Wide-width product alignment system and method using camera

Abstract

The present invention relates to a wide-width product alignment system using two cameras, the system comprising: a plurality of image capturing units for acquiring images of each area of a first vertex of a rectangular wide-width product positioned on a transport stage and a second vertex positioned in a diagonal direction with respect to the first vertex; a position information acquisition unit for detecting the first vertex, the second vertex, and the center coordinates of the wide-width product; a storage unit for storing the first vertex and the second vertex of the wide-width product positioned on the transport stage, and the center coordinates of the transport stage; an offset calculation unit for comparing the center coordinates of the wide-width product with the center coordinates of the transport stage, and calculating an inclined angle of the wide-width product with respect to the transport stage so as to calculate an offset value for each of a width direction, a longitudinal direction, and a rotational direction of the wide-width product; and a position correction unit for aligning a position of the wide-width product by using the offset value.

Description

Wide-area product alignment system and method using a camera

[0001] The present invention relates to a wide-width product alignment system and method using cameras, and more specifically, to a wide-width product alignment system and method using cameras that can improve the precision of a bonding process by acquiring images of the two diagonal vertices of a wide-width product using two cameras and a telecentric lens, and aligning the wide-width product by applying a devised mathematical model.

[0002] Generally, machine vision is one of the fundamental technologies of industrial automation, providing the ability to verify the tasks performed by industrial equipment and make rapid decisions based on the findings. This machine vision is used for various purposes, including visual inspection, defect detection, part positioning, measurement, product identification, alignment, and tracking.

[0003] Meanwhile, although a standard lens can be used to capture a full image of a product to verify the operations performed by industrial equipment, the precision of the image cannot be guaranteed due to lens distortion. Furthermore, if a telecentric lens is applied to prevent lens distortion, there is a disadvantage in that the entire shape of the product cannot be captured at once, making it impossible to judge the precision of product alignment.

[0004] An example of a technology for precisely aligning a product to solve the above disadvantages is disclosed in the following patent documents: 1 (Korean Published Patent Application No. 10-2023-0101744 (published July 6, 2023)) and 2 (Korean Registered Patent Application No. 10-2251320 (registered May 6, 2021)).

[0005] The above patent document 1 relates to a vision alignment system using a stage mark, and discloses a technology comprising: a stage on which a first mark is displayed on one side and a second mark is displayed and an object is loaded; a transfer unit for transferring the stage on which the object is loaded to an inspection area; a vision camera unit for capturing the stage transferred to the inspection area and acquiring a first image including the first mark and the second mark; a correction control unit installed on the stage to correct the position of the stage; a position information acquisition unit for acquiring first position information of the first mark and second position information of the second mark using the first image; a position difference calculation unit for calculating a first difference value between the first position information and the reference position information when the first position information is different from a preset reference position information; and a correction control unit for controlling the position correction unit so that the position of the object is corrected using the first difference value.

[0006] The above patent document 2 discloses a vision alignment method for aligning and stacking a plurality of sheets having a rectangular shape, comprising: a loading step of loading a sheet to be stacked to a pre-set loading position spaced apart on the upper side of a stage where a plurality of sheets are sequentially stacked; a first image acquisition step in which an image capturing unit located on the upper side of the loading position captures the sheet to be stacked and the stage to acquire a first captured image; an alignment step of aligning the horizontal position of the stage using the first captured image so that the sheet to be stacked is seated at a pre-set position on the stage; and a sheet stacking step in which, after the horizontal position adjustment step, the stage is raised to the loading position to stack the sheet to be stacked on the stage.

[0007]

[0008] In the technology disclosed in Patent Document 1 and Patent Document 2 as described above, a reference marker is displayed on a stage, and the position of an object is corrected by calculating the position difference by comparing the position information of the object obtained using an image with the reference position information, but a technology for aligning the position of an object without displaying a reference marker on a stage has not been disclosed.

[0009] In addition, the technology disclosed in the above patent documents 1 and 2 did not disclose a technology for correcting the position of an object using a mathematical model when a reference marker is not displayed.

[0010] The objective of the present invention is to solve the problems described above by providing a wide-area product alignment system and method using cameras that can align products by photographing the vertex areas of a product using a plurality of cameras and a telecentric lens and using the coordinates of vertices facing each other in a diagonal direction.

[0011] Another objective of the present invention is to provide a wide-width product alignment system and method using cameras that can reduce equipment installation and maintenance costs by not installing additional equipment, by performing alignment on wide-width products that have long horizontal and vertical lengths relative to their height using two cameras and a telecentric lens.

[0012] Another objective of the present invention is to provide a wide-width product alignment system and method using cameras that can improve the precision of the bonding process by using two cameras and a telecentric lens and using the same mathematical model as presented, even in situations where fine coordinate movement and tilting are required after alignment is performed on wide-width products.

[0013] To achieve the above objective, a wide-format product alignment system using cameras according to the present invention comprises: a plurality of image capturing units for acquiring images of a first vertex and a second vertex area located diagonally opposite to the first vertex of a rectangular wide-format product located on a transport stage; a position information acquisition unit for detecting the center coordinates of the first vertex, the second vertex, and the wide-format product; a storage unit for storing the center coordinates of the first vertex, the second vertex, and the transport stage of the wide-format product located on the transport stage; an offset calculation unit for calculating offset values ​​for the width direction, length direction, and rotation direction of the wide-format product by comparing the center coordinates of the wide-format product with the center coordinates of the transport stage and calculating the tilted angle of the wide-format product relative to the transport stage; and a position correction unit for aligning the position of the wide-format product using the offset values.

[0014] In addition, the wide product alignment system using a camera according to the present invention is characterized in that the center coordinates, tilt angle, and offset value of the wide product are defined by the [mathematical formula] below.

[0015] [Mathematical Formula]

[0016]

[0017]

[0018] (Wide product center coordinates P0(x, y), wide product angle P0θ, first vertex coordinates P1(x, y), second vertex coordinates P2(x, y), transport stage center coordinates P Rotate (x, y), Angle I of the wide product at the fixed position θ )

[0019] In addition, according to the wide-width product alignment system using a camera according to the present invention, the image capturing unit is characterized by including two cameras and a telecentric lens.

[0020] In addition, according to the wide product alignment method using a camera according to the present invention, the position correction unit is characterized by aligning the wide product located on the transport stage by the position movement and rotation of the transport stage.

[0021] A wide product alignment method using cameras according to the present invention for achieving the above objective comprises: a) a step of loading a wide product onto a transport stage; b) a step of acquiring an image of a first vertex of the wide product and a second vertex area diagonally opposite to the first vertex; c) a step of comparing the first vertex coordinates, the second vertex coordinates, and the center coordinates of the wide product with reference coordinates; d) a step of calculating an offset value for each of the width direction, length direction, and rotation direction of the wide product when the first vertex coordinates, the second vertex coordinates, and the center coordinates of the wide product are different from the reference coordinates; e) a step of correcting the position of the wide product according to the offset values; and f) a step of placing the wide product on a base product for bonding the wide product when the first vertex coordinates, the second vertex coordinates, and the center coordinates are the same as the reference coordinates.

[0022] In addition, according to the wide-width product alignment method using a camera according to the present invention, step d) is characterized by calculating an offset value according to the [mathematical formula] below.

[0023] [Mathematical Formula]

[0024]

[0025]

[0026] (Wide product center coordinates P0(x, y), wide product angle P0θ, first vertex coordinates P1(x, y), second vertex coordinates P2(x, y), transport stage center coordinates P Rotate (x, y), Angle I of the wide product at the fixed position θ )

[0027] In addition, according to the wide product alignment method using a camera according to the present invention, step e) is characterized by correcting the position of the wide product located on the transport stage by moving and rotating the position of the transport stage.

[0028] In addition, according to the wide product alignment method using a camera according to the present invention, step f) further comprises the step of comparing the first vertex coordinate, the second vertex coordinate, and the center coordinate of the wide product with reference coordinates.

[0029] As described above, according to the wide-width product alignment system and method using a camera according to the present invention, the effect of being able to precisely correct the position of wide-width products using a mathematical model without using a reference marker is obtained.

[0030] In addition, according to the wide-area product alignment system and method using a camera according to the present invention, the effect of being able to precisely align products by photographing the vertex areas of products using a plurality of cameras and a telecentric lens and using the coordinates of vertices facing each other in a diagonal direction is obtained.

[0031] According to the wide-width product alignment system and method using cameras according to the present invention, by using two cameras and a telecentric lens to perform alignment on wide-width products that have long horizontal and vertical lengths relative to their thickness, the effect of reducing equipment installation and maintenance costs is obtained by not installing additional equipment.

[0032] According to the wide-width product alignment system and method using cameras according to the present invention, even in situations where fine coordinate movement and tilting are required after alignment is performed on wide-width products, the effect of improving the precision of the bonding process is obtained by using two cameras and a telecentric lens and using the presented mathematical model in the same way.

[0033] FIG. 1 is a drawing for explaining a wide-width product alignment system using a camera according to an embodiment of the present invention.

[0034] FIG. 2 is a drawing for explaining the bonding process of a wide product and a base product according to an embodiment of the present invention.

[0035] FIG. 3 is a drawing for explaining the alignment of wide products according to an embodiment of the present invention.

[0036] FIG. 4 is a diagram illustrating a mathematical model for aligning wide products according to an embodiment of the present invention.

[0037] FIGS. 5A and 5B are diagrams schematically showing the alignment process of a wide product according to an embodiment of the present invention.

[0038] FIG. 6 is a flowchart illustrating a method for aligning wide products according to an embodiment of the present invention.

[0039] The above and other objects and novel features of the present invention will become more apparent from the description in this specification and the accompanying drawings.

[0040] The size and thickness of each component shown in the description and drawings of the present invention are depicted arbitrarily for convenience of explanation, and therefore the present invention is not necessarily limited to what is illustrated. Additionally, thicknesses have been enlarged in the drawings to clearly represent various layers and regions, and the thickness of some layers and regions has been exaggerated for convenience of explanation.

[0041] Furthermore, when it is said that a part, such as a layer, membrane, region, or plate, is "on" or "on" another part, this includes not only the case where it is "directly on" another part, but also the case where there is another part in between. Conversely, when it is said that a part is "directly on" another part, it means that there is no other part in between. Also, saying that a part is "on" or "on" a reference part means that it is located above or below the reference part, and does not necessarily mean that it is located "on" or "on" facing the opposite direction of gravity.

[0042] Meanwhile, in the description of the invention, when it is stated that a certain part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0043] The terms “part,” “module,” or “part” as used herein perform at least one function or operation and may be implemented as hardware or software consisting of mechanical or electrical / electronic configurations, or as a combination of hardware and software; and a plurality of “parts,” “modules,” or a plurality of “parts” may be integrated into at least one module and implemented by at least one processor, except for the “parts,” “modules,” or “parts” that need to be implemented in specific hardware.

[0044] In addition, as used herein, a wide-width product refers to a product in the form of a plate or film having a wide width, and may be, for example, a product having a size of 400 mm × 400 mm or more and requiring an alignment precision of 1 mm or less. Such a wide-width product may be a component used in various fields such as displays, fuel cells, secondary batteries, and OLEDs. For example, the wide-width product may be a polymer electrolyte membrane, a membrane and electrode assembly (MEA), or a gas diffusion layer (GDL) constituting a fuel cell.

[0045]

[0046] Hereinafter, a wide-area product alignment system using a camera according to an embodiment of the present invention will be described with reference to the drawings.

[0047] FIG. 1 is a drawing for explaining a wide product alignment system using a camera according to an embodiment of the present invention, FIG. 2 is a drawing for explaining the joining process of a wide product and a base product according to an embodiment of the present invention, and FIG. 3 is a drawing for explaining the alignment of a wide product according to an embodiment of the present invention. FIG. 4 is a drawing for explaining a mathematical model for aligning a wide product according to an embodiment of the present invention, and FIG. 5a and FIG. 5b are drawings schematically showing the alignment process of a wide product according to an embodiment of the present invention.

[0048] Referring to FIGS. 1 to 3, an alignment system (100) according to an embodiment of the present invention may be a system for aligning a wide product (210) on a base product (220) in order to bond the wide product (210) and the base product (220). The wide product (210) must be aligned with high precision on the base product (220) so that the yield of the bonded product can be increased after bonding. The wide product (210) and the base product (220) may be polygonal in shape, for example, rectangular or square, plates or films. The wide product (210) and the base product (220) may each be components applied to fibers, displays, fuel cells or secondary batteries, but are not limited thereto and may be components in the form of plates or films having a wide width that can be used in other industrial fields.

[0049] The above alignment system (100) comprises a robot arm (300), an image capturing unit (400), and a computing system (500) for transporting a wide product (210) and a base product (220) or aligning them to a specific position for joining. The robot arm (300) transports the wide product (210) and the base product (220) to a desired position, or moves the wide product (210) and the base product (220) to come into contact with each other for joining after transport.

[0050] A transport stage (600) may be attached to the end of the robot arm (300) to transport a wide product (210) and a base product (220) to a desired location, respectively. The transport stage (600) can transport the wide product (210) or the base product (220) to a desired location by adsorbing and fixing them according to the movement of the robot arm (300), and can move in the X direction (width direction), Y direction (length direction), and θ direction (rotation direction) for precise alignment. The transport stage (600) can move independently of the robot arm (300) under the control of the computing system (500), and can align the position of the wide product (210) or the base product (220) by moving in the X direction, Y direction, and θ direction even when the operation of the robot arm (300) is stopped. The transport stage (600) can rotate (θ direction) with the Z direction, which is perpendicular to the X direction and Y direction, as the center of rotation.

[0051] The image capturing unit (400) may be a 2D camera configured to generate a 2D image showing the visual appearance of the environment within the imaging area. Additionally, the image capturing unit (400) may be a 3D camera configured to generate spatial structure information of the environment within the imaging area. The image capturing unit (400) may be positioned to acquire an image of the vertex area of ​​the wide product (210) or base product (220). The image capturing unit (400) may be a camera equipped with a contact image sensor (CIS), and may be a camera equipped with various sensors and interfaces and supporting various resolutions and frame rates. Additionally, the image capturing unit (400) may include a telecentric lens capable of preventing perspective distortion that may occur depending on the distance between the object located in the imaging area and the lens.

[0052] In one embodiment of the present invention, the image capturing unit (400) preferably has a plurality of cameras. For example, the first camera of the image capturing unit (400) can acquire an image of the first vertex (610) area, which is the upper left vertex of a wide product (210) or base product (220) having a rectangular shape, and the second camera of the image capturing unit (400) can acquire an image of the second vertex (620) area, which is the lower right vertex of the wide product (210) or base product (220) located diagonally opposite to the first vertex (610).

[0053] In contrast, the first camera may be positioned to acquire an image of the upper right corner area of ​​the wide product (210) or base product (220), and the second camera may be positioned to acquire an image of the lower left corner area of ​​the wide product (210) or base product (220), but the number and position of the cameras may be varied and arranged in various ways depending on the shape of the product to be transported or the characteristics of the object to be joined.

[0054] The computing system (500) may be configured to perform a plan for operation based on an image or video of a wide-width product (210) or a base product (220) obtained by an image capturing unit (400), and to receive and process image information. The computing system (500) controls the operation of the robot arm (300), the image capturing unit (400), and the transport stage (600). The computing system (500) may communicate with the robot arm (300) and the image capturing unit (400) via wired or wireless connections. For example, the computing system (500) may be part of a cloud computing platform hosted in a remote data center. In this case, the computing system (500) may communicate with the robot arm (300) and the image capturing unit (400) via a network connection.

[0055] In one embodiment, when the computing system (500) is configured to generate one or more movement commands for the robot arm (300), the image capturing unit (400), and the transport stage (600), the movement commands may be a movement command for the robot arm (300), a movement command for the image capturing unit (400), and a command for an alignment operation of the transport stage (600). Specifically, the computing system (500) may generate a command to move the image capturing unit (400) to a specific location or to change its direction and transmit it to the image capturing unit (400). Additionally, the computing system (500) may generate a command for the transport stage (600) to pick up a wide product (210) or a base product (220) from the end of the robot arm (300) and move it to a target location.

[0056] The computing system (500) may communicate directly with the image capture unit (400) and / or the robot arm (300) via a local computer bus, such as a dedicated wired communication interface used for the image capture unit (400) and / or the robot arm (300), a Universal Serial Bus (USB) interface, or a Peripheral Components Interconnect (PCI) bus. In another embodiment, the computing system (500) may communicate with the image capture unit (400) and / or the robot arm (300) via a network. In this case, the network may include any type of network, such as a Personal Area Network (PAN), a Local Area Network (LAN), for example, a Metropolitan Area Network (MAN), a Wide Area Network (WAN), or the Internet. The network may utilize various technology, instrumentation, and protocol stacks, including Ethernet protocol, Internet Protocol (TCP / IP), Asynchronous Transfer Mode (ATM) technology, Synchronized Optical Network (SONET) protocol, or SDH protocol.

[0057] Additionally, the computing system (500) may be configured to include a location information acquisition unit (510), a storage unit (520), an offset calculation unit (530), a control unit (540), and a location correction unit (550).

[0058] The above location information acquisition unit (510) acquires images of the first vertex (610) and second vertex (620) areas of the wide product (210) or base product (220) acquired through the first camera and second camera of the image capturing unit (400). If the first vertex (610) is the upper right first vertex (610) area of ​​the wide product (210) or base product (220) which has a rectangular shape, the second vertex (620) may be the lower left vertex area of ​​the wide product (210) or base product (220) located diagonally opposite to the first vertex (610). Additionally, if the first vertex (610) is the upper left first vertex (610) area of ​​a rectangular wide product (210) or base product (220), the second vertex (620) may be the lower right vertex area of ​​the wide product (210) or base product (220) located diagonally opposite to the first vertex (610).

[0059] It is preferable that the above location information acquisition unit (510) acquires images of two vertex regions located diagonally opposite to the rectangular wide product (210) or base product (220) and uses them as basic information for alignment.

[0060] Additionally, the position information acquisition unit (510) acquires the center coordinates (450) of the wide product (210) or base product (220) mounted on the transport stage (600). For example, if the wide product (210) or base product (220) is in the shape of a rectangle or a square, the center coordinates (450) can be obtained from the center point coordinates of the first vertex (610) coordinates and the second vertex (620) coordinates obtained by the image capturing unit (400). When a wide product (210) or base product (220) mounted on the above transport stage (600) is positioned in a position that does not require alignment, the position information acquisition unit (510) acquires the center coordinates (450) of the wide product (210) or base product (220), the center coordinates (630) of the transport stage (600), the first vertex coordinates of the wide product (210) or base product (220), the second vertex coordinates of the wide product (210) or base product (220), and the tilted angle of the wide product (210) or base product (220) with respect to the transport stage (600).

[0061] The above storage unit (520) stores the first vertex (610), second vertex (620) of the wide product (210) located on the transport stage (600), and the center coordinates (630) of the transport stage (600), and stores the first vertex coordinates, second vertex coordinates, and center coordinates (450) of the wide product (210) or base product (220) in the case of correct position or misalignment obtained from the position information acquisition unit (510), the tilted angle of the wide product (210) or base product (220) with respect to the transport stage (600), and the center coordinates (630) of the transport stage (600). Additionally, the storage unit (520) can store software for controlling the robot arm (300) and the image capturing unit (400), a control program for controlling peripheral devices, a mathematical model for calculating offset values, and software required for transporting the wide product (210) and the base product (220).

[0062] The offset calculation unit (530) calculates offset values ​​for each of the width direction (X), length direction (Y), and rotation direction (θ) of the wide product (210) by comparing the center coordinates (450) of the wide product (210) with the center coordinates (630) of the transport stage (600) and calculating the tilted angle of the wide product (210) relative to the transport stage (600). The offset calculation unit (530) may also compare the first vertex coordinates and second vertex coordinates of the wide product (210) or base product (220) with the first vertex coordinates and second vertex coordinates of the wide product (210) or base product (220) obtained in an aligned state. In this case, the first vertex coordinates and second vertex coordinates of the wide product (210) or base product (220) obtained in an aligned state may be reference coordinates.

[0063] The control unit (540) may be part of a central processing unit that directs the operation of a processor and generates and controls control commands for the overall operation of the computing system (500), the operation of the robot arm (300) and the transport stage (600). In addition, the control unit (540) generates alignment commands for each of the XY-θ directions using offset values ​​for each of the width direction (X), length direction (Y), and rotation direction (θ) calculated by the offset calculation unit (530) and transmits them to the position correction unit (550). The control unit (540) may be implemented in various forms, such as a central processing unit, an AI accelerator, a vector processor, a network processor, a microprocessor, etc.

[0064] The above position correction unit (550) can align the wide product (210) so that it is attached to the base product (220) in the correct position by performing an alignment operation on the transport stage (600) using the robot arm (300) or the transport stage (600) according to the command of the control unit (540). In other words, the above position correction unit (550) can align the wide product (210) located on the transport stage (600) to correct its position by moving and rotating the transport stage (600).

[0065] Referring to FIG. 4, on the transport stage (600), the width (d) in the X-axis direction w ) and length in the Y-axis direction (d h A wide product (210) known as ) is positioned correctly. The transport stage (600) and the wide product (210) may each be in the shape of a rectangle or a square. The positioned correctly means a position where alignment of the wide product (210) is not required, and may be a position where the center coordinates (630) of the transport stage (600) match the center coordinates of the wide product (210). The first vertex (610) at the top left is the center coordinate of the first area (640), which is the FOV area of ​​the first camera, and the second vertex (620) at the bottom right is the center coordinate of the second area (650), which is the FOV area of ​​the second camera. Additionally, the center coordinates of each of the above-mentioned transport stage (600) and wide product (210) may be the coordinates of the center point of a rectangle or a square, and are located at the center that equally divides the line segment connecting the first vertex (610) and the second vertex (620).

[0066] In an embodiment of the present invention, the case where a wide product (210) is positioned on a transport stage (600) is described, but the wide product (210) can be replaced with a base product (220) and described in the same way.

[0067] Referring to FIGS. 5a and 5b, the wide product (210) may not be aligned in the correct position due to vibrations of the transport stage (600) while being transported according to the operation of the robot arm (300) while adsorbed to the transport stage (600). In this case, an alignment process must be performed so that the wide product (210) is attached in the correct position to a base product (220) that has been transported and positioned in advance.

[0068] The first vertex (610) at the top left is located inside the first area (640), which is the FOV area of ​​the first camera, and the second vertex (620) at the bottom right is located inside the second area (650), which is the FOV area of ​​the second camera. The first vertex (610) is located in an area away from the center point of the first area (640), and the second vertex (620) is located in an area away from the center point of the second area (650).

[0069] The center coordinates (P0(x, y)), tilted angle (angle P0θ), and offset value of the above-mentioned wide product (210) can be defined by [Equation 1] and [Equation 2] below.

[0070]

[0071]

[0072] (Wide product center coordinates P0(x, y), wide product angle P0θ, first vertex coordinates P1(x, y), second vertex coordinates P2(x, y), transport stage center coordinates P Rotate (x, y), Angle I of the wide product at the fixed position θ )

[0073]

[0074] The control unit (540) of the above computing system (500) generates a control command for offset correction of the robot arm (300) or transport stage (600) according to the value calculated by the offset calculation unit (530) using [Equation 2], and transmits it to the position correction unit (550). The position correction unit (550) executes the control command to operate the robot arm (300) or transport stage (600).

[0075] After the alignment command for the wide product (210) or base product (220) is executed, the image capturing unit (400) again captures the first vertex (610) and second vertex (620) areas of the wide product (210) or base product (220), and the computing system (500) checks whether the wide product (210) or base product (220) is aligned.

[0076] When the computing system (500) determines that the wide product (210) is aligned with the base product (220) in a fixed position for attachment, it operates the robot arm (300) to move the wide product (210) so as to make contact with the base product (220) that is already in a fixed position, and when it determines that further alignment is needed, it repeats the alignment operation of the wide product (210) described above.

[0077] Accordingly, the wide product alignment system according to the embodiment of the present invention can improve the manufacturing yield of the attached product by improving the dimensional precision of the attached product through precise contact between the base product (220) and the wide product (210) and proceeding with the attachment process.

[0078]

[0079] Next, a wide-width product alignment method using a camera according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0080] FIG. 6 is a flowchart illustrating a method for aligning wide products according to an embodiment of the present invention.

[0081] Referring to FIG. 6, the wide product alignment method includes loading a wide product (210) or a base product (220) onto a transport stage (600) (S700). The transport stage (600) loads the wide product (210) to a desired position by mounting it through the operation of a robot arm (300) under the control of a control unit (540).

[0082] After the above step (S700), an image of the area of ​​the first vertex (610) of the wide product (210) and the second vertex (620) located diagonally opposite the first vertex is obtained (S710). The first vertex (610) is located within the first area (640), which is the FOV area of ​​the first camera, and the second vertex (620) is located within the second area (650), which is the FOV area of ​​the second camera.

[0083] After the above step (S710), the first vertex coordinates, second vertex coordinates, and center coordinates of the wide product (210) are compared with reference coordinates (S720). The reference coordinates may be the coordinates of the wide product (210) measured at the position for joining the first vertex (610) and second vertex (620) of the wide product (210) with the base product (220) at the correct position.

[0084] After the above step (S720), if the first vertex coordinates, second vertex coordinates, and center coordinates of the wide product (210) are different from the reference coordinates, an offset value is calculated for each of the width direction, length direction, and rotation direction of the wide product (210) (S730). The offset value can be calculated using the mathematical model presented in [Equation 1] and [Equation 2] described above.

[0085] In the above step (S730), if the first vertex coordinate, the second vertex coordinate, and the center coordinate of the wide product (210) are the same as the reference coordinate, it is determined that there is no alignment error of the wide product (210), and it is placed on the base product (220) to be bonded (S760). The base product (220) and the wide product (210) are bonded together with an adhesive or the like.

[0086] After the above step (S730), the position of the wide product (210) is corrected according to the offset value (S740), and it is determined again whether the coordinates of the wide product (210) are the same as the reference coordinates (S750). In the above step (S750), if the coordinates of the wide product (210) are the same as the reference coordinates, it is determined that there is no alignment error, and the wide product (210) is placed on the adhesive target base product (220) (S760). Otherwise, if the coordinates of the wide product (210) are different from the reference coordinates, the process returns to the step (S730) of calculating the offset value using the mathematical model presented in [Equation 1] and [Equation 2].

[0087] Accordingly, the present invention can increase the yield of the manufacturing process by aligning the base product and the wide product to precisely bond the base product and the wide product through the above-described process.

[0088] Although the invention made by the inventors has been specifically described according to the above embodiments, the present invention is not limited to the above embodiments and can be modified in various ways without departing from the gist thereof.

[0089] By using the wide product alignment system and method using a camera according to the present invention, a wide product and a base product can be precisely joined.

Claims

1. In a wide-area product alignment system using two cameras, A plurality of image capturing units for acquiring images of each of the first vertex and the second vertex region located diagonally opposite to the first vertex of a square-shaped wide product positioned on a transport stage; A position information acquisition unit for detecting the center coordinates of the first vertex, the second vertex, and the wide product; A storage unit for storing the first vertex, the second vertex, and the center coordinates of the transport stage of the wide product located on the transport stage; An offset calculation unit for calculating offset values ​​for each of the width direction, length direction, and rotation direction of the wide product by comparing the center coordinates of the wide product and the center coordinates of the transport stage and calculating the tilted angle of the wide product relative to the transport stage; and A wide-width product alignment system using a camera, characterized by including a position correction unit for aligning the position of the wide-width product using the offset value above.

2. In Paragraph 1, A wide product alignment system using a camera, characterized in that the center coordinates, tilt angle, and offset values ​​of the wide product are defined by the [mathematical formula] below. [Mathematical Formula] (Wide product center coordinates P0(x, y), wide product angle P0θ, first vertex coordinates P1(x, y), second vertex coordinates P2(x, y), transport stage center coordinates P Rotate (x, y), Angle I of the wide product at the fixed position θ ) 3. In Paragraph 2, A wide-area product alignment system using a camera, characterized in that the above-mentioned image capturing unit includes two cameras and a telecentric lens.

4. In Paragraph 3, A wide-width product alignment system using a camera, characterized in that the above-described position correction unit aligns the wide-width product located on the transport stage by the position movement and rotation of the transport stage.

5. In a wide-area product alignment method using two cameras, a) Step of loading wide products onto a conveying stage; b) a step of acquiring an image of the first vertex of the wide product and the second vertex region in the diagonal direction of the first vertex; c) a step of comparing the first vertex coordinates, the second vertex coordinates, and the center coordinates of the wide product with reference coordinates; d) a step of calculating an offset value for each of the width direction, length direction, and rotation direction of the wide product when the first vertex coordinate, the second vertex coordinate, and the center coordinate of the wide product are different from the reference coordinate; e) a step of correcting the position of the wide product according to the offset value; and f) A method for aligning a wide product using a camera, characterized by including the step of placing the wide product on a base product for bonding the wide product when the first vertex coordinate, the second vertex coordinate, and the center coordinate are the same as the reference coordinate.

6. In Paragraph 5, The above step d) is a wide-width product alignment method using a camera, characterized by calculating an offset value according to the [mathematical formula] below. [Mathematical Formula] (Wide product center coordinates P0(x, y), wide product angle P0θ, first vertex coordinates P1(x, y), second vertex coordinates P2(x, y), transport stage center coordinates P Rotate (x, y), Angle I of the wide product at the fixed position θ ) 7. In Paragraph 5, The above step e) is A wide product alignment method using a camera, characterized by correcting the position of the wide product located on the transport stage by moving and rotating the position of the transport stage.

8. In Paragraph 6, The above step f) is A wide product alignment method using a camera, characterized by further including the step of comparing the first vertex coordinates, the second vertex coordinates, and the center coordinates of the wide product with reference coordinates.

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