CN106679563B - Method and device for determining needle box position of board card to be tested - Google Patents
Method and device for determining needle box position of board card to be tested Download PDFInfo
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- CN106679563B CN106679563B CN201611148159.3A CN201611148159A CN106679563B CN 106679563 B CN106679563 B CN 106679563B CN 201611148159 A CN201611148159 A CN 201611148159A CN 106679563 B CN106679563 B CN 106679563B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention relates to a method and a device for determining the position of a needle box of a card board to be detected, wherein the method comprises the following steps: controlling the mechanical arm to move above the test box, and controlling a mechanical arm camera to shoot and position the board to be tested to obtain the position of the board to be tested; the board card to be tested is placed in a corresponding needle box in the test box; the mechanical arm camera is fixed on the mechanical arm; calculating a first vector corresponding to the position of the board to be detected according to the relative position of the mechanical arm camera and the mechanical arm and the coordinate of the mechanical arm in a mechanical arm coordinate system; the first vector comprises an included angle between the board to be tested and the camera of the mechanical arm, and abscissa information and ordinate information of the board to be tested in a coordinate system of the mechanical arm; and determining the needle box position of the board card to be detected according to the first vector. The host computer can be according to first vector accurately control the arm and place the integrated circuit board that awaits measuring in the needle box that the test cassette corresponds, need not manual operation, has improved the efficiency of software testing of integrated circuit board.
Description
Technical field
The present invention relates to set-top box production field, a kind of box for needle or pin method for determining position more particularly to awaiting board card and
Device.
Background technique
It in set-top box production process, needs to test the board of set-top box, to detect the performance of the board of production.
For the set-top box of each model, the structure of board is not identical, thus is provided with and board pair in the different location of testing cassete
The box for needle or pin answered, in test, as shown in fig. 6, being picked up board 62 from station using mechanical arm 61, mobile mechanical arm 61 is by board
62 are placed in testing cassete 63 in box for needle or pin corresponding with board model, keep the stitch of board corresponding with the stitch in box for needle or pin.Usually
By manually being calibrated to the placement location of board, the placement location of mechanical arm controller data board card after calibration, for same
The test of the board of batch carries out test operation according to the placement location of record by mechanical arm.
Traditional calibration method is stood and is observed in testing cassete side according to the model of board by manual operation mechanical arm, another people
The relative position of box for needle or pin is corresponded in mechanical arm and testing cassete, board is placed in the correspondence box for needle or pin of testing cassete by commander operator.
Since estimation of the artificial observation for distance is inaccurate, need to debug the relative position of mechanical arm and testing cassete, low efficiency back and forth.
Summary of the invention
Based on this, it is necessary to provide the calibration method and device of a kind of efficient test box for needle or pin.
A kind of box for needle or pin method for determining position of awaiting board card, comprising:
Control mechanical arm is moved to above testing cassete, and is controlled mechanical arm camera and taken pictures and position awaiting board card and obtain board under test
The position of card；The awaiting board card is placed in testing cassete in corresponding box for needle or pin；The mechanical arm camera is fixed on the machine
On tool arm；
According to the relative position of the mechanical arm camera and the mechanical arm, the mechanical arm mechanical arm coordinate system seat
Mark calculates primary vector corresponding with the position of the awaiting board card；The primary vector includes the awaiting board card and the machine
Abscissa information and ordinate information of the angle, the awaiting board card of tool arm camera in mechanical arm coordinate system；
The box for needle or pin position of the awaiting board card is determined according to the primary vector.
A kind of determining device of the box for needle or pin position of awaiting board card, comprising:
Mechanical arm control module is moved to above testing cassete for controlling mechanical arm；
Mechanical arm camera control module takes pictures for controlling mechanical arm camera and positions awaiting board card and obtain the position of awaiting board card
It sets；The awaiting board card is placed in testing cassete in corresponding box for needle or pin；The mechanical arm camera is fixed on the mechanical arm；
Computing module, for according to the relative position of the mechanical arm camera and the mechanical arm, the mechanical arm in machine
The coordinate of tool arm coordinate system calculates primary vector corresponding with the position of the awaiting board card；The primary vector include it is described to
Abscissa information and ordinate of the angle, the awaiting board card of drafting board card and the mechanical arm camera in mechanical arm coordinate system
Information；
Box for needle or pin position determination module, for determining the box for needle or pin position of the awaiting board card according to the primary vector.It is above-mentioned
Awaiting board card box for needle or pin method for determining position, by being placed in awaiting board card in testing cassete in corresponding box for needle or pin, in machine
On tool arm install mechanical arm camera take pictures to board under test card, positioning obtain the primary vector of board, by solve first to
Board coordinate information is measured, and then obtains the box for needle or pin position of awaiting board card, so that host computer can be accurate according to primary vector
Awaiting board card is placed in the corresponding box for needle or pin of testing cassete by ground control mechanical arm, without human intervention, improves the test of board
Efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the determination system of the box for needle or pin position of the awaiting board card of one embodiment；
Fig. 2 is the flow chart of the box for needle or pin method for determining position of the awaiting board card of one embodiment；
Fig. 3 is one embodiment to the corrected flow chart of steps of mechanical arm camera；
Fig. 4 is the step flow chart of the calculating primary vector of one embodiment；
Fig. 5 is the functional block diagram of the determining device of the box for needle or pin position of the awaiting board card of one embodiment；
Fig. 6 is the robotic arm manipulation schematic diagram in a background technique.
Specific embodiment
In one embodiment, a kind of determination system of the box for needle or pin position of awaiting board card is provided, as shown in Figure 1, including packet
Mechanical arm 10, mechanical arm camera 11 and the producing line camera 12 and host computer (not shown) of upper branch arm 101 and lower branch arm 102 are included, on
Position machine is connect with mechanical arm, mechanical arm camera and producing line camera 12 respectively, for obtaining and analyzing mechanical arm camera and producing line phase
The image of machine acquisition, for controlling the movement of mechanical arm.Mechanical arm camera 11 is arranged on lower branch arm 102, with mechanical arm
It moves and moves.The top for picking up the station of board is arranged in producing line camera 12, after the completion of board 20 produces, communicated band transmission
To the station, wait to be tested.
A kind of calibration method for testing box for needle or pin, operates on host computer, and host computer is for controlling mechanical arm movement.
Producing line camera 12 has been previously-completed calibration, it is calibrated after coordinate of the producing line camera 12 in mechanical arm coordinate system be
Determining.Mechanical arm coordinate system in the present embodiment refers to the Control coordinate system for the mechanical arm that host computer is established.Pass through producing line phase
Machine 12 is corrected mechanical arm camera, obtains the relevant position of mechanical arm camera and mechanical arm.
After mechanical arm camera 11 is by calibration, the relative position of mechanical arm camera 11 Yu mechanical arm can be obtained, due to machinery
The relative position of arm 10 and mechanical arm camera 11 be it is known, thus, pass through the opposite position of mechanical arm 10 and mechanical arm camera 11
Set the conversion that can be realized mechanical arm camera coordinates system Yu mechanical arm coordinate system.Mechanical arm camera coordinates system refers to that host computer is established
The coordinate system established using the center of mechanical arm camera as origin.
Specifically, as shown in Fig. 2, method includes the following steps:
S202: control mechanical arm is moved to above testing cassete, and is controlled mechanical arm camera and taken pictures and position awaiting board card and obtain
The position of awaiting board card；Awaiting board card is placed in testing cassete in corresponding box for needle or pin, and mechanical arm camera is fixed on the robotic arm.
Testing cassete is provided with box for needle or pin corresponding with the structure of board, and in the present embodiment, by one, this batch needs to survey in advance
The awaiting board card of examination is previously positioned in corresponding box for needle or pin, and is controlled mechanical arm camera and be moved to above testing cassete, determination of taking pictures
The position of awaiting board card.
S204: it is calculated according to the relative position of mechanical arm camera and mechanical arm, mechanical arm in the coordinate of mechanical arm coordinate system
Primary vector corresponding with the position of awaiting board card；Primary vector includes that the angle of board and mechanical arm camera, awaiting board card exist
Abscissa information and ordinate information in mechanical arm coordinate system.
Mechanical arm coordinate system in the present embodiment refer to host computer establish using mechanical arm fulcrum as the coordinate system of origin, use
It is mobile to determine mechanical arm position and accurately control mechanical arm.
The relative position of mechanical arm camera and mechanical arm can be by being corrected to obtain, specifically to mechanical arm camera in advance
, by obtaining mechanical arm camera in the coordinate of mechanical arm coordinate system to mechanical arm camera calibration.Due to mechanical arm camera and machine
The relative position of tool arm and mechanical arm are known in the coordinate of mechanical arm coordinate system, thus by conversion can determine first to
Amount, primary vector include the abscissa letter of the angle of awaiting board card and mechanical arm camera, awaiting board card in mechanical arm coordinate system
Breath and ordinate information.
S206: the box for needle or pin position of awaiting board card is determined according to primary vector.
Since awaiting board card is placed in corresponding box for needle or pin, to can determine the needle of awaiting board card by primary vector
Box position.
The box for needle or pin method for determining position of above-mentioned awaiting board card, it is corresponding in testing cassete by being placed in awaiting board card
In box for needle or pin, mechanical arm camera is installed on the robotic arm and is taken pictures to board under test card, positioning obtains the primary vector of board, passes through
It solves primary vector and obtains board coordinate information, and then obtain the box for needle or pin position of awaiting board card, so that host computer can be according to the
One vector accurately controls mechanical arm and awaiting board card is placed in the corresponding box for needle or pin of testing cassete, without human intervention, improves
The testing efficiency of board.
In another embodiment, it before step S202, further comprises the steps of: and mechanical arm camera is corrected, determine
The relative position of mechanical arm camera and mechanical arm, mechanical arm camera relevant parameter；Relevant parameter includes mechanical arm camera in machine
The pantograph ratio of coordinate information, mechanical arm camera in tool arm coordinate system.
Specifically, as shown in figure 3, the step of being corrected to mechanical arm camera includes:
S2001: taking pictures to object of reference using calibrated producing line camera, obtains object of reference in producing line camera coordinates system
Coordinate, object of reference be located at mechanical arm pick up board station on；Producing line camera is fixed on the top of station.
Object of reference in the present embodiment is only referred to, in the present embodiment without limitation to the particular content of object of reference,
For example, one piece of awaiting board card.Object of reference is placed on mechanical arm to pick up on the station of board, producing line camera is fixed on the upper of station
Side.Producing line camera has been calibrated, and the relative position with mechanical arm is it has been determined that i.e. producing line camera is in the position of mechanical arm coordinate system
It is known for setting.It is taken pictures using calibrated producing line camera to object of reference, obtains object of reference in producing line camera coordinates system
Coordinate.Producing line camera coordinates system refers to the coordinate system established using the center of producing line camera as origin.Host computer identifies object of reference, with
The center of producing line camera is that origin establishes coordinate system, determines relative position of the object of reference relative to producing line camera.
S2002: control mechanical arm is moved to the top of station, and control mechanical arm camera is taken pictures to object of reference, obtained
Coordinate of the object of reference in mechanical arm camera coordinates system.
Mechanical arm camera coordinates system refers to the coordinate system established using the center of mechanical arm camera as origin, host computer identification ginseng
According to object, coordinate system is established as origin using the center of mechanical arm camera, determines the relative position of object of reference Yu mechanical arm camera.
S2003: mechanical arm is obtained in the changing coordinates and producing line camera of mechanical arm coordinate system in mechanical arm coordinate system
Coordinate information.
The real-time positioning mechanical arm of host computer mechanical arm coordinate system changing coordinates, the position of producing line camera be it is fixed,
The relative positional relationship that producing line camera and mechanical arm are obtained after producing line camera calibrated determines producing line camera in mechanical arm coordinate system
In coordinate.Due to the position of producing line camera be it is fixed, mechanical arm can be moved to the installation site of producing line camera, according to machine
Coordinate of the tool arm in installation site, it may be determined that producing line camera mechanical arm coordinate system coordinate information, thus realize to producing line phase
The calibration of machine.
S2004: believed in the coordinate of producing line camera coordinates system, producing line camera in the coordinate of mechanical arm coordinate system according to object of reference
Machine is calculated in the changing coordinates of mechanical arm coordinate system in the coordinate and mechanical arm of mechanical arm camera coordinates system in breath, object of reference
The relative position of tool arm camera and mechanical arm.
Due to the position of object of reference be it is fixed, by referring to object producing line camera coordinates system coordinate and object of reference in machine
The coordinate of tool arm coordinate system, can determine the relative position of producing line camera Yu mechanical arm camera.Further, host computer obtains in real time
Take mechanical arm in the changing coordinates of mechanical arm camera, producing line camera in the coordinate information of mechanical arm coordinate system be it is determining, pass through
The relative position of producing line camera and mechanical arm camera obtains mechanical arm camera in the coordinate information of mechanical arm coordinate system, thus
To the relative position of mechanical arm camera and mechanical arm, i.e., mechanical arm camera is in the relative position of mechanical arm.
It In yet another embodiment, further include step S2005 please continue to refer to Fig. 3: object of reference is mobile to direction initialization
Set distance keeps mechanical arm to take pictures the object of reference after being moved in mechanical arm camera to the object of reference after movement in the original location
The coordinate of coordinate system.
For convenient for calculating, it is preferable that in the horizontal direction or the mobile set distance of vertical direction by object of reference.
S2006: mobile preceding after the coordinate of mechanical arm camera coordinates system, the set distance of movement and movement according to object of reference
Object of reference the pantograph ratio of mechanical arm camera is calculated in the coordinate of mechanical arm camera coordinates system.
In the present embodiment, by calculating the object of reference before moving and the object of reference after movement in the distance of mechanical arm coordinate system
And the distance actually moved, it is capable of the pantograph ratio of calculating machine arm camera.
In another embodiment, as shown in figure 4, calculate primary vector step S204 the following steps are included:
S2041: changing coordinates of the mechanical arm camera in mechanical arm coordinate system are obtained.
Host computer obtains changing coordinates of the mechanical arm in mechanical arm coordinate system in real time.
S2042: identification awaiting board card determines board in the coordinate of mechanical arm camera coordinates system.
Identification awaiting board card can be used existing image recognition technology and realize that details are not described herein.Mechanical arm camera coordinates
System refers to the coordinate system established using mechanical arm image center as origin that host computer is established.After recognizing awaiting board card, plate is determined
It is stuck in the coordinate of mechanical arm camera coordinates system.
S2043: the pantograph ratio of calibrated mechanical arm camera is obtained, and according to pantograph ratio, awaiting board card in mechanical arm phase
The coordinate of machine coordinate system, mechanical arm camera determine awaiting board card in mechanical arm coordinate system in the changing coordinates of mechanical arm coordinate system
Coordinate.
Host computer is according to awaiting board card in the coordinate of mechanical arm camera coordinates system, and mechanical arm camera is in mechanical arm coordinate system
Changing coordinates are converted, and in conjunction with the pantograph ratio of mechanical arm camera, obtain board in the coordinate of mechanical arm coordinate system.
S2044: according to awaiting board card in the coordinate of mechanical arm camera coordinates system, awaiting board card and mechanical arm phase is calculated
The angle of machine.
S2045: according to the angle of awaiting board card and mechanical arm camera and awaiting board card mechanical arm coordinate system coordinate
Determine primary vector.
It can determine machine in the coordinate of mechanical arm coordinate system by the angle of awaiting board card and mechanical arm camera, awaiting board card
Awaiting board card is placed on correspondence in testing cassete to realize and be accurately controlled mechanical arm by the moving direction and mobile range of tool arm
Box for needle or pin in.
In another embodiment, a kind of determining device of the box for needle or pin position of awaiting board card is provided, is arranged in host computer,
As shown in Figure 5, comprising: mechanical arm control module 501, mechanical arm camera control module 502, computing module 503 and box for needle or pin position
Determining module 504.
Mechanical arm control module 501 is moved to above testing cassete for controlling mechanical arm.
Mechanical arm camera control module 502 takes pictures for controlling mechanical arm camera and positions awaiting board card and obtain awaiting board card
Position；Awaiting board card is placed in testing cassete in corresponding box for needle or pin；Mechanical arm camera is fixed on the robotic arm.
Computing module 503, for according to the relative position of mechanical arm camera and mechanical arm, mechanical arm in mechanical arm coordinate system
Coordinate calculate corresponding with the position of awaiting board card primary vector；Primary vector includes the folder of awaiting board card Yu mechanical arm camera
The abscissa information and ordinate information of angle, awaiting board card in mechanical arm coordinate system.
Box for needle or pin position determination module 504, for determining the box for needle or pin position of awaiting board card according to primary vector.
The determining device of the box for needle or pin position of above-mentioned awaiting board card, it is corresponding in testing cassete by being placed in awaiting board card
In box for needle or pin, mechanical arm camera is installed on the robotic arm and is taken pictures to board under test card, positioning obtains the primary vector of board, passes through
It solves primary vector and obtains board coordinate information, and then obtain the box for needle or pin position of awaiting board card, so that host computer can be according to the
One vector accurately controls mechanical arm and awaiting board card is placed in the corresponding box for needle or pin of testing cassete, without human intervention, improves
The testing efficiency of board.
In another embodiment, further include mechanical arm correction module, for being corrected to mechanical arm camera, determine machine
The relative position of tool arm camera and mechanical arm, mechanical arm camera relevant parameter；Relevant parameter includes mechanical arm camera in machinery
The pantograph ratio of coordinate information, mechanical arm camera in arm coordinate system.
In another embodiment, computing module includes: mechanical arm coordinate obtaining module, identification module, awaiting board card seat
Mark determining module, angle calcu-lation module and primary vector determining module.
Mechanical arm coordinate obtaining module, for obtaining changing coordinates of the mechanical arm camera in mechanical arm coordinate system.
Identification module, awaiting board card, determines awaiting board card in the coordinate of mechanical arm camera coordinates system for identification.
Awaiting board card coordinate determining module, for obtaining the pantograph ratio of calibrated mechanical arm camera, and according to pantograph ratio,
Awaiting board card determines board under test in the changing coordinates of mechanical arm coordinate system in the coordinate of mechanical arm camera coordinates system, mechanical arm camera
It is stuck in the coordinate of mechanical arm coordinate system.
Angle calcu-lation module, for, in the coordinate of mechanical arm camera coordinates system, board under test being calculated according to awaiting board card
The angle of card and mechanical arm camera.
Primary vector determining module, for the angle and awaiting board card according to awaiting board card and mechanical arm camera in machine
The coordinate of tool arm coordinate system determines primary vector.
In yet another embodiment, mechanical arm correction module includes: producing line camera control module, coordinate information acquisition module
And correction module.
Producing line camera control module obtains object of reference for taking pictures using calibrated producing line camera to object of reference
In the coordinate of producing line camera coordinates system；Object of reference is located at mechanical arm and picks up on the station of board；Producing line camera is fixed on station
Top.
Mechanical arm control module, the top for being moved to station for controlling mechanical arm.
Mechanical arm camera control module takes pictures to object of reference for controlling mechanical arm camera, obtains object of reference in machine
The coordinate of tool arm camera coordinates system.
Coordinate information obtains module, exists for obtaining mechanical arm in the changing coordinates and producing line camera of mechanical arm coordinate system
The coordinate information of mechanical arm coordinate system.
Correction module, for according to object of reference in the coordinate of producing line camera coordinates system, producing line camera in mechanical arm coordinate system
Coordinate information, object of reference mechanical arm camera coordinates system coordinate and mechanical arm mechanical arm coordinate system changing coordinates meter
Calculation obtains the relative position of mechanical arm camera and mechanical arm.
In a further embodiment, mechanical arm camera control module, for object of reference to the mobile setting of direction initialization away from
From rear, mechanical arm is kept to take pictures the object of reference after being moved in mechanical arm camera coordinates to the object of reference after movement in the original location
The coordinate of system.
Correction module, be also used to according to object of reference before mobile the coordinate of mechanical arm camera coordinates system, movement setting away from
From the pantograph ratio that mechanical arm camera is calculated in the coordinate of mechanical arm camera coordinates system with the object of reference after movement.By to be measured
The angle of board and mechanical arm camera, awaiting board card the coordinate of mechanical arm coordinate system can determine mechanical arm moving direction and
Awaiting board card is placed in testing cassete in corresponding box for needle or pin by mobile range to realize and be accurately controlled mechanical arm.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of box for needle or pin method for determining position of awaiting board card characterized by comprising
Control mechanical arm is moved to above testing cassete, and is controlled mechanical arm camera and taken pictures and position awaiting board card and obtain awaiting board card
Position；The awaiting board card is placed in testing cassete in corresponding box for needle or pin；The mechanical arm camera is fixed on the mechanical arm
On；
According to the relative position of the mechanical arm camera and the mechanical arm, the mechanical arm mechanical arm coordinate system coordinate meter
Calculate primary vector corresponding with the position of the awaiting board card；The primary vector includes the awaiting board card and the mechanical arm
The abscissa information and ordinate information of the angle of camera, the awaiting board card in mechanical arm coordinate system；
The box for needle or pin position of the awaiting board card is determined according to the primary vector；
It is moved to above testing cassete in the control mechanical arm, and controls mechanical arm camera and take pictures and position board and obtain awaiting board card
Position the step of before, further includes:
The mechanical arm camera is corrected, determines the relative position of the mechanical arm camera and the mechanical arm, the machine
The relevant parameter of tool arm camera；
It is described that the mechanical arm camera is corrected, determine relative position, the institute of the mechanical arm camera and the mechanical arm
The step of stating the relevant parameter of mechanical arm camera include:
It is taken pictures using calibrated producing line camera to object of reference, obtains the object of reference in the seat of producing line camera coordinates system
Mark；The object of reference is located at mechanical arm and picks up on the station of board；The producing line camera is fixed on the top of the station；
Control mechanical arm is moved to the top of the station, and control mechanical arm camera takes pictures to the object of reference, obtains institute
Object of reference is stated in the coordinate of mechanical arm camera coordinates system；
The mechanical arm is obtained in the changing coordinates of mechanical arm coordinate system and the producing line camera in the mechanical arm coordinate system
Coordinate information；
According to the object of reference the coordinate of producing line camera coordinates system, the producing line camera the mechanical arm coordinate system coordinate
Information, the object of reference are in the coordinate of the mechanical arm camera coordinates system and the mechanical arm in the current of mechanical arm coordinate system
The relative position of the mechanical arm camera and the mechanical arm is calculated in coordinate.
2. the method according to claim 1, wherein the relevant parameter includes the mechanical arm camera described
The pantograph ratio of coordinate information, the mechanical arm camera in mechanical arm coordinate system.
3. according to the method described in claim 2, it is characterized in that, described according to the mechanical arm camera and the mechanical arm
Relative position, the mechanical arm calculate primary vector corresponding with the position of the awaiting board card in the coordinate of mechanical arm coordinate system
The step of include:
Obtain changing coordinates of the mechanical arm camera in mechanical arm coordinate system；
It identifies the awaiting board card, determines the awaiting board card in the coordinate of mechanical arm camera coordinates system；
The pantograph ratio of calibrated mechanical arm camera is obtained, and according to the pantograph ratio, the awaiting board card in mechanical arm camera
The coordinate of coordinate system, mechanical arm camera determine that the awaiting board card is sat in the mechanical arm in the changing coordinates of mechanical arm coordinate system
Mark the coordinate of system；
According to the awaiting board card in the coordinate of the mechanical arm camera coordinates system, awaiting board card and the mechanical arm is calculated
The angle of camera；
According to the angle and the awaiting board card of the awaiting board card and the mechanical arm camera in the mechanical arm coordinate system
Coordinate determine the primary vector.
4. the method according to claim 1, wherein further include:
In the object of reference to after the mobile set distance of direction initialization, keeping the mechanical arm in the original location to described in after movement
Object of reference is taken pictures moved after the object of reference the mechanical arm camera coordinates system coordinate；
According to the object of reference it is mobile before in the coordinate of the mechanical arm camera coordinates system, the set distance of movement and described
The pantograph ratio of the mechanical arm camera is calculated in the coordinate of the mechanical arm camera coordinates system for object of reference after movement.
5. a kind of determining device of the box for needle or pin position of awaiting board card characterized by comprising
Mechanical arm control module is moved to above testing cassete for controlling mechanical arm；
Mechanical arm camera control module takes pictures for controlling mechanical arm camera and positions awaiting board card and obtain the position of awaiting board card；
The awaiting board card is placed in testing cassete in corresponding box for needle or pin；The mechanical arm camera is fixed on the mechanical arm；
Computing module, for according to the relative position of the mechanical arm camera and the mechanical arm, the mechanical arm in mechanical arm
The coordinate of coordinate system calculates primary vector corresponding with the position of the awaiting board card；The primary vector includes the board under test
Abscissa information and ordinate of the angle, the awaiting board card of card and the mechanical arm camera in mechanical arm coordinate system are believed
Breath；
Box for needle or pin position determination module, for determining the box for needle or pin position of the awaiting board card according to the primary vector；
Mechanical arm correction module determines the mechanical arm camera and the machinery for being corrected to the mechanical arm camera
The relative position of arm, the mechanical arm camera relevant parameter；
The mechanical arm correction module includes:
Producing line camera control module obtains the object of reference for taking pictures using calibrated producing line camera to object of reference
In the coordinate of producing line camera coordinates system；The object of reference is located at mechanical arm and picks up on the station of board；The producing line camera is fixed
In the top of the station；
The mechanical arm control module, the top for being moved to the station for controlling mechanical arm；
The mechanical arm camera control module takes pictures to the object of reference for controlling mechanical arm camera, obtains the ginseng
According to object mechanical arm camera coordinates system coordinate；
Coordinate information obtains module, for obtaining changing coordinates and the producing line phase of the mechanical arm in mechanical arm coordinate system
Coordinate information of the machine in the mechanical arm coordinate system；
Correction module, for according to the object of reference in the coordinate of producing line camera coordinates system, the producing line camera in the machinery
The coordinate information of arm coordinate system, the object of reference are in the coordinate of the mechanical arm camera coordinates system and the mechanical arm in machinery
The relative position of the mechanical arm camera and the mechanical arm is calculated in the changing coordinates of arm coordinate system.
6. device according to claim 5, which is characterized in that the relevant parameter includes the mechanical arm camera described
The pantograph ratio of coordinate information, the mechanical arm camera in mechanical arm coordinate system.
7. device according to claim 6, which is characterized in that the computing module includes:
Mechanical arm coordinate obtaining module, for obtaining changing coordinates of the mechanical arm camera in mechanical arm coordinate system；
Identification module, the awaiting board card, determines the awaiting board card in the coordinate of mechanical arm camera coordinates system for identification；
Awaiting board card coordinate determining module, for obtaining the pantograph ratio of calibrated mechanical arm camera, and according to the pantograph ratio,
The awaiting board card determines institute in the changing coordinates of mechanical arm coordinate system in the coordinate of mechanical arm camera coordinates system, mechanical arm camera
Awaiting board card is stated in the coordinate of the mechanical arm coordinate system；
Angle calcu-lation module, for according to the awaiting board card the mechanical arm camera coordinates system coordinate, be calculated to
The angle of drafting board card and the mechanical arm camera；
Primary vector determining module, for according to the angle of the awaiting board card and the mechanical arm camera and described to be measured
Board determines the primary vector in the coordinate of the mechanical arm coordinate system.
8. device according to claim 5, it is characterised in that:
The mechanical arm camera control module is used for after the object of reference moves set distance to direction initialization, described in holding
Mechanical arm takes pictures the object of reference after being moved in the mechanical arm camera to the object of reference after movement in the original location
The coordinate of coordinate system；
The correction module is also used to according to the mobile preceding coordinate in the mechanical arm camera coordinates system of the object of reference, movement
The set distance and the movement after object of reference the machine is calculated in the coordinate of the mechanical arm camera coordinates system
The pantograph ratio of tool arm camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611148159.3A CN106679563B (en) | 2016-12-13 | 2016-12-13 | Method and device for determining needle box position of board card to be tested |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611148159.3A CN106679563B (en) | 2016-12-13 | 2016-12-13 | Method and device for determining needle box position of board card to be tested |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106679563A CN106679563A (en) | 2017-05-17 |
| CN106679563B true CN106679563B (en) | 2019-05-07 |
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