CN115092690A

CN115092690A - PCB transferring method, device, equipment and medium based on image recognition

Info

Publication number: CN115092690A
Application number: CN202210799983.4A
Authority: CN
Inventors: 罗明
Original assignee: Shenzhen Huayan Tianchuang Testing Equipment Co ltd
Current assignee: Huayan Tianchuang Zhuhai Technology Co ltd
Priority date: 2022-07-06
Filing date: 2022-07-06
Publication date: 2022-09-23
Anticipated expiration: 2042-07-06
Also published as: CN115092690B

Abstract

The invention discloses a PCB transferring method, a device, equipment and a medium based on image recognition, wherein the method comprises the following steps: acquiring an initial image of the PCB and performing pixel analysis to determine a non-circuit area corresponding to the initial image; determining absorption coordinate information meeting a position determination rule from a non-circuit area; sending a driving instruction corresponding to the sucking coordinate information to enable the translation driving mechanism to drive the magnetic suction block to translate to a sucking position corresponding to the sucking coordinate information; and sending a transfer control instruction to enable the transfer driver to drive the transfer board to absorb the PCB and then transfer the PCB. According to the method, the initial image of the PCB can be acquired through the image acquisition device and is intelligently analyzed, the magnetic suction block and the corresponding suction disc can be driven to translate to the corresponding suction position through the translation driving mechanism after the coordinate information is determined to be sucked, the suction position can be automatically determined and the suction disc can be driven to translate, manual operation is not needed in the whole process, and the efficiency of adjusting the suction disc is greatly improved when the PCB is sucked to be transported.

Description

PCB transferring method, device, equipment and medium based on image recognition

Technical Field

The invention relates to the technical field of artificial intelligence, in particular to a PCB transferring method, a PCB transferring device, PCB transferring equipment and PCB transferring media based on image recognition.

Background

PCB board detection device can be used to detect each type of PCB board, whether there is the flaw on obtaining the PCB board in order to detect, all be equipped with suction cup device on the current PCB detection device, the sucking disc that the suction cup device accessible set up on it absorbs the PCB board and transports other positions with the PCB board of absorption, however the sucking disc is fixed in the fixed position of sucking disc device usually on the transportation board and through artifical manual adjustment sucking disc, thereby make the sucking disc tip be fixed in the non-circuit area on the PCB board, later the PCB board of absorption is transported to other regions through the removal of transportation board. However, in the process of transferring the PCB by using the suction cup device in the prior art, when the type of the PCB to be sucked is changed, the non-circuit area of the PCB is changed accordingly, and then a person is required to check the non-circuit area of the sucked PCB and manually adjust the fixing position of the suction cup according to the checking result, so that the position of the suction cup corresponds to the non-circuit area on the PCB. Therefore, the method in the prior art has the problem of low efficiency of adjusting the suction disc when the PCB is sucked for transferring.

Disclosure of Invention

The embodiment of the invention provides a PCB transferring method, a PCB transferring device, PCB transferring equipment and a PCB transferring medium based on image recognition, and aims to solve the problem that the efficiency of adjusting a suction disc is low when a PCB is sucked for transferring in the prior art.

In a first aspect, an embodiment of the present invention provides a PCB transferring device based on image recognition, where the transferring device is assembled on a mounting bracket;

the mounting bracket is provided with a bracket slide rail, and the transferring device comprises a transferring driver assembled on the bracket slide rail and a transferring plate fixedly connected with the lower end of the transferring driver through a connecting plate; the transfer driver drives the transfer plate to slide along the direction of the support slide rail through the connecting plate; the end part of the bracket sliding rail is also provided with an image acquisition device;

the upper end surface of the transfer plate is provided with at least one magnetic suction block, the lower end surface of the transfer plate is provided with a sucker corresponding to each magnetic suction block, and each sucker is fixed on the lower end surface of the transfer plate through the magnetic attraction between the corresponding magnetic suction block and the corresponding sucker;

the transfer plate is provided with at least one translation driving mechanism, and the translation driving mechanism drives the magnetic suction block to translate on the upper end face of the transfer plate, so that the sucker magnetically fixed with the magnetic suction block translates on the lower end face of the transfer plate;

the image acquisition device, transport the driver and translation actuating mechanism all with the controller of transfer device carries out the electricity and connects, the controller is received the PCB board image of image acquisition device collection and is sent control signal in order to right transport the driver and translation actuating mechanism controls.

In a second aspect, an embodiment of the present invention further provides a PCB transferring method based on image recognition, where the method is applied to a controller of a PCB transferring device based on image recognition as described in the first aspect, and the method includes:

if a transfer instruction is received, acquiring an initial image of the PCB acquired by the image acquisition device;

performing pixel analysis on the initial image to determine a non-circuit area corresponding to the initial image;

determining absorption coordinate information meeting the position determination rule from the non-circuit area according to a preset position determination rule;

sending a driving instruction corresponding to the absorption coordinate information to the translation driving mechanism so that the translation driving mechanism drives the magnetic suction block to translate to the absorption position corresponding to the absorption coordinate information;

and sending a transfer control instruction to the transfer driver so that the transfer driver drives the transfer board to absorb the PCB for transfer.

In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the PCB board transferring method based on image recognition according to the second aspect.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the PCB board transferring method based on image recognition according to the second aspect.

The embodiment of the invention provides a PCB transferring method, a PCB transferring device, PCB transferring equipment and a PCB transferring medium based on image recognition. The method comprises the following steps: acquiring an initial image of the PCB and performing pixel analysis to determine a non-circuit area corresponding to the initial image; determining absorption coordinate information satisfying a position determination rule from the non-circuit area; sending a driving instruction corresponding to the absorption coordinate information so that the translation driving mechanism drives the magnetic absorption block to translate to an absorption position corresponding to the absorption coordinate information; and sending a transfer control instruction so that the transfer driver drives the transfer board to absorb the PCB for transfer. According to the method, the initial image of the PCB can be acquired through the image acquisition device and intelligently analyzed, the magnetic suction block and the corresponding sucker can be driven to translate to the corresponding suction position through the translation driving mechanism after the coordinate information is determined to be sucked, the suction position can be automatically determined and the sucker can be driven to translate, manual operation is not needed in the whole process, and the efficiency of adjusting the sucker is greatly improved when the PCB is sucked for transferring.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is an overall structural view of a PCB inspection apparatus according to an embodiment of the present invention;

fig. 2 is a partial structural view of a PCB inspection apparatus according to an embodiment of the present invention;

fig. 3 is an overall structural view of a PCB transferring device based on image recognition according to an embodiment of the present invention;

fig. 4 is a partial structural view of a PCB transferring device based on image recognition according to an embodiment of the present invention;

FIG. 5 is a partial block diagram of a chuck provided in accordance with an embodiment of the present invention;

fig. 6 is a circuit connection structure diagram of a PCB transferring device based on image recognition according to an embodiment of the present invention;

fig. 7 is a schematic flowchart of a PCB transferring method based on image recognition according to an embodiment of the present invention;

fig. 8 is a schematic sub-flow diagram of a PCB transferring method based on image recognition according to an embodiment of the present invention;

fig. 9 is a schematic view of another sub-flow of a PCB transferring method based on image recognition according to an embodiment of the present invention;

fig. 10 is another schematic flow chart of a PCB transferring method based on image recognition according to an embodiment of the present invention;

fig. 11 is a schematic flowchart of a PCB transferring method based on image recognition according to an embodiment of the present invention;

FIG. 12 is a schematic block diagram of a computer device provided by an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1, the PCB transferring device disclosed in the embodiment of the present application can be applied to a specific structure of a PCB detecting device, wherein the PCB detecting device 1 includes a conveying mechanism 10, a mounting bracket 20 disposed on an upper side of the conveying mechanism 10, and an illuminating lamp 30 and an image collecting device (not shown in the figure) fixed on an upper side of the conveying mechanism 10. Wherein, the image capturing device can be installed at one side of the searchlight 30. The conveying mechanism 10 is used for horizontally conveying the PCB to be detected, meanwhile, the searchlight 30 irradiates the PCB to be detected, the image acquisition equipment acquires light reflected by the PCB to realize imaging, and imaging images acquired by the image acquisition equipment are analyzed, so that quick detection on flaws in the PCB can be realized.

Specifically, as shown in fig. 2 to 6, the embodiment of the present application discloses a PCB board transfer device based on image recognition, wherein the transfer device 4 is mounted on a mounting bracket 20; the mounting bracket 20 is provided with a bracket slide rail 21, and the transfer device 4 comprises a transfer driver 41 assembled on the bracket slide rail 21 and a transfer plate 43 fixedly connected with the lower end of the transfer driver 41 through a connecting plate 42; the transfer driver 41 drives the transfer plate 43 to slide along the direction of the support slide rail 21 through the connecting plate 42; the upper end surface of the transfer plate 43 is provided with at least one magnetic block 431, the lower end surface of the transfer plate 43 is provided with a suction cup 432 corresponding to each magnetic block 431, and each suction cup 432 is fixed on the lower end surface of the transfer plate 43 through the magnetic attraction between the corresponding magnetic block 431 and the corresponding magnetic block 431; the transfer plate 43 is provided with at least one translation driving mechanism 44, the translation driving mechanism 44 drives the magnetic attraction block 431 to translate on the upper end surface of the transfer plate 43, so that the magnetic attraction block 431 can be magnetically attracted and fixed, and the sucker 432 can translate on the lower end surface of the transfer plate 43.

Specifically, as shown in fig. 2, a first placing table 11 and a second placing table 12 are arranged on two sides of the conveying mechanism 10, the long axis direction of the support slide rail 21 can be perpendicular to the direction in which the conveying mechanism 10 conveys the PCB, the PCB can be placed on the first placing table 11 and the second placing table 12, the transfer device 4 is used for sucking the PCB on the first placing table 11 or the second placing table 12 and transferring the PCB to the conveying mechanism 10, and the conveying mechanism 10 conveys the PCB placed thereon to other areas for defect detection; or the transfer device 4 is used for transferring the PCB board on which the defect inspection has been performed on the transfer mechanism 10 onto the first placing table 11 or the second placing table 12. The concrete use of transfer device 4 does, and the non-circuit area of location PCB board is regional, and generally speaking, the non-circuit area in the PCB board of same type (same specification) is all the same, drives according to the control signal who comes from the controller through translation actuating mechanism 44 magnetism piece 431 is inhaled to remove to the position that corresponds with non-circuit area in the PCB board, then with inhale and carry out the fixed sucking disc 432 of fixing through magnetic attraction together with the removal of magnetism piece 431 between the piece 431 and carrying out position adjustment, when actuating mechanism drive support slide rail 21 descends, can drive simultaneously and transport board 43 and push down, transport board 43 lower terminal surface fixed sucking disc 432 can absorb the PCB board of treating the transfer, and sucking disc 432 is fixed in the non-circuit area in the PCB board this moment. The end of the support slide rail 21 is provided with an image capturing device 221, and the image capturing device 221 may be used to capture the PCB placed on the first placing table 11 and the second placing table 12, so as to capture an image of the PCB, for example, the image capturing device 221 may be a camera.

The image acquisition device 221, the transfer driver 41 and the translation driving mechanism 44 are electrically connected with the controller 45 of the transfer device 4, and the controller 45 receives the PCB image acquired by the image acquisition device 221 and sends out a control signal to control the transfer driver 41 and the translation driving mechanism 44. A specific circuit connection structure pattern is shown in fig. 6.

Specifically, the lower end of the suction cup 432 is provided with a flexible cavity, the flexible cavity is connected with a negative pressure generator (not shown in the figure) through a connecting pipe 4322, when the flexible cavity at the lower end of the suction cup 432 contacts a PCB, the negative pressure generator (such as a vacuum pump) is started, air in the flexible cavity can be pumped out through the connecting pipe 4322, so that the flexible cavity generates negative pressure and is tightly pressed on the PCB, and the suction cup 432 can suck the PCB; when the transfer driver 41 drives the transfer board 43 to slide along the support slide rail 21, the PCB board sucked by the lower side of the suction cup 432 can be transferred.

In a more specific embodiment, the translation driving mechanism 44 includes a first slide rail 441 disposed at an edge of the transfer plate 43, a first driving motor 442 disposed on the first slide rail 441 and capable of horizontally sliding along the first slide rail 441, a second slide rail 443 fixedly connected to an end of the first driving motor 442, and a second driving motor 444 disposed on the second slide rail 443 and capable of horizontally sliding along the second slide rail 443, wherein a push rod 4441 is fixedly disposed at an end of the second driving motor 444.

Specifically, the first driving motor 442 may generate a driving force to horizontally slide along the first sliding rail 441, and the first driving motor 442 drives the second sliding rail 443 at the end to horizontally slide simultaneously when horizontally sliding along the first sliding rail 441; the second driving motor 444 can generate a driving force to horizontally slide along the second slide rail 443, and when the second driving motor 444 horizontally slides along the second slide rail 443, the second driving motor 444 drives the push rod 4441 fixedly arranged at the end portion to horizontally slide at the same time, so that the push rod 4441 pushes the magnetic suction block 431 arranged on the upper end surface of the transfer plate 43 to adjust the position.

Specifically, the end of the first driving motor 442 is provided with a jacking cylinder 445 and a sliding block 446 mounted on the jacking cylinder 445; the sliding block 446 is driven by the jacking cylinder 445 to vertically slide, and the sliding block 446 is fixedly connected with the second sliding rail 443.

Specifically, in order to improve the efficiency of adjusting the position by pushing the magnetic block 431 through the push rod 4441, a jacking cylinder 445 may be further disposed at the end of the first driving motor 442, the jacking cylinder 445 may drive the sliding block 446 to vertically slide, and the sliding block 446 is fixedly connected to the second sliding rail 443, so that when the sliding block 446 vertically slides, the second sliding rail 443 may be driven to vertically slide. The sliding block 446 can slide vertically and upwards to enable the push rod 4441 to ascend, when the push rod 4441 is driven to slide horizontally, the magnetic suction block 431 can be avoided, the efficiency of position adjustment of the push rod 4441 is improved, and therefore the efficiency of position adjustment of the magnetic suction block 431 pushed by the push rod 4441 is improved.

In a more specific embodiment, the extending direction of the first slide rail 441 is perpendicular to the extending direction of the second slide rail 443. Wherein, the push rod 4441 is T-shaped or L-shaped.

Specifically, the extending direction of the first slide rail 441 may be perpendicular to the extending direction of the second slide rail 443, so as to ensure that the push rod 4441 is adjusted at any position in the horizontal direction. The push rod 4441 may be configured to be "T" shaped or "L" shaped, so that the push rod 4441 necessarily includes two intersecting arms, and the magnetic attraction block 431 is pushed by the two intersecting arms in the push rod 4441 to perform position adjustment, which can further improve the efficiency of performing position adjustment on the magnetic attraction block 431 and the accuracy of the adjustment.

In a more specific embodiment, a barrier 433 is disposed on an edge of the upper end surface of the transfer plate 43, and the barrier 433 is used to define a translation area of the magnetic attraction block 431 on the upper end surface of the transfer plate 43.

In order to avoid the magnetic attraction block 431 from slipping off the transfer plate 43, the edge of the upper end surface of the transfer plate 43 can be provided with the surrounding baffle 433, the surrounding baffle 443 can limit the translation area of the magnetic attraction block 431, and the slipping off in the process of pushing the magnetic attraction block 431 to adjust the position can be effectively avoided.

In a more specific embodiment, the top end of the suction cup 432 is provided with a ball bearing 4321. In order to further improve the smoothness of the movement of the suction cup 432 on the lower end surface of the transfer plate 43, a ball bearing 4321 may be disposed at the top end of the suction cup 432, and the specific structure is shown in fig. 5. In addition, in order to improve the smoothness of movement of the magnet block 431, a ball bearing may be similarly provided at an end of the magnet block 431.

In a more specific embodiment, the transfer plate 43 is a nonmagnetic alloy plate or a plastic transfer plate. In order to avoid the influence on the magnetic attraction acting force between the magnetic attraction block 431 and the sucker, the transfer plate 43 can be a non-magnetic alloy plate or a plastic transfer plate, and the non-magnetic alloy plate and the plastic transfer plate can not generate the magnetic attraction effect with the magnetic part.

In a more specific embodiment, the magnetic block 431 includes a connecting rod 4311 and a magnetic head 4312 disposed at an end of the connecting rod 4311. Wherein, the magnetic attraction head 4312 is a permanent magnet or an electromagnet. In a specific configuration, the magnetic block 431 may be composed of a connecting rod 4311 and a magnetic head 4312, and the push rod 4441 may generate a pushing force to act on the connecting rod 4311, so as to push the magnetic block 431 to perform a position adjustment. Magnetic suction head 4312 can be permanent magnet or electromagnet, and can be selected according to actual use requirements, and relatively speaking, the electromagnet can generate higher magnetic attraction, and can transport a PCB with a larger size, and the transporting capacity of the PCB can be improved by selectively using the electromagnet.

Referring to fig. 7, an embodiment of the present application further discloses a PCB transferring method based on image recognition, where the method is applied to a controller 45 of a board transferring device 4, the PCB transferring method based on image recognition is executed by application software installed in the controller 45, and the controller 45 is a control device, such as an MCU chip, for executing the PCB transferring method based on image recognition to control the transferring device. As shown in fig. 7, the method includes steps S110 to S150.

And S110, if a transfer instruction is received, acquiring an initial image of the PCB acquired by the image acquisition device.

The user can input the transport instruction to the controller, then after the controller received the transport instruction, can send acquisition instruction to image acquisition device, and image acquisition device can shoot the PCB board of placing its below after receiving the acquisition instruction to the collection obtains the initial image of the PCB board of the superiors, and image acquisition device feeds back the initial image of gathering to the controller.

And S120, carrying out pixel analysis on the initial image to determine a non-circuit area corresponding to the initial image.

After the controller receives the initial image, pixel analysis can be carried out on the initial image, and the initial image is analyzed to determine non-circuit pixel points from the non-circuit pixel points as a non-circuit area.

In an embodiment, as shown in fig. 8, step S120 includes sub-steps S121, S122 and S123.

S121, obtaining pixel points with pixel values in a preset pixel range from the initial image to obtain an initial pixel area.

The method comprises the steps that pixel points with pixel values within a preset pixel range can be obtained from an initial image, each pixel point in the initial image correspondingly comprises the pixel values of three color channels (RGB, red, green and blue), the pixel range correspondingly comprises the pixel value ranges corresponding to the three color channels, whether the pixel values of each pixel point in the initial image in the three color channels are all within the pixel range can be judged, and all the pixel points within the pixel range are obtained to form an initial pixel area. For example, the pixel range can be set to a pixel value range close to the copper wire, so that the obtained initial pixel area is the pixel area close to the pixel value of the copper wire.

And S122, expanding the initial pixel region according to a preset expansion width to obtain an expanded pixel region.

Because a certain width is formed between the copper wires arranged in parallel on the PCB, and the copper wires may be further provided with components such as capacitors and resistors, which are not necessarily close to the copper wires in color, in order to improve the accuracy of the identified non-circuit area, the edge of the initial pixel area can be expanded outwards according to the expansion width, and if the preset expansion width is 5 pixels, the edge of the initial pixel area is expanded outwards again by 5 pixels to obtain the expanded pixel area.

After the initial pixel area is expanded, the pixel areas of the copper wires arranged in parallel can be communicated, and the pixel areas of the copper wires are expanded outwards so that the expanded pixel area comprises areas corresponding to components such as capacitors and resistors.

And S123, subtracting the extended pixel area from the initial image to obtain a non-circuit area corresponding to the initial image.

The extended pixel region is subtracted from the initial image, thereby obtaining a non-circuit region corresponding to the initial image.

S130, determining the sucking coordinate information meeting the position determination rule from the non-circuit area according to a preset position determination rule.

The corresponding sucking coordinate position can be determined from the non-circuit area according to the position determination rule, and the sucking coordinate position is also the coordinate position meeting the position determination rule in the non-circuit area.

In one embodiment, as shown in fig. 9, step S130 includes sub-steps S131, S132, S133, S134, S135, and S136.

S131, dividing the non-circuit area according to the dividing size of the position determination rule to obtain a plurality of dividing areas corresponding to the dividing size.

Specifically, the position determination rule includes a division size, and the non-circuit region can be divided according to the division size, where the division size may be a size corresponding to a circle, a size corresponding to an ellipse, or a size corresponding to a polygon; in the embodiment of the application, the size corresponding to the circle is optimized, the circle corresponding to the division size is covered at any position of the non-circuit area, whether the boundary of the non-circuit area is included in the circle corresponding to the division size is judged, and if the boundary of the non-circuit area is included, the covering position of the circle corresponding to the division size is adjusted; if the boundary of the non-circuit region is not included, the circle is determined as a divided region corresponding to the division size, and the divided region is subtracted from the non-circuit region to be a new non-circuit region for subsequently determining other divided regions. By the above method, a plurality of divided regions can be determined from the non-circuit region according to the division size.

And S132, acquiring pixel distance values between each segmentation region and other segmentation regions.

In order to avoid the determined sucking coordinate position from being concentrated in a certain small area of the PCB, and further to prevent the PCB from sliding off due to unbalanced stress when the sucking disc is adjusted to suck the PCB according to the sucking coordinate position in the follow-up process, the determined division area is screened. If in practical application, the three sucking discs all suck the lower left corner of the PCB, the stress of the PCB is unbalanced in the sucking process.

The central coordinate point of each divided area can be determined, the pixel distance value between each divided area and other divided areas can be calculated according to the central coordinate point of each divided area, for example, the abscissa distance and the ordinate distance between the central coordinate point of the first divided area and the central coordinate point of the second divided area are obtained, the abscissa distance and the ordinate distance are respectively squared and added, and the sum is given a root number to obtain the pixel distance value between the first divided area and the second divided area.

S133, counting the quantity value of the distance value of the pixel corresponding to each segmentation region, which is greater than the distance threshold value in the position determination rule.

The position determination rule also comprises a distance threshold value, which can judge whether the distance value of each pixel of the segmentation area is greater than the distance threshold value, if so, the quantity value of the segmentation area is accumulated by one; according to the above determination method, the quantity value greater than the distance threshold value among the plurality of pixel distance values corresponding to each divided region can be obtained through statistics. For example, the distance threshold may be configured as 1/3 for the PCB board length.

S134, sequencing the segmentation regions according to the number value of each segmentation region; s135, acquiring a plurality of segmentation areas which correspond to the acquisition number in the position determination rule and are ranked in the front as target segmentation areas; and S136, determining the coordinate position of the central point of the target segmentation area as the absorption coordinate position meeting the position determination rule.

And sequencing according to the quantity values of the divided regions, and acquiring a plurality of divided regions which are sequenced in the front and correspond to the acquired quantity in the position determination rule as target divided regions according to the sequencing result of the divided regions. And acquiring the coordinate position of the central point of the target segmentation area as a corresponding suction coordinate position.

For example, if the number of acquisitions in the position determination rule is 4, 4 segmented regions ranked in the top may be correspondingly acquired as the target segmented regions according to the ranking result.

The problem that a certain small area of the PCB is sucked in a centralized manner by the aid of the suckers in the actual application process can be avoided by the obtained target division area, and accordingly the stability of sucking and transferring the PCB is improved.

And S140, sending a driving instruction corresponding to the absorption coordinate information to the translation driving mechanism so that the translation driving mechanism drives the magnetic absorption block to translate to the absorption position corresponding to the absorption coordinate information.

The controller sends and absorbs the drive command that coordinate information corresponds to translation mechanism, and translation mechanism promotes magnetism according to absorbing coordinate information and inhales the piece and carry out the translation to make magnetism inhale the piece translation to and absorb the position of absorbing that coordinate information corresponds, because the sucking disc inhales the piece through magnetism power and corresponding magnetism and inhales, then the position of adjusting magnetism piece also can adjust the position that carries out the sucking disc of magnetism with magnetism the piece correspondence of inhaling.

S150, sending a transfer control instruction to the transfer driver so that the transfer driver drives the transfer board to absorb the PCB for transfer.

The controller can send a transfer control command to the transfer driver, so that the transfer driver can drive the transfer sucker to move according to the transfer control command, and the controller can send the control command and simultaneously control the support sliding rail to move up and down; through the control command that the controller sent to the realization drives the transportation board and moves down and absorbs the PCB board, drives the transportation board rebound again so that the PCB board rises to transmission device's horizontal plane top, later drives the transportation board translation and flatly transports in order to transport the transportation of absorption.

In one embodiment, as shown in fig. 10, step S150 is followed by steps S151, S152 and S153.

S151, after the transfer of one PCB is completed, acquiring a current initial image of the PCB acquired by the image acquisition device; s152, carrying out pixel analysis on the current initial image to determine a current non-circuit area corresponding to the current initial image.

If the PCB boards are all of the same type, the non-circuit area of the PCB boards can not be changed; if the PCB is of different types, the non-circuit area of the PCB may change, and the image acquisition device can acquire the current initial image of the PCB to be transferred after the PCB is transferred, so that the change of the non-circuit area can be adapted to the change of the non-circuit area in time when the PCB is transferred.

And performing pixel analysis on the current initial image in the same manner, so as to determine a current non-circuit area corresponding to the current initial image.

S153, judging whether the current non-circuit area is consistent with a non-circuit area of a previous PCB or not to obtain an area judgment result; and if the area judgment result is yes, the step of sending the driving instruction corresponding to the absorption coordinate information to the translation driving mechanism is executed.

Whether the current non-circuit area is consistent with the non-circuit area of the PCB which is operated before can be judged to obtain an area judgment result, for example, whether the contact ratio between the current non-circuit area and the non-circuit area of the PCB which is operated before is larger than a preset contact ratio threshold value can be judged, and for example, the contact ratio threshold value can be set to 98%; if the contact ratio is greater than the contact ratio threshold value, judging that the current non-circuit area is consistent with the non-circuit area of the previous PCB, and obtaining a 'yes' area judgment result; if the coincidence is not larger than the coincidence degree threshold value, the current non-circuit area is judged to be inconsistent with the non-circuit area of the previous PCB, and a 'no' area judgment result is obtained.

If the area determination result is yes, it indicates that the non-circuit area of the PCB to be transferred later does not change compared to the previous PCB, and the step of sending the driving command corresponding to the absorption coordinate information to the translation driving mechanism is directly performed, that is, the step S140 and the subsequent step S150 are directly performed.

In an embodiment, as shown in fig. 11, steps S1531 and S1532 are further included after step S153.

S1531, if the area judgment result is negative, determining the current absorption coordinate information meeting the position determination rule from the current non-circuit area according to a preset position determination rule.

S1532, updating the absorption coordinate information of the historical record according to the current absorption coordinate information; and executing the step of sending the driving command corresponding to the absorption coordinate information to the translation driving mechanism.

If the area judgment result is negative, it indicates that the non-circuit area of the PCB to be transferred later is changed compared with the previous PCB, the current absorption coordinate information of the current non-circuit area needs to be re-determined, and after the absorption coordinate information stored in the history record is updated according to the current absorption coordinate information, step S140 and subsequent step S150 are executed.

In the PCB transferring method based on image recognition provided by the embodiment of the invention, the method comprises the following steps: acquiring an initial image of the PCB and performing pixel analysis to determine a non-circuit area corresponding to the initial image; determining absorption coordinate information satisfying a position determination rule from the non-circuit area; sending a driving instruction corresponding to the sucking coordinate information to enable the translation driving mechanism to drive the magnetic suction block to translate to a sucking position corresponding to the sucking coordinate information; and sending a transfer control instruction so that the transfer driver drives the transfer board to absorb the PCB for transfer. According to the method, the initial image of the PCB can be acquired through the image acquisition device and intelligently analyzed, the magnetic suction block and the corresponding sucker can be driven to translate to the corresponding suction position through the translation driving mechanism after the coordinate information is determined to be sucked, the suction position can be automatically determined and the sucker can be driven to translate, manual operation is not needed in the whole process, and the efficiency of adjusting the sucker is greatly improved when the PCB is sucked for transferring.

The PCB transferring method based on image recognition may be implemented in the form of a computer program, and the controller 45 may be implemented in the form of a computer device, which may be run on the computer device as shown in fig. 12.

Referring to fig. 12, fig. 12 is a schematic block diagram of a computer device according to an embodiment of the present invention. The computer device may be a controller 45 for performing an image recognition based PCB board transferring method to control the transferring means.

Referring to fig. 12, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a storage medium 503 and an internal memory 504.

The storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032, when executed, may cause the processor 502 to perform a PCB board transfer method based on image recognition, wherein the storage medium 503 may be a volatile storage medium or a non-volatile storage medium.

The processor 502 is used to provide computing and control capabilities that support the operation of the overall computer device 500.

The internal memory 504 provides an environment for running the computer program 5032 in the storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 may be caused to execute the PCB transferring method based on image recognition.

The network interface 505 is used for network communication, such as providing transmission of data information. Those skilled in the art will appreciate that the configuration shown in fig. 12 is a block diagram of only a portion of the configuration associated with aspects of the present invention and is not intended to limit the computing device 500 to which aspects of the present invention may be applied, and that a particular computing device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

The processor 502 is configured to run a computer program 5032 stored in the memory to implement the corresponding functions of the PCB transferring method based on image recognition.

Those skilled in the art will appreciate that the embodiment of a computer device illustrated in fig. 12 does not constitute a limitation on the specific construction of the computer device, and that in other embodiments a computer device may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components. For example, in some embodiments, the computer device may only include a memory and a processor, and in such embodiments, the structures and functions of the memory and the processor are consistent with the embodiment shown in fig. 12, which are not described herein again.

It should be understood that, in the embodiment of the present invention, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In another embodiment of the invention, a computer-readable storage medium is provided. The computer readable storage medium may be a volatile or non-volatile computer readable storage medium. The computer readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps included in the above-mentioned PCB transferring method based on image recognition.

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described devices, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. Those of ordinary skill in the art will appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only a logical division, and there may be other divisions when the actual implementation is performed, or units having the same function may be grouped into one unit, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a computer-readable storage medium, which includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer-readable storage media comprise: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.

While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A PCB transferring device based on image recognition is characterized in that the transferring device is assembled on a mounting bracket;

the transfer plate is provided with at least one translation driving mechanism, and the translation driving mechanism drives the magnetic suction block to translate on the upper end face of the transfer plate so that the sucker which is magnetically fixed with the magnetic suction block translates on the lower end face of the transfer plate;

2. The PCB board transfer device based on image recognition of claim 1, wherein the translation driving mechanism comprises a first slide rail disposed at the edge of the transfer board, a first driving motor disposed on the first slide rail and capable of horizontally sliding along the first slide rail, a second slide rail fixedly connected with the end of the first driving motor, and a push rod disposed on the second slide rail and capable of horizontally sliding along the second slide rail.

3. The PCB transferring device based on image recognition of claim 2, wherein the end of the first driving motor is provided with a jacking cylinder and a sliding block assembled on the jacking cylinder;

the sliding block is driven by the jacking cylinder to vertically slide, and the sliding block is fixedly connected with the second sliding rail.

4. An image recognition-based PCB transferring method applied to the controller of the image recognition-based PCB transferring apparatus according to any one of claims 1 to 3, the method comprising:

and sending a transfer control instruction to the transfer driver so that the transfer driver drives the transfer board to absorb the PCB and then transfer the PCB.

5. The PCB board transferring method based on image recognition of claim 4, wherein the pixel parsing of the initial image to determine non-circuit areas corresponding to the initial image comprises:

acquiring pixel points with pixel values within a preset pixel range from the initial image to obtain an initial pixel area;

expanding the initial pixel region according to a preset expansion width to obtain an expanded pixel region;

and subtracting the extended pixel area from the initial image to obtain a non-circuit area corresponding to the initial image.

6. The PCB board transferring method based on image recognition, according to claim 4, wherein the determining the sucking coordinate information satisfying the position determination rule from the non-circuit area according to a preset position determination rule comprises:

dividing the non-circuit area according to the division size of the position determination rule to obtain a plurality of division areas corresponding to the division size;

acquiring a pixel distance value between each segmentation region and other segmentation regions;

counting the quantity values of the distance values of the pixels corresponding to each segmentation region, which are greater than the distance threshold value in the position determination rule;

sorting the divided regions according to the number value of each divided region;

acquiring a plurality of segmentation areas which correspond to the acquisition quantity in the position determination rule and are ranked in the front as target segmentation areas;

and determining the coordinate position of the central point of the target segmentation area as an absorption coordinate position meeting the position determination rule.

7. The PCB board transfer method based on image recognition of any one of claims 4-6, wherein the method further comprises:

after the transfer of one PCB is finished, acquiring a current initial image of the PCB acquired by the image acquisition device;

performing pixel analysis on the current initial image to determine a current non-circuit area corresponding to the current initial image;

judging whether the current non-circuit area is consistent with a non-circuit area of a previous PCB or not to obtain an area judgment result;

and if the area judgment result is yes, the step of sending the driving instruction corresponding to the absorption coordinate information to the translation driving mechanism is executed.

8. The PCB transferring method based on image recognition of claim 7, wherein the step of judging whether the current non-circuit area is consistent with the non-circuit area of the previous PCB or not and after obtaining the area judgment result further comprises the steps of:

if the area judgment result is negative, determining the current absorption coordinate information meeting the position determination rule from the current non-circuit area according to a preset position determination rule;

updating the absorption coordinate information of the historical record according to the current absorption coordinate information;

and executing the step of sending the driving command corresponding to the absorption coordinate information to the translation driving mechanism.

9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method for PCB transportation based on image recognition according to any of the claims 4-8.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the image recognition-based PCB board transfer method according to any one of claims 4-8.