WO2004042378A2 - Vorrichtung zum erkennen einer auf einem substrat aufzubringenden struktur sowie geeignete verfahren hierfür - Google Patents
Vorrichtung zum erkennen einer auf einem substrat aufzubringenden struktur sowie geeignete verfahren hierfür Download PDFInfo
- Publication number
- WO2004042378A2 WO2004042378A2 PCT/EP2003/012354 EP0312354W WO2004042378A2 WO 2004042378 A2 WO2004042378 A2 WO 2004042378A2 EP 0312354 W EP0312354 W EP 0312354W WO 2004042378 A2 WO2004042378 A2 WO 2004042378A2
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- WO
- WIPO (PCT)
- Prior art keywords
- actual
- linearity
- target
- brightness
- width
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/86—Investigating moving sheets
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
Definitions
- the following invention relates to a device for recognizing a structure to be applied to a substrate according to the preamble of claim 1 and suitable methods therefor.
- the sensor unit is provided on the device for applying the structure.
- This measure provides a vision system in a compact design, wherein the lighting module can preferably also be provided on the device for applying the structure.
- the device according to the application into existing systems, the task of which is to apply a structure to a substrate. If the structure is determined in terms of process technology according to claim 16 during the application of the substrate, the presence of an error can be intervened directly in the manufacturing process or the defective substrate can be separated out. This provides increased efficiency in the production of structures on a substrate.
- the checking area of the structure to be determined is set in terms of the process according to claim 25 on the basis of support points along the structure to be recognized, handling is unproblematic since the interactive process between the user and the structure shown is produced in a simple manner using today's means. If, according to the application, the tolerance range is defined along the reference line defined by the reference points, inaccuracies in the structure may be taken into account and in particular the quality check of the structure to be determined can be individually determined with this measure. With this simplified operator interaction, even complex structure traces can be taught in easily and efficiently. With the existing representation with the structure to be recognized and the reference line created by the support points, the user will also be shown immediately whether there are changes in the structure course.
- the sensor unit is positioned directly at the outlet of the device for applying the structure, a compact and highly integrated design of the device according to the application is possible.
- the sensor unit is thus able to carry out a fully automatic high-speed check of the structure almost immediately after the structure has been applied.
- the sensor unit has a video sensor
- conventional image recognition methods can be used. If the video sensor preferably has one and / or more image lines, a maximum of 15 lines, a high image acquisition rate of the structure can be achieved. In this way, the device continues to be small and the evaluation can take place in the sensor unit. An external data evaluation device is therefore not necessary. If a white light lighting module is used as the lighting module, conventional halogen lamps can also be used to generate white light.
- the lighting of the sensor can be provided to increase the contrast between the background and the structure by cleverly combining different spectral ranges.
- the evaluation as such can thus run stably and the effort for the evaluation logic is also minimized.
- the evaluation unit is also integrated in the sensor unit, the setting of the quality criteria can be fed to the device according to the application in a simple manner via an external control unit.
- the transmission advantageously takes place via radio, infrared data or cable.
- the structure is determined using so-called calipers (gray value edge scanning), which are preferably orthogonal to the substrate structure, this measure can be used to determine special areas, preferably crossing areas, between the caliper line and a contrast structure in the area to be determined. If the calipers are orthogonal to the substrate structure, then in particular a width determination of the structure can be carried out in a simple manner. In cooperation with the corresponding visualization software, the structure course and corresponding error areas can then be displayed. The user immediately recognizes whether the structure curve corresponds to specified tolerances or whether the structure is applied inaccurately. It is also advantageous if, for example, the given substrate data, such as recesses and elevations, are used for the structure determination and corresponding error analysis, since this enables more precise statements to be made about the structure course.
- calipers gray value edge scanning
- the structure is determined by evaluating the brightness profile of the gray values along the caliper.
- the gray values can thus be used to determine where an area to be determined is to be used for the structural check, in particular a position can be ascertained at which the change of object and background is strongest. This is achieved by using the second derivative in the course of the gray values for structure determination.
- the values to be determined are exactly determined as subpixels. If a hypothesis set is created for each caliper, a set of six possible variations results, in particular for four nodes of the caliper, each of which is different due to the position distance of the individual nodes of the caliper. If adjacent sets of hypotheses are now linked to one another, then using a heuristic function in particular, certain values can be assigned, by means of which the nodes in question for the structure edge can be determined.
- Figure 1 shows schematically an advantageous embodiment of the device according to the application.
- FIG. 2 shows a partial area of the structure applied in FIG. 1.
- FIG. 4 shows the application of the caliper to an area to be determined, which contains both the structure and disturbances.
- FIG. 5 shows the crossing points of the relevant contrast lines and the caliper.
- FIG. 6 shows the generation of a hypothesis set from a caliper.
- FIG. 7 shows the structure determination from neighboring hypothesis sets.
- FIG. 8 shows the method for determining or eliminating fault edges
- FIG. 1 shows a device 1 for applying a structure 9 to a substrate 7.
- the device 1 is conventionally adjustable in the x, y and z directions. It is also conceivable that the device is rigid and the substrate can be adjusted in the x, y and z directions.
- the device 1 also has a sensor unit 3, which in this embodiment is positioned directly at the output of the device for applying the structure.
- the lighting module 5 is also identified, which provides the contrast sharpness when applying or registering the areas to be observed.
- a so-called adhesive bead 9 is applied or introduced into a prefabricated recess 13 in the substrate 7. With the reference number 11, the hatched lines mark an image area which is shown more clearly in FIG. 2.
- the recess 13 is shown, in which the structure or adhesive bead 9 is introduced.
- This selection area can be processed on the one hand in the evaluation unit in the sensor unit 3, but it can in principle be displayed to the user during the application, so that the user can manually set his support points 20 by means of which a reference line 22 can be generated.
- a tolerance range is defined for the reference line 22, which approximately reproduces the structure, which in this case is equally spaced from the reference line. According to the application, it is thus checked whether the reference line defined by the support points lies within the tolerance range.
- a test range 26 is shown in FIG. 2, within which the structure can be found.
- FIG. 3 shows, for example, an error representation which, in addition to the positioning of the error of the structure order, also indicates the error size to the user on the basis of the evaluation accuracy of the method according to the application. Based on the size of the error, the user can then decide whether the deviation from the target value is tolerable or whether the manufacturing process should be terminated. With the method according to the application, a decision can therefore be made on the basis of the immediate review of the structural order during the manufacturing process, and in a fully automated manner whether the manufacturing process has to be interrupted and / or the defective substrate has to be separated out.
- FIG. 4 shows the so-called edge extraction of the abnormalities located in the inspection area.
- a set of calipers which are preferably orthogonal to the trace of the structure, is placed over the inspection area, the extraction of the edges by evaluating the brightness profile of the gray values along the caliper thus being orthogonal to the structure trace. This will determine a position that reflects the change of object and background, at which the change is strongest. This is achieved in that the second derivative is calculated in the course of the gray values.
- the values to be determined are precisely determined subpixels.
- FIG. 6 shows that a hypothesis set is created for each caliper of FIGS. 4 and 5, a total of six position hypotheses being present, for example, for four nodes of a caliper. Then the caliper hypotheses are gradually hierarchically, linked to the corresponding neighbors or neighboring hypothesis sets. As shown in FIG. 7, this linkage is carried out iteratively. To this end, more and more left and right hypotheses are generated, which in turn are linked together or evaluated with a heuristic function.
- a selection criterion for determining the structure determination can be, for example, that the higher the value determined, the better the hypothesis used.
- FIG. 8 clearly illustrates how the iterative method of the individual hypothesis sets is used.
- hypothesis sets 2, 3, 4 in FIG. 6 are combined in a combinatorial manner (l-ll, l-lll, ll-lll, 11-11), the left hypothesis of hypothesis 3 being connected to the right hypothesis accordingly.
- This again leads to an assignment of the hypotheses, a value being determined on the basis of the heuristic function.
- the structure can then be determined by the fact that, if the number of hypotheses developed in this way exceeds the number of permissible hypotheses per existing node, those with a lower heuristic value Function specified hypotheses are taken out.
- the heuristic function uses the following criteria to determine the specified value.
- the system or device according to the application essentially consists of a color line video sensor with an integrated evaluation unit and lighting for highlighting and Illumination of the sealing or adhesive bead.
- the components are in a compact protective housing.
- the visual inspection system is attached directly behind the adhesive application system (application nozzle) and is aligned to the area just behind the adhesive nozzle in order to carry out a test directly after the bead application.
- the test is therefore carried out directly after the application of the sealing material or the adhesive so that an evaluation of the quality of the bead (tears, position and position, thickness) can take place during application.
- a video sensor In contrast to the known approaches, a video sensor is used in this invention, which only records one or more image lines (maximum 15 lines) in order to achieve a high image acquisition rate.
- the evaluation takes place in the color line video sensor with an integrated evaluation unit.
- An external data evaluation device (evaluation PC) is not necessary, since a miniaturized evaluation computer is already present in the video sensor.
- the quality criteria (OK / NOK - limit values) are set using an external control unit that is connected to the sensor via a radio connection, infrared data transmission connection (IrDa) or a cable connection (serial or network).
- one or more are used to illuminate the adhesive track
- White light lighting module e.g. halogen lamp
- the lighting modules have a compact design so that they can be installed in a compact system structure (image sensor and lighting in a common housing). It is intended to combine different different lighting modules (design, color) with each other in order to create a high contrast between the background and the adhesive through a clever combination of different spectral ranges of the lighting and the sensor.
- the evaluation can thus run in a stable manner and the effort for the evaluation logic can be kept low.
- the visualization software is used to display errors when applying adhesive beads.
- the adhesive track to be traversed is saved as a 3D track and the corresponding error areas are marked therein.
- the corresponding errors are highlighted with a different color and described with additional text.
- the software or the sensor communicates with a robot or another control unit via all common fieldbuses (Profibus, Interbus, Devicenet), Ethernet, serial interface, OPC server or other available communication interfaces.
- the robot path is taught in and saved beforehand.
- the visualization software can be selected. This gets the corresponding error areas from the robot.
- the visualization software always receives the current position along the robot path and, in the event of an error, an additional error code.
- data can be transferred from CAD files.
- the data contained in it from the component, from the adhesive track, etc. are processed and displayed together with the corresponding error points in 3 dimensions or 2 dimensions.
- the heuristic function for the structure determination is determined on the basis of the following criteria, namely a heuristic value for elementary hypotheses and a heuristic value for complex hypotheses.
- S br is said to be brightness of structure
- S bk is meant to be background brightness, with the heuristic coefficients:
- the heuristic value h has the following form: h ü coml + ⁇ ⁇ elghl ⁇ X wclghn ) " * '" + ⁇ n . eigh , 'X precede e i g i,)'" S " ⁇ ⁇ ps ' e pm)'" ⁇ ⁇ i dt ' e wl dlh ) "" ⁇ ⁇ br ' e brl ' ⁇ ⁇ bk ⁇ e bk )' where :
- the heuristic value h has the following form:
- h (, b, x, s) a eonst + h left + h ri ⁇ i - [a pos ⁇ e pos ) b> °° - (a width • e width ) lM - ⁇ a br ⁇ e br ) b » - (a bk ⁇ e bk ) k ,
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
- Coating Apparatus (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003298104A AU2003298104A1 (en) | 2002-11-05 | 2003-11-05 | Device for identifying a structure to be applied to a substrate, and corresponding methods |
EP03795806A EP1558916A2 (de) | 2002-11-05 | 2003-11-05 | Vorrichtung zum erkennen einer auf einem substrat aufzubringenden struktur sowie geeignete verfahren hierfür |
US10/533,804 US20060147103A1 (en) | 2002-11-05 | 2003-11-05 | Device for identifying a structure to be applied to a substrate, and corresponding methods |
CA002505031A CA2505031A1 (en) | 2002-11-05 | 2003-11-05 | Device for identifying a structure to be applied to a substrate, and corresponding methods |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10251734 | 2002-11-05 | ||
DE10251734.7 | 2002-11-05 | ||
DE10252340A DE10252340B4 (de) | 2002-11-05 | 2002-11-11 | Vorrichtung zum Erkennen einer auf einem Substrat aufzubringenden Struktur sowie geeignete Verfahren hierfür |
DE10252340.1 | 2002-11-11 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004042378A2 true WO2004042378A2 (de) | 2004-05-21 |
WO2004042378A3 WO2004042378A3 (de) | 2004-06-24 |
Family
ID=32231876
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2003/012354 WO2004042378A2 (de) | 2002-11-05 | 2003-11-05 | Vorrichtung zum erkennen einer auf einem substrat aufzubringenden struktur sowie geeignete verfahren hierfür |
Country Status (6)
Country | Link |
---|---|
US (1) | US20060147103A1 (de) |
EP (1) | EP1558916A2 (de) |
AU (1) | AU2003298104A1 (de) |
CA (1) | CA2505031A1 (de) |
DE (1) | DE20220652U1 (de) |
WO (1) | WO2004042378A2 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10361018C9 (de) * | 2003-12-23 | 2021-03-04 | QUISS Qualitäts-Inspektionssysteme und Service GmbH | Verfahren zum Erkennen einer auf einem Substrat aufzubringenden Struktur mit mehreren Kameras sowie eine Vorrichtung hierfür |
DE102005023046A1 (de) * | 2005-05-13 | 2006-11-16 | Nordson Corp., Westlake | Kleberdüse mit gekühlter Überwachungsoptik |
WO2009069074A1 (en) * | 2007-11-29 | 2009-06-04 | Nxp B.V. | Method of and device for determining the distance between an integrated circuit and a substrate |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US4704603A (en) * | 1986-04-24 | 1987-11-03 | Journey Electronics Corp. | Glue detection system |
DE19520190A1 (de) * | 1994-06-03 | 1996-02-15 | Nireco Corp | Vorrichtung zur Überwachung eines Klebstoffaufbringungszustandes |
EP0715163A1 (de) * | 1994-11-28 | 1996-06-05 | Renault-Automation | Vorrichtung zur Qualitäts- und Kontinuitätskontrolle eines auf eine Oberfläche aufgebrachten Streifens |
FR2741438A1 (fr) * | 1995-11-17 | 1997-05-23 | Renault | Dispositif et procede de controle dimensionnel d'un cordon de matiere depose sur un support |
US20020109832A1 (en) * | 2001-02-13 | 2002-08-15 | Fuji Photo Film Co., Ltd. | System and method for inspecting a light source of an image reader |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US5774572A (en) * | 1984-12-20 | 1998-06-30 | Orbotech Ltd. | Automatic visual inspection system |
US4731931A (en) * | 1987-03-16 | 1988-03-22 | Andromeda Technology, Inc. | Caliper system |
US5371690A (en) * | 1992-01-17 | 1994-12-06 | Cognex Corporation | Method and apparatus for inspection of surface mounted devices |
US5208995A (en) * | 1992-03-27 | 1993-05-11 | Mckendrick Blair T | Fixture gauge and method of manufacturing same |
US6751342B2 (en) * | 1999-12-02 | 2004-06-15 | Thermal Wave Imaging, Inc. | System for generating thermographic images using thermographic signal reconstruction |
US6825856B1 (en) * | 2000-07-26 | 2004-11-30 | Agilent Technologies, Inc. | Method and apparatus for extracting measurement information and setting specifications using three dimensional visualization |
EP1332443A2 (de) * | 2000-09-11 | 2003-08-06 | Pinotage, LLC | System und verfahren zur gewinnung und benutzung von wartungsinformationen |
-
2002
- 2002-11-11 DE DE20220652U patent/DE20220652U1/de not_active Expired - Lifetime
-
2003
- 2003-11-05 EP EP03795806A patent/EP1558916A2/de not_active Withdrawn
- 2003-11-05 CA CA002505031A patent/CA2505031A1/en not_active Abandoned
- 2003-11-05 US US10/533,804 patent/US20060147103A1/en not_active Abandoned
- 2003-11-05 AU AU2003298104A patent/AU2003298104A1/en not_active Abandoned
- 2003-11-05 WO PCT/EP2003/012354 patent/WO2004042378A2/de not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4704603A (en) * | 1986-04-24 | 1987-11-03 | Journey Electronics Corp. | Glue detection system |
DE19520190A1 (de) * | 1994-06-03 | 1996-02-15 | Nireco Corp | Vorrichtung zur Überwachung eines Klebstoffaufbringungszustandes |
EP0715163A1 (de) * | 1994-11-28 | 1996-06-05 | Renault-Automation | Vorrichtung zur Qualitäts- und Kontinuitätskontrolle eines auf eine Oberfläche aufgebrachten Streifens |
FR2741438A1 (fr) * | 1995-11-17 | 1997-05-23 | Renault | Dispositif et procede de controle dimensionnel d'un cordon de matiere depose sur un support |
US20020109832A1 (en) * | 2001-02-13 | 2002-08-15 | Fuji Photo Film Co., Ltd. | System and method for inspecting a light source of an image reader |
Also Published As
Publication number | Publication date |
---|---|
EP1558916A2 (de) | 2005-08-03 |
WO2004042378A3 (de) | 2004-06-24 |
CA2505031A1 (en) | 2004-05-21 |
DE20220652U1 (de) | 2004-04-22 |
US20060147103A1 (en) | 2006-07-06 |
AU2003298104A1 (en) | 2004-06-07 |
AU2003298104A8 (en) | 2004-06-07 |
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