CN105759559A - Movement control method for focusing dispensing device - Google Patents
Movement control method for focusing dispensing device Download PDFInfo
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Abstract
The invention provides a movement control method for a focusing dispensing device. The invention includes a focusing positioning method, a dispensing positioning method, a movement control method for a focusing and dispensing integral device, a calculating method for data corresponding to cameras at different mounting positions and a method improving initial point position mounting precision of a rotary disc type device. The technical process is simplified, the calculation complexity is reduced and the product quality is improved. Problems points can be handled correctly during an operation process. Multiple processes can run at the same time; line body space is reduced; labor cost is reduced; production efficiency can be improved; and high precision requirements during modern high-pixel cell phone module production process can be met.
Description
Technical field
The present invention relates to mobile phone module field, particularly relate to the assembling test field of high-pixel mobile phone module, by providing the motion control method of a kind of spot gluing equipment of focusing to carry out simplification of flowsheet, it is possible to improve product quality, it is possible to meet the high-precision requirement in high-pixel mobile phone module production process.
Background technology
Along with the fast development of field of mobile phones, the digital camera function of mobile phone increasingly height by user is favored, and the resolution of its photographic head and definition require also to gradually step up, and therefore, high pixel, high-quality module have become the main battle ground of module manufacturer gradually.
At present, the manufacturing process of mobile phone digital photographic head is in development process, mobile phone camera is focused by major part production line still through traditional artificial range estimation, specific practice is: rotating lens is to the most clear position manually, then judge whether camera imaging meets certain definition requirement, reject substandard product, qualified products are then delivered to next station and are carried out an adhesive curing, its shortcoming is to easily cause human eye vision fatigue, production efficiency is low, cause control of product quality unstable due to subjective judgment and proficiency level's difference of workman, obviously the focusing sensitivity of high pixel module can not be met.And along with the focusing sensitivity of high pixel module is greatly promoted, causing that manually focusing efficiency and effect constantly decline, the quickly soaring and problems such as difficulty of advertising for workers of cost of labor become increasingly conspicuous on the other hand, constantly bring pressure to factory, therefore, in high precision, high efficiency automation equipment is ready to appear.
Further, in the assembling test link of high-pixel mobile phone module, gluing process is also essential, and along with the reduction of chip and package dimension, and in high precision, the dispensing technology of high concordance, high reliability, two-forty, micro-volume and equipment developed rapidly.Point gum machine is a complication system, it is necessary to glue point flow is accurately controlled with some glue position, and the principal element of Influential cases glue precision has product size precision, jig Design, some glue mode and control mode etc..Wherein, for a location for glue position, the factors such as the uncertainty due to the multiformity of target product and process conditions, and due to the lightening trend of electric consumers, cause that electronic component is more and more less, interval between element is also more and more nearer on circuit boards, tradition point gum machine with the naked eye cannot be accurately positioned, application CCD imaging technique, being amplified by product is apparent on computer screen, the CCD of application different pixels and the combination of camera lens and various light sources, can complete very to position accurately, but the process of calculating is also sufficiently complex, therefore, how to simplify calculating process, Optimizing Flow, it is crucial for realizing location more accurately.
Additionally, along with the focusing point appearance of glue equipment integrating and extensive use, how to enable a device to carry out to focus simultaneously, put glue exposure, judge dirty bad point, and can correctly process the problem points in running, be badly in need of research at present.
Summary of the invention
Present invention is primarily targeted at the motion control method that a kind of spot gluing equipment of focusing is provided, new vision correction localization method is provided for focussing process, some glue exposure process, simplify technological process, improve product quality, it is possible to meet the high-precision requirement in high-pixel mobile phone module production process.
Another object of the present invention is to provide the motion control method of a kind of spot gluing equipment of focusing, the location mode adopting center corresponding determines focusing position and some glue position, altitude information is obtained again through laser range sensor, complete all information of focusing location, some glue location, reduce computational complexity.
Another object of the present invention is to provide the motion control method of a kind of spot gluing equipment of focusing, including focusing localization method, some glue localization method, it is possible to make equipment realize high-precision focusing, some glue function.
Another object of the present invention is to provide the motion control method of a kind of spot gluing equipment of focusing, for focusing, some glue equipment integrating, can carry out focusing, putting glue exposure, dirty bad point judgement simultaneously, and can correctly process the problem points in running, make equipment incorporate three productions operation, and can run simultaneously, greatly reduce wire body space, decrease human cost, improve production efficiency.
Another object of the present invention is to provide the motion control method of a kind of spot gluing equipment of focusing, for the method that the camera of different installation sites provides new location conversion, the relation between picture coordinate and actual machine coordinate can be calculated, computational methods are simple, and be not easy to make mistakes, improve the accuracy of calculating.
Another object of the present invention is to provide the motion control method of a kind of spot gluing equipment of focusing, for disk mode equipment origin position, inaccurate caused precision problem is installed and solution is provided, by arranging relevant parameter on software, rotating disk is carried out location position, improve its precision, solve the problem that the error of initial point installation cannot meet equipment precision requirement.
Another object of the present invention is to provide the motion control method of a kind of spot gluing equipment of focusing, provide a set of perfect operation method for equipment, it is possible to save cost, be greatly improved production efficiency.
For realizing other purposes and the advantage of object above and the present invention, the present invention provides the computational methods of a kind of localization method of focusing, a kind of some glue localization method, an a kind of motion control method for glue equipment integrating of focusing, a kind of different installation site camera corresponding datas, and a kind of method improving disk mode equipment origin position installation accuracy, it is described in detail separately below.
A kind of focusing localization method, comprises the following steps:
(1) record handwheel marking center mechanical coordinate (xj1,yj1)；
(2) make handwheel marking center and CCD draw a portrait center at same position, record the mechanical coordinate (x of now CCD positionj2,yj2) and angle case θ0；
(3) after CCD identifies module, calculate module center, and calculate the CCD mechanical coordinate (x after moving on to picture centerj3,yj3) and angle case θ1；With
(4) calculate final handwheel focusing location center (x, y) and angle case θ.
Wherein in described step (3), move to the mechanical coordinate (x of the described CCD at picture centerj3,yj3) calculated by below equation and obtain: (A) assumes that the relation of raw frames coordinate and actual machine coordinate is: Δ xm=Δ xp÷Sx, Δ ym=-Δ yp÷Sy；(B), after rotation of lens 90 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ yp÷Sx, Δ ym=-Δ xp÷Sy；(C), after rotation of lens 180 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ xp÷Sx, Δ ym=Δ yp÷Sy；(D), after rotation of lens 270 °, the relation of picture coordinate and actual machine coordinate is: for Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy；What wherein descend marker tape m is mechanical coordinate data, and lower marker tape p's is picture coordinate data, Sx、SyRepresenting the picture pix numerical value that in picture coordinate corresponding to mechanical coordinate x, y motion 1mm, x-axis, y-axis move respectively, described numerical value is calculated by picture delta data after shifting axle and obtains.
Further, (x y) and angle case θ, is calculated by following formula and obtains: x=x in described final handwheel focusing position locationj3-xj2+xj1, y=yj3-yj2+yj1, θ=θ1-θ0。
Described focusing localization method, farther include a step (5), after it is positioned at described step (4), when behind the center obtaining described final handwheel focusing location and angle information, altitude information is obtained, to complete all information of focusing location again through laser range sensor.
Wherein in described step (2), by moving to above plasticine by CCD, identify the handwheel marking, by Automatic Program moving lens so that described handwheel marking center and described portrait center are at same position.The method that automatically moves of described camera lens is for rotating 0 °, 90 °, 180 ° or 270 °.
A kind of some glue localization method, it is characterised in that comprise the following steps:
(I) dispensing needle head is at reference position point glue, and to record now mechanical coordinate be (xk1,yk1)；
(II) Shi Jiao dot center and CCD draw a portrait center at same position, record the mechanical coordinate (x of now CCD positionk2,yk2)；
(III) after CCD identifies module, calculate module center, and calculate the CCD mechanical coordinate (x after moving on to picture centerk3,yk3)；With
(IV) calculate maximal end point needle head position location (x, y).
In described step (III), move to the mechanical coordinate (x of the described CCD at picture centerk3,yk3) computational methods with the mechanical coordinate (x of described CCD moving to picture center in the step (3) in focusing localization methodj3,yj3) computational methods.
In described step (IV), (x y) is calculated by following formula and obtains: x=x in described final handwheel focusing position locationk3-xk2+xk1, y=yk3-yk2+yk1。
In described step (II), by being moved to by CCD above glue point, identify glue point, by Automatic Program moving lens so that described glue dot center and described portrait center are at same position.
It is noted that described some glue localization method, farther include a step (), after it is positioned at described step (IV), after obtaining maximal end point needle head position location, obtain altitude information again through laser range sensor, to complete all information of glue location.
An a kind of motion control method for glue equipment integrating of focusing, it is characterised in that include following production process: () judge circulation to when on the module of station a station dirt bad point judge whether OK；() judges that current module opens figure whether OK；() judge circulation to when on the module of station a station focus whether OK.
Wherein said production process (), described production process () and described production process () can be run simultaneously, it is also possible to isolated operation.
In described production process (), when circulation is to when a station dirt bad point judges OK on the module of station, then carrying out module point glue, then carries out a glue axle and restore, record module station situation；When circulation is to when a station dirt bad point judges abnormal on the module of station, then performing a some glue axle restoring action and be adjusted processing, then record module station situation, repeated multiple times repeats above action.
In described production process (), when current module opens figure OK, then current module is focused, during current module focusing also OK, then carry out focusing axle and restore, record module station situation；When opening figure or current module focusing exception when current module, then perform focusing axle and restore and be adjusted processing, then record module station situation, repeated multiple times repeats above action.
In described production process (), when circulation is to during as a station focusing OK on the module of station, then carries out dirty bad point and judge, then carry out dirty bad point cylinder and restore, record module station situation；When circulation is to when a station focusing is abnormal on the module of station, then perform dirty bad point cylinder restoring action, then record module station situation, repeated multiple times repeat above action.
A kind of computational methods of different installation site camera corresponding data, wherein camera is right angle mounting means when installing, it is characterized in that, picture coordinate is as follows with the relation of actual machine coordinate: (a) assumes that the relation of raw frames coordinate and actual machine coordinate is: Δ xm=Δ xp÷Sx, Δ ym=-Δ yp÷Sy；B, after () rotation of lens 90 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ yp÷Sx, Δ ym=-Δ xp÷Sy；C, after () rotation of lens 180 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ xp÷Sx, Δ ym=Δ yp÷Sy；D, after () rotation of lens 270 °, the relation of picture coordinate and actual machine coordinate is: for Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy；
What wherein descend marker tape m is mechanical coordinate data, and lower marker tape p's is picture coordinate data, Sx、SyRepresenting the picture pix numerical value that in picture coordinate corresponding to mechanical coordinate x, y motion 1mm, x-axis, y-axis move respectively, described numerical value is calculated by picture delta data after shifting axle and obtains.
A kind of method improving disk mode equipment origin position installation accuracy, it is characterised in that arranging relevant parameter on software, record rotating disk moves to angle-data corresponding during initial target location, and the action that described rotating disk is follow-up is then corrected by software.
When described rotating disk is carried out location position, make the corresponding position of each angle, during follow-up each described dial movement location, all judge situation, and when judging situation, it is possible to increase angular deviation offset data.
Accompanying drawing explanation
Fig. 1 is the relation schematic diagram before and after camera according to a preferred embodiment of the invention rotates between mechanical coordinate and picture coordinate.
Fig. 2 is focusing elements of a fix schematic diagram according to a preferred embodiment of the invention.
Fig. 3 is positioning scenarios schematic diagram after the automatic offset angle of rotating disk according to a preferred embodiment of the invention.
Fig. 4 is equipment operational flow diagram according to a preferred embodiment of the invention.
Detailed description of the invention
It is described below for disclosing the present invention so that those skilled in the art are capable of the present invention.Preferred embodiment in being described below is only used as citing, it may occur to persons skilled in the art that other apparent modification.The ultimate principle of the present invention defined in the following description can apply to other embodiments, deformation program, improvement project, equivalent and the other technologies scheme without departing from the spirit and scope of the present invention.
For meeting the high-precision requirement in high-pixel mobile phone module production process, simplification of flowsheet and computational complexity, improving quality and the production efficiency of product, the present invention provides the operation method that plurality of devices positions.
(1) different installation site camera corresponding data computational methods
Owing to being all right angle mounting means when general camera is installed, therefore the main method for computing data that four kinds of right angle mounting means are discussed in the present invention.
When camera installation site difference, picture can produce to rotate, and this can cause picture moving and actual machine coordinate disunity, as shown in Figure 1.The relation assumed between original picture coordinate and actual machine coordinate is: Δ xm=Δ xp÷Sx, Δ ym=-Δ yp÷Sy, what wherein descend marker tape m is mechanical coordinate data, and lower marker tape p's is picture coordinate data.SxRepresent the picture pix numerical value that in picture coordinate corresponding to mechanical coordinate x motion 1mm, x-axis moves, SyRepresent the picture pix numerical value situation that in picture coordinate corresponding to mechanical coordinate y motion 1mm, y-axis moves, after this numerical value can pass through shifting axle, the calculating of picture delta data obtains, and below focusing positions and put during glue positions at 2 the CCD mechanical coordinate (x after being automatically shifted to picture centerj3,yj3)、(xk3,yk3) be through this ratio data calculate obtain.Such as, for certain camera, picture x center value is 256, y center value is 240 (camera pixel difference can be variant), if not in this position, calculates the picture coordinate values needing movement, and passing ratio coefficient is transformed into mechanical coordinate.
After camera rotates, numerical relation there occurs change.After camera half-twist, mechanical coordinate x-axis is corresponding with picture y-axis, and mechanical coordinate y-axis is corresponding with picture x-axis, then now coordinate relation is: Δ xm=-Δ yp÷Sx, Δ ym=-Δ xp÷Sy.In like manner rotating the camera of 180 ° of mounting means is Δ x with the relation of actual machine coordinate systemm=-Δ xp÷Sx, Δ ym=Δ yp÷Sy.Relation both when rotating 270 ° is Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy。
Additionally, the error on mechanical erection can make camera and mechanical coordinate form low-angle deviation, misalignment angle can be obtained by CCD, then calculate compensation, minimum owing to finding this deviation value after actual motion, so place is no longer described in detail.
(2) focusing localization method
In focusing location, traditional original method relates to two coordinate systems, and one is mechanical coordinate system, and another is the pixel coordinate system of visual system, needs to be transformed into pixel coordinate system mechanical coordinate system during actual operation, calculates very loaded down with trivial details, and easily makes mistakes.The present invention has abandoned this traditional method, have employed location mode corresponding to center and determines focusing position.
Handwheel marking shift position and picture-taking position embody as shown in Figure 2 in the position of mechanical coordinate system.First, handwheel pressure plasticine.Press the plasticine datum mark on tool by focusing handwheel, plasticine stays the handwheel marking, and remembers that now handwheel marking center mechanical coordinate is (xj1,yj1), again CCD is moved to above plasticine, identify the marking, by Automatic Program moving lens (moving method is with reference to above-mentioned different installation site camera corresponding data computational methods), make marking center and CCD draw a portrait center at same position, record the mechanical coordinate (x of now CCD positionj2,yj2) and the angle case θ of correspondence0.Owing to handwheel and CCD are fixed on same axle, both relative distance is fixing.After CCD moves to above module and identifies module, calculate module center, and calculate the CCD mechanical coordinate (x after moving on to picture centerj3,yj3) and angle case θ1, wherein move on to the CCD mechanical coordinate (x behind picture centerj3,yj3) it is obtained by the proportionate relationship in above-mentioned ().Final handwheel focusing position location (x, y) and angle, θ can pass through below equation directly calculate: x=xj3-xj2+xj1, y=yj3-yj2+yj1, θ=θ1-θ0.So we just obtain center and the angle information of final handwheel focusing location, obtain altitude information again through laser range sensor, so that it may complete all information of focusing location.
(3) some glue localization method
Similar with focusing localization method, first, dispensing needle head is at reference position point glue, and to record now mechanical coordinate be (xk1,yk1), again CCD is moved to above glue point, identify glue point, by Automatic Program moving lens (moving method is with reference to above-mentioned different installation site camera corresponding data computational methods), make glue dot center and CCD draw a portrait center at same position, record the mechanical coordinate (x of now CCD positionk2,yk2).Owing to dispensing needle head and CCD are fixed on same axle, both relative distance is fixing.After CCD moves to above module and identifies module, calculate module point glue point position, and calculate the CCD mechanical coordinate (x after moving on to picture centerk3,yk3), wherein move on to the CCD mechanical coordinate (x behind picture centerk3,yk3) it is obtained by the proportionate relationship in above-mentioned ().(x y) can directly calculate to obtain x=x in maximal end point needle head position locationk3-xk2+xk1, y=yk3-yk2+yk1.So we just obtain a center for glue location, obtain altitude information again through laser range sensor, so that it may all information of acquisition point glue location.
If it is noted that there are multiple somes glue point positions, calculate and record the information of each some glue point position respectively, had all information of glue point position to obtain.
(4) method that disk mode equipment origin position installs inaccurate caused precision problem is solved
General disk mode equipment has an origin sensor to carry out correcting device precision, but due to machining, the installation of origin sensor has certain error, and this can make equipment actual motion angle and angle on target there is deviation.For rotating disc type focusing point glue equipment integrating, the situation of position deviation is inherently there is in mechanical origin sensor when installing, but the position that this equipment requirements rotating disk forwards to is 0 °, 90 °, 180 °, 270 ° strict four kinds of situations (thimble tool structure demand) every time, the error that traditional initial point is installed cannot meet equipment precision requirement.
The present invention is provided with relevant parameter on software, it is only necessary to record rotating disk moves to angle-data corresponding during initial target location, and software just can carry out follow-up action is corrected automatically.This initial target location can be obtained by survey tool, and precision is higher.
Specific implementation is that rotating disk carries out location position, the corresponding position of each angle, for instance 0 ° of correspondence position 1, is required for judging situation, and increases the offset data of angular deviation on this basis during follow-up each dial movement location.As it is shown on figure 3, after equipment of pressing runs button, rotating disk can be automatically brought to precalculated position.
(5) a kind of perfect equipment moving flow process
The invention provides a kind of perfect equipment moving flow process, idiographic flow is as shown in Figure 4.
In the present invention, it is provided that aforementioned four method, the method that namely different installation site camera corresponding data computational methods, focusing localization method, some glue localization method and solution disk mode equipment origin position install inaccurate caused precision problem.Each method provided by the invention enables a device to carry out focusing, putting glue exposure, dirty bad point judgement motion simultaneously, and can correctly process the problem points in running, that is, after pressing operation button, dial movement puts in place, display module situation, then simultaneously carry out circulation to when on the module of station one station dirt bad point judge, current module open figure situation and circulation to when on the module of station one station focusing situation, namely include three below production process: () judge circulation to when on the module of station a station dirt bad point judge whether OK；() judges that current module opens figure whether OK；() judge circulation to when on the module of station a station focus whether OK, wherein said production process (), () and () can be run simultaneously, can also isolated operation, according to the concrete specifically chosen corresponding production process of equipment.
In production process (), if circulation to when on the module of station a station dirt bad point judge OK, then carry out subsequent processing, i.e. module point glue, make a some glue axle restore, record module station situation；If circulation is to when a station dirt bad point judges to go wrong or be abnormal on the module of station, then needing to be adjusted processing, perform some glue axle restoring action, then record module station situation, then repeat above step, again dirty bad point is judged, module is carried out a glue.
In production process (), if current module opens figure OK, then carry out subsequent processing, namely current module is focused, when current module focusing also OK, it is possible to carry out focusing axle and restore, then record module station situation；If current module opens figure when going wrong or be abnormal, then need to be adjusted processing, perform focusing axle restoring action, if current module focusing goes wrong, then need also exist for being adjusted processing, perform focusing axle restoring action, then record module station situation, then repeat above step, again judge that module opens figure whether OK, module is focused.
In production process (), if circulation is to as a station focusing OK on the module of station, then carries out dirty bad point and judge, then perform dirty bad point cylinder restoring action, record module station situation；If circulation is to when on the module of station, a station focusing goes wrong or be abnormal, then need to be adjusted processing, directly perform dirty bad point cylinder restoring action, then record module station situation, then above step is repeated, again judge circulation to when on the module of station a station focus whether OK, it is determined that dirty bad point.
In a word, in the present invention, equipment incorporates three productions operation simultaneously, and can carry out simultaneously, greatly reduces wire body space, decreases human cost, improves production efficiency.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as citing and are not limiting as the present invention.The purpose of the present invention is completely and be effectively realized.The function of the present invention and structural principle are shown in an embodiment and illustrate, without departing under described principle, embodiments of the present invention can have any deformation or amendment.
Claims (34)
1. a focusing localization method, it is characterised in that comprise the following steps:
(1) record handwheel marking center mechanical coordinate (xj1,yj1)；
(2) make handwheel marking center and CCD draw a portrait center at same position, record the mechanical coordinate (x of now CCD positionj2,yj2) and angle case θ0；
(3) after CCD identifies module, calculate module center, and calculate the CCD mechanical coordinate (x after moving on to picture centerj3,yj3) and angle case θ1；With
(4) calculate final handwheel focusing location center (x, y) and angle case θ.
2. focus as claimed in claim 1 localization method, in described step (3), move to the mechanical coordinate (x of the described CCD at picture centerj3,yj3) calculated by below equation and obtain: (A) assumes that the relation of raw frames coordinate and actual machine coordinate is: Δ xm=Δ xp÷Sx, Δ ym=-Δ yp÷Sy；(B), after rotation of lens 90 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ yp÷Sx, Δ ym=-Δ xp÷Sy；(C), after rotation of lens 180 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ xp÷Sx, Δ ym=Δ yp÷Sy；(D), after rotation of lens 270 °, the relation of picture coordinate and actual machine coordinate is: for Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy；
What wherein descend marker tape m is mechanical coordinate data, and lower marker tape p's is picture coordinate data, Sx、SyRepresenting the picture pix numerical value that in picture coordinate corresponding to mechanical coordinate x, y motion 1mm, x-axis, y-axis move respectively, described numerical value is calculated by picture delta data after shifting axle and obtains.
3. focusing as claimed in claim 1 localization method, in described step (4), (x y) and angle case θ, is calculated by following formula and obtains: x=x in described final handwheel focusing position locationj3-xj2+xj1, y=yj3-yj2+yj1, θ=θ1-θ0。
4. focusing as claimed in claim 2 localization method, in described step (4), (x y) and angle case θ, is calculated by following formula and obtains: x=x in described final handwheel focusing position locationj3-xj2+xj1, y=yj3-yj2+yj1, θ=θ1-θ0。
5. claim 1,2,3 or 4 arbitrary as described in focusing localization method, in described step (1), be press the plasticine datum mark on tool by focusing handwheel, plasticine stay the described handwheel marking.
6. claim 1,2,3 or 4 arbitrary as described in focusing localization method, in described step (2), by moving to above plasticine by CCD, identify the handwheel marking, by Automatic Program moving lens so that described handwheel marking center and described portrait center are at same position.
7. focus as claimed in claim 5 localization method, in described step (2), by moving to above plasticine by CCD, identify the described handwheel marking, by Automatic Program moving lens so that described handwheel marking center and described portrait center are at same position.
8. focus as claimed in claim 5 localization method, farther include a step (5), after it is positioned at described step (4), when behind the center obtaining described final handwheel focusing location and angle information, altitude information is obtained, to complete all information of focusing location again through laser range sensor.
9. focusing as claimed in claim 7 localization method, the method that automatically moves of described camera lens is for rotating 0 °, 90 °, 180 ° or 270 °.
10. focusing as claimed in claim 9 localization method, described handwheel and described CCD are fixed on same axle, and both have fixing relative distance.
The localization method 11. focus as claimed in claim 10, it is adaptable to focusing mechanism or focusing point glue equipment integrating.
12. a some glue localization method, it is characterised in that comprise the following steps:
(I) dispensing needle head is at reference position point glue, and to record now mechanical coordinate be (xk1,yk1)；
(II) Shi Jiao dot center and CCD draw a portrait center at same position, record the mechanical coordinate (x of now CCD positionk2,yk2)；
(III) after CCD identifies module, calculate module center, and calculate the CCD mechanical coordinate (x after moving on to picture centerk3,yk3)；With
(IV) calculate maximal end point needle head position location (x, y).
13. some glue localization method, in described step (III), moves to the mechanical coordinate (x of the described CCD at picture center as claimed in claim 12k3,yk3) calculated by below equation and obtain: (a) assumes that the relation of raw frames coordinate and actual machine coordinate is: Δ xm=Δ xp÷Sx, Δ ym=-Δ yp÷Sy；B, after () rotation of lens 90 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ yp÷Sx, Δ ym=-Δ xp÷Sy；C, after () rotation of lens 180 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ xp÷Sx, Δ ym=Δ yp÷Sy；D, after () rotation of lens 270 °, the relation of picture coordinate and actual machine coordinate is: for Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy；
What wherein descend marker tape m is mechanical coordinate data, and lower marker tape p's is picture coordinate data, Sx、SyRepresenting the picture pix numerical value that in picture coordinate corresponding to mechanical coordinate x, y motion 1mm, x-axis, y-axis move respectively, described numerical value is calculated by picture delta data after shifting axle and obtains.
14. some glue localization method as claimed in claim 12, in described step (IV), (x y) is calculated by following formula and obtains: x=x in described final handwheel focusing position locationk3-xk2+xk1, y=yk3-yk2+yk1。
15. some glue localization method as claimed in claim 13, in described step (IV), (x y) is calculated by following formula and obtains: x=x in described final handwheel focusing position locationk3-xk2+xk1, y=yk3-yk2+yk1。
16. claim 12,13,14 or 15 arbitrary as described in some glue localization method, in described step (II), by being moved to by CCD above glue point, identify glue point, by Automatic Program moving lens so that described glue dot center and described portrait center are at same position.
17. the some glue localization method described in claim 16, farther include a step (), after it is positioned at described step (IV), after obtaining maximal end point needle head position location, altitude information is obtained, to complete all information of glue location again through laser range sensor.
18. some glue localization method as claimed in claim 17, the method that automatically moves of described camera lens is for rotating 0 °, 90 °, 180 ° or 270 °.
19. some glue localization method as claimed in claim 18, described dispensing needle head and described CCD are fixed on same axle, and both have fixing relative distance.
20. some glue localization method as claimed in claim 19, it is adaptable to spot gluing equipment or focusing point glue equipment integrating.
21. a motion control method for glue equipment integrating of focusing, it is characterised in that include following production process: () judge circulation to when on the module of station a station dirt bad point judge whether OK；() judges that current module opens figure whether OK；() judge circulation to when on the module of station a station focus whether OK.
22. the motion control method of focusing point glue equipment integrating as claimed in claim 21, described production process (), described production process () and described production process () are run simultaneously.
23. the motion control method of the focusing point glue equipment integrating as described in as arbitrary in claim 21 or 22, in described production process (), when circulation is to when on the module of station, a station dirt bad point judges OK, then carry out module point glue, then carry out a glue axle to restore, record module station situation；When circulation is to when a station dirt bad point judges abnormal on the module of station, then performing a some glue axle restoring action and be adjusted processing, then record module station situation, repeated multiple times repeats above action.
24. the motion control method of the focusing point glue equipment integrating as described in as arbitrary in claim 21 or 22, in described production process (), when current module opens figure OK, then current module is focused, during current module focusing also OK, then carry out focusing axle to restore, record module station situation；When opening figure or current module focusing exception when current module, then perform focusing axle and restore and be adjusted processing, then record module station situation, repeated multiple times repeats above action.
25. the motion control method of focusing point glue equipment integrating as claimed in claim 23, in described production process (), when current module opens figure OK, then current module is focused, during current module focusing also OK, then carry out focusing axle and restore, record module station situation；When opening figure or current module focusing exception when current module, then perform focusing axle and restore and be adjusted processing, then record module station situation, repeated multiple times repeats above action.
26. the motion control method of the focusing point glue equipment integrating as described in as arbitrary in claim 21 or 22, in described production process (), when circulation is to during as a station focusing OK on the module of station, then carry out dirty bad point to judge, then carry out dirty bad point cylinder to restore, record module station situation；When circulation is to when a station focusing is abnormal on the module of station, then perform dirty bad point cylinder restoring action, then record module station situation, repeated multiple times repeat above action.
27. the motion control method of focusing point glue equipment integrating as claimed in claim 23, in described production process (), when circulation is to during as a station focusing OK on the module of station, then carries out dirty bad point and judge, then carry out dirty bad point cylinder to restore, record module station situation；When circulation is to when a station focusing is abnormal on the module of station, then perform dirty bad point cylinder restoring action, then record module station situation, repeated multiple times repeat above action.
28. the motion control method of focusing point glue equipment integrating as claimed in claim 24, in described production process (), when circulation is to during as a station focusing OK on the module of station, then carries out dirty bad point and judge, then carry out dirty bad point cylinder to restore, record module station situation；When circulation is to when a station focusing is abnormal on the module of station, then perform dirty bad point cylinder restoring action, then record module station situation, repeated multiple times repeat above action.
29. the motion control method of focusing point glue equipment integrating as claimed in claim 25, in described production process (), when circulation is to during as a station focusing OK on the module of station, then carries out dirty bad point and judge, then carry out dirty bad point cylinder to restore, record module station situation；When circulation is to when a station focusing is abnormal on the module of station, then perform dirty bad point cylinder restoring action, then record module station situation, repeated multiple times repeat above action.
30. the computational methods of different installation site camera corresponding datas, wherein camera is right angle mounting means when installing, it is characterized in that, picture coordinate is as follows with the relation of actual machine coordinate: (a) assumes that the relation of raw frames coordinate and actual machine coordinate is: Δ xm=Δ xp÷Sx, Δ ym=-Δ yp÷Sy；B, after () rotation of lens 90 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ yp÷Sx, Δ ym=-Δ xp÷Sy；C, after () rotation of lens 180 °, the relation of picture coordinate and actual machine coordinate is: Δ xm=-Δ xp÷Sx, Δ ym=Δ yp÷Sy；D, after () rotation of lens 270 °, the relation of picture coordinate and actual machine coordinate is: for Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy；
What wherein descend marker tape m is mechanical coordinate data, and lower marker tape p's is picture coordinate data, Sx、SyRepresenting the picture pix numerical value that in picture coordinate corresponding to mechanical coordinate x, y motion 1mm, x-axis, y-axis move respectively, described numerical value is calculated by picture delta data after shifting axle and obtains.
31. the method improving disk mode equipment origin position installation accuracy, it is characterised in that arranging relevant parameter on software, record rotating disk moves to angle-data corresponding during initial target location, and the action that described rotating disk is follow-up is then corrected by software.
32. the method improving disk mode equipment origin position installation accuracy as claimed in claim 31, described rotating disk is carried out location position, make the corresponding position of each angle, during follow-up each described dial movement location, all judge situation.
33. the method improving disk mode equipment origin position installation accuracy as claimed in claim 32, when judging situation, increase angular deviation offset data.
34. the method improving disk mode equipment origin position installation accuracy as claimed in claim 33, described initial target location is obtained by survey tool.
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