CN105291564A - Silk-screen alignment method and device - Google Patents
Silk-screen alignment method and device Download PDFInfo
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- CN105291564A CN105291564A CN201510752364.XA CN201510752364A CN105291564A CN 105291564 A CN105291564 A CN 105291564A CN 201510752364 A CN201510752364 A CN 201510752364A CN 105291564 A CN105291564 A CN 105291564A
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Abstract
The embodiment of the invention discloses a silk-screen alignment method and device. The movement variable of the edge of a silk screen is obtained by controlling the silk screen to move in the independent movement direction of a platform from an initial reference position; calibration parameters of the shoot image plane and the platform plane are determined according to the movement variable; the movement adjusting amount of the silk screen relative to the platform plane is computed according to the deviation value of the edge of fed glass to be aligned in the shoot image and the edge of the corresponding silk screen and the calibration parameters, the position of the silk screen is adjusted according to the movement adjusting amount, and alignment is completed. In the alignment process, the positions of the silk screen and the edge of the fed glass are obtained through a high-precision shooting device, the movement adjustment variable is obtained through numerical calculation for alignment, no manual intervention is needed, and the accuracy of alignment is improved; and besides, high-accuracy alignment can be finished even if no obvious marking exists on the silk screen and the fed glass, and alignment applicability is further improved.
Description
Technical field
The present invention relates to industrial vision technical field, particularly relate to a kind of silk-screen alignment method and device.
Background technology
Silk-screen and serigraphy are manufacture crafts silk printing screen pattern being printed onto stock.In order to ensure that silk printing screen pattern is accurately printed onto on stock (as glass, pcb board etc.), silk printing screen pattern must with stock strict counterpoint.Especially in the electronics industry of silk-screen technology extensive use, along with the precision of electronic circuit board and parts assembling improves constantly, also more and more higher to the required precision of silk-screen contraposition.
At present, be illustrated in figure 1 the structural representation of the silk-screen alignment device of a kind of supplied materials glass conventional at present, comprise platform 100 and filming apparatus 200, supplied materials glass 300 be rectangular glass or surrounding have fillet glass, be fixedly installed (absorption) on platform 100, silk printing screen 400 carries out silk-screen by motion control device (not indicating in figure) adjustment position to cover on described supplied materials glass 300; Described supplied materials glass 300 is also provided with the first glass target 500 and the second glass target 501, described silk printing screen 400 is provided with the first silk printing screen target 502 and the second silk printing screen target 503, described filming apparatus 200 and described first glass target 500 and described second glass target 501 relative set.In the process of silk-screen contraposition, technical staff is by the position deviation of described filming apparatus 200 Real-time Obtaining first glass target 500 and the first silk printing screen target 502, and second position deviation of glass target 501 and the second silk printing screen target 503, operate the position of described motion control device adjustment silk printing screen 400, finally reach corresponding glass target and the coincidence of silk printing screen target placement, namely complete the contraposition of silk printing screen 400 and supplied materials glass 300, then carry out follow-up silk screen printing process.
But above-mentioned silk-screen alignment method needs to carry out target mark to described supplied materials glass 300 and silk printing screen 400, and the precision of target placement directly affects silk-screen aligning accuracy, adds the uncontrollable factor of silk-screen contraposition; And silk-screen contraposition process depends on the judgement whether human eye overlaps to target, cannot meet more high-precision requirement.
Summary of the invention
A kind of silk-screen alignment method and device is provided, to solve the problem of silk-screen aligning accuracy difference of the prior art in the embodiment of the present invention.
In order to solve the problems of the technologies described above, the embodiment of the invention discloses following technical scheme:
Embodiments provide a kind of silk-screen alignment method, comprise the following steps:
The visual field of adjustment filming apparatus, is positioned at the position that can obtain silk printing screen edge and supplied materials glass edge to make described filming apparatus;
Control silk printing screen to move along platform self-movement direction from reference to initial position, obtain silk printing screen edge in shooting image relative to the described mobile variable quantity with reference to initial position;
According to described mobile variable quantity, determine the calibrating parameters characterizing the shooting plane of delineation and platform Planar Mapping relation;
Filming apparatus obtains the edge of the supplied materials glass preparing contraposition;
According to the departure of the supplied materials glass edge preparing contraposition in shooting image with reference initial position in silk printing screen edge in corresponding shooting image, and described calibrating parameters, determine the mobile regulated quantity of silk printing screen relative to platform plane;
According to described mobile regulated quantity, adjustment silk printing screen position, completes the contraposition of described silk printing screen and described supplied materials glass.
Preferably, described mobile variable quantity is determined according to silk printing screen edge in shooting image and the intersection point of shooting image center line; Described departure is determined according to supplied materials glass edge in shooting image and the intersection point of shooting image center line.
Preferably, described filming apparatus comprises 5 cameras, and any 3 limit correspondences of described supplied materials glass arrange 1 camera respectively, and the last of described supplied materials glass arranges 2 cameras; Described camera is all arranged at the stage casing of the edge line of described supplied materials glass.
Preferably, described control silk printing screen moves from reference to initial position along platform self-movement direction, comprising:
Control described silk printing screen respectively along X, Y, θ tri-self-movement directions of platform coordinate system, mobile corresponding regular length.
Preferably, after determining the mobile regulated quantity of silk printing screen relative to platform plane, also comprise:
According to the departure preparing reference initial position in silk printing screen edge in contraposition supplied materials glass edge and corresponding shooting image in shooting image, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass; And,
According to described regulated quantity placed in the middle, adjustment silk printing screen position, completes the contraposition placed in the middle of described silk printing screen and described supplied materials glass.
The embodiment of the present invention additionally provides a kind of silk-screen alignment device, comprising:
Filming apparatus adjusting module, for adjusting the visual field of filming apparatus, is positioned to make described filming apparatus the position obtaining silk printing screen edge and supplied materials glass edge;
Silk printing screen motion module, moves along platform self-movement direction from reference to initial position for controlling silk printing screen, obtains silk printing screen edge in shooting image relative to the described mobile variable quantity with reference to initial position;
Calibrating parameters determination module, for according to described mobile variable quantity, determines the calibrating parameters characterizing the shooting plane of delineation and platform Planar Mapping relation;
Filming apparatus, for obtaining the edge of the supplied materials glass preparing contraposition;
Mobile regulated quantity determination module, for according to the departure of the supplied materials glass edge preparing contraposition in shooting image with reference initial position in silk printing screen edge in corresponding shooting image, and described calibrating parameters, determine the mobile regulated quantity of silk printing screen relative to platform plane;
Silk printing screen adjustment module, for according to described mobile regulated quantity, adjusts silk printing screen position, completes the contraposition of described silk printing screen and described supplied materials glass.
Preferably, described silk printing screen motion module, determines described mobile variable quantity according to silk printing screen edge in shooting image and the intersection point of shooting image center line; Described mobile regulated quantity determination module, determines described departure according to supplied materials glass edge in shooting image and the intersection point of shooting image center line.
Preferably, described filming apparatus comprises 5 cameras, and any 3 limit correspondences of described supplied materials glass arrange 1 camera respectively, and the last of described supplied materials glass arranges 2 cameras; Described camera is arranged at the stage casing of described supplied materials glass edge line.
Preferably, described silk printing screen motion module, controls described silk printing screen respectively along X, Y, θ tri-self-movement directions of platform coordinate system, mobile corresponding regular length.
Preferably, described silk-screen alignment device also comprises adjustment module placed in the middle:
Described adjustment module placed in the middle, for according to the departure preparing the reference of silk printing screen edge in contraposition supplied materials glass edge and corresponding shooting image initial position in shooting image, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass; According to described regulated quantity placed in the middle, adjustment silk printing screen position, completes the contraposition placed in the middle of described silk printing screen and described supplied materials glass.
From above technical scheme, the silk-screen alignment method that the embodiment of the present invention provides and device, obtain the edge of silk printing screen edge and supplied materials glass by filming apparatus; Then, control described silk printing screen to move from reference to initial position along platform self-movement direction, obtain silk printing screen edge in shooting image relative to the mobile variable quantity with reference to initial position, and according to described mobile variable quantity, determine the calibrating parameters characterizing the shooting plane of delineation and platform plane mapping relations.In silk-screen printing process, filming apparatus obtains the edge of the supplied materials glass preparing contraposition, according to departure and the described calibrating parameters of reference initial position in silk printing screen edge in described supplied materials glass edge and corresponding shooting image, determine the mobile regulated quantity of silk printing screen relative to platform plane; Finally, according to described mobile regulated quantity, adjustment silk printing screen position, completes contraposition.In above process, the silk printing screen edge obtained according to high accuracy and supplied materials glass edge, by numerical computations process, obtain described mobile regulated quantity, and complete contraposition, omnidistance without the need to manpower intervention, improves aligning accuracy; And, even if silk printing screen or described supplied materials glass do not have obvious alignment mark, also can complete high-precision contraposition, improve contraposition applicability.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, for those of ordinary skills, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the silk-screen alignment device of a kind of supplied materials glass conventional at present;
The schematic flow sheet of a kind of silk-screen alignment method that Fig. 2 provides for the embodiment of the present invention;
The schematic diagram of a kind of camera setting position that Fig. 3 provides for the embodiment of the present invention;
A kind of viewing field of camera distribution map that Fig. 4 provides for the embodiment of the present invention;
Fig. 5 is the schematic diagram of silk printing screen along the movement of platform X-direction;
Fig. 6 is the schematic diagram of silk printing screen along the translation of platform Y-direction;
Fig. 7 is the schematic diagram that silk printing screen rotates along platform θ direction;
Supplied materials glass and silk printing screen position view after the center contraposition that Fig. 8 provides for the embodiment of the present invention;
Fig. 9 is actual measurement X-direction measured deviation distribution map;
Figure 10 is actual measurement Y-direction measured deviation distribution map;
Figure 11 is actual measurement θ orientation measurement deviation profile figure;
The structural representation of a kind of silk-screen alignment device that Figure 12 provides for the embodiment of the present invention.
Detailed description of the invention
Technical scheme in the present invention is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.
Screen printing technique is the technology being widely used in the fields such as textile printing and dyeing, advertising painting, label fabrication and electronic circuit board manufacture.According to the difference of stock, serigraphy comprises stationery printing, plastic printing, woodwork printing, operplate printing, glass ceramics printing, PCB (PrintedCircuitBoard, printed circuit board) plate printing etc.In the process of serigraphy, silk-screen contraposition is the key ensureing silk-screen quality, and especially in the field that the precision requirement such as electronics industry are high, the precision improving silk-screen contraposition becomes the technical problem that those skilled in the art need solution badly.
Along with the raising of production technology, industrial vision technology is applied to serigraphy gradually, with the precision of the automaticity and silk-screen contraposition that improve serigraphy.Described industrial vision technology, refers to and utilizes filming apparatus to convert target subject to picture signal, according to the analysis of picture signal and judgement, controls the technology that field apparatus completes corresponding actions.At present, as shown in Figure 1, conventional silk-screen alignment device comprises filming apparatus, platform and motion control device; Concrete, described filming apparatus, comprise CCD (ChargeCoupledDevice, charge coupled cell) industrial camera or CMOS (ComplementaryMetalOxideSemiconductor, complementary metal oxide semiconductors (CMOS)) industrial camera; Described platform for adsorbing fixing supplied materials glass, to carry out silk-screen; Described motion control device, can control silk printing screen and carry out translation or rotation along described platform, to complete the contraposition of silk printing screen and supplied materials glass.
See Fig. 2, be the schematic flow sheet of a kind of silk-screen alignment method that the embodiment of the present invention provides, described silk-screen alignment method comprises:
Step S101: the visual field of adjustment filming apparatus, is positioned at the position that can obtain silk printing screen edge and supplied materials glass edge to make described filming apparatus.
Filming apparatus in the embodiment of the present invention, preferred CCD industrial camera.Described filming apparatus is arranged at the top of platform, according to the size of silk printing screen and supplied materials glass, adjust the acquisition parameters such as the position of filming apparatus, lens shooting direction and aperture, enable described filming apparatus clearly obtain silk printing screen edge image and supplied materials glass edge image.
Alternatively, described filming apparatus comprises 5 cameras.As shown in Figure 3, be the schematic diagram of a kind of camera setting position that the embodiment of the present invention provides, any 3 limits of supplied materials glass 110 respectively correspondence arrange 1 camera 130, and the last of described supplied materials glass 110 arranges 2 cameras 130; Described camera 130 is all arranged at the stage casing of the edge line of described supplied materials glass 110, to ensure that described camera 130 can obtain the edge of described supplied materials glass 110 all the time when supplied materials glass 110 moves.The silk printing screen 120 of serigraphy is suitable with the size of supplied materials glass 110, the size of general described supplied materials glass 110 is equal to or greater than the size of described silk printing screen 120, described 5 cameras 130 can be set according to the edge of described silk printing screen 120 equally, and ensure that described 5 cameras 130 clearly can obtain the edge image of described silk printing screen 120 and the edge image of described supplied materials glass 110.Equally, also can see Fig. 4, for a kind of viewing field of camera distribution map that the embodiment of the present invention provides, described 5 cameras corresponding first camera visual field 210, second camera visual field 211, third camera visual field 212, the 4th viewing field of camera 213 and the 5th viewing field of camera 214 respectively, described viewing field of camera is rectangular field; The mid point on relative two limits in described viewing field of camera, determines first center line 310 and second center line 311 corresponding with each viewing field of camera respectively; The edge line of supplied materials glass 110 is all included in visual field by adjustment by described viewing field of camera, and to obtain the edge of described supplied materials glass 110, and described center line is all crossing with the edge line of described supplied materials glass 110.
Certainly, according to actual needs, even can ignore if the size disparity of described supplied materials glass 110 and described silk printing screen 120 is very little, then 3 cameras can be set, and described 3 cameras are arranged at the relevant position, 3 edges of described supplied materials glass 110 or described silk printing screen 120 respectively.
Step S102: control silk printing screen and move along platform self-movement direction from reference to initial position, obtains silk printing screen edge in shooting image relative to the described mobile variable quantity with reference to initial position.
Before control silk printing screen moves, first need the glass being a bit larger tham silk printing screen screen printing pattern using one piece as demarcation glass, be fixedly adsorbed on platform; Silk printing screen is smeared ink or other pigment, so that be printed onto on described demarcation glass by the edge shape of silk printing screen.
Alternatively, motion control device controls described silk printing screen respectively along X, Y, θ tri-self-movement directions of platform coordinate system, mobile corresponding regular length.In the specific implementation, described platform is generally rectangular platform, and with the geometric center of described rectangular platform for initial point, can be respectively X-axis or Y-axis with two axis being parallel to the described rectangular platform length of side, the angle centrally rotated with described rectangular platform is θ axle.Certainly, those skilled in the art can be that initial point sets up described platform coordinate system with optional position, and specify that any bearing of trend be X positive direction or Y positive direction, arbitrarily direction of rotation is θ positive direction.
After pre-determining good described platform coordinate system, first described motion control device controls silk printing screen and print off silk printing screen third edge pattern on described demarcation glass, record the reference initial position of described silk printing screen, as shown in Figure 5, for silk printing screen is along the schematic diagram of platform X-direction movement, the position of silk printing screen third edge pattern 410 is with reference to initial position, and described can be the printing position of the silk printing screen of screen printing device acquiescence with reference to initial position.
Then, as shown in Figure 5, described motion control device controls silk printing screen along the negative direction translation of X-axis and print silk printing screen third edge pattern on described demarcation glass, after mobile, silk printing screen third edge pattern 411 is shifted fixed range dx0 relative to the silk printing screen third edge pattern 410 with reference to initial position along platform coordinate system X-direction, described fixed range dx0 is the distance under platform coordinate system, and namely silk printing screen is along the actual translation distance in platform X-coordinate direction; It is any number such as 1-5cm that technical staff can set described fixed range dx0 according to actual needs, and described silk printing screen also can along the translation of X-axis positive direction.
As shown in Figure 6, for silk printing screen is along the schematic diagram of platform Y-direction translation, after described silk printing screen completes the translation of X-direction, motion control device controls described silk printing screen referring back to initial position, prepares the translation carrying out Y direction.In embodiments of the present invention, described motion control device controls described silk printing screen from described reference initial position, along the positive direction translation fixed range dy0 of platform coordinate system Y-axis, and silk printing screen third edge pattern is printed onto on described demarcation glass; The translation motion of described silk printing screen along platform Y-direction and the translation motion something in common of above-mentioned X-direction, with reference to the description of above-mentioned steps, can not repeat them here.
As shown in Figure 7, be the schematic diagram that silk printing screen rotates along platform θ direction, after same described silk printing screen completes the axial translation of θ, motion control device also needs to control described silk printing screen referring back to initial position.Silk printing screen in the embodiment of the present invention, centered by the initial point of platform coordinate system, is rotated counterclockwise fixing arcuate distance dd0 from reference to initial position, and prints postrotational silk printing screen third edge pattern on described demarcation glass.Described fixing arcuate distance dd0 can be set to 1 °-5 ° or other any number, and described silk printing screen also can turn clockwise.
Certainly, in specific implementation process, described silk printing screen moves along X, Y, θ tri-self-movement directions of platform coordinate system, not permanent order; Technical staff can arrange described silk printing screen and move according to the order of Y, θ, X.Described reference initial position and the silk printing screen edge image after moving along X, Y, θ tri-self-movement directions of platform coordinate system can be stored in memory, and the computational analysis in order to subsequent step uses.
Alternatively, described mobile variable quantity is determined according to silk printing screen edge in shooting image and the intersection point of shooting image center line.
For each camera, determine described intersection point and determine that the process of described mobile variable quantity is consistent according to described intersection point, be only described in detail for the first camera visual field 210 that First camera is corresponding at this.
Described filming apparatus obtain respectively with reference to initial position, move along platform coordinate system X, Y, θ after the image of silk printing screen third edge pattern.Described image is analyzed, determines the silk printing screen edge in image; In technical field of image processing, edge is generally in image the position that jump in brightness occurs, and can use the edge detection methods such as Sobel operator, Prewitt operator, Canny operator in embodiments of the present invention, determine described silk printing screen edge.The shooting image of a camera comprises two center lines, and as shown in Figure 4, the shooting image of described first camera visual field 210 correspondence comprises the first center line 310 and the second center line 311.In Figure 5, compared with described second center line 311, described first center line 310 and the silk printing screen edge with reference to initial position are closer to vertical, silk printing screen edge after then mobile and the intersection point of described first center line 310 also more easily catch by described first camera visual field 210, and the scope of described first camera visual field 210 can not be exceeded, therefore described mobile variable quantity is determined by described first center line 310 with the intersection point at described silk printing screen edge, be specially: at the reference initial position of silk printing screen, filming apparatus obtains the position of intersecting point at the first center line 310 and silk printing screen edge, as as described in above-mentioned steps, after Motion Control Platform control silk printing screen moves along platform X-direction, the position of intersecting point at silk printing screen edge after filming apparatus obtains the first center line 310 and moves, by described position of intersecting point, in calculating acquisition shooting image, silk printing screen edge moves variable quantity dsx0 along the X-direction of the first center line 310, in the same way, determine that Y-direction moves variable quantity dsy0 and variable quantity dsd0 is moved in θ direction.
Step S103: according to described mobile variable quantity, determines the calibrating parameters characterizing the shooting plane of delineation and platform Planar Mapping relation.
In first camera visual field 210, as shown in Figure 5 and Figure 6, the described X-direction that step S102 determines moves variable quantity dsx0 and is directly proportional to the fixed range dx0 of silk printing screen along the movement of platform coordinate system X-direction; Similarly, the described Y-direction that step S102 determines moves variable quantity dsy0 and is directly proportional to the fixed range dy0 of silk printing screen along the movement of platform coordinate system Y-direction.As shown in Figure 7, in embodiments of the present invention, the angle that described silk printing screen rotates is less, be generally-0.5 °-0.5 °, in order to reduce complexity and meet the error of calculation in very low range, variable quantity dsd0 and silk printing screen are moved in described θ direction still can do linear direct ratio process along the fixed range dd0 of platform coordinate system θ direction movement.In the same way, can determine in all viewing field of camera, the relation of described mobile variable quantity and described fixed range, concrete formula is as follows:
dsxi＝kxi×dxi，i＝0,1,2,3,4
dsyi＝kyi×dyi，i＝0,1,2,3,4
dsdi＝kdi×ddi，i＝0,1,2,3,4
Wherein, i is camera sequence number, the corresponding sequence number 1 of such as First camera corresponding sequence number 0, second camera etc., if certainly only arrange three cameras, then described camera sequence number is to i=2; Kxi, kyi and kdi are the scale factor in 3 the platform movement directions corresponding with each camera.In above-mentioned formula, mobile variable quantity dsxi, dsyi and dsdi, and mobile fixed range dxi, dyi and ddi are all known, can calculate described scale factor thus.By described scale factor, just the change in location conversion in the shooting plane of delineation can be calculated to be the change in location of platform plane, thus set up the mapping relations of the shooting plane of delineation and platform plane, described calibrating parameters is exactly described scale factor kxi, kyi and kdi.
Step S104: filming apparatus obtains the edge of the supplied materials glass preparing contraposition.
The supplied materials glass preparing contraposition is put into platform and fixing absorption, to treat that silk printing screen pattern is printed onto described supplied materials glass after completing by contraposition; Filming apparatus obtains the edge image of described supplied materials glass, and in embodiments of the present invention, the visual field of described 5 cameras is arranged in step S101, and generally without the need to mobile adjustment again, described 5 cameras obtain correspondingly supplied materials glass edge image respectively.
Step S105: according to the departure of the supplied materials glass edge preparing contraposition in shooting image with reference initial position in silk printing screen edge in corresponding shooting image, and described calibrating parameters, determine the mobile regulated quantity of silk printing screen relative to platform plane.
Alternatively, described departure is determined according to supplied materials glass edge in shooting image and the intersection point of shooting image center line.As described in step S102, in first camera visual field 210, still determine described departure by described first center line 310 with the intersection point of described supplied materials glass edge.Described supplied materials glass is after placement completes, in first camera visual field 210, the supplied materials glass edge image of described preparation contraposition and the intersection point of described first center line 310, relative to the silk printing screen edge of the reference initial position preserved in step S102 and the intersection point of described first center line 310, have certain deviation, described deviation is the first departure d0 corresponding to first camera visual field 210.Same for other 4 viewing field of camera, be corresponding in turn to the second departure d1, the 3rd departure d2, the 4th departure d3 and the 5th departure d4.
According to vector superposed independency principle, can be understood as described departure and cause because supplied materials glass independently moves superposition along 3 directions and X, Y, θ direction in platform coordinate system.Particularly, in conjunction with the calibrating parameters kx0 of first camera visual field 210 correspondence, if described preparation contraposition supplied materials glass moves Δ x along platform coordinate system X-direction, be kx0* Δ x to the first departure contribution margin in first camera visual field 210; In conjunction with the calibrating parameters ky0 of first camera visual field 210 correspondence, if described preparation contraposition supplied materials glass moves Δ y along platform coordinate system Y-direction, be ky0* Δ y to the first departure contribution margin in first camera visual field 210; In conjunction with the calibrating parameters kd0 of first camera visual field 210 correspondence, if described preparation contraposition supplied materials glass moves Δ d along platform θ direction, be kd0* Δ d to the first departure contribution margin in first camera visual field 210.The departure contribution margin in above-mentioned three directions is superposed, finally obtains the computing formula of the first departure d0 in first camera visual field 210:
d0＝kx0*Δx+ky0*Δy+kd0*Δd
In the same way, the formula that can obtain departure corresponding to all viewing field of camera is as follows:
di＝kxi*Δx+kyi*Δy+kdi*Δd，i＝0,1，2,3,4(1)
Wherein, the sequence number of i each viewing field of camera corresponding, i=0-4 is corresponding in turn to first camera visual field to the 5th viewing field of camera; D0 to d4 is the departure corresponding with 5 cameras, and kx0 to kx4, ky0 to ky4, kd0 to kd4 are the corresponding calibrating parameters of 5 cameras determining in step S103.5 corresponding 5 groups of equatioies of camera, described 5 groups of equation simultaneous solution unknown quantity Δ x, Δ y and Δ d, wherein Δ x, Δ y and Δ d are just described mobile regulated quantity.Certainly, in actual silk-screen printing process, if the consistent size of supplied materials glass and silk printing screen or gap are very little, then completely can according to arranging 3 video cameras in step S101, and set up the equation group of 3 groups of equation simultaneous according to the visual field of described 3 video cameras, thus solve unknown quantity Δ x, Δ y and Δ d.
Alternatively, after determining the mobile regulated quantity of silk printing screen relative to platform plane, also comprise: according to the departure preparing reference initial position in silk printing screen edge in contraposition supplied materials glass edge and corresponding shooting image in shooting image, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass; And according to described regulated quantity placed in the middle, adjustment silk printing screen position, completes the contraposition placed in the middle of described silk printing screen and described supplied materials glass.
In the silk screen process of reality, supplied materials glass is often different from the size of silk printing screen, if size disparity is very large, needs the contraposition placed in the middle carrying out described supplied materials glass and described silk printing screen.As shown in Figure 8, for supplied materials glass and silk printing screen position view after the center contraposition that the embodiment of the present invention provides, the edge of supplied materials glass 110 and the edge of silk printing screen 120 are ddy in the gap of platform coordinate system Y-direction, the edge of supplied materials glass 110 and the edge of silk printing screen 120 are ddx in the gap of platform coordinate system X-direction, above-mentioned ddx and ddy is introduced in formula (1) as boundary operator, thus mobile regulated quantity is revised, concrete computing formula is as follows:
d0＝kx0*Δx+ky0*Δy+kd0*Δd+kx0*ddx
d1＝kx1*Δx+ky1*Δy+kd1*Δd+ky1*ddy
d2＝kx2*Δx+ky2*Δy+kd2*Δd-kx2*ddx(2)
d3＝kx3*Δx+ky3*Δy+kd3*Δd-ky3*ddy
d4＝kx4*Δx+ky4*Δy+kd4*Δd-ky4*ddy
Above-mentioned formula (2) constitutes five yuan of linear function groups, thus can solve unique one group of solution (Δ x, Δ y, Δ d, ddx, ddy).Owing to introducing boundary operator ddx and ddy in formula (2), original mobile regulated quantity is revised, and revised mobile regulated quantity Δ x, Δ y and Δ d are regulated quantity placed in the middle.According to described regulated quantity placed in the middle, the contraposition placed in the middle of supplied materials glass and silk printing screen can be completed.
Step S106: according to described mobile regulated quantity, adjustment silk printing screen position, completes the contraposition of described silk printing screen and described supplied materials glass.
In actual implementation process, because described supplied materials glass is generally fixed, the position of silk printing screen can be adjusted by motion control device, therefore according to the mobile regulated quantity determined in step S105, only need control described silk printing screen and adjust along X, Y and θ direction of platform coordinate system the contraposition that Δ x, Δ y and Δ d just can complete silk printing screen and supplied materials glass respectively.Equally, if supplied materials glass and silk printing screen need contraposition placed in the middle, according to described regulated quantity placed in the middle, silk printing screen can be controlled and moves corresponding regulated quantity placed in the middle along X, Y and θ direction of platform coordinate system.
See Fig. 9, Figure 10 and Figure 11, for the silk-screen alignment method provided for the embodiment of the present invention carries out the test result of surveying, in test process, control supplied materials glass compared with normal place, be-0.5-0.5mm in X-direction gap scope, gap scope is-0.5-0.5mm in the Y direction, is-0.5 °-0.5 ° in θ direction gap scope; Under the test conditions above, the silk-screen alignment method provided by the embodiment of the present invention carries out contraposition, and final bit errors drops on X-direction and Y-direction ± 0.02mm, θ direction within ± 0.01 °, proves that described silk-screen alignment method has high precision.
The silk-screen alignment method that the embodiment of the present invention provides, by the edge of filming apparatus automatic acquisition supplied materials glass and silk printing screen, determines the calibrating parameters of the plane of delineation and platform plane by the movement controlling silk printing screen; In silk-screen printing process, filming apparatus obtains the edge of the supplied materials glass preparing contraposition, be convenient to and the departure of silk printing screen edge with reference to initial position according to supplied materials glass, and described calibrating parameters, accurate Calculation obtains the mobile regulated quantity of silk printing screen relative to platform plane; Last according to described mobile regulated quantity, adjustment silk printing screen position, completes the contraposition of described silk printing screen and described supplied materials glass.In whole contraposition process, by the marginal position of high-precision acquisition described supplied materials glass and described silk printing screen, and carry out image values and calculate and obtain described mobile regulated quantity, control silk printing screen contraposition, without the need to manpower intervention, effectively improve aligning accuracy.And, even if supplied materials glass does not have obvious telltale mark in contraposition process, also can complete exactitude position, there is high adaptability.
By the description of above embodiment of the method, those skilled in the art can be well understood to the mode that the present invention can add required general hardware platform by software and realize, hardware can certainly be passed through, but in a lot of situation, the former is better embodiment.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: read-only storage (ROM), random access memory (RAM), magnetic disc or CD etc. various can be program code stored medium.
Corresponding with silk-screen alignment method embodiment provided by the invention, present invention also offers a kind of silk-screen alignment device, as shown in figure 12, be the structural representation of a kind of silk-screen alignment device that the embodiment of the present invention provides, described silk-screen alignment device comprises:
Filming apparatus adjusting module 510, for adjusting the visual field of filming apparatus, is positioned at the position that can obtain silk printing screen edge and supplied materials glass edge to make described filming apparatus;
Silk printing screen motion module 520, moves along platform self-movement direction from reference to initial position for controlling silk printing screen, obtains silk printing screen edge in shooting image relative to the described mobile variable quantity with reference to initial position;
Calibrating parameters determination module 530, for according to described mobile variable quantity, determines the calibrating parameters characterizing the shooting plane of delineation and platform Planar Mapping relation;
Filming apparatus 540, for obtaining the edge of the supplied materials glass preparing contraposition;
Mobile regulated quantity determination module 550, for according to the departure of the supplied materials glass edge preparing contraposition in shooting image with reference initial position in silk printing screen edge in corresponding shooting image, and described calibrating parameters, determine the mobile regulated quantity of silk printing screen relative to platform plane;
Silk printing screen adjustment module 560, for according to described mobile regulated quantity, adjusts silk printing screen position, completes the contraposition of described silk printing screen and described supplied materials glass.
Alternatively, described silk printing screen motion module 520 determines described mobile variable quantity according to silk printing screen edge in shooting image and the intersection point of shooting image center line; Described mobile regulated quantity determination module 550, determines described departure according to supplied materials glass edge in shooting image and the intersection point of shooting image center line.
Alternatively, described filming apparatus 540 comprises 5 cameras, and any 3 limit correspondences of described supplied materials glass arrange 1 camera respectively, and the last of described supplied materials glass arranges 2 cameras; Described camera is arranged at the stage casing of the edge line of described supplied materials glass.
Alternatively, described silk printing screen motion module 520, controls described silk printing screen respectively along X, Y, θ tri-self-movement directions of platform coordinate system, mobile corresponding regular length.
Alternatively, described silk-screen alignment device also comprises adjustment module placed in the middle, for according to the departure preparing the reference of silk printing screen edge in contraposition supplied materials glass edge and corresponding shooting image initial position in shooting image, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass; According to described regulated quantity placed in the middle, adjustment silk printing screen position, completes the contraposition placed in the middle of described silk printing screen and described supplied materials glass.
It should be noted that, the silk-screen alignment method that the embodiment of the present invention provides and device, be not only applicable to silk-screen printing process, other scenes needing contraposition can be applied to equally, the contraposition etc. of the contraposition of such as mobile phone liquid crystal screen and backlight module, semi-conductor silicon chip and mask plate.
For convenience of description, various unit is divided into describe respectively with function when describing above device.Certainly, the function of each unit can be realized in same or multiple software and/or hardware when implementing of the present invention.
Each embodiment in this description all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually see, what each embodiment stressed is the difference with other embodiments.Especially, for device or system embodiment, because it is substantially similar to embodiment of the method, so describe fairly simple, relevant part illustrates see the part of embodiment of the method.Apparatus and system embodiment described above is only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple NE.Some or all of module wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.Those of ordinary skill in the art, when not paying creative work, are namely appreciated that and implement.
It should be noted that, in this article, such as term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The above is only the specific embodiment of the present invention, those skilled in the art is understood or realizes the present invention.To be apparent to one skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a silk-screen alignment method, is characterized in that, comprises the following steps:
The visual field of adjustment filming apparatus, is positioned at the position that can obtain silk printing screen edge and supplied materials glass edge to make described filming apparatus;
Control silk printing screen to move along platform self-movement direction from reference to initial position, obtain silk printing screen edge in shooting image relative to the described mobile variable quantity with reference to initial position;
According to described mobile variable quantity, determine the calibrating parameters characterizing the shooting plane of delineation and platform Planar Mapping relation;
Filming apparatus obtains the edge of the supplied materials glass preparing contraposition;
According to the departure of the supplied materials glass edge preparing contraposition in shooting image with reference initial position in silk printing screen edge in corresponding shooting image, and described calibrating parameters, determine the mobile regulated quantity of silk printing screen relative to platform plane;
According to described mobile regulated quantity, adjustment silk printing screen position, completes the contraposition of described silk printing screen and described supplied materials glass.
2. silk-screen alignment method according to claim 1, is characterized in that, determines described mobile variable quantity according to silk printing screen edge in shooting image and the intersection point of shooting image center line; Described departure is determined according to supplied materials glass edge in shooting image and the intersection point of shooting image center line.
3. silk-screen alignment method according to claim 1, is characterized in that, described filming apparatus comprises 5 cameras, and any 3 limit correspondences of described supplied materials glass arrange 1 camera respectively, and the last of described supplied materials glass arranges 2 cameras; Described camera is all arranged at the stage casing of the edge line of described supplied materials glass.
4. silk-screen alignment method according to claim 1, is characterized in that, described control silk printing screen moves from reference to initial position along platform self-movement direction, comprising:
Control described silk printing screen respectively along X, Y, θ tri-self-movement directions of platform coordinate system, mobile corresponding regular length.
5. the silk-screen alignment method according to claim 1 or 3, is characterized in that, after determining the mobile regulated quantity of silk printing screen relative to platform plane, also comprises:
According to the departure preparing reference initial position in silk printing screen edge in contraposition supplied materials glass edge and corresponding shooting image in shooting image, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass; And,
According to described regulated quantity placed in the middle, adjustment silk printing screen position, completes the contraposition placed in the middle of described silk printing screen and described supplied materials glass.
6. a silk-screen alignment device, is characterized in that, comprising:
Filming apparatus adjusting module, for adjusting the visual field of filming apparatus, is positioned to make described filming apparatus the position obtaining silk printing screen edge and supplied materials glass edge;
Silk printing screen motion module, moves along platform self-movement direction from reference to initial position for controlling silk printing screen, obtains silk printing screen edge in shooting image relative to the described mobile variable quantity with reference to initial position;
Calibrating parameters determination module, for according to described mobile variable quantity, determines the calibrating parameters characterizing the shooting plane of delineation and platform Planar Mapping relation;
Filming apparatus, for obtaining the edge of the supplied materials glass preparing contraposition;
Mobile regulated quantity determination module, for according to the departure of the supplied materials glass edge preparing contraposition in shooting image with reference initial position in silk printing screen edge in corresponding shooting image, and described calibrating parameters, determine the mobile regulated quantity of silk printing screen relative to platform plane;
Silk printing screen adjustment module, for according to described mobile regulated quantity, adjusts silk printing screen position, completes the contraposition of described silk printing screen and described supplied materials glass.
7. silk-screen alignment device according to claim 6, is characterized in that, described silk printing screen motion module, determines described mobile variable quantity according to silk printing screen edge in shooting image and the intersection point of shooting image center line; Described mobile regulated quantity determination module, determines described departure according to supplied materials glass edge in shooting image and the intersection point of shooting image center line.
8. silk-screen alignment device according to claim 6, is characterized in that, described filming apparatus comprises 5 cameras, and any 3 limit correspondences of described supplied materials glass arrange 1 camera respectively, and the last of described supplied materials glass arranges 2 cameras; Described camera is all arranged at the stage casing of described supplied materials glass edge line.
9. silk-screen alignment device according to claim 6, is characterized in that, described silk printing screen motion module, controls described silk printing screen respectively along X, Y, θ tri-self-movement directions of platform coordinate system, mobile corresponding regular length.
10. the silk-screen alignment device according to claim 6 or 8, is characterized in that, described silk-screen alignment device also comprises adjustment module placed in the middle:
Described adjustment module placed in the middle, for according to the departure preparing the reference of silk printing screen edge in contraposition supplied materials glass edge and corresponding shooting image initial position in shooting image, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass; According to described regulated quantity placed in the middle, adjustment silk printing screen position, completes the contraposition placed in the middle of described silk printing screen and described supplied materials glass.
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