Imaging-Based Position Correction Under Motion Blur
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Solution Overview
Problem
Conventional techniques for positioning control in machine tools, such as electronic component mounters, face accuracy issues due to blurring of images caused by non-zero relative speed between the imaging device and the subject during exposure, making it difficult to determine the correct time for correcting position errors.
Innovation Solution
A control device that includes a drive unit, a relative position estimation unit, a template image correction unit, and a target position correction unit, which calculates and corrects the relative position between the imaging device and the target, allowing for accurate positioning by simulating and correcting for blurring in the template image.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If imaging is performed without stopping the moving part during positioning, then productivity is improved by shortening positioning time, but measurement precision deteriorates due to image blurring caused by non-zero relative speed
Solution Approach 1:
The system performs preliminary actions by calculating the relative position trajectory in advance based on the drive command signal, and pre-corrects the template image according to the predicted blur amount. This allows the imaging device to capture images during motion without stopping, while the pre-calculated corrections compensate for the expected blurring effects.
Solution Approach 2:
The system introduces feedback by using the drive command signal to continuously calculate the relative position between the imaging device and target, and applying this information to correct the template image. The correction amount is determined based on the calculated relative position trajectory, creating a closed-loop system that compensates for motion-induced blurring.
2Measurement precision
If the relative speed between imaging device and target is reduced to zero during imaging, then measurement precision is improved by eliminating image blurring, but productivity deteriorates due to increased positioning time
Solution Approach 1:
The system replaces the mechanical approach of stopping the moving part during imaging with a computational approach. Instead of physically halting motion to eliminate blurring, the system uses image processing and template correction algorithms to compensate for the blurring effects, allowing continuous motion while maintaining measurement precision.
Solution Approach 2:
The system changes parameters by adjusting the template image based on the calculated relative position trajectory. The template correction unit modifies template parameters (such as position and shape) according to the predicted blur amount, enabling accurate outline detection even during motion by compensating for the changed imaging conditions.
Data Source
AI summary
A control device controls a control target apparatus including a moving part and an imaging device. The moving part is configured to change its position relative to a target as the moving part moves, and the imaging device is configured to acquire captured image of the target. Additionally, the control device includes a drive unit that drives the moving part, based on a drive command signal to move the moving part to a target position. Further, the control device includes a relative position estimation unit that calculates an estimated value of a relative position between the target and the imaging device, based on the drive command signal. Additionally, the control device includes a template image correction unit that corrects a preregistered template image, based on a time-series signal of the estimated value of the relative position within an imaging time of the imaging device, and a target position correction unit that corrects the target position using the corrected template image.