WO2019080344A1

WO2019080344A1 - Optical assembly coupling device and usage method therefor

Info

Publication number: WO2019080344A1
Application number: PCT/CN2017/118586
Authority: WO
Inventors: 周艳阳; 曹芳; 何明阳; 高繁荣; 付永安; 孙丽萍
Original assignee: 武汉电信器件有限公司; 武汉光迅科技股份有限公司
Priority date: 2017-10-24
Filing date: 2017-12-26
Publication date: 2019-05-02
Also published as: CN107678105A; CN107678105B

Abstract

An optical assembly coupling device and a usage method therefor. In the device, a cross-shaped reflecting mirror (1) is composed of a first reflecting mirror (11) and a second reflecting mirror (12) which form a preset included angle with one another; the first reflecting mirror (11) is used for reflecting an image of a component (41) to be coupled that is located on a mechanical arm (4), and the second reflecting mirror (12) is used for reflecting an image of a substrate (31) that is located on a base (3); a servo system (5) is used for maintaining the relative positions of the cross-shaped reflecting mirror (1) and an acquisition camera (2); the distance between the effective reflecting surfaces of the first reflecting mirror (11) and the second reflecting mirror (12) is a preset value, the preset value being determined with reference to the distance between identification objects capable of being acquired in the base (31) and/or the component (41) to be coupled. Compared with traditional passive coupling identification systems, by means of identifying a coupling combined mount reference object and an optical assembly by using the same camera, the optical assembly coupling device alleviates identification errors that are caused by changes in camera position, thereby having higher identification precision.

Description

Optical component coupling device and using method thereof

[Technical Field]

The present invention relates to the field of optical component coupling technology, and in particular, to an optical component coupling device and a method of using the same.

【Background technique】

With the advent of the era of big data, the demand for optical modules for data communication is growing. The optical module is a type of module capable of performing mutual conversion of photoelectric signals. The optical module is mainly composed of two parts: a circuit part and an optical path part; the circuit part is mainly used for processing and transmitting electrical signals, and the optical path part is mainly responsible for optical signal transmission, and the optical component position alignment process of the optical path related to the production process of the optical module is compared. Importantly, it is called optical path coupling or optical component coupling.

The coupling quality of the optical component directly determines the transmission quality of the optical signal of the optical module. Currently, the coupling method of the optical component includes active coupling and passive coupling.

The active coupling system usually includes a hardware system such as an optical module test system, a position motor control system, and a software control computing system. The coupling process determines the optimal position of the curing coupling according to the change of the motor position real-time test module optical performance index output position coordinate-performance curve;

Passive coupling systems usually include: hardware systems such as optical identification systems, position motor control systems, and software computing control systems. The coupling process firstly identifies the position of the component to be mounted and the position of the placement target, and the computer system calculates the positional deviation of the two, and the motor system controls the movement of the component to be attached to the target placement position.

Active coupling directly monitors device performance during the coupling process and therefore has a high coupling yield. However, in the active coupling process, the motor needs to repeatedly search for the placement position in a relatively large search area to output the position-performance curve multiple times. The optimum coupling position and therefore the coupling process takes a long time, resulting in a low production efficiency of the coupling process.

The passive coupling process is short and the coupling production efficiency is greatly improved. Therefore, in recent years, it has gradually become the preferred technical solution for optical component coupling in the production process of commercial optical devices. The passive placement process mainly determines the position coordinates of the optical component through the camera identification feature image. The recognition accuracy of the optical recognition system determines the efficiency of the entire coupling process affects the optical signal transmission quality after the optical component coupling is completed. High efficiency and high precision optical identification systems are the key to passive coupling.

The optical path coupling process of different components in the optical system is the process of aligning the optical interfaces of the components, and the optical interface faces of different optical components need to be aligned. The optical position recognition system in the common passive optical path coupling system is shown in Figure 1. In the recognition system, the camera position is generally fixed. The camera determines the recognized position according to the relative position of the recognized object in the camera field of view; the recognition system includes a lower view camera (position coordinate X1, Y1) and a top view camera (position coordinate X2, Y2) Two sets of identification systems respectively identify the coordinates of the upper reference point of the PCB (X1+△X1, Y1+△Y1) and the coordinates of the bottom point of the coupled optical component (X2+△X2, Y2+△Y2), and the computer system calculates the upper reference point of the PCB. The reference point distance (X1-X2+ΔX1-ΔX2, Y1-Y2+ΔY1-ΔY2) of the bottom of the coupled optical component.

It can be seen from the above principle that the problems in the common passive coupling technology include: the recognition system is composed of two sets of cameras that are too complicated, and the position identification deviation of the placement reference and the mounted object and the relative spacing of the camera (X1-X2, Y1) -Y2) and the recognition deviation of two cameras (△X1-△X2, △Y1-△Y2) are related, so the recognition error is relatively large, especially when the position of the two cameras changes, the relative positional distance of the two cameras changes. When the recognition error of the whole system is amplified, the accuracy of the coupling system using such a system is difficult to reach a high level, and the introduction of two sets of identification systems leads to an increase in the cost of the coupling system.

[Summary of the Invention]

The technical problem to be solved by the present invention is that the existing identification system is composed of two sets of cameras which are too complicated, the position identification deviation of the placement reference and the mounted object and the relative distance of the camera (X1-X2, Y1-Y2) and the recognition of the two cameras. The deviation (△X1-△X2, △Y1-△Y2) has a relationship, so the recognition error is relatively large, especially when the position of the two cameras changes, the relative positional distance of the two cameras changes, the recognition error of the whole system will be Amplification; therefore, the accuracy of the coupling system using such a system is difficult to achieve a high level, and the introduction of two sets of identification systems will lead to an increase in the cost of the coupling system.

In a first aspect, the present invention provides an optical component coupling device comprising a set of cross mirrors 1, a capture camera 2, a base 3 for fixing the substrate 31, a robot arm 4 for controlling the device to be coupled 41, and a control station. The cross mirror 1 and the servo system 5 of the acquisition camera 2, specifically:

The cross mirror 1 is composed of two first mirrors 11 and a second mirror 12 which form a preset angle with each other, wherein the cross mirror 1 is located between the device to be coupled 41 and the substrate 31, first The mirror 11 is for reflecting an image of the device 41 to be coupled on the robot arm 4, and the second mirror 12 is for reflecting an image of the substrate 31 on the base 3;

The servo system 5 is configured to maintain the relative positions of the cross mirror 1 and the acquisition camera 2 when the cross mirror 1 is adjusted, so that an effective image of the device 41 to be coupled in the first mirror 11 is And an effective image of the substrate 31 in the second mirror 12 is acquired by the acquisition camera 2;

The distance between the first reflecting mirror 11 and the effective reflecting surface of the second mirror 12 is a preset value, and the preset value refers to the identifier object that can be collected in the substrate 31 and/or the device to be coupled 41. Depending on the distance between them.

Preferably, when the progressive direction of the device to be coupled 41 and the substrate 31 is a vertical direction, the cross mirror 1 is located in the vertical direction, specifically:

The lens of the acquisition camera 2 is located in the horizontal direction of the cross mirror 1 , and the lens faces the reflected light path of the first mirror 11 with respect to the to-be-coupled device 41 and/or the lens faces the second The reflected light path of the mirror 12 with respect to the substrate 31; or

The lens of the capture camera 2 is vertically upward or vertically downward, and a redirecting mirror 6 is disposed between the capturing camera 2 and the optical path of the cross mirror 1 so that the mirror 1 is reflected by the cross mirror 1 The image of the device to be coupled 41 and/or the image of the substrate 31 can be captured by the lens of the acquisition camera 2 after the transmission path is adjusted by the redirecting mirror 6.

Preferably, when the reversing mirror 6 is further included in the coupling device, the servo system 5 is further used to control the redirecting mirror 6;

The servo system 5 is for maintaining a relative position between the cross mirror 1, the redirecting mirror 6, and the acquisition camera 2.

Preferably, the identifier object includes an identifier of a cross pattern, an identifier of a line pattern, an identifier of a dot pattern, and/or an identifier of a square pattern, and the preset value can be collected in the reference substrate 31 and/or the device to be coupled 41. The distance between the identification objects depends on:

The preset value is less than or equal to the currently selected separation distance for matching the corresponding identification objects in the substrate 31 and the device to be coupled 41 on the respective surfaces.

Preferably, the preset angle is specifically 80°-100°.

In a second aspect, the present invention also provides a method of using an optical component coupling device, comprising the optical component coupling device according to the first aspect, and having the substrate 31 disposed on the base 3 and disposed on the robot arm 4 The device to be coupled 41, the method of use includes:

The cross mirror 1 is controlled by the servo system 5 such that the intersection of the first mirror 11 and the second mirror 12 in the cross mirror 1 is projected onto the device to be coupled 41 and the substrate 31. Between a set of identification objects;

Calculating a first distance from the selected identification object in the device to be coupled 41 to the boundary of the first mirror 11 according to the image content in the first mirror 11 acquired by the acquisition camera 2 and the image content in the second mirror 12. a second distance from the selected identification object in the substrate 31 to the boundary of the second mirror 12;

The relative positions of the to-be-coupled device 41 and/or the substrate 31 are adjusted according to the first distance and the second distance.

Preferably, the cross mirror 1 is controlled by the servo system 5 such that the interface between the first mirror 11 and the second mirror 12 in the cross mirror 1 is projected onto the device to be coupled 41 and the substrate 31. The location above is between the selected set of identity objects, including:

The cross mirror 1 is controlled by the servo system 5 such that the intersection of the first mirror 11 and the second mirror 12 in the cross mirror 1 is projected onto the device to be coupled 41 and the substrate 31. a set of identification objects between the regions distributed in the horizontal direction; and completing the calculation of the first distance and the second distance, and the adjustment of the relative positions of the device to be coupled 41 and/or the substrate 31;

The cross mirror 1 is controlled by the servo system 5, and the interface between the first mirror 11 and the second mirror 12 in the cross mirror 1 is adjusted, and the position projected onto the device to be coupled 41 and the substrate 31 is selected. A predetermined set of identification objects are between the regions distributed in the vertical direction; and the calculation of the first distance and the second distance, and the adjustment of the relative positions of the device to be coupled 41 and/or the substrate 31 are completed.

Preferably, after the calculation of the first distance and the second distance, and the adjustment of the relative positions of the device to be coupled 41 and/or the substrate 31, the method further includes:

The cross mirror 1 is moved away by the servo system 5 so that the to-be-coupled device 41 and the substrate 31 complete the positional coupling and the corresponding welding operation.

Preferably, the selected set of identification objects comprises: a selected set of identification objects on the device to be coupled 41 or an identification object on the substrate 31, the connection of which forms at least one quadrilateral.

Preferably, the adjusting the relative positions of the to-be-coupled device 41 and/or the substrate 31 according to the first distance and the second distance includes:

Adjusting a relative position of the device to be coupled 41 and/or the substrate 31 according to the first distance and the second distance such that the first distance, the second distance, and the first mirror 11 and the second mirror 12 The sum of the distances between the interface faces is the same as the distance of the identification object corresponding to the device to be coupled 41 and/or the substrate 31.

Compared with the prior art, the beneficial effects of the present invention are:

Compared with the conventional passive coupling recognition system, the optical component coupling device of the present invention uses the same camera to recognize the coupling mounting reference (ie, the substrate) and the optical component (ie, the optical device to be coupled), thereby improving the recognition error caused by the camera position variation. The recognition accuracy is higher.

On the other hand, the optical component coupling device of the present invention reduces an identification camera compared to the conventional passive coupling recognition system, and the device is more inexpensive to manufacture.

In addition, since the optical component coupling device of the present invention performs image matching through the optical path, the mounting reference object and the optical component recognition can be identified in a small range in the XY direction, and the motor requires the overlap between the two to be small after the recognition. The conventional scheme limitation and identification point must be directly below the field of view of the relevant camera, and it is recognized that the post-mounting reference and the optical component overlap process are far away from the motor. Therefore, the optical component coupling device of the present invention can improve the coupling efficiency.

Finally, in the traditional passive coupling identification system, the relative positioning distance calculation results of the coupling placement reference and the optical component are related to the position of the two cameras and the mounting axis. The relative position and axis angle control between the two cameras are strictly controlled for installation and debugging. Difficulty, the optical component coupling device of the present invention effectively avoids this problem. The installation and debugging process is relatively simple.

[Description of the Drawings]

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a schematic diagram of an optical path recognition principle of a common passive coupling system according to an embodiment of the present invention;

2 is a schematic structural diagram of an optical component coupling device according to an embodiment of the present invention;

3 is a schematic structural diagram of another optical component coupling device according to an embodiment of the present invention;

4 is a schematic structural diagram of still another optical component coupling device according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an object to be identified on a device to be coupled according to an embodiment of the present invention; FIG.

6 is a schematic diagram of a definition of distance between identification objects on a device to be coupled according to an embodiment of the present invention;

7 is a schematic diagram of a preset distance between a first mirror and a second mirror in a cross mirror on a device to be coupled according to an embodiment of the present invention;

8 is a schematic diagram of an interface between a first mirror and a second mirror in a cross mirror on a device to be coupled according to an embodiment of the present invention;

9 is a schematic diagram of an optical path disposed in a non-vertical manner between a first mirror and a second mirror in a cross mirror on a device to be coupled according to an embodiment of the present invention;

FIG. 10 is a flowchart of a method for using an optical component coupling device according to an embodiment of the present invention; FIG.

11 is a schematic diagram of a relative position of a cross mirror and a device to be coupled according to an embodiment of the present invention;

FIG. 12 is a schematic diagram showing the relative position of a cross mirror and a device to be coupled at another angle according to an embodiment of the present invention; FIG.

FIG. 13 is a flowchart of a method for using another optical component coupling device according to an embodiment of the present invention.

【Detailed ways】

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, the orientations or positional relationships of the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. are based on the drawings. The orientation or positional relationship shown is for the purpose of describing the present invention and is not intended to be a limitation of the invention.

In various embodiments of the present invention, the symbol "/" means a meaning having two functions at the same time, for example, "second in/out port" indicates that the port can enter or exit light. The symbol "A and / or B" indicates that the combination between the front and back objects connected by the symbol includes "A", "B", "A and B", such as "backscattered light and / or Reflected light indicates that it can express either "backscattered light", "reflected light" alone, and "backscattered light and reflected light".

Further, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

Example 1:

Embodiment 1 of the present invention provides an optical component coupling device, as shown in FIG. 2, comprising a set of cross mirrors 1, a capture camera 2, a base 3 for fixing the substrate 31, and a mechanical arm 4 for controlling the device 41 to be coupled. a servo system 5 for controlling the cross mirror 1 and the acquisition camera 2, specifically:

The distance between the effective reflection surface of the first mirror 11 and the second mirror 12 is a preset value (as shown in FIG. 7 , the preset distance is d marked in the figure), and the preset The value is dependent on the distance between the substrate 31 and/or the identification object that can be acquired in the device to be coupled 41.

The optical component coupling device proposed by the embodiment of the present invention improves the camera position by using the same camera to identify the coupling mounting reference (ie, the substrate) and the optical component (ie, the optical device to be coupled) compared to the conventional passive coupling recognition system. The recognition error caused by the change has higher recognition accuracy. In addition, since the optical component coupling device of the present invention performs image matching through the optical path, the mounting reference object and the optical component recognition can be identified in a small range in the XY direction, and the motor requires the overlap between the two to be small after the recognition. The conventional scheme limitation and identification point must be directly below the field of view of the relevant camera, and it is recognized that the post-mounting reference and the optical component overlap process are far away from the motor. Therefore, the optical component coupling device of the present invention can improve the coupling efficiency.

In the embodiment of the present invention, when the progressive direction of the device to be coupled 41 and the substrate 31 is a vertical direction, the cross mirror 1 is located in the vertical direction, and therefore, in connection with the embodiment of the present invention, the camera is The design of the collection light path includes at least the following:

method one:

As shown in FIG. 2, the lens of the acquisition camera 2 is located in the horizontal direction of the cross mirror 1, and the lens faces the reflected light path of the first mirror 11 with respect to the device to be coupled 41, and The reflected light path of the second mirror 12 with respect to the substrate 31 is described.

Method 2:

As shown in FIG. 3, the lens of the acquisition camera 2 is vertically upward, and a redirecting mirror 6 is further disposed between the capturing camera 2 and the optical path of the cross mirror 1 so that the cross mirror 1 is passed. The image of the reflected device to be coupled 41 and/or the image of the substrate 31 can be captured by the lens of the acquisition camera 2 after the transmission path is adjusted by the redirecting mirror 6.

Method three:

As shown in FIG. 4, the lens of the acquisition camera 2 is vertically downward, and a redirecting mirror 6 is disposed between the capturing camera 2 and the optical path of the cross mirror 1 so that the cross mirror is passed through. The image of the reflected device to be coupled 41 and/or the image of the substrate 31 can be captured by the lens of the acquisition camera 2 after the transmission path is adjusted by the redirecting mirror 6.

Compared with the first method, it is necessary to set the lens of the acquisition camera 2 in the horizontal direction of the cross mirror, and the second and third modes are more flexible; with the setting of the redirecting mirror 6, the collection The camera 2 can be disposed on the base 3 or can be disposed on the top beam 51 of the servo system 5 (as shown in FIG. 3, the servo arm for controlling the camera 2, the cross mirror 1 and the redirecting mirror 6) It is disposed on the top beam 51 of the servo system 5). Except as shown in FIG. 3 and FIG. 4, the acquisition camera is exposed as shown in FIG. 2, and the reversing mirror 6 can be directly used according to the flexibility brought by the redirection mirror 6. It is embedded on the top beam 51 or embedded on the base 3, thereby avoiding the exposure of the collection camera and improving the safety of use of the device. Of course, the second method and the three-phase comparison method also add a redirecting mirror 6, thereby increasing the design accuracy of the coupling device, and to some extent, increasing the production cost of the coupling device. .

As shown in FIGS. 3 and 4, when the redirecting mirror 6 is further included in the coupling device, the servo system 5 is also used to control the redirecting mirror 6. Specifically, the cross mirror 1, the redirecting mirror 6 and the acquisition camera 2 can be interconnected by one or more connecting rods. If the capturing camera 2 is embedded in the base 3 or the top beam 51, only the need is needed. The cross mirror 1 and the redirecting mirror 6 are interconnected by one or more connecting rods. The servo system 5 is for maintaining a relative position between the cross mirror 1, the redirecting mirror 6, and the acquisition camera 2. Wherein, the relative position may be an orientation expressed in three directions of the X axis, the Y axis, and the Z axis.

In the embodiment of the present invention, the identification object includes an identifier of a cross pattern (as shown in FIG. 5 is an identification object 42 set on the device to be coupled 41), a logo of a line pattern, an identifier of a dot pattern, and/or a square pattern. The identifier is determined by the distance between the reference substrate 31 and/or the identifier object that can be collected in the device to be coupled 41, and specifically includes:

The preset value is less than or equal to the currently selected separation distance for matching the corresponding identification objects in the substrate 31 and the device to be coupled 41 on the respective surfaces. Taking FIG. 5 as an example, in which the separation distance of the identification object 42 on the surface of the device to be coupled 41 includes a, b, and c values (and a<b<c), the preferred preset value is less than or equal to a. The reason for this design is to ensure the interface between the first mirror 11 and the second mirror 12 of the cross mirror 1 (as shown in FIG. 8, that is, the first mirror 11 and the second mirror 12 are connected to the shaft). The vertical plane falls between any pair of identification objects 42, and the cross mirror 1 can be brought into a state to be calibrated with a minimum moving distance. The calibration preparation state, in particular, the cross mirror 1 has been adjusted into position, and the acquisition camera 3 can collect the image content, and complete the calculation of the first distance and the second distance, how to complete the corresponding calculation process, which will pass through the second embodiment. The method of use is specifically explained.

In the embodiment of the present invention, since the identification objects between the substrate 31 and the device to be coupled 41 are generally symmetrically distributed, the content of the identification object in the embodiments of the present invention is similar to the “substrate 31 and/or The form of the identification object between the devices to be coupled 41 indicates that it is feasible to pay attention to one or both of them.

In the implementation of the present invention, the predetermined angle between the first mirror 11 and the second mirror 12 is specifically 80°-100°. Relative to the setting of each object in the optical path, the simplest implementation is to adopt a preset angle of 95°. For the case where the preset angle adopts other degrees, the correspondingly needs to adopt the reversing mirror similar to the cross mirror, so that the compensation of the corresponding deviation angle can be completed, and the compensation principle diagram is shown in FIG. The first redirecting mirror 61 and the second redirecting mirror 62 are included, and can compensate for the fact that the predetermined angle between the first mirror 11 and the second mirror 12 does not satisfy 90°. The deviation causes the acquisition optical path from the device to be coupled 41 and the substrate 31 to enter the acquisition camera 2 in parallel.

Example 2:

After providing an optical component coupling device as described in Embodiment 1, the embodiment of the present invention further provides a method of using the optical component coupling device, wherein the substrate 31 has been disposed on the base 3, and the robot arm 4 is to be coupled to the device 41 to be coupled, as shown in FIG. 10, the method of use includes:

In step 201, the cross mirror 1 is controlled by the servo system 5 such that the interface 13 of the first mirror 11 and the second mirror 12 in the cross mirror 1 is given as shown in FIG. The representation of the interface 13 is such that the position projected onto the device to be coupled 41 and the substrate 31 is between a selected set of identification objects.

The selected set of identification objects includes: a selected set of identification objects on the device to be coupled 41 or an identification object on the substrate 31, the connection of which forms at least one quadrilateral. For example, the four identification objects 32 marked with a cross as shown in FIG. 11 and FIG. 12 together form a standard rectangle. In the actual implementation process, other irregular graphics may not be specifically limited herein.

In step 202, the selected identification object in the device to be coupled 41 is calculated to the first mirror 11 according to the image content in the first mirror 11 and the image content in the second mirror 12 acquired by the acquisition camera 2. The first distance of the boundary and the second selected distance of the selected object in the substrate 31 to the boundary of the second mirror 12.

In step 203, the relative positions of the device to be coupled 41 and/or the substrate 31 are adjusted according to the first distance and the second distance.

The method for using the optical component coupling device proposed by the embodiment of the present invention, compared with the conventional passive coupling recognition system, uses the same camera to identify the coupling mounting reference (ie, the substrate) and the optical component (ie, the light to be coupled The device) thus improves the recognition error caused by the change of the camera position, and the recognition accuracy is higher. In addition, since the optical component coupling device of the present invention performs image matching through the optical path, the mounting reference object and the optical component recognition can be identified in a small range in the XY direction, and the motor requires the overlap between the two to be small after the recognition. The conventional scheme limitation and identification point must be directly below the field of view of the relevant camera, and it is recognized that the post-mounting reference and the optical component overlap process are far away from the motor. Therefore, the optical component coupling device of the present invention can improve the coupling efficiency.

In the embodiment of the present invention, the corresponding method can be completed according to the coupling structure described in Embodiment 1. However, in the actual implementation process, the servo system may be controlled by an operator or a computer, and is not specifically limited herein. .

In the embodiment of the present invention, the cross mirror 1 is controlled by the servo system 5 in the step 201, so that the interface 13 of the first mirror 11 and the second mirror 12 in the cross mirror 1 is The position projected onto the device to be coupled 41 and the substrate 31 is located between the selected group of identification objects, and specifically includes:

The cross mirror 1 is controlled by the servo system 5 such that the interface 13 of the first mirror 11 and the second mirror 12 in the cross mirror 1 is projected onto the device to be coupled 41 and the substrate 31. A selected set of identification objects are arranged between the areas distributed in the horizontal direction (as shown in FIG. 11 , which is a schematic view of the effect viewed from directly above the cross mirror 1 and the substrate 31 , wherein the interface 13 is projected onto the substrate 31 The position is a dotted line position marked with 14 in FIG. 11 to satisfy the corresponding condition requirement); and the calculation of the first distance d1 and the second distance d2 is completed, and the relative of the device to be coupled 41 and/or the substrate 31 is opposite. Adjustment of position;

The cross mirror 1 is controlled by the servo system 5, and the interface 13 of the first mirror 11 and the second mirror 12 in the cross mirror 1 is adjusted, and the position projected onto the device to be coupled 41 and the substrate 31 is located. The selected set of identification objects are between the areas distributed in the vertical direction (the horizontal orientation shown in FIG. 11 and the vertical direction shown in FIG. 12); and the calculation of the first distance and the second distance is completed. And adjustment of the relative position of the device to be coupled 41 and/or the substrate 31.

In the embodiment of the present invention, in the step 203, the adjusting the relative positions of the to-be-coupled device 41 and/or the substrate 31 according to the first distance and the second distance provides a specific implementation means, including :

Adjusting a relative position of the device to be coupled 41 and/or the substrate 31 according to the first distance and the second distance such that the first distance d1, the second distance d2, and the first mirror 11 and the second reflection The sum of the distances d between the interface faces 13 of the mirrors 12 (i.e., d + d1 + d2) is the same as the distance of the identification object corresponding to the device to be coupled 41 and/or the substrate 31 (take FIG. 11 as an example, that is, d3 shown in the figure) Distance length).

As shown in FIG. 13, after the calculation of the first distance and the second distance, and the adjustment of the relative positions of the device to be coupled 41 and/or the substrate 31 are completed, the method further includes a step 204.

In step 204, the cross mirror 1 is moved away by the servo system 5 such that the device to be coupled 41 and the substrate 31 complete the alignment coupling and the corresponding welding operation in position.

It is to be noted that the content of the above-mentioned device, the information exchange between the units, the execution process, and the like are based on the same concept as the processing method embodiment 2 of the present invention. For details, refer to the description in the second embodiment of the method of the present invention. I will not repeat them here.

A person skilled in the art can understand that all or part of the various methods of the embodiments can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the storage medium can include: Read memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

An optical component coupling device, comprising: a set of cross mirrors (1), a capture camera (2), a base (3) for fixing the substrate (31), and a mechanical arm for controlling the device to be coupled (41) (4) A servo system (5) for controlling the cross mirror (1) and the acquisition camera (2), specifically:

The cross mirror (1) is composed of two first mirrors (11) and second mirrors (12) which form a preset angle with each other, wherein the cross mirror (1) is located in the device to be coupled (41) Between the substrate (31), the first mirror (11) is for reflecting an image of the device (41) to be coupled on the robot arm (4), and the second mirror (12) is for reflecting at the base (3) An image of the upper substrate (31);

The servo system (5) is configured to maintain a relative position of the cross mirror (1) and the acquisition camera (2) when the cross mirror (1) is adjusted, such that the first mirror ( 11) an effective image of the device to be coupled (41) and an effective image of the substrate (31) in the second mirror (12) are acquired by the acquisition camera (2);

The distance between the effective reflection surface of the first mirror (11) and the second mirror (12) is a preset value, and the preset value is referenced to the substrate (31) and/or the device to be coupled (41). ) depending on the distance between the identified objects that can be collected.
The optical module coupling apparatus according to claim 1, wherein said cross mirror (1) is located at said vertical direction when a progressive direction of said device to be coupled (41) and said substrate (31) is a vertical direction In the direction, specific:

The lens of the acquisition camera (2) is located in the horizontal direction of the cross mirror (1), and the lens faces the reflected light path of the first mirror (11) relative to the device to be coupled (41) Or the lens is directed toward the reflected light path of the second mirror (12) relative to the substrate (31); or

The lens of the acquisition camera (2) is vertically upward or vertically downward, and a redirecting mirror (6) is further disposed between the acquisition camera (2) and the optical path of the cross mirror (1). So that the image of the device to be coupled (41) and/or the image of the substrate (31) reflected by the cross mirror (1) can be adjusted by the redirecting mirror (6), and then the image is captured by the camera. (2) The lens is captured.
The optical component coupling device according to claim 2, wherein said servo system (5) is further configured to control said redirecting when said redirecting mirror (6) is further included in said coupling device Mirror (6);

The servo system (5) is for maintaining a relative position between the cross mirror (1), the redirecting mirror (6) and the acquisition camera (2).
The optical component coupling device according to claim 1, wherein the identification object comprises an identification of a cross pattern, an identification of a line pattern, an identification of a dot pattern, and/or an identification of a square pattern, and the preset value is referenced. The distance between the substrate (31) and/or the identification object that can be collected in the device to be coupled (41) depends on:

The preset value is less than or equal to the currently selected separation distance for matching the corresponding identification objects in the substrate (31) and the device to be coupled (41) on respective surfaces.
The optical component coupling device according to any one of claims 1 to 4, wherein the predetermined angle is specifically 80°-100°.
A method of using an optical component coupling device, comprising the optical component coupling device according to any one of claims 1 to 5, and having provided a substrate (31) on the base (3), and in the machine The device to be coupled (41) is disposed on the arm (4), and the method of use includes:

The cross mirror (1) is controlled by a servo system (5) such that the interface between the first mirror (11) and the second mirror (12) in the cross mirror (1) is projected to be coupled The position on device (41) and substrate (31) is between a selected set of identification objects;

Calculating the selected identification object in the device to be coupled (41) to the first according to the image content in the first mirror (11) acquired by the acquisition camera (2) and the image content in the second mirror (12) a first distance from the boundary of the mirror (11) and a second distance from the selected identification object in the substrate (31) to the boundary of the second mirror (12);

The relative positions of the device to be coupled (41) and/or the substrate (31) are adjusted according to the first distance and the second distance.
Method of using an optical component coupling device according to claim 6, characterized in that said cross mirror (1) is controlled by a servo system (5) such that the first of said cross mirrors (1) The intersection of the mirror (11) and the second mirror (12) is projected between the device to be coupled (41) and the substrate (31) between a selected group of identification objects, and specifically includes:

The cross mirror (1) is controlled by a servo system (5) such that the interface between the first mirror (11) and the second mirror (12) in the cross mirror (1) is projected to be coupled Positioning the device (41) and the substrate (31) between the regions of the selected set of identification objects distributed in the horizontal direction; and completing the calculation of the first distance and the second distance, and the device to be coupled Adjustment of the relative position of (41) and/or substrate (31);

Controlling the cross mirror (1) by a servo system (5), adjusting an interface between the first mirror (11) and the second mirror (12) in the cross mirror (1), and projecting to be coupled Positioning the device (41) and the substrate (31) between the regions of the selected set of identification objects distributed in the vertical direction; and completing the calculation of the first distance and the second distance, and the device to be coupled Adjustment of the relative position of (41) and/or substrate (31).
A method of using an optical component coupling device according to claim 6 or 7, wherein the calculation of the first distance and the second distance is completed, and the device to be coupled (41) and/or the substrate (31) After adjusting the relative position of the ), the method further includes:

The cross mirror (1) is moved away by the servo system (5) such that the device to be coupled (41) and the substrate (31) complete the positional coupling and the corresponding welding operation.
A method of using an optical component coupling device according to claim 6 or 7, wherein said selected set of identification objects comprises: a set of identification objects selected on said device to be coupled (41) Or the identification object on the substrate (31), the connection of which forms at least one quadrilateral.
The method of using the optical component coupling device according to claim 6 or 7, wherein the adjusting the device to be coupled (41) and/or the substrate (31) according to the first distance and the second distance Relative position, including:

Adjusting a relative position of the device to be coupled (41) and/or the substrate (31) according to the first distance and the second distance such that the first distance, the second distance, and the first mirror (11) The sum of the distances between the interface faces of the second mirror (12) and the target object corresponding to the device to be coupled (41) and/or the substrate (31) is the same.