JP2908684B2 - Film positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a positioning table
In a mounted stateThin sheet made of synthetic resin
Or as film, especially as interlayer for laminated glass
Shaped PVB film with corners
Film positioning device
I do.

[0002]

2. Description of the Related Art Conventionally, as a means for positioning a fixed shape, for example, a square shape, it is common to press from four directions with a pressing means, but includes a flexible thin sheet made of inorganic or organic material. In the case of a film-like material, the sheet is deformed by the conventional pressing means and accurate positioning is impossible, and even if positioning can be performed by some means, high accuracy is required. Was hard to reach.

For example, in order to position an elastic and non-wrinkle glass sheet among soft and relatively thin sheets, for example, a photoelectric sensor described in Japanese Patent Application Laid-Open No. 2-500104 discloses an edge sensor. For example, after detecting a chamfered portion such as translucent, it can be moved and positioned in the X and Y directions, or can be positioned by pressing while placed on an air table. Such a method cannot usually be adopted.

[0004] In particular, when the fixed-form film is an intermediate film for laminated glass, it is not only a thin film-shaped material but also that the surface has, for example, tackiness and / or rough surface treatment, In the case of a film processed to align with a deformed plate-like body, particularly a fan-shaped film, it is extremely difficult to obtain highly accurate, stable, and reproducible with the above-described simple means. It was something.

[0005]

As described above, for example, a position adjusting device of a glass sheet processing apparatus described in Japanese Patent Publication No. 2-500104 is a glass processing apparatus (bending apparatus).
The present invention relates to a modular position control device and a communication interface device used in connection with the central control device described above, which is complicated and too large in terms of equipment, and is difficult to employ for film positioning.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and the present invention provides a flexible and thin sheet having flexibility on a positionable table. Image processing is used to quantitatively find the positional deviation between the position of the fixed-form film including the shape and the preset reference position, and corrects the positional deviation to the θ-axis and the XY-axis by the drive unit of the table. Accordingly, it is an object of the present invention to provide a useful film positioning apparatus capable of efficiently and inexpensively performing reliable and stable high-precision positioning.

That is, the present invention relates to a laminated glass
Large-sized fixed shape with corners used as interstitial
A table on which a PVB-shaped film is placed, a drive mechanism for operating the table so that the table can be rotated in the orthogonal coordinate system of the X-axis and the Y-axis and the θ-axis in the same plane, and a peripheral area including the edge of the film. A plurality of cameras each provided so that the central part between the corner part and both corner parts is a field of view, and processing the difference between the luminance of the table and the luminance of the film by the image signals taken from the plurality of cameras to process the edges and An image processing apparatus for detecting a position of a corner portion of the film and calculating a shift amount between the position and the reference position, and at least a positioning table control sequencer for driving a driving mechanism by a signal from the image processing apparatus. A positioning device for a fixed-shaped film.

[0008] Further, in the above film positioning apparatus, the upper surface of the table is covered with a net or a different brightness from the film on the entire surface or a local surface.

Further, it is used as an intermediate film for laminated glass.
The boundary between the blurred and non-blurred areas
PVB file with large-sized corners
A table for placing a Lum, the table X-axis and the drive mechanism for the orthogonal coordinate system and operated rotatable θ-axis at the same plane of the Y axis, the blur portion not part of the peripheral area of the film A plurality of cameras each provided so that the center part between both ends of the area including the boundary line is a field of view, and the difference between the luminance of the blurred part and the luminance of the film due to the image signal captured from the plurality of cameras. An image processing apparatus for detecting the boundary line and the edge of the portion with and without the blur of the film and detecting the position of the intersection between the boundary line and the edge, and calculating the amount of deviation between the position and the reference position; It is an object of the present invention to provide a film positioning apparatus characterized by comprising at least a positioning table control sequencer for driving a driving mechanism in response to a signal from a processing device.

[0010] In this case, as is the fixed form like film, if
Thin sheets or films made of synthetic resin
Ri, intermediate film for laminated glass, particularly tacky or rough surface for laminated glass, band blur (e.g., shade band automotive window material) intermediate film (e.g., subjected to, at PVB made like, thickness of about 0.8 ~0.3mm), moreover a substantially trapezoidal or fan shape.

The tables include a θ-axis table that rotates so as to make corrections in the θ-axis direction, an X-axis table that can make corrections in the X-axis direction, and a Y-axis table that makes corrections in the Y-axis direction. , And a motor for driving each is provided, and it is possible to perform minute control in various combinations and orders, and furthermore, on the table top surface, a net or a net on the entire surface or a local surface, or a brightness or different from the film. An object having reflected light is coated. It is better to increase the illuminance for uniform illumination and to reduce the influence of disturbance light. For example, it is important to uniformly illuminate a wide area with a fluorescent lamp or the like on the central ceiling or on both sides.

[0012] Further, the fact that two or more portions of the peripheral region including the edge of the fixed-shaped film are taken by the camera is necessary when the position of the film is determined in the image processing, and is preferably used. There are three places. For example, in the case of an intermediate film having a substantially fan shape and a substantially trapezoidal shape, if there is no band-shaped blur, the camera is arranged at the center part which is the middle part of the upper side and the left and right sides, and the middle part of the upper side. The peripheral edges of the two corners are respectively two units (usually one of two units is used) and one central part. When the band-shaped blur is along the upper side, the boundary of the band-shaped blur is determined. Cameras are arranged on both sides of the line centered on the center and edges of both ends, and two cameras are provided on the center and two on both sides in the same manner as described above. The central part and either peripheral part may be used, but the central part and both peripheral parts are preferable.

Further, as image processing for comparison with separately registered reference coordinates, positioning coordinates defining the X axis, the Y axis, and the θ axis with the center of the table as the origin (center of rotation) are temporarily set on the table. An expected reference position of the fixed-shape film is set in advance, and for example, the extracted and detected fixed-shape film is compared with, for example, corner coordinates (two points) and the reference position, and the X, Y, and θ axes are set. Calculate the deviation amount, transfer the result to the positioning table control sequencer,
The X, Y, and θ axes of the table are driven.

It is preferable that the temperature of the table surface can be controlled, for example, in a range of about 15 to 50 ° C., which is useful for improving the positioning accuracy of the fixed-form film, and is further controlled after the positioning. This is because the performance of the film itself can be further enhanced. For a film whose flexibility changes depending on the temperature, it is preferable to control the temperature in order to make the film conform to the table.

[0015]

The present invention will be described below in detail with reference to examples. However, the present invention is not limited to such an embodiment.

FIG. 1 is a plan view showing an embodiment of a film positioning device according to the present invention. The film positioning device 1 includes a camera (for example, a CCD camera) and a support frame 5.
And two cameras 4, 4 on both sides of the upper side so as to be along the upper side of the edge 40 of the fixed-shape film 2 placed on the table 3, and the center of the upper side of the both sides Is provided with one camera 4. The camera is mounted on a camera-dedicated pedestal by, for example, a moving type change method using an air cylinder or a motor. Note that the double-headed arrow indicates the moving direction of the camera.

FIG. 2 is an explanatory view showing the relationship between the glass plate, the fixed-shaped film, and the camera visual field in the film positioning apparatus of the present invention shown in FIG.
FIG. 4 is an explanatory diagram showing the relationship between the fixed-form film shown in FIG. 2 and the camera viewing area. The fixed-form film 2 placed on the table 3 is further provided with a maximum glass plate 6 or a minimum glass plate. This is where the body 7 is arranged, and shows the visual field formed by the camera 4 of FIG. 1 above. The peripheral camera visual field 8 and the central camera visual field 9, and the peripheral camera visual field 8 is The movement of the field of view by using one of the two cameras 4 is shown. The peripheral field of view includes a corner formed by the upper side and the left and right sides.

FIG. 4 is an explanatory diagram showing the relationship between the fixed-form film shown in FIG. 3 and the camera field of view when the fixed-form film with a band-shaped blur is used. The film 2 'is provided with a band-shaped blurring portion 10 on the upper side, and the fixed-shape film 2' with the band-shaped blurring portion.
In the following description, a portion intersecting the left and right edges 40 on a line formed by the boundary 41 of the band-shaped blurred portion 10 is referred to as a peripheral camera field of view 8 'and a central camera field of view 9' which is the center of the peripheral edge.

FIG. 5 is an explanatory view showing a window setting in the central camera field of view in the relation between the fixed film and the camera field of view shown in FIG. By setting the window 11 in the partial camera field of view 9, the position of the edge is detected by comparing the luminance of the table with the luminance of the fixed film 2. Therefore, it is preferable to cover the entire surface or the local surface of the table upper surface with, for example, a mesh material such as SUS or a luminance material different from the film.

FIG. 6 is an explanatory diagram showing window settings in the peripheral camera field of view in the relationship between the fixed film and the camera field of view shown in FIG. Window 12 in viewing area 8
And 13 are set, and the edge 40 is extracted by comparing the luminance of the table with the luminance of the fixed-shape film 2. The center of gravity and the inclination of the extracted edge 40 in each of the windows 12 and 13 are obtained. The corner is detected by calculating the intersection of the edges 40,40. If the brightness difference between the table and the fixed-shaped film is increased by adjusting the angle and the brightness of the illumination, the edge of the fixed-shaped film can be easily extracted.

FIG. 7 is an explanatory view showing a window setting in the central camera field of view in relation to the camera-shaped area with the band-shaped blurred part-shaped film shown in FIG. Boundary 41 of 'strip blur 10
The windows 14, 15, 16 in the central camera viewing area 9 'centered on the
The average luminance value of the film, the average luminance value of the film is obtained in the window 16, the luminance of the boundary 41 is calculated by the set ratio, and the pixel having the calculated luminance of the boundary 41 is extracted within the range of the window 15, The center 41 and the inclination are obtained, and the boundary 41 is detected by calculating the boundary 41 from the center of gravity and the inclination.

FIG. 8 is an explanatory view showing a window setting in the peripheral camera field of view in the relationship between the fixed-shape film with the band-shaped blur section shown in FIG. 4 and the camera field of view. Boundary 41 of 'strip blur 10
Windows 17, 18, 19, and 20 in the peripheral camera field of view 8 'around the center were set, and the average luminance value of the band-shaped blurred portion 10 was determined in the window 17, and the average luminance value of the film was determined in the window 19. The brightness of the boundary 41 is calculated according to the ratio, and the calculated boundary 41 is calculated within the window 18.
The pixel having the luminance of is extracted, the center of gravity and the inclination thereof are obtained, the edge 40 in the window 20 is further extracted, the center of gravity and the inclination are obtained, and the coordinates of the intersection point are obtained from the both centroids and the inclination to obtain the edge 40. The intersection of the boundary 41 is detected.

FIGS. 9A and 9B are explanatory views for explaining a procedure for correcting a fixed-form film position to a reference position by using the film positioning apparatus of the present invention. FIG. 9A shows the reference position and the fixed-form film. (B) shows a state after correction on the θ axis, (c) shows a state after correction on the XY axis,
FIG. 7 shows a diagram in which a reference position and a fixed-form film position are matched and aligned. Positioning coordinates defining the X axis, the Y axis and the θ axis are temporarily set on the table 3 with the center of the table as the origin (center of rotation), and the intended reference position 21 of the fixed-shape film 2 is set in advance. , The detected corner coordinates (two points) of the fixed film 2 and the reference position
In comparison with 21, the amount of deviation of each axis of X, Y, and θ is calculated, and as a result, there is a deviation of the fixed-shape film 2 as shown in (a), and the result is transferred to the positioning table control sequencer. First, as shown in FIG.
Next, by performing correction in the XY axes, the reference position 21 and the position of the fixed-shape film 2 coincide with each other as shown in FIG. The center point of the fixed-shape film 2 is also set so that the center point of both corners of the fixed-shape film 2 overlaps the center point of both corners of the reference position.

FIG. 10 is an explanatory view for explaining a procedure for correcting the position of the fixed-shape film with the band-shaped blurring portion at the reference position using the film positioning apparatus of the present invention.
(A) shows a deviation between a reference position and a fixed-shape film position with a band-shaped blurring part, (b) shows a state after correction on the θ axis,
(C) shows a diagram in which the reference position and the position of the fixed-shape film with the band-shaped blurring portion are matched and adjusted after correction on the XY axes. Positioning coordinates for defining the X axis, the Y axis and the θ axis are temporarily set as the center), and the intended reference position 21 of the fixed-shape film 2 ′ with the band-shading section is set in advance, and the detected, for example, band-shading is detected. By comparing the coordinates (two points) of the center and the intersection of the boundary 41 of the strip-shaped blurred portion 10 of the fixed-form film 2 'with the reference position 21 and calculating the amount of displacement of each of the X, Y, and θ axes. As a result, there is a displacement of the fixed-shape film 2 'with a band-shaped blurring portion as shown in FIG. 7A, and the result is transferred to the positioning table control sequencer.
As shown in (c), correction on the θ axis is performed, and then correction on the XY axis is performed.
And the position of the fixed-shape film 2 'with the band-shaped blurring portion coincide with each other, and the positioning is completed. The center point of both corners of the fixed-shape film 2 'with a band-shaped blur is made to overlap the center point of both corners of the reference position, and the centering of the fixed-shape film 2' with a band-shaped blur is also performed.

FIG. 11 is a plan view showing a positioning table according to an embodiment for correcting the position of a film or a film with a band-shaped blurring portion to the reference position shown in FIGS. FIG. 12 is a side view of the table shown in FIG.

The table 3 includes a θ-axis table 23 driven by a θ-axis drive bearing (not shown) along a θ-axis guide bearing 22, an X-axis table 25 driven by an X-axis drive motor 24, and a Y-axis drive. A Y-axis table 27 driven by a motor 26 is provided, and a net 28 is provided on the upper surface of the table. By transferring the result of the displacement amount to a positioning table control sequencer, these are driven and positioned. In addition, as a driving method, for example,
AC servo drive system, and the table surface is, for example,
The temperature can be controlled in the range of about 15 to 50 ° C.

FIG. 13 is a block diagram showing an embodiment of the film positioning apparatus according to the present invention. The fixed film 2 placed on the table 3 is illuminated by a fluorescent lamp 39 from a ceiling or the like. The camera center adjustment part 29 (driven by cylinder or motor)
An image is captured by the camera 4 (two or three) determined by
The calculated position is input to an image processing unit 32 having a reference position 31 and is compared with a reference position previously input from a reference position input unit 34 by a calculation unit 33, and a position correction amount is sent to a control unit 35 (sequencer). The control unit 35 outputs a start signal to the image processing unit 32, the control unit 35 outputs a film positioning completion signal to the film transport control unit 36, and the film transport control unit 36 inputs a film loading / unloading completion signal to the control unit 35. Output a camera position selection command from the control unit 35 to the camera position adjustment unit 29;
Further, the control unit 35 outputs a motor drive signal for the θ-axis drive and a return signal to the origin position to the θ-axis drive unit 37, and the θ-axis drive unit
37, the θ-axis correction completion signal is input to the control unit 35, and further, the control unit 35 outputs the X-axis and Y-axis drive motor drive signals and the return signal to the origin position to the XY-axis drive unit 38. , X
-An X and Y axis correction completion signal is input from the Y axis drive unit 38 to the control unit 35.

[0028]

As described above, according to the present invention,
Thin sheets or films made of synthetic resin,
Corners used especially as interlayers for laminated glass
A fixed-shape PVB film having , in particular, a band-shaped blur portion in which the density is changed stepwise, a so-called fixed-shape film with a shade band, and furthermore, the position of the change in size is skillfully detected, the position shift is skillfully calculated, and the correction amount is calculated. Command, and it will be possible to reliably and stably fit all within the expected product standard, and it will be possible to achieve high accuracy, for example, about ± 2 mm or less, for example, about ± 0.5 mm, which will enable automatic positioning. For example, it can be applied to the production line of laminated glass, etc. and fully demonstrate its ability, and can achieve automation and labor saving,
It is an object of the present invention to provide a useful film positioning apparatus which can work extremely efficiently and which sufficiently contributes to the improvement of the quality and the yield.

[Brief description of the drawings]

FIG. 1 is a plan view showing one embodiment of a film positioning device of the present invention.

FIG. 2 is an explanatory view showing a relationship between a glass plate, a fixed-shaped film, and a camera visual field in the film positioning device of the present invention shown in FIG.

FIG. 3 is an explanatory diagram showing a relationship between a fixed-shaped film shown in FIG. 2 and a camera viewing area.

FIG. 4 is an explanatory diagram showing a relationship with a camera field of view when a fixed-shape film with a band-shaped blur portion is used instead of the fixed-shape film shown in FIG. 3;

FIG. 5 is an explanatory diagram showing window settings in a central camera field of view in the relationship between the fixed-shaped film and the camera field of view shown in FIG. 3;

FIG. 6 is an explanatory diagram showing window settings in the peripheral camera field of view in the relationship between the fixed-shape film shown in FIG. 3 and the camera field of view.

FIG. 7 is an explanatory diagram showing window settings in a central camera field of view in relation to the camera field of view and the fixed-shape film with a band-shaped blurring section shown in FIG. 4;

FIG. 8 is an explanatory diagram showing window settings in the peripheral camera field of view in the relationship between the fixed-shape film with a band-shaped blurring section shown in FIG. 4 and the camera field of view.

FIGS. 9A and 9B are explanatory diagrams for explaining a procedure for correcting a fixed-form film position to a reference position using the film positioning device of the present invention, wherein FIG. 4B shows a deviation, FIG. 4B shows a state after correction on the θ axis, and FIG. 4C shows a figure after the correction on the XY axis, where the reference position and the fixed-form film position match and match.

FIG. 10 shows a film positioning device according to the present invention.
It is explanatory drawing explaining the procedure at the time of correcting the fixed-shaped film position with a band-shaped blurring part to a reference position, (a) shows the shift | offset | difference between a reference position and the fixed-shaped film position with a band-shaped blurring part, (b) FIG. 7C shows the state after the correction on the θ axis, and FIG. 7C shows the figure after the correction on the XY axis, where the reference position and the position of the fixed-shape film with the band-shaped blurring portion are matched and matched.

FIG. 11 is a plan view showing a positioning table of one embodiment when correcting the position of the film or the fixed-shape film with a band-shaped blur portion to the reference position shown in FIGS. is there.

FIG. 12 is a side view of the table shown in FIG. 11;

FIG. 13 is a block diagram showing one embodiment of a film positioning device of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 film positioning device 2 fixed-shape film 2 ′ fixed-shape film with band-shaped blurring part 3 table 4 camera 6 maximum glass plate 7 minimum glass plate 8 peripheral camera field of view 8 ′ peripheral camera field of view 9 central camera Field of view 9 'Central camera field of view 10 Band blur 21 Reference position 22 θ-axis guide bearing 23 θ-axis table 24 X-axis drive motor 25 X-axis table 26 Y-axis drive motor 27 Y-axis table 29 Position adjustment unit 30 Controller unit 31 Monitor unit 32 Image processing unit 33 Operation unit 34 Reference position input unit 35 Control unit 36 Film transport control unit 37 θ axis drive unit 38 XY axis drive unit 40 Edge 41 Boundary

Claims (3)

(57) [Claims] (1) used as an interlayer for laminated glass,
A table on which a large-sized fixed-size PVB film having a corner portion is placed, a drive mechanism for operating the table so that the table can be rotated in the orthogonal coordinate system of the X-axis and the Y-axis and in the same plane as the θ-axis, and the film; A plurality of cameras provided so that a field of view is formed between both corners of the peripheral area including the edge of the table, and a center between the two corners, and the luminance of the table and the luminance of the film based on image signals captured from the plurality of cameras Image processing device that detects the position of the edge portion and the corner portion of the film by processing the difference between them, and calculates the amount of deviation between the position and the reference position, and a positioning table for driving a driving mechanism based on a signal from the image processing device. A positioning device for a fixed-form film, comprising at least a control sequencer. 2. The film positioning device according to claim 1, wherein the upper surface of the table is covered with a net or a different brightness from the film on the entire surface or on the local surface. 3. An intermediate film for a laminated glass,
Large with border between blurred and non-blurred areas
A table on which a fixed-shaped PVB film having corners of dimensions is placed, a drive mechanism for operating the table so that the table can be rotated in the orthogonal coordinate system of the X-axis and the Y-axis and in the same plane as the θ-axis, and a periphery of the film A plurality of cameras each provided so that a field of view is formed at both ends of a region including a boundary line between a blurred portion and a non-blurred portion and a center portion between both ends, and image signals captured from the plurality of cameras. By processing the difference between the brightness of the blurred portion and the brightness of the film, the boundaries and edges of the portions with and without the blur of the film and the intersection points between the boundaries and the edges are detected. A film positioning apparatus characterized by comprising at least an image processing apparatus for calculating a shift amount, and a positioning table control sequencer for driving a driving mechanism based on a signal from the image processing apparatus.