CN117593382A

CN117593382A - Dual-camera positioning method, device and system, controller and jet printing equipment

Info

Publication number: CN117593382A
Application number: CN202311543979.2A
Authority: CN
Inventors: 余思云
Original assignee: Shenzhen Hongrui Precision Digital Jet Printing Equipment Co ltd
Current assignee: Shenzhen Hongrui Precision Digital Jet Printing Equipment Co ltd
Priority date: 2023-11-17
Filing date: 2023-11-17
Publication date: 2024-02-23

Abstract

The embodiment of the invention relates to the technical field of jet printing and discloses a double-camera positioning method, a device and a system, a controller and jet printing equipment.

Description

Dual-camera positioning method, device and system, controller and jet printing equipment

Technical Field

The embodiment of the invention relates to the technical field of spray printing, in particular to a double-camera positioning method, a double-camera positioning device, a double-camera positioning system, a double-camera positioning controller and spray printing equipment.

Background

In the field of PCB (Printed Circuit Board ) production, the accuracy of digital inkjet printing devices is generally required to be within 100 microns, while alignment cameras are one of the standard of inkjet printing devices. Currently, there are two general types of alignment systems on the market: a single-camera motion control scheme is characterized in that a camera is installed on a three-dimensional motion mechanism to realize positioning shooting, and an image is subjected to transformation operation or a table top is subjected to physical motion according to alignment data so that the positions of a jet printing plate material object and a jet printing image are consistent; the other is a scheme of closed-loop control of the multiple cameras and the alignment table top, and the multiple cameras are relatively fixed at the moment, and the positions of the spray printing plate material objects and the spray printing images are consistent through rotation or horizontal movement of the alignment table top.

In implementing the embodiments of the present invention, the applicant has found that at least the following problems exist in the above related art: for the scheme of single-camera motion control, although the single-camera motion control has the advantages of simple structure, the single-camera motion control is low in efficiency, and each target point on the jet printing plate needs to be aligned in sequence, so that the speed cannot be increased in parallel; for the scheme of closed-loop control of multiple cameras and an alignment table top, the alignment system is complex in structure, high in assembly and maintenance cost, particularly a camera fixing mode is critical, on one hand, the cameras are required to be moved to adapt to plates with different sizes, on the other hand, the cameras cannot move relatively in the alignment process, in addition, because closed-loop control is required, multiple photographing and alignment are required, and even multiple cameras cannot necessarily obtain high efficiency.

Disclosure of Invention

The embodiment of the application provides a dual-camera positioning method, device and system, a controller and jet printing equipment, which can solve the problem that the existing alignment process cannot be compatible with high efficiency and the system structure is simplified.

The aim of the embodiment of the invention is realized by the following technical scheme:

in order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a dual-camera alignment method, which is applied to a dual-camera alignment system, where the dual-camera alignment system includes a first camera, a second camera, and an alignment stage, where the alignment stage is used to place a jet printing plate, and the method includes: based on the calibration reference point on the alignment table, the first camera and the second camera are controlled to execute calibration actions so as to obtain calibration data; and controlling the first camera and the second camera to move to a target point on the jet printing plate to perform target alignment according to the calibration data so as to obtain alignment data.

In some embodiments, the controlling the first camera and the second camera to perform calibration actions based on the calibration reference point on the alignment stage to obtain calibration data includes: controlling the first camera and the second camera to move to an origin and recording origin coordinates; controlling the first camera and the second camera to respectively move to the position right above the calibration reference point on the alignment table and recording the coordinate of the reference point; calculating the distance from the origin to a calibration reference point of the first camera according to the origin coordinate and the reference point coordinate recorded by the first camera; calculating the distance from the origin to a calibration reference point of the second camera according to the origin coordinate and the reference point coordinate recorded by the second camera; and calculating the origin distance between the first camera and the second camera as the calibration data according to the distance from the origin to the calibration reference point of the first camera and the distance from the origin to the calibration reference point of the second camera.

In some embodiments, the first camera and the second camera are configured to be movable along an X-axis and a Y-axis, the X-axis and the Y-axis are perpendicular to each other and are both parallel to the alignment stage, and there is an origin of the first camera and an origin of the second camera both located on the X-axis, the calculation formula for calculating the distance from the origin to the calibration reference point when the calibration reference point is located directly below a line connecting the origin of the first camera and the origin of the second camera is: the method comprises the steps of (1) obtaining a first camera, wherein (1) is an original point-to-calibration reference point distance of the first camera, (1) is an X coordinate value of a reference point coordinate recorded by the first camera right above the calibration reference point, and (10) is an X coordinate value of an original point coordinate recorded by the first camera right above the original point of the first camera, and a calculation formula for calculating the original point-to-calibration reference point distance of the second camera is as follows: the method comprises the steps of (1) obtaining a coordinate value of an origin of a first camera, wherein (X2) = |x21-x20|, wherein (X2|) is a distance from the origin to a calibration reference point of the second camera, X21 is an X coordinate value of a reference point coordinate recorded by the second camera right above the calibration reference point, X20 is an X coordinate value of the origin coordinate recorded by the second camera right above the origin of the second camera, and a calculation formula for calculating the origin distance between the first camera and the second camera is as follows: d= |x1|+|x2|, where D is the origin distance between the first camera and the second camera.

In some embodiments, the controlling the first camera and the second camera to move to a target point on the inkjet printing plate to perform target alignment according to the calibration data, so as to obtain alignment data includes: judging whether the first camera and the second camera can be aligned at the same time; if yes, controlling the first camera and the second camera to move to a pair of target points at the same time, photographing, and obtaining target deviation through visual calculation; if not, controlling the first camera and the second camera to move to a pair of target points respectively, photographing, and obtaining target deviation through visual calculation; and when the target deviation of all the target points on the jet printing plate is obtained, storing the target deviation of all the target points as alignment data.

In some embodiments, prior to determining whether the first camera and the second camera are capable of simultaneous alignment, the method further comprises: and acquiring theoretical coordinates of the target point on the jet printing plate and converting the theoretical coordinates into camera motion coordinates corresponding to the first camera and the second camera, wherein the camera motion coordinates of the second camera are calculated based on the calibration data and the camera motion coordinates of the first camera, and the camera motion coordinates are used for driving the first camera and the second camera to move to the position above the target point.

In some embodiments, when 2N target points are provided on the inkjet printing plate, the 2N target points include N pairs of target points, where N is a positive integer greater than or equal to 2, and the determining whether the first camera and the second camera can be aligned at the same time includes: judging whether Y coordinate values of two target points in each pair of target points are the same or not; if the first camera and the second camera are identical, determining a pair of target points which can be aligned at the same time; if the first camera and the second camera are different, a pair of target points which cannot be aligned at the same time are determined.

In some embodiments, the controlling the first camera and the second camera to walk to a pair of target points and take a picture simultaneously, and obtaining the target deviation through visual calculation includes: controlling the first camera to move above a first target point of the pair of target points while controlling the second camera to move above a second target point of the pair of target points; controlling the first camera to acquire an image containing the first target point and controlling the second camera to acquire an image containing the second target point; acquiring actual coordinates of the first target point according to the image of the first target point, and acquiring actual coordinates of the second target point according to the image of the second target point; determining target deviation of the first target point according to the actual coordinates and the theoretical coordinates of the first target point; and determining target deviation of the second target point according to the actual coordinates and the theoretical coordinates of the second target point.

In some embodiments, the controlling the first camera and the second camera to respectively walk to a pair of target points and take a picture, and obtaining the target deviation through visual calculation includes: controlling the first camera to move above a first target point of the pair of target points; controlling the first camera to acquire an image containing the first target point; acquiring the actual coordinates of the first target point according to the image of the first target point; determining target deviation of the first target point according to the actual coordinates and the theoretical coordinates of the first target point; controlling the second camera to move above a second target point of the pair of target points; controlling the second camera to acquire an image containing the second target point; acquiring the actual coordinates of the second target point according to the image of the second target point; and determining target deviation of the second target point according to the actual coordinates and the theoretical coordinates of the second target point.

In order to solve the above technical problem, in a second aspect, an embodiment of the present invention provides a dual-camera alignment device, which is applied to a dual-camera alignment system, where the dual-camera alignment system includes a first camera, a second camera, and an alignment stage, where the alignment stage is used to place a jet printing plate, and the device includes: the calibration unit is used for controlling the first camera and the second camera to execute calibration action based on the calibration reference point on the alignment table so as to obtain calibration data; and the alignment unit is used for controlling the first camera and the second camera to move to a target point on the jet printing plate to perform target alignment according to the calibration data so as to obtain alignment data.

To solve the above technical problem, in a third aspect, an embodiment of the present invention provides a controller, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in the first aspect above.

To solve the above technical problem, in a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where computer-executable instructions are stored, where the computer-executable instructions are configured to cause a computer to perform the method according to the first aspect.

To solve the above technical problem, in a fifth aspect, an embodiment of the present invention further provides a computer program product, which includes a computer program stored on a computer readable storage medium, the computer program including program instructions, which when executed by a computer, cause the computer to perform the method as described in the first aspect above.

In order to solve the above technical problem, in a sixth aspect, an embodiment of the present invention further provides a dual camera alignment system, including: the device comprises a first camera, a second camera, a first driving mechanism, a second driving mechanism, an alignment table and a controller according to the third aspect, wherein the controller is respectively in communication connection with the first camera, the second camera, the first driving mechanism and the second driving mechanism, the alignment table is used for placing a jet printing plate, a plurality of target mark points are arranged on the jet printing plate, the first driving mechanism is connected with the first camera and used for driving the first camera to move along an X axis and/or a Y axis above the alignment table, the second driving mechanism is connected with the second camera and used for driving the second camera to move along the X axis and/or the Y axis above the alignment table, the X axis and the Y axis are mutually perpendicular, and the X axis and the Y axis are parallel to the alignment table.

In order to solve the above technical problem, in a seventh aspect, an embodiment of the present invention further provides a jet printing apparatus, including: the dual camera alignment system of the sixth aspect.

Compared with the prior art, the invention has the beneficial effects that: compared with the prior art, the embodiment of the invention provides a dual-camera positioning method, a device and a system, a controller and jet printing equipment, wherein the dual-camera positioning system comprises a first camera, a second camera and a positioning table, the positioning table is used for placing a jet printing plate, the method comprises the steps of firstly controlling the first camera and the second camera to execute calibration action based on a calibration reference point on the positioning table so as to obtain calibration data, and then controlling the first camera and the second camera to move to a target point on the jet printing plate according to the calibration data so as to perform target alignment so as to obtain the alignment data.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements/modules and steps, and in which the figures do not include the true to scale unless expressly indicated by the contrary reference numerals.

FIG. 1 is a flowchart of a dual camera alignment method according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a step S100 in the dual camera alignment method shown in FIG. 1;

FIG. 3 is a schematic illustration of a calibration process in the dual camera alignment method of FIG. 2;

FIG. 4 is a schematic flow chart of a step S200 in the dual-camera alignment method shown in FIG. 1;

FIG. 5 is a schematic illustration of a positioning process in the dual camera alignment method of FIG. 4;

FIG. 6 is a schematic diagram showing a sub-process of step S210 in the dual-camera alignment method shown in FIG. 4;

FIG. 7 is a schematic diagram showing a sub-process of step S220 in the dual camera alignment method of FIG. 4;

FIG. 8 is a schematic flow chart of step S230 in the dual camera alignment method of FIG. 4;

FIG. 9 is a schematic diagram of another sub-process of step S200 in the dual-camera alignment method of FIG. 1;

fig. 10 is a block diagram of a dual camera alignment apparatus according to a second embodiment of the present invention;

fig. 11 is a schematic hardware structure of a controller according to a third embodiment of the present invention;

fig. 12 is a block diagram of a dual-camera alignment system according to a fourth embodiment of the present invention;

fig. 13 is a block diagram of a jet printing apparatus according to a fifth embodiment of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It should be noted that, if not conflicting, the various features of the embodiments of the present invention may be combined with each other, which are all within the protection scope of the present application. In addition, while functional block division is performed in a device diagram and logical order is shown in a flowchart, in some cases, the steps shown or described may be performed differently than block division in a device, or order in a flowchart. Moreover, the words "first," "second," and the like as used herein do not limit the data and order of execution, but merely distinguish between identical or similar items that have substantially the same function and effect. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

In order to solve the problem that the existing alignment process cannot achieve high efficiency and simplify the system structure, the embodiment of the invention provides a dual-camera positioning method, a device and a system, a controller and jet printing equipment.

In particular, embodiments of the present invention are further described below with reference to the accompanying drawings.

Example 1

The embodiment of the invention provides a dual-camera alignment method, which is applied to a dual-camera alignment system, the dual-camera alignment system comprises a first camera, a second camera and an alignment table, the alignment table is used for placing a jet printing plate, please refer to fig. 1, which shows a flow of the dual-camera alignment method provided by the embodiment of the invention, the method comprises the following steps:

Step S100: based on the calibration reference point on the alignment table, the first camera and the second camera are controlled to execute calibration actions so as to obtain calibration data;

in the embodiment of the invention, the camera is first calibrated to obtain calibration data, and the calibration data can be used for calculating the motion coordinate of one camera according to the motion coordinate of the other camera during positioning. The calibration data is specifically a distance between origins of the two cameras. When the calibration action is executed, the dual cameras are controlled to be electrified on the dual shafts to find the origin, then the dual cameras are respectively moved to the same calibration reference point, and the coordinates are recorded, so that the origin distance of the dual cameras is calculated, and the calibration is realized.

Specifically, please refer to fig. 2 and 3 together, wherein fig. 2 shows a sub-flow of step S100 in the dual-camera alignment method shown in fig. 1, fig. 3 shows a schematic diagram of the calibration process in the dual-camera alignment method shown in fig. 2, in the example shown in fig. 3, the first camera 20 and the second camera 30 are configured to be movable along an X-axis and a Y-axis, the X-axis and the Y-axis are perpendicular to each other and are parallel to the alignment stage 60, and the origin O1 of the first camera 20 and the origin O2 of the second camera 30 are both located on the X-axis, and the calibration reference point M is located directly below a connecting line between the origin O1 of the first camera 20 and the origin O2 of the second camera 30, so as to control the first camera and the second camera to perform the calibration action based on the calibration reference point on the alignment stage, which includes:

Step S110: controlling the first camera and the second camera to move to an origin and recording origin coordinates;

in the embodiment of the present invention, first, as shown in fig. 3, it is necessary to control the first camera 20 to move to the origin O1 and record the coordinates O1 (X10, Y10) at the origin O1; at the same time or at a different time, it is also necessary to control the second camera 30 to move to the origin O2 and record the coordinates O2 (X20, Y20) at the origin O2. In the example shown in fig. 3, since the origin O1 and the origin O2 are both on the same X axis, y10=y20. As shown in fig. 3, the origin O1 of the first camera 20 is on the left, right in the positive direction, and the origin O2 of the second camera 30 is on the right, left in the positive direction. In general, the origin O1 of the first camera 20 and the origin O2 of the second camera 30, that is, the origins of the first camera 20 and the second camera 30 on the grating scale, may be achieved by performing a power-on original searching operation.

Step S120: controlling the first camera and the second camera to respectively move to the position right above the calibration reference point on the alignment table and recording the coordinate of the reference point;

next, a fixed point M is also typically found on the table top of the alignment table 60 as a calibration reference point, which in the example shown in fig. 3 is located directly below the line connecting the origin O1 of the first camera 20 and the origin O2 of the second camera 30. In operation, it is necessary to first move the first camera 20 to a position directly above the calibration reference point M so that the center of the field of view of the first camera 20 is aligned with the calibration reference point, and then record the coordinates M1 (X11, Y11) of the first camera 20 at that time. Since the origin O1 of the first camera 20 is also usually the origin of the entire camera coordinate system, the absolute value |x11| at this time is the distance |x1| from the origin O1 to the calibration reference point M of the first camera 20. Similarly, after the first camera 20 has recorded the coordinates of the reference point, the first camera 20 is controlled to move away, and the second camera 30 is controlled to move right above the position of the calibration reference point M, so that the center of the field of view of the second camera 30 is registered with the calibration reference point, and then the coordinates M2 (X21, Y21) of the second camera 30 at that time are recorded. In the example shown in fig. 3, since the calibration reference point M is on the same X-axis as the origin O1 and the origin O2, y11=y21=y10=y20, and the Y-coordinate value can be ignored.

Step S130: calculating the distance from the origin to a calibration reference point of the first camera according to the origin coordinate and the reference point coordinate recorded by the first camera;

after obtaining the origin coordinates O1 (X10, Y10) and the reference point coordinates M1 (X11, Y11) recorded by the first camera 20, and combining y11=y21=y10=y20, a distance from the origin O1 to the calibration reference point M of the first camera 20 may be obtained, specifically, a calculation formula for calculating a distance from the origin to the calibration reference point of the first camera is as follows: and (3) X1 I= |X 11-X10I, wherein I X1I is the distance from the origin to the calibration reference point of the first camera, X11 is the X coordinate value of the reference point coordinate recorded by the first camera right above the calibration reference point, and X10 is the X coordinate value of the origin coordinate recorded by the first camera right above the origin of the first camera.

Step S140: calculating the distance from the origin to a calibration reference point of the second camera according to the origin coordinate and the reference point coordinate recorded by the second camera;

after obtaining the origin coordinates O2 (X20, Y20) and the reference point coordinates M2 (X21, Y21) recorded by the second camera 30, and combining y11=y21=y10=y20, a distance from the origin O2 to the calibration reference point M of the second camera may be obtained, specifically, a calculation formula for calculating a distance from the origin to the calibration reference point of the second camera is as follows: and (2) X2 = |X21-X20|, wherein |X2| is the distance from the origin to the calibration reference point of the second camera, X21 is the X coordinate value of the reference point coordinate recorded by the second camera right above the calibration reference point, and X20 is the X coordinate value of the origin coordinate recorded by the second camera right above the origin of the second camera.

Step S150: and calculating the origin distance between the first camera and the second camera as the calibration data according to the distance from the origin to the calibration reference point of the first camera and the distance from the origin to the calibration reference point of the second camera.

After obtaining the distance |x1| from the origin to the calibration reference point of the first camera and the distance |x2| from the origin to the calibration reference point of the second camera, the origin distance between the origin O1 of the first camera 20 and the origin O2 of the second camera 30 can be obtained, specifically, the calculation formula for calculating the origin distance between the first camera and the second camera is as follows: d= |x1|+|x2|, where D is the origin distance between the first camera and the second camera. And saving the origin distance D between the first camera and the second camera as calibration data. The calibration operation in the above steps is performed only once for each and every tuning, and the calibration operation can be specifically adjusted according to actual conditions.

Step S200: and controlling the first camera and the second camera to move to a target point on the jet printing plate to perform target alignment according to the calibration data so as to obtain alignment data.

In the embodiment of the invention, after the calibration data is obtained, the alignment action can be started, wherein the alignment is the action required to be executed by the panel of each jet printing plate before printing/jet printing is executed, the purpose is to obtain the position difference between the physical plate and the theoretical value, and the deviation value is obtained as the alignment data usually by obtaining the actual coordinates and the theoretical coordinates of the target point on the jet printing plate and comparing. When the alignment action is executed, whether the two cameras can be aligned simultaneously is judged first, if yes, the two cameras are controlled to execute the simultaneous alignment action to obtain alignment data of a pair of target points, and if not, the two cameras are controlled to execute the alignment action once to obtain the alignment data of a pair of target points. Wherein, to the condition that the twin camera can counterpoint simultaneously, can improve counterpoint efficiency greatly.

Specifically, when 2N target points are arranged on the spray printing plate, the 2N target points comprise N pairs of target points, wherein N is a positive integer more than or equal to 2. Referring to fig. 4 and 5, fig. 4 shows a sub-flow of step S200 in the dual-camera alignment method shown in fig. 1, fig. 5 shows a schematic diagram of the positioning process in the dual-camera alignment method shown in fig. 4, in the example shown in fig. 5, the first camera and the second camera are configured to be movable along an X axis and a Y axis, the X axis and the Y axis are perpendicular to each other and are parallel to the alignment table, and in the example shown in fig. 5, four target spots P1, P2, P3, and P4 are disposed on the spray printing plate, and in other embodiments, there may be different numbers, which may be specifically disposed according to practical needs. And controlling the first camera and the second camera to move to a target point on the jet printing plate to perform target alignment according to the calibration data so as to obtain alignment data, wherein the method comprises the following steps of:

Step S210: judging whether the first camera and the second camera can be aligned at the same time; if yes, jump to step S220; if not, jumping to step S230;

in the embodiment of the invention, whether the target points can be aligned at the same time can be judged in a mode that whether the coordinates of the target points have the same numerical value as one coordinate axis. Specifically, referring to fig. 6, a sub-flow of step S210 in the dual-camera alignment method shown in fig. 4 is shown, and the determining whether the first camera and the second camera can be aligned simultaneously includes:

step S211: judging whether Y coordinate values of two target points in each pair of target points are the same or not; if the two types are the same, the step S212 is skipped; if not, jumping to step S213;

step S212: determining a pair of target points which are simultaneously aligned with the first camera and the second camera;

step S213: and determining a pair of target points for which the first camera and the second camera cannot be aligned at the same time.

Taking fig. 5 as an example, it may be determined whether the Y coordinate values of the target points P1 and P2 are the same, if so, it is determined that the target points P1 and P2 may be aligned at the same time, and at this time, the motion coordinate of the second camera may be determined by combining the calibration data when determining the motion coordinate of the first camera; if not, it is determined that the target points P1 and P2 cannot be aligned at the same time.

Step S220: controlling the first camera and the second camera to move to a pair of target points at the same time, photographing, and obtaining target deviation through visual calculation;

if the first camera and the second camera can be aligned at the same time, the first camera and the second camera can be controlled to move to a pair of target points which can be aligned at the same time and take a photograph at the same time, and the target deviation is calculated visually, specifically, please refer to fig. 7, which shows a sub-flow of step S220 in the dual-camera alignment method shown in fig. 4, the controlling the first camera and the second camera to move to a pair of target points at the same time and take a photograph, and the target deviation is obtained through visual calculation, including:

step S221: controlling the first camera to move above a first target point of the pair of target points while controlling the second camera to move above a second target point of the pair of target points;

step S222: controlling the first camera to acquire an image containing the first target point and controlling the second camera to acquire an image containing the second target point;

step S223: acquiring actual coordinates of the first target point according to the image of the first target point, and acquiring actual coordinates of the second target point according to the image of the second target point;

Step S224: determining target deviation of the first target point according to the actual coordinates and the theoretical coordinates of the first target point;

step S225: and determining target deviation of the second target point according to the actual coordinates and the theoretical coordinates of the second target point.

Step S230: controlling the first camera and the second camera to move to a pair of target points respectively, photographing, and obtaining target deviation through visual calculation;

if the first camera and the second camera cannot be aligned at the same time, the alignment of the target points can only be performed one by one, the first camera and the second camera are required to be controlled to be aligned on the target points in a time-sharing manner to take a picture respectively, and the target deviation is calculated visually, concretely, please refer to fig. 8, which shows a sub-process of step S230 in the dual-camera alignment method shown in fig. 4, the controlling the first camera and the second camera to be aligned on a pair of target points respectively and take a picture respectively, and the target deviation is obtained through visual calculation, including:

step S231: controlling the first camera to move above a first target point of the pair of target points;

step S232: controlling the first camera to acquire an image containing the first target point;

Step S233: acquiring the actual coordinates of the first target point according to the image of the first target point;

step S234: determining target deviation of the first target point according to the actual coordinates and the theoretical coordinates of the first target point;

step S235: controlling the second camera to move above a second target point of the pair of target points;

step S236: controlling the second camera to acquire an image containing the second target point;

step S237: acquiring the actual coordinates of the second target point according to the image of the second target point;

step S238: and determining target deviation of the second target point according to the actual coordinates and the theoretical coordinates of the second target point.

Step S240: and when the target deviation of all the target points on the jet printing plate is obtained, storing the target deviation of all the target points as alignment data.

In the embodiment of the invention, after the alignment of all target points on the jet printing plate is completed, the target deviation of each target point is stored as alignment data. For example, in the example shown in fig. 5, the target alignment of the target points P1 and P2 may be completed first, then the target alignment of the target points P3 and P4 may be completed through the same step, and the alignment of all the target points on the inkjet board 70 may be completed, so as to obtain the actual and theoretical coordinate deviations of the four target points. And then entering a post-process for printing, wherein the post-process performs conversion processing on the image or performs rotation and translation movement on the table top of the alignment table, so that the spray printing work can be performed after the object is matched with the image.

Further, referring to fig. 9, another sub-flow of step S200 in the dual-camera alignment method shown in fig. 1 is shown, before determining whether the first camera and the second camera can be aligned simultaneously, the method further includes:

step S201: acquiring theoretical coordinates of the target point on a jet printing plate and converting the theoretical coordinates into camera motion coordinates corresponding to the first camera and the second camera;

the camera motion coordinates of the second camera are calculated based on the calibration data and the camera motion coordinates of the first camera, and the camera motion coordinates are used for driving the first camera and the second camera to move to the position above the target point.

In the embodiment of the present invention, if the Y coordinate values of the target points P1 and P2 are the same, it is determined that the target points P1 and P2 may be aligned at the same time, and then the motion coordinates (X23, Y23) of the second camera, specifically, x13=d-X23 and y13=y23, may be determined in combination with calibration data, that is, the origin distance D between the first camera and the second camera, when determining the motion coordinates (X13, Y13) of the first camera, as described above, as described in step S210.

Example two

The embodiment of the invention provides a dual-camera alignment device 100, the dual-camera alignment device 100 is applied to a dual-camera alignment system, the dual-camera alignment system includes a first camera, a second camera and an alignment stage, the alignment stage is used for placing a jet printing plate, please refer to fig. 10, which shows a block diagram of the dual-camera alignment device 100 provided by the embodiment of the invention, the dual-camera alignment device 100 includes: a calibration unit 110 and an alignment unit 120.

The calibration unit 110 is configured to control the first camera and the second camera to perform a calibration action based on a calibration reference point on the alignment stage, so as to obtain calibration data; the alignment unit 120 is configured to control the first camera and the second camera to move to a target point on the inkjet printing plate to perform target alignment according to the calibration data, so as to obtain alignment data.

Further, the calibration unit 110 is further configured to control the first camera and the second camera to move to an origin and record origin coordinates; controlling the first camera and the second camera to respectively move to the position right above the calibration reference point on the alignment table and recording the coordinate of the reference point; calculating the distance from the origin to a calibration reference point of the first camera according to the origin coordinate and the reference point coordinate recorded by the first camera; calculating the distance from the origin to a calibration reference point of the second camera according to the origin coordinate and the reference point coordinate recorded by the second camera; and calculating the origin distance between the first camera and the second camera as the calibration data according to the distance from the origin to the calibration reference point of the first camera and the distance from the origin to the calibration reference point of the second camera.

Further, the first camera and the second camera are configured to be movable along an X axis and a Y axis, the X axis and the Y axis are perpendicular to each other and are parallel to the alignment stage, and when the origin of the first camera and the origin of the second camera are both located on the X axis, the calibration reference point is located directly below a line connecting the origin of the first camera and the origin of the second camera, the calculation formula for calculating the distance from the origin to the calibration reference point is: the method comprises the steps of (1) obtaining a first camera, wherein (1) is an original point-to-calibration reference point distance of the first camera, (1) is an X coordinate value of a reference point coordinate recorded by the first camera right above the calibration reference point, and (10) is an X coordinate value of an original point coordinate recorded by the first camera right above the original point of the first camera, and a calculation formula for calculating the original point-to-calibration reference point distance of the second camera is as follows: the method comprises the steps of (1) obtaining a coordinate value of an origin of a first camera, wherein (X2) = |x21-x20|, wherein (X2|) is a distance from the origin to a calibration reference point of the second camera, X21 is an X coordinate value of a reference point coordinate recorded by the second camera right above the calibration reference point, X20 is an X coordinate value of the origin coordinate recorded by the second camera right above the origin of the second camera, and a calculation formula for calculating the origin distance between the first camera and the second camera is as follows: d= |x1|+|x2|, where D is the origin distance between the first camera and the second camera.

Further, the alignment unit 120 is further configured to determine whether the first camera and the second camera can be aligned at the same time; if yes, controlling the first camera and the second camera to move to a pair of target points at the same time, photographing, and obtaining target deviation through visual calculation; if not, controlling the first camera and the second camera to move to a pair of target points respectively, photographing, and obtaining target deviation through visual calculation; and when the target deviation of all the target points on the jet printing plate is obtained, storing the target deviation of all the target points as alignment data.

Further, the alignment unit 120 is further configured to obtain a theoretical coordinate of the target point on the jet printing plate and convert the theoretical coordinate into camera motion coordinates corresponding to the first camera and the second camera, where the camera motion coordinates of the second camera are calculated based on the calibration data and the camera motion coordinates of the first camera, and the camera motion coordinates are used for driving the first camera and the second camera to move to above the target point.

Further, when 2N target points are provided on the inkjet printing plate, the 2N target points include N pairs of target points, where N is a positive integer greater than or equal to 2, and the alignment unit 120 is further configured to determine whether Y coordinate values of two target points in each pair of target points are the same; if the first camera and the second camera are identical, determining a pair of target points which can be aligned at the same time; if the first camera and the second camera are different, a pair of target points which cannot be aligned at the same time are determined.

Further, the alignment unit 120 is further configured to control the first camera to move above a first target point of the pair of target points, and control the second camera to move above a second target point of the pair of target points; controlling the first camera to acquire an image containing the first target point and controlling the second camera to acquire an image containing the second target point; acquiring actual coordinates of the first target point according to the image of the first target point, and acquiring actual coordinates of the second target point according to the image of the second target point; determining target deviation of the first target point according to the actual coordinates and the theoretical coordinates of the first target point; and determining target deviation of the second target point according to the actual coordinates and the theoretical coordinates of the second target point.

Further, the alignment unit 120 is further configured to control the first camera to move above a first target point of the pair of target points; controlling the first camera to acquire an image containing the first target point; acquiring the actual coordinates of the first target point according to the image of the first target point; determining target deviation of the first target point according to the actual coordinates and the theoretical coordinates of the first target point; controlling the second camera to move above a second target point of the pair of target points; controlling the second camera to acquire an image containing the second target point; acquiring the actual coordinates of the second target point according to the image of the second target point; and determining target deviation of the second target point according to the actual coordinates and the theoretical coordinates of the second target point.

Example III

The embodiment of the present invention further provides a controller 10, please refer to fig. 11, which illustrates a hardware structure of the controller 10 capable of performing the dual camera alignment method described in fig. 1 to 9.

The controller 10 includes: at least one processor 11; and a memory 12 communicatively coupled to the at least one processor 11, one processor 11 being illustrated in fig. 11. The memory 12 stores instructions executable by the at least one processor 11 to enable the at least one processor 11 to perform the dual camera alignment method described above with respect to fig. 1-9. The processor 11 and the memory 12 may be connected by a bus or otherwise, in fig. 11 by way of example.

The memory 12 is used as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules corresponding to the dual camera alignment method in the embodiments of the present application, for example, the respective modules shown in fig. 10. The processor 11 executes various functional applications of the controller and data processing by running non-volatile software programs, instructions and modules stored in the memory 12, i.e. implements the two camera alignment method of the method embodiments described above.

The memory 12 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created from the use of the dual camera alignment apparatus, etc. In addition, memory 12 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 12 may optionally include memory located remotely from processor 11, which may be connected to the dual camera alignment device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 12 and when executed by the one or more processors 11 perform the dual camera alignment method of any of the method embodiments described above, for example, performing the method steps of fig. 1-9 described above, implementing the functions of the modules and units of fig. 10.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present application.

Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions which are executed by one or more processors, e.g., perform the method steps of fig. 1-9 described above, implementing the functions of the modules in fig. 10.

Embodiments of the present application also provide a computer program product, including a computer program stored on a non-volatile computer readable storage medium, where the computer program includes program instructions, when executed by a computer, cause the computer to perform the dual camera alignment method in any of the method embodiments described above, for example, perform the method steps described above in fig. 1 to 9, and implement the functions of each module in fig. 10.

Example IV

An embodiment of the present invention provides a dual-camera alignment system 10A, please refer to fig. 12, which shows a block diagram of the dual-camera alignment system 10A provided by the embodiment of the present invention, and further, an actual device of the dual-camera alignment system 10A may be as shown in fig. 3 and 5, and may be specifically adjusted according to the actual situation, without being limited by the embodiment of the present invention, the dual-camera alignment system 10A includes: the first camera 20, the second camera 30, the first drive mechanism 40, the second drive mechanism 50, the alignment stage 60, and the controller 10 as described in embodiment three.

The controller 10 is respectively in communication connection with the first camera 20, the second camera 30, the first driving mechanism 40, and the second driving mechanism 50, the alignment stage 60 is used for placing a jet printing plate 70, and a plurality of target points P are disposed on the jet printing plate 70. The first driving mechanism 40 is connected to the first camera 20 and is used for driving the first camera 20 to move along an X-axis and/or a Y-axis above the alignment table 60, and the second driving mechanism 50 is connected to the second camera 30 and is used for driving the second camera 30 to move along an X-axis and/or a Y-axis above the alignment table 60, wherein the X-axis and the Y-axis are perpendicular to each other, and the X-axis and the Y-axis are parallel to the alignment table 60.

Example five

An embodiment of the present invention provides a jet printing apparatus 1, please refer to fig. 13, which shows a block diagram of a jet printing apparatus 1 provided in an embodiment of the present invention, where the jet printing apparatus 1 includes a dual-camera alignment system 10A according to the fourth embodiment.

The inkjet printing apparatus 1 provided in the embodiment of the present invention can implement the dual-camera alignment method provided in the first embodiment by using the dual-camera alignment system 10A provided in the fourth embodiment, so as to achieve efficient positioning. Wherein, because the dual-camera alignment system 10A has a simple structure, the jet printing device 1 can effectively reduce the assembly and maintenance costs; the dual camera alignment method provided in the first embodiment adopts dual camera positioning, and the efficiency is doubled compared with that of a single camera system.

The embodiment of the invention provides a double-camera positioning method, a device and a system, a controller and jet printing equipment, wherein the double-camera positioning system comprises a first camera, a second camera and a positioning table, the positioning table is used for placing a jet printing plate, the method comprises the steps of firstly controlling the first camera and the second camera to execute calibration action based on a calibration reference point on the positioning table so as to obtain calibration data, and then controlling the first camera and the second camera to move to a target point on the jet printing plate to conduct target alignment according to the calibration data so as to obtain alignment data.

It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Those skilled in the art will appreciate that all or part of the processes implementing the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the program may include processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A dual camera alignment method, applied to a dual camera alignment system, the dual camera alignment system including a first camera, a second camera, and an alignment stage, the alignment stage being for placing a jet printing plate, the method comprising:

based on the calibration reference point on the alignment table, the first camera and the second camera are controlled to execute calibration actions so as to obtain calibration data;

and controlling the first camera and the second camera to move to a target point on the jet printing plate to perform target alignment according to the calibration data so as to obtain alignment data.

2. The dual camera alignment method of claim 1,

the controlling the first camera and the second camera to execute calibration actions based on the calibration reference point on the alignment table to obtain calibration data includes:

controlling the first camera and the second camera to move to an origin and recording origin coordinates;

controlling the first camera and the second camera to respectively move to the position right above the calibration reference point on the alignment table and recording the coordinate of the reference point;

calculating the distance from the origin to a calibration reference point of the first camera according to the origin coordinate and the reference point coordinate recorded by the first camera;

Calculating the distance from the origin to a calibration reference point of the second camera according to the origin coordinate and the reference point coordinate recorded by the second camera;

and calculating the origin distance between the first camera and the second camera as the calibration data according to the distance from the origin to the calibration reference point of the first camera and the distance from the origin to the calibration reference point of the second camera.

3. The dual camera alignment method of claim 2,

the first camera and the second camera are configured to be movable along an X-axis and a Y-axis, the X-axis and the Y-axis are perpendicular to each other and are both parallel to the alignment stage, and there is an origin of the first camera and an origin of the second camera both located on the X-axis, the calibration reference point is located directly under a line connecting between the origin of the first camera and the origin of the second camera,

the calculation formula for calculating the distance from the origin to the calibration reference point of the first camera is as follows: |x1|= |x11-x10|, wherein |x1| is a distance from an origin to a calibration reference point of the first camera, X11 is an X coordinate value of a reference point coordinate recorded by the first camera directly above the calibration reference point, X10 is an X coordinate value of an origin coordinate recorded by the first camera at the origin of the first camera,

The calculation formula for calculating the distance from the origin to the calibration reference point of the second camera is as follows: |x2|= |x21-x20|, wherein |x2| is a distance from an origin to a calibration reference point of the second camera, X21 is an X coordinate value of a reference point coordinate recorded by the second camera right above the calibration reference point, X20 is an X coordinate value of an origin coordinate recorded by the second camera right above the origin of the second camera,

the calculation formula for calculating the origin distance between the first camera and the second camera is as follows: d= |x1|+|x2|, where D is the origin distance between the first camera and the second camera.

4. A dual camera alignment method according to any one of claims 1-3,

and controlling the first camera and the second camera to move to a target point on the jet printing plate to perform target alignment according to the calibration data so as to obtain alignment data, wherein the method comprises the following steps of:

judging whether the first camera and the second camera can be aligned at the same time;

if yes, controlling the first camera and the second camera to move to a pair of target points at the same time, photographing, and obtaining target deviation through visual calculation;

If not, controlling the first camera and the second camera to move to a pair of target points respectively, photographing, and obtaining target deviation through visual calculation;

and when the target deviation of all the target points on the jet printing plate is obtained, storing the target deviation of all the target points as alignment data.

5. The dual camera alignment method according to claim 4,

before determining whether the first camera and the second camera can be simultaneously aligned, the method further includes:

and acquiring theoretical coordinates of the target point on the jet printing plate and converting the theoretical coordinates into camera motion coordinates corresponding to the first camera and the second camera, wherein the camera motion coordinates of the second camera are calculated based on the calibration data and the camera motion coordinates of the first camera, and the camera motion coordinates are used for driving the first camera and the second camera to move to the position above the target point.

6. The dual camera alignment method according to claim 4,

when 2N target points are arranged on the spray printing plate, the 2N target points comprise N pairs of target points, wherein N is a positive integer more than or equal to 2,

the determining whether the first camera and the second camera can be aligned at the same time includes:

Judging whether Y coordinate values of two target points in each pair of target points are the same or not;

if the first camera and the second camera are identical, determining a pair of target points which can be aligned at the same time;

if the first camera and the second camera are different, a pair of target points which cannot be aligned at the same time are determined.

7. The dual camera alignment method according to claim 5,

the control the first camera and the second camera to walk to a pair of target points simultaneously and take a picture, obtain target deviation through visual calculation, including:

controlling the first camera to move above a first target point of the pair of target points while controlling the second camera to move above a second target point of the pair of target points;

controlling the first camera to acquire an image containing the first target point and controlling the second camera to acquire an image containing the second target point;

acquiring actual coordinates of the first target point according to the image of the first target point, and acquiring actual coordinates of the second target point according to the image of the second target point;

determining target deviation of the first target point according to the actual coordinates and the theoretical coordinates of the first target point;

And determining target deviation of the second target point according to the actual coordinates and the theoretical coordinates of the second target point.

8. The dual camera alignment method according to claim 5,

the control of the first camera and the second camera to move to a pair of target points and take a picture respectively, and the target deviation is obtained through visual calculation, comprising the following steps:

controlling the first camera to move above a first target point of the pair of target points;

controlling the first camera to acquire an image containing the first target point;

acquiring the actual coordinates of the first target point according to the image of the first target point;

controlling the second camera to move above a second target point of the pair of target points;

controlling the second camera to acquire an image containing the second target point;

acquiring the actual coordinates of the second target point according to the image of the second target point;

9. A dual camera alignment apparatus, characterized in that is applied to a dual camera alignment system, the dual camera alignment system includes a first camera, a second camera, and an alignment stage, the alignment stage is used for placing a jet printing plate, the apparatus includes:

the calibration unit is used for controlling the first camera and the second camera to execute calibration action based on the calibration reference point on the alignment table so as to obtain calibration data;

and the alignment unit is used for controlling the first camera and the second camera to move to a target point on the jet printing plate to perform target alignment according to the calibration data so as to obtain alignment data.

10. A controller, comprising:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

11. A dual camera alignment system, comprising:

a first camera, a second camera, a first driving mechanism, a second driving mechanism, an alignment stage and the controller according to claim 10,

The controller is respectively connected with the first camera, the second camera, the first driving mechanism and the second driving mechanism in a communication way,

the alignment table is used for placing a spray printing plate, a plurality of target mark points are arranged on the spray printing plate,

the first driving mechanism is connected with the first camera and used for driving the first camera to move along an X axis and/or a Y axis above the alignment table, the second driving mechanism is connected with the second camera and used for driving the second camera to move along the X axis and/or the Y axis above the alignment table, wherein the X axis and the Y axis are mutually perpendicular, and the X axis and the Y axis are parallel to the alignment table.

12. A jet printing apparatus, comprising: the dual camera alignment system of claim 11.