CN114897828B - Automatic chip identification and sorting method, device and system - Google Patents

Automatic chip identification and sorting method, device and system Download PDF

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CN114897828B
CN114897828B CN202210509155.2A CN202210509155A CN114897828B CN 114897828 B CN114897828 B CN 114897828B CN 202210509155 A CN202210509155 A CN 202210509155A CN 114897828 B CN114897828 B CN 114897828B
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chip
target
sorting
image
classification
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CN114897828A (en
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代家港
方伶俐
姚文琳
章洮与
李卓然
胡永兵
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Anhui University
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Anhui University
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • 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]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • 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
    • 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
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67271—Sorting devices
    • 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
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67276—Production flow monitoring, e.g. for increasing throughput
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30148—Semiconductor; IC; Wafer
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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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 feature points of the detection image; matching the image characteristic points with a pre-stored chip template characteristic point template, and judging 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; in response to the target chip being transferred to a 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

Automatic chip identification and sorting method, device and system
Technical Field
The present invention relates to the field of chip sorting technologies, and in particular, to a method, an apparatus, and a system for automatically identifying and sorting chips.
Background
In the age of information high-speed development, the development of high-performance electronic chips has very high position in the aspects of economic development of various countries and national information safety, and the life of the electronic chips in various fields and various electronic products is deeply influenced. Because of the different environments of the chip application, the chip is in different packaging forms, and the common packaging forms are DIP, QFP, TSOP, BGA, CSP, QFN. For a chip that is also packaged, any differences in detail within the chip will result in the chip being presented to the user in different models, which may be represented by a difference in one character in the model of the chip.
The common chips of the series 74LSxxx in basic experimental teaching, such as the chip packaging forms of 74LS00 (two-input four-NAND gate), 74LS04 (six-inverter), 74LS10 (three-input three-NAND gate), 74LS20 (four-input two-NAND gate), 74LS48 (BCD-seven-segment decoder/driver), 74LS86 (two-input four-exclusive-OR gate), 74LS161 (four-bit binary counter can be preset and asynchronous can be cleared), and 74LS194 (four-bit general shift register) are the same, and can only be distinguished by the silk screen printing on the chip surface. Identifying these small differences with the human eye is a very difficult task that requires significant human and time costs. Aiming at the defects of the traditional manual detection method, an automatic chip identification and sorting device is developed.
Taking the use amount of chips in electronic design competition of national university students each year as an example, the initial estimation is up to 10 ten thousand chips. Because the chips are matched and mixed, various chips are doped and mixed, and the classification treatment is difficult. On the other hand, the waste chips contain heavy metals, which damage the environment and are not beneficial to environmental protection. Based on such circumstances, this device sorts to the chip of different kinds, model and classifies, is the mechanical equipment that improves letter sorting efficiency. The method can be applied to the occasions of college laboratory chip sorting, chip recycling company sorting, large-scale waste chip sorting and the like, and has wide application prospect. The recycling of the waste chips can be realized, the use cost of the device is reduced, and the pollution to the environment caused by the mass discarding of the waste chips can be reduced.
In the current life, with the development of integrated circuit technology, automatic chip recognition technology is also produced. In the chip packaging process, most of the methods use template matching to realize chip positioning, and the method can also detect chip pins. However, the technology cannot realize 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 a unified template image on the one hand; on the other hand, establishing a template of 0 ° is not feasible in practical operation, and thus the template matching algorithm is not applicable in IC location recognition. In addition, existing OCR technology recognizes characters, not every character can be completely matched to templates in a character database. Although it can recognize characters, this is done with very clear pictures, high contrast, and little image noise, and thus the input image to be recognized is required to be high.
Disclosure of Invention
In order to solve the technical problems in the background technology, the invention provides a chip identification and sorting method, a system and a device, which are combined with image processing and motion control to automatically and accurately identify the chip type and accurately sort the chips.
The invention provides an automatic chip identification and sorting method, which comprises the following steps:
acquiring a target chip detection image and extracting feature points of the detection image;
Matching the image characteristic points with a pre-stored chip template characteristic point template, and judging 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 in response to the target chips being transmitted to the target sorting positions, controlling the pushing rod assemblies corresponding to the target sorting positions to push the target chips to the corresponding sorting boxes.
Preferably, the matching the image feature points with the pre-stored chip feature point templates specifically includes:
And when the matching number of the image feature points and the template feature points of the pre-stored chip template feature points reaches a preset threshold, determining classification attributes of the image feature points according to the chip templates matched with the image feature points.
Preferably, the feature points of the extracted image are specifically feature points of the extracted image according to AGAST feature point detection of OpenMV.
Preferably, 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.
The invention also provides an automatic chip identification and sorting device which comprises a control unit, a camera shooting assembly, a conveying assembly and a plurality of push rod assemblies, wherein the camera shooting assembly, the conveying assembly and the push rod assemblies are connected with the control unit;
the camera shooting component is used for shooting a detection image of the target chip;
The transmission component is used for transmitting the target chip to a target classification position;
The push rod assembly is used for pushing the target chips to the corresponding sorting boxes;
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 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 of a transmission assembly;
The control unit is also used for responding to the target chip and transmitting the control signal to the push rod assembly corresponding to the target classification position.
Preferably, the transmission assembly and the push rod assembly are respectively connected with the control unit through relays.
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 by: the program instructions, when loaded and executed by a processor, implement the methods described above.
The invention also proposes a computer storage medium comprising a stored program, characterized in that a processor executes the program to implement the above-mentioned method.
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. The key information of the chip model is acquired by utilizing an image processing technology, and the accurate movement time control chip of the control conveyor belt is conveyed to the corresponding preset position, so that the chip sorting work can be accurately completed.
The invention can realize assembly line work, liberate manpower, greatly improve the efficiency of chip sorting, and greatly reduce the workload and the work difficulty of laboratory management staff. The device is simple and convenient to install and maintain. The design is novel and exquisite, small, the precision is high, the complete synchronization is realized, and the self-locking performance is good.
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 device according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a chip identifying and sorting device according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating connection between a push rod assembly and a relay according to an embodiment of the present invention.
Detailed Description
Referring to fig. 1, fig. 1 is a flowchart of a chip identifying 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 chip type identification and accurate sorting.
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 feature points of the detection image;
step S2: matching the image characteristic points with a pre-stored chip template characteristic point template, and judging classification attributes of the image characteristic points;
Specifically, as shown in fig. 2, in the embodiment of the invention, an image pickup assembly is fixed at the front end of a conveyor belt, chip pictures are captured at any time, and the captured chip pictures are transferred into a program library to be matched with a chip template feature point template recorded in advance. The feature point detection function find_ keypoint of OpenMV is applied, feature points of a specified chip are extracted in advance and stored in a database of a program, and AGAST feature points of OpenMV are adopted for detection in actual operation matching.
In this embodiment, the threshold value of the matching number of the feature points is set to 20, so that the recognition speed can be remarkably improved while the recognition accuracy is ensured, and meanwhile, the recognition error can be reduced, and the recognition accuracy is improved. When the number of the matched characteristic points is more than or equal to 20, the corresponding output port is driven to output high level to the level detection end of the singlechip to realize control, and one chip identification period of the OpenMV camera is finished.
Step S3: determining a target classification position of a target chip according to the classification attribute, and determining a corresponding control signal;
The sorting device determines the sorting attribute of the chip, namely the type of the chip, and further determines the sorting position, namely the corresponding sorting box position, according to the identification result, so as to determine the control signal transmitted to the corresponding position.
Step S4: controlling a transmission component to transmit the target chip to a target classification position according to the control signal;
In this embodiment, the transmission component is controlled to perform transmission of 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 component is a conveying belt, in a general state, the conveying belt is kept stationary, when the camera recognizes the chip, a feedback control signal is output, the singlechip receives the signal and controls the conveying belt to start to move at a constant speed at a speed v, the conveying belt reaches a designated position after a corresponding movement time t is set, the conveying belt stops moving and is kept stationary until the operation of the round is finished, and then a sorting operation is completed.
According to the embodiment of the invention, the movement speed is stable and controllable. In the operation process, the chip needs to continuously move for a long distance, the requirement on the movement speed and the time accuracy is high, the conveying device can realize uniform movement, and the chip transportation process is ensured to be stable and efficient.
Step S5: and in response to the target chips being transmitted to the target sorting positions, controlling the pushing rod assemblies corresponding to the target sorting positions to push the target chips to the corresponding sorting boxes.
It should be noted that, in this embodiment, the push rod assembly moves under the driving circuit, and the push rod assembly pushes the chip to move along the vertical direction of the conveying, and the chip is classified into the sorting box by the push rod assembly, so as to complete the automatic sorting operation.
As shown in fig. 2, the embodiment of the invention also provides an automatic chip identifying and sorting device, which comprises a control unit, a camera shooting assembly 1, a conveying assembly 2 and a plurality of push rod assemblies 3, wherein the camera shooting assembly 1, the conveying assembly 2 and the push rod assemblies 3 are connected with the control unit;
the camera shooting assembly 1 is used for shooting a target chip detection image;
The conveying component 2 is used for conveying the target chips to a target classification position;
The push rod assembly 3 is used for pushing the target chips to corresponding sorting boxes;
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 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 of a transmission assembly;
The control unit is also used for responding to the target chip and transmitting the control signal to the push rod assembly corresponding to the target classification position.
In this embodiment, as shown in fig. 3, the power supply assembly further comprises a transmission power supply, a control power supply and a push rod assembly power supply, which are respectively connected with the transmission assembly, the control unit and the push rod assembly.
In this embodiment, the transmission assembly and the push rod assembly are respectively connected with the control unit through relays. In this embodiment, the camera module uses a camera based on OpenMV model OV7725, and is fixed at the front end of the conveyor belt for capturing chip pictures at any time, the control unit uses an STM32 singlechip, as shown in FIG. 3, the conveyor module and the push rod are respectively connected with the control unit through relays, and the relays are controlled by the STM32 singlechip.
Specifically, the push rod power supply is controlled through the relay, the push rod is directly driven to stretch and retract, the relay is controlled by the STM32 singlechip, when the STM32 singlechip detects the appointed high level output by the camera of OpenMV, the STM32 can execute corresponding programs to respond, the appointed relay is driven to output the high level and the level of the high level to overturn, and accordingly stretching and shrinking of the push rod are controlled, and the purpose of sorting chips is achieved.
As shown IN fig. 4, specifically, the push rod is controlled by the relay, and when the input ends IN1, IN2, IN3 and IN4 of the relay are input as '1', '0', '1', '0' and 'stretching' actions are performed by the electric push rod; when the input ends IN1, IN2, IN3 and IN4 of the relays are 0,1, 0,1 and the electric push rod performs the retracting action;
In the embodiment, the electric push rod uses the aluminum alloy telescopic rod, so that the electric push rod is not easy to rust and is more durable. The intelligent machine lock is included, can be suspended at any position, and ensures safety; the pure metal gear structure is precise and stable; the device comprises a limit switch which automatically pauses from top to bottom to avoid idling; detecting an intelligent abnormal circuit system and protecting a circuit; low noise telescopic operation.
The embodiment can realize assembly line work, liberate manpower, greatly improve the efficiency of chip sorting, greatly reduced laboratory manager's work load and work degree of difficulty. The device is simple and convenient to install and maintain. The design is novel and exquisite, small, the precision is high, the complete synchronization is realized, and the self-locking performance is good.
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 by: the program instructions, when loaded and executed by a processor, implement the methods described above.
The invention also proposes a computer storage medium comprising a stored program, characterized in that a processor executes the program to implement the above-mentioned method.
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. The key information of the chip model is acquired by utilizing an image processing technology, and the accurate movement time control chip of the control conveyor belt is conveyed to the corresponding preset position, so that the chip sorting work can be accurately completed.
It should be noted that in the foregoing embodiments, the program code for performing the operations of the embodiments of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Python, c++ or the like and conventional procedural programming languages, such as the C programming language or similar programming languages. 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, partly on a remote computing device, or entirely on the remote computing device or server.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working process of the above-described device may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims (6)

1. The automatic chip identifying and sorting method is characterized by comprising the following steps of:
Acquiring a target chip detection image and extracting feature points of the detection image;
Matching the image characteristic points with a pre-stored chip template characteristic point template, and judging 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;
in response to the target chip being transferred to a 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 matching the image feature points with a pre-stored chip feature point template specifically comprises the following steps:
When the matching number of the image feature points and the template feature points of the pre-stored chip template feature points reaches a preset threshold, determining classification attributes of the image feature points according to the pre-stored chip templates matched with the image feature points;
determining a target classification position of the target chip according to the classification attribute, wherein determining the corresponding control signal specifically comprises:
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.
2. The automatic chip identification and sorting method according to claim 1, wherein the feature points of the extracted image are specifically feature points of the extracted image according to AGAST feature point detection of OpenMV.
3. An automatic chip identification and sorting device, which realizes the method of any one of claims 1-2, and is characterized by comprising a control unit, a camera shooting assembly, a transmission assembly and a plurality of push rod assemblies, wherein the camera shooting assembly, the transmission assembly and the push rod assemblies are connected with the control unit;
the camera shooting component is used for shooting a detection image of the target chip;
The transmission component is used for transmitting the target chip to a target classification position;
The push rod assembly is used for pushing the target chips to the corresponding sorting boxes;
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 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 of a transmission assembly;
The control unit is also used for responding to the target chip and transmitting the control signal to the push rod assembly corresponding to the target classification position.
4. The chip automatic identification and sorting device according to claim 3, wherein the transmission assembly and the push rod assembly are respectively connected with the control unit through a relay.
5. An automatic chip identification and sorting system, comprising: a memory for storing information including program instructions and a processor for controlling 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 2.
6. A computer storage medium comprising a stored program, characterized in that a processor executes the program to implement the method of any one of claims 1 to 2.
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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
CN114187596A (en) * 2022-02-15 2022-03-15 成都爱旗科技有限公司 Chip surface character detection system

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Publication number Priority date Publication date Assignee Title
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
CN114187596A (en) * 2022-02-15 2022-03-15 成都爱旗科技有限公司 Chip surface character detection system

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