CN206388243U - Visual-alignment control device - Google Patents
Visual-alignment control device Download PDFInfo
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- CN206388243U CN206388243U CN201621305552.4U CN201621305552U CN206388243U CN 206388243 U CN206388243 U CN 206388243U CN 201621305552 U CN201621305552 U CN 201621305552U CN 206388243 U CN206388243 U CN 206388243U
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- position identification
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Abstract
The utility model discloses a kind of visual-alignment control device, the visual-alignment control device includes the video camera that four directions are set to bit platform, wherein, it is included in the work camera worked during contraposition calibration, standard sample is fixed on described on bit platform, multiple position identification points are provided with the standard sample, the work camera captures the position identification point within the vision, the vision controller is used to control the work camera to record coordinate of the position identification point in X Y-coordinate planes in motion process, the computing module is used for the parameter that demarcation is calculated according to the position coordinates of position identification point.The utility model improves the flexibility calibrated for different type product aligning, and has simplified and speeded up the demarcation to video camera.
Description
Technical field
The utility model is related to PCB technical fields, more particularly to a kind of visual-alignment control device.
Background technology
Paste solder printing with industry of fitting, it is often necessary to repeat to align to high accuracy, in particular with recent years, mobile phone
Market it is burning hot, in glass printing is fitted with Mobile phone film, it is proposed that higher precision and efficiency requirements.Traditional pin, folder
Tool positioning has been extremely difficult to technological requirement.
Sight is gradually transferred on machine vision automatic aligning by people, the two CCD shootings for beginning to use angle to fix
Machine is moved between two position identification points on product, and such a set of equipment can only be directed to certain types of product, no
Being capable of the extensive use in polytype product.
In addition, being communicated to connect in the prior art in demarcation to bit platform and vision system, one is being moved to bit platform
Behind individual position, video camera needs to receive can just be carried out after the stop signal that artoregistration platform is sent to the coordinate of position identification point
Record.
Utility model content
Main purpose of the present utility model is to provide a kind of visual-alignment control device, it is intended to improve visual-alignment control
Demarcation of the versatility and acceleration of device to video camera.
To achieve the above object, a kind of visual-alignment control device that the utility model is provided, the visual-alignment control
Device includes four video cameras, vision controllers, to bit platform, standard sample and computing module, wherein four video cameras
In the work camera that works when being included in contraposition calibration, the standard sample is fixed on described on bit platform, the standard
It is provided with multiple position identification points on sample, the work camera sets to bit platform and captured within sweep of the eye towards described
The position identification point, the vision controller be used for control the work camera to record the position identification point in X-
Coordinate in Y-coordinate plane in motion process, the computing module is electrically connected for according to different positions from the work camera
The conversion that the position coordinates for the position identification point put calculates the coordinate system and contraposition platform coordinate system of four video cameras is closed
System and the centre coordinate of four video cameras.
Preferably, the visual-alignment control device also includes setup module and mobile module, wherein：
The setup module, for setting standard sample to be quantified in the movement of X-Y coordinate plane；
The mobile module, for the standard sample be fixed on it is described on bit platform after, by the standard sample
The position identification point of upper setting is moved to the work camera within sweep of the eye.
Preferably, it is described that translation module and rotary module are included to bit platform, wherein：
The translation module, for driving the standard sample to do quantitative translational motion in X-Y coordinate plane；
The rotary module, for driving the standard sample to do quantitative rotary motion in X-Y coordinate plane.
Preferably, the translation module includes X-direction moving cell and Y-direction moving cell, wherein：
The X-direction moving cell, is carried out for the X-axis positive direction and negative direction in X-Y coordinate plane with fixed displacement
Translation；
The Y-direction moving cell, is carried out for the Y-axis positive direction and negative direction in X-Y coordinate plane with fixed displacement
Translation.
Preferably, the vision controller includes detection module, judge module and logging modle, wherein：
The detection module, for controlling the work camera periodically to detect, the position of the position identification point is sat
Mark；
The judge module, for judging whether the position identification point reaches specified location；
The logging modle, the position for recording the position identification point after the position identification point reaches specified location
Put coordinate.
The utility model is set by four video cameras towards to bit platform direction, can flexibly select work for product
Make the quantity and angle of video camera, so that the preferably coordinate of crawl and record position identification point, improves video camera contraposition calibration
Versatility and the degree of accuracy.In addition, the utility model coordinates the position of test position identification point by video camera and vision controller
Put coordinate to judge the motion conditions to bit platform, recognized independent of the position is captured with being communicated to bit platform
Point, can simplify and speed up the demarcation to video camera.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model visual-alignment control device first embodiment；
Fig. 2 is the high-level schematic functional block diagram of the utility model visual-alignment control device second embodiment；
Fig. 3 is the refinement functional module signal in the utility model visual-alignment control device 3rd embodiment to bit platform
Figure；
Fig. 4 is that the refinement functional module of vision controller in the utility model visual-alignment control device fourth embodiment is shown
It is intended to.
Realization, functional characteristics and the advantage of the utility model purpose will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that specific embodiment described herein is not used to limit this only to explain the utility model
Utility model.
The utility model provides a kind of visual-alignment control device.
Fig. 1 is refer to, in the first embodiment, the visual-alignment control device 100 that the utility model is provided includes：Four
Video camera 10, vision controller 50, to bit platform 20, standard sample 30 and computing module 40, wherein four video cameras 10
In the work camera 11 that works when being included in contraposition calibration, the standard sample 30 is fixed on described on bit platform 20, institute
State and multiple position identification points 31 are provided with standard sample 30, the work camera 11 is set simultaneously towards described to bit platform 20
The position identification point 31 within the vision is captured, the vision controller 50 is used to control the work camera 11 to record
Under coordinate of the position identification point 31 in X-Y coordinate plane in motion process, the computing module 40 takes the photograph with the work
Camera 11 is electrically connected to be calculated to the coordinate of bit platform 20 for the position coordinates of the position identification point 31 according to diverse location
System and the transformational relation and the centre coordinate of four video cameras 10 of the coordinate system of four video cameras 10.
Four video cameras 10 are set towards to bit platform 20, and different cameras 10 has different towards angle, is more convenient for
Crawl position identification point 31.Choosing a number of video camera 10 from four video cameras 10 according to the characteristics of product is used for conduct
The work camera 11 worked when aligning calibration.
Standard sample 30 is placed on the table top to bit platform 20, multiple positions are provided with the standard sample 30
Identification point 31, the work camera 11 captures corresponding position identification point 31 within sweep of the eye.
It is described that X-Y coordinate plane can be inherently in bit platform 20, can also be by flat in X-Y coordinate after rotation
On face.Moved on an x-y plane after X-Y coordinate plane is in bit platform 20, the vision controller 50 controls the work
Make video camera 11 and the position identification point 31 is recorded during the position identification point 31 of the standard sample 30 is captured in fortune
Coordinate value during dynamic, specifically, by setting multiple motor segments, per it is intersegmental every dwell time captured.
By the position coordinates of the position identification point 31 of diverse location, so as to calculate described to the coordinate of bit platform 20
System and the transformational relation of four coordinate systems of video camera 10 and the centre coordinate of four video cameras 10.
During product aligning after, comprise the following steps：Determine the reference position to bit platform 20；Product
Enter described to bit platform 20 through production line；Four video cameras 10 shoot the position of the position identification point 31, described to regard
Feel that controller records corresponding position coordinates；Product space is modified so that the product is fallen into relative to the benchmark
In the error range that position allows.Wherein, makeover process includes the amendment of amendment and the translation of the anglec of rotation, and the two can enter simultaneously
Row also can be carried out individually.
In the present embodiment, the visual-alignment control device 100 arranges numerous video cameras 10 around to bit platform 20,
The quantity and angle of work camera 11 can be flexibly selected for product, so that preferably crawl and record position identification point
31 coordinate, improves versatility and the degree of accuracy of the contraposition calibration of video camera 10.
Further, the video camera 10 be arranged at it is described to bit platform 20 above or below.As long as being able to ensure that institute
State work camera 11 and can grab and be fixed on the position identification point 31 to the standard sample 30 on bit platform 20 i.e.
Can.4 video cameras 10 can be used all according to demand, or optional two use, wherein, combination of two has 6 kinds of modes
It is available, improve the flexibility of reply different product.
Further, Fig. 2 is refer to, based on the utility model visual-alignment control device first embodiment, in this practicality
In novel visual alignment control device second embodiment, above-mentioned visual-alignment control device 100 also includes setup module 60 and moved
Dynamic model block 70, wherein：
The setup module 60, for setting standard sample 30 to be quantified in the movement of X-Y coordinate plane；
The movement that setting one is adapted to the record of work camera 11 is quantified, and will not exceed the position identification point 31
The field range of the work camera 11, is easy to the work camera 11 to record the coordinate of the position identification point 31.
The mobile module 70, for the standard sample 30 be fixed on it is described on bit platform 20 after, by the mark
The multiple position identification points 31 set on quasi- sample 30 are moved to the work camera 11 within sweep of the eye.
Before being detected to the standard sample 30, the position identification point 31 of the standard sample 30 is moved to institute
State work camera 11 within sweep of the eye, the position is the start bit of visual-alignment control device described in the present embodiment 100
Put.
In the present embodiment, quantitatively it is configured by the movement to the standard sample 30, and will before contraposition calibration
The position identification point 31 is arranged on the work camera 11 within sweep of the eye, ensure that the institute in contraposition calibration process
Rheme puts field range of the identification point 31 not over the work camera 11, it is to avoid occur capturing less than position some described
The problem of identification point 31.
Further, reference picture 3, it is new in this practicality based on the utility model visual-alignment control device first embodiment
It is described above that translation module 21 and rotary module 23 are included to bit platform 20 in type visual-alignment control device 3rd embodiment,
Wherein：
The translation module 21, for driving the standard sample 30 to do quantitative translational motion in X-Y coordinate plane；
The translation module 21 drives the standard sample to do quantitative translational motion in X-Y coordinate plane, including along X
The quantitative translation of direction of principal axis, the quantitative translation in Y direction, quantitatively translate with the angled straight line of X-axis or angle change
Curve is quantitatively translated.
The rotary module 23, for driving the standard sample 30 to do quantitative rotary motion in X-Y coordinate plane.
The rotary module 23 drives the standard sample 30 to do quantitative rotary motion in X-Y coordinate plane, including
Along the origin of X-Y coordinate plane with it is suitable/rotate in an anti-clockwise direction quantitative angle, or any point of X-Y coordinate plane with
It is suitable/to rotate in an anti-clockwise direction quantitative angle.Specifically, it is described that θ ° is rotated clockwise from reference position to bit platform 20
The position coordinates of the position identification point 31 is recorded afterwards；It is described that θ ° is rotated counterclockwise from reference position to bit platform 20
The position coordinates of the position identification point 31 is recorded afterwards；It is described to bit platform 20 centered on the position identification point 31 up time
Clock direction rotates the position coordinates that the position identification point 31 is recorded after θ °；It is described to bit platform 20 with the position identification point
Counterclockwise rotates the position coordinates that the position identification point 31 is recorded after θ ° centered on 31.
In the present embodiment, by by the standard sample 30 by doing quantitative translation and rotation in X-Y coordinate plane
Motion, is easy to 11 pairs of the work camera position identification point 31 to record.
Further, the work camera 11 records the same position identification point 31 and rotated in X-Y coordinate plane
During the coordinate quantity of diverse location be at least three.
The quantity of the diverse location coordinate of same position identification point 31 captured in rotary course is more, for passing through position
The centre coordinate for four work cameras 11 that the coordinate that identification point 31 changes is calculated is more accurate.
In the present embodiment, it is ensured that the same position identification point 31 that the work camera 11 is captured in the rotary course
Diverse location coordinate quantity more than three, improve after calculate four work cameras 11 centre coordinate
Accuracy.
Further, translation module 21 described above includes：X-direction moving cell and Y-direction moving cell, wherein：
The X-direction moving cell, is carried out for the X-axis positive direction and negative direction in X-Y coordinate plane with fixed displacement
Translation；
The Y-direction moving cell, is carried out for the Y-axis positive direction and negative direction in X-Y coordinate plane with fixed displacement
Translation.
The two makes described to translate fixed displacement-negative Y-direction by positive X-direction on an x-y plane to bit platform 20 jointly
One fixed displacement of translation-negative X-direction translates a fixed displacement-one fixed displacement of negative X-direction translation-positive Y-direction and put down
Move a fixed displacement-positive Y-direction and translate a fixed displacement-one fixed displacement of positive X-direction translation-positive X-direction translation
Move 8 times in the path of one fixed displacement.
In the present embodiment, by having carried out specific description to the translational motion, and around the center of X-Y coordinate plane
Move so that the work camera 11 is easier the coordinate of crawl position identification point 31, be easy to calculate the work and take the photograph
The coordinate system of camera 11 and the transformational relation to the coordinate system of bit platform 20.
Further, reference picture 4, it is new in this practicality based on the utility model visual-alignment control device above-described embodiment
In type visual-alignment control device fourth embodiment, the vision controller 50 includes detection module 51, judge module 52 and note
Module 53 is recorded, wherein：
The detection module 51, for controlling the work camera 11 periodically to detect the position identification point 31
Position coordinates；
It is described to obtain that the detection module 51 just carries out one-time detection every preset time to the position identification point 31
The coordinate of position identification point 31, specifically, the preset time are 500ms.
The judge module 52, for judging whether the position identification point 31 reaches specified location；
Specifically, including for judging that the current position coordinates detected by the work camera 11 are sat with prior location
Whether mark is within the first presetted pixel, and first presetted pixel is 10 pixels, the difference of even two neighboring position coordinates
More than 10 pixels, then it is considered that described drive the position identification point 31 to move to bit platform 20；It is additionally operable to judge default
Whether the position coordinates detected by work camera 11 described in number of times is within the second presetted pixel, described default time
Number is 3 times, second presetted pixel is 3 pixels, i.e., the difference between the position coordinates of continuous three times acquisitions is less than 3 pictures
Element, then it is assumed that described to drive the position identification point 31 to reach specified location to bit platform 20.
The logging modle 14, the position identification point 31 is recorded for reaching specified location in the position identification point
Position coordinates.
The position identification point is then recorded after the judge module 13 confirms that the position identification point 31 is moved into place
31 the position position coordinates.
In the present embodiment, coordinated by the video camera 10 and the vision controller 50 to the position identification point 31
State is judged, to determine the position coordinates for capturing the position identification point 31, without being led to described to bit platform 20
Believer in a certain religion and the time for saving PERCOM peripheral communication, the demarcation to video camera is simplified and speeded up.
Preferred embodiment of the present utility model is these are only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (5)
1. a kind of visual-alignment control device, it is characterised in that the visual-alignment control device includes four video cameras, visions
Controller, to bit platform, standard sample and computing module, wherein being worked when being included in contraposition calibration in four video cameras
Work camera, the standard sample is fixed on described on bit platform, being provided with multiple positions identifications on the standard sample
Point, the work camera sets to bit platform towards described and captures the position identification point within the vision, described to regard
Feel that controller is used to control the work camera to record the position identification point in X-Y coordinate plane in motion process
Coordinate, the computing module electrically connects the position for the position identification point according to diverse location with the work camera
Coordinate calculates the coordinate system and the transformational relation of contraposition platform coordinate system and the center of four video cameras of four video cameras
Coordinate.
2. visual-alignment control device according to claim 1, it is characterised in that the visual-alignment control device is also wrapped
Setup module and mobile module are included, wherein：
The setup module, for setting standard sample to be quantified in the movement of X-Y coordinate plane；
The mobile module, for the standard sample be fixed on it is described on bit platform after, will be set on the standard sample
The position identification point put is moved to the work camera within sweep of the eye.
3. visual-alignment control device according to claim 1, it is characterised in that described that translation module is included to bit platform
And rotary module, wherein：
The translation module, for driving the standard sample to do quantitative translational motion in X-Y coordinate plane；
The rotary module, for driving the standard sample to do quantitative rotary motion in X-Y coordinate plane.
4. visual-alignment control device according to claim 3, it is characterised in that the translation module is transported including X-direction
Moving cell and Y-direction moving cell, wherein：
The X-direction moving cell, is translated for the X-axis positive direction and negative direction in X-Y coordinate plane with fixed displacement；
The Y-direction moving cell, is translated for the Y-axis positive direction and negative direction in X-Y coordinate plane with fixed displacement.
5. the visual-alignment control device according to any one of claim 1-4, it is characterised in that the vision controller
Including detection module, judge module and logging modle, wherein：
The detection module, for controlling the work camera periodically to detect the position coordinates of the position identification point；
The judge module, for judging whether the position identification point reaches specified location；
The logging modle, the position for recording the position identification point after the position identification point reaches specified location is sat
Mark.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305552.4U CN206388243U (en) | 2016-11-30 | 2016-11-30 | Visual-alignment control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305552.4U CN206388243U (en) | 2016-11-30 | 2016-11-30 | Visual-alignment control device |
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| CN206388243U true CN206388243U (en) | 2017-08-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530357A (en) * | 2016-11-30 | 2017-03-22 | 深圳市泰沃德自动化技术有限公司 | Vision alignment control device and calibration method |
| CN113670230A (en) * | 2020-05-15 | 2021-11-19 | 全研科技有限公司 | XXY alignment platform inspection method |
-
2016
- 2016-11-30 CN CN201621305552.4U patent/CN206388243U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530357A (en) * | 2016-11-30 | 2017-03-22 | 深圳市泰沃德自动化技术有限公司 | Vision alignment control device and calibration method |
| CN106530357B (en) * | 2016-11-30 | 2023-10-03 | 深圳市泰沃德技术有限公司 | Visual alignment control device and calibration method |
| CN113670230A (en) * | 2020-05-15 | 2021-11-19 | 全研科技有限公司 | XXY alignment platform inspection method |
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