Backlight vision system for a position-determining system and / or a position-correcting system

Abstract

The invention relates to a system (1) for determining and / or correcting the position of an object (10), said system comprising: at least one reference marking (2) which is designed to indicate a desired position of an object (10); an object support device (3) for holding the object (10); a backlighting device (5) for backlighting the at least one reference marking (2) and for backlighting at least one part of the object (10); at least one capturing device (6) for capturing an image, the capturing device (6) being designed to detect an actual position of the object (10), in particular based on the at least one positional feature of the object (10), and the desired position of the object (10), in particular based on the at least one reference marking (2); and at least one position-correcting device (9) which is designed to correct the position of the captured object (10) based on the detected actual position and the detected desired position of the object (10).

Description

[0001] BACKLIGHT VISION SYSTEM FOR AN ATTITUDE DETERMINATION SYSTEM AND / OR AN ATTITUDE CORRECTION SYSTEM

[0002] The present invention relates to a system for determining the position or position detection and / or position correction of an object and a method for position correction.

[0003] It is usually difficult to adjust the position of an object, especially for further processing in a process, so that a subsequent manufacturing step can be carried out with precise tolerances. If these tolerances cannot be maintained during the process or are difficult to maintain, scrap is generated, which, among other things, wastes (expensive) material. In particular, an inaccurate position adjustment can limit a function.

[0004] It is an object of the invention, in particular, to improve a position determination or a detection of a position and / or a position accuracy of an object.

[0005] This object is achieved according to the teaching of the independent claims. Various embodiments and further developments of the invention are the subject of the dependent claims.

[0006] According to one embodiment of the invention, a system for determining the position and / or correcting the position of an object is provided. In one embodiment, the system for determining the position and / or correcting the position has at least one reference marking, which is designed in particular to indicate a desired position of an object. In one embodiment, the system for determining the position and / or correcting the position has a specimen carrier device. In one embodiment, the specimen carrier device is designed or used to receive an object, in particular the position of which is to be determined and / or corrected. In one embodiment, the system for determining the position and / or correcting the position has a backlighting device, which is designed or used to backlight at least part of the object, in particular the position of which is to be determined and / or corrected, in particular to backlight at least one position feature of the object.In one embodiment, the backlighting device is additionally or alternatively configured to backlight the at least one reference marking or the backlighting device is used for this purpose. In one embodiment, the system for position determination and / or position correction has at least one recording device which is configured to record at least a part of the object, in particular at least one position feature of the object, alternatively or additionally, in one embodiment, to record at least one reference marking. In one embodiment, the recording device is configured to record or capture an image, in particular a two-dimensional and / or three-dimensional image (in particular with depth information), wherein the image, in particular captured image, or the perspective of the recording device has at least a part of the object, in particular at least one position feature of the object, and / or the at least one reference marking.

[0007] In one embodiment, this advantageously makes it possible for an actual position of an object whose position is to be determined to be or is determined more precisely, in particular for an object whose position is to be determined to be or is determined more precisely in its position with respect to a or the target position, in particular for an actual position to be or is determined which, in a particularly advantageous manner, improves or can improve a position tolerance in a subsequent process step.

[0008] In one embodiment, the system for position determination and / or position correction has at least one position correction device which is designed to correct the position of the object held in the object carrier device, in particular based on the actual position, detected in particular by the recording device, and the desired position, detected in particular by the recording device, and further in particular from a position correction shift, in particular translation and / or rotation, determined from the desired position and the actual position, so that the object is or can be moved into the desired position, in particular is transferred into the desired position by the position correction device.

[0009] In one embodiment, this advantageously makes it possible for an object whose position is to be corrected to be or can be corrected in its position with respect to the target position, in particular to be brought into a target position which, in a particularly advantageous manner, improves or can improve a position tolerance in a subsequent process step.

[0010] In one embodiment, the object carrier device and the at least one position correction device are operatively connected to one another, in particular integrally, further in particular in such a way that an object located on or in the object carrier device can be position-corrected using the object carrier device, in particular can be aligned or corrected according to a desired position, further in particular can be transferred into the desired position. In one embodiment, the object carrier device is arranged in a plane in which the object's position is or can be corrected, in particular by the position correction device. In one embodiment, the plane corresponds to an xy plane.

[0011] This advantageously makes it possible to influence the position of the object more easily in relation to the desired position, in particular to change its actual position. Advantageously, in one embodiment, a position correction device (operatively) connected to the object carrier device does not require its own contact point on the object, which could damage the object during a position correction movement of the position correction device. Advantageously, in one embodiment, the system described herein makes it possible to position an object without a position feature or edge being moved, bumped or positioned in any other way against a reference pin or the like, for example. In one embodiment, this makes it possible for sensitive objects to be moved with or without a position feature or edge being moved, bumped ormade of particularly brittle material(s), the object is to be protected, in particular from damage, by manipulating the position of the object in such a way that at least one position feature of the object or its edge(s) can be or are transferred into a desired position without collision.

[0012] In one embodiment, the device comprises a referencing device. In one embodiment, the backlighting device is arranged on the referencing device, in particular integrated therein, in particular detachably or non-detachably.

[0013] In one embodiment, this advantageously makes it possible to provide a simpler, in particular integrated, referencing device with backlighting for in particular a reference marking and / or the object (to be corrected in position).

[0014] In one embodiment, the backlighting device is arranged on the object carrier device, in particular integrated therein, in particular (non-destructively) detachably and / or non-detachably.

[0015] In one embodiment, this advantageously makes it possible to provide a simpler, in particular integrated, object carrier device with backlighting for in particular a reference marking and / or the object (to be corrected in position).

[0016] In one embodiment, the reference marking is arranged at a distance from the backlighting device, in particular at a distance in the z-direction (relative to the xy-plane of the specimen slide device), or arranged on or on the backlighting device, in particular if, in an embodiment, the backlighting device, or in particular at least a part of the backlighting device, is arranged on the referencing device, in particular is connected integrally thereto, and furthermore in particular is detachable and / or non-detachable (non-destructively). In one embodiment, the reference marking is arranged at a distance from the backlighting device, in particular if, in an embodiment, the backlighting device, or in particular at least a part of the backlighting device, is arranged on the specimen slide device, in particular is connected integrally thereto, and furthermore in particular is detachable and / or non-detachable (non-destructively).In one embodiment, the backlighting device has a translucent, in particular, at least substantially, transparent or partially transparent, surface onto which light is emitted from at least one lamp or at least one illuminant in such a way that a reference marking arranged on or on, in particular on the surface of the backlighting device and / or that a reference marking arranged at a distance from the backlighting device is or can be backlit.

[0017] Advantageously, if the reference marking is arranged at a distance from the backlighting device in one embodiment, it can be made possible in one embodiment for a smaller field of view to be realized for the recording device. In particular, if the reference marking is arranged at or on or above or at a distance from the backlighting device in one embodiment, determining the actual position can be carried out more easily.

[0018] In one embodiment, the specimen support device and / or the backlighting device are configured to provide a negative pressure. In one embodiment, the provided negative pressure can advantageously be used to fix the object on the specimen support device and / or the backlighting device, or these are designed or configured for this purpose. In one embodiment, the specimen support device and / or the backlighting device has bores or the like by means of or through which the negative pressure can or does act on the object.

[0019] In one embodiment, this advantageously enables the object to remain in its position on the object carrier device, in particular to prevent it from slipping or being able to slip, even if at least one of the system components moves or vibrates. In one embodiment, light emitted by the backlighting device has a wavelength and / or a wavelength range that lies in the visible spectrum or wavelength range and / or a wavelength and / or a wavelength range that lies in the non-visible spectrum or wavelength range, in particular in the ultraviolet and / or infrared.

[0020] In one embodiment, this advantageously enables the recording device to be specifically tuned to the emitted wavelength(s), and furthermore, in particular, a user is not dazzled by the backlighting device. In one embodiment, this allows the contrast of the recording device to be (further) improved, in particular, in one embodiment, by means of filters or by using fluorescence (effects).

[0021] In one embodiment, the backlighting device has a plurality of, in particular mutually independent, backlighting elements which, in one embodiment, are configured to backlight at least one and / or at most one reference marking, alternatively or additionally to backlight at least one and / or at most one position feature of the object.

[0022] Advantageously, in one embodiment, this can provide targeted backlighting of reference marking(s) and / or position features of the object.

[0023] In one embodiment, the recording device has a plurality of cameras, in particular one camera each for a reference marking, in particular one camera each for at least two of the reference markings and / or for one positional feature of the object, in particular such that the field of view or the perspective of the respective camera has at least one reference marking, at least two reference markings and / or one positional feature of the object.

[0024] In one embodiment, this advantageously allows the pose of the camera to be determined and advantageously an actual position and a desired position of the object.

[0025] In one embodiment, the recording device has reference markings, in particular for determining a pose of the plurality of cameras. For this purpose, in one embodiment, the recording device can have a higher-level camera configured to determine the pose of the plurality of cameras, in particular with respect to the at least one reference marking and thus in particular with respect to a desired position of the object.

[0026] In one embodiment, this advantageously makes it possible for a (self-)position or (self-)pose determined by a camera on the basis of the at least one reference marking or the at least two reference markings to be checked, in particular to be determined independently and / or redundantly.

[0027] In one embodiment, the position correction device is configured to correct the position of the object in a spatial plane, in particular in an xy plane, in particular in a plane in which the object carrier device is arranged and / or the position correction device can change or correct a position or is configured to do so. In one embodiment, the object carrier device is aligned parallel to a floor or "in the water" (horizontally).

[0028] In one embodiment, the referencing device is designed for a carrier system process or a pick-and-place process. In one embodiment, the referencing device can be used as a carrier or for a carrier in a carrier system, or is configured for this purpose. In particular, the referencing device itself and / or the receptacles of the referencing device are designed to externally reference a desired position of the object.

[0029] Advantageously, in one embodiment, a further process step can be carried out on the object with precise location or position, in particular more precisely.

[0030] In one embodiment, the referencing device is designed as a support structure. In one embodiment, the referencing device is designed as a frame, in particular such that the object carrier device is arranged within the frame of the referencing device. In one embodiment, the at least one reference marking protrudes from the referencing device into the frame of the referencing device, in particular such that a distance from the reference marking to the object is or becomes reduced, in particular such that, in one embodiment, the field of view or the perspective of the recording device is advantageously smaller, in particular compared to a recording device whose field of view captures the entire object and the at least one reference marking.Advantageously, in one embodiment, the recording device can determine its position relative to the referencing device and / or the reference marking if the at least one reference marking is designed for this purpose, in particular for a three-dimensional position determination of the recording device. In one embodiment, the perspective of the recording device has at least two reference markings, so that a position or pose (position and orientation) of the recording device relative to the reference markings and thus, in particular, relative to a desired position for the object can be determined.

[0031] In one embodiment, the referencing device, in particular the referencing device designed as a frame, has at least two receptacles that are configured for attaching a (reference) centering device or are themselves designed as a (reference) centering device, in particular for aligning a device receiving the referencing device, in particular a higher-level device, such as in particular a robot and / or a carrier system, to the target position of the object. In one embodiment, the reference markings are connected to the referencing device in such a way that a position of the reference markings relative to the at least two receptacles, in particular the (reference) centering devices, is known, in particular with a predetermined tolerance.

[0032] In one embodiment, the at least two images of the referencing device can be used to define a target position, in particular with the aid of a mask that is representative of the target position and, in one embodiment, can be arranged in the at least two images, in particular with repeatable accuracy, or is arranged in them to determine a target position for the object. In one embodiment, a target position of the object can then be determined or defined using the recording device and the at least one reference marking.

[0033] This advantageously makes it possible to quickly determine a target position for different objects, particularly by using different masks for each object. In one embodiment, a target position can advantageously be calibrated more quickly.

[0034] In one embodiment, the backlighting is provided with colored light, in particular with light of a wavelength or wavelength range that can be assigned to a light color. In one embodiment, the backlighting is provided by means of light-emitting diode(s). Advantageously, this allows for a simpler backlighting in one embodiment, in particular for a (further) increase in the contrast of the at least one reference marking and the at least one position feature of the object.

[0035] In one embodiment, the reference marking has a chamfer. In one embodiment in which the reference marking is spaced from the backlighting device, the chamfer is formed in the direction of the backlighting device, in particular such that, in one embodiment, only one edge of the reference marking is advantageously visible to the receiving device, in particular the reference marking has only one edge as a reference for the receiving device.

[0036] Advantageously, in one embodiment, this makes it possible to improve the position determination of the object, in particular to make it more precise.

[0037] In one embodiment, the reference marking is arranged such that an edge of the reference marking, in particular a lower edge or an upper edge of the reference marking, further in particular an edge of the reference marking by means of which the position of the object is determined, is at a height with the (at least one) position feature of the object, in particular at the same height of the object, provided that, in one embodiment, the object is an object that has an at least substantially planar surface, wherein the height in this embodiment refers or can refer to the thickness of the object and / or to a z-direction. In one embodiment, the height, in particular in the z-direction, of the object can be minimal relative to the extent, in particular in the alignment plane (x, y). In one embodiment, this can be advantageous in particular for at least substantially cuboid-shaped objects.

[0038] In one embodiment, the reference marking is designed such that, based on the reference marking, a desired position of the object can be determined in at least two, in particular independent, (spatial) directions, in particular the x- and y-directions, in particular in three, further in particular independent, (spatial) directions, in particular the x-, y- and z-directions; in one embodiment, with the aid of the at least one recording device.

[0039] As a result, in one embodiment, the number of reference markings can be advantageously reduced, in particular a number of recording devices can be reduced, in particular because, in one embodiment, fewer fields of view, in particular smaller fields of view, are required to define or determine a position or pose of the recording device and / or a target position, alternatively or additionally to determine an actual position of the object.

[0040] In one embodiment, the reference marking is arranged such that a distance between the reference marking and the object is reduced, in particular compared to reference marking(s) arranged on the referencing device. In one embodiment, the at least one reference marking is arranged between the referencing device and the desired position of the object, in particular such that the at least one reference marking can be or is backlit by the backlighting device. In one embodiment, the at least one reference marking is arranged on and / or above, in particular at a distance in the z-direction, the backlighting device, in particular such that the reference marking is or can be backlit.

[0041] In one embodiment, this makes it possible to increase the contrast for detecting the at least one reference marking and / or the at least one part of the object, in particular the at least one position feature, in particular compared to a system without backlighting or without a backlighting device.

[0042] In one embodiment, the (at least one) position feature is an edge of the object, in particular an edge of the object that corresponds to at least one determination and / or correction plane and / or determination and / or correction direction of the position correction device and / or an x- and y-direction. If, in one embodiment, the object is to be determined and / or position-corrected (only) in one plane, in particular an edge of the object can be parallel to this plane. This edge can then, in one embodiment, be used as a position feature; in particular, the object can be position-corrected based on a correlation of this position feature with respect to the at least one reference marking or with respect to a first reference marking and with respect to a second reference marking in this plane or in a direction of the plane and / or a rotation in the plane, in particular with the aid of the position correction device.

[0043] In one embodiment, the position feature is configured such that, with the aid of the position feature, a position of the object can be defined or determined in at least one direction, in particular at least in one plane. As a result, in one embodiment, a position of the object, in particular in a plane, further in particular in a plane in which the position correction device is configured to correct the position of the object, can advantageously be determined based on the, in particular individual, position feature, in particular when the object has predetermined dimensions or is a semi-finished product with predetermined tolerances, in particular dimensions within the predetermined tolerances.

[0044] In one embodiment, the referencing device and / or the object carrier device has placeholders and / or recesses which are designed to accommodate a backlighting device, in particular at least a part of the backlighting device.

[0045] This advantageously makes it possible for the system to be used not only for one type of object, but also to be adapted to different types of objects, in particular semi-finished products, and further in particular to different positions (positions and / or orientations) of positional features of the objects.

[0046] In one embodiment, the backlighting device, in particular at least a part of the backlighting device, is arranged recessed with respect to the object carrier device, in particular with respect to a surface of the object carrier device on which the object is or will be arranged, in a direction away from the object, in particular in the z-direction.

[0047] As a result, in one embodiment, the at least one reference marking can advantageously be arranged at the same height, in particular at least substantially the same distance from the surface of the object carrier device, as the positional feature of the object, in particular an edge of the object. Furthermore, in one embodiment, an actual position and / or a target position can advantageously be determined more easily, in particular without having to incorporate a height-based difference between the at least one reference marking and the positional feature, in particular the edge of the object, into the determination of the actual position and / or the target position or taking this into account during the determination.

[0048] In one embodiment, the height of the reference marking is configured such that it at least substantially corresponds to a height of the positional feature of the object. The term "height," as used herein, should be understood in particular as the distance of the at least one reference marking from the surface of the object carrier device on which the object is or will be arranged and / or as the distance of the positional feature, in particular the (relevant) edge, of the object from this surface of the object carrier device, in the direction of the normal to this surface, in particular in the z-direction.

[0049] In one embodiment, the recording device has a light filter, in particular a light filter for a predetermined wavelength or a predetermined light spectrum, in particular designed for fluorescence.

[0050] In one embodiment, this advantageously allows the contrast of the recording device to be (further) improved, in particular, a higher or higher contrast can be achieved. In one embodiment, this is advantageous for the accuracy of determining the actual position and / or the target position; in one embodiment, this allows a more precise determination or position correction to be achieved or performed.

[0051] In one embodiment, without restricting its generality, the object is a gas diffusion electrode or a gas diffusion layer, in particular of a fuel cell, which is to be aligned or its position determined and / or corrected, in particular for a further production step, in particular for creating or manufacturing a fuel cell. In one embodiment, a dimension in the x- or y-direction of the object is known, in particular due to production reasons, within a predetermined tolerance, so that (advantageously) in this direction (only) the position of a position feature of the object, in particular only the position of an edge of the object, needs to be determined.

[0052] According to one embodiment, a method for determining the position and / or correcting the position of an object is provided, in particular using a system for determining the position and / or correcting the position described herein. In one embodiment, the method comprises backlighting at least a part of the object and / or backlighting at least one reference marking, in particular using a backlighting device, in particular described herein. In one embodiment, the method comprises capturing an image, in particular using a capturing device described herein, which image has the at least one backlit part of the object and / or the at least one backlit reference marking.In one embodiment, the method comprises determining an actual position of the object based on the recorded image, in particular based on determining a distance and / or a determined distance of the at least one position feature of the object from the at least one reference marking. In one embodiment, the method comprises correcting the determined actual position of the object, in particular using a position correction device described herein, based on a predetermined target position.

[0053] In one embodiment, the method comprises a step, in particular a preceding step, in which the object whose position is to be determined and / or corrected is first transferred, in particular placed, onto the object carrier device, in particular by a robot or a machine, in particular a multi-axis machine, set up for this purpose.

[0054] In one embodiment, the system described herein and / or its means, in particular the reference marking, the slide device, the backlighting device, the recording device, and / or the position correction device, are configured to perform a method described herein. In one embodiment, the method is performed using a system described herein.

[0055] It is within the scope of the invention that the method steps described above are carried out in a different order and / or method steps are combined and / or one method step is integrated into another method step.

[0056] The term “position” as used herein is to be understood in particular as a position and / or an orientation, in particular with respect to the reference marking, further in particular as a pose, in particular with respect to a coordinate system, such as in particular the xyz coordinate system described herein.

[0057] The term “integrally connected”, as used herein, is to be understood in particular as mechanically connected, in particular form-fitting, force-fitting and / or materially bonded.

[0058] The term "backlight," as used herein, is not to be understood as "illuminating." The term "backlight," as used herein, is to be understood as meaning, in particular, backlighting of the reference marking and / or the object with respect to, in particular, at least one recording device, in particular its perspective.

[0059] The terms "comprises," "includes," "includes," "has," "has," "with," or any other variation thereof, as used herein, are intended to cover non-exclusive inclusion. For example, a method or apparatus that includes or has a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or that are inherent in such a method or apparatus.

[0060] Furthermore, unless explicitly stated otherwise, "or" refers to an inclusive "or" and not an exclusive "or." For example, a condition A or B is satisfied by one of the following conditions: A is true (or present) and B is false (or absent), A is false (or absent) and B is true (or present), and both A and B are true (or present).

[0061] The terms "a" or "an" as used herein are defined as "one or more." The terms "another" and "another," and any other variations thereof, are defined as "at least one other."

[0062] The term "plurality" or "multiplicity" as used herein shall mean "two or more".

[0063] The term “configured” or “set up” to fulfil a specific function (and respective variations thereof), as used here where appropriate, is to be understood that a relevant device or component thereof is already in a design or setting in which it can perform the function or is at least adjustable – i.e. configurable – so that it can perform the function after being set accordingly. The configuration can be carried out, for example, by appropriately setting parameters of a process sequence or of switches or the like for activating or deactivating functionalities or settings. In particular, the device can have a plurality of predetermined configurations or operating modes, so that configuration can be carried out by selecting one of these configurations or operating modes.A system and / or a device comprised by the system within the meaning of the present invention can be designed, in particular at least partially, in hardware and / or software, in particular at least one, in particular digital, processing unit, in particular a microprocessor unit (CPU), graphics card (GPU) or the like, preferably data- or signal-connected to a memory and / or bus system, and / or one or more programs or program modules. The processing unit can be designed to execute instructions implemented as a program stored in a memory system, to acquire input signals from a data bus, and / or to output output signals to a data bus. A memory system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state, and / or other non-volatile media.The program may be such that it embodies or is capable of executing the methods described here, so that the processing unit can execute the steps of such methods and thus, in particular, can operate or monitor the system for determining and / or correcting the position.

[0064] In one embodiment, a computer program or computer program product is provided, wherein the computer program or computer program product contains instructions, in particular stored on a computer-readable and / or non-volatile storage medium, which, when executed by one or more computers or a system described herein, cause the computer(s) or the system to carry out a method described herein.

[0065] In one embodiment, a computer program product can comprise, in particular be, a storage medium, in particular a computer-readable and / or non-volatile one, for storing a program or instructions or with a program or instructions stored thereon. In one embodiment, execution of this program or these instructions by a system or a controller, in particular a computer or an arrangement of multiple computers, causes the system or the controller, in particular the computer(s), to carry out a method described here or one or more of its steps, or the program or the instructions are configured to do so.

[0066] In one embodiment, one or more, in particular all, steps of the method are carried out fully or partially automatically, in particular by the controller or its means. The computer program can in particular be stored on a non-volatile data carrier. This is preferably a data carrier in the form of an optical data carrier or a flash memory module. This can be advantageous if the computer program as such is to be handled independently of a processor platform on which the one or more programs are to be executed. In another implementation, the computer program can be present as a file on a data processing unit, in particular on a server, and can be downloadable via a data connection, for example the Internet or a dedicated data connection, such as a proprietary or local network.In addition, the computer program can comprise a plurality of interacting individual program modules. The modules can, in particular, be configured or at least usable in such a way that they are executed on different devices (computers or processor units) that are geographically separated from one another and connected to one another via a data network, in the sense of distributed computing.

[0067] The system can accordingly have a program memory in which the computer program is stored. Alternatively, the system can also be configured to access an external computer program, for example, available on one or more servers or other data processing units, via a communication connection, in particular to exchange data with it that is used during the execution of the method or computer program or that represents outputs of the computer program.

[0068] The embodiments described herein can be combined with each other as well as with the other described embodiments of the present solution, unless expressly excluded or technically impossible. The features and advantages explained with reference to embodiments of the invention also apply accordingly to the other embodiments of the invention.

[0069] Further advantages, features and possible applications of the present invention will become apparent from the following detailed description in conjunction with the figures.

[0070] Fig. 1 shows schematically a system for determining and / or correcting the position according to an embodiment in two different states;

[0071] Fig. 2 shows a schematic sectional view of the system of Fig. 1; Fig. 3 shows a schematic plan view of a system for determining and / or correcting position according to another embodiment;

[0072] Fig. 4 shows a schematic sectional view of the system shown in Fig. 2; and

[0073] Fig. 5 is a flow chart illustrating a preferred embodiment of the method according to the invention.

[0074] In the figures, like reference numerals designate like, similar, or corresponding elements. Elements shown in the figures are not necessarily drawn to scale. Rather, the various elements shown in the figures are depicted in such a way that their function and general purpose will be understood by those skilled in the art. Connections and couplings between functional units and elements shown in the figures can also be implemented as indirect connections or couplings, unless expressly stated otherwise. Functional units can, in particular, be implemented as hardware, software, or a combination of hardware and software.

[0075] Fig. 1 schematically shows a system 1 for position determination and / or position correction in two different states, wherein in the state shown at A an object 10 whose position is to be determined and / or corrected, in particular with respect to the target position derivable from the schematically shown reference markings 2, is arranged on an object carrier device 3 or held there. The reference markings 2 are arranged on a referencing device 4. The reference markings 2 are shown as webs with a circular end and are arranged at a distance from the backlighting device 5, which is schematically shown as a plurality of rectangular backlighting surfaces (here in particular out of the plane of the paper). Furthermore, a field of view 7 (shown in dashed lines) of a holding device 6 is shown.In the illustrated embodiment, this detects two reference markings 2 as well as two different edges of the rectangular object 10, which are used as positional features of the object 10. The backlighting device 5 is integrated into the object carrier device 3 and can move with it, in particular in a plane. The referencing device 4 is further shown with receptacles 8, which in turn can be used as a reference for a process machine or device, such as in particular a pick-and-place robot or in a carrier system, so that in particular a position of the object relative to the receptacles 8 is known, or to the pick-and-place robot or the carrier system. In Fig. 1A, a distance of the reference markings 2 to the edges of the object 10 is also shown in dashed lines.From these distances, an actual position of the object 10 relative to the reference markings 2 can be determined, in particular using a method described herein, and a corresponding position correction of the object 10 can be carried out using a position correction device 9, so that the object assumes a predetermined target position. Furthermore, Figure 1 shows an example of a coordinate system with x and y directions. In the exemplary representation, the object 10 is rotated and translated in the xy plane.

[0076] This is shown in particular by way of example in Fig. 1B. The object 10 is corrected into a desired position with the aid of the position correction device 9, which is not shown but is designed to manipulate the object carrier device 3 in such a way that the position of the object 10 held in the object carrier device 3 can be corrected. For the embodiment shown, the desired position results from a predetermined distance of the object edges to the reference markings 2. This distance can be and is checked or verified using the holding device. As can be seen in Fig. 1B, it is shown by way of example that the object carrier device 3 was rotated in the plane of the page with respect to Fig. 1A in order to transfer the object 10 from the actual position in Fig. 1A to the desired position in Fig. 1B. This results in a known coordinate transformation from the recordings of the referencing device 4 to the object 10, the position of which is thus known.In one embodiment, the perspective of the recording device has at least two reference markings. This advantageously allows the position of the recording device 6 relative to the reference markings 2 to be determined, in particular relative to the desired position of the object 10.

[0077] Fig. 2 shows a schematic sectional view of the system from Fig. 1. The reference marking 2 is arranged at a distance from the backlighting device 5, in particular in such a way that the object carrier device 3 or the position correction device 9 can move without colliding with the reference marking 2 or being hindered in its movement by the latter. The object 10 is arranged on the object carrier device 3 or is held by it. Furthermore, the object 10 is held in such a way that at least a part of the object 10 is or can be backlit by the backlighting device 5. Furthermore, a holding device 6 is shown which has a perspective or a field of view that captures both the reference marking 2 and the edge of the object 10. The contour of the reference marking 2 is, in one embodiment, chamfered in order to minimize or eliminate an offset ö.to prevent (shown in particular on the right-hand side of the reference marking 2 by way of example). Furthermore, in one embodiment, the reference marking 2 is arranged with an offset h with respect to an upper edge of the object 10 in the z-direction, wherein in one embodiment the position correction device 9 is configured to correct the object in an xy-plane in its position (in the x-direction and y-direction, as well as at an angle in the xy-plane), so that in particular an offset in the detection of the position(s) A is or can be reduced. In one embodiment, the reference marking 2 is arranged at the same height (in the z-direction) as a position feature of the object 10, in particular at the same height as an (upper) edge of the object (10). In one embodiment, the reference marking 2 can be adjusted in its height (in the z-direction) such that an (upper) edge of the object 10 and the height of the reference marking 2 at least substantially coincide.

[0078] Fig. 3 schematically shows a system 1 for position determination and / or position correction according to another embodiment in a plan view. In the exemplary illustration, the backlighting device 5 is arranged on the referencing device 4 or connected to it. Furthermore, the reference markings 2 are arranged on the backlighting device 5, in particular directly on a surface of the backlighting device 5. The object carrier device 3 is shown smaller than the object 10 and is also used as a position correction device 9. If an actual position of the object 10 does not correspond to a predetermined target position, the object 10 is transferred from the actual position to the target position with the aid of the position correction device 9, in particular based on the actual position determined with the aid of the backlit reference marking(s) 2 and the backlit position feature(s) of the object 10, in particular the edge(s) of the object 10.The referencing device 4 has receptacles 8 with which the target position for a gripper and / or a carrier system can be referenced.

[0079] Fig. 4 schematically shows a sectional view of the system 1 shown in Fig. 2. The backlighting device 5 is arranged such that a positional feature of the object 10, here the edge of the object 10, can be or is backlit. Furthermore, the reference marking 2 is arranged on the backlighting device 5. The object 10 is arranged on the object carrier device 3, which in the exemplary representation of the system 1 is not operatively connected to the backlighting device 5. In one embodiment, the reference marking 2 can have a bevel (not shown here). Fig. 5 schematically shows a flow chart to illustrate an embodiment of the method according to the invention. The method comprises backlighting S10 of at least part of the object 10 and backlighting at least one reference marking 2, in particular with the aid of a backlighting device 5.The method further comprises capturing S20 an image, in particular using a recording device 6, which image comprises the at least one backlit part of the object 10 and the at least one backlit reference mark 2. The method further comprises determining S30 an actual position of the object 10 based on the captured image. Fig. 5 further shows the correction S40 of the determined actual position of the object 10, which is optional according to one embodiment, in particular using a position correction device 9, based on a predetermined target position.

[0080] While at least one exemplary embodiment has been described above, it should be appreciated that a wide variety of variations exist. It should also be understood that the described exemplary embodiments are merely non-limiting examples and are not intended to limit the scope, applicability, or configuration of the devices and methods described herein. Rather, the foregoing description will provide one skilled in the art with guidance for implementing at least one exemplary embodiment, it being understood that various changes in the operation and arrangement of the elements described in an exemplary embodiment may be made without departing from the subject matter as defined in the appended claims, as well as their legal equivalents.

[0081] LIST OF REFERENCE SYMBOLS

[0082] 1 system for position determination and / or position correction

[0083] 2 Reference mark 3 Slide device

[0084] 4 Referencing device

[0085] 5 Backlight device

[0086] 6 Mounting device

[0087] 7 Field of view of the recording device 8 Recording

[0088] 9 Position correction device

[0089] 10 objects

[0090] S10 rear lights

[0091] S20 Taking a picture S30 Determining an actual position

[0092] S40 Correcting the object position

Claims

CLAIMS 1. System (1) for determining and / or correcting the position of an object (10), comprising: - at least one reference marking (2) designed to indicate a desired position of an object (10); an object carrier device (3) for receiving the object (10); a backlighting device (5) for backlighting the at least one reference marking (2) and for backlighting at least a part of the object (10); at least one recording device (6) for recording an image, wherein the recording device (6) is designed to detect an actual position of the object (10), in particular based on the at least one position feature of the object (10), and the desired position of the object (10), in particular based on the at least one reference marking (2).

2. System (1) according to the preceding claim 1, characterized in that the system (1) has at least one position correction device (9) which is designed to correct the position of the recorded object (10) based on the detected actual position and the detected desired position of the object (10), in particular the object carrier device (3) and the at least one position correction device (9) are integrally connected to one another.

3. System (1) according to one of the preceding claims, characterized in that the backlighting device (5) is arranged on a referencing device (4) and / or on the object carrier device (3).

4. System (1) according to one of the preceding claims, characterized in that the reference marking (2) is arranged at a distance from the backlighting device (5), in particular when the backlighting device (5) is arranged on the object carrier device (3), or that the reference markings (2) are arranged on the backlighting device (5), in particular when the backlighting device (5) is arranged on the referencing device (4).

5. System (1) according to one of the preceding claims, characterized in that the object carrier device (3) and / or the backlighting device (5) is configured to provide a negative pressure, in particular for fixing the object (10).

6. System (1) according to one of the preceding claims, characterized in that a light emitted by the backlighting device (5) has a wavelength which lies in the visible wavelength range and / or in the non-visible wavelength range, in particular in the ultraviolet range or in the infrared range.

7. System (1) according to one of the preceding claims, characterized in that the backlighting device (5) has a plurality of, in particular mutually independent, backlighting elements which are designed to backlight at least one and / or at most one reference marking (2).

8. System (1) according to one of the preceding claims, characterized in that the recording device (6) has a plurality of cameras, in particular one camera each for a reference marking (2), for at least two of the reference markings (2) and / or for one position feature of the object (10).

9. System (1) according to the preceding claim, characterized in that the recording device (6) has reference markings (2) for determining a pose of the plurality of cameras.

10. System (1) according to one of the preceding claims 2 to 9, characterized in that the position correction device (9) is designed to correct a position of the object (10) in a spatial plane.

11. System (1) according to one of the preceding claims, characterized in that the reference markings (2) are ring-shaped and / or have a chamfer.

12. System (1) according to one of the preceding claims, characterized in that the referencing device (4) is designed for a carrier system process or a pick and place process.

13. A method for determining the position and / or correcting the position of an object (10), the method comprising: Backlighting (S10) of at least part of the object (10) and backlighting at least one reference marking (2), in particular by means of the backlighting device (5); Recording (S20) an image, in particular using the recording device (6), which image has the at least one backlit part of the object (10) and the at least one backlit reference marking (2); Determining (S30) an actual position of the object (10) based on the recorded image.

14. Method according to the preceding claim, characterized in that the object whose position is to be detected and / or corrected is first transferred, in particular placed, onto the object carrier device (3).

15. Method according to one of the preceding claims 13 or 14, characterized in that the method comprises: Correcting (S40) the determined actual position of the object (10), in particular with the aid of the position correction device (9), based on a predetermined target position.

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