CN105759559B - A kind of motion control method of focusing spot gluing equipment - Google Patents
A kind of motion control method of focusing spot gluing equipment Download PDFInfo
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Abstract
The present invention provides a kind of motion control method of focusing spot gluing equipment, including a kind of focusing localization method, a kind of dispensing localization method, a kind of motion control method of focusing dispensing equipment integrating, a kind of computational methods of difference installation site camera corresponding data, a kind of and method improving disk mode equipment origin position installation accuracy, simplify technological process, reduce computational complexity, improve product quality, in the process of running, problem point can correctly be handled, it can make working procedures while run, reduce wire body space, reduce human cost, and help to improve production efficiency, it disclosure satisfy that the high-precision requirement in modern high-pixel mobile phone module production process.
Description
Technical field
The present invention relates to mobile phone module field more particularly to the assembling test fields of high-pixel mobile phone module, pass through offer
A kind of motion control method of focusing spot gluing equipment carrys out simplification of flowsheet, and can improve product quality, disclosure satisfy that high picture
High-precision requirement in plain mobile phone module production process.
Background technology
With the fast development of field of mobile phones, the digital camera function of mobile phone is increasingly favored by the height of user, takes the photograph
As resolution ratio and the clarity of head require also to be gradually increased, therefore, high pixel, high-quality module are gradually at the master of module manufacturer
Battlefield.
Currently, the manufacturing process of mobile phone digital camera is in during continuous development, on most of production line still
It is focused to mobile phone camera by traditional artificial range estimation, specific practice is：Manually rotating lens is to most clear position
It sets, then judges whether camera imaging meets certain clarity requirement, reject substandard product, qualified products are then sent under
One station carries out an adhesive curing, the disadvantage is that easily causing human eye vision fatigue, low production efficiency, due to the subjective judgement of worker
And qualification is different and cause control of product quality unstable, it is clear that the focusing susceptibility of high pixel module cannot be met.
And as the focusing susceptibility of high pixel module greatly promotes, lead to manually to focus efficiency and effect constantly declines, on the other hand
The problems such as quick soaring and recruitment of cost of labor is difficult becomes increasingly conspicuous, and constantly brings pressure to factory, therefore, high-precision,
Efficient automation equipment is ready to appear.
Further, in the assembling test link of high-pixel mobile phone module, gluing process is also essential, and with core
The reduction of piece and package dimension, high-precision, high consistency, high reliability, high-speed, the dispensing technology of micro-volume and equipment obtain
It rapidly develops.Dispenser is a complication system, needs to accurately control glue point flow and dispensing position, influences dispensing essence
The principal element of degree has product size precision, fixture design, dispensing mode and control mode etc..Wherein, for dispensing position
Positioning, due to the diversity of target product and the factors such as uncertainty of process conditions, and since electric consumers are lightening
Tend to, cause electronic component smaller and smaller, the interval between element is also increasingly closer on circuit boards, and traditional dispenser is with the naked eye
It can not be accurately positioned, using CCD imaging techniques, product amplification is apparent on computer screen, using different pixels
The combination of CCD and camera lens and various light sources can be completed very accurately to position, but calculating process is also sufficiently complex, therefore,
How to simplify calculating process, Optimizing Flow, realize that more accurately positioning is crucial.
In addition, with the appearance and extensive use of focusing dispensing equipment integrating, how to enable a device to be carried out at the same time tune
Burnt, dispensing exposure judges dirty bad point, and can correctly handle the problems in operational process point, is to be badly in need of research at present.
Invention content
The main purpose of the present invention is to provide a kind of motion control methods of focusing spot gluing equipment, are focussing process, point
Glue exposure process provides new vision correction localization method, simplifies technological process, improves product quality, can meet height
High-precision requirement in pixel mobile phone module production process.
Another object of the present invention is to provide a kind of motion control methods of focusing spot gluing equipment, using center pair
The positioning method answered obtains altitude information to determine focusing position and dispensing position, then by laser range sensor, completes to adjust
All information of coke positioning, dispensing positioning, reduce computational complexity.
Another object of the present invention is to provide it is a kind of focusing spot gluing equipment motion control method, including focusing
Localization method, dispensing localization method can make equipment realize high-precision focusing, dispensing function.
Another object of the present invention is to provide a kind of motion control methods of focusing spot gluing equipment, for focusing, dispensing
Equipment integrating can be carried out at the same time focusing, dispensing exposure, dirty bad point judgement, and can correctly handle the problems in operational process
Point so that equipment incorporates three productions process, and can run simultaneously, greatly reduces wire body space, reduce manpower at
This, improves production efficiency.
Another object of the present invention is to provide a kind of motion control methods of focusing spot gluing equipment, are different installation sites
The camera method that provides new positioning conversion, the relationship between frame out coordinate and actual machine coordinate can be calculated, counted
Calculation method is simple, and does not allow error-prone, improves the accuracy of calculating.
Another object of the present invention is to provide a kind of motion control methods of focusing spot gluing equipment, are that disk mode equipment is former
Precision problem caused by point position installation inaccuracy provides solution, by the way that relevant parameter is arranged on software, to turntable
Location position is carried out, its precision is improved, solves the problems, such as that the error of origin installation cannot be satisfied equipment precision requirement.
Another object of the present invention is to provide a kind of motion control methods of focusing spot gluing equipment, and one is provided for equipment
Perfect operation method is covered, can be cost-effective, greatly improve production efficiency.
To realize object above and other objects of the present invention and advantage, the present invention provide a kind of focusing localization method,
A kind of dispensing localization method, a kind of motion control method of focusing dispensing equipment integrating, a kind of different installation site cameras correspond to
The computational methods of data and a kind of method improving disk mode equipment origin position installation accuracy, separately below carry out it
It is described in detail.
A kind of focusing localization method, includes the following steps：
(1) record handwheel marking center mechanical coordinate (xj1,yj1)；
(2) handwheel marking center is made to draw a portrait center in same position with CCD, record at this time sit by the mechanical of the positions CCD
Mark (xj2,yj2) and angle case θ0；
(3) after CCD identifies module, module center is calculated, and calculates the machineries of the CCD after moving on to picture center
Coordinate (xj3,yj3) and angle case θ1；With
(4) center (x, y) and the angle case θ of final handwheel focusing positioning are calculated.
Wherein in the step (3), it is moved to the mechanical coordinate (x of the CCD at picture centerj3,yj3) by following public affairs
Formula is calculated and is obtained：(A) assume that raw frames coordinate and the relationship of actual machine coordinate are：Δxm=Δ xp÷Sx, Δ ym=-Δ yp
÷Sy；(B) after 90 ° of rotation of lens, picture coordinate and the relationship of actual machine coordinate are：Δxm=-Δ yp÷Sx, Δ ym=-Δ
xp÷Sy；(C) after 180 ° of rotation of lens, picture coordinate and the relationship of actual machine coordinate are：Δxm=-Δ xp÷Sx, Δ ym=
Δyp÷Sy；(D) after 270 ° of rotation of lens, picture coordinate and the relationship of actual machine coordinate are：For Δ xm=Δ yp÷Sx, Δ ym
=Δ xp÷Sy；It is mechanical coordinate data wherein to descend marker tape m, and lower marker tape p is picture coordinate data, Sx、SyMachine is indicated respectively
The picture pix numerical value that x-axis, y-axis move in the corresponding picture coordinates of tool coordinate x, y movement 1mm, after the numerical value is by shifting axle
Picture delta data is calculated.
Further, final handwheel focusing position location (x, y) and angle case θ, are calculate by the following formula and obtain：x
=xj3-xj2+xj1, y=yj3-yj2+yj1, θ=θ1-θ0。
The focusing localization method further comprises a step (5), is located at after the step (4), described in acquisition
Final handwheel focuses after the center positioned and angle information, then obtains altitude information by laser range sensor, with
Complete all information of focusing positioning.
Wherein in the step (2), by moving to CCD above plasticine, the identification handwheel marking is automatic by program
Moving lens so that handwheel marking center is with the portrait center in same position.The camera lens automatically moves method
For 0 °, 90 °, 180 ° or 270 ° of rotation.
A kind of dispensing localization method, which is characterized in that include the following steps：
(I) dispensing needle head is in reference position dispensing, and it is (x to record mechanical coordinate at this timek1,yk1)；
(II) so that glue point center is drawn a portrait center in same position with CCD, record the mechanical coordinate of the positions CCD at this time
(xk2,yk2)；
(III) after CCD identifies module, module center is calculated, and calculate the CCD machines after moving on to picture center
Tool coordinate (xk3,yk3)；With
(IV) final dispensing needle head position location (x, y) is calculated.
In the step (III), it is moved to the mechanical coordinate (x of the CCD at picture centerk3,yk3) computational methods
With the mechanical coordinate (x for the CCD for being moved to picture center in the step (3) in focusing localization methodj3,yj3) calculating side
Method.
In the step (IV), final handwheel focusing position location (x, y) is calculate by the following formula and obtains：X=xk3-
xk2+xk1, y=yk3-yk2+yk1。
In the step (II), by moving to CCD above glue point, identification glue point automatically moves camera lens by program,
So that the glue point center and the portrait center are in same position.
It is noted that the dispensing localization method, further comprises a step (V), it is located at the step (IV)
Later, after obtaining final dispensing needle head position location, then by laser range sensor acquisition altitude information, to complete dispensing
All information of positioning.
A kind of motion control method of focusing dispensing equipment integrating, which is characterized in that including following production process：(I) is sentenced
Cutout is gone to when a station dirt bad point judges whether OK on the module of station；(II) judge current module open figure whether OK；(ⅲ)
Judge circulation to when station module on a station focusing whether OK.
The wherein described production process (I), the production process (II) and the production process (III) can be run simultaneously,
It can be with isolated operation.
In the production process (I), when circulating to when a station dirt bad point judges OK on the module of station, then carry out
Then module dispensing carries out dispensing axis recovery, record module station situation；When a station dirt is bad in circulation to the module for working as station
It when point judges abnormal, then executes dispensing axis restoring action and is adjusted processing, then record module station situation, it is repeated multiple times heavy
The multiple above action.
In the production process (II), when current module opens figure OK, then focus to current module, current module
Focusing also OK when, then carry out focusing axis restore, record module station situation；When current module opens figure or current module focusing is different
Chang Shi then executes focusing axis recovery and is adjusted processing, then records module station situation, more than repeated multiple times repetition act.
In the production process (III), when circulation is to as station focusing OK on the module of station, then carry out dirty bad
Point judgement then carries out dirty bad point cylinder and restores, records module station situation；When circulation is to when a station tune on the module of station
When burnt abnormal, then dirty bad point cylinder restoring action is executed, then records module station situation, more than repeated multiple times repetition act.
A kind of computational methods of difference installation site camera corresponding data, are right angle mounting means when wherein camera is installed,
It is characterized in that, picture coordinate and the relationship of actual machine coordinate are as follows：(a) assume raw frames coordinate and actual machine coordinate
Relationship be：Δxm=Δ xp÷Sx, Δ ym=-Δ yp÷Sy；(b) after 90 ° of rotation of lens, picture coordinate and actual machine coordinate
Relationship be：Δxm=-Δ yp÷Sx, Δ ym=-Δ xp÷Sy；(c) after 180 ° of rotation of lens, picture coordinate is sat with actual machine
Target relationship is：Δxm=-Δ xp÷Sx, Δ ym=Δ yp÷Sy；(d) after 270 ° of rotation of lens, picture coordinate and actual machine
The relationship of coordinate is：For Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy；
It is mechanical coordinate data wherein to descend marker tape m, and lower marker tape p is picture coordinate data, Sx、SyMachinery is indicated respectively
The picture pix numerical value that x-axis, y-axis move in the corresponding picture coordinates of coordinate x, y movement 1mm, the numerical value after shifting axle by drawing
Face delta data is calculated.
A method of improving disk mode equipment origin position installation accuracy, which is characterized in that be arranged on software corresponding
Parameter, record turntable are moved to corresponding angle-data when initial target location, software then it is subsequent to the turntable act into
Row correction.
When carrying out location position to the turntable, each angle is made to correspond to a position, the follow-up dial movement every time
Situation is judged when positioning, and when judging situation, can increase angular deviation offset data.
Description of the drawings
Fig. 1 is the front and back relationship between mechanical coordinate and picture coordinate of camera rotation according to a preferred embodiment of the invention
Schematic diagram.
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 turntable according to a preferred embodiment of the invention.
Fig. 4 is equipment operational flow diagram according to a preferred embodiment of the invention.
Specific implementation mode
It is described below for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
The present invention basic principle can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
For the high-precision requirement for meeting in high-pixel mobile phone module production process, simplification of flowsheet and the complicated journey of calculating
Degree, improves the quality and production efficiency of product, and the present invention provides the operation method of plurality of devices positioning.
(1) different installation site camera corresponding data computational methods
Due to being all right angle mounting means when general camera is installed, therefore four kinds of right angle mounting means are mainly discussed in the present invention
Method for computing data.
When camera installation site difference, picture will produce rotation, this can lead to picture moving and actual machine coordinate not
It is unified, as shown in Figure 1.Assuming that original relationship between picture coordinate and actual machine coordinate is：Δxm=Δ xp÷Sx, Δ ym
=-Δ yp÷Sy, wherein lower marker tape m is mechanical coordinate data, lower marker tape p is picture coordinate data.SxIndicate mechanical coordinate
X moves the picture pix numerical value that x-axis moves in the corresponding picture coordinates of 1mm, SyIndicate the corresponding pictures of mechanical coordinate y movements 1mm
The picture pix numerical value situations that y-axis moves in coordinate, the numerical value can be calculated by picture delta data after shifting axle, with
Lower focusing positioning and dispensing position in 2 points and are automatically shifted to the CCD mechanical coordinates (x behind picture centerj3,yj3)、(xk3,yk3) be exactly
It is calculated by this ratio data.For example, for certain camera, picture x center values are that 256, y center values are
240 (camera pixel difference can be variant), if not in the position, calculating and needing mobile picture coordinate values, pass through ratio
Coefficient is transformed into mechanical coordinate.
After camera rotates, numerical relation is changed.After camera is rotated by 90 °, mechanical coordinate x-axis and picture y
Axis is corresponding, and mechanical coordinate y-axis is corresponding with picture x-axis, then coordinate relationship is at this time：Δxm=-Δ yp÷Sx, Δ ym=-Δ
xp÷Sy.The relationship of the camera and actual machine coordinate system that similarly rotate 180 ° of mounting means is Δ xm=-Δ xp÷Sx, Δ ym=
Δyp÷Sy.Relationship both when rotating 270 ° is Δ xm=Δ yp÷Sx, Δ ym=Δ xp÷Sy。
In addition, the error on mechanical erection can make camera and mechanical coordinate form the deviation of low-angle, can be obtained by CCD
Then misalignment angle calculates compensation, due to finding that this deviation is minimum after actual motion, therefore and will not be described here in detail.
(2) focusing localization method
In terms of positioning of focusing, traditional original method is related to two coordinate systems, and one is mechanical coordinate system, the other is
The pixel coordinate system of vision system, when actual operation, need pixel coordinate system being transformed into mechanical coordinate system, calculate it is very complicated,
And it is easy error.The present invention has abandoned this traditional method, uses the corresponding positioning method in center to determine 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.The plasticine datum mark on jig is pressed by focusing handwheel, the handwheel marking is left on plasticine, and remember handwheel at this time
Marking center mechanical coordinate is (xj1,yj1), then CCD is moved to above plasticine, it identifies the marking, mirror is automatically moved by program
Head (moving method refers to above-mentioned different installation site camera corresponding data computational methods) so that draw a portrait with CCD at marking center
Center records the mechanical coordinate (x of the positions CCD at this time in same positionj2,yj2) and corresponding angle case θ0.Due to
Handwheel is fixed on CCD on the same axis, and the relative distance of the two is fixed.When CCD is moved to above module and identifies mould
After group, module center is calculated, and calculates the CCD mechanical coordinates (x after moving on to picture centerj3,yj3) and angle case
θ1, wherein moving on to the CCD mechanical coordinates (x behind picture centerj3,yj3) it is to be obtained by the proportionate relationship in above-mentioned (one).Most
Whole handwheel focusing position location (x, y) and angle, θ can directly be calculated by following formula：X=xj3-xj2+xj1, y=yj3-yj2+
yj1, θ=θ1-θ0.We just obtain center and the angle information of final handwheel focusing positioning in this way, then pass through laser
Distance measuring sensor obtains altitude information, so that it may complete all information of focusing positioning.
(3) dispensing localization method
Similar with focusing localization method, first, dispensing needle head records mechanical coordinate at this time and is in reference position dispensing
(xk1,yk1), then CCD is moved to above glue point, identify glue point, automatically moving camera lens by program, (moving method is with reference to above-mentioned
Different installation site camera corresponding data computational methods) so that center is drawn a portrait in same position in glue point center with CCD, records this
When the positions CCD mechanical coordinate (xk2,yk2).Since dispensing needle head and CCD are fixed on the same axis, the two it is opposite
Distance is fixed.After CCD is moved to above module and identifies module, module dispensing point is calculated, and calculate and move on to
CCD mechanical coordinates (x behind picture centerk3,yk3), wherein moving on to the CCD mechanical coordinates (x behind picture centerk3,yk3) it is to pass through
What the proportionate relationship in above-mentioned (one) obtained.Final dispensing needle head position location (x, y) can directly calculate to obtain x=xk3-xk2+xk1, y
=yk3-yk2+yk1.We just obtain the center of dispensing positioning in this way, then obtain the high number of degrees by laser range sensor
According to, so that it may obtain all information of dispensing positioning.
It is noted that if there is multiple dispensing points, the information of each dispensing point is calculated separately and records, with
Obtain all information of all the points glue point position.
(4) method for solving the precision problem caused by disk mode equipment origin position installation inaccuracy
General disk mode equipment all carrys out correcting device precision there are one origin sensor, but due to being machined,
The installation of origin sensor has certain error, this can make equipment actual motion angle and target angle, and there are deviations.With
Rotating disc type is focused for dispensing equipment integrating, and inherently there is a situation where position deviations when mechanical origin sensor is installed, but should
The position that equipment requirement turntable is gone to every time is 0 °, 90 °, 180 °, 270 ° of four kinds of situations (thimble tool structure demand) strictly,
The error of traditional origin installation cannot be satisfied equipment precision requirement.
The present invention on software be provided with relevant parameter, it is only necessary to record turntable be moved to it is corresponding when initial target location
Angle-data, software just can carry out being corrected subsequent action automatically.The initial target location can pass through survey tool
It obtains, precision is higher.
Specific implementation is to carry out location position to turntable, and each angle corresponds to a position, such as 0 ° of corresponding position
1, follow-up each dial movement is required for judgement situation when positioning, and increases the compensation number of angular deviation on this basis
According to.As shown in figure 3, after pressing equipment operation button, turntable can be automatically brought to precalculated position.
(5) a kind of perfect equipment moving flow
The present invention provides a kind of perfect equipment moving flow, detailed process is as shown in Figure 4.
In the present invention, aforementioned four method is provided, i.e., different installation site camera corresponding data computational methods, focusing
Localization method, dispensing localization method and the side for solving the precision problem caused by disk mode equipment origin position installation inaccuracy
Method.Each method provided by the invention enables a device to be carried out at the same time focusing, dispensing exposure, dirty bad point judgement movement, and can
The problems in correct processing operational process point, that is to say, that after pressing operation button, dial movement in place, display module situation,
Then circulation is carried out at the same time to when a station dirt bad point judges, current module opens figure situation on the module of station and circulation is to working as
Station focusing situation on the module of station includes following three production processes：(I) judges circulation to when on the module of station
One station dirt bad point judges whether OK；(II) judge current module open figure whether OK；(III) judges circulation to the module for working as station
The focusing of a upper station whether OK, wherein the production process (I), (II) and (III) can be run simultaneously, can also isolated operation,
It is specifically chosen corresponding production process according to specific equipment.
In production process (I), if a station dirt bad point judges OK in circulation to the module for working as station, carry out next
Process, i.e. module dispensing make dispensing axis restore, and record module station situation；If circulation is to when a station on the module of station
When dirty bad point judgement goes wrong or is abnormal, then needs to be adjusted processing, execute dispensing axis restoring action, then record module
Station situation, then repeatedly above step, again judges dirty bad point, and dispensing is carried out to module.
In production process (II), if current module opens figure OK, subsequent processing is carried out, i.e., current module is adjusted
Coke, current module focusing also in the case of OK, can carry out focusing axis and restore, then record module station situation；If current
When module opens figure and goes wrong or is abnormal, then needs to be adjusted processing, execute focusing axis restoring action, if currently module tune
Coke goes wrong, then also needs to be adjusted processing, executes focusing axis restoring action, then records module station situation, after
And repeat above step, judge again module open figure whether OK, focus to module.
In production process (III), if circulation carries out dirty bad point and sentences to as station focusing OK on the module of station
It is fixed, dirty bad point cylinder restoring action is then executed, module station situation is recorded；If circulation is to when a station on the module of station
It when focusing goes wrong or is abnormal, then needs to be adjusted processing, directly executes dirty bad point cylinder restoring action, then record mould
Group station situation, then repeatedly above step, judge again circulation to when on the module of station station focusing whether OK, judge
Dirty bad point.
In short, in the present invention, equipment incorporates three productions process simultaneously, and can be carried out at the same time, and greatly reduces
Wire body space, decreases human cost, improves production efficiency.
It should be understood by those skilled in the art that the embodiment of the present invention shown in foregoing description and attached drawing is only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.The function and structural principle of the present invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (9)
1. a kind of focusing localization method, which is characterized in that include the following steps：
(1) record handwheel marking center mechanical coordinate (xj1,yj1)；
(2) so that handwheel marking center is drawn a portrait center in same position with CCD, record the mechanical coordinate of the positions CCD at this time
(xj2,yj2) and angle case θ0；
(3) after CCD identifies module, module center is calculated, and calculate the CCD mechanical coordinates after moving on to picture center
(xj3,yj3) and angle case θ1；With
(4) center (x, y) and the angle case θ of final handwheel focusing positioning are calculated, wherein the final handwheel focusing is fixed
Position position (x, y) and angle case θ, are calculate by the following formula and obtain：X '=xj3-xj2+xj1, y=yj3-yj2+yj1, θ=θ1-θ0。
2. focusing localization method is moved to the CCD's at picture center in the step (3) as described in claim 1
Mechanical coordinate (xj3,yj3) calculated by following formula and obtained：(A) assume that raw frames coordinate and the relationship of actual machine coordinate are：
△xm=△ xp÷Sx, △ ym=-△ yp÷Sy；(B) after 90 ° of rotation of lens, picture coordinate and the relationship of actual machine coordinate are：
△xm=-△ yp÷Sx, △ ym=-△ xp÷Sy；(C) after 180 ° of rotation of lens, the relationship of picture coordinate and actual machine coordinate
For：△xm=-△ xp÷Sx, △ ym=△ yp÷Sy；(D) after 270 ° of rotation of lens, the pass of picture coordinate and actual machine coordinate
System is：For △ xm=△ yp÷Sx, △ ym=△ xp÷Sy；
It is mechanical coordinate data wherein to descend marker tape m, and lower marker tape p is picture coordinate data, Sx、SyMechanical coordinate is indicated respectively
X, y moves the picture pix numerical value that x-axis, y-axis move in the corresponding picture coordinates of 1mm, and the numerical value is become by picture after shifting axle
Change data to be calculated.
3. focusing localization method as described in claim 1 or 2 is any in the step (1) is controlled by focusing handwheel pressure
Plasticine datum mark on tool leaves the handwheel marking on plasticine.
4. focusing localization method as described in claim 1 or 2 is any, in the step (2), by the way that CCD is moved to rubber
It above mud, identifies the handwheel marking, camera lens is automatically moved by program so that handwheel marking center exists with the portrait center
Same position.
5. focusing localization method as claimed in claim 3, in the step (2), by the way that CCD is moved to above plasticine,
It identifies the handwheel marking, camera lens is automatically moved by program so that handwheel marking center is with the portrait center same
One position.
6. as claimed in claim 3 focusing localization method, further comprise a step (5), be located at the step (4) it
Afterwards, it behind the center and angle information for obtaining the final handwheel focusing positioning, then is obtained by laser range sensor
Altitude information is obtained, to complete all information of focusing positioning.
7. as claimed in claim 5 focusing localization method, the camera lens automatically move method be rotation 0 °, 90 °, 180 ° or
270 ° of person.
8. focusing localization method as claimed in claim 7, the handwheel is fixed on the CCD on the same axis, the two tool
There is fixed relative distance.
9. focusing localization method as claimed in claim 8 is suitable for focusing mechanism or focusing dispensing equipment integrating.
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| CN111097660B (en) * | 2019-11-01 | 2020-12-11 | 成都乐创自动化技术股份有限公司 | Visual positioning deviation rectifying method based on rotary dispensing device |
| CN114624954B (en) * | 2022-03-14 | 2024-07-26 | 江西盛泰精密光学有限公司 | Automatic distinguishing method for dot colloid state |
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