CN105291564B - A kind of silk-screen alignment method and device - Google Patents
A kind of silk-screen alignment method and device Download PDFInfo
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- CN105291564B CN105291564B CN201510752364.XA CN201510752364A CN105291564B CN 105291564 B CN105291564 B CN 105291564B CN 201510752364 A CN201510752364 A CN 201510752364A CN 105291564 B CN105291564 B CN 105291564B
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Abstract
The embodiment of the invention discloses a kind of silk-screen alignment method and device, by controlling silk printing screen to be moved from reference to initial position along platform self-movement direction, the mobile variable quantity of silk-screen network edge is obtained；According to the mobile variable quantity, the calibrating parameters of shooting image plane and platform plane are determined；According to the supplied materials glass edge and departure and the calibrating parameters of the corresponding silk-screen network edge with reference to initial position for preparing contraposition in shooting image, calculate mobile regulated quantity of the silk printing screen relative to platform plane, according to the mobile regulated quantity, adjustment silk printing screen position completes contraposition.During above-mentioned contraposition, silk printing screen is obtained with supplied materials glass edge position by high-precision filming apparatus, and according to numerical computations, is obtained the mobile regulated quantity and aligned, and without manpower intervention, improves the precision of contraposition；Even if moreover, the silk-screen and supplied materials glass do not have visible marking, can also complete high-precision contraposition, the applicability of contraposition is further improved.
Description
Technical field
The present invention relates to industrial vision technical field, more particularly to a kind of silk-screen alignment method and device.
Background technology
Silk-screen is silk-screen printing, is by the manufacture craft of silk printing screen pattern printing to stock.In order to ensure silk printing screen figure
Case is accurately printed onto on stock (such as glass, pcb board), and silk printing screen pattern must be with stock strict counterpoint.Especially in silk
The wide variety of electronics industry of print technology, the precision assembled with electronic circuit board and parts is improved constantly, to silk
Print the required precision aligned also more and more higher.
At present, the structural representation of the silk-screen alignment device as shown in Figure 1 for a kind of supplied materials glass conventional at present, including
Platform 100 and filming apparatus 200, supplied materials glass 300 are that rectangular glass or surrounding have the glass of fillet, are fixedly installed and (inhale
It is attached) on platform 100, silk printing screen 400 (does not indicate) adjustment position to be covered in the supplied materials by motion control device in figure
Silk-screen is carried out on glass 300；The supplied materials glass 300 is additionally provided with the first glass target 500 and the second glass target 501, institute
State silk printing screen 400 and be provided with the first silk printing screen target 502 and the second silk printing screen target 503, the filming apparatus 200 and described the
One glass target 500 and the relative set of the second glass target 501.During silk-screen is aligned, technical staff passes through institute
State the position deviation that filming apparatus 200 obtains the first glass target 500 and the first silk printing screen target 502 in real time, and the second glass
The position deviation of the silk printing screen target 503 of glass target 501 and second, operates the motion control device to adjust the position of silk printing screen 400
Put, be finally reached corresponding glass target and silk printing screen target placement and overlap, that is, complete silk printing screen 400 and supplied materials glass 300
Contraposition, then carries out follow-up silk screen printing process.
However, above-mentioned silk-screen alignment method needs to carry out target mark, mark to the supplied materials glass 300 and silk printing screen 400
The precision of target position directly affects silk-screen aligning accuracy, adds the uncontrollable factor of silk-screen contraposition；Moreover, silk-screen aligns process
The judgement whether overlapped to target dependent on human eye, it is impossible to meet the requirement of higher precision.
The content of the invention
A kind of silk-screen alignment method and device are provided in the embodiment of the present invention, is aligned with solving silk-screen of the prior art
The problem of low precision.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical scheme：
The embodiments of the invention provide a kind of silk-screen alignment method, comprise the following steps：
The visual field of filming apparatus is adjusted, so that the filming apparatus, which is located at, can obtain silk-screen network edge and supplied materials glass edge
The position of edge；
Control silk printing screen is moved from reference to initial position along platform self-movement direction, obtains silk-screen network edge in shooting figure
Relative to the mobile variable quantity of the reference initial position as in；
According to the mobile variable quantity, it is determined that characterizing the calibrating parameters of shooting image plane and platform Planar Mapping relation；
Filming apparatus obtains the edge for the supplied materials glass for preparing contraposition；
According to silk-screen network edge in the supplied materials glass edge and corresponding shooting image that prepare contraposition in shooting image with reference to just
Beginning position departure, and calibrating parameters determine mobile regulated quantity of the silk printing screen relative to platform plane；
According to the mobile regulated quantity, adjustment silk printing screen position completes the contraposition of the silk printing screen and the supplied materials glass.
Preferably, the mobile change is determined according to the intersection point of silk-screen network edge in shooting image and shooting image center line
Amount；The departure is determined according to the intersection point of supplied materials glass edge in shooting image and shooting image center line.
Preferably, the filming apparatus includes 5 cameras, and any 3 side correspondence of the supplied materials glass sets 1 phase respectively
Machine, last 2 cameras of setting on one side of the supplied materials glass；The camera may be contained within the edge line of the supplied materials glass
Section.
Preferably, the control silk printing screen is moved from reference to initial position along platform self-movement direction, including：
The tri- self-movement directions of X, Y, θ of the silk printing screen respectively along platform coordinate system are controlled, it is mobile corresponding fixed
Length.
Preferably, after determining silk printing screen relative to the mobile regulated quantity of platform plane, in addition to：
According to preparing in shooting image, silk-screen network edge reference in contraposition supplied materials glass edge and corresponding shooting image is initial
The departure of position, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass；And,
According to the regulated quantity placed in the middle, adjustment silk printing screen position completes the placed in the middle of the silk printing screen and the supplied materials glass
Contraposition.
The embodiment of the present invention additionally provides a kind of silk-screen alignment device, including：
Filming apparatus adjusting module, the visual field for adjusting filming apparatus, so that the filming apparatus, which is located at, obtains silk-screen
The position of network edge and supplied materials glass edge；
Silk printing screen motion module, for controlling silk printing screen to be moved from reference to initial position along platform self-movement direction, is obtained
Take mobile variable quantity of the silk-screen network edge relative to the reference initial position in shooting image；
Calibrating parameters determining module, for according to the mobile variable quantity, it is determined that sign shooting image plane and platform are flat
The calibrating parameters of face mapping relations；
Filming apparatus, the edge for obtaining the supplied materials glass for preparing contraposition；
Mobile regulated quantity determining module, for being clapped according to the supplied materials glass edge for preparing contraposition in shooting image with corresponding
The departure that silk-screen network edge in image refers to initial position, and the calibrating parameters are taken the photograph, determine silk printing screen relative to platform
The mobile regulated quantity of plane；
Silk printing screen adjustment module, for according to the mobile regulated quantity, adjustment silk printing screen position, complete the silk printing screen and
The contraposition of the supplied materials glass.
Preferably, the silk printing screen motion module, according to the friendship of silk-screen network edge in shooting image and shooting image center line
Point determines the mobile variable quantity；The mobile regulated quantity determining module, according to supplied materials glass edge in shooting image with shooting
The intersection point of image center line determines the departure.
Preferably, the filming apparatus includes 5 cameras, and any 3 side correspondence of the supplied materials glass sets 1 phase respectively
Machine, last 2 cameras of setting on one side of the supplied materials glass；The camera is arranged at the stage casing of the supplied materials glass edge line.
Preferably, the silk printing screen motion module, controls the silk printing screen only along X, Y, θ tri- of platform coordinate system respectively
The vertical direction of motion, mobile corresponding regular length.
Preferably, the silk-screen alignment device also includes adjustment module placed in the middle：
The adjustment module placed in the middle, for according to preparation contraposition supplied materials glass edge in shooting image and corresponding shooting image
Middle silk-screen network edge refers to the departure of initial position, and calibrating parameters, determines the regulation placed in the middle of silk printing screen and supplied materials glass
Amount；According to the regulated quantity placed in the middle, adjustment silk printing screen position completes the contraposition placed in the middle of the silk printing screen and the supplied materials glass.
From above technical scheme, silk-screen alignment method and device provided in an embodiment of the present invention pass through filming apparatus
Obtain the edge of silk-screen network edge and supplied materials glass；Then, the silk printing screen is controlled independently to be transported along platform from reference to initial position
Dynamic direction movement, obtains silk-screen network edge in shooting image relative to the mobile variable quantity with reference to initial position, and according to institute
Mobile variable quantity is stated, it is determined that characterizing the calibrating parameters of shooting image plane and platform plane mapping relations.In silk-screen printing process, clap
The edge that device obtains the supplied materials glass for preparing contraposition is taken the photograph, according to silk printing screen in the supplied materials glass edge and corresponding shooting image
Edge determines mobile regulation of the silk printing screen relative to platform plane with reference to the departure and the calibrating parameters of initial position
Amount；Finally, according to the mobile regulated quantity, silk printing screen position is adjusted, contraposition is completed.In above process, obtained according to high accuracy
The silk-screen network edge and supplied materials glass edge obtained, is handled by numerical computations, obtains the mobile regulated quantity, and completes to align,
Whole process improves aligning accuracy without manpower intervention；Moreover, even if silk printing screen or the supplied materials glass do not have obvious alignment mark,
Also high-precision contraposition can be completed, contraposition applicability is improved.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, on the premise of not paying creative work, can also obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of structural representation of the silk-screen alignment device of supplied materials glass conventional at present；
Fig. 2 is a kind of schematic flow sheet of silk-screen alignment method provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of camera set location provided in an embodiment of the present invention；
Fig. 4 is a kind of viewing field of camera distribution map provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram that silk printing screen is moved along platform X-direction；
Fig. 6 is the schematic diagram that silk printing screen is translated along platform Y-direction；
Fig. 7 is the schematic diagram that silk printing screen rotates along platform θ directions；
Fig. 8 is supplied materials glass and silk printing screen position view after the contraposition of center provided in an 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 figures；
Figure 12 is a kind of structural representation of silk-screen alignment device provided in an embodiment of the present invention.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Screen printing technique is to be widely used in textile printing and dyeing, advertising painting, label fabrication and electronic circuit board manufacture
Deng the technology in field.According to the difference of stock, silk-screen printing includes stationery printing, plastic printing, woodwork printing, metal printing
Brush, glass ceramics printing, the printing of PCB (Printed Circuit Board, printed circuit board) plate etc..In the mistake of silk-screen printing
Cheng Zhong, silk-screen contraposition is the key for ensureing silk-screen quality, especially in the high field of the precision requirements such as electronics industry, is improved
The precision of silk-screen contraposition turns into the technical problem of those skilled in the art's urgent need to resolve.
With the raising of production technology, industrial vision technology gradually be applied to silk-screen printing, with improve silk-screen printing from
Dynamicization degree and the precision of silk-screen contraposition.The industrial vision technology, refers to target subject is converted into figure using filming apparatus
As signal, according to the analysis and judgement to picture signal, control field apparatus completes the technology of corresponding actions.At present, such as Fig. 1 institutes
Show, conventional silk-screen alignment device includes filming apparatus, platform and motion control device；Specifically, the filming apparatus, including
CCD (Charge Coupled Device, charge coupled cell) industrial cameras or CMOS (Complementary Metal
Oxide Semiconductor, complementary metal oxide semiconductor) industrial camera；The platform is used to adsorb fixed supplied materials glass
Glass, to carry out silk-screen；The motion control device, can control silk printing screen to be translated or rotated along the platform, to complete
The contraposition of silk printing screen and supplied materials glass.
It is a kind of schematic flow sheet of silk-screen alignment method provided in an embodiment of the present invention referring to Fig. 2, the silk-screen contraposition
Method includes：
Step S101：Adjust filming apparatus visual field so that the filming apparatus be located at can obtain silk-screen network edge and
The position of supplied materials glass edge.
Filming apparatus in the embodiment of the present invention, preferably CCD industrial cameras.The filming apparatus is arranged at the upper of platform
Side, according to the size of silk printing screen and supplied materials glass, adjusts position, lens shooting direction and aperture of filming apparatus etc. and shoots ginseng
Number, enables the filming apparatus clearly to obtain silk printing screen edge image and supplied materials glass edge image.
Alternatively, the filming apparatus includes 5 cameras.As shown in figure 3, being a kind of camera provided in an embodiment of the present invention
The schematic diagram of set location, any 3 side of supplied materials glass 110 is correspondingly arranged 1 camera 130 respectively, the supplied materials glass 110
Finally while setting 2 cameras 130；The camera 130 may be contained within the stage casing of the edge line of the supplied materials glass 110, to protect
The edge of the supplied materials glass 110 can be obtained all the time in the case where supplied materials glass 110 is moved by demonstrate,proving the camera 130.Silk screen
Quite, the size of the general supplied materials glass 110 is equal to or more than institute for the silk printing screen 120 of printing and the size of supplied materials glass 110
The size of silk printing screen 120 is stated, equally 5 cameras 130 can be set according to the edge of the silk printing screen 120, and ensure institute
The edge image of the silk printing screen 120 and the edge image of the supplied materials glass 110 can clearly be obtained by stating 5 cameras 130.
Equally, Fig. 4 is also can be found in, is a kind of viewing field of camera distribution map provided in an embodiment of the present invention, 5 cameras correspond to the respectively
One viewing field of camera 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, the viewing field of camera is rectangular field；With respect to the midpoint on two sides in the viewing field of camera, determine and each phase respectively
Machine visual field corresponding the first center line 310 and the second center line 311；The viewing field of camera is by adjustment by supplied materials glass 110
Edge line is included in visual field, to obtain the edge of the supplied materials glass 110, and the center line with the supplied materials glass 110
Edge line intersect.
Certainly, according to actual needs, if the size disparity very little of the supplied materials glass 110 and the silk printing screen 120 very
It can extremely ignore, then 3 cameras can be set, and 3 cameras are respectively arranged at the supplied materials glass 110 or the silk-screen
3 edges relevant position of net 120.
Step S102：Control silk printing screen is moved from reference to initial position along platform self-movement direction, obtains silk-screen selvage
Edge in shooting image relative to the reference initial position mobile variable quantity.
Before control silk printing screen movement, it is necessary first to assign one block of glass slightly larger than silk printing screen screen printing pattern as demarcation glass
Glass, fixation is adsorbed on platform；Ink or other pigment are smeared on silk printing screen, in order to which the edge shape of silk printing screen is printed onto
On the demarcation glass.
Alternatively, motion control device controls the silk printing screen respectively along tri- self-movements of X, Y, θ of platform coordinate system
Direction, mobile corresponding regular length.In the specific implementation, the generally rectangular cross-section platform of the platform, can be flat with the rectangle
The geometric center of platform is origin, is respectively X-axis or Y-axis with two axis parallel to the rectangular platform length of side, with the square
Angle of the shape platform along central rotation is θ axles.Certainly, those skilled in the art can set up described flat by origin of optional position
Platform coordinate system, and provide that any bearing of trend is X positive directions or Y positive directions, any direction of rotation are θ positive directions.
Predefine after the good platform coordinate system, the motion control device controls silk printing screen in the demarcation first
Silk printing screen third edge pattern is printed off on glass, the reference initial position of the silk printing screen is recorded, as shown in figure 5, flat for silk printing screen edge
The schematic diagram of platform X-direction movement, the position of silk printing screen third edge pattern 410 is to refer to initial position, the reference initial position
The printing position for the silk printing screen that can be given tacit consent to for screen printing device.
Then, as shown in figure 5, the motion control device controls negative direction of the silk printing screen along X-axis to translate and in the mark
Determine to print silk printing screen third edge pattern on glass, silk printing screen third edge pattern 411 is relative to the silk printing screen with reference to initial position after movement
Third edge pattern 410 is shifted fixed range dx0, the fixed range dx0 under platform coordinate system along platform coordinate system X-direction
Distance, i.e. actual translation distance of the silk printing screen along platform X-coordinate direction；Technical staff can set described according to actual needs
Fixed range dx0 can also translate for any numbers such as 1-5cm, and the silk printing screen along X-axis positive direction.
As shown in fig. 6, the schematic diagram translated for silk printing screen along platform Y-direction, the silk printing screen completes the translation of X-direction
Afterwards, motion control device controls the silk printing screen referring back to initial position, is ready for the translation of Y direction.In the present invention
In embodiment, the motion control device controls the silk printing screen from the reference initial position, along platform coordinate system Y-axis just
Direction translates fixed range dy0, and silk printing screen third edge pattern is printed onto on the demarcation glass；The silk printing screen is along platform Y
The translation motion in direction and the translation motion something in common of above-mentioned X-direction, refer to the description of above-mentioned steps, no longer go to live in the household of one's in-laws on getting married herein
State.
As shown in fig. 7, the schematic diagram rotated for silk printing screen along platform θ directions, the same silk printing screen completes θ direction of principal axis
After translation, motion control device also needs to control the silk printing screen referring back to initial position.Silk printing screen in the embodiment of the present invention
Centered on the origin of platform coordinate system, arcuate distance dd0 is fixed from reference to initial position rotate counterclockwise, and in the demarcation
Postrotational silk printing screen third edge pattern is printed on glass.The fixed arcuate distance dd0 could be arranged to 1 ° -5 ° or other are any
Numerical value, and the silk printing screen can also turn clockwise.
Certainly, in specific implementation process, X, Y, the θ of the silk printing screen along platform coordinate system are moved in tri- self-movement directions
Move, not permanent order；Technical staff can set the silk printing screen according to Y, θ, X order movement etc..The reference is just
Beginning position and the silk printing screen edge image after being moved along tri- self-movement directions of X, Y, θ of platform coordinate system can be stored in and deposit
In reservoir, in case the calculating analysis of subsequent step is used.
Alternatively, the mobile change is determined according to the intersection point of silk-screen network edge in shooting image and shooting image center line
Amount.
For each camera, determine the intersection point and the process one of the mobile variable quantity is determined according to the intersection point
Cause, be only described in detail herein by taking the corresponding first camera visual field 210 of First camera as an example.
The filming apparatus obtains with reference to initial position, along platform coordinate system X, Y, θ and moves rear silk printing screen edge graph respectively
The image of case.Described image is analyzed, the silk-screen network edge in image is determined；In technical field of image processing, edge one
As be image in occur jump in brightness position, can use in embodiments of the present invention Sobel operators, Prewitt operators,
The edge detection methods such as Canny operators, determine the silk-screen network edge.The shooting image of one camera includes two center lines, such as
Shown in Fig. 4, the corresponding shooting image in the first camera visual field 210 includes the first center line 310 and the second center line 311.In Fig. 5
In, compared with second center line 311, the silk-screen network edge of first center line 310 and reference initial position is closer vertical
Directly, then the intersection point of silk-screen network edge and first center line 310 after being moved through is also easier to by the first camera visual field 210
Captured, without the scope beyond the first camera visual field 210, therefore pass through first center line 310 and the silk-screen
The intersection point of network edge determines the mobile variable quantity, is specially：In the reference initial position of silk printing screen, filming apparatus obtains first
The position of intersecting point of center line 310 and silk-screen network edge；As described in above-mentioned step, Motion Control Platform controls silk printing screen along platform X side
To after movement, filming apparatus obtains the position of intersecting point of the first center line 310 and silk-screen network edge after movement；Pass through intersection point position
Put, calculate X-direction of the silk-screen network edge along the first center line 310 in acquisition shooting image and move variable quantity dsx0；According to same
Mode, determines Y-direction movement variable quantity dsy0 and θ directions movement variable quantity dsd0.
Step S103：According to the mobile variable quantity, it is determined that characterizing shooting image plane and platform Planar Mapping relation
Calibrating parameters.
In first camera visual field 210, as shown in Figure 5 and Figure 6, the X-direction movement variable quantity that step S102 is determined
Dsx0 is directly proportional to the fixed range dx0 that silk printing screen is moved along platform coordinate system X-direction；Similarly, the institute that step S102 is determined
Y-direction movement variable quantity dsy0 is stated to be directly proportional to the fixed range dy0 that silk printing screen is moved along platform coordinate system Y-direction.Such as Fig. 7 institutes
Show, in embodiments of the present invention, the angle of the silk printing screen rotation is smaller, generally -0.5 ° -0.5 °, in order to reduce complexity
And calculation error is met in very low range, the θ directions movement variable quantity dsd0 is moved with silk printing screen along platform coordinate system θ directions
Dynamic fixed range dd0 can still do linear direct ratio processing.In the same way, it may be determined that in all viewing field of camera
Interior, the relation of the mobile variable quantity and the fixed range, specific 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, for example First camera correspondence sequence number 0, corresponding sequence number 1 of second camera etc.,
If only setting three cameras certainly, the camera sequence number is untill i=2；Kxi, kyi and kdi are and each camera phase
The scale factor of corresponding 3 platform moving directions.In above-mentioned formula, mobile variable quantity dsxi, dsyi and dsdi, and it is mobile
Fixed range dxi, dyi and ddi are, it is known that it is possible thereby to calculate the scale factor.Pass through the scale factor, it is possible to
Change in location conversion in shooting image plane is calculated as the change in location of platform plane, thus set up shooting image plane and
The mapping relations of platform plane, the calibrating parameters are exactly described scale factor kxi, kyi and kdi.
Step S104：Filming apparatus obtains the edge for the supplied materials glass for preparing contraposition.
The supplied materials glass for preparing contraposition is put into platform and fixed absorption, to treat contraposition after completing by silk printing screen pattern
It is printed onto the supplied materials glass；Filming apparatus obtains the edge image of the supplied materials glass, in embodiments of the present invention, described 5
The visual field of platform camera is set in step S101, and typically without mobile adjustment again, 5 cameras are obtained accordingly respectively
Ground supplied materials glass edge image.
Step S105：According to the supplied materials glass edge and silk-screen selvage in corresponding shooting image for preparing contraposition in shooting image
Edge refers to the departure of initial position, and the calibrating parameters, determines mobile regulated quantity of the silk printing screen relative to platform plane.
Alternatively, the departure is determined according to the intersection point of supplied materials glass edge in shooting image and shooting image center line.
As described in step S102, in first camera visual field 210, still pass through first center line 310 and the supplied materials glass edge
Intersection point determine the departure.The supplied materials glass is after the completion of placement, in first camera visual field 210, described to prepare
The intersection point of the supplied materials glass edge image of contraposition and first center line 310, it is initial relative to the reference preserved in step S102
The intersection point of the silk-screen network edge of position and first center line 310, with certain deviation, the deviation is first camera visual field
The first departure d0 corresponding to 210.Similarly for other 4 viewing field of camera, the second departure d1 has been corresponding in turn to, the 3rd inclined
Residual quantity d2, the 4th departure d3 and the 5th departure d4.
According to vector superposed independency principle, it can be understood as the departure is due to supplied materials glass along platform coordinate
To be that X, Y, θ are directionally independent move superimposed on what is caused in 3 directions in system.Specifically, with reference to the corresponding demarcation in first camera visual field 210
Parameter kx0, if preparation contraposition supplied materials glass moves Δ x along platform coordinate system X-direction, in first camera visual field 210
The first departure contribution margin be kx0* Δs x；With reference to the corresponding calibrating parameters ky0 in first camera visual field 210, the preparation contraposition
If supplied materials glass moves Δ y along platform coordinate system Y-direction, it is to the first departure contribution margin in first camera visual field 210
ky0*Δy；With reference to the corresponding calibrating parameters kd0 in first camera visual field 210, if the preparation aligns supplied materials glass along platform θ
Δ d is moved in direction, is kd0* Δs d to the first departure contribution margin in first camera visual field 210.By the inclined of above three direction
Residual quantity contribution margin is superimposed, and finally gives the calculation formula of the first departure d0 in first camera visual field 210：
D0=kx0* Δ x+ky0* Δ y+kd0* Δs d
In the same way, the formula that can obtain the corresponding departure of all viewing field of camera is as follows：
Di=kxi* Δ x+kyi* Δ y+kdi* Δs d, i=0,1,2,3,4 (1)
Wherein, the sequence number of each viewing field of camera of i correspondences, i=0-4 is corresponding in turn to first camera visual field and regarded to the 5th camera
；D0 to d4 is the departure corresponding with 5 cameras, and kx0 to kx4, ky0 to ky4, kd0 to kd4 is determination in step S103
The corresponding calibrating parameters of 5 cameras.5 camera 5 groups of equatioies of correspondence, 5 groups of equatioies simultaneous solution unknown quantity Δ x, Δ y
With Δ d, wherein Δ x, Δ y and Δ d are just the mobile regulated quantity.Certainly, in actual silk-screen printing process, if supplied materials glass with
The size of silk printing screen is consistent or gap very little, then completely can be according to setting 3 video cameras in step S101, and according to described 3
The equation group of 3 groups of equation simultaneous is set up in the visual field of platform video camera, so as to solve unknown quantity Δ x, Δ y and Δ d.
Optionally it is determined that after silk printing screen is relative to the mobile regulated quantity of platform plane, in addition to：According in shooting image
Prepare the departure that contraposition supplied materials glass edge refers to initial position with silk-screen network edge in corresponding shooting image, and demarcation ginseng
Number, determines the regulated quantity placed in the middle of silk printing screen and supplied materials glass；And, according to the regulated quantity placed in the middle, adjustment silk printing screen position is complete
Into the contraposition placed in the middle of the silk printing screen and the supplied materials glass.
During actual silk screen, supplied materials glass is often different from the size of silk printing screen, if size disparity is very big, needs
Carry out the contraposition placed in the middle of the supplied materials glass and the silk printing screen.As shown in figure 8, being center pair provided in an embodiment of the present invention
Supplied materials glass and silk printing screen position view behind position, the edge of supplied materials glass 110 is with the edge of silk printing screen 120 in platform coordinate system
The gap of Y-direction is ddy, and the edge of supplied materials glass 110 is in the gap of platform coordinate system X-direction with the edge of silk printing screen 120
Ddx, is introduced into above-mentioned ddx and ddy as boundary operator in formula (1), so as to be modified to mobile regulated quantity, specific meter
Calculate formula as follows：
D0=kx0* Δ x+ky0* Δ y+kd0* Δs d+kx0*ddx
D1=kx1* Δ x+ky1* Δ y+kd1* Δs d+ky1*ddy
D2=kx2* Δ x+ky2* Δ y+kd2* Δs d-kx2*ddx (2)
D3=kx3* Δ x+ky3* Δ y+kd3* Δs d-ky3*ddy
D4=kx4* Δ x+ky4* Δ y+kd4* Δs d-ky4*ddy
Above-mentioned formula (2) constitutes five yuan of linear function groups, so as to solve unique one group of solution (Δ x, Δ y, Δ d,
Ddx, ddy).Due to introducing boundary operator ddx and ddy in formula (2), original mobile regulated quantity is corrected, and
Revised mobile regulated quantity Δ x, Δ y and Δ d are regulated quantity placed in the middle.According to the regulated quantity placed in the middle, supplied materials can be completed
The contraposition placed in the middle of glass and silk printing screen.
Step S106：According to the mobile regulated quantity, adjustment silk printing screen position completes the silk printing screen and the supplied materials glass
The contraposition of glass.
In actual implementation process, because the supplied materials glass is usually fixed, the position of silk printing screen can lead to
Cross motion control device to be adjusted, therefore according to the mobile regulated quantity determined in step S105, only need to control the silk printing screen
The contraposition of silk printing screen and supplied materials glass can just be completed by adjusting Δ x, Δ y and Δ d respectively along X, Y and θ direction of platform coordinate system.
Equally, supplied materials glass can control silk printing screen along platform with silk printing screen if necessary to contraposition placed in the middle according to the regulated quantity placed in the middle
The corresponding regulated quantity placed in the middle of X, Y and θ direction movement of coordinate system.
Referring to Fig. 9, Figure 10 and Figure 11, for the test surveyed for silk-screen alignment method provided in an embodiment of the present invention
As a result, in test process, control supplied materials glass is -0.5-0.5mm in X-direction gap scope, in Y compared with normal place
Direction gap scope is -0.5-0.5mm, and in θ directions, gap scope is -0.5 ° -0.5 °；Under the test conditions above, by this
The silk-screen alignment method that inventive embodiments are provided is aligned, and final bit errors fall in X-direction and Y-direction ± 0.02mm, θ side
To within ± 0.01 °, it was demonstrated that the silk-screen alignment method has high precision.
Silk-screen alignment method provided in an embodiment of the present invention, supplied materials glass and silk printing screen are obtained by filming apparatus automatically
Edge, by controlling the mobile determination plane of delineation of silk printing screen and the calibrating parameters of platform plane；In silk-screen printing process, dress is shot
Put obtain prepare contraposition supplied materials glass edge, be easy to according to supplied materials glass and silk-screen network edge refer to initial position deviation
Amount, and the calibrating parameters, accurate calculate obtain mobile regulated quantity of the silk printing screen relative to platform plane；Finally according to described
Mobile regulated quantity, adjustment silk printing screen position, completes the contraposition of the silk printing screen and the supplied materials glass.In entirely contraposition process
In, the marginal position of the supplied materials glass and the silk printing screen is obtained by high-precision, and carry out image values calculating acquisition
The mobile regulated quantity, control silk printing screen contraposition, without manpower intervention, effectively increases aligning accuracy.Moreover, in contraposition process
Even if in supplied materials glass there is no obvious telltale mark, exactitude position can be also completed, with high adaptability.
The description of embodiment of the method more than, it is apparent to those skilled in the art that the present invention can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to by hardware, but in many cases the former
It is more preferably embodiment.Understood based on such, technical scheme substantially makes tribute to prior art in other words
The part offered can be embodied in the form of software product, and the computer software product is stored in a storage medium, bag
Some instructions are included to so that a computer equipment (can be personal computer, server, or network equipment etc.) performs
The all or part of step of each embodiment methods described of the invention.And foregoing storage medium includes：Read-only storage
(ROM), random access memory (RAM), magnetic disc or CD etc. are various can be with the medium of store program codes.
It is corresponding with the silk-screen alignment method embodiment that the present invention is provided, filled present invention also offers a kind of contraposition of silk-screen
Put, be a kind of structural representation of silk-screen alignment device provided in an embodiment of the present invention as shown in figure 12, the silk-screen contraposition dress
Put including：
Filming apparatus adjusting module 510, the visual field for adjusting filming apparatus can be obtained so that the filming apparatus is located at
Take the position of silk-screen network edge and supplied materials glass edge；
Silk printing screen motion module 520, for controlling silk printing screen to be moved from reference to initial position along platform self-movement direction,
Obtain silk-screen network edge mobile variable quantity relative to the reference initial position in shooting image；
Calibrating parameters determining module 530, for according to the mobile variable quantity, it is determined that characterizing shooting image plane and platform
The calibrating parameters of Planar Mapping relation；
Filming apparatus 540, the edge for obtaining the supplied materials glass for preparing contraposition；
Mobile regulated quantity determining module 550, for according to the supplied materials glass edge for preparing contraposition in shooting image and accordingly
Shooting image in silk-screen network edge refer to the departure of initial position, and calibrating parameters, determine silk printing screen relative to
The mobile regulated quantity of platform plane；
Silk printing screen adjustment module 560, for according to the mobile regulated quantity, adjustment silk printing screen position to complete the silk-screen
The contraposition of net and the supplied materials glass.
Alternatively, the silk printing screen motion module 520 is according to silk-screen network edge in shooting image and shooting image center line
Intersection point determines the mobile variable quantity；The mobile regulated quantity determining module 550, according to supplied materials glass edge in shooting image with
The intersection point of shooting image center line determines the departure.
Alternatively, the filming apparatus 540 includes 5 cameras, and any 3 side correspondence of the supplied materials glass sets 1 respectively
Platform camera, last 2 cameras of setting on one side of the supplied materials glass；The camera is arranged at the edge line of the supplied materials glass
Stage casing.
Alternatively, the silk printing screen motion module 520, controls the silk printing screen respectively along X, Y, θ tri- of platform coordinate system
Individual self-movement direction, mobile corresponding regular length.
Alternatively, the silk-screen alignment device also includes adjustment module placed in the middle, for being aligned according to preparation in shooting image
Supplied materials glass edge refers to the departure of initial position, and calibrating parameters with silk-screen network edge in corresponding shooting image, it is determined that
The regulated quantity placed in the middle of silk printing screen and supplied materials glass；According to the regulated quantity placed in the middle, adjustment silk printing screen position completes the silk printing screen
With the contraposition placed in the middle of the supplied materials glass.
It should be noted that silk-screen alignment method provided in an embodiment of the present invention and device, are not only applicable to silk-screen printing process,
Can be applied equally to other scenes for needing to align, the contraposition of such as mobile phone liquid crystal screen and backlight module, semi-conductor silicon chip with
Contraposition of mask plate etc..
For convenience of description, it is divided into various units during description apparatus above with function to describe respectively.Certainly, this is being implemented
The function of each unit can be realized in same or multiple softwares and/or hardware during invention.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for device or
For system embodiment, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit that separating component illustrates can be or may not be it is physically separate, the part shown as unit can be or
Person may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can root
Some or all of module therein is factually selected to realize the purpose of this embodiment scheme the need for border.Ordinary skill
Personnel are without creative efforts, you can to understand and implement.
It should be noted that herein, such as term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
Described above is only the embodiment of the present invention, is made skilled artisans appreciate that or realizing this hair
It is bright.A variety of modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of silk-screen alignment method, it is characterised in that comprise the following steps：
The visual field of filming apparatus is adjusted, so that the filming apparatus, which is located at, can obtain silk-screen network edge and supplied materials glass edge
Position；
Control silk printing screen is moved from reference to initial position along platform self-movement direction, obtains silk-screen network edge in shooting image
Relative to the mobile variable quantity of the reference initial position；
According to the mobile variable quantity, it is determined that characterizing the calibrating parameters of shooting image plane and platform Planar Mapping relation；
Filming apparatus obtains the edge for the supplied materials glass for preparing contraposition；
Initial bit is referred to according to silk-screen network edge in the supplied materials glass edge and corresponding shooting image that prepare contraposition in shooting image
The departure put, and the calibrating parameters, determine mobile regulated quantity of the silk printing screen relative to platform plane；
According to the mobile regulated quantity, adjustment silk printing screen position completes the contraposition of the silk printing screen and the supplied materials glass.
2. silk-screen alignment method according to claim 1, it is characterised in that according to silk-screen network edge in shooting image with clapping
The intersection point for taking the photograph image center line determines the mobile variable quantity；According to supplied materials glass edge in shooting image and shooting image center line
Intersection point determines the departure.
3. silk-screen alignment method according to claim 1, it is characterised in that the filming apparatus includes 5 cameras, described
Any 3 side correspondence of supplied materials glass sets 1 camera, last 2 cameras of setting on one side of the supplied materials glass respectively；The phase
Machine may be contained within the stage casing of the edge line of the supplied materials glass.
4. silk-screen alignment method according to claim 1, it is characterised in that the control silk printing screen is from referring to initial position
Moved along platform self-movement direction, including：
Control the tri- self-movement directions of X, Y, θ of the silk printing screen respectively along platform coordinate system, mobile corresponding regular length.
5. the silk-screen alignment method according to claim 1 or 3, it is characterised in that determine silk printing screen relative to platform plane
Mobile regulated quantity after, in addition to：
Initial bit is referred to according to silk-screen network edge in the supplied materials glass edge and corresponding shooting image that prepare contraposition in shooting image
The departure put, and calibrating parameters, determine the regulated quantity placed in the middle of silk printing screen and supplied materials glass；And,
According to the regulated quantity placed in the middle, adjustment silk printing screen position completes the contraposition placed in the middle of the silk printing screen and the supplied materials glass.
6. a kind of silk-screen alignment device, it is characterised in that including：
Filming apparatus adjusting module, the visual field for adjusting filming apparatus, so that the filming apparatus, which is located at, obtains silk-screen selvage
The position of edge and supplied materials glass edge；
Silk printing screen motion module, for controlling silk printing screen to be moved from reference to initial position along platform self-movement direction, obtains silk
Printed network edge in shooting image relative to the reference initial position mobile variable quantity；
Calibrating parameters determining module, for according to the mobile variable quantity, it is determined that sign shooting image plane and platform plane are reflected
Penetrate the calibrating parameters of relation；
Filming apparatus, the edge for obtaining the supplied materials glass for preparing contraposition；
Mobile regulated quantity determining module, for according to the supplied materials glass edge and corresponding shooting figure for preparing contraposition in shooting image
Silk-screen network edge refers to the departure of initial position, and the calibrating parameters as in, determines silk printing screen relative to platform plane
Mobile regulated quantity；
Silk printing screen adjustment module, for according to the mobile regulated quantity, adjustment silk printing screen position to complete the silk printing screen and described
The contraposition of supplied materials glass.
7. silk-screen alignment device according to claim 6, it is characterised in that the silk printing screen motion module, according to shooting
The intersection point of silk-screen network edge and shooting image center line determines the mobile variable quantity in image；The mobile regulated quantity determines mould
Block, the departure is determined according to the intersection point of supplied materials glass edge in shooting image and shooting image center line.
8. silk-screen alignment device according to claim 6, it is characterised in that the filming apparatus includes 5 cameras, described
Any 3 side correspondence of supplied materials glass sets 1 camera, last 2 cameras of setting on one side of the supplied materials glass respectively；The phase
Machine may be contained within the stage casing of the edge line of the supplied materials glass.
9. silk-screen alignment device according to claim 6, it is characterised in that the silk printing screen motion module, control is described
Silk printing screen is respectively along tri- self-movement directions of X, Y, θ of platform coordinate system, mobile corresponding regular length.
10. the silk-screen alignment device according to claim 6 or 8, it is characterised in that the silk-screen alignment device also includes occupying
Middle adjustment module：
The adjustment module placed in the middle, for according to preparation contraposition supplied materials glass edge in shooting image and silk in corresponding shooting image
Printed network edge refers to the departure of initial position, and calibrating parameters, determines the regulated quantity placed in the middle of silk printing screen and supplied materials glass；Root
According to the regulated quantity placed in the middle, adjustment silk printing screen position completes the contraposition placed in the middle of the silk printing screen and the supplied materials glass.
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108072319B (en) * | 2016-11-07 | 2020-05-22 | 俞庆平 | Rapid calibration system and calibration method for motion platform |
| CN108263096A (en) * | 2017-12-29 | 2018-07-10 | 广州泰行智能科技有限公司 | Silk-screen detection method, device, terminal device and storage medium |
| CN108298125B (en) * | 2018-01-29 | 2020-10-23 | 广东工业大学 | Diaphragm positioning and laminating system |
| CN108942735B (en) * | 2018-07-19 | 2023-12-22 | 深圳市德富强机器人有限公司 | Curved glass positioning method, positioning mechanism and laminating device |
| CN109986896A (en) * | 2018-12-01 | 2019-07-09 | 广东骏亚电子科技股份有限公司 | Automatic aligning screen printing method based on CCD |
| CN109685857B (en) * | 2018-12-28 | 2023-11-24 | 深圳视觉龙智能传感器有限公司 | Full-automatic screen printer vision calibration and alignment laminating algorithm |
| CN110889870B (en) * | 2019-11-15 | 2023-05-12 | 深圳市吉祥云科技有限公司 | Large-format product accurate positioning method and system |
| CN111204144A (en) * | 2019-12-23 | 2020-05-29 | 江西沃格光电股份有限公司深圳分公司 | Printing method and apparatus, electronic device, computer-readable storage medium |
| CN112078262B (en) * | 2020-08-27 | 2022-04-08 | 金邦达有限公司 | Manufacturing method of screen printing product and manufacturing method of intelligent card |
| CN113043738B (en) * | 2021-03-15 | 2023-01-17 | 广东拓斯达科技股份有限公司 | Glass silk-screen deviation calculation method and device and visual positioning method |
| CN113858797B (en) * | 2021-09-18 | 2023-03-14 | 中国电子科技集团公司第十三研究所 | Fault point determination method, device, terminal and storage medium |
| CN113910756B (en) * | 2021-09-29 | 2023-02-03 | 万津实业(赤壁)有限公司 | Compensation control method, device, equipment and medium based on screen printing alignment |
| CN115195276B (en) * | 2022-07-15 | 2023-10-13 | 广东捷骏电子科技有限公司 | Alignment method for vacuum hole plugging printer |
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