CN105964486A - Automatic gluing system and gluing method thereof - Google Patents
Automatic gluing system and gluing method thereof Download PDFInfo
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- CN105964486A CN105964486A CN201510106162.8A CN201510106162A CN105964486A CN 105964486 A CN105964486 A CN 105964486A CN 201510106162 A CN201510106162 A CN 201510106162A CN 105964486 A CN105964486 A CN 105964486A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
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- Application Of Or Painting With Fluid Materials (AREA)
- Coating Apparatus (AREA)
Abstract
The invention relates to an automatic gluing system and a gluing method thereof. The automatic gluing method comprises the following steps: S100) transformation constants of pixel coordinates and machinery coordinates of a target object can be obtained by a machinery vision unit; S200) a pin position is corrected by a pin calibration unit, a pin gluing original point is set; and S300) gluing visual image is registered by a glue line drafting unit for drafting the coordinate of the glue line path.
Description
Technical field
The present invention relates to a kind of coating system, specifically, be a kind of system and glue spreading method thereof being controlled automatic glue application by machine vision.
Background technology
In cell-phone camera module (CCM) industry, optical articles just develops towards miniaturization, lightweight and high precision int, to the product quality of optics the most strictly control.Along with mobile phone module pixel improves constantly, photosensitivity also requires that and improves constantly, and the most increasingly pursues the mobile phone of shooting high-definition image.And in universal artificial production model, the assembling of cell-phone camera module is the position of the lens motor module (VCM) by regulating in camera module manually and sensitive chip (SENSOR), make the eyeglass being arranged in lens assembly, the geometric-optical axis center of the optical glasss such as optical filter aligns with the center of the photo-sensitive cell of image module, but, camera lens and sensitive chip may cause this type of axial symmetry optical module when system assembles due to operating error, optical centre bias occurs, gradient (Tilt) is there is between camera lens and sensitive chip, the position accuracy errors such as skew (Shift), the image quality of module is had a serious impact, the yield causing product constantly declines.
At present, cell-phone camera module and related optical components and parts industry to the packaging technology (COB) of product commonly used be that microscope base attaches (H/A) and carries out finished product and fix, microscope base attaches and uses the mode that colloid directly attaches, lens motor module semi-finished product are attached directly to sensitive chip semi-finished product, and are usually present the situation being difficult to accurately make lens assembly and sensitive chip align by manually-operated direct attaching and occur.And improving constantly along with cell-phone camera module pixel, sensitive chip photosensitivity improves constantly, between skew and camera lens and the sensitive chip of photocentre, the image quality of module is had a serious impact by the existence of skew, the yield causing product constantly declines, and the method directly attached by H/A is the most inapplicable.
Increasing automation equipment uses Vision Builder for Automated Inspection replace human eye to measure and judge, by Vision Builder for Automated Inspection, target subject is converted into picture signal, send special image processing system to, according to pixel distribution and the information such as brightness, color, be converted into digitized signal；Picture system carries out various computing to extract clarification of objective to these signals, and then controls the equipment at scene according to the result differentiated and complete required movement.Wherein, the appearance of automatization's aligning equipment (Active Alignment equipment, be called for short AA equipment), expand the range of application of machine vision, be able to automatic core-adjusting (AA), be the trend that developed in recent years of cell-phone camera module industry.In the gluing flow process of AA equipment, for the product of the camera lens making automatically to adjust, chip realize can automatic glue application solidification, the mode that H/A directly attaches is the most applicable, needs a set of automatic adhesive application system to realize the coating technique of cell-phone camera module semi-finished product.
Summary of the invention
A kind of automatic adhesive application system of offer and glue spreading method thereof are provided, it uses the mode of machine vision automatic glue application to replace the direct attaching in packaging technology, for accurate gluing in semi-finished product, it is achieved the automatic glue application solidification of automatic core-adjusting optical articles.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, it passes through pixel coordinate and the transformation constant of mechanical coordinate and transformational relation for the automatic glue application realizing equipment, improve the quality of product encapsulation, thus, contribute to accurately being coated with adhesive curing between product.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, wherein, the auto-correction method of the camera vision ratio system of design, for automatically-calibrated camera proportionality coefficient, obtains camera proportionality coefficient.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, wherein, the painting needle head automatic Corrective control method of design, for from dynamic(al) correction gluing needle position, completes the syringe needle correction of rubber-coated mechanism.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, it passes through the semi-finished product of potted element as gluing benchmark image, gluing curve can be done from main separation registered images, expand the gluing benchmark image scope chosen, it is easy to the gluing operation of actual product, prevents the appearance of the excessive phenomenon such as glue, viscose glue.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, wherein, in described potted element one is sensitive chip semi-finished product, another in described potted element is lens motor module semi-finished product, by sensitive chip or lens motor module as gluing benchmark image, selectively do gluing curve according to registered images.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, it passes through lens motor module semi-finished product image as gluing benchmark image, automatically reduction tree lace coordinate on sensitive chip semi-finished product is calculated, gluing task can be automatically completed, thus, described automatic adhesive application system provides and makes function using lens motor module semi-finished product image as tree lace, contributes to preventing only using sensitive chip as the generation of gluing problem during registered images.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, wherein, the auto-correction method of the gluing tree lace coordinate of design, for correction tree lace coordinate, completes to compensate the coordinate of arbitrfary point on tree lace.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, various parameters needed for it provides gluing arrange demand, it is able to plastic emitting in advance, subsection setup application rate, subsection setup gluing height, subsection setup is told glue and receives glue in advance, convenient operation, meets the gluing requirement of equipment.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, it, by gluing benchmark image and drafting tree lace auto zoom, makes difficult problem for eliminating the excessive gluing tree lace caused of dimension of picture.
Another object of the present invention is to provide a kind of automatic adhesive application system and glue spreading method thereof, it is applicable to AA equipment, use the Vision Builder for Automated Inspection of autonomous Design, described automatic adhesive application system and automatic core-adjusting system is made to share vision data, contribute to reducing hardware cost and number of times of imaging, the capture time of saving equipment so that the sexual valence of equipment when efficiency fast lifting.
Thus, in order to realize above-mentioned purpose, the present invention provides a kind of automatic adhesive application system, comprising: a machine vision unit, for obtaining transformation constant, obtains the position relationship of object pixel coordinate and mechanical coordinate；One syringe needle alignment unit, for correction needle position, the transformation constant obtained based on described machine vision unit arranges syringe needle gluing initial point；And a tree lace drawing unit, obtain registered images for registration gluing visual pattern, and draw tree lace path coordinate based on described registered images.
According to one embodiment of present invention, described automatic adhesive application system farther includes a tree lace correction unit, for compensating described tree lace coordinate.
According to one embodiment of present invention, described automatic adhesive application system farther includes a gluing parameter control unit, described for automation control gluing operation, thered is provided the various parameters needed for gluing that demand is set, described automatic adhesive application system is made to shift to an earlier date plastic emitting, subsection setup application rate, subsection setup gluing height, subsection setup is told glue and receives glue in advance.
According to one embodiment of present invention, described automatic adhesive application system is applicable to the automatic core-adjusting equipment of cell-phone camera module, so that described automatic adhesive application system and described automatic core-adjusting equipment share vision data.
A kind of automatic glue application method, comprising:
S100 obtains object pixel coordinate and the transformation constant of mechanical coordinate by a machine vision unit；
S200, by a syringe needle alignment unit correction needle position, arranges syringe needle gluing initial point；And
S300 is by a tree lace drawing unit registration gluing visual pattern, for drawing tree lace path coordinate.
According to one embodiment of present invention, described method farther includes step S400: by tree lace coordinate described in a tree lace correction unit compensation.
According to one embodiment of present invention, described method farther includes step S500: controls gluing by a gluing parameter control unit automation and operates, and is able to automatically control gluing operation according to tree lace path and object.
According to one embodiment of present invention, described step S100 includes step:
S110 arranges reference point by camera coefficient correction tool；
S120 is initial picture-taking position by the way of camera positions so that described reference point is in camera fields of view immediate vicinity；And
Reference point described in S130 relative movement, by judging that described reference point is respectively under mechanical coordinate system and pixel coordinate system
Under shift position relation, calculate and obtain the transformation constant of described machine vision unit.
According to one embodiment of present invention, described step S200 includes step:
Described syringe needle is moved to datum level and surveys high position by S210, and obtains altitude datum h0；
Described syringe needle by flat datum level, is obtained glue reference point by syringe needle described in lifting gluing by S220；And
Described glue reference point is moved to central region by automatically moving algorithm by S230, for from being coated with needle head described in dynamic(al) correction.
According to one embodiment of present invention, described step S220 includes step:
S221 moves described syringe needle in default plastic emitting position (xcj,ycj,zcj) so that described syringe needle develops described datum level and locks syringe；And
S222 moves described syringe needle to presetting plastic emitting coordinate (xcj,ycj,zcj-zup), described datum level is told glue for arranging described glue reference point, wherein, zupFor described syringe needle rising height parameter.
According to one embodiment of present invention, described step S230 includes step:
Camera is moved to described glue reference point capture by S231；
S232 obtains the proportionality coefficient (x of described camera automatically by step S100vs,yvs)；And
S233 passes through described camera proportionality coefficient (xvs,yvs) with automatically move algorithm, repeatedly obtain the pixel coordinate of described glue reference point and corresponding mechanical coordinate, move to described camera fields of view center for by described glue reference point.
According to one embodiment of present invention, the design procedure automatically moving algorithm of described step S230: set described camera fields of view size as Xpix×Ypix, by the described camera proportionality coefficient (x obtainedvs,yvs), and according to described glue reference point be designed in the positive negativity of moving direction within sweep of the eye Yu mechanical coordinate XY axle moving direction described in automatically move algorithm, for obtaining the pixel coordinate of described glue reference point and corresponding mechanical coordinate.
According to one embodiment of present invention, described step S233 includes step: whenAndWhen being respectively less than 1 pixel, it is determined that described glue reference point successfully moves described camera fields of view center, record mechanical coordinate (xc1,yc1,zc1) and pixel coordinate (xv,yv), described syringe needle alignment unit completes the syringe needle correction of rubber-coated mechanism；When by the repeatedly mobile deviation that is all unable to reach, then judging that the described camera scale factor errors of acquisition is excessive, described camera proportionality coefficient need to be re-calibrated within 1 pixel.
According to one embodiment of present invention, described step S300 includes step:
The S310 semi-finished product registration visual pattern by potted element, forms potted element semi-finished product registered images, and wherein, in described potted element is sensitive chip semi-finished product, and another of described potted element is lens motor module semi-finished product；And
S320 is according to described sensitive chip registered images and/or described lens motor module registered images, selectively by described sensitive chip image or by described lens motor module image drafting tree lace path coordinate.
Wherein, described step S310 includes step S311: register described sensitive chip semi-finished product visual pattern, obtains visional reference coordinate (x0,y0,a0), wherein a0Identification angle for described sensitive chip.
According to one embodiment of present invention, described step S310 farther includes step S312: register described lens motor module semi-finished product visual pattern, obtains visional reference coordinate (x1,y1,a1)。
According to one embodiment of present invention, described step S320 includes step:
S321 draws tree lace, acquisition approach each point pixel coordinate (x on described lens motor module registered imagesv1,yv1) ..., (xvn,yvn)；
S322 is according to vision proportionality coefficient (xvvs,yvvs), preserve tree lace path (x' under mechanical coordinate by relative coordinatev1,y'v1) ..., (x'vn,yv‘n), wherein, described vision proportionality coefficient is the vision proportionality coefficient of the camera of described lens motor module registered images；And
S323 is according to described camera proportionality coefficient (xvs,yvs) and relative angular difference Δ a, after translating and rotate under pixel coordinate system, reduction tree lace coordinate (x1,y1) ..., (xn,yn), wherein, described relative angular difference Δ a=a0-a1。
According to one embodiment of present invention, described step S322 includes step: according to described vision proportionality coefficient (xvvs,yvvs), preserve by relative path, calculate with identification point coordinate translation to (0,0), described lens motor module tree lace pixel coordinate is converted to mechanical coordinate, preserve tree lace path (x' under described mechanical coordinate by relative coordinatev1,y'v1) ..., (x'vn,y'vn)。
According to one embodiment of present invention, described step S323 includes step: under the camera coordinates of described sensitive chip semi-finished product shooting, according to described camera vision proportionality coefficient (xvs,yvs) and the relative angular difference Δ a=a of described sensitive chip semi-finished product and lens motor module semi-finished product0-a1, by the translation under pixel coordinate system and rotation, described lens motor module tree lace mechanical coordinate is converted to described sensitive chip pixel coordinate tree lace, is reduced into described sensitive chip tree lace path pixels coordinate (x1,y1) ..., (xn,yn)。
According to one embodiment of present invention, described S400 includes step:
S410 registers visual pattern, and obtains visional reference (x0,y0,a0)；
S420 draw gluing path in described registered images, acquisition approach each point coordinates (x1,y1) ..., (xn,yn)；And
S430 is center of rotation according to identification point or first, rotates by the rotation mode preset, by postrotational each point coordinate translation is corrected tree lace coordinate.
According to one embodiment of present invention, described step S430 includes step:
S4311 obtains tested image vision data (x'0,y'0,a'0)；
S4312 is by each for described tree lace point coordinates (x1,y1) ..., (xn,yn) with described identification point (x0,y0) it is center of rotation, obtain (x1',y1') ..., (x'n,y'n)；And
S4313 is by described each point (x1',y1') ..., (x'n,y'n) by distance (x'0-x0,y'0-y0) translate, for from dynamic(al) correction tree lace coordinate.
According to one embodiment of present invention, described step S4312 includes step: with described registered images identification point (x0,y0) as center of rotation, according to spin equation around arbitrfary point under cartesian coordinate system:Wherein, Δ a=a'0-a0(1), by each point (x1,y1) ..., (xn,yn) rotate (x '1,y′1) ..., (x'n,y'n)。
According to one embodiment of present invention, described step S430 includes step:
S4321 is by each point coordinates (x0,y0), (x1,y1) ..., (xn,yn) with described first point coordinates (x1,y1) be center of rotation, by relative angular difference Δ a rotate invocation point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n)；And
S4322 by described each point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n) by distance, delta x0=x "0-x0, Δ y0=y "0-y0Translate, for from dynamic(al) correction tree lace coordinate.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of automatic adhesive application system.
Fig. 2 is the lens motor module tree lace pixel coordinate schematic diagram with mechanical coordinate conversion of the described automatic adhesive application system of the above preferred embodiment according to the present invention.
Fig. 3 is the lens motor module tree lace machinery of the described automatic adhesive application system of the above preferred embodiment according to the present invention
The schematic diagram that coordinate is changed with sensitive chip pixel coordinate tree lace.
Fig. 4 is the tree lace coordinate schematic diagram of the described automatic adhesive application system of the above preferred embodiment according to the present invention.
Fig. 5 is the first tree lace correction schematic diagram of the described automatic adhesive application system of the above preferred embodiment according to the present invention.
Fig. 6 is the second tree lace correction schematic diagram of the described automatic adhesive application system of the above preferred embodiment according to the present invention.
Fig. 7 is the syringe needle automatic correcting process figure of the described automatic adhesive application system of the above preferred embodiment according to the present invention.
Fig. 8 is the tree lace Making programme figure of the lens motor module image of the described automatic adhesive application system of the above preferred embodiment according to the present invention.
Fig. 9 is that the tree lace coordinate of the described automatic adhesive application system of the above preferred embodiment according to the present invention compensates flow chart automatically.
Detailed description of the invention
Claim according to the present invention and description disclosure of that, described in technical scheme literary composition specific as follows.
A kind of automatic adhesive application system as shown in Figure 1 includes a machine vision unit, and described machine vision unit, for obtaining transformation constant, obtains the position relationship of object pixel coordinate and mechanical coordinate；One syringe needle alignment unit, described syringe needle alignment unit arranges syringe needle gluing initial point for correction needle position, the transformation constant obtained by described machine vision unit；And a tree lace drawing unit, described tree lace drawing unit obtains registered images for registration gluing visual pattern, draws tree lace path coordinate by described registered images.Thus, described automatic adhesive application system uses the mode of machine vision automatic glue application to replace the direct attaching in packaging technology, for accurate gluing in semi-finished product, it is achieved the automatic glue application solidification of automatic core-adjusting optical articles.
Described automatic adhesive application system farther includes a tree lace correction unit, and described tree lace correction unit is for compensating described tree lace coordinate.Wherein, completed the correction of Point Coordinates on described tree lace and compensation by the bearing calibration of gluing tree lace coordinate.
Described automatic adhesive application system farther includes a gluing parameter control unit, described gluing parameter control unit controls gluing operation for automation, it is able to automatically control gluing operation according to tree lace path and object, thered is provided the various parameters needed for gluing that demand is set, such as plastic emitting in advance, subsection setup application rate, subsection setup gluing height, subsection setup is told glue and receives glue in advance, convenient operation, meets the gluing requirement of equipment.
Described automatic adhesive application system is applicable to the packaging technology of cell-phone camera module, by machine automatization control gluing in the sensitive chip of camera module, is accurately encapsulated described lens motor module and sensitive chip, accordingly, is matched with AA equipment.Described automatic adhesive application system is readily adaptable for use in the packaging technology that other are required, completes the packaging technology of finished product for accurate Drawing tree lace between potted element, improves product quality.Wherein, by the transformation constant of pixel coordinate and mechanical coordinate and turn
Relation of changing, for realizing the automatic glue application of equipment, improves the quality of product encapsulation, thus, contribute to accurately being coated with adhesive curing between product.
Described machine vision unit for automatically-calibrated camera proportionality coefficient, obtains the transformation constant of described machine vision, i.e. camera proportionality coefficient by the auto-correction method of the camera vision proportionality coefficient of design.Wherein, correct by referring to the coordinate parameters of point (Mark point) and be used for obtaining correlating transforms constant, reflect the shift position on mechanical coordinate and the shift position relation on pixel coordinate.
Wherein, camera coefficient correction tool is placed at described cell-phone camera module semi-finished product glue sites, described reference point is set, initial picture-taking position by the way of camera positions, described reference point is made to be in camera fields of view immediate vicinity, the XY axle of rubber-coated mechanism is pressed the micro-mobile camera of positive direction of mechanical coordinate system, by judging that described reference point is moved by plus or minus direction in camera fields of view, for judging the described reference point positive negativity at moving direction within the vision Yu XY axle moving direction.Subsequently camera fields of view is divided into upper left, upper right and lower-left, region, four pieces, bottom right, described reference point is moved to upper right from the upper left of described camera fields of view successively, and mobile to lower right area, pixel coordinate and mechanical coordinate by obtaining just can obtain camera proportionality coefficient (xvs,yvs)。
In other words, the XY axle of described rubber-coated mechanism is the XY axle under mechanical coordinate system, by judge described reference point at the shift position of mechanical coordinate XY axle and described reference point in the shift position relation of the pixel coordinate at camera fields of view center, it is calculated the transformation constant in described machine vision unit, the most described camera proportionality coefficient (xvs,yvs).Described reference point is set at camera fields of view immediate vicinity, it is easy to the movement under pixel coordinate system of the described reference point, be conducive to catching, when by the positive direction of mechanical coordinate system micro-mobile camera, described reference point is able to the movement along with described camera and moves, change corresponding pixel coordinate, judged the positive negativity that described reference point is changed between mechanical coordinate and described pixel coordinate.Obtained by reference point described in relative movement so that described reference point is at pixel coordinate successively relative movement, obtain described mechanical coordinate and pixel coordinate respectively, thus, calculate the camera proportionality coefficient (x obtaining described machine vision unitvs,yvs)。
Described syringe needle alignment unit passes through the painting needle head automatic Corrective control method of design for from dynamic(al) correction gluing needle position, complete the syringe needle correction of rubber-coated mechanism, the origin position of automatic gluing mechanism is set by described syringe needle alignment unit, makes the camera module semi-finished product a little position of follow-up gluing refer to.After starting to start, described machine vision unit first obtains described camera proportionality coefficient (xvs,yvs), described syringe needle alignment unit unclamps syringe, described rubber-coated mechanism moves to described datum level and surveys high position, obtain altitude datum h0Meanwhile, described syringe makes described syringe needle by flat datum level lock syringe due to the effect of gravity, arranges glue reference point by lifting syringe needle and by the way of telling glue, camera is moved to described glue reference point locations capture, by described camera proportionality coefficient (xvs,yvs) and automatically move algorithm, described glue reference point is moved to central region, the gluing initial point i.e. preset, if moving successfully, then completing the syringe needle coordinates correction of described rubber-coated mechanism, terminating；If moving unsuccessfully, described vision proportionality coefficient may have error, again automatically obtains described vision proportionality coefficient.
Specifically, described glue spreading apparatus syringe needle from the method for dynamic(al) correction for from the syringe needle coordinate of dynamic(al) correction glue spreading apparatus.Pixel coordinate and described vision proportionality coefficient is obtained according to the picture-taking position that glue spreading apparatus is preset, glue sites is compensated and corrects, meanwhile, obtain range finding position according to laser range finder (Laser), obtain described datum level and/or the relative altitude of described camera module.First unclamp the retaining mechanism of described syringe, described rubber-coated mechanism is moved to default plastic emitting position (xcj,ycj,zcj), make described syringe needle develop described datum level and lock syringe by the gravity of packing element.Meanwhile, current base face height h is obtained by described laser range finder0As described altitude datum, and for making glue can flow out smoothly from syringe needle, described alignment unit arranges syringe needle rising height parameter zup, it is able to lifting syringe needle and tells glue, thus, the default plastic emitting coordinate of described rubber-coated mechanism is (xcj,ycj,zcj-zup), under described plastic emitting coordinate, described rubber-coated mechanism spues some glue on datum level, using described glue spots as reference point.
And then, for reducing the vision proportionality coefficient nonlinearity erron that camera tilts and lens distortion brings, the syringe needle initial coordinate of described rubber-coated mechanism is set to camera fields of view center, by automatically moving algorithm, glue spots position is moved to central region.If camera fields of view size is Xpix×Ypix, by the described camera proportionality coefficient (x obtainedvs,yvs), according to described reference point moving direction and positive negativity of XY axle moving direction in the range of camera fields of view, i.e. by judging described reference point transformation constant between described pixel coordinate and mechanical coordinate and position corresponding relation, just can design and automatically move algorithm.Automatically move algorithm by described, repeatedly obtain the pixel coordinate of described reference point and the mechanical coordinate of correspondence, described reference point is moved to described camera fields of view center.Wherein, whenAndBeing respectively less than 1 pixel, then judge that described glue reference point is put middle movement and completed, described glue reference point successfully moves to described camera fields of view center；When by the repeatedly mobile deviation that is all unable to reach, then judging that the described camera scale factor errors of acquisition is excessive, the camera proportionality coefficient of described machine vision unit need to be re-calibrated within 1 pixel.When judging that described glue reference point is successfully put middle, record described mechanical coordinate now is (xc1,yc1,zc1), described pixel coordinate is (xv,yv), thus, described syringe needle alignment unit completes the syringe needle correction of described rubber-coated mechanism.
Described tree lace drawing unit as gluing benchmark image by the semi-finished product of potted element, can be done gluing curve from main separation registered images therein, expand the gluing benchmark image scope chosen.Wherein, in described potted element one is sensitive chip semi-finished product, another of described potted element is lens motor module semi-finished product, gluing visual pattern is registered by described sensitive chip and/or described lens motor module, forming sensitive chip visual pattern or lens motor module visual pattern, described tree lace drawing unit is able to draw tree lace according to described registered images.The first tree lace draws mode, when by described sensitive chip semi-finished product registered images, is able to directly draw under the pixel coordinate system of described sensitive chip registered images tree lace path；The second tree lace draws mode, when by described lens motor module semi-finished product registered images, draws tree lace on described lens motor module registered images, and acquisition approach each point pixel coordinate, further according to vision proportionality coefficient (xvvs,yvvs) so that described lens motor module tree lace pixel coordinate and mechanical coordinate are changed, it is thus achieved that the tree lace path under described lens motor module mechanical coordinate system, subsequently, according to camera proportionality coefficient (xvs,yvs) and relative angular difference Δ a, translate under pixel coordinate system and rotate, described lens motor module tree lace mechanical coordinate is converted into sensitive chip pixel coordinate tree lace.
What the present invention designed carries out tree lace path drawing method according to lens motor module semi-finished product registered images.Due in AA equipment, described cell-phone camera module semi-finished product supplied materials is commonly divided into described lens motor module semi-finished product and described sensitive chip semi-finished product, and the gluing action of described rubber-coated mechanism is typically implemented on sensitive chip semi-finished product, thus, gluing control system normally only can be drawn mode according to the first tree lace described directly carry out tree lace drafting on described sensitive chip semi-finished product image to need the described sensitive chip semi-finished product of gluing as registered images.But in view of the lens motor module semi-finished product outward flange of some cell-phone camera module product is narrower, and the outward flange of described sensitive chip semi-finished product is wider, if or the image made as tree lace using described sensitive chip semi-finished product, the tree lace path then probably made because of different operator there are differences bigger problem, cause the appearance of the excessive phenomenon such as glue, viscose glue, it is unfavorable for carrying out tree lace drafting according to practical situation, is likely to result in the decline of AA yield.In the present invention, described tree lace drawing unit not only provides draws tree lace by described sensitive chip registered images, also provides for drawing tree lace by described lens motor module registered images, contributes to selectively switching described tree lace drawing image.User can independently switch according to product demand and carry out tree lace drafting with described sensitive chip semi-finished product image and/or described lens motor module semi-finished product image.Described tree lace drawing unit provides tree lace Drawing image handoff functionality, when user needs to carry out tree lace path drawing according to described lens motor module semi-finished product image, have only to register a lens motor module semi-finished product image, accordingly, described automatic adhesive application system automatically extracts visional reference parameter (x by calculating0,y0,a0), carry out follow-up tree lace coordinates correction equally, it is simple to the operation of the gluing of actual product, by sensitive chip or lens motor module as gluing benchmark image, selectively make gluing curve according to described registered images.
Specifically, drawing mode according to the first tree lace described, described sensitive chip registers gluing visual pattern, the sensitive chip visual pattern of cell-phone camera module semi-finished product described in described automatic adhesive application system identification, obtains visional reference coordinate (x0,y0,a0), wherein a0For the identification angle of described sensitive chip, meanwhile, note picture-taking position is (xc2,yc2,zc2), it is able to directly draw under the pixel coordinate system of described sensitive chip visual pattern tree lace path.
On the other hand, as in figure 2 it is shown, draw mode according to described the second tree lace, described tree lace drawing unit as gluing benchmark image by lens motor module semi-finished product image, is automatically calculated reduction tree lace on sensitive chip semi-finished product and is sat
Mark, is automatically performed gluing task.By registering described sensitive chip semi-finished product image, obtain visional reference (x0,y0,a0), and, register described lens motor module semi-finished product image, obtain visional reference coordinate (x1,y1,a1), wherein a1Identification angle for described lens motor module.Drawing tree lace, each point coordinates of acquisition approach on described lens motor module semi-finished product registered images, each point pixel coordinate in the tree lace path that note is drawn is (xv1,yv1) ..., (xvn,yvn).Vision proportionality coefficient (x according to the camera registering described lens motor module visual patternvvs,yvvs), preserve by relative path, calculate with identification point coordinate translation to (0,0), described lens motor module tree lace pixel coordinate is converted to mechanical coordinate, preserve tree lace path (x' under described mechanical coordinate by relative coordinatev1,y'v1) ..., (x'vn,y'vn).As it is shown on figure 3, under the camera coordinates of described sensitive chip semi-finished product shooting, according to the described camera proportionality coefficient (x of the camera registering described sensitive chip visual patternvs,yvs), and the relative angular difference Δ a=a of described sensitive chip semi-finished product and lens motor module semi-finished product0-a1, by the translation under pixel coordinate system and rotation, described lens motor module tree lace mechanical coordinate is converted to described sensitive chip pixel coordinate tree lace, is reduced into described sensitive chip tree lace path pixels coordinate (x1,y1) ..., (xn,yn)。
Thus, described automatic adhesive application system provides and makes function using lens motor module semi-finished product image as tree lace, contributes to preventing only using sensitive chip as the generation of gluing error during registered images.
Described tree lace correction unit for correcting described tree lace coordinate, completes the coordinates correction to described tree lace and compensation by the auto-correction method of the gluing tree lace coordinate of design.When registering visual pattern and obtaining visional reference (x0,y0,a0), described registered images carries out the making of gluing path, acquisition approach each point coordinates (x1,y1) ..., (xn,yn), wherein, described registered images is selected from described sensitive chip registered images and/or lens motor module registered images.After gluing tree lace draws tree lace of completing on interface, generate each node coordinate (x1,y1) ..., (xn,yn), if measured target identification point coordinate is (x'0,y'0,a'0), obtain tested image vision data (x'0,y'0,a'0), tree lace coordinate as shown in Figure 4, correct described tree lace coordinate by two kinds of methods.
The first tree lace bearing calibration as shown in Figure 5, carries out rotation correction by identification point, with described registered images identification point (x0,y0) as center of rotation, according to spin equation around arbitrfary point under cartesian coordinate system:Wherein, Δ a=a'0-a0(1).Again described tree lace is respectively pressed distance, delta x0=x'0-x0, Δ y0=y'0-y0Translation, for completing to compensate the coordinate of arbitrfary point on described tree lace.Change sentence
Talk about, by each node coordinate of described tree lace(x1,y1) ..., (xn,yn) with described identification point (x0,y0) it is center of rotation, invocation point (x1',y1') ..., (x'n,y'n), by (x1',y1') ..., (x'n,y'n) by distance (x'0-x0,y'0-y0) translate, complete tree lace coordinate and automatically compensate.
The second tree lace bearing calibration as shown in Figure 6, carries out rotation correction by first, with described first point coordinates (x1,y1) as center of rotation, by point (x0,y0), (x1,y1) ..., (xn,yn) angularly Δ a rotate after obtain point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n), then by each point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n) by distance, delta x0=x "0-x0, Δ y0=y "0-y0The correction of described tree lace coordinate is completed after translating.Wherein, described the second tree lace bearing calibration calculates relatively complicated, but relatively simple, by point coordinates (x for programming angle0,y0), (x1,y1) ..., (xn,yn) with described first point (x1,y1) be center of rotation, by relative angular difference Δ a rotate invocation point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n), then by respectively press distance (x "0-x0,y″0-y0) translate, complete described tree lace coordinates correction.
It is noted that described automatic adhesive application system is able to, by described gluing benchmark image and the automatic zoom function drawing tree lace, make difficult problem for eliminating the excessive gluing tree lace caused of dimension of picture.
In being embodied as gluing operation, due to the product of the described cell-phone camera module class multiformity to gluing functional requirement, described gluing parameter control unit designs multiple gluing state modulator, as glue function is received in described gluing parameter control unit design plastic emitting function in advance and offer, for compensating the hysteresis quality that different glue flows out from the syringe needle of different size or different size；Function is set such as described gluing parameter control unit design segmentation tree lace speed, requires to differ to different section described tree lace thicknesses for meeting cell-phone camera module semi-finished product；As described gluing parameter control unit design segmentation tree lace height arranges function and switch glue function, for avoiding in the tree lace path of some described cell-phone camera module semi-finished product the barriers such as electric capacity that may be present.
It is worth mentioning that, described automatic adhesive application system is applicable to AA equipment, use the Vision Builder for Automated Inspection of autonomous Design, described automatic adhesive application system and automatic core-adjusting system is made to share vision data, use industrial camera independent development visual identity software, and use ActiveX control mode to integrate with equipment control software based on Windows, realize the independent development of the Vision Builder for Automated Inspection of AA equipment, the equipment that is prevented effectively from uses smart camera external member to cause the vision cost of equipment the highest, contribute to promoting the cost performance of whole AA equipment including described automatic adhesive application system.Wherein, owing to the vision parameter of described automatic adhesive application system station shares with the vision parameter of AA station, contribute to reducing hardware cost and number of times of imaging, save the capture time of equipment so that the sexual valence of equipment when efficiency fast lifting, thus the UPH of lifting means.
A kind of automatic glue application method, its step includes:
S100 obtains object pixel coordinate and the change constant of mechanical coordinate by a machine vision unit；
S200, by a syringe needle alignment unit correction needle position, arranges syringe needle gluing initial point；And
S300 is by a tree lace drawing unit registration gluing visual pattern, for drawing tree lace path coordinate.
Wherein, described method farther includes step S400: by tree lace coordinate described in a tree lace correction unit compensation.
Wherein, described method farther includes step S500: controls gluing by a gluing parameter control unit automation and operates, and is able to automatically control gluing operation according to tree lace path and object.
Wherein, described step S100 includes step:
S110 arranges reference point by camera coefficient correction tool；
S120 is initial picture-taking position by the way of camera positions so that described reference point is in camera fields of view immediate vicinity；And
Reference point described in S130 relative movement, by judging described reference point shift position relation respectively under mechanical coordinate system and under pixel coordinate system, calculates and obtains the transformation constant of described machine vision unit.
Wherein, described step S200 includes step:
Described syringe needle is moved to datum level and surveys high position by S210, and obtains altitude datum h0；
Described syringe needle by flat datum level, is obtained glue reference point by syringe needle described in lifting gluing by S220；And
Described glue reference point is moved to central region by automatically moving algorithm by S230, for from being coated with needle head described in dynamic(al) correction.
Wherein, described step S220 includes step:
S221 moves described syringe needle in default plastic emitting position (xcj,ycj,zcj) so that described syringe needle develops described datum level and locks syringe；And
S222 moves described syringe needle to presetting plastic emitting coordinate (xcj,ycj,zcj-zup), described datum level is told glue for arranging described glue reference point, wherein, zupFor described syringe needle rising height parameter.
Wherein, described step S230 includes step:
Camera is moved to described glue reference point capture by S231；
S232 obtains the proportionality coefficient (x of described camera automatically by step S100vs,yvs)；And
S233 passes through described camera proportionality coefficient (xvs,yvs) with automatically move algorithm, repeatedly obtain the pixel coordinate of described glue reference point and corresponding mechanical coordinate, move to described camera fields of view center for by described glue reference point.
Wherein, the design procedure automatically moving algorithm of described step S230: set described camera fields of view size as Xpix×Ypix, by the described camera proportionality coefficient (x obtainedvs,yvs), and according to described glue reference point be designed in the positive negativity of moving direction within sweep of the eye Yu mechanical coordinate XY axle moving direction described in automatically move algorithm, for obtaining the pixel coordinate of described glue reference point and corresponding mechanical coordinate.
Wherein, described step S233 includes step: whenAndWhen being respectively less than 1 pixel, it is determined that described glue reference point successfully moves described camera fields of view center, record mechanical coordinate (xc1,yc1,zc1) and pixel coordinate (xv,yv), described syringe needle alignment unit completes the syringe needle correction of rubber-coated mechanism；When by the repeatedly mobile deviation that is all unable to reach, then judging that the described camera scale factor errors of acquisition is excessive, described camera proportionality coefficient need to be re-calibrated within 1 pixel.
Wherein, described step S300 includes step:
The S310 semi-finished product registration visual pattern by potted element, forms potted element semi-finished product registered images, and wherein, in described potted element is sensitive chip semi-finished product, and another of described potted element is lens motor module semi-finished product；And
S320 is according to described sensitive chip registered images and/or described lens motor module registered images, selectively by described sensitive chip image or by described lens motor module image drafting tree lace path coordinate.
Wherein, described step S310 includes step S311: register described sensitive chip semi-finished product visual pattern, obtains visional reference coordinate (x0,y0,a0), wherein a0Identification angle for described sensitive chip.
Wherein, described step S310 farther includes step S312: register described lens motor module semi-finished product visual pattern, obtains visional reference coordinate (x1,y1,a1)。
Wherein, described step S320 includes step:
S321 draws tree lace, acquisition approach each point pixel coordinate (x on described lens motor module registered imagesv1,yv1) ..., (xvn,yvn)；
S322 is according to vision proportionality coefficient (xvvs,yvvs), preserve tree lace path (x' under mechanical coordinate by relative coordinatev1,y'v1) ..., (x'vn,y‘vn), wherein, described vision proportionality coefficient is the vision proportionality coefficient of the camera of described lens motor module registered images；And
S323 is according to described camera proportionality coefficient (xvs,yvs) and relative angular difference Δ a, after translating and rotate under pixel coordinate system, reduction tree lace coordinate (x1,y1) ..., (xn,yn), wherein, described relative angular difference Δ a=a0-a1。
Wherein, described step S322 includes step: according to described vision proportionality coefficient (xvvs,yvvs), preserve by relative path, calculate with identification point coordinate translation to (0,0), described lens motor module tree lace pixel coordinate is converted to mechanical coordinate, preserve tree lace path (x' under described mechanical coordinate by relative coordinatev1,y'v1) ..., (x'vn,y‘vn)。
Wherein, described step S323 includes step: under the camera coordinates of described sensitive chip semi-finished product shooting, according to described camera vision proportionality coefficient (xvs,yvs) and the relative angular difference Δ a=a of described sensitive chip semi-finished product and lens motor module semi-finished product0-a1, by the translation under pixel coordinate system and rotation, described lens motor module tree lace mechanical coordinate is converted to described sensitive chip pixel coordinate tree lace, is reduced into described sensitive chip tree lace path pixels coordinate (x1,y1) ..., (xn,yn)。
Wherein, described S400 includes step:
S410 registers visual pattern, and obtains visional reference (x0,y0,a0)；
S420 draw gluing path in described registered images, acquisition approach each point coordinates (x1,y1) ..., (xn,yn)；And
S430 is center of rotation according to identification point or first, rotates by the rotation mode preset, by postrotational each point coordinate translation is corrected tree lace coordinate.
Wherein, described step S430 includes step:
S4311 obtains tested image vision data (x'0,y'0,a'0)；
S4312 is by each for described tree lace point coordinates (x1,y1) ..., (xn,yn) with described identification point (x0,y0) it is center of rotation, obtain (x1',y1') ..., (x'n,y'n)；And
S4313 is by described each point (x1',y1') ..., (x'n,y'n) by distance (x'0-x0,y'0-y0) translate, for from dynamic(al) correction tree lace coordinate.
Wherein, described step S4312 includes step: with described registered images identification point (x0,y0) as center of rotation, according to spin equation around arbitrfary point under cartesian coordinate system:Wherein, Δ a=a'0-a0(1), by each point (x1,y1) ..., (xn,yn) rotate (x1',y1') ..., (x'n,y'n)。
Wherein, described step S430 includes step:
S4321 is by each point coordinates (x0,y0), (x1,y1) ..., (xn,yn) with described first point coordinates (x1,y1) it is center of rotation, press
Relative angular difference Δ a rotation invocation point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n)；And
S4322 by described each point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n) by distance, delta x0=x "0-x0, Δ y0=y "0-y0Translate, for from dynamic(al) correction tree lace coordinate.
Foregoing is enumerating of the specific embodiment of the present invention, for equipment and the structure of the most detailed description it should be understood that take the existing common apparatus in this area and universal method to be practiced.
The above embodiment of the present invention is only explanation technical solution of the present invention and is used simultaneously, and only the enumerating of technical solution of the present invention is not limited to technical scheme and protection domain thereof.Equivalent technologies means, equivalent apparatus etc. are used to be considered to be the improvement of the technical scheme disclosed in claims of the present invention and description without departing from the scope disclosed in claims of the present invention and description.
Claims (22)
1. an automatic adhesive application system, it is characterised in that including:
One machine vision unit, for obtaining transformation constant, obtains the position relationship of object pixel coordinate and mechanical coordinate；
One syringe needle alignment unit, for correction needle position, its transformation constant obtained based on described machine vision unit comes
Syringe needle gluing initial point is set；And
One tree lace drawing unit, obtains registered images for registration gluing visual pattern, and paints based on described registered images
Glue thread path coordinate.
Automatic adhesive application system the most according to claim 1, it farther includes a tree lace correction unit, for benefit
Repay described tree lace coordinate.
Automatic adhesive application system the most according to claim 2, it farther includes a gluing parameter control unit, with
Control gluing operation in automation, provided the various parameters needed for gluing that demand is set so that described automatic glue application system
System plastic emitting, subsection setup application rate in advance, subsection setup gluing height, subsection setup is told glue and receives glue in advance.
4., according to described automatic adhesive application system arbitrary in Claim 1-3, it is applicable to the automatic of cell-phone camera module
Aligning equipment, obtains so that described automatic adhesive application system and described automatic core-adjusting equipment share vision data.
5. an automatic glue application method, it is characterised in that include step:
S100 obtains object pixel coordinate and the transformation constant of mechanical coordinate by a machine vision unit；
S200, by a syringe needle alignment unit correction needle position, arranges syringe needle gluing initial point；And
S300 is by a tree lace drawing unit registration gluing visual pattern, for drawing tree lace path coordinate.
Automatic glue application method the most according to claim 5, described step S100 includes step:
S110 arranges reference point by camera coefficient correction tool；
S120 is initial picture-taking position by the way of camera positions so that described reference point is in camera fields of view immediate vicinity；
And
Reference point described in S130 relative movement, by judging that described reference point is respectively under mechanical coordinate system and pixel coordinate system
Under shift position relation, calculate and obtain the transformation constant of described machine vision unit.
Automatic glue application method the most according to claim 6, described step S200 includes step:
Described syringe needle is moved to datum level and surveys high position by S210, and obtains altitude datum h0；
Described syringe needle by flat datum level, is obtained glue reference point by syringe needle described in lifting gluing by S220；And
Described glue reference point is moved to central region by automatically moving algorithm by S230, for from gluing described in dynamic(al) correction
Syringe needle.
Automatic glue application method the most according to claim 7, described step S220 includes step:
S221 moves described syringe needle in default plastic emitting position (xcj,ycj,zcj) so that described syringe needle develops described datum level and locks
Syringe；And
S222 moves described syringe needle to presetting plastic emitting coordinate (xcj,ycj,zcj-zup), described datum level is told glue for setting
Described glue reference point, wherein, zupFor described syringe needle rising height parameter.
Automatic glue application method the most according to claim 8, described step S230 includes step:
Camera is moved to described glue reference point capture by S231；
S232 obtains the proportionality coefficient (x of described camera automatically by step S100vs,yvs)；And
S233 passes through described camera proportionality coefficient (xvs,yvs) with automatically move algorithm, repeatedly obtain the picture of described glue reference point
Element coordinate and corresponding mechanical coordinate, move to described camera fields of view center for by described glue reference point.
Automatic glue application method the most according to claim 9, the design step automatically moving algorithm of described step S230
Rapid: to set described camera fields of view size as Xpix×Ypix, by the described camera proportionality coefficient (x obtainedvs,yvs), and according to institute
State the glue reference point positive negativity at moving direction within sweep of the eye and mechanical coordinate XY axle moving direction to be designed
State and automatically move algorithm, for obtaining the pixel coordinate of described glue reference point and corresponding mechanical coordinate.
11. automatic glue application methods according to claim 10, described step S233 includes step: whenAndWhen being respectively less than 1 pixel, it is determined that described glue reference point successfully moves described camera fields of view center, logging machine
Tool coordinate (xc1,yc1,zc1) and pixel coordinate (xv,yv), described syringe needle alignment unit completes the syringe needle correction of rubber-coated mechanism；
When within 1 pixel, then judging the described camera scale factor errors obtained by the repeatedly mobile deviation that is all unable to reach
Excessive, described camera proportionality coefficient need to be re-calibrated.
12. according to the automatic glue application method described in claim 7 or 11, and described step S300 includes step:
The S310 semi-finished product registration visual pattern by potted element, formation potted element semi-finished product registered images, wherein,
In described potted element one is sensitive chip semi-finished product, and another of described potted element is that lens motor module half becomes
Product；And
S320 is according to described sensitive chip registered images and/or described lens motor module registered images, selectively by described
Sensitive chip image or by described lens motor module image draw tree lace path coordinate.
13. automatic glue application methods according to claim 12, described step S310 includes step S311: registration is described
Sensitive chip semi-finished product visual pattern, obtains visional reference coordinate (x0,y0,a0), wherein a0Identification for described sensitive chip
Angle.
14. automatic glue application methods according to claim 13, described step S310 farther includes step S312: note
The described lens motor module semi-finished product visual pattern of volume, obtains visional reference coordinate (x1,y1,a1)。
15. automatic glue application methods according to claim 14, described step S320 includes step:
S321 draws tree lace, acquisition approach each point pixel coordinate on described lens motor module registered images
(xv1,yv1) ..., (xvn,yvn)；
S322 is according to vision proportionality coefficient (xvvs,yvvs), preserve tree lace path under mechanical coordinate by relative coordinate
(x'v1,y'v1) ..., (x'vn,yv‘n), wherein, described vision proportionality coefficient is regarding of the camera of described lens motor module registered images
Feel proportionality coefficient；And
S323 is according to described camera proportionality coefficient (xvs,yvs) and relative angular difference Δ a, translate under pixel coordinate system and revolve
After Zhuaning, reduction tree lace coordinate (x1,y1) ..., (xn,yn), wherein, described relative angular difference Δ a=a0-a1。
16. automatic glue application methods according to claim 15, described step S322 includes step: according to described vision
Proportionality coefficient (xvvs,yvvs), preserve by relative path, calculate with identification point coordinate translation to (0,0), by described lens motor
Module tree lace pixel coordinate is converted to mechanical coordinate, preserves tree lace path under described mechanical coordinate by relative coordinate
(x'v1,y'v1) ..., (x'vn,y'vn)。
17. automatic glue application methods according to claim 16, described step S323 includes step: at described photosensitive core
Under the camera coordinates of sheet semi-finished product shooting, according to described camera vision proportionality coefficient (xvs,yvs) and described sensitive chip half one-tenth
Product and the relative angular difference Δ a=a of lens motor module semi-finished product0-a1, by the translation under pixel coordinate system and rotation,
Described lens motor module tree lace mechanical coordinate is converted to described sensitive chip pixel coordinate tree lace, is reduced into described photosensitive core
Sheet tree lace path pixels coordinate (x1,y1) ..., (xn,yn)。
18. automatic glue application methods according to claim 17, it farther includes step S400: by a tree lace school
Tree lace coordinate described in positive unit compensation.
19. automatic glue application methods according to claim 18, described S400 includes step:
S410 registers visual pattern, and obtains visional reference (x0,y0,a0)；
S420 draw gluing path in described registered images, acquisition approach each point coordinates (x1,y1) ..., (xn,yn)；And
S430 is center of rotation according to identification point or first, by preset rotation mode rotate, by by postrotational respectively
Point coordinates translation corrects tree lace coordinate.
20. automatic glue application methods according to claim 19, described step S430 includes step:
S4311 obtains tested image vision data (x'0,y'0,a'0)；
S4312 is by each for described tree lace point coordinates (x1,y1) ..., (xn,yn) with described identification point (x0,y0) it is center of rotation,
(x'1,y'1) ..., (x'n,y'n)；And
S4313 is by described each point (x'1,y'1) ..., (x'n,y'n) by distance (x'0-x0,y'0-y0) translate, for automatic school
Positive tree lace coordinate.
21. automatic glue application methods according to claim 20, described step S4312 includes step: with described registration
Image recognition point (x0,y0) as center of rotation, according to spin equation around arbitrfary point under cartesian coordinate system: Wherein, Δ a=a'0-a0(1), by each point (x1,y1) ..., (xn,yn)
Rotate (x'1,y'1) ..., (x'n,y'n)。
22. automatic glue application methods according to claim 19, described step S430 includes step:
S4321 is by each point coordinates (x0,y0), (x1,y1) ..., (xn,yn) with described first point coordinates (x1,y1) it is center of rotation, press
Relative angular difference Δ a rotates invocation point (x''0,y''0), (x "1,y”1) ..., (x''n,y''n)；And
S4322 is by described each point (x''0,y''0), (x "1,y”1) ..., (x''n,y''n) by distance, delta x0=x''0-x0, Δ y0=y''0-y0Enter
Row translation, for from dynamic(al) correction tree lace coordinate.
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| CN105964486B (en) | 2019-01-29 |
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