure；Y2 is the Y-direction coordinate figure of the target angle labelling point of immobilising device；X3 is that the X of the reference angle labelling point of moving device is to coordinate figure；Y3 is the Y-direction coordinate figure of the reference angle labelling point of moving device；X4 is that the X of the anglec of rotation labelling point of moving device is to coordinate figure；Y4 is the Y-direction coordinate figure of the anglec of rotation labelling point of moving device。
Further, described mechanical actuating unit includes moving device rotating mechanism, for the anglec of rotation labelling point coordinates of moving device according to the angle adjustment to be adjusted of described moving device, makes moving device keep consistent with the angle of described immobilising device。
Further, described analogy computing device is provided with the displacement mathematical model to be adjusted of the moving device set up according to following mathematical formulae；
X=X5 X2, Y=Y5 Y2；
Wherein, X is that the X of moving device is to displacement to be adjusted；Y is the Y-direction displacement to be adjusted of moving device；X2 is that the X of the target angle labelling point of immobilising device is to coordinate figure；Y2 is the Y-direction coordinate figure of the target angle labelling point of immobilising device；X5 be after rotating the X of the anglec of rotation labelling point of moving device to coordinate figure；Y5 is the Y-direction coordinate figure of the anglec of rotation labelling point of moving device after rotating。
Further, described mechanical actuating unit also includes moving device displacement mechanism, adjust the position of described moving device for the displacement to be adjusted according to described moving device, the reference angle labelling point coordinates making described moving device is consistent with the reference angle labelling point coordinates of described immobilising device and target angle labelling point coordinates respectively with anglec of rotation labelling point coordinates。
Further, described immobilising device detector lens and described moving device detector lens are all connected with described analogy computing device, and described mechanical actuating unit is connected with described analogy computing device。
Further, described moving device rotating mechanism and described moving device displacement mechanism are all connected with described analogy computing device。
Present invention also offers a kind of visual-alignment control method, it is characterised in that comprise the steps:
Detected reference angle labelling point coordinates and the target angle labelling point coordinates of immobilising device by immobilising device detector lens, and detected reference angle labelling point coordinates and the anglec of rotation labelling point coordinates of moving device by moving device detector lens；
Reference angle labelling point coordinates according to immobilising device and target angle labelling point coordinates, and the reference angle labelling point coordinates of moving device and anglec of rotation labelling point coordinates, calculate the angle to be adjusted of described moving device by analogy computing device；
Moving device is rotated by mechanical actuating unit according to angle to be adjusted, and the angle on target making immobilising device is consistent with the misalignment angle of moving device；
Reference angle labelling point coordinates according to immobilising device and target angle labelling point coordinates, and the reference angle labelling point coordinates of moving device and anglec of rotation labelling point coordinates, calculate the displacement to be adjusted of described moving device by analogy computing device；
Mechanical actuating unit by moving device displacement, makes immobilising device and moving device para-position install according to displacement to be adjusted。
The present invention compared with prior art has the advantage that the visual-alignment of the present invention controls system, by immobilising device detector lens, moving device detector lens, analogy computing device and mechanical actuating unit, the high accuracy achieving film material attaches, completely solve the restriction that traditional work precision is not high, adopt detector lens, precision is up to 0.002mm, more mechanical positioning precision improves more than 100 times, product attaches precision and has reached 0.05mm, realize quickly simultaneously, delicate application, to realize product high-quality requirement, input product situation can be monitored in real time, throw except the impact on quality requirements of the bad product, 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。
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail。Following example are used for illustrating the present invention, but are not limited to the scope of the present invention。
The present embodiment is specifically provided a kind of visual-alignment and is controlled system, and this visual-alignment controls system and includes:
The immobilising device detector lens of reference angle labelling point coordinates and target angle labelling point coordinates for detecting immobilising device；
The moving device detector lens of reference angle labelling point coordinates and anglec of rotation labelling point coordinates for detecting moving device；
Analogy computing device, for the reference angle labelling point coordinates according to immobilising device and target angle labelling point coordinates, and the reference angle labelling point coordinates of moving device and anglec of rotation labelling point coordinates calculate the angle to be adjusted of described moving device and the displacement to be adjusted of described moving device editor control instruction；
Mechanical actuating unit, for installing moving device with immobilising device para-position according to control instruction。
Described immobilising device detector lens and described moving device detector lens are all connected with described analogy computing device, and described mechanical actuating unit is connected with described analogy computing device。
Control system by the visual-alignment of the present invention and can realize the work such as the attaching of electron trade film material, backlight and LCD laminating, below for color membrane substrates and the visual-alignment control system illustrating the present invention。
As depicted in figs. 1 and 2, wherein, Fig. 1 is color membrane substrates, and Fig. 2 is array base palte, it is possible to be color membrane substrates be immobilising device, array base palte is moving device, controlling system by the visual-alignment of the present invention and fit on color membrane substrates by array base palte, it is also possible to be array base palte be immobilising device, color membrane substrates is moving device, controlling system by visual-alignment and fit on array base palte by color membrane substrates, moving device is relative corresponding relation with immobilising device。The present embodiment is with color membrane substrates for immobilising device, and array base palte is that the moving device visual-alignment control system to the present invention is described in detail。
The visual-alignment of the present invention controls system and includes two color membrane substrates detector lens, choose two corner mark coordinates of color membrane substrates, according to 2 principles determining a straight line, any two angle can be selected, the present embodiment is described for A1 angle and B1 angle, wherein A1 is reference angle, and B1 is target angle。
The reference angle labelling point coordinates of one of them color membrane substrates detector lens correspondence detection color membrane substrates, for (X1, Y1), the target angle labelling point coordinates of another color membrane substrates detector lens correspondence detection color membrane substrates, for (X2, Y2)。
Corresponding with color membrane substrates detector lens, it is additionally provided with two array base palte detector lens, chooses two corresponding with color membrane substrates corner mark, respectively A2 angle and B2 angle, wherein A2 is reference angle, and B2 is the anglec of rotation。
The reference angle labelling point coordinates of one of them array base palte detector lens correspondence detection array base palte, for (X3, Y3), the anglec of rotation labelling point coordinates of another array base palte detector lens correspondence detection array base palte, for (X4, Y4)。
Analogy computing device is provided with the angle mathematical model to be adjusted of the array base palte set up according to following mathematical formulae；
θ=θ2-θ1
Wherein, θ1Angle on target for color membrane substrates；θ2Misalignment angle for array base palte；θ is the angle to be adjusted of array base palte；X1 is that the X of the reference angle labelling point of color membrane substrates is to coordinate figure；Y1 is the Y-direction coordinate figure of the reference angle labelling point of color membrane substrates；X2 is that the X of the target angle labelling point of color membrane substrates is to coordinate figure；Y2 is the Y-direction coordinate figure of the target angle labelling point of color membrane substrates；X3 is that the X of the reference angle labelling point of array base palte is to coordinate figure；Y3 is the Y-direction coordinate figure of the reference angle labelling point of array base palte；X4 is that the X of the anglec of rotation labelling point of array base palte is to coordinate figure；Y4 is the Y-direction coordinate figure of the anglec of rotation labelling point of array base palte。
Analogy computing device is additionally provided with the displacement mathematical model to be adjusted of the array base palte set up according to following mathematical formulae；
X=X5 X2, Y=Y5 Y2；
Wherein, X is that the X of array base palte is to displacement to be adjusted；Y is the Y-direction displacement to be adjusted of array base palte；X2 is that the X of the target angle labelling point of color membrane substrates is to coordinate figure；Y2 is the Y-direction coordinate figure of the target angle labelling point of color membrane substrates；X5 be after rotating the X of the anglec of rotation labelling point of array base palte to coordinate figure；Y5 is the Y-direction coordinate figure of the anglec of rotation labelling point of array base palte after rotating。
It is in particular: analogy computing device comprises: PLC control system and vision control system。PLC control system mainly realizes visual-alignment and controls the whole control flow of system, according to the signal instruction received, performs corresponding action；Each position coordinates of product is mainly carried out labelling by vision control system, 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, thus reaching high-precision vision localization。
Described mechanical actuating unit includes array base palte rotating mechanism and array base palte displacement mechanism, array base palte rotating mechanism and color membrane substrates displacement mechanism and is all connected with analogy computing device。Array base palte rotating mechanism, for the anglec of rotation labelling point coordinates of the angle adjustment array base palte to be adjusted according to array base palte, makes array base palte keep consistent with the angle of color membrane substrates。Array base palte displacement mechanism adjusts the position of array base palte for the displacement to be adjusted according to array base palte, the reference angle labelling point coordinates making array base palte is consistent with the reference angle labelling point coordinates of color membrane substrates and target angle labelling point coordinates respectively with anglec of rotation labelling point coordinates, namely the coordinate of A2 and A1 is consistent, and the coordinate of B2 and B1 is consistent。
Controlling system by above-mentioned visual-alignment makes color membrane substrates and array base palte para-position accurate, reach accurate laminating, to realize product high-quality requirement, input product situation can be monitored in real time, throw except the impact on quality requirements of the bad product, specifically operation principle is: the visual-alignment of the present invention controls the system characteristic image firstly the need of the captured parts of storage, it is storage image, the characteristic image of shooting every time can contrast with storage image later, whether qualified by the similarity judgement product of two images, it is qualified that similarity degree is then judged to relatively greatly, similarity degree is less, is judged to defective, by mechanical actuating unit, substandard product throwing is removed, fully achieve mechanized operation, improve working performance, automaticity is high。
As it is shown on figure 3, describe a kind of visual-alignment control method of the present invention in detail for color membrane substrates and array base palte, the method specifically includes following steps:
Detected reference angle labelling point coordinates and the target angle labelling point coordinates of color membrane substrates by color membrane substrates detector lens, and detected reference angle labelling point coordinates and the anglec of rotation labelling point coordinates of array base palte by array base palte detector lens；
Reference angle labelling point coordinates according to color membrane substrates and target angle labelling point coordinates, and the reference angle labelling point coordinates of array base palte and anglec of rotation labelling point coordinates, calculate the angle to be adjusted of array base palte by analogy computing device；
Array base palte is rotated by mechanical actuating unit according to angle to be adjusted, and the angle on target making color membrane substrates is consistent with the misalignment angle of array base palte；
Reference angle labelling point coordinates according to color membrane substrates and target angle labelling point coordinates, and the reference angle labelling point coordinates of array base palte and anglec of rotation labelling point coordinates, calculate the displacement to be adjusted of array base palte by analogy computing device；
Mechanical actuating unit by array base palte displacement, makes color membrane substrates and array base palte para-position install according to displacement to be adjusted。
In sum, the visual-alignment of the present invention controls system, by immobilising device detector lens, moving device detector lens, analogy computing device and mechanical actuating unit, the high accuracy achieving film material attaches, completely solve the restriction that traditional work precision is not high, adopt detector lens, precision is up to 0.002mm, more mechanical positioning precision improves more than 100 times, product attaches precision and has reached 0.05mm, realize quickly simultaneously, delicate application, to realize product high-quality requirement, input product situation can be monitored in real time, throw except the impact on quality requirements of the bad product, catch up with the paces of electron trade high speed development completely。
The above is only several preferred implementations of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the technology of the present invention principle; can also making some improvement and modification, these improve and modification also should be regarded as protection scope of the present invention。
Claims (8)
1. a visual-alignment controls system, it is characterised in that including:
Immobilising device detector lens, for detecting reference angle labelling point coordinates and the target angle labelling point coordinates of immobilising device；
Moving device detector lens, for detecting reference angle labelling point coordinates and the anglec of rotation labelling point coordinates of moving device；
Analogy computing device, for the reference angle labelling point coordinates according to immobilising device and target angle labelling point coordinates, and the reference angle labelling point coordinates of moving device and anglec of rotation labelling point coordinates calculate the angle to be adjusted of described moving device and the displacement to be adjusted of described moving device editor control instruction；
Mechanical actuating unit, for installing moving device with immobilising device para-position according to control instruction；
Wherein, described analogy computing device is provided with the angle mathematical model to be adjusted of the moving device set up according to following mathematical formulae；
θ=θ2-θ1
Wherein, θ1Angle on target for immobilising device；θ2Misalignment angle for moving device；θ is the angle to be adjusted of moving device；X1 is that the X of the reference angle labelling point of immobilising device is to coordinate figure；Y1 is the Y-direction coordinate figure of the reference angle labelling point of immobilising device；X2 is that the X of the target angle labelling point of immobilising device is to coordinate figure；Y2 is the Y-direction coordinate figure of the target angle labelling point of immobilising device；X3 is that the X of the reference angle labelling point of moving device is to coordinate figure；Y3 is the Y-direction coordinate figure of the reference angle labelling point of moving device；X4 is that the X of the anglec of rotation labelling point of moving device is to coordinate figure；Y4 is the Y-direction coordinate figure of the anglec of rotation labelling point of moving device；
Described analogy computing device is provided with the displacement mathematical model to be adjusted of the moving device set up according to following mathematical formulae；
X=X5 X2, Y=Y5 Y2；
Wherein, X is that the X of moving device is to displacement to be adjusted；Y is the Y-direction displacement to be adjusted of moving device；X2 is that the X of the target angle labelling point of immobilising device is to coordinate figure；Y2 is the Y-direction coordinate figure of the target angle labelling point of immobilising device；X5 be after rotating the X of the anglec of rotation labelling point of moving device to coordinate figure；Y5 is the Y-direction coordinate figure of the anglec of rotation labelling point of moving device after rotating。
2. visual-alignment according to claim 1 controls system, it is characterized in that, at least include two described immobilising device detector lens, one of them described immobilising device detector lens correspondence detects the reference angle labelling point coordinates of described immobilising device, and another described immobilising device detector lens correspondence detects the target angle labelling point coordinates of described immobilising device。
3. visual-alignment according to claim 2 controls system, it is characterized in that, at least include two described moving device detector lens, one of them described moving device detector lens correspondence detects the reference angle labelling point coordinates of described moving device, and another described moving device detector lens correspondence detects the anglec of rotation labelling point coordinates of described moving device。
4. visual-alignment according to claim 1 controls system, it is characterized in that, described mechanical actuating unit includes moving device rotating mechanism, for the anglec of rotation labelling point coordinates of moving device according to the angle adjustment to be adjusted of described moving device, moving device is made to keep consistent with the angle of described immobilising device。
5. visual-alignment according to claim 4 controls system, it is characterized in that, described mechanical actuating unit also includes moving device displacement mechanism, adjust the position of described moving device for the displacement to be adjusted according to described moving device, the reference angle labelling point coordinates making described moving device is consistent with the reference angle labelling point coordinates of described immobilising device and target angle labelling point coordinates respectively with anglec of rotation labelling point coordinates。
6. visual-alignment according to claim 5 controls system, it is characterised in that described immobilising device detector lens and described moving device detector lens are all connected with described analogy computing device, and described mechanical actuating unit is connected with described analogy computing device。
7. visual-alignment according to claim 6 controls system, it is characterised in that described moving device rotating mechanism and described moving device displacement mechanism are all connected with described analogy computing device。
8. one kind controls, according to the arbitrary described visual-alignment of claim 1-7, the method that system is controlled, it is characterised in that comprise the steps:
Detected reference angle labelling point coordinates and the target angle labelling point coordinates of immobilising device by immobilising device detector lens, and detected reference angle labelling point coordinates and the anglec of rotation labelling point coordinates of moving device by moving device detector lens；
Reference angle labelling point coordinates according to immobilising device and target angle labelling point coordinates, and the reference angle labelling point coordinates of moving device and anglec of rotation labelling point coordinates, calculate the angle to be adjusted of described moving device by analogy computing device；
Moving device is rotated by mechanical actuating unit according to angle to be adjusted, and the angle on target making immobilising device is consistent with the misalignment angle of moving device；
Reference angle labelling point coordinates according to immobilising device and target angle labelling point coordinates, and the reference angle labelling point coordinates of moving device and anglec of rotation labelling point coordinates, calculate the displacement to be adjusted of described moving device by analogy computing device；
Mechanical actuating unit by moving device displacement, makes immobilising device and moving device para-position install according to displacement to be adjusted。
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| CN105607651B (en) * | 2015-11-05 | 2018-05-29 | 深圳市华汉伟业科技有限公司 | A kind of quick vision guide alignment system and method |
| JP6434943B2 (en) * | 2016-09-20 | 2018-12-05 | 本田技研工業株式会社 | Assembly equipment |
| CN110010019B (en) * | 2019-04-15 | 2021-07-06 | 珠海格力智能装备有限公司 | Control method and device for assembling LED screen |
| CN116009297B (en) * | 2023-03-28 | 2023-06-20 | 苏州普锐沐电子科技有限公司 | Automatic assembling method for backlight plate |
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