CN106530357B - Visual alignment control device and calibration method - Google Patents
Visual alignment control device and calibration method Download PDFInfo
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- CN106530357B CN106530357B CN201611092703.7A CN201611092703A CN106530357B CN 106530357 B CN106530357 B CN 106530357B CN 201611092703 A CN201611092703 A CN 201611092703A CN 106530357 B CN106530357 B CN 106530357B
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Abstract
The invention discloses a visual alignment control device which comprises four cameras arranged towards an alignment platform, wherein the visual alignment control device comprises a working camera working during alignment calibration, a standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, the working camera captures the position identification points in a visual field range, a visual controller is used for controlling the working camera to record coordinates of the position identification points in the movement process of the position identification points on an X-Y coordinate plane, and a calculation module is used for calculating calibrated parameters according to the position coordinates of the position identification points. The invention also discloses a visual alignment calibration method. The invention improves the flexibility of alignment calibration for different types of products, and simplifies and accelerates the calibration of the camera.
Description
Technical Field
The invention relates to the technical field of PCBs (printed Circuit Board), in particular to a visual alignment control device and a calibration method.
Background
In the solder paste printing and attaching industry, high-precision repeated alignment is often required, and particularly in the glass printing and attaching of mobile phone films, along with the recent heat of the mobile phone market, higher precision and efficiency requirements are put forward. Conventional pin and clamp positioning is difficult to meet the process requirements.
People gradually transfer the eyes to the automatic alignment of machine vision, and start to move between two position identification points on a product by using two CCD cameras with fixed angles, so that one set of equipment can only aim at a specific type of product and cannot be widely applied to various types of products.
In addition, in the prior art, when the alignment platform is in communication connection with the vision system during calibration, after the alignment platform moves to a position, the camera needs to receive a stop signal sent by the alignment platform and then records the coordinates of the position identification point.
Disclosure of Invention
The invention mainly aims to provide a visual alignment control device and a calibration method, which aim to improve the universality of the visual alignment control device and the calibration method and accelerate the calibration of a camera.
In order to achieve the above object, the visual alignment control device provided by the invention comprises four cameras, a visual controller, an alignment platform, a standard sample and a calculation module, wherein the four cameras comprise working cameras working during alignment calibration, the standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, the working cameras face the alignment platform and capture the position identification points in the visual field, the visual controller is used for controlling the working cameras to record the coordinates of the position identification points in the movement process on an X-Y coordinate plane, and the calculation module is electrically connected with the working cameras and is used for calculating the conversion relation between the coordinate system of the four cameras and the coordinate system of the alignment platform and the center coordinates of the four cameras according to the position coordinates of the position identification points in different positions.
Preferably, the visual alignment control device further comprises a setting module and a moving module, wherein:
the setting module is used for setting the movement quantification of the standard sample on an X-Y coordinate plane;
and the moving module is used for moving the position identification points arranged on the standard sample to the visual field range of the working camera after the standard sample is fixed on the alignment platform.
Preferably, the alignment platform comprises a translation module and a rotation module, wherein:
the translation module is used for driving the standard sample to do quantitative translation motion on an X-Y coordinate plane;
and the rotating module is used for driving the standard sample to quantitatively rotate in the X-Y coordinate plane.
Preferably, the translation module includes an X-direction movement unit and a Y-direction movement unit, wherein:
the X-direction movement unit is used for translating in the positive direction and the negative direction of the X-axis of the X-Y coordinate plane with fixed displacement;
the Y-direction movement unit is used for translating with fixed displacement in the positive direction and the negative direction of the Y axis of the X-Y coordinate plane.
Preferably, the vision controller comprises a detection module, a judgment module and a recording module, wherein:
the detection module is used for controlling the working camera to periodically detect the position coordinates of the position identification points;
the judging module is used for judging whether the position identification point reaches a designated position or not;
the recording module is used for recording the position coordinates of the position identification point after the position identification point reaches the designated position.
In addition, in order to achieve the above object, the present invention further provides a visual alignment calibration method, which includes the following steps:
the four cameras are arranged towards the alignment platform, wherein the cameras working during alignment calibration are working cameras;
the standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, and the working camera captures the position identification points in the visual field range;
the alignment platform moves on an X-Y coordinate plane, the vision controller controls the working camera to record the coordinates of the position identification points in the moving process, and the conversion relation between the coordinate systems of the four cameras and the alignment platform coordinate system and the center coordinates of the four cameras are obtained by calculating the position coordinates of the position identification points at different positions.
Preferably, the standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, and the position identification points in the grabbing visual field range of the working camera comprise:
setting the movement quantification of a standard sample on an X-Y coordinate plane;
after the standard sample is fixed on the alignment platform, a plurality of position identification points arranged on the standard sample are moved to the image center position of the working camera;
the working camera captures a location identification point within the field of view.
Preferably, the step of moving the alignment stage on the X-Y coordinate plane includes:
the alignment platform performs quantitative translational movement on an X-Y coordinate plane;
the alignment stage performs a quantitative rotational movement on an X-Y coordinate plane.
Preferably, the quantitatively translating the alignment stage in the X-Y coordinate plane sequentially comprises moving the alignment stage in the X-Y plane by the following path:
translating a fixed displacement in the positive X direction;
translating a fixed displacement in the negative X direction;
translating a fixed displacement in the positive Y direction;
translating a fixed displacement in the negative Y direction; a total of 9 position coordinates are obtained.
Preferably, the visual controller controlling the working camera to record the coordinates of the position identification point in the motion process includes:
the vision controller controls the working camera to periodically detect the position coordinates of the position identification points;
the vision controller judges whether the position identification point reaches a designated position or not;
and recording the position coordinates of the position identification point when the position identification point reaches a specified position.
According to the invention, the four cameras are arranged towards the alignment platform, so that the number and the angles of the working cameras can be flexibly selected according to products, the coordinates of the position identification points can be better grasped and recorded, and the universality and the accuracy of alignment calibration of the cameras are improved. In addition, the movement condition of the alignment platform is judged by the camera and the vision controller which cooperate with the position coordinates of the detection position identification points, the position identification points are grabbed independently of communication with the alignment platform, and the calibration of the camera can be simplified and accelerated.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of a visual alignment control device according to the present invention;
FIG. 2 is a schematic diagram of a functional module of a second embodiment of the visual alignment control device according to the present invention;
FIG. 3 is a schematic diagram of a functional module of a positioning platform according to a third embodiment of the visual positioning control device of the present invention;
FIG. 4 is a schematic diagram of a refinement function module of a vision controller in a fourth embodiment of the vision alignment control device of the present invention;
FIG. 5 is a flowchart of a first embodiment of a visual alignment calibration method according to the present invention;
FIG. 6 is a detailed flowchart of step S20 in a second embodiment of the visual alignment calibration method of the present invention;
FIG. 7 is a detailed flowchart of the step of moving the alignment stage on the X-Y coordinate plane in the third embodiment of the visual alignment calibration method of the present invention;
fig. 8 is a detailed flowchart illustrating a step of recording the position identification points by the working camera according to the fourth embodiment of the visual alignment calibration method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a visual alignment control device.
Referring to fig. 1, in a first embodiment, a visual alignment control device 100 provided by the present invention includes: the four cameras 10, the vision controller 50, the alignment platform 20, the standard sample 30 and the calculation module 40, wherein the four cameras 10 comprise working cameras 11 working during alignment calibration, the standard sample 30 is fixed on the alignment platform 20, a plurality of position identification points 31 are arranged on the standard sample 30, the working cameras 11 face the alignment platform 20 to set and capture the position identification points 31 in the visual field, the vision controller 50 is used for controlling the working cameras 11 to record the coordinates of the position identification points 31 in the movement process on an X-Y coordinate plane, and the calculation module 40 is electrically connected with the working cameras 11 and used for calculating the conversion relation between the coordinate system of the alignment platform 20 and the coordinate system of the four cameras 10 and the center coordinates of the four cameras 10 according to the position coordinates of the position identification points 31 at different positions.
The four cameras 10 are arranged towards the alignment platform 20, and different cameras 10 all have different orientation angles, so that the position identification points 31 can be grasped more conveniently. A certain number of cameras 10 are selected from the four cameras 10 for use as working cameras 11 working at the time of alignment according to the characteristics of the product.
The standard sample 30 is placed on the table surface of the alignment platform 20, a plurality of position identification points 31 are arranged on the standard sample 30, and the working camera 11 captures the corresponding position identification points 31 in the visual field range.
The alignment stage 20 may be located on the X-Y coordinate plane itself or may be rotated to be located on the X-Y coordinate plane. The vision controller 50 controls the working camera 11 to record the coordinate value of the position recognition point 31 during the movement process in the process of grabbing the position recognition point 31 of the standard sample 30 after the alignment platform 20 is in the X-Y coordinate plane, specifically, grabbing is performed at the stop time of each interval by setting a plurality of movement sections.
The conversion relation between the coordinate system of the alignment platform 20 and the coordinate systems of the four cameras 10 and the center coordinates of the four cameras 10 are calculated through the position coordinates of the position identification points 31 at different positions.
In the subsequent product alignment process, the method comprises the following steps: determining a reference position of the alignment stage 20; products enter the alignment platform 20 through a production line; the four cameras 10 shoot the positions of the position identification points 31, and the vision controller records corresponding position coordinates; the product position is corrected so that the product falls within an allowable error range with respect to the reference position. The correction process comprises correction of the rotation angle and correction of translation, and the correction process can be carried out simultaneously or independently.
In this embodiment, the visual alignment control device 100 arranges a plurality of cameras 10 around the alignment platform 20, so as to flexibly select the number and angle of the working cameras 11 according to the product, thereby better capturing and recording the coordinates of the position identification points 31, and improving the versatility and accuracy of the alignment calibration of the cameras 10.
Further, the camera 10 is disposed above or below the alignment stage 20. As long as it is ensured that the working camera 11 can grasp the position recognition point 31 of the standard sample 30 fixed on the alignment stage 20. The 4 cameras 10 can be used all according to the requirement or two optional cameras can be used, wherein 6 modes can be selected in a combination mode, and the flexibility of coping with different products is improved.
Further, referring to fig. 2, in a first embodiment of the visual alignment control device according to the present invention, in a second embodiment of the visual alignment control device according to the present invention, the visual alignment control device 100 further includes a setting module 60 and a moving module 70, wherein:
the setting module 60 is configured to set a movement quantification of the standard sample 30 in the X-Y coordinate plane;
setting a movement ration suitable for the recording of the working camera 11, which does not cause the position identification point 31 to exceed the field of view of the working camera 11, facilitates the recording of the coordinates of the position identification point 31 by the working camera 11.
The moving module 70 is configured to move the plurality of position recognition points 31 set on the standard sample 30 to be within the field of view of the working camera 11 after the standard sample 30 is fixed on the alignment platform 20.
Before the standard sample 30 is detected, the position recognition point 31 of the standard sample 30 is moved to be within the field of view of the working camera 11, which is the start position of the visual alignment control device 100 in the present embodiment.
In this embodiment, by quantitatively setting the movement of the standard sample 30 and setting the position identification point 31 in the field of view of the working camera 11 before the alignment calibration, it is ensured that the position identification point 31 does not exceed the field of view of the working camera 11 during the alignment calibration, and the problem that the position identification point 31 cannot be grasped is avoided.
Further, referring to fig. 3, in a third embodiment of the visual alignment control device according to the present invention, the alignment platform 20 includes a translation module 21 and a rotation module 23, wherein:
the translation module 21 is configured to drive the standard sample 30 to perform quantitative translation motion on an X-Y coordinate plane;
the translation module 21 drives the standard sample to do quantitative translation motion on an X-Y coordinate plane, including quantitative translation along the X axis direction, quantitative translation along the Y axis direction, linear quantitative translation at an angle with the X axis, curve quantitative translation at an angle change, and the like.
The rotation module 23 is configured to drive the standard sample 30 to perform quantitative rotation motion on an X-Y coordinate plane.
The rotation module 23 drives the standard sample 30 to perform quantitative rotation motion on the X-Y coordinate plane, including rotating a quantitative angle in a clockwise/counterclockwise direction along an origin of the X-Y coordinate plane, or rotating a quantitative angle in a clockwise/counterclockwise direction at any point of the X-Y coordinate plane. Specifically, the alignment platform 20 records the position coordinates of the position identification point 31 after rotating θ° clockwise from the reference position; the alignment platform 20 rotates by θ ° from the reference position to the counterclockwise direction, and records the position coordinates of the position identification point 31; the alignment platform 20 rotates by θ ° clockwise around the position identification point 31, and records the position coordinates of the position identification point 31; the alignment platform 20 rotates by θ ° around the position identification point 31 in the opposite clock direction, and records the position coordinates of the position identification point 31.
In this embodiment, the recording of the position identification point 31 by the active camera 11 is facilitated by the standard sample 30 by a quantitative translational and rotational movement in the X-Y coordinate plane.
Further, the working camera 11 records at least three coordinates of different positions during rotation of the same position identification point 31 on the X-Y coordinate plane.
The more the number of different position coordinates of the same position recognition point 31 grasped during rotation, the more accurate the center coordinates of the four work cameras 11 calculated for the coordinates changed by the position recognition point 31.
In this embodiment, the number of coordinates of the same position identification point 31 captured by the working camera 11 in the rotation process at different positions is guaranteed to be more than three, so that accuracy in calculating center coordinates of four working cameras 11 later is improved.
Further, the translation module 21 includes: an X-direction movement unit and a Y-direction movement unit, wherein:
the X-direction movement unit is used for translating in the positive direction and the negative direction of the X-axis of the X-Y coordinate plane with fixed displacement;
the Y-direction movement unit is used for translating with fixed displacement in the positive direction and the negative direction of the Y axis of the X-Y coordinate plane.
The two move the alignment platform 20 8 times along the path of positive X-direction translation, negative Y-direction translation, negative X-direction translation, positive Y-direction translation, fixed displacement, positive X-direction translation, and fixed displacement on the X-Y plane.
In this embodiment, the translational movement is specifically described and moved around the center of the X-Y coordinate plane, so that the working camera 11 can grasp the coordinates of the position identifying point 31 more easily, and the conversion relationship between the coordinate system of the working camera 11 and the coordinate system of the alignment platform 20 can be calculated conveniently.
Further, referring to fig. 4, in a fourth embodiment of the visual alignment control device according to the present invention, the visual controller 50 includes a detection module 51, a judgment module 52 and a recording module 53, wherein:
the detection module 51 is configured to control the working camera 11 to periodically detect the position coordinates of the position identification point 31;
the detection module 51 detects the position recognition point 31 once every preset time to obtain the coordinates of the position recognition point 31, specifically, the preset time is 500ms.
The judging module 52 is configured to judge whether the position identifying point 31 reaches a specified position;
specifically, the method includes determining whether the current position coordinate and the previous position coordinate detected by the working camera 11 are within a first preset pixel, where the first preset pixel is 10 pixels, that is, if the difference between two adjacent position coordinates is greater than 10 pixels, it may be considered that the alignment platform 20 drives the position identification point 31 to move; and is further configured to determine whether the position coordinate detected by the working camera 11 in the preset times is within a second preset pixel, where the preset times is 3 times, and the second preset pixel is 3 pixels, that is, a difference between the position coordinates acquired three consecutive times is less than 3 pixels, and consider that the alignment platform 20 drives the position identification point 31 to reach the specified position.
The recording module 14 is configured to record the position coordinates of the position identification point 31 when the position identification point reaches a specified position.
After the judging module 13 confirms that the position identifying point 31 is moved in place, the position coordinates of the position identifying point 31 at the position are recorded.
In this embodiment, the state of the position identifying point 31 is determined by the camera 10 and the vision controller 50 in cooperation with each other, so as to determine the position coordinates of the position identifying point 31, and no communication with the alignment platform 20 is required, thereby saving the time of external communication, and simplifying and accelerating the calibration of the camera.
The invention also provides a visual alignment calibration method.
Referring to fig. 5, in a first embodiment, the visual alignment calibration method includes the steps of:
step S10, four cameras are arranged towards the direction of the alignment platform, wherein the cameras working during alignment are working cameras;
four cameras are towards counterpoint platform setting, and different cameras all have different orientation angles, more are convenient for snatch position identification point. A certain number of cameras are selected from the four cameras according to the characteristics of the product to be used as working cameras working in alignment.
Step S20, a standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, and the working camera captures the position identification points in the visual field range;
and placing a standard sample on the table top of the alignment platform, wherein a plurality of position identification points are arranged on the standard sample, and the working camera captures the corresponding position identification points in the visual field range.
And step S30, the alignment platform moves on an X-Y coordinate plane, the vision controller controls the working camera to record the coordinates of the position identification points in the movement process, and the conversion relation between the coordinate systems of the four cameras and the alignment platform coordinate system and the center coordinates of the four cameras are obtained by calculating the change of the position identification points.
The alignment platform can be positioned on an X-Y coordinate plane by itself or can be positioned on the X-Y coordinate plane after rotation. And the visual controller controls the working camera to record coordinate values of the position identification points in the moving process in the process of grabbing the position identification points of the standard sample after the alignment platform is positioned on the X-Y coordinate plane, and specifically, grabbing is carried out at stop time of each interval by setting a plurality of moving sections.
And calculating the conversion relation between the alignment platform coordinate system and the four camera coordinate systems and the center coordinates of the four cameras through the position coordinates of the position identification points at different positions.
In the subsequent product alignment process, the method comprises the following steps: determining a reference position of the alignment platform; products enter the alignment platform through a production line; the four cameras shoot the positions of the position identification points, and the vision controller records corresponding position coordinates; the product position is corrected so that the product falls within an allowable error range with respect to the reference position. The correction process comprises correction of the rotation angle and correction of translation, and the correction process can be carried out simultaneously or independently.
In the embodiment, the visual alignment calibration method arranges a plurality of cameras around the alignment platform, and can flexibly select the number and the angles of the working cameras according to products, so that coordinates of position identification points can be better grasped and recorded, and the universality and the accuracy of alignment calibration of the cameras are improved.
Further, the camera is arranged above or below the alignment platform. As long as the working camera can be ensured to grasp the position identification point of the standard sample fixed on the alignment platform. The 4 cameras can be used all according to the requirement or two optional cameras can be used, wherein 6 modes can be selected for combination of every two cameras, and flexibility of coping with different products is improved.
Further, referring to fig. 6, in a second embodiment of the present invention, step S20 includes:
step S21, setting the movement quantification of the standard sample on an X-Y coordinate plane;
setting a movement ration suitable for the recording of the working camera, and not enabling the position identification point to exceed the visual field range of the working camera, so that the working camera can record the coordinates of the position identification point conveniently.
Step S22, after the standard sample is fixed on the alignment platform, a plurality of position identification points arranged on the standard sample are moved to be within the visual field range of the working camera;
before the standard sample is detected, the position identification point of the standard sample is moved to be within the visual field of the working camera, and the position is the starting position of the visual alignment calibration method in the embodiment.
Step S23, the working camera grabs position identification points in the visual field range.
In this embodiment, by setting the movement quantification of the standard sample and setting the position identification point in the field of view of the working camera before alignment calibration, it is possible to ensure that the position identification point does not exceed the field of view of the working camera during alignment calibration, and avoid the problem that a certain position identification point cannot be captured.
Further, referring to fig. 7, in a third embodiment of the visual alignment calibration method according to the first embodiment of the present invention, the moving step of the alignment platform on the X-Y coordinate plane includes:
s31, quantitatively translating the alignment platform on an X-Y coordinate plane;
the alignment platform drives the standard sample to do quantitative translational motion on an X-Y coordinate plane, and the quantitative translational motion comprises quantitative translational motion along the X-axis direction, quantitative translational motion along the Y-axis direction, linear quantitative translational motion forming an angle with the X-axis, curve quantitative translational motion forming an angle change, and the like.
And S32, quantitatively rotating the alignment platform on an X-Y coordinate plane.
The alignment platform drives the standard sample to do quantitative rotation motion on an X-Y coordinate plane, wherein the quantitative rotation motion comprises rotation of a quantitative angle in a clockwise/anticlockwise direction along an origin of the X-Y coordinate plane or rotation of a quantitative angle in a clockwise/anticlockwise direction at any point of the X-Y coordinate plane. Specifically, the alignment platform 20 records the position coordinates of the position identification point 31 after rotating θ° clockwise from the reference position; the alignment platform 20 rotates by θ ° from the reference position to the counterclockwise direction, and records the position coordinates of the position identification point 31; the alignment platform 20 rotates by θ ° clockwise around the position identification point 31, and records the position coordinates of the position identification point 31; the alignment platform 20 rotates by θ ° around the position identification point 31 in the opposite clock direction, and records the position coordinates of the position identification point 31.
In this embodiment, the working camera is facilitated to record the position identification point by making quantitative translational and rotational movements of the standard sample on an X-Y coordinate plane.
Further, the step of recording the coordinates of the position identification point in the motion process by the working camera comprises the following steps: and recording coordinates of the position identification points in the rotating process on an X-Y coordinate plane, wherein the number of coordinates of the same position identification point in different positions is at least three.
The more the number of different position coordinates of the same position recognition point grasped during rotation, the more accurate the center coordinates of the four work cameras calculated for the coordinates varied by the position recognition point.
In this embodiment, the number of coordinates of the same position recognition point captured by the working camera in the rotation process at different positions is guaranteed to be more than three, so that accuracy in calculating center coordinates of four working cameras later is improved.
Further, the quantitatively translating of the alignment stage on the X-Y coordinate plane includes: the alignment platform moves 8 times on the X-Y plane according to a path of positive X-direction translation, negative Y-direction translation, negative X-direction translation, fixed displacement, negative X-direction translation, positive Y-direction translation, fixed displacement, positive X-direction translation, and fixed displacement, so as to obtain 9 position coordinates.
In this embodiment, the translational motion is specifically described and moved around the center of the X-Y coordinate plane, so that the working camera can grasp the coordinates of the position identification point more easily, and the conversion relationship between the working camera coordinate system and the alignment platform coordinate system can be calculated conveniently.
Further, referring to fig. 8, in a fourth embodiment of the visual alignment calibration method according to the present invention, the recording, by the working camera in step 30, the coordinates of the position identification point in the moving process includes:
step S33, the vision controller controls the working camera to periodically detect the position coordinates of the position identification points;
the position recognition points are detected every preset time to obtain coordinates of the position recognition points 31, specifically, 500ms.
Step S34, the vision controller judges whether the position identification point reaches a designated position;
specifically, the method includes the steps that whether the current position coordinate and the previous position coordinate detected by the working camera are within a first preset pixel or not is judged, wherein the first preset pixel is 10 pixels, namely if the difference value between two adjacent position coordinates is greater than 10 pixels, the alignment platform can be considered to drive the position identification point to move; and the position detection device is further used for judging whether the position coordinates detected by the working camera are within a second preset pixel or not in preset times, wherein the preset times are 3 times, the second preset pixel is 3 pixels, namely, the difference value between the position coordinates acquired in three continuous times is smaller than 3 pixels, and the alignment platform is considered to drive the position identification point to reach a designated position.
And step S35, recording the position coordinates of the position identification point when the position identification point reaches a specified position.
And if the preset times are 3 times and the second preset pixel is 3 pixels, namely, the difference value between the position coordinates acquired in three continuous times is smaller than 3 pixels, the alignment platform is considered to drive the position identification point to move in place.
In this embodiment, the camera and the vision controller cooperate to determine the state of the position identification point to determine the position coordinate of the position identification point, so that communication with the alignment platform is not needed, thereby saving the time of external communication, and simplifying and accelerating calibration of the camera.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. The visual alignment control device is characterized by comprising four cameras, a visual controller, an alignment platform, a standard sample and a calculation module, wherein the four cameras comprise working cameras working during alignment calibration, the standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, the working cameras face the alignment platform and capture the position identification points in a visual field range, the visual controller is used for controlling the working cameras to record coordinates of the position identification points in the movement process of an X-Y coordinate plane, and the calculation module is electrically connected with the working cameras and is used for calculating conversion relations between coordinate systems of the four cameras and the alignment platform coordinate systems and center coordinates of the four cameras according to the position coordinates of the position identification points in different positions;
the visual controller comprises a detection module, a judgment module and a recording module, wherein:
the detection module is used for controlling the working camera to periodically detect the position coordinates of the position identification points;
the judging module is used for judging whether the position identification point reaches a designated position or not;
the recording module is used for recording the position coordinates of the position identification point after the position identification point reaches the designated position;
the judging module is further configured to judge whether the position coordinate detected by the working camera in the preset times is within a second preset pixel, and if the position coordinate detected by the working camera in the preset times is within the second preset pixel, determine that the position identification point has reached the specified position.
2. The visual alignment control device of claim 1, further comprising a setup module and a movement module, wherein:
the setting module is used for setting the movement quantification of the standard sample on an X-Y coordinate plane;
and the moving module is used for moving the position identification points arranged on the standard sample to the visual field range of the working camera after the standard sample is fixed on the alignment platform.
3. The visual alignment control device of claim 1, wherein the alignment platform comprises a translation module and a rotation module, wherein:
the translation module is used for driving the standard sample to do quantitative translation motion on an X-Y coordinate plane;
and the rotating module is used for driving the standard sample to quantitatively rotate in the X-Y coordinate plane.
4. A visual alignment control device as recited in claim 3, wherein the translation module comprises an X-direction motion unit and a Y-direction motion unit, wherein:
the X-direction movement unit is used for translating in the positive direction and the negative direction of the X-axis of the X-Y coordinate plane with fixed displacement;
the Y-direction movement unit is used for translating with fixed displacement in the positive direction and the negative direction of the Y axis of the X-Y coordinate plane.
5. The visual alignment calibration method is characterized by comprising the following steps of:
the four cameras are arranged towards the alignment platform, wherein the cameras working during alignment calibration are working cameras;
the standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, and the working camera captures the position identification points in the visual field range;
the alignment platform moves on an X-Y coordinate plane, the vision controller controls the working camera to record the coordinates of the position identification points in the moving process, and the conversion relation between the coordinate systems of the four cameras and the alignment platform coordinate system and the center coordinates of the four cameras are obtained by calculating the position coordinates of the position identification points at different positions;
wherein, the step that the visual controller controls the working camera to record the coordinates of the position identification point in the motion process comprises the following steps:
the vision controller controls the working camera to periodically detect the position coordinates of the position identification points;
the vision controller judges whether the position identification point reaches a designated position or not;
recording the position coordinates of the position identification point when the position identification point reaches a designated position;
the step of judging whether the position identification point reaches a designated position by the visual controller comprises the following steps:
and the visual controller judges whether the position coordinate detected by the working camera in the preset times is within a second preset pixel, and if the position coordinate detected by the working camera in the preset times is within the second preset pixel, the position identification point is determined to have reached the designated position.
6. The visual alignment calibration method of claim 5, wherein the standard sample is fixed on the alignment platform, a plurality of position identification points are disposed on the standard sample, and the position identification points within the grabbing field of view of the working camera comprise:
setting the movement quantification of a standard sample on an X-Y coordinate plane;
after the standard sample is fixed on the alignment platform, a plurality of position identification points arranged on the standard sample are moved to be within the visual field range of the working camera;
the working camera captures a location identification point within the field of view.
7. The visual alignment calibration method of claim 5, wherein the step of moving the alignment stage on an X-Y coordinate plane comprises:
the alignment platform performs quantitative translational movement on an X-Y coordinate plane;
the alignment stage performs a quantitative rotational movement on an X-Y coordinate plane.
8. The visual alignment calibration method of claim 7, wherein the quantitative translation of the alignment stage in the X-Y coordinate plane comprises moving the alignment stage in the X-Y plane by the following path:
translating a fixed displacement in the positive X direction;
translating a fixed displacement in the negative X direction;
translating a fixed displacement in the positive Y direction;
translating a fixed displacement in the negative Y direction; a total of 9 position coordinates are obtained.
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