CN209937962U - Crystal silicon photovoltaic solar cell printing positioning platform calibration device - Google Patents
Crystal silicon photovoltaic solar cell printing positioning platform calibration device Download PDFInfo
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- CN209937962U CN209937962U CN201821645169.2U CN201821645169U CN209937962U CN 209937962 U CN209937962 U CN 209937962U CN 201821645169 U CN201821645169 U CN 201821645169U CN 209937962 U CN209937962 U CN 209937962U
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Abstract
The utility model discloses a crystalline silicon photovoltaic solar cell printing positioning platform calibration device based on machine vision, which comprises a plate feeding positioning camera set, a motion platform calibration camera set, a rotary positioning platform, a printing platform, a three-degree-of-freedom silk screen motion platform, a calibration plate and a control system; the control system comprises an upper computer and a lower computer, wherein the upper computer is connected with the plate-entering positioning phase unit, the motion platform calibration phase unit and the lower computer; the lower computer is connected with the rotary positioning platform and the three-degree-of-freedom silk screen motion platform; the upper computer obtains the parameters of the motion platform transmitted by the lower computer and the images of the calibration plate shot by the camera group, carries out calculation processing, then transmits the processing result signals to the lower computer, and the lower computer controls the rotation of the rotary positioning platform and the three-degree-of-freedom silk screen motion platform, thereby completing the calibration of the plate-entering positioning camera group, the motion platform calibration camera group and the three-degree-of-freedom silk screen motion platform. The utility model discloses the device has positioning accuracy height, stability characteristics such as good.
Description
Technical Field
The utility model relates to a computer vision precision positioning technique, in particular to crystal silicon photovoltaic solar cell printing positioning platform calibration device based on machine vision.
Background
Crystalline silicon solar cell lithography apparatus is a printing system based on machine vision full-automatic realization silk screen and stock precision alignment. In order to meet the high-precision production requirements, a vision system of the equipment and a motion system of the screen printing must be calibrated.
There are many popular calibration methods. One end of the L-shaped plate is connected with the motion platform, and the other end of the L-shaped plate is provided with a mark point and extends into the visual field of the plate-entering positioning camera; the motion platform moves to drive the mark points on the L-shaped plate to move in the visual camera, so that the motion platform can be calibrated visually. This approach is less costly but less accurate. In addition, an optical calibration plate is used for calibrating the plate-entering phase positioning unit and the silk screen phase positioning unit, and then the motion parameters of the motion platform are calibrated by a test method. The cost of the method is relatively low, but the time required by the operation of the test method is long, and meanwhile, special personnel are needed for debugging, so that the finally obtained precision is also influenced by the experience of the debugging personnel, and the consistency effect is not good.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome shortcoming and not enough among the prior art, provide crystal silicon photovoltaic solar cell printing positioning platform calibration device based on machine vision, mark into board location camera group and three degree of freedom silk screen motion platform's motion parameter, unify it to in the unified coordinate system.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a crystalline silicon photovoltaic solar cell printing positioning platform calibration device based on machine vision comprises a board feeding positioning camera set, a board feeding positioning camera set fixing frame, a printing table, a rotary positioning platform, a moving platform calibration camera set fixing frame, a three-degree-of-freedom silk screen moving platform, a calibration board and a control system; the board entering positioning camera group comprises four cameras arranged in an array and is arranged on the board entering positioning camera group fixing frame; the motion platform calibration camera group comprises two cameras, is arranged on a motion platform calibration camera group fixing frame and is fixed at the tail end of the three-degree-of-freedom silk screen motion platform, namely on a T axis; the three degrees of freedom of the three-degree-of-freedom silk screen motion platform are two moving degrees of freedom X, Y on a plane and one rotational degree of freedom T, wherein the rotational degree of freedom T is controlled by a T-axis motion part to rotate; the plate-feeding positioning camera group fixing frame, the printing platform and the three-degree-of-freedom silk screen motion platform are all arranged on the rotary positioning platform; the printing platform is arranged at the tail end of the three-degree-of-freedom silk screen motion platform, and the printing platform is arranged below the calibration camera set; the control system comprises an upper computer and a lower computer, wherein the upper computer is connected with the plate-entering positioning phase unit, the motion platform calibration phase unit and the lower computer; the lower computer is connected with the rotary positioning platform and the three-degree-of-freedom silk screen motion platform; the upper computer is used for acquiring machine table motion parameters transmitted by the lower computer and calibration plate images shot by the camera group, calculating and processing the parameters, and then transmitting processing result signals to the lower computer, and the lower computer is used for controlling the rotation of the rotary positioning platform and the three-degree-of-freedom silk screen motion platform, so that the calibration of the plate-feeding positioning camera group, the motion platform calibration phase set and the three-degree-of-freedom silk screen motion platform is completed.
The utility model discloses for prior art have following advantage and effect:
(1) the three-degree-of-freedom motion platform calibration device of the utility model uses machine vision as a measuring tool, and has high calibration precision;
(2) the utility model discloses a three degree of freedom motion platform calibration device uses the platform motion to drive the camera motion, easy operation, and the good reliability, the calibration process easily realizes the full automatization, and jamming is less, and the computational result uniformity is better.
Drawings
Fig. 1 is an isometric view of a crystalline silicon photovoltaic solar cell printing positioning platform assembly of the present invention;
FIG. 2 is a top view of the crystalline silicon photovoltaic solar cell printing and positioning platform device of the present invention;
FIG. 3 is a front view of the crystalline silicon photovoltaic solar cell printing and positioning platform device of the present invention;
fig. 4 is a schematic view of the placement of the calibration plate of the present invention;
fig. 5 is a schematic diagram of the three-degree-of-freedom silk screen motion platform T-axis motion parameter calibration of the present invention;
fig. 1 to 5 show: 1-entering a plate positioning phase machine set; 2-enter the board and position the camera group fixed mount; 3-rotating the positioning platform; 4, printing pad; 5, calibrating the phase set by the motion platform; 6, calibrating a camera group fixing frame by the motion platform; 7-three-degree-of-freedom silk screen motion platform; 8, calibrating the plate; and 9-a moving part of a T shaft of the three-degree-of-freedom silk screen moving platform.
FIG. 6 is a flow chart of the calibration method of the crystalline silicon photovoltaic solar cell printing and positioning platform based on machine vision of the utility model;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
Examples
As shown in fig. 1 to 3, the calibration device for the vision and printing positioning platform of the crystalline silicon photovoltaic solar cell comprises a board feeding positioning camera set 1, a board feeding positioning camera set fixing frame 2, a printing platform 3, a rotary positioning platform 4, a motion platform calibration camera set 5, a motion platform calibration camera set fixing frame 6, a three-degree-of-freedom silk screen motion platform 7, a calibration board 8 and a control system; the plate-entering positioning camera set 1 comprises four cameras arranged in an array and is arranged on the plate-entering positioning camera set fixing frame 2; the motion platform calibration camera set 5 comprises two cameras, is arranged on a motion platform calibration camera set fixing frame 6 and is fixed at the tail end of the three-degree-of-freedom silk screen motion platform, namely on a T axis; the three degrees of freedom of the three-degree-of-freedom silk screen moving platform 7 are two moving degrees of freedom X, Y on a plane and one rotational degree of freedom T, wherein the rotational degree of freedom T is controlled by a T-axis moving part 9 to rotate, as shown in fig. 5; the printing platform 3 below the plate feeding positioning camera set 1 is a plate feeding station, and the printing platform 3 below the moving platform calibration camera set 5 is a printing station; the control system comprises an upper computer and a lower computer, wherein the upper computer is connected with the plate-entering positioning phase unit, the motion platform calibration phase unit and the lower computer; the lower computer is connected with the rotary positioning platform and the three-degree-of-freedom silk screen motion platform; the upper computer is used for acquiring machine table motion parameters transmitted by the lower computer and calibration plate images shot by the camera group, calculating and processing the parameters, and then transmitting processing result signals to the lower computer, and the lower computer is used for controlling the rotation of the rotary positioning platform and the three-degree-of-freedom silk screen motion platform, so that the calibration of the plate-feeding positioning camera group, the motion platform calibration phase set and the three-degree-of-freedom silk screen motion platform is completed.
As shown in fig. 6, the method for calibrating the vision and printing positioning platform of the crystalline silicon photovoltaic solar cell of the embodiment includes the following steps:
in this embodiment, after the four cameras of the board feeding positioning camera set are installed, the four cameras of the calibration board need to be able to capture the mark patterns at the four corners of the calibration board, and meanwhile, when the calibration board and the printing table rotate from the board feeding station to the printing station in a relatively stationary manner, the two cameras of the motion platform calibration camera set also need to be able to capture the mark patterns in the middle of the calibration board; then, camera lens parameters including exposure value, aperture value and focal length are set in the plate positioning camera set and the motion platform calibration camera set respectively.
as shown in fig. 4, a customized calibration plate is placed at a proper position of a printing pad of a plate feeding station, a plate feeding positioning camera group is triggered to take a picture of the calibration plate, four plate feeding positioning cameras and lenses thereof are calibrated by using a positioning reference calibration algorithm of upper computer software according to the picture taken and corresponding camera position distribution, and the four plate feeding positioning cameras are unified into a unified coordinate system; in the embodiment, the positioning reference calibration algorithm is a positioning reference calibration method of a full-automatic multi-camera screen printing device with the patent number of ZLCN 201210130832.
(3) Calibrating the phase set by the calibration motion platform;
the lower computer controls the rotary positioning platform to rotate 90 degrees, so that the calibration plate is placed at the printing station and is positioned below the calibration camera set of the motion platform, conveyed to the printing station from the plate feeding station and positioned below the calibration camera set of the motion platform; keeping the position of the motion platform calibration camera group unchanged, and recording the position of the three-degree-of-freedom silk screen motion platform as a reference position; triggering a motion platform calibration camera group to take a picture of a calibration plate below the motion platform calibration camera group, calibrating two cameras and lenses thereof of the motion platform calibration camera group by using a positioning reference calibration algorithm of upper computer software according to the shot picture and corresponding camera position distribution, and unifying the two cameras into a unified coordinate system; in the step, the adopted positioning reference calibration algorithm is the same as the step (2).
(4) Calibrating the T-axis rotation center of the three-degree-of-freedom silk screen motion platform;
as shown in fig. 5, the lower computer controls the T-axis of the three-degree-of-freedom silk screen moving platform to move from one side to the other side along the T-axis track in a manner of several times of equal pulse quantities, and the moving platform calibration camera set swings from one side to the other side accordingly; the total angle of the T-axis motion is more than 12 degrees and less than the stroke of the T-axis; triggering the motion platform calibration camera set to take a picture once every time the T shaft moves; calculating and recording the position of the center of the pattern on the calibration plate in the unified coordinate system once every photographing; obtaining two circle center coordinates by using the position coordinates of the center points of the two groups of marked patterns obtained by the two cameras and respectively obtaining the two circle center coordinates by a least square method, and then taking the average value of the two circle center coordinates as a T-axis rotation center;
after several times of operations, coordinate values of a plurality of T-axis rotation centers are obtained, and then the average value of the coordinate values is taken as the final T-axis rotation center.
(5) Calibrating the relation between the T-axis rotation angle and the pulse of the three-degree-of-freedom silk screen motion platform;
after the rotation center of the T-axis of the three-degree-of-freedom silk screen motion platform is determined, when the relation between the rotation angle and the pulse is calibrated, the lower computer controls the T-axis of the three-degree-of-freedom silk screen motion platform to move from one side to the other side in an equal pulse quantity mode; triggering the calibration camera group of the motion platform to take a picture once when a certain amount of pulse number is moved, calculating and recording the size and direction of the angle of swing corresponding to the variation of the center of the marker on the calibration plate in each pulse rotation, taking the average value of the swing angles of the center coordinates of the markers of the calibration plate in the visual fields of the two cameras as the swing angle of the T shaft in single swing, and finally obtaining the relation between the rotation angle and the pulse of the three-degree-of-freedom silk screen motion platform by using a simple secondary interpolation method; the direction opposite to the swinging direction of the marker on the calibration plate is the swinging direction of the T axis.
(6) Calibrating X-axis motion parameters of the three-degree-of-freedom silk screen motion platform;
firstly, calibrating a regression reference position, namely an initial position, of a camera group of a motion platform; then controlling the X axis of the three-degree-of-freedom silk screen motion platform to move from one side to the other side in an equal pulse quantity mode through the lower computer, triggering the motion platform calibration camera set to take a picture once when moving a certain number of pulses, and ensuring that the marker of the calibration plate is in the camera view of the motion platform calibration camera set during each motion; and calculating and recording the displacement and the direction of the center of the marker on the plate in a unified coordinate system after each time of equal-pulse motion of the X axis, dividing the obtained displacement average value by the pulse number of each time to obtain the relation between the X-axis motion displacement and the pulse number after multiple equal-pulse motions, and rotating the obtained average value of the motion direction by 180 degrees to obtain the motion direction of the X axis.
(7) Calibrating Y-axis motion parameters of the three-degree-of-freedom silk screen motion platform;
firstly, calibrating a regression reference position, namely an initial position, of a camera group of a motion platform; then the lower computer controls the Y axis of the three-degree-of-freedom silk screen motion platform to move from one end to the other end in an equal pulse quantity mode, and the motion platform calibration camera set is triggered to take a picture once when the motion platform moves for a certain number of pulses; ensuring that the marker of the calibration plate is in the camera view of the calibration camera set of the motion platform during each motion; calculating and recording the displacement and the direction of the center of the marker on the calibration plate in a unified coordinate system after the Y-axis equal pulse motion is performed each time; after multiple equal pulse movements, the obtained displacement average value is divided by the pulse number of each time to obtain the relation between the Y-axis movement displacement and the pulse number, and the obtained movement direction average value is rotated by 180 degrees to obtain the movement direction of the Y axis.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (1)
1. The calibration device for the crystalline silicon photovoltaic solar cell printing and positioning platform is characterized by comprising a board feeding positioning camera set, a board feeding positioning camera set fixing frame, a printing table, a rotary positioning platform, a moving platform calibration camera set fixing frame, a three-degree-of-freedom silk screen moving platform, a calibration board and a control system; the board entering positioning camera group comprises four cameras arranged in an array and is arranged on the board entering positioning camera group fixing frame; the motion platform calibration camera group comprises two cameras, is arranged on a motion platform calibration camera group fixing frame and is fixed at the tail end of the three-degree-of-freedom silk screen motion platform, namely on a T axis; the three degrees of freedom of the three-degree-of-freedom silk screen motion platform are two moving degrees of freedom X, Y on a plane and one rotational degree of freedom T, wherein the rotational degree of freedom T is controlled by a T-axis motion part to rotate; the plate-feeding positioning camera group fixing frame, the printing platform and the three-degree-of-freedom silk screen motion platform are all arranged on the rotary positioning platform; the printing platform is arranged at the tail end of the three-degree-of-freedom silk screen motion platform, and the printing platform is arranged below the calibration camera set; the control system comprises an upper computer and a lower computer, wherein the upper computer is connected with the plate-entering positioning phase unit, the motion platform calibration phase unit and the lower computer; the lower computer is connected with the rotary positioning platform and the three-degree-of-freedom silk screen motion platform; the upper computer is used for acquiring machine table motion parameters transmitted by the lower computer and calibration plate images shot by the camera group, calculating and processing the parameters, and then transmitting processing result signals to the lower computer, and the lower computer is used for controlling the rotation of the rotary positioning platform and the three-degree-of-freedom silk screen motion platform, so that the calibration of the plate-feeding positioning camera group, the motion platform calibration phase set and the three-degree-of-freedom silk screen motion platform is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821645169.2U CN209937962U (en) | 2018-10-11 | 2018-10-11 | Crystal silicon photovoltaic solar cell printing positioning platform calibration device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821645169.2U CN209937962U (en) | 2018-10-11 | 2018-10-11 | Crystal silicon photovoltaic solar cell printing positioning platform calibration device |
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| CN209937962U true CN209937962U (en) | 2020-01-14 |
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| CN201821645169.2U Active CN209937962U (en) | 2018-10-11 | 2018-10-11 | Crystal silicon photovoltaic solar cell printing positioning platform calibration device |
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Effective date of registration: 20220923 Address after: Building 2, No. 11, Jinfu West Road, Tanglip, Liaobu Town, Dongguan City, Guangdong Province, 523405 Patentee after: Guangdong kelongwei Intelligent Equipment Co.,Ltd. Address before: 510640 No. five, 381 mountain road, Guangzhou, Guangdong, Tianhe District Patentee before: SOUTH CHINA University OF TECHNOLOGY Patentee before: FOLUNGWIN AUTOMATIC EQUIPMENT Co.,Ltd. |
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