Product alignment equipment and control method thereof

Abstract

The invention relates to the technical field of product alignment, in particular to product alignment equipment and a control method thereof. The product alignment equipment comprises an alignment platform and a product alignment device, wherein the alignment platform comprises an upper alignment platform and a lower alignment platform; an image acquisition device; a motion control device; the controller is configured to acquire image information of a to-be-aligned product through the image acquisition device in response to a product alignment task instruction; determining a to-be-aligned mark in the image information according to the image information; determining an image offset according to a position relationship between the to-be-aligned mark and an alignment mark in the negative film; and under the condition that the image offset does not meet the preset condition, the position of the alignment platform is adjusted through the motion control device, so that the image offset meets the preset condition. Therefore, the technical problem of low alignment efficiency of a traditional product alignment method in the prior art is solved.

Description

Technical Field

[0001] This application relates to the technical field of product alignment, and particularly to a product alignment device and its control method. Background Art

[0002] Currently, in industrial production, automated devices such as assembly, lamination, dispensing, marking, loading and unloading all require the product alignment function. Traditional jig alignment is prone to position deviation, resulting in a high product scrap rate and high jig R & D and production costs. The emerging machine vision alignment has characteristics such as non-contact, high precision, and high speed, which can solve the problems existing in the jig alignment method.

[0003] However, in the product alignment method in the related art, to meet the alignment accuracy requirements, multiple alignments are often required, increasing the completion time of product alignment and affecting production efficiency.

[0004] Therefore, how to determine a product alignment method with high alignment accuracy and high efficiency is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a product alignment device and its control method, which are used to solve the technical problem of low alignment efficiency in the traditional product alignment method.

[0006] To achieve the above object, the embodiments of this application adopt the following technical solutions:

[0007] In a first aspect, a product alignment device is provided. The device includes:

[0008] An alignment platform, which includes an upper alignment platform and a lower alignment platform. The upper alignment platform is used to place the negative film, and the lower alignment platform is used to place the product to be aligned;

[0009] An image acquisition device, which is arranged on the upper alignment platform and is used to acquire the image information of the product to be aligned;

[0010] A motion control device, which is used to control the movement of the alignment platform;

[0011] A controller, which is configured to:

[0012] Respond to the product alignment task instruction, and obtain the image information of the product to be aligned through the image acquisition device;

[0013] Determine the alignment mark to be aligned in the image information according to the image information;

[0014] Determine the image offset according to the position relationship between the alignment mark to be aligned and the alignment mark in the negative film;

[0015] When the image offset does not meet the preset conditions, the position of the alignment platform is adjusted by the motion control device so that the image offset meets the preset conditions.

[0016] The technical solution provided by the embodiments of the present application at least brings the following beneficial effects: The embodiments of the present application provide a product alignment device and its control method. The product alignment is determined by the positional relationship between the alignment mark to be aligned in the image information of the product to be aligned collected by the image acquisition device and the alignment mark in the negative film. When the image offset determined by the alignment mark to be aligned and the alignment mark does not meet the preset conditions, it is considered that the product alignment is not completed. In this regard, the alignment platform is adjusted by the motion control device so that the image offset meets the preset conditions, thereby accurately and efficiently completing the product alignment.

[0017] In some embodiments, the above controller is further configured to determine that the product alignment task ends when the image offset meets the preset conditions.

[0018] As can be seen from the above embodiments, when the image offset meets the preset conditions, it indicates that the positions of the product to be aligned and the negative film have coincided or are within a sufficiently small error range, that is, the alignment task of the product to be aligned ends.

[0019] In some embodiments, the above preset conditions include that the image offset in the first direction is less than the first threshold and the image offset in the second direction is less than the second threshold, and the first direction and the second direction are different directions.

[0020] As can be seen from the above embodiments, when the image offset in the first direction is less than the first threshold and the image offset in the second direction is less than the second threshold, it can be determined that the positions of the alignment mark to be aligned and the alignment mark coincide or the deviation is within an acceptable range, that is, the alignment task of the product to be aligned ends.

[0021] In some embodiments, the above image information is the first image information or the second image information, and the alignment mark to be aligned is determined by the following steps: preprocessing the image information to obtain an enhanced image of the image information; when the image information is the first image information, determining the alignment mark to be aligned in the enhanced image based on the template matching algorithm; when the image information is the second image information, determining the alignment mark to be aligned in the enhanced image based on the blob analysis algorithm, and the clarity of the first image information and the second image information is different.

[0022] As can be seen from the above embodiments, preprocessing the image can eliminate redundant information in the image so that the obtained enhanced image can better show the contrast between the alignment mark points to be aligned in the image and the image background. At the same time, using different algorithms to determine the alignment mark to be aligned in the image information with different clarity can make the recognition of the alignment mark to be aligned more accurate and fast.

[0023] In some embodiments, when the image offset does not meet the preset condition, the controller is specifically configured to: adjust the position of the lower alignment platform by operating the control device so that the image offset meets the preset condition.

[0024] In some embodiments, when the image offset does not meet the preset condition, the controller is specifically configured to: when the image offset does not meet the preset condition, adjust the position of the upper alignment platform by operating the control device so that the image offset meets the preset condition.

[0025] In some embodiments, when the image offset does not meet the preset condition, the controller is specifically configured to: determine the matrix transformation relationship between the to-be-aligned mark and the alignment mark according to the coordinates of the to-be-aligned mark and the coordinates of the alignment mark; determine the positional relationship between the to-be-aligned mark and the alignment mark according to the matrix transformation relationship; determine the alignment correction value of the upper alignment platform or the lower alignment platform according to the positional relationship; adjust the upper alignment platform or the lower alignment platform with the alignment correction value by the motion control device so that the image offset meets the preset condition.

[0026] In some embodiments, the above alignment correction value includes a translation correction value and a rotation correction value.

[0027] In a second aspect, an embodiment of the present application provides a control method for a product alignment device, and the method includes:

[0028] In response to a product alignment task instruction, obtain the image information of the to-be-aligned product;

[0029] Determine the to-be-aligned mark in the image information according to the image information;

[0030] Determine the image offset according to the positional relationship between the to-be-aligned mark and the alignment mark;

[0031] When the image offset does not meet the preset condition, adjust the position of the alignment platform by the motion control device so that the image offset meets the preset condition.

[0032] In some embodiments, the above adjusting the position of the alignment platform by the motion control device when the image offset does not meet the preset condition includes:

[0033] Determine the matrix transformation relationship between the to-be-aligned mark and the alignment mark according to the coordinates of the to-be-aligned mark and the coordinates of the alignment mark;

[0034] Determine the positional relationship between the to-be-aligned mark and the alignment mark according to the matrix transformation relationship;

[0035] Determine the alignment correction value of the upper alignment platform or the lower alignment platform according to the positional relationship;

[0036] The upper alignment platform or the lower alignment platform is adjusted by the motion control device with the alignment correction value so that the image offset meets the preset conditions.

[0037] In a third aspect, an embodiment of the present application provides a controller, including: one or more processors; one or more memories; wherein, the one or more memories are used to store computer program code, and the computer program code includes computer instructions. When the one or more processors execute the computer instructions, the controller executes the control method provided in the second aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, and the computer-readable storage medium includes computer instructions. When the computer instructions are controlled on a computer, the computer is enabled to execute the methods provided in the second aspect and possible implementation manners.

[0039] In a fifth aspect, an embodiment of the present invention provides a computer program product, which can be directly loaded into a memory and contains software code. After being loaded and executed by a computer, the computer program product can implement the methods provided in the second aspect and possible implementation manners.

[0040] It should be noted that the above computer instructions can be stored in whole or in part on a computer-readable storage medium. Among them, the computer-readable storage medium can be packaged together with the processor of the controller or separately packaged with the processor of the controller. The present application does not make any limitation in this regard.

[0041] For the beneficial effects described in the second to fifth aspects of the present application, reference can be made to the analysis of the beneficial effects in the first aspect, and details are not described herein again. Description of the Drawings

[0042] The drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solutions of the present invention and do not constitute a limitation to the technical solutions of the present invention.

[0043] Figure 1 It is a schematic structural diagram of a product alignment device provided by an embodiment of the present application;

[0044] Figure 2 It is a schematic structural diagram of another product alignment device provided by an embodiment of the present application;

[0045] Figure 3 It is a schematic structural diagram of another product alignment device provided by an embodiment of the present application;

[0046] Figure 4 It is a schematic flow chart of a control method for a product alignment device provided by an embodiment of the present application;

[0047] Figure 5 It is a schematic structural diagram of another product alignment device provided by an embodiment of the present application;

[0048] Figure 6 It is a schematic structural diagram of another product alignment device provided by an embodiment of the present application;

[0049] Figure 7 It is a schematic structural diagram of another product alignment device provided by an embodiment of the present application;

[0050] Figure 8 It is a schematic structural diagram of another product alignment device provided by an embodiment of the present application. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0052] In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0053] The terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0054] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0055] The terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0056] In addition, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0057] To facilitate understanding, the basic concepts of some terms or technologies involved in the embodiments of the present application are first briefly introduced and explained.

[0058] (1) Positioning platform equipment, a device used for precise positioning and alignment work. By using sensors and control systems, the positioning platform equipment can adjust the position and posture to accurately position the object being processed.

[0059] (2) XXY alignment platform, a two-dimensional platform alignment device. By using two horizontal axes (X axis) and one vertical axis (Y axis), the XXY platform can perform translation and small-angle rotation above and below the two-dimensional plane to be measured, thereby realizing the function of accurately aligning the object within the plane. Specifically, the XXY alignment platform includes two X-axis electric modules, and an XXY alignment platform composed of a Y-axis electric module and a free axis module. A turntable installed in an axis module is used to generate a slight rotation of the angle θ when the XXY axes move simultaneously.

[0060] The above is an introduction to some concepts involved in the embodiments of the present application, which will not be repeated below.

[0061] As described in the background art, at present, in industrial production, automated equipment such as assembly, lamination, dispensing, marking, loading and unloading all require the product alignment function. Traditional jig alignment is prone to position deviation, resulting in a high product scrap rate and high jig R & D and production costs. The emerging machine vision alignment has characteristics such as non-contact, high precision, and high speed, which can solve the problems existing in the jig alignment method. However, in the product alignment method in the related art, in order to meet the alignment accuracy requirements, multiple alignments are often required, which increases the completion time of product alignment and affects production efficiency. For example, Chinese Patent Publication No. CN116360225A, "A Double-sided PCB Board Exposure Machine and Its On-line Automatic Alignment Device", gives the on-line full-automatic alignment of a double-sided PCB board exposure machine, with accurate real-time alignment, improving product quality and production efficiency; but only when the exposure machine is accurately aligned can the exposure quality of the PCB board be guaranteed. If there is misalignment, it will affect the PCB connection of the circuit, resulting in incorrect connection of the circuit board. However, Chinese Patent Publication No. CN116360225A does not give specific technical measures and solutions for automatic alignment. Chinese Patent Publication No. CN116449658A, "An Efficient Alignment Exposure Device and Alignment Method", discloses an efficient alignment exposure device. Its alignment method mainly focuses on mechanism improvement and does not improve the vision alignment algorithm. The traditional vision alignment method adopted by Chinese Patent Publication No. CN116449658A usually requires multiple alignments, especially in the alignment scenario with high precision requirements, to meet the alignment accuracy requirements, which increases the time to complete the alignment and affects production efficiency.

[0062] Therefore, how to determine a product alignment method with high alignment accuracy and high efficiency is an urgent problem to be solved.

[0063] In view of this, the embodiments of the present application provide a product alignment device and its control method. The position relationship between the alignment mark to be aligned in the image information of the product to be aligned collected by the image acquisition device and the alignment mark in the bottom film is used to determine whether the product alignment is completed. When the image offset determined by the alignment mark to be aligned and the alignment mark does not meet the preset condition, it is considered that the product alignment is not completed. In this regard, the alignment platform is adjusted through the motion control device so that the image offset meets the preset condition, thereby accurately and efficiently completing the product alignment.

[0064] To further describe the technical solution of the embodiments of the present application, as Figure 1 shown is a structural diagram of a product alignment device provided by an embodiment of the present application.

[0065] Referring to Figure 1 , the product alignment device 1 includes: an alignment platform 10, an image acquisition device 20, a motion control device 30, and a controller 40 (the motion control device 30 and the controller 40 are not shown in Figure 1 ).

[0066] In some embodiments, the alignment platform 10 may include an upper alignment platform 101 and a lower alignment platform 102. Among them,

[0067] The upper alignment platform 101 is used to place a bottom plate, and the bottom plate is used to provide a reference point or a reference plane to reference the position and attitude of the product to be aligned. The bottom plate often has marks or identifications so that the alignment platform can identify and align with it.

[0068] The lower alignment platform 102 is used to place the product to be aligned.

[0069] Optionally, the alignment platform 10 is an XXY alignment platform, and the planes where the upper alignment platform 101 and the lower alignment platform 102 are located are parallel.

[0070] In some embodiments, the image acquisition device 20 is disposed on the upper alignment platform 101 and is used to acquire the image information of the product to be aligned. For example, the image acquisition device 20 may be an industrial camera or a charge coupled device (CCD) camera. Among them, an image acquisition card is included in the image acquisition device 20, and the image acquisition card is used to convert the acquired image into digital information of the image.

[0071] Optionally, the number of the image acquisition devices 20 may be multiple. As Figure 2 shown, the product alignment device 1 provided in the present application may include 4 industrial cameras, which are respectively fixed at the four corners of the upper alignment platform 101 through brackets, and can move along the XY direction or rotate under the action of the XXY alignment platform. The 4 industrial cameras respectively acquire the image information of the alignment marks of the product to be aligned.

[0072] Since the large-field industrial camera has a large field of view but low precision, and the small-field industrial camera has high precision but a small field of view, in the embodiments of the present application, multiple small-field industrial cameras may be set to acquire the image information in multiple small fields of view to position the product to be aligned, thereby avoiding the limitations of the camera field of view in the vision measurement system.

[0073] In some embodiments, the motion control device 30 is used to control the movement of the upper alignment platform 101 and the lower alignment platform 102. The motion control device 30 may include a stepper motor and a motion control card. The motion control card drives the XY-axis stepper motor to rotate forward and backward according to the axis compensation amounts calculated by the alignment algorithm to complete the alignment work of the product.

[0074] As a possible implementation, the adjustment of the alignment platform 10 by the motion control device 30 is controlled by a programmable logic controller (PLC), and the compensation amount of each axis is obtained by calculating with the vision recognition software in the host computer. Among them, the host computer can be an industrial computer or a personal PC, etc.

[0075] In some embodiments, the image acquisition device 20 and the motion control device 30 are electrically connected to the controller 40.

[0076] The controller refers to a device that can generate operation control signals according to the instruction operation code and timing signals to instruct the product alignment device 1 to execute control instructions. Exemplarily, the controller can be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The controller can also be other devices with processing functions, such as circuits, devices, or software modules, and the embodiments of the present application do not make any restrictions on this.

[0077] In some embodiments, the controller can be a microcontroller unit (MCU). Among them, the MCU is also called a single-chip microcomputer or a single-chip microcontroller, which appropriately reduces the frequency and specifications of the central processing unit and integrates peripheral interfaces such as memory, counter (Timer), USB, A / D conversion, UART, PLC, DMA, and even the LCD drive circuit on a single chip to form a chip-level computer for different combinations of control in different application scenarios.

[0078] In addition, the controller can be used to control the operation of each component in the product alignment device 1 so that each component of the product alignment device 1 operates to achieve each predetermined function of the product alignment device 1.

[0079] In some embodiments, the above product alignment device 1 may further include a light source device, and the light source device is arranged at the image acquisition device 20 for illuminating the window of the image acquisition device 20.

[0080] Optionally, the light source device can be an annular light source. Since the result of image acquisition varies with the change of illumination, resulting in unstable image acquisition results, to reduce the interference of external natural light and indoor lighting, the present application can also install an outer cover on the product alignment device 1.

[0081] As shown Figure 3 in the figure, a product alignment device provided by an embodiment of the present application. The product alignment device is mainly divided into two parts: vision and motion control. The vision part mainly consists of 4 CCD cameras, an image acquisition card, and an annular light source. The motion control part mainly consists of a stepper motor and a motion control card.

[0082] Optionally, the product alignment device may further include a user application layer and a drive control layer. The user application layer is for tasks such as realizing human-machine data interaction, image display, and data display. The user can adjust the parameters of the CCD camera, control the opening of the CCD camera, set the parameters of the motion control device, read the current states of the vision part and the motion control part, etc. through the human-machine interaction interface. The drive control layer mainly includes the motion control program of the stepper motor.

[0083] It can be understood that the structure schematically shown in the embodiments of the present invention does not constitute a specific limitation on the product alignment device. In other embodiments of the present application, the product alignment device may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The components shown in the figure can be implemented in hardware, software, or a combination of software and hardware.

[0084] Next, specific introductions to the embodiments of the present application will be made in conjunction with the accompanying drawings of the specification.

[0085] As shown Figure 4 in the figure, an embodiment of the present application provides a control method for a product alignment device, which is applied to the controller of the product alignment device. The method may include the following steps S1-S4:

[0086] S1. In response to a product alignment task instruction, obtain the image information of the product to be aligned.

[0087] Among them, the product alignment task instruction may be sent by the host computer, and the product task instruction is used to instruct the product alignment device to perform a product alignment action. The image information of the product to be aligned includes the image and position coordinates of the alignment mark of the product to be aligned. The host computer may be an industrial computer or a personal PC, etc.

[0088] S2. Determine the alignment mark in the image information according to the image information.

[0089] Among them, the alignment mark in the image information may be set on the product to be aligned.

[0090] Optionally, the alignment mark may be rectangular, circular, cross-shaped, etc. The number of alignment marks may be two or more. The present application does not limit the shape and number of the alignment marks.

[0091] Optionally, the image information may be the first image information or the second image information, where the clarity of the first image information and the second image information is different.

[0092] For example, the first image information is image information with a single background, clear outlines of the to-be-aligned marks, and obvious contrast between the foreground and the background.

[0093] The second image information is image information with a complex and variable background texture and a relatively blurred boundary between the target and the background.

[0094] In some embodiments, the above step S2 may be implemented as the following steps S21 - S23:

[0095] S21. Preprocess the image information to obtain an enhanced image of the image information.

[0096] As a possible implementation, preprocessing the image can be achieved by the following steps: converting the image information into a grayscale image; then, suppressing the salt-and-pepper noise in the grayscale image through median filtering to eliminate the noise brought to the image by the external environment, the device itself, and the set vibration of the image acquisition device; finally, using histogram equalization to widen the grayscale range of the image to obtain an enhanced image with increased contrast between the to-be-aligned identification points and the background.

[0097] As can be seen from the above embodiments, redundant information in the image is eliminated by preprocessing the image information, and the true information of the acquired image is restored as much as possible. The preprocessing of the image information includes three steps: grayscale conversion, median filtering, and image enhancement. Converting the image information into a grayscale image can speed up the processing speed; median filtering plays a good role in suppressing salt-and-pepper noise, effectively eliminating the noise brought to the image by the external environment, the device itself, and the device vibration to improve the positioning accuracy of the to-be-tested marks; image enhancement uses the histogram equalization method to widen the grayscale range of the image to increase the contrast between the to-be-aligned identification points and the background.

[0098] S22. When the image information is the first image information, determine the to-be-aligned marks in the enhanced image based on the template matching algorithm.

[0099] Among them, the template matching algorithm is an algorithm based on image recognition, which can detect and identify the target in the to-be-matched image according to the existing template information.

[0100] Exemplarily, determining the to-be-aligned marks in the enhanced image based on the template matching algorithm includes the following steps: determining the edge gradient of the image; obtaining the edge image of the enhanced image through the Canny algorithm; obtaining the contour point set of the edge image based on contour detection; determining the gray-scale change of each point in the contour point set; generating template information according to the gray-scale change of each point, and performing gradient matching according to the template information, so as to identify the to-be-aligned marks within the field of view of each image acquisition device.

[0101] In this way, based on the edge gradient of the image, it has a strong anti-interference ability to light and can offset the slight pixel migration in the image.

[0102] S23. When the image information is the second image information, determining the to-be-aligned marks in the enhanced image based on the blob analysis algorithm.

[0103] Among them, the blob analysis algorithm is an algorithm for analyzing the connected regions of the same pixels in the image, and a blob refers to a connected region.

[0104] Exemplarily, based on the blob analysis algorithm, analyzing the positions, shapes and directions of the connected regions of the enhanced image to determine the to-be-aligned marks in the enhanced image.

[0105] As can be seen from the above embodiments, by preprocessing the image, redundant information in the image can be eliminated, so that the obtained enhanced image can better display the contrast between the to-be-aligned identification points in the image and the image background. At the same time, using different algorithms to determine the to-be-aligned marks in the image information for images with different clarity can make the identification of the to-be-aligned marks more accurate and fast.

[0106] S3. Determining the image offset according to the positional relationship between the to-be-aligned marks and the alignment marks in the negative film.

[0107] Among them, the alignment marks in the negative film can be rectangles, circles, crosses, etc., and the number of alignment marks can be two or more. The present application does not limit the shape and number of the alignment marks. The shape of the alignment marks in the negative film and the to-be-aligned marks in the image information can be the same or different, and the size of the alignment marks is larger than that of the to-be-aligned marks.

[0108] Exemplarily, as Figure 5 shown, there are 4 alignment marks in the negative film, including two symmetrically arranged rectangular alignment marks and two symmetrically arranged circular alignment marks; there are 4 to-be-aligned marks in the to-be-aligned product, including two symmetrically arranged rectangular to-be-aligned marks and two symmetrically arranged circular to-be-aligned marks. Among them, in Figure 5 the to-be-aligned marks are represented as solid black, and the alignment marks are represented as transparent hollow.

[0109] S4. When the image offset does not meet the preset conditions, adjust the position of the alignment platform through the motion control device so that the image offset meets the preset conditions.

[0110] Optionally, the above preset conditions include that the image offset in the first direction is less than the first threshold and the image offset in the second direction is less than the second threshold, and the first direction and the second direction are different directions.

[0111] Exemplarily, the first direction is the X-axis direction and the second direction is the Y-axis direction.

[0112] It can be understood that when the offset of the to-be-aligned mark and the alignment mark in the X-axis direction is less than the first threshold and the offset in the Y-axis direction is less than the second threshold, it means that the positions of the to-be-aligned mark and the alignment mark coincide or the position deviation between the two is within an acceptable range.

[0113] Figure 4 The embodiments shown at least bring the following beneficial effects: The embodiments of the present application provide a product alignment device and its control method. Determine whether the product alignment is completed by the positional relationship between the to-be-aligned mark in the image information of the to-be-aligned product collected by the image acquisition device and the alignment mark in the bottom film. When the image offset determined by the to-be-aligned mark and the alignment mark does not meet the preset conditions, it is considered that the product alignment is not completed. In this regard, adjust the alignment platform through the motion control device so that the image offset meets the preset conditions, thereby accurately and efficiently completing the product alignment.

[0114] As a possible implementation, when the image offset does not meet the preset conditions, adjust the position of the lower alignment platform through the operation control device so that the image offset meets the preset conditions.

[0115] Exemplarily, keep the upper alignment platform of the alignment platform stationary and adjust the position of the lower alignment platform so that the image offset meets the preset conditions.

[0116] As another possible implementation, when the image offset does not meet the preset conditions, adjust the position of the upper alignment platform through the operation control device so that the image offset meets the preset conditions.

[0117] Exemplarily, keep the lower alignment platform of the alignment platform stationary and adjust the position of the upper alignment platform so that the image offset meets the preset conditions.

[0118] As yet another possible implementation, when the image offset does not meet the preset conditions, adjust the positions of the upper alignment platform and the lower alignment platform simultaneously through the operation control device so that the image offset meets the preset conditions.

[0119] Optionally, the upper alignment platform and the lower alignment platform of the alignment platform can move relative to each other. By setting a bracket that can be lifted and lowered in the height direction below the lower alignment platform, when the lower alignment platform remains stationary, the distance between the upper alignment platform and the lower alignment platform can be adjusted by lifting and lowering the bracket so that the distance between the two can meet the alignment requirements of the product to be aligned. After the height of the lifting bracket is adjusted appropriately, there is no need to adjust the height of the lifting bracket subsequently.

[0120] Optionally, when the image offset does not meet the preset conditions, adjusting the position of the upper alignment platform or the lower alignment platform through the operation control device so that the image offset meets the preset conditions may include the following steps S41 - S44:

[0121] S41. Determine the matrix transformation relationship between the to - be - aligned mark and the alignment mark according to the coordinates of the to - be - aligned mark and the coordinates of the alignment mark.

[0122] Optionally, taking the number of the image acquisition device, the to - be - aligned mark, and the alignment mark as four as an example, based on the N - point calibration algorithm, determine the matrix transformation relationships between the to - be - aligned marks and the alignment marks collected by 4 image acquisition devices respectively. Among them, one image acquisition device, one to - be - aligned mark, and one alignment mark in the same area form a group. N - point calibration means finding the coordinates of N (N≥3) identical points in two two - dimensional coordinate systems respectively, and determining the homography matrix between the two coordinate system planes through these point coordinates. Generally, nine points are used, so it is also called nine - point calibration.

[0123] Exemplarily, nine - point calibration directly establishes the coordinate transformation relationship between the upper alignment platform and the manipulator. Let the end of the manipulator move through these nine points to obtain the coordinates in the lower alignment platform coordinate system. At the same time, these nine points also need to be recognized by the image acquisition device to obtain pixel coordinates. In this way, nine groups of corresponding coordinates are obtained, and the affine transformation matrix can be solved to obtain the affine transformation relationship between the image pixel coordinates and the actual coordinates of the manipulator. Furthermore, obtain the actual position coordinates of the to - be - aligned mark and the alignment mark in the film. Perform N - point calibration on 4 image acquisition devices respectively to obtain the matrix transformation relationships between the pixel coordinates of each upper alignment platform and the actual coordinates of the lower alignment platform.

[0124] S42. Determine the positional relationship between the to - be - aligned mark and the alignment mark according to the matrix transformation relationship.

[0125] Optionally, based on the mark point recognition algorithm, determine the relative positional relationship between each group of to - be - aligned marks and alignment marks. Among them, the mark point recognition algorithm is an algorithm that can recognize specific marks from images.

[0126] S43. Determine the alignment correction value of the upper alignment platform or the lower alignment platform according to the positional relationship.

[0127] Optionally, the alignment correction value includes a translation correction value and a rotation correction value.

[0128] As a possible implementation, the positional relationship between the four groups of to-be-aligned identifiers and the alignment identifiers is calculated through a preset compensation amount formula to obtain the translation correction value and the rotation correction value.

[0129] S44. Adjust the upper alignment platform or the lower alignment platform with the alignment correction value through the motion control device so that the image offset meets the preset conditions.

[0130] Exemplarily, determine the translation amounts of the upper alignment platform or the lower alignment platform in the X-axis direction and the Y-axis direction according to the translation correction value; determine the rotation angle of the upper alignment platform or the lower alignment platform according to the rotation correction value, and simultaneously adjust the upper alignment platform or the lower alignment platform according to the translation amount and the rotation angle. In this way, only one product alignment operation is required to align the alignment identifier in the negative film with the to-be-aligned identifier in the to-be-aligned product, thereby accurately and efficiently completing the product alignment.

[0131] In some embodiments, the control method of the product alignment device further includes determining the end of the product alignment task when the image offset meets the preset conditions.

[0132] As Figure 6 shown, there are 4 alignment marks in the negative film, where the upper left alignment mark A and the lower left alignment mark B are rectangles, and the upper right alignment mark C and the lower right alignment mark B are circles. There are 4 to-be-aligned marks in the to-be-aligned product, where the upper left to-be-aligned mark A and the lower left to-be-aligned mark B are rectangles, and the upper right to-be-aligned mark C and the lower right to-be-aligned mark B are circles.

[0133] As Figure 7 shown, when the distance DL1 from the midpoint A of the to-be-aligned mark A in the Y-axis direction to the uppermost part of the alignment mark A, within the field of view of the image acquisition device B, the distance DL2 from the midpoint B of the to-be-aligned mark B in the Y-axis direction to the lowermost part of the alignment mark B are equal, the offset DX1 in the X-axis direction between the centers of the to-be-aligned identifier C and the alignment identifier C, the offset DX2 in the X-axis direction between the centers of the to-be-aligned identifier D and the alignment identifier D are equal, and the offset DY1 in the X-axis direction between the centers of the to-be-aligned identifier C and the alignment identifier C, the offset DY2 in the X-axis direction between the centers of the to-be-aligned identifier D and the alignment identifier D are equal, the product alignment task ends.

[0134] In some embodiments, before the above step S1, the control method of the product alignment device may further include: adjusting the upper alignment platform and / or the lower alignment platform to make the to-be-aligned mark and the alignment mark within the field of view of the image acquisition device. The size of the field of view of the image acquisition device is related to the inherent properties of the image acquisition device.

[0135] Taking Figure 6 the product alignment device shown in as an example, the specific steps of the control method of the product alignment device will be described in detail below. Among them, the to-be-aligned mark A, alignment mark A, to-be-aligned mark B, and alignment mark B within the position areas of the image acquisition device A and the image acquisition device B are rectangles, and the to-be-aligned mark C, alignment mark C, to-be-aligned mark D, and alignment mark D within the areas of the image acquisition device C and the image acquisition device D are circles.

[0136] Step 1: Adjust the positions of the upper alignment platform and the lower alignment platform to make all the to-be-aligned marks and alignment marks appear within the field of view of each image acquisition device. Step 1 can be completed manually by the user.

[0137] Step 2: Obtain the distance DL1 from a midpoint A of the to-be-aligned mark A in the Y-axis direction to the uppermost point of the alignment mark A within the field of view of the image acquisition device A, the distance DL2 from a midpoint B of the to-be-aligned mark B in the Y-axis direction to the lowermost point of the alignment mark B within the field of view of the image acquisition device B, the offset DX1 of the center of the to-be-aligned mark C from the center of the alignment mark C in the X-axis direction, the offset DY1 of the center of the to-be-aligned mark C from the center of the alignment mark C in the Y-axis direction, the offset DX2 of the center of the to-be-aligned mark D from the center of the alignment mark D in the X-axis direction, and the offset DY2 of the center of the to-be-aligned mark D from the center of the alignment mark D in the Y-axis direction.

[0138] Among them, the midpoint A and the midpoint B are in the same direction of the to-be-aligned mark A and the to-be-aligned mark B.

[0139] Step 3: Determine whether the difference between DL1 and DL2 is less than the first threshold, whether the difference between DX1 and DX2 is less than the second threshold, and whether the difference between DY1 and DY2 is less than the third threshold. If so, execute the following step 6; if not, execute the following steps 4-5.

[0140] Among them, the values of the first threshold, the second threshold, and the third threshold can be determined by the developer according to the experimental data.

[0141] Step 4: Control the upper alignment platform or the lower alignment platform to move a distance of ΔX1 = (DX1 + DX2) / 2 in the X-axis direction and a distance of ΔY1 = (DY1 + DY2) / 2 in the Y-axis direction.

[0142] Among them, ΔX1 is the translational offset of the motion control device in the X-axis direction, and ΔY1 is the translational offset of the motion control device in the Y-axis direction.

[0143] Step Five: After the movement, rotate the lower alignment platform by an angle θ, and then control the upper alignment platform or the lower alignment platform to move a distance of ΔY2 in the Y-axis direction. Among them,

[0144]

[0145] For the image acquisition device A:

[0146]

[0147] Among them, the coordinates of the image acquisition device A are (X1, Y1), θ2 = θ1 + 0.01°.

[0148] For the image acquisition C:

[0149]

[0150] Among them, the coordinates of the image acquisition device C are (X3, Y3), θ2 = θ1 + 0.01°.

[0151] Step Six: End the product alignment task.

[0152] It can be seen that the above mainly introduces the solution provided by the embodiments of the present application from the perspective of the method. To implement the above functions, the embodiments of the present application provide the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0153] The embodiments of the present application can divide the function modules of the controller according to the above method examples. For example, each function module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software function modules. Optionally, the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. There may be other division methods in actual implementation.

[0154] In the case where each functional module is divided corresponding to each function, Figure 8 the product alignment device 2 involved in the above embodiment is shown. As Figure 8 shown, the product alignment device 2 includes: an acquisition module 100, a determination module 200, a processing module 300, and an adjustment module 400.

[0155] The acquisition module 100 is configured to obtain image information of a product to be aligned through an image acquisition device in response to a product alignment task instruction.

[0156] The determination module 200 is configured to determine a to-be-aligned mark in the image information according to the image information.

[0157] The determination module 200 is further configured to determine an image offset according to the positional relationship between the to-be-aligned mark and the alignment mark in the negative film.

[0158] The determination module 200 is further configured to, when the image offset does not meet a preset condition, adjust the position of the alignment platform through a motion control device so that the image offset meets the preset condition.

[0159] In some embodiments, the determination module 200 is further configured to determine that the product alignment task ends when the image offset meets the preset condition.

[0160] In some embodiments, the preset condition includes that the image offset in the first direction is less than a first threshold and the image offset in the second direction is less than a second threshold, and the first direction and the second direction are different directions.

[0161] In some embodiments, the processing module 300 is configured to preprocess the image information to obtain an enhanced image of the image information.

[0162] The determination module 200 is further configured to, when the image information is the first image information, determine the to-be-aligned mark in the enhanced image based on a template matching algorithm.

[0163] The determination module 200 is further configured to, when the image information is the second image information, determine the to-be-aligned mark in the enhanced image based on a blob analysis algorithm, and the clarity of the first image information and the second image information is different.

[0164] In some embodiments, the adjustment module 400 is configured to adjust the position of the lower alignment platform so that the image offset meets the preset condition.

[0165] In some embodiments, the adjustment module 400 is further configured to, when the image offset does not meet the preset condition, adjust the position of the upper alignment platform through an operation control device so that the image offset meets the preset condition.

[0166] In some embodiments, the adjustment module 400 is further configured to, when the image offset does not meet the preset condition, adjust the position of the lower alignment platform through the motion control device so that the image offset meets the preset condition.

[0167] In some embodiments, the determination module 200 is further configured to determine the matrix transformation relationship between the to-be-aligned mark and the alignment mark according to the coordinates of the to-be-aligned mark and the coordinates of the alignment mark.

[0168] The determination module 200 is further configured to determine the positional relationship between the to-be-aligned mark and the alignment mark according to the matrix transformation relationship.

[0169] The determination module 200 is further configured to determine the alignment correction value of the upper alignment platform or the lower alignment platform according to the positional relationship.

[0170] The adjustment module 400 is further configured to adjust the upper alignment platform or the lower alignment platform with the alignment correction value through the motion control device so that the image offset meets the preset condition.

[0171] In some embodiments, the alignment correction value includes a translation correction value and a rotation correction value.

[0172] The embodiment of the present application further provides a computer-readable storage medium, including computer-executable instructions, which when running on a computer, cause the computer to execute the control method of any one of the product alignment devices provided in the above embodiments.

[0173] The embodiment of the present application further provides a computer program product including computer-executable instructions, which when running on a computer, cause the computer to execute the control method of any one of the product alignment devices provided in the above embodiments.

[0174] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer-executable instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer-executable instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0175] Although the present application is described herein in connection with various embodiments, however, in the process of implementing the claimed application, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0176] Although the present application is described in connection with specific features and their embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are merely exemplary illustrations of the present application defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

[0177] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A product alignment device, characterized in that, Including: A registration platform, which includes an upper registration platform and a lower registration platform. The upper registration platform is used to place the negative film, and the lower registration platform is used to place the product to be registered; An image acquisition device, which is arranged on the upper registration platform and is used to acquire the image information of the product to be registered; A motion control device, which is used to control the movement of the registration platform; A controller, which is configured as follows: In response to a product registration task instruction, obtain the image information of the product to be registered through the image acquisition device; According to the image information, determine the registration mark in the image information; According to the positional relationship between the registration mark to be registered and the registration mark in the negative film, determine the image offset; When the image offset does not meet the preset conditions, adjust the position of the registration platform through the motion control device so that the image offset meets the preset conditions.

2. The product alignment device according to claim 1, characterized in that, The controller is further configured as follows: When the image offset meets the preset conditions, determine that the product registration task ends.

3. The product alignment device according to claim 1 or 2, characterized in that, The preset conditions include that the image offset in the first direction is less than the first threshold and the image offset in the second direction is less than the second threshold, and the first direction and the second direction are different directions.

4. The product alignment device according to claim 1 or 2, characterized in that, The image information is the first image information or the second image information, and the registration mark to be registered is determined by the following steps: Preprocess the image information to obtain an enhanced image of the image information; When the image information is the first image information, determine the registration mark to be registered in the enhanced image based on the template matching algorithm; When the image information is the second image information, determine the registration mark to be registered in the enhanced image based on the blob analysis algorithm, and the clarity of the first image information is different from that of the second image information.

5. The product alignment device according to claim 1, characterized in that, When the image offset does not meet the preset conditions, the controller is specifically configured as follows: Adjust the position of the lower registration platform through the operation control device so that the image offset meets the preset conditions.

6. The product alignment device according to claim 1, wherein When the image offset does not meet the preset conditions, the controller is specifically configured as follows: When the image offset does not meet the preset conditions, adjust the position of the upper registration platform through the operation control device so that the image offset meets the preset conditions.

7. The product alignment device according to claim 5 or 6, characterized in that, When the image offset does not meet the preset conditions, the controller is specifically configured as follows: According to the coordinates of the registration mark to be registered and the coordinates of the registration mark, determine the matrix transformation relationship between the registration mark to be registered and the registration mark; According to the matrix transformation relationship, determine the positional relationship between the registration mark to be registered and the registration mark; According to the positional relationship, determine the registration correction value of the upper registration platform or the lower registration platform; Adjust the upper registration platform or the lower registration platform with the registration correction value through the motion control device so that the image offset meets the preset conditions.

8. The product alignment device according to claim 7, characterized in that The registration correction value includes a translation correction value and a rotation correction value.

9. A control method for a product alignment device, characterized in that, Including: In response to a product registration task instruction, obtain the image information of the product to be registered; Determine the to-be-aligned mark in the image information according to the image information; Determine the image offset according to the positional relationship between the to-be-aligned mark and the alignment mark; When the image offset does not meet the preset condition, adjust the position of the alignment platform through the motion control device so that the image offset meets the preset condition.

10. The method according to claim 9, wherein When the image offset does not meet the preset condition, adjusting the position of the alignment platform through the motion control device includes: Determine the matrix transformation relationship between the to-be-aligned mark and the alignment mark according to the coordinates of the to-be-aligned mark and the coordinates of the alignment mark; Determine the positional relationship between the to-be-aligned mark and the alignment mark according to the matrix transformation relationship; Determine the alignment correction value of the upper alignment platform or the lower alignment platform according to the positional relationship; Adjust the upper alignment platform or the lower alignment platform by the alignment correction value through the motion control device so that the image offset meets the preset condition.

Images