CN108966500A - The pcb board of view-based access control model tracking is secondary and multiple accurate drilling method - Google Patents
The pcb board of view-based access control model tracking is secondary and multiple accurate drilling method Download PDFInfo
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- CN108966500A CN108966500A CN201810889903.8A CN201810889903A CN108966500A CN 108966500 A CN108966500 A CN 108966500A CN 201810889903 A CN201810889903 A CN 201810889903A CN 108966500 A CN108966500 A CN 108966500A
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/0011—Working of insulating substrates or insulating layers
- H05K3/0044—Mechanical working of the substrate, e.g. drilling or punching
- H05K3/0047—Drilling of holes
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/14—Related to the order of processing steps
- H05K2203/1476—Same or similar kind of process performed in phases, e.g. coarse patterning followed by fine patterning
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- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
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Abstract
The invention discloses a kind of pcb board of view-based access control model tracking is secondary and multiple accurate drilling method, after the image information that pcb board is obtained by vision system, by cvThreshold function by image information binaryzation；Using connected domain present on the image after FindBlobs function calculation processing, and filter the connected region for being less than area；After being quickly found all possible marginal point using Sobel operator, in possible marginal point, edge is accurately positioned using Zernike square boundary operator, the center position coordinates to Mark point or pre-manufactured hole calculated further according to edge coordinate；The data volume for greatly reducing calculative point improves the speed of determining centre coordinate and without misalignment exactness；By the way of repeatedly punching, the centre coordinate of pre-manufactured hole is positioned again when punching every time, drill bit is the bruting process to the edge of the pre-manufactured hole of previous punching when correcting single and position the offset issue being likely to occur, and repeatedly punching, and precision is punched much higher than single.
Description
Technical field
It is secondary the present invention relates to the pcb board in the punching field PCB more particularly to a kind of tracking of view-based access control model and repeatedly accurately beat
Hole method.
Background technique
With the development of computer digital image processing technique and non-destructive testing technology, detect now with identification technology increasingly
Develop towards intelligence, high reliability, high-speed automated on-line checking direction；Computer vision technique and reliability engineering are existing
Two big technical foundation of generation detection；Machine vision has successfully been applied in field of industry detection, wherein including to pcb board
The automatic detection of (that is: printed circuit board) is realized to the automatic positioning of circuit board and the correction of benchmark, in production to accurate
Obtaining component locations has important role.
In the pcb board design phase, designer would generally make Mark point as positioning datum, have accurate position to close
System, just can be subsequent effective position detection；Application No. is: 201510795283.8 patent document discloses one kind and is based on
The PCB pad localization method of machine vision；Directly realized using the position of identification Mark point to welding；But this Direct Recognition
The position of Mark point is punched, and precision is inadequate in pcb board cheesing techniques, is easy to cause and occurs in subsequent use, is punched
The case where position is not adapted to printed-circuit connector.
Summary of the invention
To solve the above-mentioned problems, a kind of pcb board of view-based access control model tracking of this practical disclosure of the invention is secondary and multiple fine
Drilling precision for the first time is improved in true drilling method, the accurate center for obtaining Mark point the latter's pre-manufactured hole, and uses repeatedly punching,
The centre coordinate of pre-manufactured hole is positioned again when punching every time, single is corrected and positions the offset issue being likely to occur, and secondary is beaten
Drill bit is the bruting process to prefabricated bore edges when hole, and precision is punched much higher than single.
Shortcoming present in view of the above technology, the present invention provides a kind of pcb board of view-based access control model tracking is secondary
Accurate drilling method, which comprises the following steps:
S1: the image information of vision system scanning work area acquisition pcb board；
S2: processing system identifies the image information of PCB, obtains Mark dot center location coordinate information on pcb board；
S3: kinematic system control drill bit is moved to fastly above Mark dot center position, and pushes punching, is obtained primary prefabricated
Hole；
S4: after kinematic system control drill bit leaves pre-manufactured hole, major diameter drill bit is replaced；
S5: the image information of vision system scanning work area acquisition pcb board；
S6: processing system identifies the image information of PCB, obtains pcb board pre-manufactured hole center position coordinates information；
S7: kinematic system control drill bit is moved to fastly above pre-manufactured hole center, and is pushed and completed secondary punching, is obtained
Secondary pre-manufactured hole.
Wherein, in step S1 and S5, using back lighting mode reversible-light shooting PCB image；Under the pcb board of drill bit platform position
Side, and above the plate of camera position.
Wherein, in step sl, it needs to detect and whether be transmitted equipped with Mark point if Mark point is not detected on pcb board
Band transports pcb board, if detection has Mark point, judges whether pcb board is kept in motion；If pcb board is static, pressing plate is pushed
The fixed position PCB；And enter S2；If pcb board is not static, do not enter S2.
Wherein, in step S2 and step S6, the image of the pcb board of acquisition can be carried out by cvThreshold function
Threshold values operates to obtain bianry image, the gray value of all pixels greater than threshold values is tuned into 255, all pixels less than threshold values
The gray value of point is tuned into 0；Obtain the figure of only black and white effect；Obtain the figure of only black and white effect.
Wherein, after obtaining the bianry image of pcb board, using being deposited on the image after FindBlobs function calculation processing
Connected domain, each connected domain requires to calculate the data such as its length and width, centre coordinate, area；And it filters and is less than area-limit
Connected region.
Wherein, it after filtering the connected domain less than area-limit, in connected domain position a certain range of reservation, uses
Sobel operator is quickly found all possible marginal point.
Wherein, it after being quickly found all possible marginal point with Sobel operator, in possible marginal point, uses
Zernike square boundary operator is further accurately positioned edge, and arrives Mark dot center position coordinates according to what edge coordinate calculated.
Wherein, it in S3 and S7 step, needs first to carry out origin calibration to drill bit；Compare drill bit origin and Mark point
Or the center position coordinates of pre-manufactured hole, adjust bit location.
To achieve the goals above, the present invention also provides a kind of multiple accurate punching sides of the pcb board of view-based access control model tracking
Method, comprising the following steps:
Step in the secondary accurate drilling method of pcb board of view-based access control model tracking is repeated several times；Multiple pre-manufactured holes are gradually obtained,
Until finally obtaining molding hole, terminate punching.
The beneficial effects of the present invention are: compared with prior art, the pcb board provided by the invention using Mark point location is beaten
Hole method；Using back lighting mode reversible-light shooting PCB image；Below the pcb board of drill bit platform position, and above the plate of camera position；
The edge contour of transparent area and alternatively non-transparent district on pcb board is obvious on the image, and image background interference is few, is conducive to image
Edge extracting and positioning；When obtaining Mark dot center coordinate, the coordinate of probable edge point is first obtained, then verifies to obtain Accurate Points
Coordinate；Centre coordinate position is obtained by the coordinate of Accurate Points, possible point is first determined, is greatly reduced in verifying calculative
The data volume of point, improves the speed of determining centre coordinate and without misalignment exactness；Origin calibration first is carried out to drill bit before punching；
The center position coordinates of drill bit origin and MARK point or pre-manufactured hole are compared, bit location is adjusted；Guarantee precision；Entirely
Control system full automatically punching every time again positions the centre coordinate of pre-manufactured hole when punching, entangles by the way of repeatedly punching
Positive single positions the offset issue being likely to occur, and drill bit is the bruting process to prefabricated bore edges when multiple punching, is repeatedly beaten
Hole is to punch to the gradually grinding accuracy at the edge of pre-manufactured hole much higher than single.
Detailed description of the invention
Fig. 1 is secondary punching overall flow figure of the invention；
Fig. 2 is selection Mark point or pre-manufactured hole center point coordinate flow chart of the invention；
Fig. 3 is multiple punching overall flow figure of the invention.
Specific embodiment
In order to more clearly state the present invention, the present invention is further described with reference to the accompanying drawing.
The some English abbreviations covered in the present invention, the next one section meaning for focusing on to state these English abbreviations.
Such as: the Mark point of pcb board is in board design, and pcb board is applied to the position identification point on automatic placement machine,
Also mark point or characteristic point are；It is the global shape of piece image target, high-order Character eigenvector describes image object
Details.
Referring to Fig. 1, the present invention by taking process as an example, specifically describes the pcb board punching side using Mark point location
Method, specifically includes the following steps:
S1: pcb board to be measured is put into the collection surface of vision system, selects the vision system with photosensitive element, right
Pcb board in collection surface is scanned, the image information of acquisition；
S2: computer processing system identifies acquisition image information in last step, and is calculated on pcb board
Mark dot center location coordinate information；
S3: kinematic system control drill bit is moved to fastly above Mark dot center position, and pushes punching, is obtained primary prefabricated
Hole.
S4: kinematic system control drill bit leaves pre-manufactured hole, and replaces major diameter drill bit；
S5: the image information of vision system scanning work area acquisition pcb board；
S6: processing system identifies the image information of pcb board, obtains pcb board pre-manufactured hole center position coordinates information；
S7: kinematic system control drill bit is moved to fastly above pre-manufactured hole center, and is pushed and completed secondary punching, is obtained
Secondary pre-manufactured hole.
In the present embodiment, using back lighting mode reversible-light shooting PCB image；Below the pcb board of drill bit platform position, light source
In side below pcb board；And above the plate of camera position；The edge contour of transparent area and alternatively non-transparent district on pcb board is in image
Upper obvious, image background interference is few, is conducive to Edge extraction and positioning；Before step S1, need first to detect pcb board
On whether be equipped with Mark point, if Mark point is not detected, conveyer belt transports pcb board, if detection have Mark point, judge PCB
Whether plate is kept in motion；If pcb board is static, pressing plate pushes the fixed position PCB；And enter S2；If pcb board is not static,
Do not enter S2 then；Specifically, the visible workspace of system repeatedly scan video, further to PCB if detection has pcb board Mark point
Plate carries out motion analysis, when such as detecting that pcb board movement velocity drops to certain value, i.e., detects the coordinate phase of Mark point for the second time
When being less than certain threshold value to the offset of first time detection, kinetic control system control pressing plate, which pushes fixation, makes pcb board；In this mistake
Need to be carried out continuously the detection of Mark point in journey, it is desirable that The faster the better for detection speed, to be conducive to improve the punching speed of puncher
Degree.
Referring to Fig. 2, can be carried out to the image of the pcb board of acquisition in step S2 and S6 by cvThreshold function
Threshold operation obtains bianry image, and the data after preservation binaryzation；Specifically, by the ash of all pixels greater than threshold value
Angle value is tuned into 255, and the gray value of all pixels less than threshold values is tuned into 0；Obtain the figure of only black and white effect；Obtain by
After the bianry image of pcb board, using independent connected domain present on the image after FindBlobs function calculation processing, each
Connected domain requires to calculate the data such as its length and width, centre coordinate, area；And filtering surface product value is less than the connected region of threshold values；?
After filtering is less than the connected domain of area-limit, in connected domain position a certain range of reservation, it is quickly found with Sobel operator
All possible marginal point；Sobel operator includes the matrix of two groups of 3x3, respectively transverse direction and longitudinal direction, it is made plane with image
Convolution can obtain the brightness difference approximation of transverse direction and longitudinal direction respectively.If representing original image with A, Gx and Gy generation respectively
Image of the table through transverse direction and longitudinal direction edge detection, formula are as follows:
The transverse direction and longitudinal direction gradient approximation of each pixel of image can be combined with formula below, to calculate gradient
Size；Gradient direction can be calculated with following formula；In the certain of round MARK point position
In range, all possible the edge of the circle point is quickly found with Sobel operator；Since Sobel operator does not need to carry out full figure fortune
It calculates, therefore speed is quickly；Wherein, after being quickly found all possible marginal point with Sobel operator, in possible marginal point
It is interior, edge is further accurately positioned using Zernike square boundary operator, and arrive Mark dot center position according to what edge coordinate calculated
Set coordinate；In pattern-recognition, an important problem is also to can be carried out identification to the directional change of target；Zernike square
It is one group of orthogonal moment, the characteristic with rotational invariance, i.e. rolling target does not change its modulus value；Since Zernike square can be with
Construct any High Order Moment；So the recognition effect of Zernike square is better than other methods；For a width digital image, integral is with asking
And replacement, i.e. A nm=∑ x ∑ y f (x, y) * [(conjugation of V nm (ρ, θ)], x^2+y^2≤1；The practical width that calculates gives
When the Zernike square of image, it is necessary to the center of gravity of image be moved on to coordinate dot, image pixel point is mapped in unit circle.By
Above it is found that make [conjugation of Vnm (ρ, θ)] can extract image feature, low frequency characteristic by n value it is small [(V nm (ρ, θ's) is total to
Yoke)] it is extracted to extract high frequency characteristics by n value is big；Zernike square can be with any configuration high price square, and High Order Moment includes more
More pictorial information, so Zernike square recognition effect is more preferable；Zernike square only has the movement of phase；Its modulus value is protected
It holds constant, it is possible to will | A nm | the rotational invariance feature as target.
In the present embodiment, when Zernike square operator is accurately positioned edge, the parameter of pixel is calculated；The ginseng that will be obtained
Several to compare with given threshold, whether it is marginal point that judgement is changed the time；Generallyd use in existing means Prewitt, Robert and
The edge detection algorithms such as Canny；Prewitt operator is a kind of edge detection of first order differential operator, using above and below pixel, it is left
The gray scale difference of right adjoint point reaches extremum extracting edge in edge, removes part pseudo-edge, has smoothing effect to noise；Its
Principle is to carry out neighborhood convolution using both direction template and image in image space to complete, the two direction templates one
Detection level edge, a detection vertical edge；Canny edge detection algorithm is that JohnF.Canny developed in 1986
A multistage edge detection algorithm；Roberts edge detection operator is a kind of calculation that edge is found using local difference operator
Son, result edge is not very smooth after Robert operator image procossing；Roberts edge detection operator is a kind of poor using part
Divide the operator at operator searching edge, result edge is not very smooth after Robert operator image procossing；Through analyzing, due to Robert
Operator would generally generate wider response in the region near image border, therefore use the edge image of above-mentioned operator detection normal
Micronization processes need to be done, the precision of edge positioning is not very high；Robert operator is exactly an image gradient processing in fact, is a kind of
Cross-differential method.Its approximate formula are as follows: [f (x, y)]=| [f (x, y)-f (x+1, y+1)]+[f (x+1, y)-f (x, y+
1)]|；Then edge is extracted using threshold method；This class operator is all pixel precision grade, in order to improve the positioning of Mark dot center
Precision needs the location algorithm using sub-pixel；Sub-pixel Edge Detection Technology is proposed mainly have slotting earliest by Huechel
A variety of detection methods such as value, moments method and least square method；The interpolation calculation time is relatively short, but positioning accuracy is low, anti-noise energy
Power is poor；Moments method and least square method positioning accuracy are high, and anti-noise ability is strong, but it is slightly long to calculate the time, and least square method needs
There is certain priori knowledge；Use invention Sobel-Zernike integration algorithm to obtain the positioning accuracy of sub-pixel herein, together
When compared with square operator have faster speed.
Referring to Fig. 3, the present invention also provides a kind of multiple accurate drilling methods of pcb board of view-based access control model tracking, including
Following steps: the accurate punch out step of secondary pcb board of view-based access control model tracking is repeated several times；Multiple pre-manufactured holes are gradually obtained, until
It is completely the same to obtain molding hole, terminates punching；By taking 4 punchings as an example, Mark point is obtained every time or prefabricated empty center is sat
After mark, kinetic control system needs first to carry out origin calibration to drill bit；Compare drill bit origin and Mark point or prefabricated sky
Center position coordinates, the X, Y coordinates for first adjusting drill bit make right above drill bit movement to Mark point or pre-manufactured hole center,
Kinetic control system is moved in control drill bit in Z-direction；It pushes and realizes precisely punching；When 4 punchings, need to Mark point
Or 4 calculating again of the center position coordinates of pre-manufactured hole, it corrects single and positions the offset issue being likely to occur；And from second
Punching starts, and it is bruting process to obtained prefabricated bore edges that punching, which is drill bit, every time, and the last molding hole arrived is smart
Degree is much higher than the molding hole that single punches.
Present invention has an advantage that
1, the pcb board drilling method provided by the invention using Mark point location；Using back lighting mode reversible-light shooting
PCB image；Below the pcb board of drill bit platform position, and above the plate of camera position；The edge of transparent area and alternatively non-transparent district on pcb board
Profile is obvious on the image, and image background interference is few, is conducive to Edge extraction and positioning；
2, when obtaining MARK dot center coordinate, the coordinate of probable edge point is first obtained, then verifies to obtain the seat of Accurate Points
Mark；Centre coordinate position is obtained by the coordinate of Accurate Points, first determines possible point, greatly reduces calculative point in verifying
Data volume improves the speed of determining centre coordinate and without misalignment exactness；
3, origin calibration first is carried out to drill bit before punching；Drill bit origin and MARK dot center position coordinates are compared,
Adjust bit location；Guarantee precision；
4, it when repeatedly punching, needs repeatedly to calculate the center position coordinates of Mark point or pre-manufactured hole again, correct single
It is secondary to position the offset issue being likely to occur；
5, since punching second, it is bruting process to prefabricated bore edges that punching, which is drill bit, every time, and last arrives
Molding hole precision be much higher than the molding hole punched of single.
Disclosed above is only several specific embodiments of the invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think variation should all fall into protection scope of the present invention.
Claims (9)
1. a kind of secondary accurate drilling method of pcb board of view-based access control model tracking, which comprises the following steps:
S1: the image information of vision system scanning work area acquisition pcb board；
S2: processing system identifies the image information of PCB, obtains Mark dot center location coordinate information on pcb board；
S3: kinematic system control drill bit is moved to fastly above Mark dot center position, and pushes punching, obtains a pre-manufactured hole；
S4: after kinematic system control drill bit leaves pre-manufactured hole, major diameter drill bit is replaced；
S5: the image information of vision system scanning work area acquisition pcb board；
S6: processing system identifies the image information of PCB, obtains pcb board pre-manufactured hole center position coordinates information；
S7: kinematic system control drill bit is moved to fastly above pre-manufactured hole center, and is pushed and completed secondary punching, is obtained secondary
Pre-manufactured hole.
2. the secondary accurate drilling method of pcb board of view-based access control model tracking according to claim 1, which is characterized in that in step
In rapid S1 and S5, using back lighting mode reversible-light shooting PCB image；Below the pcb board of drill bit platform position, and on the plate of camera position
Side.
3. the secondary accurate drilling method of pcb board of view-based access control model tracking according to claim 1, which is characterized in that in step
In rapid S1, need to detect whether be equipped with Mark point on pcb board, if Mark point is not detected, conveyer belt transports pcb board, if inspection
Survey has Mark point, then judges whether pcb board is kept in motion；If pcb board is static, pressing plate pushes the fixed position PCB；It goes forward side by side
Enter S2；If pcb board is not static, do not enter S2.
4. the secondary accurate drilling method of pcb board of view-based access control model tracking according to claim 1, which is characterized in that in step
In rapid S2 and step S6, threshold values can be carried out to the image of the pcb board of acquisition by cvThreshold function and operate to obtain two-value
The gray value of all pixels greater than threshold values is tuned into 255 by image, and the gray value of all pixels less than threshold values is tuned into 0；
Obtain the figure of only black and white effect；Obtain the figure of only black and white effect.
5. the secondary accurate drilling method of pcb board of view-based access control model tracking according to claim 3, which is characterized in that
To after the bianry image by pcb board, connected domain, Mei Gelian present on the image after FindBlobs function calculation processing are utilized
Logical domain requires to calculate the data such as its length and width, centre coordinate, area；And filter the connected region for being less than area-limit.
6. the secondary accurate drilling method of pcb board of view-based access control model tracking according to claim 4, which is characterized in that in mistake
After filter is less than the connected domain of area-limit, in connected domain position a certain range of reservation, it is quickly found with Sobel operator
All possible marginal point.
7. the secondary accurate drilling method of pcb board of view-based access control model according to claim 5 tracking, which is characterized in that with
After Sobel operator is quickly found all possible marginal point, in possible marginal point, calculated using Zernike square edge
It is sub to be further accurately positioned edge, and Mark dot center position coordinates are arrived according to what edge coordinate calculated.
8. the secondary accurate drilling method of pcb board of view-based access control model tracking according to claim 1, which is characterized in that in S3
In S7 step, need first to carry out origin calibration to drill bit；Compare the center of drill bit origin and Mark point or pre-manufactured hole
Position coordinates adjust bit location.
9. a kind of multiple accurate drilling method of the pcb board of view-based access control model tracking, which comprises the following steps:
Step in the secondary accurate drilling method of pcb board of view-based access control model tracking is repeated several times；Multiple pre-manufactured holes are gradually obtained, until
Molding hole is finally obtained, punching is terminated.
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| CN109933919B (en) * | 2019-03-18 | 2023-03-24 | 武汉凌云建筑装饰工程有限公司 | Hole distribution method based on curtain wall streamer parting aluminum plate |
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| CN111037556A (en) * | 2019-12-19 | 2020-04-21 | 上海新时达机器人有限公司 | Punching control method and punching control equipment |
| CN111583222A (en) * | 2020-04-30 | 2020-08-25 | 广东正业科技股份有限公司 | Test point automatic positioning method, copper thickness automatic detection method and system |
| CN111583222B (en) * | 2020-04-30 | 2024-01-02 | 广东正业科技股份有限公司 | Automatic positioning method for test point, automatic copper thickness detection method and system |
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Application publication date: 20181207 |