CN105334867A - Camera movement control method - Google Patents
Camera movement control method Download PDFInfo
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- CN105334867A CN105334867A CN201510931503.5A CN201510931503A CN105334867A CN 105334867 A CN105334867 A CN 105334867A CN 201510931503 A CN201510931503 A CN 201510931503A CN 105334867 A CN105334867 A CN 105334867A
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- predeterminated position
- camera
- chip
- control method
- motion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
Abstract
The invention provides a camera movement control method. Due to the fact that the maximum speed is set for camera movement, it is guaranteed that a camera can do uniform movement, and the accuracy of image acquisition is provided; in addition, a circulation path is formed by the first preset position, the second preset position, the third preset position and the fourth preset position, chip image acquisition can be achieved on a back-and-forth path of the camera movement, and the maximum efficiency is achieved. According to the camera movement control method, movement photographing of a chip can be completed in a 2*5 chip frame within 10 s, and the detection efficiency is four times higher than the manual detection efficiency.
Description
Technical field
The present invention relates to mechanical motion control technology field, particularly relate to a kind of camera motion control method.
Background technology
In existing chip production process, be all generally detected by the outward appearance of artificial mode to chip, to get rid of product defective.But this mode efficiency is not high, and very large for the dependence of people, needs veteran to operate.Therefore, those skilled in the art attempt utilizing image technique to detect chip outward appearance, but how quick obtaining chip image provides sample for image detects, and has just become a those skilled in the art's difficult problem.
Summary of the invention
The shortcoming of prior art in view of the above, the object of the present invention is to provide a kind of camera motion control method, utilizes manual type to carry out the lower problem of detection chip outward appearance efficiency for solving in prior art.
For achieving the above object and other relevant objects, the invention provides following technical scheme:
A kind of camera motion control method, comprising:
Initialization step: when detecting that the chi frame being provided with chip arrives precalculated position, makes motor drive camera to move above chi frame;
First movement travel rate-determining steps: make camera accelerate to default maximum speed value in initial position from static, and reach the first predeterminated position when camera reaches maximum speed value;
Second movement travel rate-determining steps: make camera according to described maximum speed value by the first predeterminated position uniform motion to the second predeterminated position, and the chip on the first default described chi frame between position and the second predeterminated position is taken pictures;
3rd movement travel rate-determining steps: make camera do retarded motion to stop motion by the second predeterminated position, and reach the 3rd predeterminated position;
4th movement travel rate-determining steps: make camera accelerate to described maximum speed value by the 3rd predeterminated position from static from the 3rd predeterminated position, and reach the 4th predeterminated position, and the chip on the 3rd default described chi frame between position and the 4th predeterminated position is taken pictures;
Playback step: make camera do retarded motion to initial position from described 4th predeterminated position, and stop.
Preferably, described initial position, the first predeterminated position and the second predeterminated position are positioned on same level line successively.
Preferably, described second predeterminated position and the 3rd predeterminated position are in on the same perpendicular line of described horizontal line.
Preferably, described 3rd predeterminated position and described 4th predeterminated position are positioned on another horizontal line successively.
As mentioned above, the present invention at least has following beneficial effect: the present invention carrys out quick obtaining image by utilizing camera to carry out motion, carry out graphical analysis to realize detecting to chip so that follow-up, whole control method simple and stable, and can shuttling movement be realized, very practical, the motion that can complete chip in 2x5 chi frame in 10s is taken pictures, higher than 4 times of manual detection efficiency.
Accompanying drawing explanation
Fig. 1 is shown as a kind of chi frame structure principle chart of the present invention;
Fig. 2 is shown as a kind of stroke schematic diagram utilizing camera to take pictures to the chip on chi frame.
Drawing reference numeral explanation
1 chi frame
11 chi frames
Embodiment
By particular specific embodiment, embodiments of the present invention are described below, person skilled in the art scholar the content disclosed by this instructions can understand other advantages of the present invention and effect easily.
Notice, structure, ratio, size etc. that this instructions institute accompanying drawings illustrates, content all only in order to coordinate instructions to disclose, understand for person skilled in the art scholar and read, and be not used to limit the enforceable qualifications of the present invention, therefore the not technical essential meaning of tool, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under effect that the present invention can produce and the object that can reach, still all should drop on disclosed technology contents and obtain in the scope that can contain.Simultaneously, quote in this instructions as " on ", D score, "left", "right", " centre " and " one " etc. term, also only for ease of understanding of describing, and be not used to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under changing technology contents without essence, when being also considered as the enforceable category of the present invention.
As shown in Figure 1, give a kind of chi frame structure principle chart, as shown in the figure, described chi frame 1 comprises at least two row chip installation positions 11, often row chip installation position 11 comprises multiple chip installation position 11 for chip placement, by being arranged on chi frame 1 by chip, and utilizes guide rail to be delivered to the position of formulation, carry out motion by the camera above chi frame 1 to the chip on chi frame 1 again to take pictures, obtain chip image.
In actual production, the accuracy and the rapidity that obtain image be ensured, only can be rapid on acquisition image, the detection efficiency of guarantee to chip is higher than manual detection, otherwise loses the meaning of image detection.
Incorporated by reference to Fig. 2, giving a kind of stroke schematic diagram utilizing camera to take pictures to the chip on chi frame, as shown in the figure, is example according to the chi frame 1 in Fig. 1, with this chi frame 1 for benchmark carrys out setting position, so that control the motion of camera.In concrete enforcement, the control to camera motion can be realized by the following method:
Initialization step: when detecting that the chi frame 1 being provided with chip arrives precalculated position, makes motor drive camera to move above chi frame 1;
First movement travel rate-determining steps: make camera accelerate to default maximum speed value in initial position P0 from static, and reach the first predeterminated position P1 when camera reaches maximum speed value;
Second movement travel rate-determining steps: make camera according to described maximum speed value by the first predeterminated position P1 uniform motion to the second predeterminated position P2, and the chip on the first default described chi frame between position and the second predeterminated position P2 is taken pictures;
3rd movement travel rate-determining steps: make camera do retarded motion to stop motion by the second predeterminated position P2, and reach the 3rd predeterminated position P3;
4th movement travel rate-determining steps: make camera accelerate to described maximum speed value from the 3rd predeterminated position P3 by from static, and reach the 4th predeterminated position P4, and the chip on the described chi frame between the 3rd predeterminated position P3 and the 4th predeterminated position P4 is taken pictures;
Playback step: make camera do retarded motion to initial position P0 from described 4th predeterminated position P4, and stop.
In concrete enforcement, object camera motion being arranged to maximal rate is that guaranteeing to obtain camera moves with uniform velocity, thus provides the accuracy of Image Acquisition.In addition, a circulating path is formed by above-mentioned first predeterminated position P1, the second predeterminated position P2, the 3rd predeterminated position P3 and the 4th predeterminated position P4, to realize the acquisition that can both realize on the path back and forth of camera motion chip image, by maximizing efficiency.
In concrete enforcement, camera to be triggered by coordinate the shooting of each the chip installation position 11 on chi frame and realizes, and such as, using initial position P0 for as initial point, is obtained the coordinate of the optional position in camera movement travel by mobile camera.If there are 5 installation positions between the first predeterminated position P1 and the second predeterminated position P2, the coordinate so just by presetting each installation position makes camera take pictures to this 5 each installation position.
In concrete enforcement, described initial position, the first predeterminated position P1 and the second predeterminated position P2 are positioned on same level line successively.Be bundled into and can ensure the stability that camera moves and controllability in the same horizontal line.
In concrete enforcement, described second predeterminated position P2 and the 3rd predeterminated position P3 is in on the same perpendicular line of described horizontal line.Such setting is convenient to camera and is reversed end for end, and takes with the chip arranged another.
In concrete enforcement, described 3rd predeterminated position P3 and described 4th predeterminated position P4 is positioned on another horizontal line successively.
In sum, the present invention carrys out quick obtaining image by utilizing camera to carry out motion, carry out graphical analysis to realize detecting to chip so that follow-up, whole control method simple and stable, and can shuttling movement be realized, very practical, so the present invention effectively overcomes various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.
Claims (4)
1. a camera motion control method, is characterized in that, comprising:
Initialization step: when detecting that the chi frame being provided with chip arrives precalculated position, makes motor drive camera to move above chi frame;
First movement travel rate-determining steps: make camera accelerate to default maximum speed value in initial position from static, and reach the first predeterminated position when camera reaches maximum speed value;
Second movement travel rate-determining steps: make camera according to described maximum speed value by the first predeterminated position uniform motion to the second predeterminated position, and the chip on the first default described chi frame between position and the second predeterminated position is taken pictures;
3rd movement travel rate-determining steps: make camera do retarded motion to stop motion by the second predeterminated position, and reach the 3rd predeterminated position;
4th movement travel rate-determining steps: make camera accelerate to described maximum speed value by the 3rd predeterminated position from static from the 3rd predeterminated position, and reach the 4th predeterminated position, and the chip on the described chi frame between the 3rd predeterminated position and the 4th predeterminated position is taken pictures;
Playback step: make camera do retarded motion to initial position from described 4th predeterminated position, and stop.
2. camera motion control method according to claim 1, is characterized in that: described initial position, the first predeterminated position and the second predeterminated position are positioned on same level line successively.
3. camera motion control method according to claim 1, is characterized in that: described second predeterminated position and the 3rd predeterminated position are in on the same perpendicular line of described horizontal line.
4. camera motion control method according to claim 1, is characterized in that: described 3rd predeterminated position and described 4th predeterminated position are positioned on another horizontal line successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510931503.5A CN105334867A (en) | 2015-12-14 | 2015-12-14 | Camera movement control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510931503.5A CN105334867A (en) | 2015-12-14 | 2015-12-14 | Camera movement control method |
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| Publication Number | Publication Date |
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| CN105334867A true CN105334867A (en) | 2016-02-17 |
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| CN201510931503.5A Pending CN105334867A (en) | 2015-12-14 | 2015-12-14 | Camera movement control method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02204215A (en) * | 1989-02-01 | 1990-08-14 | Shinmei Kogyo Kk | Device for stopping work at specific position |
| CN101216681A (en) * | 2007-12-28 | 2008-07-09 | 上海微电子装备有限公司 | Machine vision dynamic calibration system and method |
| CN102354220A (en) * | 2011-07-18 | 2012-02-15 | 李劲松 | Multi-axis motion control system for image measurement |
| CN102761708A (en) * | 2012-05-18 | 2012-10-31 | 深圳大学 | Linear array CCD image scanning method |
| CN103021899A (en) * | 2012-12-21 | 2013-04-03 | 日月光半导体（昆山）有限公司 | Semiconductor product detection machine and detection method thereof |
| CN105097590A (en) * | 2015-06-17 | 2015-11-25 | 北京七星华创电子股份有限公司 | Silicon wafer loading region scanning method and device of combined semiconductor heat-treatment device |
-
2015
- 2015-12-14 CN CN201510931503.5A patent/CN105334867A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02204215A (en) * | 1989-02-01 | 1990-08-14 | Shinmei Kogyo Kk | Device for stopping work at specific position |
| CN101216681A (en) * | 2007-12-28 | 2008-07-09 | 上海微电子装备有限公司 | Machine vision dynamic calibration system and method |
| CN102354220A (en) * | 2011-07-18 | 2012-02-15 | 李劲松 | Multi-axis motion control system for image measurement |
| CN102761708A (en) * | 2012-05-18 | 2012-10-31 | 深圳大学 | Linear array CCD image scanning method |
| CN103021899A (en) * | 2012-12-21 | 2013-04-03 | 日月光半导体（昆山）有限公司 | Semiconductor product detection machine and detection method thereof |
| CN105097590A (en) * | 2015-06-17 | 2015-11-25 | 北京七星华创电子股份有限公司 | Silicon wafer loading region scanning method and device of combined semiconductor heat-treatment device |
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Application publication date: 20160217 |