Single-camera double-MARK-point positioning fitting method, storage medium and device

Abstract

The invention relates to the technical field of positioning and laminating, and discloses a single-camera double-MARK-point positioning and laminating method, a storage medium and a device, and the method comprises the steps: carrying out the photographing and positioning of a first MARK point of a product, rotating the product for a certain angle, and carrying out the photographing and positioning of a second MARK point. And after the two times of photographing and positioning are completed, rotating and translating the world coordinates of the first MARK point by using the rotating center of the product to obtain a virtual first MARK point corresponding to the position of the second MARK point after the rotation is completed, and taking a connecting line of the second MARK point and the virtual first MARK point as a reference for aligning the positions of the two aligned and laminated products. After the two products are photographed and positioned through the steps, the position of the second product is corrected according to the obtained deviation of the midpoint positions of the first connecting line and the second connecting line, and the angle of the second product is corrected according to the error of the included angle between the first connecting line and the transverse axis and the error of the included angle between the second connecting line and the transverse axis, so that high-precision alignment and attachment are achieved. According to the method, the equipment size can be reduced, and the laminating precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning and laminating technology, and in particular to a single-camera dual-MARK point positioning and laminating method, storage medium, and device. Background Art

[0002] During the manufacturing process of products such as circuit boards and flexible circuit boards, it is often necessary to position and attach components such as protective films or reinforcing sheets to the products. To ensure the accuracy of the attachment, it is usually necessary to use machine vision to separately locate the product being attached and the product to be attached. In actual production, since the format of some products is much larger than the camera's field of view, it is difficult for the camera to simultaneously locate multiple MARK points on the product with a single shot. Therefore, it is usually necessary to set up two cameras, or allow the camera to move relative to the product. Existing bonding equipment often directly uses the coordinates of the MARK points obtained by taking pictures to position the product. However, when directly using the coordinates of multiple MARK points on the product for positioning, when using a single camera to position large-format products, there needs to be a large enough moving space for the product to move relative to the camera, which will squeeze the movement space of the bonding work head and increase the equipment's footprint. Moreover, when the product needs to be rotated and bonded, there will be deviations in the gripping position each time the bonding work head grabs the product. It is difficult for the center of the product to be aligned with the rotation center of the suction cup or the robot arm. As a result, when the MARK point coordinates obtained by taking pictures are directly used for positioning and bonding, the alignment and bonding accuracy is limited, which makes it difficult to adapt to occasions with high requirements for bonding accuracy. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a single-camera dual-MARK point positioning and bonding method, which can improve the accuracy of rotational alignment and bonding, reduce the space required for photo positioning, and reduce the space occupied by the equipment.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: a single-camera dual-MARK point positioning and lamination method, comprising the following steps: S100: moving the first MARK point of the first product into the camera field of view, photographing and positioning the first MARK point of the first product with the camera, and obtaining the world coordinates of the first MARK point of the first product; S200: After rotating the first product by a certain angle, the second mark point of the first product is moved into the camera field of view, and the second mark point of the first product is photographed and positioned by the camera to obtain the world coordinates of the second mark point of the first product; S300: With the rotation center of the first product as the center, the world coordinates of the first MARK point in step S100 are rotated and translated by the same angle as the rotation direction of the first product in step S200 to obtain the world coordinates of a virtual first MARK point corresponding to the position of the second MARK point after the rotation of the first MARK point; S400: Connecting the world coordinates of the second MARK point of the first product and the world coordinates of the virtual first MARK point to form a first line, and obtaining the coordinates of the midpoint of the first line and the angle between the midpoint and the horizontal axis; S500: Place the first product on the work plane, suck or grab the second product, and repeat steps S100 to S400 for the second product to obtain the midpoint coordinates of the second line between the second MARK point of the second product and the virtual first MARK point, as well as the angle between the second line and the horizontal axis; S600: Calculating the position error of the midpoint coordinates of the first connecting line and the second connecting line, and the angular error between the first connecting line and the second connecting line and the horizontal axis, and correcting the angle and position of the second product according to the position error and the angular error; S700: Align and attach the second product whose position has been corrected onto the first product.

[0005] Compared with the prior art, the beneficial effects of the present invention are as follows: before photographing and positioning the second MARK point, the positioning and bonding method first rotates the product by a certain angle, thereby shortening the moving distance required to move the second MARK point into the camera's field of view, reducing the moving space required for the two photographing and positioning, thereby reducing the volume of the mobile drive mechanism of the product or camera, and reducing the space occupied by the equipment. At the same time, the positioning and bonding method virtualizes the world coordinates of the first MARK point and the second MARK point of the product before and after rotation to a straight line, and by comparing the midpoint coordinates of the line connecting the virtual first MARK point and the second MARK point of the two products, as well as the error between the angles with the horizontal axis, to correct the angle and position error of the second product, thereby eliminating the rotation error caused by the position error of the bonding work head each time it grabs the product, as well as the camera's photographing and positioning error at different angles, thereby improving the accuracy of the alignment and rotation bonding.

[0006] In the above-mentioned single-camera dual-MARK point positioning and bonding method, in step S300, the rotation center of the first product is obtained by the following method: S210: rotating the first product multiple times in the same rotation direction, and photographing and positioning the first MARK point after each rotation to obtain multiple world coordinates of the first MARK point; S220: Fitting the world coordinates of the first MARK points of the plurality of first products obtained in step S210 to the same circle, and using the center of the circle as the rotation center of the first product.

[0007] In the above-mentioned single-camera dual-MARK point positioning and bonding method, in step S210, the first product is rotated at least four times in the same rotation direction.

[0008] In the above-mentioned single-camera dual-MARK point positioning and bonding method, in step S210, the first product is rotated multiple times at the same angle.

[0009] A computer-readable storage medium stores a computer program, which, when called and executed by a processor, implements the above-mentioned single-camera dual-MARK point positioning and lamination method.

[0010] A single-camera dual-MARK point positioning and lamination control device includes a processor and a memory, wherein the processor is electrically connected to the memory, and the processor can implement the above-mentioned single-camera dual-MARK point positioning and lamination method by calling and executing a computer program in the memory.

[0011] A single-camera dual-MARK point positioning and laminating control device comprises: an acquisition module for acquiring a photo of a first MARK point or a second MARK point on a first product or a second product taken by a camera; a movement control module for controlling the movement and rotation of the first product or the second product relative to the camera so that the first MARK point or the second MARK point on the first product or the second product is located within the camera field of view and performs rotation and translation within the camera field of view; a positioning module for converting the pixel coordinates of the first MARK point or the second MARK point in the photo acquired by the acquisition module into world coordinates according to the movement distance of the first product or the second product; and a fitting module for fitting the world coordinates of multiple first MARK points obtained after multiple rotations to the same world coordinates. On a circle, the rotation center of the first product or the second product is obtained; a connection module is used to rotate and translate the world coordinates of the first MARK point with the rotation center of the first product or the second product, obtain a virtual first MARK point corresponding to the second MARK point after the first product or the second product is rotated, and connect the second MARK point with the virtual first MARK point to form a first connection line of the first product and a second connection line of the second product, and respectively obtain the angles between the first connection line and the second connection line and the horizontal axis, as well as the midpoint coordinates of the first connection line and the second connection line; a correction module is used to correct the angle and position of the second product according to the angular error between the angles between the first connection line and the second connection line and the horizontal axis, as well as the position error of the midpoint coordinates of the first connection line and the second connection line.

[0012] A positioning and laminating device includes the above-mentioned single-camera dual-MARK point positioning and laminating control device.

[0013] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a single-camera dual-MARK point positioning and bonding method according to an embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of photographing and positioning the first MARK point according to an embodiment of the present invention.

[0016] Figure 3 This is a schematic diagram of photographing and positioning the second MARK point according to an embodiment of the present invention.

[0017] Figure 4 Schematic diagram of the connection between the second MARK point and the virtual first MARK point in an embodiment of the present invention.

[0018] Figure 5 Schematic diagram of a process for determining a rotation center according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The embodiments of the present invention are described in detail below. Figures 1 to 4 , an embodiment of the present invention provides a single-camera dual-MARK point positioning and lamination method, comprising the following steps: S100: Move the first MARK point of the first product into the camera field of view, take a picture of the first MARK point of the first product with the camera, and obtain the world coordinates of the first MARK point of the first product; Figure 2 As shown in the figure, the small dotted box represents the camera field of view, the solid filled box is the first MARK point, and the diagonal filled box is the second MARK point.

[0020] S200: After rotating the first product by a certain angle, move the second MARK point of the first product into the camera field of view, and use the camera to take a picture of the second MARK point of the first product to obtain the world coordinates of the second MARK point of the first product. Figure 3 As shown; S300: With the rotation center of the first product as the center, the world coordinates of the first MARK point in step S100 are rotated and translated by the same angle as the rotation direction of the first product in step S200 to obtain the world coordinates of a virtual first MARK point corresponding to the position of the second MARK point after the rotation of the first MARK point; S400: Connect the world coordinates of the second MARK point of the first product and the world coordinates of the virtual first MARK point to form a first line, and obtain the midpoint coordinates of the first line and the angle with the horizontal axis; specifically, Figure 4As shown in the figure, the large dotted box represents the position of the product before rotation. The lighter solid filled points represent the position of the first mark point during camera positioning. The darker solid filled points represent the virtual position of the first mark point after rotation, which is obtained by translating the world coordinates of the first mark point based on the rotation center. This is also the virtual position of the first mark point. The points with denser diagonal lines represent the position of the second mark point, and the points with sparser diagonal lines represent the position of the second mark point when camera positioning is performed on the first mark point.

[0021] S500: Place the first product on the work plane, suck or grab the second product, and repeat steps S100 to S400 for the second product to obtain the midpoint coordinates of the second line between the second MARK point of the second product and the virtual first MARK point, as well as the angle between the second line and the horizontal axis; S600: Calculating the position error of the midpoint coordinates of the first connecting line and the second connecting line, and the angular error between the first connecting line and the second connecting line and the horizontal axis, and correcting the angle and position of the second product according to the position error and the angular error; S700: Align and attach the second product whose position has been corrected onto the first product.

[0022] This positioning and fitting method rotates the product before photographing and positioning the second mark point. This rotation allows the second mark point to be closer to the position at the time of photographing and positioning the first mark point, thereby reducing the distance the product must move relative to the camera to bring the second mark point into the camera's field of view in a single-camera situation. By adopting this method, since the maximum distance the product can move relative to the camera is reduced by rotating the product, the maximum travel requirements of the platform mechanism that drives the product or camera are reduced, reducing the size and volume of these mechanisms and the size of the equipment. Furthermore, this method rotates the product during the photographic positioning process of the two mark points, and the position of the corresponding virtual first mark point after the rotation center is rotated to the virtual first mark point. By comparing the angle and midpoint coordinate differences of the line connecting the second mark point and the virtual first mark point after the two products are positioned, high-precision correction of the angle and position of the second product is achieved. Since the product is rotated during the positioning process and the coordinate position of the virtual first MARK point after rotation is determined according to the determined rotation center, the influence of the slight position error of the work head each time it grabs the material and the positioning error of the camera when taking pictures of products at different angles on the fitting positioning is eliminated, thereby improving the accuracy of the alignment and fitting of the two products, and is suitable for high-precision alignment and fitting occasions.

[0023] It is understood that in actual application, the first mark point or the second mark point can be brought into the camera's field of view by fixing the camera position and moving the product position; conversely, the product's rotation center can be fixed and the camera position can be moved to bring the first mark point or the second mark point into the camera's field of view. In some embodiments, the product and the camera can even be moved toward each other to further shorten the maximum movement range of the product relative to the camera. In this embodiment, since the laminating work head that absorbs and assembles the product needs to move and rotate the product to adjust the laminating position, the camera is fixed in position for shooting, and the product is moved to bring the first mark point or the second mark point into the camera's field of view.

[0024] Reference Figure 5 In this embodiment, in order to confirm the rotation center of the product, when rotating the product, it is necessary to first rotate the product at a small angle multiple times. This allows the world coordinates of the first MARK point at multiple different angles to be obtained through the camera field of view without adjusting the position of the product. Then, through the circle fitting algorithm, the world coordinates of the multiple first MARK points are fitted to the same circle, with the center of the circle as the rotation center of the product. In order to ensure the accuracy of the fitted circle, it is necessary to obtain the world coordinates of the first MARK point at multiple different angles as much as possible. In this embodiment, when rotating the product, the product should first be rotated at a small angle at least four times to obtain the world coordinates of the first MARK point at five different angles, including the world coordinates of the first MARK point at the initial position in step S100, and then the product is rotated to the preset fitting angle. At the same time, in order to facilitate fitting calculation and control, the angular spacing during each small angle rotation should be kept the same.

[0025] Using a 600-pixel single-rolling shutter industrial camera for positioning, the aforementioned positioning and lamination method was used to align 15 films to verify lamination accuracy. Testing showed that the maximum lamination error among the 15 films was only 0.14 mm, and most laminations were within an accuracy of around 0.07 mm, demonstrating high lamination accuracy.

[0026] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned single-camera dual-MARK point positioning and bonding method can be implemented.

[0027] In some possible embodiments, various aspects of the single-camera dual-MARK point positioning and bonding method provided by the present invention can also be implemented in the form of a program product, which includes program code. When the program product is run on the device, the program code is used to enable the control device to execute the steps of the single-camera dual-MARK point positioning and bonding method according to various exemplary embodiments of the present application described above in this specification.

[0028] Based on the same inventive concept, an embodiment of the present invention also provides a control device for implementing the above-mentioned single-camera dual-MARK point positioning and bonding method, including a processor and a memory, the memory is electrically connected to the processor, and the processor is used to execute the computer program stored in the memory to implement the above-mentioned single-camera dual-MARK point positioning and bonding method.

[0029] In one possible design, the processor may include one or more processing units, and the processor and memory may be implemented on the same chip or on separate chips. The processor may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, which may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the single-camera dual-MARK point positioning and bonding method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0030] As a non-volatile computer-readable storage medium, memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules.Memory can include at least one type of storage medium, for example, can include flash memory, hard disk, multimedia card, card-type memory, random access memory (Random Access Memory, RAM), static random access memory (Static Random Access Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic storage, disk, optical disk, etc. Memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present application can also be a circuit or other arbitrarily capable of implementing a storage function, for storing program instructions and / or data.

[0031] By designing and programming the processor, the code corresponding to the single-camera dual-mark point positioning and lamination method described in the aforementioned embodiment can be embedded into the chip, enabling the chip to execute the steps of the single-camera dual-mark point positioning and lamination method described in the embodiment of the present invention during operation. Designing and programming the processor is well known to those skilled in the art and will not be detailed here.

[0032] Based on the same inventive concept, an embodiment of the present invention also provides another control device for implementing the above-mentioned positioning and fitting method, including an acquisition module, a movement control module, a positioning module, a fitting module, a connection module and a correction module. Among them, the acquisition module is used to acquire a photo of the first MARK point or the second MARK point on the first product or the second product taken by the camera. The movement control module is used to control the movement and rotation of the first product or the second product relative to the camera, so that the first MARK point or the second MARK point on the first product and the second product is located within the camera's field of view, and rotated and translated within the camera's field of view. The positioning module is used to convert the pixel coordinates of the first MARK point or the second MARK point in the photo acquired by the acquisition module into world coordinates based on the movement distance of the first product or the second product. The fitting module is used to fit the world coordinates of multiple first MARK points obtained after multiple rotations to the same circle to obtain the rotation center of the first product or the second product. The connection module is used to rotate and translate the world coordinates of the first MARK point with the rotation center of the first or second product, obtain a virtual first MARK point corresponding to the second MARK point after the rotation of the first or second product, and connect the second MARK point with the virtual first MARK point to form a first connection line for the first product and a second connection line for the second product, and respectively obtain the angles between the first and second connection lines and the horizontal axis, as well as the midpoint coordinates of the first and second connection lines. The correction module is used to correct the angle and position of the second product based on the angular error between the angles between the first and second connection lines and the horizontal axis, as well as the position error between the midpoint coordinates of the first and second connection lines.

[0033] Based on the same inventive concept, an embodiment of the present invention also provides a positioning and bonding device, comprising the control device, upper camera, bonding platform, bonding work head and work head moving platform of any of the above-mentioned embodiments. The upper camera, bonding work head and work head moving platform are all electrically connected to the control device and controlled by the control device. The bonding platform is used as a working plane to place the product to be bonded, the bonding work head is arranged above the bonding platform, and the upper camera is fixedly arranged on one side of the bonding platform. The bonding work head is connected to the work head moving platform, and can move on the X, Y and Z axes and rotate on the R axis under the drive of the work head moving platform. The mounting work head has adsorption capacity and can remove the product from the material frame by suction. It can be understood that the positioning and bonding device can be used for high-precision rotational alignment bonding of flexible circuit boards and protective films or reinforcement sheets.

[0034] It should be noted that in the description of the present invention, if there are any descriptions of directions, such as up, down, front, back, left, right, etc., the directions or positional relationships indicated are all based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed or operate in a specific direction, and cannot be understood as a limitation on the present invention.

[0035] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If there are descriptions of "first," "second," and so on, these are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0036] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0037] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0038] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0039] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0040] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A single-camera dual-MARK point positioning and lamination method, characterized in that: The steps include: S100: moving the first MARK point of the first product into the camera field of view, photographing and positioning the first MARK point of the first product with the camera, and obtaining the world coordinates of the first MARK point of the first product; S200: After rotating the first product by a certain angle, the second mark point of the first product is moved into the camera field of view, and the second mark point of the first product is photographed and positioned by the camera to obtain the world coordinates of the second mark point of the first product; S300: With the rotation center of the first product as the center, the world coordinates of the first MARK point in step S100 are rotated and translated by the same angle as the rotation direction of the first product in step S200 to obtain the world coordinates of a virtual first MARK point corresponding to the position of the second MARK point after the rotation of the first MARK point; S400: Connecting the world coordinates of the second MARK point of the first product and the world coordinates of the virtual first MARK point to form a first line, and obtaining the coordinates of the midpoint of the first line and the angle between the midpoint and the horizontal axis; S500: Place the first product on the work plane, suck or grab the second product, and repeat steps S100 to S400 for the second product to obtain the midpoint coordinates of the second line between the second MARK point of the second product and the virtual first MARK point, as well as the angle between the second line and the horizontal axis; S600: Calculating the position error of the midpoint coordinates of the first connecting line and the second connecting line, and the angular error between the first connecting line and the second connecting line and the horizontal axis, and correcting the angle and position of the second product according to the position error and the angular error; S700: Align and attach the second product whose position has been corrected onto the first product.

2. The single-camera dual-MARK point positioning and lamination method according to claim 1, characterized in that: In step S300, the rotation center of the first product is obtained by the following method: S210: rotating the first product multiple times in the same rotation direction, and photographing and positioning the first MARK point after each rotation to obtain multiple world coordinates of the first MARK point; S220: Fitting the world coordinates of the first MARK points of the plurality of first products obtained in step S210 to the same circle, and using the center of the circle as the rotation center of the first product.

3. The single-camera dual-MARK point positioning and lamination method according to claim 2, characterized in that: In step S210 , the first product is rotated at least four times in the same rotation direction.

4. The single-camera dual-MARK point positioning and lamination method according to claim 2, characterized in that: In step S210, the first product is rotated multiple times at the same angle.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is called and executed by a processor, the single-camera dual-MARK point positioning and bonding method according to any one of claims 1 to 4 is implemented.

6. A single-camera dual-MARK point positioning and lamination control device, characterized in that: The invention comprises a processor and a memory, wherein the processor is electrically connected to the memory, and the processor can implement the single-camera dual-MARK point positioning and bonding method according to any one of claims 1 to 4 by calling and executing a computer program in the memory.

7. A single-camera dual-MARK point positioning and lamination control device, characterized in that: include: An acquisition module, configured to acquire a photo of a first mark point or a second mark point on the first product or the second product taken by a camera; A movement control module is used to control the movement and rotation of the first product or the second product relative to the camera so that the first mark point or the second mark point on the first product or the second product is within the camera's field of view and rotates and translates within the camera's field of view; a positioning module, configured to convert the pixel coordinates of the first mark point or the second mark point in the photo acquired by the acquisition module into world coordinates according to the moving distance of the first product or the second product; A fitting module is used to fit the world coordinates of multiple first MARK points obtained after multiple rotations to the same circle to obtain the rotation center of the first product or the second product; A connection module is used to rotate and translate the world coordinates of the first mark point about the rotation center of the first or second product to obtain a virtual first mark point corresponding to the second mark point after rotation of the first or second product, connect the second mark point with the virtual first mark point to form a first connection line of the first product and a second connection line of the second product, and respectively obtain the angles between the first and second connection lines and the horizontal axis, as well as the coordinates of the midpoints of the first and second connection lines; The correction module is used to correct the angle and position of the second product according to the angle error between the first connecting line and the second connecting line and the horizontal axis, and the position error of the midpoint coordinates of the first connecting line and the second connecting line.

8. A positioning and laminating device, characterized in that: It includes the single-camera dual-MARK point positioning and fitting control device according to claim 6 or 7.

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