CN114897828A - Automatic chip identification and sorting method, device and system - Google Patents
Automatic chip identification and sorting method, device and system Download PDFInfo
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- 238000005516 engineering process Methods 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
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- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 229910001385 heavy metal Inorganic materials 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
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- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
- G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- H—ELECTRICITY
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- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67271—Sorting devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
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Abstract
The invention discloses a method, a system and a device for automatically identifying and sorting chips, wherein the method comprises the following steps: acquiring a target chip detection image, and extracting characteristic points of the detection image; matching the image characteristic points with a pre-stored chip template characteristic point template, and judging the classification attributes of the image characteristic points; determining a target classification position of a target chip according to the classification attribute, and determining a corresponding control signal; controlling a transmission component to transmit the target chip to a target classification position according to the control signal; responding to the target chip conveyed to the target sorting position, controlling a push rod assembly corresponding to the target sorting position to push the target chip to a corresponding sorting box; the invention realizes automatic identification and accurate sorting of chip types.
Description
Technical Field
The invention relates to the technical field of chip sorting, in particular to a method, a device and a system for automatically identifying and sorting chips.
Background
In the age of rapid development of information, the development of high-performance electronic chips has a high status in the aspects of economic development of various countries and national information security, and nowadays, various electronic products in various fields have the shadow of electronic chips, which profoundly affects the life of one generation of people and the next generation of people. Due to different application environments of the chips, the chips appear in different packaging forms, and DIP, QFP, TSOP, BGA, CSP, and QFN are common packaging forms. For the same packaged chip, any differences in detail within the chip will result in the chip being provided to the user in different models, which may be represented by a different character in the model of the chip.
The chip packaging forms of the 74LSxxx series chips commonly used in basic experimental teaching, such as 74LS00 (two-input four-nand), 74LS04 (six-inverter), 74LS10 (three-input three-nand), 74LS20 (four-input two-nand), 74LS48 (BCD-seven-segment decoder/driver), 74LS86 (two-input four-exclusive or), 74LS161 (a four-bit binary counter can be preset and asynchronous is cleared), and 74LS194 (a four-bit general shift register), are the same, and can only be distinguished by screen printing on the chip surface. Recognizing these small differences with the unaided human eye is a very difficult task, requiring a significant expenditure of labor and time. Aiming at the defects of the traditional manual detection method, an automatic chip identification and sorting device is developed.
The usage amount of chips in the electronic design competition of national college students in each year is taken as an example, and the initial estimation is 10 ten thousand chips. Because the chips are matched and mixed for use, various chips are mixed and are difficult to classify. On the other hand, the waste chips contain heavy metals, which damages the environment and is not beneficial to environmental protection. Based on the situation, the device sorts and classifies the chips of different types and models, and is mechanical equipment for improving sorting efficiency. The chip sorting machine can be applied to the occasions of chip sorting in laboratories of colleges and universities, chip recovery companies, waste chips in tournaments, and the like, and has wide application prospect. The method can realize the recycling of the waste chips, reduce the use cost of devices, and simultaneously reduce the pollution to the environment caused by the massive discarding of the waste chips.
In the current life, with the development of integrated circuit technology, automatic chip identification technology comes along. In the chip packaging process, most of the method uses template matching to realize chip positioning, and the method can also detect chip pins. However, the technology cannot realize the specific model identification of the chip, the angle calculation accuracy of the template matching algorithm is not high enough, and a template image needs to be established. The diversity of the chips makes it difficult to obtain uniform template images on one hand; on the other hand, it is not feasible to establish a template of 0 ° in actual operation, and therefore the template matching algorithm is not applicable in IC location identification. In addition, existing OCR techniques recognize characters, not every character is able to completely match a template in a character database. Although it can recognize characters, this is done in the case of very clear pictures, high contrast, and small image noise, and thus the requirement for the input image to be recognized is high.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a chip identification and sorting method, system and device, which are combined with image processing and motion control to automatically and accurately identify chip types and accurately classify the chip types.
The invention provides an automatic chip identification and sorting method, which comprises the following steps:
acquiring a target chip detection image, and extracting characteristic points of the detection image;
matching the image characteristic points with a pre-stored chip template characteristic point template, and judging the classification attributes of the image characteristic points;
determining a target classification position of a target chip according to the classification attribute, and determining a corresponding control signal;
controlling a transmission component to transmit the target chip to a target classification position according to the control signal;
and controlling a push rod assembly corresponding to the target sorting position to push the target chip to a corresponding sorting box in response to the target chip being conveyed to the target sorting position.
Preferably, the matching the image feature points with the pre-stored chip feature point template specifically includes:
and when the matching number of the image characteristic points and the characteristic points of the pre-stored chip template characteristic points reaches a preset threshold value, determining the classification attribute according to the chip template matched with the image characteristic points.
Preferably, the extracting the image feature points is specifically to extract feature points of the image according to AGAST feature point detection of OpenMV.
Preferably, determining the target classification position of the target chip according to the classification attribute, and determining the corresponding control signal specifically includes:
determining a target classification position of a target chip according to the classification attribute, and determining a transmission distance from the target chip to the target classification position;
and determining the transmission time according to the transmission distance and the preset transmission speed, and feeding back a control signal carrying the transmission time to the transmission assembly.
The invention also provides an automatic chip identification and sorting device which comprises a control unit, a camera assembly, a conveying assembly and a plurality of push rod assemblies, wherein the camera assembly, the conveying assembly and the push rod assemblies are connected with the control unit;
the camera shooting assembly is used for shooting a target chip detection image;
the conveying assembly is used for conveying the target chip to a target classification position;
the push rod assembly is used for pushing the target chip to the corresponding sorting box;
the control unit is used for acquiring a target chip detection image and extracting image characteristic points; matching the image characteristic points with a pre-stored chip template characteristic point template, and judging the classification attributes of the image characteristic points; determining a target classification position of a target chip according to the classification attribute, and determining a control signal for a transmission assembly;
the control unit is also used for responding to the transmission of the target chip to the target classification position and determining a control signal of the push rod component corresponding to the target classification position.
Preferably, the transmission assembly and the push rod assembly are respectively connected with the control unit through a relay.
The invention also provides an automatic chip identification and sorting system, which comprises: a memory for storing information including program instructions and a processor for controlling execution of the program instructions, characterized in that: which when loaded and executed by a processor, carries out the method described above.
The invention also proposes a computer storage medium comprising a stored program characterized in that a processor executes said program to implement the method described above.
The invention combines the image processing process and the motion control process based on the feedback control theory, thereby realizing the accurate positioning of the chip motion. Utilize image processing technology to acquire the key information of chip model, the accurate motion time control chip of control conveyer belt transports to corresponding predetermined position, can accurate completion chip letter sorting work.
The invention can realize the assembly line work, liberate the manpower, greatly improve the chip sorting efficiency and greatly reduce the workload and the work difficulty of laboratory managers. The device is simple and convenient to install and maintain. Novel and delicate design, small volume, high precision, complete synchronization and good self-locking performance.
Drawings
Fig. 1 is a flow chart of a chip identification and sorting method according to the present invention;
fig. 2 is a schematic structural diagram of a chip identifying and sorting apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a chip identifying and sorting apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a push rod assembly and a relay according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, fig. 1 is a flowchart of a chip identification and sorting method according to an embodiment of the present invention;
referring to fig. 1, the invention provides a chip identification and sorting method, which combines image processing and motion control to realize automatic identification of chip types and accurate classification.
The invention provides an automatic chip identification and sorting method, which comprises the following steps:
step S1: acquiring a target chip detection image, and extracting characteristic points of the detection image;
step S2: matching the image characteristic points with a pre-stored chip template characteristic point template, and judging the classification attributes of the image characteristic points;
specifically, as shown in fig. 2, in the embodiment of the present invention, the camera module is fixed at the front end of the conveyor belt, and a chip picture is captured at any time and is transmitted into the library to be matched with a chip template feature point template recorded in advance. The characteristic point detection function find _ keypoint of OpenMV is applied, the characteristic points of the specified chip are extracted in advance and stored in a program database, and in actual operation matching, AGAST characteristic point detection of OpenMV is adopted.
In this embodiment, the threshold of the matching number of the feature points is set to 20, so that the recognition speed can be significantly increased under the condition of ensuring the recognition accuracy, and meanwhile, the recognition error can be reduced, and the recognition precision can be improved. And when the number of the matched feature points is more than or equal to 20, driving the corresponding output port to output a high level to a level detection end of the single chip microcomputer so as to realize control, and thus, completing one chip identification period of the OpenMV camera.
Step S3: determining a target classification position of a target chip according to the classification attribute, and determining a corresponding control signal;
it should be noted that the chip sort attribute, i.e., the chip type, is determined according to the recognition result, and then the sorting position, i.e., the corresponding sorting box position, is determined, so that the control signal for transmitting the chip sort attribute to the corresponding position is determined.
Step S4: controlling a transmission component to transmit the target chip to a target classification position according to the control signal;
in the embodiment, a transmission component is controlled to transmit the target chip to a target classification position according to the control signal; the method specifically comprises the following steps:
determining a target classification position of a target chip according to the classification attribute, and determining a transmission distance s from the target chip to the target classification position;
and determining the transmission time t according to the transmission distance s and the preset transmission speed v, and feeding back a control signal carrying the transmission time t to the transmission assembly.
It should be noted that, in this embodiment, the conveying assembly is a conveying belt, and in a general state, the conveying belt remains stationary, when the camera recognizes the chip, the feedback control signal is output, the single chip receives the signal and controls the conveying belt to start to move at a constant speed at a speed v, and after a set corresponding movement time t reaches a specified position, the conveying belt stops moving and remains stationary until the operation of the current round is finished, that is, a sorting operation is completed.
The embodiment of the invention has stable and controllable movement speed. In the operation process, the chip needs to continuously move for a long distance, the requirements on the movement speed and the time accuracy are high, the conveying device can realize uniform movement, and the stability and the high efficiency of the chip conveying process are ensured.
Step S5: and controlling a push rod assembly corresponding to the target sorting position to push the target chip to a corresponding sorting box in response to the target chip being conveyed to the target sorting position.
It should be noted that, in this embodiment, the pushing rod assembly moves under the driving circuit, the pushing rod assembly pushes the chip to move along the vertical direction of the conveying, and the chip is sorted into the sorting box by the pushing rod assembly, so as to complete the automatic sorting operation.
As shown in fig. 2, an embodiment of the present invention further provides an automatic chip identification and sorting apparatus, which includes a control unit, and a camera assembly 1, a conveying assembly 2, and a plurality of push rod assemblies 3 connected to the control unit;
the camera assembly 1 is used for shooting a target chip detection image;
the conveying assembly 2 is used for conveying the target chip to a target sorting position;
the push rod assembly 3 is used for pushing the target chip to a corresponding sorting box;
the control unit is used for acquiring a target chip detection image and extracting image characteristic points; matching the image characteristic points with a pre-stored chip template characteristic point template, and judging the classification attributes of the image characteristic points; determining a target classification position of a target chip according to the classification attribute, and determining a control signal for a transmission assembly;
the control unit is also used for responding to the transmission of the target chip to the target classification position and determining a control signal of the push rod component corresponding to the target classification position.
In this embodiment, as shown in fig. 3, a power supply assembly is further included, which includes a transmission power supply, a control power supply, and a putter assembly power supply, which are respectively connected to the transmission assembly, the control unit, and the putter assembly.
In this embodiment, the transmission assembly and the push rod assembly are respectively connected with the control unit through a relay. In this embodiment, the camera module is an OV7725 camera based on OpenMV, and is fixed to the front end of the conveyor belt for capturing a chip picture at any time, the control unit is an STM32 single chip microcomputer, as shown in fig. 3, the conveyor module and the push rod are respectively connected to the control unit through relays, and the relays are controlled by the STM32 single chip microcomputer.
Concretely, through relay control push rod power, the telescopic motion of direct drive push rod, the relay is by STM32 single chip microcomputer control, and after the STM32 single chip microcomputer detected the appointed high level that comes from OpenMV's camera output, STM32 can carry out corresponding procedure and make the response, and the appointed relay output high level of drive and level upset to the control is pushed the extension and is contracted of thick stick, thereby reaches the purpose of letter sorting chip.
As shown IN fig. 4, specifically, the electric push rod performs the ' extending ' operation when the relay input terminals IN1, IN2, IN3 and IN4 are inputted with ' 1 ', ' 0 ', ' 1 ', ' 0 ' and ' respectively; when the input of the relay input ends IN1, IN2, IN3 and IN4 is ' 0 ', ' 1 ', ' 0 ', ' 1 ' and ' the electric push rod does ' retraction ';
in the embodiment, the electric push rod is an aluminum alloy telescopic rod, so that the electric push rod is not easy to rust and is more durable. The intelligent lock is included, can be suspended at any position, and is safe and guaranteed; the pure metal gear structure is precise and stable; the device comprises a limit switch, and automatically pauses from top to bottom to avoid idling; detecting an intelligent abnormal circuit system and protecting a circuit; low noise telescopic operation.
This embodiment can realize assembly line work, liberates the manpower, improves the efficiency of chip letter sorting by a wide margin, greatly reduced laboratory managers's the work load and the work degree of difficulty. The device is simple and convenient to install and maintain. Novel and delicate design, small volume, high precision, complete synchronization and good self-locking performance.
The invention also provides an automatic chip identification and sorting system, which comprises: a memory for storing information including program instructions and a processor for controlling execution of the program instructions, characterized in that: which when loaded and executed by a processor, carries out the method described above.
The invention also proposes a computer storage medium comprising a stored program characterized in that a processor executes said program to implement the method described above.
The invention combines the image processing process and the motion control process based on the feedback control theory, thereby realizing the accurate positioning of the chip motion. Utilize image processing technology to acquire the key information of chip model, the accurate motion time control chip of control conveyer belt transports to corresponding predetermined position, can accurate completion chip letter sorting work.
It should be noted that the program in the above embodiments may be any combination of one or more programming languages, including an object oriented programming language such as Python, C + +, etc., and a conventional procedural programming language such as C or similar programming languages, to write the program code for performing the operations of the embodiments of the present application. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. An automatic chip identification and sorting method is characterized by comprising the following steps:
acquiring a target chip detection image, and extracting characteristic points of the detection image;
matching the image characteristic points with a pre-stored chip template characteristic point template, and judging the classification attributes of the image characteristic points;
determining a target classification position of a target chip according to the classification attribute, and determining a corresponding control signal;
controlling a transmission component to transmit the target chip to a target classification position according to the control signal;
and controlling a push rod assembly corresponding to the target sorting position to push the target chip to a corresponding sorting box in response to the target chip being conveyed to the target sorting position.
2. The method for automatically recognizing and sorting chips according to claim 1, wherein the matching of the image feature points with pre-stored chip feature point templates specifically comprises:
and when the matching number of the image characteristic points and the characteristic points of the pre-stored chip template characteristic points reaches a preset threshold value, determining the classification attribute according to the pre-stored chip template matched with the image characteristic points.
3. The method as claimed in claim 1, wherein the extracting the feature points of the image is specifically extracting the feature points of the image according to AGAST feature point detection of OpenMV.
4. The method for automatically recognizing and sorting chips as claimed in claim 1, wherein the determining the target classification position of the target chip according to the classification attribute specifically includes:
determining a target classification position of a target chip according to the classification attribute, and determining a transmission distance from the target chip to the target classification position;
and determining the transmission time according to the transmission distance and the preset transmission speed, and feeding back a control signal carrying the transmission time to the transmission assembly.
5. The automatic chip identifying and sorting device is characterized by comprising a control unit, a camera assembly, a conveying assembly and a plurality of push rod assemblies, wherein the camera assembly, the conveying assembly and the push rod assemblies are connected with the control unit;
the camera shooting assembly is used for shooting a target chip detection image;
the conveying assembly is used for conveying the target chip to a target classification position;
the push rod assembly is used for pushing the target chip to the corresponding sorting box;
the control unit is used for acquiring a target chip detection image and extracting image characteristic points; matching the image characteristic points with a pre-stored chip template characteristic point template, and judging the classification attributes of the image characteristic points; determining a target classification position of a target chip according to the classification attribute, and determining a control signal for a transmission assembly;
the control unit is also used for responding to the transmission of the target chip to the target classification position and determining a control signal of the push rod component corresponding to the target classification position.
6. The automatic chip identification and sorting apparatus of claim 5, wherein the transfer assembly and the pusher assembly are respectively connected to the control unit through a relay.
7. An automatic chip identification and sorting system, comprising: a memory for storing information comprising program instructions and a processor for controlling the execution of the program instructions, wherein the program instructions when loaded and executed by the processor implement the method of any one of claims 1 to 4.
8. A computer storage medium comprising a stored program, wherein a processor executes the program to implement the method of any one of claims 1 to 4.
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| CN115799127A (en) * | 2023-02-07 | 2023-03-14 | 成都光创联科技有限公司 | Chip subpackaging method based on camera identification and subpackaging device thereof |
| CN115831812A (en) * | 2022-11-10 | 2023-03-21 | 上海威固信息技术股份有限公司 | Module identification packaging method and system for chip module design |
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| WO2018077011A1 (en) * | 2016-10-25 | 2018-05-03 | 北京京东尚科信息技术有限公司 | Visual identification system and method thereof, and classifying and sorting system and method thereof |
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| CN115831812A (en) * | 2022-11-10 | 2023-03-21 | 上海威固信息技术股份有限公司 | Module identification packaging method and system for chip module design |
| CN115831812B (en) * | 2022-11-10 | 2024-01-26 | 上海威固信息技术股份有限公司 | Module identification packaging method and system for chip module design |
| CN115799127A (en) * | 2023-02-07 | 2023-03-14 | 成都光创联科技有限公司 | Chip subpackaging method based on camera identification and subpackaging device thereof |
| CN115799127B (en) * | 2023-02-07 | 2023-04-11 | 成都光创联科技有限公司 | Chip subpackaging method based on camera identification and subpackaging device thereof |
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