CONTROL COMPUTER AND METHOD FOR REGULATING MECHANICAL ARM USING THE SAME

• US 20120300058A1
• Filed: 03/01/2012
• Published: 11/29/2012
• Est. Priority Date: 05/23/2011
• Status: Abandoned Application

• Current Assignee: Hon Hai Precision Industry Co., Ltd.
• Original Assignee: Hon Hai Precision Industry Co., Ltd.
• Inventors: LI, SHEN-CHUN, LIAO, CHUN-NENG, LEE, CHENG-HSIEN, HSU, SHOU-KUO
• Application Number:
  US13/409,119
• Publication Number:
  US 20120300058A1
• Time in Patent Office: Days
• US Class Current: 348/95
• CPC Class Codes: G01N 2021/9518 using a surface follower, e.g. robot
• CPC Class Codes: G01N 21/956 Inspecting patterns on the surface of objects contactless testing of electronic circuits G01R31/308; testing currency G07D; manufacturing processes per se of semiconductor devices implementing a measuring step H01L22/10

Abstract

In a method for regulating a mechanical arm using a control computer. The method obtains a first position and a second position of a center of an image plane of an image capturing device on the mechanical arm by controlling movements of the mechanical arm, and calculates a movement vector from the first position to the second position. The method further calculates a regulating angle according to the movement vector and an axial vector of the mechanical arm, and moves the mechanical arm according to the regulating angle such that the axial vector is perpendicular to a measurement plane determined by the first object and the second object.

Claims

1. A computer-implemented method for regulating a mechanical arm using a control computer, the method comprising:

obtaining an axial vector of a flange face of the mechanical arm, and a distance between a first object and a second object of an electronic device on a test table;

obtaining an optimized image of the first object using an image capturing device on the mechanical arm by controlling movements of the mechanical arm, and obtaining coordinates of a first position of a center of an image plane of the image capturing device;

obtaining an optimized image of the second object using the image capturing device by controlling movements of the mechanical arm according to the distance between the first object and the second object, and obtaining coordinates of a second position of the center of the image plane of the image capturing device;

calculating a movement vector from the first position to the second position according to the coordinates of the first position and the second position, and calculating a regulating angle according to the movement vector and the axial vector of the flange face of the mechanical arm; and

moving the mechanical arm according to the regulating angle such that the axial vector is perpendicular to a measurement plane determined by the first object and the second object.

2. The method according to claim 1, wherein the first position of the center of the image plane of the image capturing device is obtained by:

moving the mechanical arm such that the first object visually falls in the image plane of the image capturing device, and keeping the axial vector of the flange face of the mechanical arm unchanged;

moving the mechanical arm such that the first object visually falls in a depth of field of the image capturing device, and obtaining the optimized image of the first object by adjusting a focusing distance of the image capturing device;

determining an outline of the first object, and obtaining a first center of area of the optimized image of the first object;

moving the mechanical arm along a direction of the image plane such that the first center is coincident with a center of the image plane of the image capturing device;

obtaining an updated image of the first object by moving the mechanical arm, and obtaining coordinates of a first position of the center of the image plane, a definition value of the first object in the updated image of the first object being greater than a preset value; and

storing the updated image of the first object and the coordinates of the first position of the center of the image plane into a storage device of the control computer.

3. The method according to claim 1, wherein the second position of the center of the image plane of the image capturing device is obtained by:

moving the mechanical arm according to the distance between the first object and the second object such that the second object visually falls in the image plane of the image capturing device, and keeping the axial vector of the flange face of the mechanical arm unchanged;

moving the mechanical arm such that the second object visually falls in a depth of field of the image capturing device, and obtaining the optimized image of the second object by adjusting a focusing distance of the image capturing device;

determining an outline of the second object, and obtaining a second center of area of the optimized image of the second object;

moving the mechanical arm along a direction of the image plane such that the second center is coincident with a center of the image plane of the image capturing device;

obtaining an updated image of the second object by moving the mechanical arm, and obtaining coordinates of a second position of the center of the image plane, a definition value of the second object in the updated image of the second object being greater than a preset value; and

storing the updated image of the second object and the coordinates of the second position of the center of the image plane into a storage device of the control computer.

4. The method according to claim 1, wherein the regulating angle is calculated by:

calculating an included angle between the movement vector and the axial vector of the flange face of the mechanical arm; and

obtaining the regulating angle by calculating a difference between ninety degrees and the included angle.

5. The method according to claim 1, wherein the mechanical arm is regulated by:

rotating the mechanical arm in a clockwise direction with the regulating angle such that the axial vector be parallel to a normal vector of the measurement plane determined by the first object and the second object.

6. A control computer, comprising:

a storage device;

at least one processor; and

one or more modules that are stored in the storage device and executed by the at least one processor, the one or more modules comprising;

a first obtaining module that obtains an axial vector of a flange face of a mechanical arm, and a distance between a first object and a second object of an electronic device on a test table;

a second obtaining module that obtains an optimized image of the first object using an image capturing device on the mechanical arm by controlling movements of the mechanical arm, and obtains coordinates of a first position of a center of an image plane of the image capturing device;

a third obtaining module that obtains an optimized image of the second object using the image capturing device by controlling movements of the mechanical arm according to the distance between the first object and the second object, and obtains coordinates of a second position of the center of the image plane of the image capturing device;

a calculating module that calculates a movement vector from the first position to the second position according to the coordinates of the first position and the second position, and calculates a regulating angle according to the movement vector and the axial vector of the flange face of the mechanical arm; and

a regulating module that moves the mechanical arm according to the regulating angle such that the axial vector is perpendicular to a measurement plane determined by the first object and the second object.

7. The control computer according to claim 6, wherein the first position of the center of the image plane of the image capturing device is obtained by:

moving the mechanical arm such that the first object visually falls in the image plane of the image capturing device by, and keeping the axial vector of the flange face of the mechanical arm unchanged;

moving the mechanical arm such that the first object visually falls in a depth of field of the image capturing device, and obtaining the optimized image of the first object by adjusting a focusing distance of the image capturing device;

determining an outline of the first object, and obtaining a first center of area of the optimized image of the first object;

moving the mechanical arm along a direction of the image plane such that the first center is coincident with a center of the image plane of the image capturing device;

obtaining an updated image of the first object by moving the mechanical arm, and obtaining coordinates of a first position of the center of the image plane, a definition value of the first object in the updated image of the first object being greater than a preset value; and

storing the updated image of the first object and the coordinates of the first position of the center of the image plane into a storage device of the control computer.

8. The control computer according to claim 6, wherein the second position of the center of the image plane of the image capturing device is obtained by:

moving the mechanical arm according to the distance between the first object and the second object such that the second object visually falls in the image plane of the image capturing device, and keeping the axial vector of the flange face of the mechanical arm unchanged;

moving the mechanical arm such that the second object visually falls in a depth of field of the image capturing device, and obtaining the optimized image of the second object by adjusting a focusing distance of the image capturing device;

determining an outline of the second object, and obtaining a second center of area of the optimized image of the second object;

moving the mechanical arm along a direction of the image plane such that the second center is coincident with a center of the image plane of the image capturing device by;

obtaining an updated image of the second object by moving the mechanical arm, and obtaining coordinates of a second position of the center of the image plane, a definition value of the second object in the updated image of the second object being greater than a preset value; and

storing the updated image of the second object and the coordinates of the second position of the center of the image plane into a storage device of the control computer.

9. The control computer according to claim 6, wherein the regulating angle is calculated by:

calculating an included angle between the movement vector and the axial vector of the flange face of the mechanical arm; and

obtaining the regulating angle by calculating a difference between ninety degrees and the included angle.

10. The control computer according to claim 6, wherein the mechanical arm is regulated by:

rotating the mechanical arm in a clockwise direction with the regulating angle such that the axial vector be parallel to a normal vector of the measurement plane determined by the first object and the second object.

11. A non-transitory storage medium having stored thereon instructions that, when executed by a processor of a control computer, causes the control computer to perform a method for regulating a mechanical arm, the method comprising:

obtaining an axial vector of a flange face of the mechanical arm, and a distance between a first object and a second object of an electronic device on a test table;

obtaining an optimized image of the first object using an image capturing device on the mechanical arm by controlling movements of the mechanical arm, and obtaining coordinates of a first position of a center of an image plane of the image capturing device;

obtaining an optimized image of the second object using the image capturing device by controlling movements of the mechanical arm according to the distance between the first object and the second object, and obtaining coordinates of a second position of the center of the image plane of the image capturing device;

calculating a movement vector from the first position to the second position according to the coordinates of the first position and the second position, and calculating a regulating angle according to the movement vector and the axial vector of the flange face of the mechanical arm; and

moving the mechanical arm according to the regulating angle such that the axial vector is perpendicular to a measurement plane determined by the first object and the second object.

12. The non-transitory storage medium according to claim 11, wherein the first position of the center of the image plane of the image capturing device is obtained by:

moving the mechanical arm such that the first object visually falls in the image plane of the image capturing device, and keeping the axial vector of the flange face of the mechanical arm unchanged;

moving the mechanical arm such that the first object visually falls in a depth of field of the image capturing device, and obtaining the optimized image of the first object by adjusting a focusing distance of the image capturing device;

determining an outline of the first object, and obtaining a first center of area of the optimized image of the first object;

moving the mechanical arm along a direction of the image plane such that the first center is coincident with a center of the image plane of the image capturing device;

obtaining an updated image of the first object by moving the mechanical arm, and obtaining coordinates of a first position of the center of the image plane, a definition value of the first object in the updated image of the first object being greater than a preset value; and

storing the updated image of the first object and the coordinates of the first position of the center of the image plane into a storage device of the control computer.

13. The non-transitory storage medium according to claim 11, wherein the second position of the center of the image plane of the image capturing device is obtained by:

moving the mechanical arm according to the distance between the first object and the second object such that the second object visually falls in the image plane of the image capturing device, and keeping the axial vector of the flange face of the mechanical arm unchanged;

moving the mechanical arm such that the second object visually falls in a depth of field of the image capturing device, and obtaining the optimized image of the second object by adjusting a focusing distance of the image capturing device;

determining an outline of the second object, and obtaining a second center of area of the optimized image of the second object;

moving the mechanical arm along a direction of the image plane such that the second center is coincident with a center of the image plane of the image capturing device;

obtaining an updated image of the second object by moving the mechanical arm, and obtaining coordinates of a second position of the center of the image plane, a definition value of the second object in the updated image of the second object being greater than a preset value; and

storing the updated image of the second object and the coordinates of the second position of the center of the image plane into a storage device of the control computer.

14. The non-transitory storage medium according to claim 11, wherein the regulating angle is calculated by:

calculating an included angle between the movement vector and the axial vector of the flange face of the mechanical arm; and

obtaining the regulating angle by calculating a difference between ninety degrees and the included angle.

15. The non-transitory storage medium according to claim 11, wherein the mechanical arm is regulated by:

rotating the mechanical arm in a clockwise direction with the regulating angle such that the axial vector be parallel to a normal vector of the measurement plane determined by the first object and the second object.

16. The non-transitory storage medium according to claim 11, wherein the medium is selected from the group consisting of a hard disk drive, a compact disc, a digital video disc, and a tape drive.