CN106341956B - A kind of fixed camera bearing calibration - Google Patents

A kind of fixed camera bearing calibration Download PDF

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Publication number
CN106341956B
CN106341956B CN201610873046.3A CN201610873046A CN106341956B CN 106341956 B CN106341956 B CN 106341956B CN 201610873046 A CN201610873046 A CN 201610873046A CN 106341956 B CN106341956 B CN 106341956B
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fixed camera
placement head
head
nozzle head
coordinate system
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CN106341956A (en
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高会军
许超
刘鑫
杨宪强
孙昊
白立飞
张智浩
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00—Apparatus or processes for manufacturing printed circuits
    • H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
    • H05K3/303—Surface mounted components, e.g. affixing before soldering, aligning means, spacing means
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
    • H05K2203/16—Inspection; Monitoring; Aligning
    • H05K2203/166—Alignment or registration; Control of registration

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a kind of fixed camera bearing calibrations, are related to machine vision detection and localization field, belong to the process of chip mounter high-precision correction.The problem of present invention mainly solves existing chip mounter fixed cameras in mechanical erection, and camera position, scale and rotation angle can not be measured accurately in device coordinate system.The present invention determines positional relationship of the placement head in fixed camera using calibration nozzle head, calculates the transformational relation derived between two coordinate systems；The scale of fixed camera is calculated by the position coordinates in the center of circle；Rotation angle of the fixed camera in device coordinate system is calculated by the value coordinate of the position coordinates of placement head and placement head.By correcting coordinate, rotation angle and the scale of fixed camera, compensation is manually installed to give detection process bring deviation, and raising chip mounter detects precision when positioning to calibration point, improves the attachment effect of chip mounter.The present invention is suitable for the accuracy correction field of machine vision.

Description

A kind of fixed camera bearing calibration
Technical field
The present invention relates to a kind of fixed camera bearing calibrations, belong to machine vision detection and localization technical field.
Technical background
In SMT chip mounter, fixed camera is fixedly mounted on immovable fixed frame.It was produced carrying out patch Cheng Shi, first has to the position for accurately obtaining fixed camera, the value of scale and the rotation parameters such as angle, so as to it is subsequent can be quasi- Really find the relevant informations such as the zero point of system, the origin system of benchmark camera.Fixed camera position, scale and rotation angle etc. The accurate measurement of parameter determines that can the coordinate system of entire picking machine system accurately construct, and influences patch type chip and produces in attachment The accuracy positioned in the process.The fixed camera of existing chip mounter not can avoid manually installed bring when armstrong's patent is installed Deviation, error is larger.
Summary of the invention
In order to overcome the fixed camera of existing chip mounter in armstrong's patent installation, it is inclined manually installed bring is not can avoid Difference, the biggish technical deficiency of error, the present invention provides a kind of schools of fixed camera based on machine learning detection and localization technology Correction method, comprising:
Step 1: the movable length A of fixed camera timing placement head, unit is arranged in initialization chip mounter camera setting For mm, No. 1 placement head is moved to right above the fixed camera visual field after ANC nozzle head slot absorption calibration nozzle head, correction Object is calibration nozzle head；
Step 2: position of No. 1 placement head in device coordinate system this moment is set as initial position, first by No. 1 placement head A/2 length is moved along the negative direction of the x-axis of device coordinate system, recalls image detecting program, calibration nozzle head center is obtained and exists Position coordinates in fixed camera are denoted as D1 (x1, y1)；Then No. 1 placement head is moved back to initial position, then by No. 1 placement head edge The mobile A/2 length of positive direction of the x-axis of device coordinate system, call image detecting program, obtain calibration nozzle head center in fixation Magazine position coordinates are denoted as D2 (x2, y2)；No. 1 placement head is moved back to initial position, then by No. 1 placement head along equipment The mobile A/2 length of the negative direction of the y-axis of coordinate system, calls image detecting program, obtains calibration nozzle head center in fixed camera Position coordinates, be denoted as D3 (x3, y3)；Then l placement head is moved back to initial position, then No. 1 placement head is sat along equipment The mobile A/2 length of the positive direction of the y-axis of mark system, calls image detecting program, obtains calibration nozzle head center in fixed camera Position coordinates are denoted as D4 (x4, y4), the unit of the position coordinates is mm；
Step 3: No. 1 placement head is moved back to initial position defined in step 2, No. 1 placement head is rotated respectively to institute It states 0 °, 90 °, 180 ° and 270 ° position in device coordinate system, calls image detecting program, according to described 4 angles of rotation, Position coordinates of the calibration nozzle head centre dot in fixed camera are obtained, are denoted as (x respectively0, y0)、(x90, y90)、(x180, y180) and (x270, y270), unit is pixel；And record position coordinates of No. 1 placement head in device coordinate system at this time (xEquipment, yEquipment), unit mm, No. 1 placement head is the origin of placement head coordinate system；
Step 4: rotating 360 ° of positions into the device coordinate system for No. 1 placement head, i.e., defined in step 2 just Beginning position repeats step 2, obtains 4 groups of position coordinates D '1(x′1, y '1)、D′2(x′2, y '2)、D′3(x′3, y '3)、D′4(x′4, y′4), unit is pixel；
Step 5: according to 8 shift position coordinates of the placement head that step 2 and step 4 obtain, 4 rotations are calculated Gyration θ1、θ2、θ′1With θ '2, rotation angle of the final fixed camera coordinate system under device coordinate system beDetailed process are as follows:
Step 5 one: and 3,4 point groups are calculated at 1,2 point and are in line the angle in image coordinate system:
Step 5 two: the angle in device coordinate system that calculating 1 ', 2 ' is put and 3 ', 4 ' point groups are in line:
Step 5 three: θ1, θ2, θ '1, θ '2Answer roughly equal, rotation angle of the calculating fixed camera in device coordinate system:
Step 6: fixation is calculated according to 8 shift position coordinates for obtaining No. 1 placement head in step 2 and step 4 The width of pixel on the direction camera x and y, i.e. fixed camera scale in the x and y direction, are denoted as w respectivelyFixed camera xAnd wFixed camera y, single Position is mm/pix；
Step 7: in step 3, after rotating 4 angles, position of the nozzle head centre dot in fixed camera is demarcated Coordinate is denoted as (x respectively0, y0)、(x90, y90)、(x180, y180) and (x270, y270), calibration nozzle head is calculated according to this 4 class value Mean place coordinate of the center in fixed camera coordinate system
Step 8: by position coordinates (x of recorded in step 3 No. 1 placement head in device coordinate systemEquipment, yEquipment), step Rapid five and the obtained parameter of step 6 and step 7 and coordinate value bring following formula into:
Coordinate (x of the optical center of fixed camera in device coordinate system is calculatedFixed camera, yFixed camera)。
The solution have the advantages that being compensated manually installed by the coordinate, rotation angle and the scale that correct fixed camera Detection process bring deviation is given, precision when chip mounter detects positioning to calibration point is improved, improves the attachment effect of chip mounter.
Detailed description of the invention:
Fig. 1 is flow chart of the invention；
Fig. 2 is the lower surface schematic diagram for demarcating nozzle head；
1~5 respectively indicates 5 dots for demarcating nozzle head lower surface in Fig. 2；
Fig. 3 is the relative positional relationship in fixed camera coordinate system and device coordinate system；
When Fig. 4 is that No. 1 placement head does not install calibration nozzle head, No. 1 flight camera detects whether the figure photographed when suction nozzle Picture；
Fig. 5 is after nozzle head is demarcated in No. 1 placement head installation, and No. 1 flight camera detects whether the image photographed when suction nozzle；
Fig. 6 is that calibration nozzle head is moved to right above the fixed camera visual field, the picture that fixed camera photographed；
Fig. 7 is calibration nozzle head in device coordinate system, after moving A/2 length along negative direction of the x-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Fig. 8 is calibration nozzle head in device coordinate system, after moving A/2 length along positive direction of the x-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Fig. 9 is calibration nozzle head in device coordinate system, after moving A/2 length along negative direction of the y-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Figure 10 is calibration nozzle head in device coordinate system, after moving A/2 length along positive direction of the y-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Figure 11 is to demarcate when nozzle head rotates to 0 ° of position in the image and second part in the fixed camera visual field Initial position；
Figure 12 is the image demarcated when nozzle head rotates to 90 ° of positions in the fixed camera visual field；
Figure 13 is the image demarcated when nozzle head rotates to 180 ° of positions in the fixed camera visual field；
Figure 14 is the image demarcated when nozzle head rotates to 270 ° of positions in the fixed camera visual field；
Figure 15 is calibration nozzle head in device coordinate system, after moving A/2 length along negative direction of the x-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Figure 16 is calibration nozzle head in device coordinate system, after moving A/2 length along positive direction of the x-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Figure 17 is calibration nozzle head in device coordinate system, after moving A/2 length along negative direction of the y-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Figure 18 is calibration nozzle head in device coordinate system, after moving A/2 length along positive direction of the y-axis relative to initial position Demarcate image of the nozzle head center in the fixed camera visual field；
Figure 19 is that fixed camera corrects front and rear coordinate and rotates the Comparative result of angle.
Specific embodiment
Specific embodiment 1:
A kind of bearing calibration of fixed camera of present embodiment, is realized by following steps:
Step 1: the movable length A of fixed camera timing placement head, unit is arranged in initialization chip mounter camera setting For mm, No. 1 placement head is moved to right above the fixed camera visual field after ANC nozzle head slot absorption calibration nozzle head, correction Object is calibration nozzle head；What ANC was indicated is nozzle head slot.
Step 2: position of No. 1 placement head in device coordinate system this moment is set as initial position, first by No. 1 placement head A/2 length is moved along the negative direction of the x-axis of device coordinate system, recalls image detecting program, calibration nozzle head center is obtained and exists Position coordinates in fixed camera are denoted as D1 (x1, y1)；Then No. 1 placement head is moved back to initial position, then by No. 1 placement head edge The mobile A/2 length of positive direction of the x-axis of device coordinate system, call image detecting program, obtain calibration nozzle head center in fixation Magazine position coordinates are denoted as D2 (x2, y2)；No. 1 placement head is moved back to initial position, then by No. 1 placement head along equipment The mobile A/2 length of the negative direction of the y-axis of coordinate system, calls image detecting program, obtains calibration nozzle head center in fixed camera Position coordinates, be denoted as D3 (x3, y3)；Then No. 1 placement head is moved back to initial position, then No. 1 placement head is sat along equipment The mobile A/2 length of the positive direction of the y-axis of mark system, calls image detecting program, obtains calibration nozzle head center in fixed camera Position coordinates are denoted as D4 (x4, y4), the unit of the position coordinates is mm.
Image detecting program of the present invention is that the image using machine learning algorithm, and for by inputting is known The program for the corresponding position coordinates in nozzle head center that Chu do not occur wherein, since this kind of image detecting program is in the prior art Conventional means, such as by picture form training set be added parameter attribute be trained, obtain a classifier, the classification The input of device is picture, and output is position coordinates.Since this is the conventional means in machine learning field, therefore the present invention is not to the figure As detection program is described extensively.
" calling image detecting program " of the present invention is it should be appreciated that by captured by the fixed camera under current state To image be input to image detecting program, obtain the position coordinates identified under current state." current state " refers mainly to Be current location.
Step 3: No. 1 placement head is moved back to initial position defined in step 2, No. 1 placement head is rotated respectively to institute It states 0 °, 90 °, 180 ° and 270 ° position in device coordinate system, calls image detecting program, according to described 4 angles of rotation, Position coordinates of the calibration nozzle head centre dot in fixed camera are obtained, are denoted as (x respectively0, y0)、(x90, y90)、(x180, y180) and (x270, y270), unit is pixel；And record position coordinates of No. 1 placement head in device coordinate system at this time (xEquipment, yEquipment), unit mm, No. 1 placement head is the origin of placement head coordinate system；Heretofore described rotation is inverse Hour hands rotation.
Step 4: rotating 360 ° of positions into the device coordinate system for No. 1 placement head, i.e., defined in step 2 just Beginning position repeats step 2, obtains 4 groups of position coordinates D '1(x′1, y '1)、D′2(x′2, y '2)、D′3(x′3, y '3)、D′4(x′4, y′4), unit is pixel；
Step 5: according to 8 shift position coordinates of the placement head that step 2 and step 4 obtain, 4 rotations are calculated Gyration θ1、θ2、θ′1With θ '2, rotation angle of the final fixed camera coordinate system under device coordinate system beDetailed process are as follows:
Step 5 one: D is calculated1、D2Point and D3、D4Point group is in line the angle in image coordinate system:
Step 5 two: D ' is calculated1、D′2Point and D '3、D′4Point group is in line the angle in device coordinate system:
Step 5 three: θ1, θ2, θ '1, θ '2Answer roughly equal, rotation angle of the calculating fixed camera in device coordinate system:
Step 6: fixation is calculated according to 8 shift position coordinates for obtaining No. 1 placement head in step 2 and step 4 The width of pixel on the direction camera x and y, i.e. fixed camera scale in the x and y direction, are denoted as w respectivelyFixed camera xAnd wFixed camera y, single Position is mm/pix；
Step 7: in step 3, after rotating 4 angles, position of the nozzle head centre dot in fixed camera is demarcated Coordinate is denoted as (x respectively0, y0)、(x90, y90)、(x180, y180) and (x270, y270), calibration nozzle head is calculated according to this 4 class value Mean place coordinate of the center in fixed camera coordinate system
Step 8: by position coordinates (x of recorded in step 3 No. 1 placement head in device coordinate systemEquipment, yEquipment), step Rapid five and the obtained parameter of step 6 and step 7 and coordinate value bring following formula into:
Coordinate (x of the optical center of fixed camera in device coordinate system is calculatedFixed camera, yFixed camera)。
Specific embodiment 2:
Unlike specific embodiment one, step 1 specifically:
Step 1 one: clicking the function button for being used for patch fixed camera, reads stationary phase according to the prompt of graphic interface The movable length A of machine；
Step 1 two: all suction nozzles are placed according to the prompt of graphical interfaces；
Step 1 three: control hardware obtains calibration nozzle head from nozzle head set-down location, according to the graphical interfaces of chip mounter No. 1 placement head is moved to right above fixed camera central field of vision position by prompt；
Step 1 four: No. 1 placement head of control is moved to above fixed camera center.
Present embodiment can be in concrete operations are as follows:
1)<5. fixed camera 1>button, the prompt placement suction nozzle in chip mounter are clicked.From " movable length " combo box The movable length that fixed camera is read in " fixed camera " control, is set as A (A > 0), unit mm.
2) next button is clicked, all suction nozzles are placed.No. 1 placement head is prompted to draw calibration suction nozzle from ANC.
3) control hardware obtains calibration tool from ANC, and software interface display waits " obtaining calibration tool ", controls image Part shows the image of flight camera 1.It prompts right above mobile No. 1 placement head to fixed camera central field of vision position.
4) it controls No. 1 placement head to be moved to above fixed camera center, image display window shows fixed camera Image, software interface display wait moving process.
Other structures and parameter are same as the specific embodiment one.
Specific embodiment 3:
Unlike specific embodiment one or two, step 2 specifically:
Step 2 one: moving along the x-axis-A/2 for No. 1 placement head, if the seat of the relatively fixed camera photocentre of No. 1 placement head at this time It is designated as D (x, y)=(- A/2,0), unit mm；
Step 2 two: being input to image detecting program for the image that fixed camera at this time takes, and obtains calibration nozzle head Position D of the centre dot in fixed camera1(x1, y1), unit is pixel；
Step 2 three: moving along the x-axis A for No. 1 placement head, and the coordinate of the relatively fixed camera photocentre of No. 1 placement head is at this time The image that fixed camera at this time takes is input to image detecting program, obtains position of the center of circle in fixed camera by (A/2,0) Set D2(x2, y2), unit pixel；
Step 2 four: No. 1 placement head is moved along the x-axis into-A/2, and moves-A/2 along y-axis, No. 1 placement head is opposite at this time The coordinate of fixed camera optical center is (0, A/2), and the image that fixed camera at this time takes is input to image detecting program, is obtained Position of the center of circle in fixed camera, is denoted as D3(x3, y3), unit pixel；
Step 2 five: moving A along y-axis for No. 1 placement head, and the coordinate of the relatively fixed camera photocentre of No. 1 placement head is at this time (0, A/2) repeats step 2 two, obtains position of the center of circle in fixed camera, be denoted as D4(x4, y4), unit pixel.
Other structures and parameter are the same as one or two specific embodiments.
Specific embodiment 4:
Unlike one of specific embodiment one to three, three the step of present embodiment specifically:
Step 3 one: No. 1 placement head is moved back to initial position defined in step 2, fixed camera at this time is taken Image is input to image detecting program, obtains position of the calibration nozzle head center in fixed camera, is denoted as D0(x0, y0), unit Pixel；
Step 3 two: the figure that fixed camera takes when No. 1 placement head is rotated respectively to 90 °, 180 ° and 270 ° of positions As being input to image detecting program, corresponding position of the calibration nozzle head center in fixed camera is obtained, (x is denoted as90, y90)、 (x180, y180)、(x270, y270), unit is pixel, and recording position coordinates of No. 1 placement head in device coordinate system is (xEquipment, yEquipment), unit mm.
Other structures and parameter are identical as one of specific embodiment one to three.
Specific embodiment 5:
Unlike one of specific embodiment one to four, four the step of present embodiment specifically:
Step 4 one: No. 1 placement head is rotated to 360 ° of positions, i.e. initial position defined in step 2；
Step 4 two: moving A/2 along x negative sense axis for No. 1 placement head, if the relatively fixed camera photocentre of No. 1 placement head at this time Coordinate be D ' (x ', y ')=(- A/2,0), unit mm:
Step 4 three: being input to image detecting program for the image that fixed camera at this time takes, and obtains calibration nozzle head Position D ' of the centre dot in fixed camera1(x′1, y '1), unit is pixel；
Step 4 four: moving A along x-axis forward direction for No. 1 placement head, at this time the seat of the relatively fixed camera photocentre of No. 1 placement head It is designated as (A/2,0), the image that fixed camera at this time takes is input to image detecting program, obtains the center of circle in fixed camera Position, be denoted as D '2(x′2, y '2), unit pixel；
Step 4 five: No. 1 placement head is moved into A/2 along x-axis negative sense, and moves A/2 along y-axis negative sense, at this time No. 1 patch The coordinate of the relatively fixed camera photocentre of head is D ' (x ', y ')=(0, A/2), and the image that fixed camera at this time takes is input to Image detecting program obtains position of the center of circle in fixed camera, is denoted as D '3(x′3, y '3), unit pixel；
Step 4 six: placement head moves A along y-axis forward direction, and the coordinate of the relatively fixed camera photocentre of No. 1 placement head is D ' at this time The image that fixed camera at this time takes is input to image detecting program, obtains the center of circle in fixation by (x ', y ')=(0, A/2) Magazine position, is denoted as D '4(x′4, y '4), unit pixel.
At this point, four positions are as shown in Fig. 3.Wherein, position 1 ', 2 ' withyAxis is parallel, and position 3 ', 4 ' is parallel with x-axis. If coordinate of the datum mark in image coordinate system is (x ' on each positioni, y 'i), i=1,2,3,4.
Other structures and parameter are identical as one of specific embodiment one to four.
Specific embodiment 6:
Unlike one of specific embodiment one to five, six the step of present embodiment specifically:
Bring 8 of obtain in step 2 and step 4 No. 1 placement head different shift position coordinates into following public affairs It is calculated in formula.
Step 6 one: the width of pixel on the direction fixed camera x are as follows:
Step 6 two: the width of pixel on the direction fixed camera y are as follows:
Other structures and parameter are identical as one of specific embodiment one to six.
Other structures and parameter are identical as one of specific embodiment one to five.
Specific embodiment 7:
Unlike one of specific embodiment one to six, seven the step of present embodiment specifically:
4 group rotation position coordinate (xs of the placement head center in fixed camera will be demarcated in step 30, y0)、(x90, y90)、 (x180, y180) and (x270, y270) be brought into formula be calculated and demarcate placement head center in fixed camera coordinate system Mean place coordinateSpecific formula for calculation is as follows:
Other structures and parameter are identical as one of specific embodiment one to six.
Specific embodiment 8:
Unlike one of specific embodiment one to seven, eight the step of present embodiment specifically:
By position coordinates (x of recorded in step 3 No. 1 placement head in device coordinate systemEquipment, yEquipment), step 5 and step Rapid six and step 7 in calculated rotation angle value, scale value and coordinate value substitute into following formula:
Coordinate (x of the optical center of fixed camera in device coordinate system is calculatedFixed camera, yFixed camera)。
Other structures and parameter are identical as one of specific embodiment one to seven.
Specific embodiment 9:
Unlike one of specific embodiment one to eight, the moving long of fixed camera timing placement head in step 1 Degree A is 5mm.

Claims (6)

1. a kind of fixed camera bearing calibration, it is characterised in that realize according to the following steps:
Step 1: movable length A, the unit mm of fixed camera timing placement head is arranged in initialization chip mounter camera setting, No. 1 placement head is moved to right above the fixed camera visual field, the calibration nozzle head after nozzle head slot absorption calibration nozzle head It is the object of correction；
Step 2: being set as initial position for position of No. 1 placement head in device coordinate system this moment, first by No. 1 placement head along The mobile A/2 length of the negative direction of the x-axis of device coordinate system, recalls image detecting program, obtains calibration nozzle head center in fixation Magazine position coordinates are denoted as D1 (x1, y1)；Then No. 1 placement head is moved back to initial position, then by No. 1 placement head along setting The mobile A/2 length of the positive direction of the x-axis of standby coordinate system, calls image detecting program, obtains calibration nozzle head center in fixed camera In position coordinates, be denoted as D2 (x2, y2)；No. 1 placement head is moved back to initial position, then by No. 1 placement head along device coordinate The mobile A/2 length of the negative direction of the y-axis of system, calls image detecting program, obtains position of the calibration nozzle head center in fixed camera Coordinate is set, D3 (x3, y3) is denoted as；Then No. 1 placement head is moved back to initial position, then by No. 1 placement head along device coordinate system The mobile A/2 length of positive direction of the y-axis, call image detecting program, obtain position of the calibration nozzle head center in fixed camera Coordinate is denoted as D4 (x4, y4), the unit of the position coordinates is pixel；
Step 3: No. 1 placement head is moved back to initial position defined in step 2, No. 1 placement head is rotated respectively to described and is set 0 °, 90 °, 180 ° and 270 ° position in standby coordinate system, calls image detecting program to be obtained according to described 4 angles of rotation Position coordinates of the nozzle head centre dot in fixed camera are demarcated, are denoted as (x respectively0, y0)、(x90, y90)、(x180, y180) and (x270, y270), unit is pixel；And record position coordinates (x of No. 1 placement head in device coordinate system at this timeEquipment, yEquipment), unit mm, No. 1 placement head is the origin of placement head coordinate system；
Step 4: No. 1 placement head is rotated into 360 ° of positions into the device coordinate system, i.e. initial bit defined in step 2 It sets, repeats step 2, obtain 4 groups of position coordinates D '1(x′1, y '1)、D′2(x′2, y '2)、D′3(x′3, y '3)、D′4(x′4, y '4), Unit is pixel；
Step 5: according to 8 shift position coordinates of step 2 and step 4 calibration nozzle head center, 4 rotations are calculated Angle, θ1、θ2、θ′1With θ '2, rotation angle of the final fixed camera under device coordinate system beTool Body process are as follows:
Step 5 one: D is calculated1And D2Group is in line and D between point3And D4Group is in line the angle in device coordinate system between point Degree:
Step 5 two: D ' is calculated1With D '2Group is in line and D ' between point3With D '4Group is in line in device coordinate system between point Angle:
Step 5 three: θ1, θ2, θ '1, θ '2Answer roughly equal, rotation angle of the calculating fixed camera in device coordinate system:
Step 6: it is calculated according to 8 shift position coordinates for obtaining calibration nozzle head center in step 2 and step 4 solid Determine the width of pixel on the direction camera x and y, i.e. fixed camera scale in the x and y direction, is denoted as w respectivelyFixed camera xAnd wFixed camera y, Unit is mm/pix；
8 shift position coordinates at the calibration nozzle head center of acquisition are brought into following formula and are calculated；
Step 6 one: the width of pixel on the direction fixed camera x are as follows:
Step 6 two: the width of pixel on the direction fixed camera y are as follows:
Step 7: in step 3, after rotating 4 angles, demarcating position coordinates of the nozzle head centre dot in fixed camera, It is denoted as (x respectively0, y0)、(x90, y90)、(x180, y180) and (x270, y270), calibration nozzle head center is calculated according to this 4 class value Mean place coordinate in fixed camera coordinate system
4 group rotation position coordinate (xs of the nozzle head centre dot in fixed camera will be demarcated0, y0)、(x90, y90)、(x180, y180) and (x270, y270) be brought into formula be calculated and demarcate nozzle head center being averaged in fixed camera coordinate system Position coordinatesSpecific formula for calculation is as follows:
Step 8: by position coordinates (x of recorded in step 3 No. 1 placement head in device coordinate systemEquipment, yEquipment), step 5 The parameter and coordinate value obtained with step 6 and step 7 brings following formula into:
Coordinate (x of the optical center of fixed camera in device coordinate system is calculatedFixed camera, yFixed camera)。
2. fixed camera bearing calibration according to claim 1, it is characterised in that step 1 specifically:
Step 1 one: clicking the function button for being used for patch fixed camera, and the shifting of placement head is read according to the prompt of graphic interface Dynamic length A；
Step 1 two: all suction nozzles are placed according to the prompt of graphical interfaces；
Step 1 three: control hardware obtains calibration nozzle head from nozzle head set-down location, is prompted according to the graphical interfaces of chip mounter No. 1 placement head is moved to right above fixed camera central field of vision position；
Step 1 four: No. 1 placement head of control is moved to above fixed camera center.
3. fixed camera bearing calibration according to claim 1, it is characterised in that step 2 specifically:
Step 2 one: moving along the x-axis-A/2 for No. 1 placement head, if the coordinate of the relatively fixed camera photocentre of No. 1 placement head is at this time D (x, y)=(- A/2,0), unit mm；
Step 2 two: being input to image detecting program for the image that fixed camera at this time takes, and obtains calibration nozzle head center Position D of the dot in fixed camera1(x1, y1), unit is pixel；
Step 2 three: moving along the x-axis A for No. 1 placement head, at this time the coordinate of the relatively fixed camera photocentre of No. 1 placement head be (A/2, 0) image that fixed camera at this time takes, is input to image detecting program, obtains calibration nozzle head centre dot in fixation Magazine position D2(x2, y2), unit is pixel；
Step 2 four: No. 1 placement head is moved along the x-axis into-A/2, and moves-A/2 along y-axis, No. 1 placement head is relatively fixed at this time The coordinate of camera photocentre is (0 ,-A/2), and the image that fixed camera at this time takes is input to image detecting program, is marked Determine position of the nozzle head centre dot in fixed camera, is denoted as D3(x3, y3), unit is pixel；
Step 2 five: moving A along y-axis for No. 1 placement head, and the coordinate of the relatively fixed camera photocentre of No. 1 placement head is (0, A/ at this time 2) step 2 two, is repeated, position of the calibration nozzle head centre dot in fixed camera is obtained, is denoted as D4(x4, y4), unit is Pixel.
4. fixed camera bearing calibration according to claim 1, it is characterised in that step 3 specifically:
Step 3 one: No. 1 placement head is moved back to initial position defined in step 2, the image that fixed camera at this time is taken It is input to image detecting program, position of the calibration nozzle head center in fixed camera is obtained, is denoted as D0(x0, y0), unit is picture Element；
Step 3 two: the image that fixed camera takes when No. 1 placement head is rotated respectively to 90 °, 180 ° and 270 ° of positions is defeated Enter to image detecting program, obtains corresponding position of the calibration nozzle head center in fixed camera, be denoted as (x90, y90)、(x180, y180)、(x270, y270), unit is pixel, and recording position coordinates of No. 1 placement head in device coordinate system is (xEquipment, yEquipment), Unit is mm.
5. fixed camera bearing calibration according to claim 1, it is characterised in that step 4 specifically:
Step 4 one: No. 1 placement head is rotated to 360 ° of positions, i.e. initial position defined in step 2；
Step 4 two: moving A/2 along x negative sense axis for No. 1 placement head, if the seat of the relatively fixed camera photocentre of No. 1 placement head at this time It is designated as D ' (x ', y ')=(- A/2,0), unit mm；
Step 4 three: being input to image detecting program for the image that fixed camera at this time takes, and obtains calibration nozzle head center Position D ' of the dot in fixed camera1 (x′1, y '1), unit is pixel；
Step 4 four: moving A along x-axis forward direction for No. 1 placement head, and the coordinate of the relatively fixed camera photocentre of No. 1 placement head is at this time The image that fixed camera at this time takes is input to image detecting program by (A/2,0), is obtained calibration nozzle head centre dot and is existed Position in fixed camera, is denoted as D '2(x′2, y '2), unit is pixel；
Step 4 five: No. 1 placement head is moved into A/2 along x-axis negative sense, and moves A/2 along y-axis negative sense, at this time No. 1 placement head phase Coordinate to fixed camera optical center is D ' (x ', y ')=(0 ,-A/2), and the image that fixed camera at this time takes is input to figure As detection program, position of the calibration nozzle head centre dot in fixed camera is obtained, D ' is denoted as3(x′3, y '3), unit is picture Element；
Step 4 six: placement head moves A along y-axis forward direction, at this time the coordinate of the relatively fixed camera photocentre of No. 1 placement head be D ' (x ', Y ')=(0, A/2), the image that fixed camera at this time takes is input to image detecting program, obtains calibration nozzle head center Position of the dot in fixed camera, is denoted as D '4(x′4, y '4), unit is pixel.
6. fixed camera bearing calibration according to claim 1, which is characterized in that the fixed camera timing placement head Movable length A be 5mm.
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