CN104729406A - Machine vision positioning method for element surface mounting - Google Patents
Machine vision positioning method for element surface mounting Download PDFInfo
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- CN104729406A CN104729406A CN201510125262.5A CN201510125262A CN104729406A CN 104729406 A CN104729406 A CN 104729406A CN 201510125262 A CN201510125262 A CN 201510125262A CN 104729406 A CN104729406 A CN 104729406A
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Abstract
The invention discloses a machine vision positioning method for element surface mounting. The method comprises the steps that a camera is used for collecting the element surface mounting image process, a tray platform capable of horizontal moving and rotating in the horizontal direction is arranged, the camera is arranged above the tray platform, an image data transmission channel is arranged between the camera and a computer, a calibration step is carried out, and then the positioning step of a workpiece to be machined is carried out. The camera is used for shooting an image, a series of data are collected, a coordinated system composed of a platform axial coordinate and a vision image pixel position is obtained, the offset is measured and calibrated, a picture is sent to the computer, the specific position of a feature point in the image is found through a vision matching algorithm, a measuring base number is enlarged by an order of magnitude by sampling two points spaced in a certain distance on the workpiece, the error of the image can be nearly neglected, the dependency on the shape of the feature point and the vision algorithm is avoided, the application range is wider, and precision is higher.
Description
Technical field:
The present invention relates to electricity field, particularly relate to the surface mounting technology of electronic component, particularly a kind of machine vision localization method of element pasted on surface.
Background technology:
Surface mounting technology industry due to Product Precision high, the complicated and reason such as changeable of workpiece situation, cannot precisely and at high speed produce by tradition location way.In prior art, vision positioning method is adopted to improve the location efficiency of element pasted on surface at intermediate processing tray platform.But, specifically, there is the vector graphics of certain identification the position that existing vision location technology is obtained by template image analysis exactly by target workpiece, find out its angle and position through vision computing.This method is accurate not, and especially in the measuring and calculating of angle, owing to being calculated by pixel time vision samples, pixel does not have this concept of floating number, so inevitably there is the disappearance of precision, causes there is error.
Summary of the invention
:
The object of the present invention is to provide a kind of machine vision localization method of element pasted on surface, the machine vision localization method of described this element pasted on surface will solve the technical matters that be there is precision disappearance and error in prior art by the vision location technology of template image analysis acquisition position.
The machine vision localization method of this element pasted on surface of the present invention, comprise the process that utilizes the image of collected by camera and analysis element pasted on surface, wherein, utilize collected by camera described and analyze in the process of image of element pasted on surface, arranging one can the tray platform of translation in the horizontal direction and rotation, a camera is fixedly installed above described tray platform, between described camera and a computing machine, view data Transfer pipe is set, first a calibration steps is carried out, then the positioning step of workpiece to be processed is carried out, in described calibration steps, in tray platform, make a circular feature point and be placed into viewing field of camera center, then tray platform is carried out respectively the translation of X-direction and Y-direction, utilize the image of the circular feature point of collected by camera two or more position, again in conjunction with the coordinate of the tray platform of the corresponding movement of each image, utilize the location of pixels that the coordinate position of each location and correspondence are obtained, calculate the proportionate relationship of location of pixels and coordinate in photo, carry out following steps again:
Step one, is placed on viewing field of camera center by circular feature point,
Step 2, by tray platform to clockwise or be rotated counterclockwise 1 °,
Step 3, more in X direction with the translational tray platform of Y-direction, make circular feature point be positioned at image center location,
Step 4, the coordinate of the current X of recoding tray platform, Y-direction,
Step 5, repeats step 2 to step 4, adds up to stop when deflection is greater than 60 ° to tray platform,
The tray platform coordinate sequence that step one collects to step 5 is calculated centre coordinate by least square method, the actual coordinate in the tray platform of this coordinate corresponding to camera image center,
In the positioning step of described workpiece to be processed, workpiece to be processed is placed in standard Working position, workpiece to be processed arranges a fisrt feature point and a second feature point, mobile pallet platform, fisrt feature point is made to appear in viewing field of camera, at this moment photograph is gathered, according to the location of pixels of fisrt feature point in photo, and the viewing field of camera centre coordinate obtained in calibration flow process, draw the standard machining coordinate of fisrt feature point, then mobile pallet platform, second feature point is made to appear in viewing field of camera, at this moment photograph is gathered, according to the location of pixels of second feature point in photo, and the coordinate at the viewing field of camera center obtained in calibration flow process, draw the standard machining coordinate of second feature point, deviation according to actual machining coordinate and standard machining coordinate is reorientated, arrival standard Working position, the location of pixels of new Workpiece fixing to be processed two fact characteristic point in visual field, the corresponding coordinate calculated, by comparing with the standard machining coordinate of two unique points, direct calculating makes new advances the differential seat angle of Working position residing for workpiece and standard Working position, then by the coordinate after the correction angle that calculates the workpiece that makes new advances, draw x, the translation distance of y, reorientate, arrive standard Working position.
The present invention and prior art compare, and its effect is actively with obvious.The present invention utilizes industrial camera to take image, gather a series of data, obtain a coordinate system be made up of axial coordinate and the visual pattern location of pixels of platform, and then accurately measure side-play amount and calibrate, photo is sent to computing machine by the view data Transfer pipe again by comprising Ethernet, unique point particular location is in the picture found out in the picture by vision matching algorithm, by sampling to 2 of the certain distance on workpiece, measurement radix is expanded an order of magnitude, the error of image almost can be ignored, and the shape avoided for unique point and the dependence of vision algorithm, applicable surface is wider, precision is higher.
Accompanying drawing illustrates:
Fig. 1 is the schematic diagram of the machine vision localization method of a kind of element pasted on surface of the present invention.
Embodiment:
Embodiment 1:
The machine vision localization method of a kind of element pasted on surface of the present invention, comprise the process that utilizes the image of collected by camera and analysis element pasted on surface, wherein, utilize collected by camera described and analyze in the process of image of element pasted on surface, arranging one can the tray platform 1 of translation in the horizontal direction and rotation, a camera 2 is fixedly installed above described tray platform 1, between described camera 2 and a computing machine (not shown), view data Transfer pipe is set, first a calibration steps is carried out, then the positioning step of workpiece to be processed 3 is carried out, in described calibration steps, in tray platform 1, make a circular feature point and be placed into camera 2 field of view center position, then tray platform 1 is carried out respectively the translation of X-direction and Y-direction, camera 2 is utilized to gather the image of the circular feature point of two or more position, again in conjunction with the coordinate of the tray platform of the corresponding movement of each image, utilize the location of pixels that the coordinate position of each location and correspondence are obtained, calculate the proportionate relationship of location of pixels and coordinate in photo, carry out following steps again:
Step one, is placed on camera 2 field of view center position by circular feature point,
Step 2, by tray platform 1 to clockwise or be rotated counterclockwise 1 °,
Step 3, more in X direction with the translational tray platform 1 of Y-direction, make circular feature point be positioned at image center location,
Step 4, the coordinate of the current X of recoding tray platform 1, Y-direction,
Step 5, repeats step 2 to step 4, adds up to stop when deflection is greater than 60 ° to tray platform 1,
Tray platform 1 coordinate sequence that step one collects to step 5 is calculated centre coordinate by least square method, the actual coordinate in the tray platform 1 of this coordinate corresponding to camera 2 picture centre,
In the positioning step of described workpiece to be processed 3, workpiece to be processed 3 is placed in standard Working position, workpiece to be processed 3 arranges an a fisrt feature point B1 and second feature point B2, mobile pallet platform 1, fisrt feature point B1 is appeared in camera 2 visual field, at this moment gathers photograph, according to the location of pixels of fisrt feature point B1 in photo, and the coordinate of the circular feature point obtained in calibration flow process, the standard machining coordinate of fisrt feature point B1 can be drawn.Then mobile pallet platform 1, second feature point B2 is appeared in camera 2 visual field, at this moment gathers photograph, according to the location of pixels of second feature point B2 in photo, and the coordinate of the circular feature point obtained in calibration flow process, draw the standard machining coordinate of second feature point B2.
In actual production, new workpiece is placed on the Working position on platform, mobile platform, fact characteristic point B1 is made to appear in camera 2 visual field, at this moment photograph is gathered, according to the location of pixels of unique point B1 in photo, and the coordinate of the circular feature point obtained in calibration flow process, the actual machining coordinate of unique point B1 can be drawn.Then mobile platform, makes fact characteristic point B2 appear in camera 2 visual field, at this moment gathers photograph, according to the location of pixels of unique point B2 in photo, and the field of view center coordinate obtained in calibration flow process, draw the actual machining coordinate of unique point B2.
The coordinate of the standard Working position of known workpiece two unique points again, can according to the coordinate of the coordinate of actual Working position and standard Working position, obtains X to, Y-direction and anglec of rotation deviation.Platform carries out adjusted position postpone according to front and back deviation, left-right deviation and the anglec of rotation, workpiece can be moved to standard Working position.
Concrete, in the present embodiment, fisrt feature point B1 and second feature point B2 all adopts cross pattern.
Claims (1)
1. the machine vision localization method of an element pasted on surface, comprise the process that utilizes the image of collected by camera and analysis element pasted on surface, it is characterized in that: utilize collected by camera described and analyze in the process of image of element pasted on surface, arranging one can the tray platform of translation in the horizontal direction and rotation, a camera is fixedly installed above described tray platform, between described camera and a computing machine, view data Transfer pipe is set, first a calibration steps is carried out, then the positioning step of workpiece to be processed is carried out, in described calibration steps, in tray platform, make a circular feature point and be placed into viewing field of camera center, then tray platform is carried out respectively the translation of X-direction and Y-direction, utilize the image of the circular feature point of collected by camera two or more position, again in conjunction with the coordinate of the tray platform of the corresponding movement of each image, utilize the location of pixels that the coordinate position of each location and correspondence are obtained, calculate the proportionate relationship of location of pixels and coordinate in photo, carry out following steps again:
Step one, is placed on viewing field of camera center by circular feature point,
Step 2, by tray platform to clockwise or be rotated counterclockwise 1 °,
Step 3, more in X direction with the translational tray platform of Y-direction, make circular feature point be positioned at image center location,
Step 4, the coordinate of the current X of recoding tray platform, Y-direction,
Step 5, repeats step 2 to step 4, adds up to stop when deflection is greater than 60 ° to tray platform,
The tray platform coordinate sequence that step one collects to step 5 is calculated centre coordinate by least square method, the actual coordinate in the tray platform of this coordinate corresponding to camera image center,
In the positioning step of described workpiece to be processed, workpiece to be processed is placed in standard Working position, workpiece to be processed arranges a fisrt feature point and a second feature point, mobile pallet platform, fisrt feature point is made to appear in viewing field of camera, at this moment photograph is gathered, according to the location of pixels of fisrt feature point in photo, and the viewing field of camera centre coordinate obtained in calibration flow process, draw the standard machining coordinate of fisrt feature point, then mobile pallet platform, second feature point is made to appear in viewing field of camera, at this moment photograph is gathered, according to the location of pixels of second feature point in photo, and the coordinate at the viewing field of camera center obtained in calibration flow process, draw the standard machining coordinate of second feature point, deviation according to actual machining coordinate and standard machining coordinate is reorientated, arrival standard Working position, the location of pixels of new Workpiece fixing to be processed two fact characteristic point in visual field, the corresponding coordinate calculated, by comparing with the standard machining coordinate of two unique points, direct calculating makes new advances the differential seat angle of Working position residing for workpiece and standard Working position, then by the coordinate after the correction angle that calculates the workpiece that makes new advances, draw x, the translation distance of y, reorientate, arrive standard Working position.
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| CN105643265A (en) * | 2016-01-12 | 2016-06-08 | 济南大学 | Detecting method for matching of mounting surfaces of large workpieces |
| CN106814307A (en) * | 2017-01-10 | 2017-06-09 | 深圳鼎缘电子科技有限公司 | A kind of automatic adjustment method of cavity body filter and system |
| CN106931912A (en) * | 2016-12-30 | 2017-07-07 | 西安航天精密机电研究所 | A kind of method for checking torquer |
| CN107578442A (en) * | 2017-09-05 | 2018-01-12 | 西北工业大学 | A kind of centralized positioning aligning method and system |
| CN105354858B (en) * | 2015-12-09 | 2018-04-24 | 北京中电科电子装备有限公司 | Scribing machine searches the method, apparatus and scribing machine of same block characteristic point |
| CN108243602A (en) * | 2017-01-06 | 2018-07-03 | 广东华志珹智能科技有限公司 | A kind of screening cover chip mounter image identification system and method |
| CN110333470A (en) * | 2019-07-18 | 2019-10-15 | 深圳橙子自动化有限公司 | A kind of device attachment calibration method for flying probe |
| CN110854723A (en) * | 2019-10-17 | 2020-02-28 | 湖南长高高压开关集团股份公司 | Method for correcting porcelain insulator of open-type isolating switch |
| CN111093907A (en) * | 2017-08-30 | 2020-05-01 | 高通股份有限公司 | Robust navigation of a robotic vehicle |
| CN111369520A (en) * | 2020-03-02 | 2020-07-03 | 紫光日东科技（深圳）有限公司 | Method for quickly positioning workpiece by dispenser |
| CN111517268A (en) * | 2020-05-15 | 2020-08-11 | 浙江钰茂泽智能装备有限公司 | Jade mattress positioning device and visual positioning method |
| CN113538583A (en) * | 2021-07-28 | 2021-10-22 | 柔胜刚智能科技(苏州)有限公司 | Method for accurately positioning position of workpiece on machine tool and vision system |
| CN113838127A (en) * | 2021-09-28 | 2021-12-24 | 天津朗硕机器人科技有限公司 | Assembly hole positioning method based on machine vision |
| CN114593695A (en) * | 2020-12-03 | 2022-06-07 | 余姚舜宇智能光学技术有限公司 | Visual centering method and system and electronic equipment thereof |
| WO2022246898A1 (en) * | 2021-05-27 | 2022-12-01 | 中科晶源微电子技术（北京）有限公司 | Pixel size calibration method, apparatus, and device for electron beam defect detection |
| CN115416394A (en) * | 2022-09-07 | 2022-12-02 | 天津文洲机械有限公司 | Screen printing machine for small triangular glass sheet of automobile |
| CN118397105A (en) * | 2024-04-07 | 2024-07-26 | 深圳市燕麦科技股份有限公司 | Positioning calibration teaching method and system based on machine vision traversal |
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| CN105354858B (en) * | 2015-12-09 | 2018-04-24 | 北京中电科电子装备有限公司 | Scribing machine searches the method, apparatus and scribing machine of same block characteristic point |
| CN105643265A (en) * | 2016-01-12 | 2016-06-08 | 济南大学 | Detecting method for matching of mounting surfaces of large workpieces |
| CN106931912B (en) * | 2016-12-30 | 2019-03-05 | 西安航天精密机电研究所 | A method of for examining torquer |
| CN106931912A (en) * | 2016-12-30 | 2017-07-07 | 西安航天精密机电研究所 | A kind of method for checking torquer |
| CN108243602A (en) * | 2017-01-06 | 2018-07-03 | 广东华志珹智能科技有限公司 | A kind of screening cover chip mounter image identification system and method |
| CN106814307A (en) * | 2017-01-10 | 2017-06-09 | 深圳鼎缘电子科技有限公司 | A kind of automatic adjustment method of cavity body filter and system |
| CN111093907A (en) * | 2017-08-30 | 2020-05-01 | 高通股份有限公司 | Robust navigation of a robotic vehicle |
| CN111093907B (en) * | 2017-08-30 | 2023-07-04 | 高通股份有限公司 | Robust navigation of robotic vehicles |
| CN107578442B (en) * | 2017-09-05 | 2019-11-26 | 西北工业大学 | A kind of centralized positioning aligning method and system |
| CN107578442A (en) * | 2017-09-05 | 2018-01-12 | 西北工业大学 | A kind of centralized positioning aligning method and system |
| CN110333470A (en) * | 2019-07-18 | 2019-10-15 | 深圳橙子自动化有限公司 | A kind of device attachment calibration method for flying probe |
| CN110854723A (en) * | 2019-10-17 | 2020-02-28 | 湖南长高高压开关集团股份公司 | Method for correcting porcelain insulator of open-type isolating switch |
| CN111369520A (en) * | 2020-03-02 | 2020-07-03 | 紫光日东科技（深圳）有限公司 | Method for quickly positioning workpiece by dispenser |
| CN111517268A (en) * | 2020-05-15 | 2020-08-11 | 浙江钰茂泽智能装备有限公司 | Jade mattress positioning device and visual positioning method |
| CN111517268B (en) * | 2020-05-15 | 2023-09-19 | 浙江钰茂泽智能装备有限公司 | Jade mattress positioning device and visual positioning method |
| CN114593695A (en) * | 2020-12-03 | 2022-06-07 | 余姚舜宇智能光学技术有限公司 | Visual centering method and system and electronic equipment thereof |
| WO2022246898A1 (en) * | 2021-05-27 | 2022-12-01 | 中科晶源微电子技术（北京）有限公司 | Pixel size calibration method, apparatus, and device for electron beam defect detection |
| CN113538583A (en) * | 2021-07-28 | 2021-10-22 | 柔胜刚智能科技(苏州)有限公司 | Method for accurately positioning position of workpiece on machine tool and vision system |
| CN113838127A (en) * | 2021-09-28 | 2021-12-24 | 天津朗硕机器人科技有限公司 | Assembly hole positioning method based on machine vision |
| CN115416394A (en) * | 2022-09-07 | 2022-12-02 | 天津文洲机械有限公司 | Screen printing machine for small triangular glass sheet of automobile |
| CN118397105A (en) * | 2024-04-07 | 2024-07-26 | 深圳市燕麦科技股份有限公司 | Positioning calibration teaching method and system based on machine vision traversal |
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