CN112804826B

CN112804826B - Registration device based on machine vision

Info

Publication number: CN112804826B
Application number: CN202110382878.6A
Authority: CN
Inventors: 段光前; 陈秀峰; 陈中华; 黄树平; 童杰
Original assignee: Wuhan Preceder Laser Technology Co ltd
Current assignee: Wuhan Preceder Laser Technology Co ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-08-06
Anticipated expiration: 2041-04-09
Also published as: CN112804826A

Abstract

The invention discloses a registration device based on machine vision, which comprises a first fixing device for movably fixing a first device to be registered, a second fixing device for fixing a second device to be registered, a double-sided reflecting mirror and a camera device, wherein the double-sided reflecting mirror and the camera device are positioned between the first fixing device and the second fixing device, a first alignment point and a second alignment point are correspondingly arranged on the second device of the first device respectively, one reflecting surface of the double-sided reflecting mirror faces the first alignment point, the other reflecting surface of the double-sided reflecting mirror faces the second alignment point, and the camera device shoots images of the first alignment point and the second alignment point in the same imaging frame. The registering device based on machine vision provided by the invention uses a double-sided reflector to shoot the aligning points on two devices to be registered simultaneously and presents the aligning points in the same picture, and has the advantages of simple structure, simple aligning judgment method, high aligning efficiency and high aligning precision.

Description

Registration device based on machine vision

Technical Field

The invention relates to the technical field of processes such as printing, die assembly, circuit board film coating, multilayer film manufacturing and the like, in particular to a registration device based on machine vision and an automatic registration method thereof.

Background

In a mass production process, two objects are aligned at respective alignment stations according to a certain positional relationship, and then the next process is performed, for example: in the multicolor printing or gold stamping process in the printing industry, in order to be overlapped neatly or to combine two materials together, the two materials or color printing needs to be aligned; the process of combining two layers of circuits is also provided in the circuit board printing process, the circuit board is required to be covered with a film for protection after the circuit board is manufactured, the insertion position, the welding position and the like of elements of the circuit board are required to be exposed during film covering, and the corresponding holes in the film are required to be aligned with the welding position of the circuit board and then are adhered together, so that the yield of products is ensured, particularly the PI film is covered on a soft copper plate with high difficulty and high alignment precision; the die also needs to be aligned in the die assembly process of the punch press; in the process of manufacturing the nano-multilayer film, due to certain requirements (such as device manufacturing, performance testing and the like) of the nano-multilayer film, each layer of film needs to be sputtered into different patterns, and the patterns of each layer have a determined position relationship with each other, and the position relationship needs to be registered for ensuring.

The existing registration methods are more, but the existing bonding technology has many defects, the stability is insufficient in the positioning and bonding process, some registration methods are not high in precision and complex in equipment, and some registration methods adopt templates for registration, for example, in the process of manufacturing a nano multilayer film, the templates are adopted for registration, but in the operation process of replacing the templates, the templates are easy to scratch sputtered nano films, so that the preparation completeness is low, even the performance is failed, and the deviation is easy to generate. The printing and gold stamping processes of the packaging box both require high registration accuracy, so that the printing patterns and the gold stamping patterns are accurately registered with the positioning pattern areas on the film surface, and the positioning transfer film is easy to shift during printing and gold stamping due to the smooth surface. At present, the die assembly is generally performed manually or positioning and die assembly is performed by adopting a mechanical structure to set a positioning column, and an alignment system is rarely used in the film covering of the circuit board.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. To this end, the invention provides a registration device based on machine vision, which comprises a first fixing device 3, a second fixing device 4, a double-sided reflecting mirror 5 and a camera device 6, wherein the first fixing device 3 is used for fixing a first device 1 to be registered, the second fixing device 4 is used for fixing a device 2 to be registered, an alignment point 11 is arranged on the first device 1, an alignment point second 21 corresponding to the alignment point first 11 is arranged on the device 2, the first fixing device 3 or/and the second fixing device 4 can move transversely, longitudinally or/and horizontally, the double-sided reflecting mirror 5 is positioned between the first fixing device 3 and the second fixing device 4, the double-sided reflecting mirror 5 is provided with two reflecting surfaces, one reflecting surface is aligned with the alignment point first 11, the other reflecting surface is aligned with the alignment point second 21, and the camera device 6 is used for reflecting the alignment point first 11, the alignment point second alignment point 21, and the camera device 6 are reflected by the double-sided reflecting mirror 5, The image of the second alignment point 21 is shot in the same imaging frame, and the device further comprises a controller, wherein the controller is connected with the camera device 6, the first fixing device 3 or/and the second fixing device 4.

Further, two reflecting surfaces of the double-sided reflecting mirror 5 form an included angle of 90 degrees.

Further, an intersection line 51 of the two reflecting surfaces of the double-sided reflecting mirror 5 is on the same horizontal line as the center of light sensing of the image pickup device 6.

Further, the first alignment point 11 and the second alignment point 21 are in standard alignment, and the first imaging point 13 and the second imaging point 23 of the first alignment point 11 and the second alignment point 21 are horizontally symmetrical or coincident along the photosensitive center of the imaging device 6 in the same imaging frame.

Further, a collimating mirror is arranged between the reflecting surface and the first alignment point 11 and the second alignment point 21, and the auxiliary light source emits to the first alignment point 11 and the second alignment point 21.

Further, the camera device 6 comprises a first convex lens 68 and a CCD image sensor 61, wherein the first convex lens is used for receiving the light emitted from the double-sided reflecting mirror 5.

Further, a second lens 69 is further included, and the second lens 69 is disposed between the first convex lens 68 and the CCD image sensor 61.

Further, the device 1 is further provided with an alignment point three 12, and the device 2 is further provided with an alignment point four 22 corresponding to the alignment point three 12.

Further, the double-sided reflecting mirror bracket 71 is further included, the double-sided reflecting mirror 5 is arranged on the double-sided reflecting mirror bracket 71, and the double-sided reflecting mirror bracket 71 can move transversely and longitudinally.

Further, the device comprises a camera device bracket 72, the camera device 6 is arranged on the camera device bracket 72, and the camera device bracket 72 can move transversely and longitudinally.

The registering device based on machine vision provided by the invention uses a double-sided reflector to shoot the aligning points on two devices to be registered simultaneously and presents the aligning points in the same picture, and has the advantages of simple structure, simple aligning judgment method, high aligning efficiency and high aligning precision.

Drawings

FIG. 1 is a schematic diagram of a machine vision-based registration apparatus according to the present invention;

FIG. 2 is a schematic diagram of another machine vision-based registration apparatus according to the present invention;

FIG. 3 is a schematic diagram of another machine vision-based registration apparatus according to the present invention;

FIG. 4 is a schematic diagram of a machine vision-based registration apparatus according to the present invention;

FIG. 5 is a schematic view of an imaging alignment area of the machine vision based registration apparatus of FIGS. 1 and 3;

FIG. 6 is an imaging schematic diagram of the machine vision based registration device alignment process of FIGS. 1 and 3;

FIG. 7 is a schematic view of the machine vision based registration apparatus of FIGS. 1 and 3 after alignment for imaging;

FIG. 8 is a schematic diagram of a machine vision-based registration apparatus according to another embodiment of the present invention;

FIG. 9 is an imaging schematic of the machine vision based registration apparatus alignment process of FIG. 8;

fig. 10 is a schematic view of the machine vision based registration apparatus of fig. 8 after alignment for imaging.

Wherein, 1, a device I; 11. aligning a first point; 12. aligning a point III; 13. imaging a point I; 14. imaging point three; 2. a second device; 21. aligning a second point; 22. aligning a point four; 23. imaging a point II; 24. imaging point four; 3. a first fixing device; 4. a second fixing device; 41. a mobile device; 5. a double-sided mirror; 51. an intersecting line; 52. a second reflecting surface; 53. a first reflecting surface; 54. a second collimating mirror; 55. a first collimating mirror; 56. a second auxiliary light source; 57. a first auxiliary light source; 6. a camera device; 61. a CCD image sensor; 62. a horizontal line of symmetry; 63. correcting a center line I; 64. transversely moving a second safety finishing line; 65. transversely moving the first safety finishing line; 66. a second alignment region; 67. an alignment area I; 68. a first convex lens; 69. a second lens; 610. a central point I; 611. a central point II; 71. a double-sided mirror mount; 72. a camera device holder.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "lateral", "longitudinal", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, the embodiment provides a registration apparatus based on machine vision, which includes a first fixing device 3, a second fixing device 4, a double-sided mirror 5, and a camera device 6,

the first fixing device 3 is used for fixing a first device 1 to be registered, the second fixing device 4 is used for fixing a second device 2 to be registered, an alignment point 11 is arranged on the first device 1, an alignment point 21 corresponding to the alignment point 11 is arranged on the second device 2, the first fixing device 3 and the second fixing device 4 can move transversely, longitudinally or horizontally,

the double-sided reflecting mirror 5 is located between the first device to be registered 1 and the second device to be registered 2 and is located in the interval range of the alignment station of the first alignment point 11 and the second alignment point 21, and comprises a first reflecting surface 53 and a second reflecting surface 52 which form an included angle of 90 degrees. The intersection line 51 (including the case where the solid intersection or the virtual extension plane intersects) of the first reflecting surface 53 and the second reflecting surface 52 is on the same horizontal line as the center of light sensing of the imaging device 6, the intersection line 51 is horizontal, the first reflecting surface 53 and the second reflecting surface 52 are horizontally symmetrical along the intersection line 51, the vertical distances between the first device 1 and the second device 2 and the intersection line 51 are symmetrically equal, wherein the first reflective surface 53 is aligned with the first alignment point 11, the second reflective surface 52 is aligned with the second alignment point 21, the double-sided reflecting mirror 5 reflects the images of the first alignment point 11 and the second alignment point 21 and shoots the images in the same imaging frame through the camera device 6 to form a first imaging point 13 and a second imaging point 23 respectively, and further comprises a controller, the controller is connected with the camera device 6, the first fixing device 3 and the second fixing device 4, and a photosensitive original of the camera device 6 is a CCD image sensor 61.

A first collimating mirror 55 and a second collimating mirror 54 are arranged between the reflecting surface of the double-sided reflecting mirror 5 and the first alignment point 11 and the second alignment point 21, and a first auxiliary light source 57 and a second auxiliary light source 56 which emit to the first alignment point 11 and the second alignment point 21, so that better imaging is realized and each alignment point is clearly seen.

The double-sided reflecting mirror 5 and the camera device 6 are arranged to be movable and comprise a double-sided reflecting mirror support 71 and a camera device support 72, the double-sided reflecting mirror 5 is arranged on the double-sided reflecting mirror support 71, and the double-sided reflecting mirror support 71 can move transversely and longitudinally and is connected with a controller in an electric control mode. After the first device 1 and the second device 2 complete the alignment procedure, the double-sided reflecting mirror 5 can exit from between the first device 1 and the second device 2 so that the first device 1 and the second device 2 move oppositely to be attached.

The camera device 6 is arranged on the camera device bracket 72, and the camera device bracket 72 can move transversely and longitudinally and is electrically connected with the controller.

Of course, the camera holder 72 and the double-sided mirror holder 71 may be integrally provided in an integral mode or may be separately provided to be moved independently.

In this embodiment, as shown in fig. 1, the image capturing device 6 includes a CCD image sensor 61 and an image display device, and does not include other lenses for changing the optical path, and the double-sided mirror 5 drops the light reflected from the first alignment point 11 and the second alignment point 21 on the CCD image sensor 61, and forms an image in the camera imaging frame by sensing the light with the CCD image sensor 61.

In another embodiment, as shown in fig. 2, the image capturing device 6 further includes a first convex lens 68, the first convex lens 68 focuses the light reflected by the first alignment point 11 and the second alignment point 21 through the double-sided mirror 5 onto the CCD image sensor 61, and adjusts the distance between the first convex lens 68 and the CCD image sensor 61, so that the first imaging point 13 and the second imaging point 23 coincide with each other in the state where the first alignment point 11 and the second alignment point 21 are aligned.

In some other embodiments, as shown in fig. 3 and 4, based on the other embodiments, the image capturing device 6 further includes a second lens 69, where the second lens 69 is disposed between the first convex lens 68 and the CCD image sensor 61 for adjusting the imaging positions of the first alignment point 11 and the second alignment point 21 as needed, and the second lens 69 may be either a convex lens or a concave lens, and the first imaging point 13 and the second imaging point 23 of the first alignment point 11 and the second alignment point 21 may be coincident (as shown in fig. 4) or the original coordinate position (as shown in fig. 3) may be maintained by changing the focal length of the second lens 69 or changing the distance between the second lens 69 and the first convex lens 68 or the CCD image sensor 61, so that the imaging is clearer.

As shown in fig. 6-7, imaging point one 13 is the imaging point of alignment point one 11; the second imaging point 23 is an imaging point of the second alignment point 21;

establishing a first alignment area 67 and a second alignment area 66 in the imaging frame, wherein the first alignment area 67 and the second alignment area 66 respectively use the first imaging point 13, the second imaging point 23 as a first center point 610 and a second center point 611 when the first device 1 and the second device 2 are in a standard station to form a rectangular area, and the rectangular area can be generally set as a rectangular area with a length of 5-20mm and a width of 5-10mm, and as the intersecting line 51 and the photosensitive center of the camera 6 are in the same horizontal line, a horizontal symmetry line 62 (the horizontal symmetry line 62 is the image of the intersecting line 51) perpendicular to each other and a first center line 63 perpendicular to the horizontal symmetry line 62 and located at the center of the imaging frame can be selected from the imaging frame, and a safety horizontal movement endpoint line two 64, a safety movement endpoint two 64, a safety endpoint two 64 and a safety endpoint two 21 can be established for the second imaging point 23 of the second alignment point 21 when the second imaging point 23 of the second alignment point 21 is in a safety limit position where the second fixing device 4 and the first fixing device 3 move horizontally, A first transverse moving safety end line 65 of the alignment point I11, when the alignment point I11, the alignment point II 21 move transversely to the second transverse moving safety end line 64 and the first transverse moving safety end line 65, the controller sends a stop or reverse moving command to the moving device 41, similarly, the first longitudinal moving safety end line of the alignment point I11, the alignment point II 21 is established by the imaging point of the alignment point I11, the alignment point II 21 according to the safety margin position of the longitudinal moving of the first fixing device 3, the second fixing device 4, the second transverse moving safety end line 64, the first transverse moving safety end line 65, the first longitudinal moving safety end line and the initial position of the alignment station form a second alignment area 66 and a first alignment area 67, when the imaging point I13 falls outside the first alignment area 67 or the second imaging point 23 falls outside the second alignment area 66, the first alignment point I11, the second alignment point 21 or the first fixing device 3, the second fixing device 3, And the second fixing device 4 can collide with other devices such as a rack and the like to cause safety accidents, and the machine fault is prompted to give an alarm. Obviously, as shown in fig. 5, the first imaging point 13 and the second imaging point 23 fall on the deviation correcting center line, which is a more ideal projection point.

FIG. 6 is a diagram of the imaging state when the second alignment point 21 longitudinally does not reach the longitudinal movement safety margin, the first alignment point 11 transversely reaches the transverse safety margin, and the second alignment point 21 is longitudinally located on the correction center line, and FIG. 7 is a diagram of the first alignment point 11 and the second alignment point 21 in the alignment state, wherein the first imaging point 13 and the second imaging point 23 are symmetrical along the horizontal symmetry line 62. Of course, in the alignment area, the alignment state is obtained as long as the first imaging point 13 and the second imaging point 23 are symmetrical along the horizontal symmetry line 62.

Generally, after the alignment point one 11 and the alignment point two 21 are aligned, the device one 1 and the device two 2 are aligned, but due to various unexpected situations such as the clamping and fixing of the device one 1 or the device two 2 are not in an ideal state and skew, which may cause the device one 1 and the device two 2 to be out of alignment state after the alignment point one 11 and the alignment point two 21 are aligned, another alignment point needs to be selected for alignment calibration, further, on the basis of the embodiments described in fig. 1-4, the device one 1 is further provided with an alignment point three 12, the device 2 is further provided with an alignment point four 22 corresponding to the alignment point three 12, as shown in fig. 8, the alignment schematic diagram of the alignment point three 12 and the alignment point four 22 is performed after the alignment point one 11 and the alignment point two 21 are aligned, as shown in fig. 9, the imaging point three 14 is the imaging point of the alignment point three 12, imaging point four 24 is the imaging point of alignment point four 22; at this time, the controller repeatedly gives instructions to the first fixing device 3 and the second fixing device 4 for longitudinal movement, lateral movement and rotation, and correspondingly gives instructions to the camera device bracket 72 and the double-sided mirror bracket 71 for movement, so that the camera device bracket 72 and the double-sided mirror bracket 71 move to and fro between the alignment positions of the first alignment point 11, the second alignment point 21, the third alignment point 12 and the fourth alignment point 22, and the first alignment point 11 and the second alignment point 21, the third alignment point 12 and the fourth alignment point 22 are all aligned at the respective alignment positions, as shown in fig. 7 and 10.

The registration device based on machine vision of the invention has the following working process: :

s1, fixing the device I1 to be registered on the fixing device I3, and fixing the device II 2 to be registered on the fixing device II 4;

s2, moving the double-sided reflecting mirror 5 to an alignment station between the device to be registered I1 and the device to be registered II 2;

s3, aligning the double-sided reflecting mirror 5 by the camera device 6, and simultaneously shooting a first alignment point 11 on the first device 1 and a second alignment point 21 corresponding to the second device 2 by the double-sided reflecting mirror 5 to form an image in the same imaging frame to obtain a first imaging point 13 and a second imaging point 23;

s4, identifying the image shot in the step S3 to judge the relative position of the first alignment point 11 and the second alignment point 21,

s5, the controller sends a position adjusting command to the first fixing device 3 or/and the second fixing device 4 according to the relative positions of the first alignment point 11 and the second alignment point 21.

Further, in the step S3, when the first imaging point 13 and the second imaging point 23 are not symmetrical along the horizontal symmetry line 62, the controller issues a horizontal or longitudinal movement or rotation command to the first fixing device 3 and/or the second fixing device 4 until the first imaging point 13 and the second imaging point 23 are symmetrical along the horizontal symmetry line 62, and the first alignment point 11 and the second alignment point 21 are aligned.

When the first alignment point 11 is aligned with the second alignment point 21, the relative position of the first device 1 and the second device 2 may be skewed, so that the alignment needs to be continued, further comprising the following steps:

s6, moving the double-sided reflecting mirror 5 to the middle of the third alignment point 12 and the fourth alignment point 22, aligning the double-sided reflecting mirror 5 by the camera device 6, and simultaneously shooting the third alignment point 12 and the fourth alignment point 22 to form an image in the same imaging frame;

s7, the relative positions of the three 12 and four 22 alignment points are judged by identifying the image shot in the step S6,

s8, the controller sends a position adjustment command to the first fixture 3 or/and the second fixture 4 according to the relative positions of the third alignment point 12 and the fourth alignment point 22.

In addition, the invention also establishes a method for judging the coincidence of the first alignment point 11 and the second alignment point 21, in the registration device shown in fig. 2, the camera device 6 comprises a first convex lens 68 and a CCD image sensor 61, the positions of the first convex lens 68 and the CCD image sensor 61 are adjusted in a standard alignment station state, a reflected image formed by the first alignment point 11 and the second alignment point 21 through the double-sided reflector 5 is focused through the first convex lens 68 and then imaged in an imaging frame through the CCD image sensor 61, and when the first imaging point 13 and the second imaging point 23 coincide, the first alignment point 11 and the second alignment point 21 are judged to be aligned in the running process of the registration device based on machine vision when the first imaging point 13 and the second imaging point 23 coincide; when the images of the first imaging point 13 and the second imaging point 23 formed by the CCD image sensor 61 do not coincide, the controller sends a moving instruction to the first fixing device 3 or/and the second fixing device 4 until the images of the first imaging point 13 and the second imaging point 23 coincide. The image coincidence judgment method is simple and has extremely high precision. In the registration apparatus shown in fig. 4, the same is true for the determination method of the coincidence between the first alignment point 11 and the second alignment point 21.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A registration device based on machine vision is characterized by comprising a first fixing device (3), a second fixing device (4), a double-sided reflecting mirror (5) and an image pickup device (6), wherein the first fixing device (3) is used for fixing a first device (1) to be registered, the second fixing device (4) is used for fixing a second device (2) to be registered, an alignment point I (11) is arranged on the first device (1), an alignment point II (21) corresponding to the alignment point I (11) is arranged on the second device (2), the first fixing device (3) or/and the second fixing device (4) can move transversely, longitudinally or/and horizontally, the double-sided reflecting mirror (5) is positioned between the first fixing device (3) and the second fixing device (4), the double-sided reflecting mirror (5) is provided with two reflecting surfaces, one of which is aligned with the alignment point I (11), the other reflecting surface is aligned with the second alignment point (21), the camera device (6) is used for shooting images of the first alignment point (11) and the second alignment point (21) reflected by the double-sided reflector in the same imaging frame at the same time, and the camera device further comprises a controller, and the controller is connected with the camera device, the first fixing device (3) or/and the second fixing device.

2. Machine vision based registration apparatus according to claim 1, characterized in that the two reflective surfaces of the double-sided mirror (5) are at a 90 ° angle.

3. The machine-vision-based registration apparatus according to claim 2, wherein the intersection line (51) of the two reflective surfaces of the double-sided mirror (5) is on the same horizontal line with the photosensitive center of the image pickup device (6).

4. The machine vision-based registration apparatus according to claim 1, wherein the first and second alignment points are in standard alignment, and the first and second imaging points (13, 23) are horizontally symmetrical or coincident along the center of the image capture apparatus in the same imaging frame.

5. The machine-vision-based registration apparatus of claim 1, wherein a collimating mirror is further disposed between the reflective surface and the first and second alignment points, and further comprising an auxiliary light source directed to the first and second alignment points.

6. The machine-vision-based registration apparatus according to claim 1, wherein the camera device (6) comprises a first convex lens (68) for receiving the light emitted from the double-sided mirror, and a CCD image sensor (61).

7. The machine-vision-based registration apparatus according to claim 6, further comprising a second lens (69), wherein the second lens (69) is disposed between the first convex lens (68) and the CCD image sensor (61).

8. The machine-vision-based registration apparatus of claim 1, wherein the device one (1) is further provided with an alignment point three (12), and the device two (2) is further provided with an alignment point four (22) corresponding to the alignment point three (12).

9. The machine-vision-based registration apparatus according to claim 1, further comprising a double-sided mirror holder (71), wherein the double-sided mirror (5) is disposed on the double-sided mirror holder (71), and the double-sided mirror holder (71) is movable laterally and longitudinally.

10. The machine-vision-based registration apparatus according to claim 9, further comprising a camera holder (72), wherein the camera (6) is disposed on the camera holder (72), and the camera holder (72) is movable laterally and longitudinally.