CN104729406B - A kind of machine vision localization method of element pasted on surface - Google Patents
A kind of machine vision localization method of element pasted on surface Download PDFInfo
- Publication number
- CN104729406B CN104729406B CN201510125262.5A CN201510125262A CN104729406B CN 104729406 B CN104729406 B CN 104729406B CN 201510125262 A CN201510125262 A CN 201510125262A CN 104729406 B CN104729406 B CN 104729406B
- Authority
- CN
- China
- Prior art keywords
- coordinate
- camera
- feature point
- tray platform
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
A kind of machine vision localization method of element pasted on surface, using the process of the image of camera collection surface mount components, wherein, the tray platform that setting can in the horizontal direction be translated and rotated, one camera is set above tray platform, view data Transfer pipe is set between camera and computer, a calibration steps is carried out first, then carry out the positioning step of workpiece to be processed.Using image shot by camera, collection volume of data, obtain a coordinate system being made up of the axial coordinate and visual pattern location of pixels of platform, and then measure side-play amount and calibrated, photo is sent to computer again, characteristic point particular location in the picture is found out by vision matching algorithm in the picture, sampled by 2 points to the certain distance on workpiece, measurement radix is expanded into an order of magnitude, making the error of image can almost ignore, and avoid the dependence of the shape and vision algorithm for characteristic point, applicable surface is wider, precision is higher.
Description
Technical field:
The present invention relates to electricity field, more particularly to electronic component surface mounting technology, particularly a kind of surface mount
The machine vision localization method of element.
Background technology:
Surface mounting technology industry is high due to Product Precision, and workpiece situation is complicated and the reason such as changeable, is done with tradition positioning
Method cannot be produced precisely and at high speed.In the prior art, element pasted on surface is improve using vision positioning method to be held in the palm in processing
The location efficiency of disk platform.But, existing vision positioning technology analyzes the position for obtaining by template image, specifically,
Exactly there is the vector graphics of certain identification by target workpiece, its angle and position is found out by vision computing.
This method is not accurate enough, is calculated by pixel especially in the measuring and calculating of angle, when sampling due to vision, pixel
There is no floating number this concept, so inevitably there is the missing of precision, cause the presence of error.
The content of the invention：
It is an object of the invention to provide a kind of machine vision localization method of element pasted on surface, described this surface
The machine vision localization method of mount components will solve to analyze the vision positioning for obtaining position by template image in the prior art
There is the technical problem of precision missing and error in technology.
The machine vision localization method of this element pasted on surface of the invention, an including utilization camera is gathered and analyzed
The process of the image of element pasted on surface, wherein, the image of element pasted on surface is gathered and analyzed in described utilization camera
During, a tray platform that can in the horizontal direction translate and rotate is set, fixed in the top of described tray platform
One camera is set, view data Transfer pipe is set between described camera and a computer, a school is carried out first
Quasi- step, then carries out the positioning step of workpiece to be processed, in described calibration steps, a circle is made in tray platform
Shape characteristic point is simultaneously placed into viewing field of camera center, and then tray platform is carried out the flat of X-direction and Y-direction respectively
Move, using the image of the circular feature point of camera collection two or more position, put down in conjunction with the mobile pallet of each image correspondence
The coordinate of platform, the location of pixels obtained using the coordinate position and correspondence of each positioning calculates location of pixels and seat in photo
Target proportionate relationship, then follow the steps below：
Step one, viewing field of camera center is placed on by circular feature point,
Step 2, by tray platform to rotating clockwise or counter-clockwise 1 °,
Step 3, then in X direction with the translational tray platform of Y-direction, make circular feature point be located at image center location,
Step 4, the current X of recoding tray platform, the coordinate of Y-direction,
Step 5, repeat step two arrives step 4, stops when being more than 60 ° to the accumulative deflection of tray platform,
The tray platform coordinate sequence that step one to step 5 is collected calculates centre coordinate by least square method,
The coordinate is the actual coordinate in the tray platform corresponding to camera image center,
In the positioning step of described workpiece to be processed, workpiece to be processed is placed in standard Working position, to be processed
One fisrt feature point and a second feature point are set on workpiece, and mobile tray platform makes fisrt feature point appear in camera
In visual field, photograph is at this moment gathered, regarded according to the camera obtained in the location of pixels of fisrt feature point in photo, and calibration flow
Field centre coordinate, draws the standard machining coordinate of fisrt feature point, then moves tray platform, second feature point is appeared in phase
In machine visual field, photograph is at this moment gathered, according to the camera obtained in the location of pixels of second feature point in photo, and calibration flow
The coordinate of field of view center, draws the standard machining coordinate of second feature point；According to reality processing coordinate and standard machining coordinate
Deviation is repositioned, and reaches standard Working position, and new workpiece to be processed positions two fact characteristic points in visual field
Location of pixels, the corresponding coordinate for calculating is compared by the standard machining coordinate with two characteristic points, directly calculates new work
The differential seat angle of Working position residing for part and standard Working position, then by the seat after the correction angle for calculating new workpiece
Mark, draws x, and the translation distance of y is repositioned, and reaches standard Working position.
The present invention and prior art compare, and its effect is positive and obvious.The present invention utilizes industrial camera shooting figure
Picture, gathers volume of data, obtains a coordinate system being made up of the axial coordinate and visual pattern location of pixels of platform, and then
Accurately measure side-play amount and calibrated, then be sent to photo by including the view data Transfer pipe including Ethernet
Computer, finds out characteristic point particular location in the picture, by workpiece in the picture by vision matching algorithm
2 points of set a distance are sampled, and measurement radix is expanded into an order of magnitude, and making the error of image can almost ignore, and
The dependence of the shape and vision algorithm for characteristic point is avoided, applicable surface is wider, and precision is higher.
Brief description of the drawings：
Fig. 1 is a kind of schematic diagram of the machine vision localization method of element pasted on surface of the invention.
Specific embodiment:
Embodiment 1：
A kind of machine vision localization method of element pasted on surface of the present invention, an including utilization camera is gathered and analytical table
The process of the image of face mount components, wherein, in described utilization camera collection and the mistake of the image of analysis element pasted on surface
Cheng Zhong, sets a tray platform 1 that can in the horizontal direction translate and rotate, and is fixed in the top of described tray platform 1
One camera 2 is set, view data Transfer pipe is set between described camera 2 and a computer (not shown), it is first
A calibration steps is first carried out, the positioning step of workpiece to be processed 3 is then carried out, it is flat in pallet in described calibration steps
A circular feature point is made in platform 1 and is placed into the field of view center position of camera 2, tray platform 1 then being carried out into X respectively
Direction and the translation of Y-direction, using the image of the circular feature point of the collection two or more of camera 2 position, in conjunction with each image
The coordinate of the mobile tray platform of correspondence, the location of pixels obtained using the coordinate position and correspondence of each positioning, calculates photograph
The proportionate relationship of location of pixels and coordinate in piece, then follow the steps below：
Step one, the field of view center position of camera 2 is placed on by circular feature point,
Step 2, by tray platform 1 to rotating clockwise or counter-clockwise 1 °,
Step 3, then in X direction with the translational tray platform 1 of Y-direction, make circular feature point be located at image center location,
Step 4, the current X of recoding tray platform 1, the coordinate of Y-direction,
Step 5, repeat step two arrives step 4, stops when being more than 60 ° to the accumulative deflection of tray platform 1,
The coordinate sequence of tray platform 1 that step one to step 5 is collected calculates center and sits by least square method
Mark, the coordinate is the actual coordinate in the tray platform 1 corresponding to the picture centre of camera 2,
In the positioning step of described workpiece to be processed 3, workpiece to be processed 3 is placed in standard Working position, to be added
An one fisrt feature point B1 and second feature point B2 is set on work workpiece 3, and mobile tray platform 1 makes fisrt feature point B1
Appear in the visual field of camera 2, at this moment gather photograph, according to the location of pixels of fisrt feature point B1 in photo, and calibration flow
In the coordinate of circular feature point that obtains, it can be deduced that the standard machining coordinate of fisrt feature point B1.Then tray platform is moved
1, in second feature point B2 is appeared in the visual field of camera 2, photograph is at this moment gathered, according to the pixel position of second feature point B2 in photo
Put, and calibrate the coordinate of the circular feature point obtained in flow, draw the standard machining coordinate of second feature point B2.
In actual production, new workpiece is placed on the Working position on platform, mobile platform, goes out fact characteristic point B1
In the present visual field of camera 2, photograph is at this moment gathered, obtained according in the location of pixels of characteristic point B1 in photo, and calibration flow
Circular feature point coordinate, it can be deduced that the reality processing coordinate of characteristic point B1.Then mobile platform, makes fact characteristic point B2
Appear in the visual field of camera 2, at this moment gather photograph, obtained according in the location of pixels of characteristic point B2 in photo, and calibration flow
The field of view center coordinate for arriving, draws the reality processing coordinate of characteristic point B2.
The coordinate of the standard Working position of known two characteristic points of workpiece again, can according to the coordinate of reality processing position and
The coordinate of standard Working position, obtains X to, Y-direction and anglec of rotation deviation.Platform is according to front and rear deviation, left-right deviation and rotation
After gyration is adjusted position, workpiece can be moved to standard Working position.
Specifically, in the present embodiment, fisrt feature point B1 and second feature point B2 uses cross pattern.
Claims (1)
1. a kind of machine vision localization method of element pasted on surface, an including utilization camera is gathered and analysis surface mount unit
The process of the image of part, it is characterised in that：In described utilization camera collection and the process of the image of analysis element pasted on surface
In, a tray platform that can in the horizontal direction translate and rotate is set, it is fixedly installed above described tray platform
One camera, sets view data Transfer pipe between described camera and a computer, and a calibration step is carried out first
Suddenly, the positioning step of workpiece to be processed is then carried out, in described calibration steps, a circular spy is made in tray platform
Viewing field of camera center is levied a little and be placed into, then tray platform is carried out the flat of X-direction and Y direction respectively
Move, using the image of the circular feature point of camera collection two or more position, put down in conjunction with the mobile pallet of each image correspondence
The coordinate of platform, the location of pixels obtained using the coordinate position and correspondence of each positioning calculates location of pixels and seat in photo
Target proportionate relationship, then follow the steps below：
Step one, viewing field of camera center is placed on by circular feature point,
Step 2, by tray platform to rotating clockwise or counter-clockwise 1 °,
Step 3, then along X-direction and Y direction translational tray platform, circular feature point is located at image center location,
Step 4, the current X of recoding tray platform, the coordinate of Y direction,
Step 5, repeat step two arrives step 4, stops when being more than 60 ° to the accumulative deflection of tray platform,
The tray platform coordinate sequence that step one to step 5 is collected calculates centre coordinate by least square method, the seat
The actual coordinate in the tray platform corresponding to camera image center is designated as,
In the positioning step of described workpiece to be processed, workpiece to be processed is placed in standard Working position, in workpiece to be processed
Upper to set a fisrt feature point and a second feature point, mobile tray platform makes fisrt feature point appear in viewing field of camera
In, photograph is at this moment gathered, according in the viewing field of camera obtained in the location of pixels of fisrt feature point in photo, and calibration flow
Heart coordinate, draws the standard machining coordinate of fisrt feature point, then moves tray platform, second feature point is appeared in camera and regards
In, photograph is at this moment gathered, according to the viewing field of camera obtained in the location of pixels of second feature point in photo, and calibration flow
The coordinate at center, draws the standard machining coordinate of second feature point；According to reality processing coordinate and the deviation of standard machining coordinate
Repositioned, reached standard Working position, new workpiece to be processed is positioned pixel of two fact characteristic points in visual field
Position, the corresponding coordinate for calculating is compared by the standard machining coordinate with two characteristic points, directly calculates new workpiece institute
The differential seat angle of place's Working position and standard Working position, then by the coordinate after the correction angle for calculating new workpiece, obtains
Go out x, the translation distance of y is repositioned, and reaches standard Working position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510125262.5A CN104729406B (en) | 2015-03-23 | 2015-03-23 | A kind of machine vision localization method of element pasted on surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510125262.5A CN104729406B (en) | 2015-03-23 | 2015-03-23 | A kind of machine vision localization method of element pasted on surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104729406A CN104729406A (en) | 2015-06-24 |
| CN104729406B true CN104729406B (en) | 2017-06-13 |
Family
ID=53453534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510125262.5A Active CN104729406B (en) | 2015-03-23 | 2015-03-23 | A kind of machine vision localization method of element pasted on surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104729406B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105354858B (en) * | 2015-12-09 | 2018-04-24 | 北京中电科电子装备有限公司 | Scribing machine searches the method, apparatus and scribing machine of same block characteristic point |
| CN105643265B (en) * | 2016-01-12 | 2018-05-22 | 济南大学 | A kind of detection method for the cooperation of large-scale workpiece fitting surface |
| CN106931912B (en) * | 2016-12-30 | 2019-03-05 | 西安航天精密机电研究所 | A method of for examining torquer |
| CN108243602A (en) * | 2017-01-06 | 2018-07-03 | 广东华志珹智能科技有限公司 | A kind of screening cover chip mounter image identification system and method |
| CN106814307B (en) * | 2017-01-10 | 2020-05-12 | 深圳鼎缘电子科技有限公司 | Automatic debugging method and system for cavity filter |
| WO2019041155A1 (en) * | 2017-08-30 | 2019-03-07 | Qualcomm Incorporated | Robust navigation of a robotic vehicle |
| CN107578442B (en) * | 2017-09-05 | 2019-11-26 | 西北工业大学 | A kind of centralized positioning aligning method and system |
| CN110333470B (en) * | 2019-07-18 | 2022-06-28 | 深圳橙子自动化有限公司 | Device mounting calibration method for flying probe test |
| CN110854723B (en) * | 2019-10-17 | 2021-03-09 | 湖南长高高压开关集团股份公司 | Method for correcting porcelain insulator of open-type isolating switch |
| CN111369520B (en) * | 2020-03-02 | 2023-07-07 | 紫光日东科技（深圳）有限公司 | Method for rapidly positioning workpiece by dispensing machine |
| CN111517268B (en) * | 2020-05-15 | 2023-09-19 | 浙江钰茂泽智能装备有限公司 | Jade mattress positioning device and visual positioning method |
| CN113379622A (en) * | 2021-05-27 | 2021-09-10 | 中科晶源微电子技术（北京）有限公司 | Pixel size calibration method, device and equipment for electron beam defect detection |
| CN115416394B (en) * | 2022-09-07 | 2023-04-28 | 天津文洲机械有限公司 | Screen printer for small triangular glass sheet of automobile |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102103336A (en) * | 2011-03-14 | 2011-06-22 | 张雯 | High-accuracy alignment mark structure based on machine vision alignment |
| CN105323455A (en) * | 2014-07-31 | 2016-02-10 | 宁波舜宇光电信息有限公司 | Positioning compensation method based on machine vision |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1349114A3 (en) * | 2002-03-19 | 2011-06-15 | Canon Kabushiki Kaisha | Sensor calibration apparatus, sensor calibration method, program, storage medium, information processing method, and information processing apparatus |
| JP5440461B2 (en) * | 2010-09-13 | 2014-03-12 | 株式会社リコー | Calibration apparatus, distance measurement system, calibration method, and calibration program |
-
2015
- 2015-03-23 CN CN201510125262.5A patent/CN104729406B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102103336A (en) * | 2011-03-14 | 2011-06-22 | 张雯 | High-accuracy alignment mark structure based on machine vision alignment |
| CN105323455A (en) * | 2014-07-31 | 2016-02-10 | 宁波舜宇光电信息有限公司 | Positioning compensation method based on machine vision |
Non-Patent Citations (1)
| Title |
|---|
| 基于机器视觉的贴片机元件定位的图像处理算法研究;王力等;《电工电气》;20090131(第1期);第57-59页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104729406A (en) | 2015-06-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104729406B (en) | A kind of machine vision localization method of element pasted on surface | |
| CN103471531B (en) | The online non-contact measurement method of axial workpiece linearity | |
| CN107186548B (en) | A kind of five-axle number control machine tool rotating shaft geometric error detection method | |
| CN106780623B (en) | Rapid calibration method for robot vision system | |
| CN110014426B (en) | Method for grabbing symmetrically-shaped workpieces at high precision by using low-precision depth camera | |
| CN104359404B (en) | The fast vision detection method of a large amount of small size guide holes on airplane parts | |
| CN111735479A (en) | Multi-sensor combined calibration device and method | |
| CN104819690B (en) | A kind of double camera machine vision localization method of element pasted on surface | |
| CN110378969B (en) | Convergent binocular camera calibration method based on 3D geometric constraint | |
| CN106935683B (en) | A kind of positioning of solar battery sheet SPEED VISION and correction system and its method | |
| CN108363508A (en) | A kind of Mobile phone touch control screen Mark positioning non-contact vision detection method | |
| CN109272574B (en) | Construction method and calibration method of linear array rotary scanning camera imaging model based on projection transformation | |
| CN107942949A (en) | A kind of lathe vision positioning method and system, lathe | |
| CN112614098B (en) | Blank positioning and machining allowance analysis method based on augmented reality | |
| CN107588723B (en) | Circular mark leak source detection method on a kind of High-speed target based on two-step method | |
| CN109272555B (en) | External parameter obtaining and calibrating method for RGB-D camera | |
| CN110879048A (en) | Real-time monitoring method for blade torsion angle based on mark point detection | |
| CN109448043A (en) | Standing tree height extracting method under plane restriction | |
| Wei et al. | Calibration method for line structured light vision sensor based on vanish points and lines | |
| Wang et al. | Error analysis and improved calibration algorithm for LED chip localization system based on visual feedback | |
| CN103646377B (en) | Coordinate conversion method and device | |
| CN108257184B (en) | Camera attitude measurement method based on square lattice cooperative target | |
| CN106441162A (en) | Cylindrical object verticality noncontact detection device and method | |
| CN112700480B (en) | Point cloud rapid registration method for small-size object rotation scanning and application | |
| CN102847661A (en) | Intelligent high-speed contactless high-accuracy glue spraying method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 201821 Shanghai city Jiading District Zhaoxian Road No. 655 Applicant after: Shanghai ruibode intelligent system Limited by Share Ltd Address before: 200335 Shanghai city Changning District road of 8 Building No. 3 Applicant before: Shanghai Ruibode Intelligent System Sci. & Tech. Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Demin Inventor after: Cao Xin Inventor after: Yang Xi Inventor after: Li Jizhou Inventor after: Pan Xiaodi Inventor before: Lv Deyun Inventor before: Wang Demin |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 201821 Shanghai city Jiading District Zhaoxian Road No. 655 Patentee after: SHANGHAI CHINESE CAR RIBERD INTELLIGENT SYSTEM Co.,Ltd. Address before: 201821 Shanghai city Jiading District Zhaoxian Road No. 655 Patentee before: SHANGHAI RUIBODE INTELLIGENT SYSTEMS Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |