WO2017071407A1

WO2017071407A1 - Method and system for determining pcb positioning point

Info

Publication number: WO2017071407A1
Application number: PCT/CN2016/098224
Authority: WO
Inventors: 韩志
Original assignee: 广州视源电子科技股份有限公司
Priority date: 2015-10-29
Filing date: 2016-09-06
Publication date: 2017-05-04
Also published as: CN105427278B; CN105427278A

Abstract

A method and system for determining a PCB positioning point. The method comprises the steps: searching for a positioning point in an original image of a PCB, so as to obtain a searched original positioning point (S101); adding interference information to the original image to obtain a current image of the PCB (S102); researching for the original positioning point or the positioning point which has passed the last test in the current image, and testing a position interval between the positioning point searched this time and the corresponding original positioning point (S103); recording the number of times the original positioning point passes the test (S104); judging whether the number of positioning points that pass this test satisfies a pre-set search continuing condition (S105); and acquiring a score value of the original positioning point according to the number of times the test is passed, and determining the positioning point of the PCB based on the score value (S106). By means of the above-mentioned solution, a positioning point with a strong anti-interference ability and a strong positioning ability can be determined.

Description

PCB positioning point determination method and system

Technical field

The present invention relates to the field of automatic optical inspection, and in particular to a method and system for determining a PCB positioning point.

Background technique

PCB (Printed Circuit Board, also known as printed circuit board) is an important electronic component, a support for electronic components, and a carrier for electrical connection of electronic components. In order to ensure the quality of PCB production, PCB manufacturers and manufacturers using PCBs often use a variety of detection methods to detect defects in PCBs. PCB testing can be broadly divided into electrical testing methods and visual testing methods.

Among them, the first step of the visual test method is to find the anchor point on the PCB image to determine the PCB position and direction information. In PCB positioning, some special positioning points are generally used to detect these positioning points by template matching. However, due to the influence of disturbance factors such as illumination changes, sensor aging, lens pollution, etc., each detected positioning point may change, and some positioning points may not be detected due to these interference factors. Therefore, how to determine The positioning point with strong anti-interference ability and strong positioning ability has become an urgent problem to be solved.

Summary of the invention

The object of the present invention is to provide a method and a system for determining a PCB positioning point, which can determine an anchor point with strong anti-interference ability and strong positioning capability.

The object of the invention is achieved by the following technical solution:

A method for determining a PCB positioning point includes the following steps:

Performing a positioning point search in the original image of the PCB to obtain the original positioning point searched;

Adding interference information on the original image to obtain a current image of the PCB;

Performing a search on the original positioning point or the positioning point passed by the previous test in the current image, and testing the position interval of the searched positioning point and the corresponding original positioning point;

Recording the number of test passes of the original anchor point;

When the number of positioning points passed by the test does not satisfy the preset continuous search condition, the score value of the original positioning point is obtained according to the number of test passes, and the positioning point of the PCB is determined based on the score value.

A PCB positioning point determining system comprising:

a first search module, configured to perform a positioning point search in an original image of the PCB to obtain the searched original positioning point;

Adding a module, adding interference information on the original image to obtain a current image of the PCB;

a second search module, configured to re-search the original positioning point or the positioning point passed by the last test in the current image, and test the position interval between the searched positioning point and the corresponding original positioning point;

An adjustment module, configured to record the number of test passes of the original anchor point;

The processing module obtains a score value of the original anchor point according to the number of test passes, and determines an anchor point of the PCB based on the score value, when the number of anchor points passed by the test does not satisfy the preset search condition.

According to the solution of the present invention described above, it is to continuously add interference information on the image of the PCB (the original image or the current image), and after each addition of the interference information, the positioning point for the original positioning point or the last test pass Re-searching, and testing the position interval of each searched anchor point and the corresponding original anchor point. After each test, the number of test passes of the original anchor point is recorded, and the number of anchor points passed in a certain test is not When the preset search condition is met, the score value of the original anchor point is obtained according to the number of test passes, and the positioning point of the PCB is determined based on the score value. Since the score value is determined based on the number of test passes, the test pass number is higher. The corresponding anti-interference ability of the corresponding positioning point is stronger and the positioning capability is stronger. Therefore, the original positioning point sequence obtained by sorting the original positioning points according to the scoring value can reflect the anti-interference ability of the original positioning point and The strength of the positioning ability can determine the anchor point with strong anti-interference ability and strong positioning ability.

DRAWINGS

1 is a schematic flow chart of an embodiment of a method for determining a PCB positioning point according to the present invention;

2 is a schematic flowchart of retrieving a method for obtaining a score value of a original anchor point according to an embodiment of the present invention;

3 is a schematic structural view of an embodiment of a PCB positioning point determining system of the present invention.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.

In the following description, first, an embodiment of the PCB positioning point determining method of the present invention will be described, and each embodiment of the PCB positioning point determining system of the present invention will be described.

FIG. 1 is a schematic flowchart diagram of an embodiment of a method for determining a PCB positioning point according to the present invention. As shown in FIG. 1 , the method for determining a PCB positioning point in this embodiment includes the following steps:

Step S101: performing a positioning point search in the original image of the PCB, obtaining the searched original positioning point, and proceeding to step S102;

Specifically, the PCB that needs to determine the positioning point is obtained, the original image of the PCB is obtained, and the original image is searched for the positioning point. Considering that the PCB pattern often includes standard geometric shapes such as a circle, a rectangle, a triangle, etc., the positioning point is The search can be implemented by standard shape fitting, but other achievable methods can be used to search for the original positioning point of the PCB through the positioning point search;

Step S102: adding interference information on the original image to obtain a current image of the PCB, proceeds to step S103;

Specifically, the addition of interference information may be implemented by introducing noise on the original image. Adding the interference information may make the search of the anchor point more difficult; the method of introducing noise may be to break the color balance of the RGB channel by random coefficients, or add salt and pepper. Noise, Gaussian noise, Rayleigh noise, gamma (Irish) noise, exponential distribution noise, evenly distributed noise, etc.; multiple noises can also be used simultaneously to simulate the ambiguity of the image representation that may result from PCB shooting;

Step S103: Perform a search on the original positioning point or the positioning point passed by the previous test in the current image, and perform the interval between the searched positioning point and the corresponding original positioning point. Testing, proceeds to step S104;

Considering that the positioning point is often the standard geometric figure on the PCB, the position of the positioning point can be represented by any one of the outer center, the inner center and the center of gravity of the corresponding geometric figure, and of course, it is not limited to the outer center, the inner center, the center of gravity, The position interval refers to the distance between the location of the currently searched anchor point and the location of the corresponding original anchor point, and the coordinate values of the two positions may be respectively obtained, and the coordinate value is obtained according to the obtained coordinate value. The position interval;

The test pass condition may be set according to actual needs, for example, setting the position interval to be less than a preset first threshold value as a test pass condition;

Step S104: Record the number of test passes of the original anchor point, and proceed to step S105;

Wherein, when the original positioning point is obtained, a counter is allocated to the original positioning point, and the value of the counter is used to represent the number of test passes, and the initial value of the counter is generally set to zero. After each test, the test passes the corresponding positioning point. The value in the counter of the original anchor point is increased by 1, and the value in the counter of the original anchor point corresponding to the anchor point that the test fails to pass remains unchanged;

Step S105: determining whether the number of positioning points passed by the test meets the preset continuation search condition, and if not, proceeding to step S106;

Step S106: When the number of positioning points passed by the test does not satisfy the preset continuous search condition, the score value of the original positioning point is obtained according to the number of test passes, and the positioning point of the PCB is determined based on the score value;

The method for determining the positioning point of the PCB based on the score value may be: sorting the original positioning points according to the score value, obtaining a sequence of the original positioning points after sorting, and determining the sequence based on the original positioning point sequence. The positioning point of the PCB;

Wherein, the search condition can be set as needed, for example, the number of the successfully searched anchor points is not less than 1;

In addition, in one embodiment, as shown in FIG. 1 , the PCB positioning point determining method of the present invention may further determine whether the number of positioning points passed by the test meets the preset continuous search condition is YES. Performing the following step S107;

Step S107: When the number of positioning points satisfies the continuation search condition, the interference information is added to the current image, and the current image is updated, and the process returns to step 103;

The manner in which the interference information is added to the current image is the same as the manner in which the interference information is added to the original image, and details are not described herein.

Accordingly, according to the solution of the above embodiment, the interference information is continuously added on the image of the PCB (original image or current image), and after each addition of the interference information, the original positioning point or the last test is passed. The positioning point is searched again, and the position interval of each searched positioning point and the corresponding original positioning point is tested. After each test, the number of test passes of the original positioning point is recorded, and the test passes in a certain test. When the number of positioning points does not satisfy the preset continuous search condition, the score value of the original positioning point is obtained according to the number of test passes, and the positioning point of the PCB is determined based on the score value. Since the score value is determined based on the number of test passes, the test passes The higher the number of times, the stronger the anti-interference ability of the corresponding positioning point and the stronger the positioning ability. Therefore, the original positioning point sequence obtained by sorting the original positioning points according to the scoring value can reflect the anti-origin of the original positioning point. The interference capability and the strength of the positioning capability can determine the anchor points with strong anti-interference ability and strong positioning ability.

Considering that the common PCB shapes are rectangular or substantially rectangular, the longest distance typically found on a PCB is usually the diagonal length of the rectangle. The larger the distance between the positioning points and the smaller the measurement error, the smaller the measurement error. Therefore, in one embodiment, the degree of the original positioning point and the apex angle of the PCB and the number of test passes are used to obtain the score value, so that the measurement error can be made small while ensuring the corresponding positioning point anti-interference ability. Strong and strong positioning ability.

Specifically, as shown in FIG. 2, the process of obtaining the score value of the original anchor point according to the number of test passes may include the following steps:

Step S201: respectively filtering out a set number of original positioning points having the smallest distance from each of the PCB top angles on the original image;

Here, the set number can be set according to actual needs;

In the screening, it is generally required that any one of the original positioning points corresponding to any apex angle of the PCB is different from the original positioning point corresponding to the apex angle of other PCBs, for example, four PCB top angles of A, B, C, and D respectively. For the original positioning point, for the PCB apex angle A, any one of the K original locating points of the PCB apex angle A is different from the PCB apex angle B, the PCB apex angle C, and the PCB apex angle D corresponding to 3K The original anchor point, so that the same original anchor point can be prevented from being repeatedly filtered;

In one of the embodiments, a method is provided to avoid the same original anchor point being repeatedly filtered. Specifically, the step of separately filtering out the set number of original positioning points that are the smallest distance from the apex angle of each PCB on the original image includes the steps of: obtaining a distance value between the original positioning point and each PCB top angle, Adding the corresponding original positioning point to the set of positioning points corresponding to the apex angle of the PCB closest to the original point according to the distance value; respectively, selecting the minimum distance from the corresponding PCB vertices in the corresponding positioning point set a fixed number of original anchor points;

That is to say, the original positioning points are first classified into different sets according to the distance value from the top angle of each PCB, and the set number of original positioning points are filtered in the set of positioning points corresponding to the top corners of each PCB;

It is considered that, in some cases, the total number of original positioning points in the set of positioning points is smaller than the set number. In this case, in one embodiment, the total number of original positioning points in the corresponding positioning point set is greater than When the number is set, the step of filtering the set number of original positioning points with the smallest distance from the corresponding PCB apex angle is entered; the total number of original positioning points in the corresponding positioning point set is not When the number is greater than the set number, all the original positioning points in the corresponding positioning point set are determined as the original positioning points with the smallest distance from the corresponding PCB apex angle, and the original embodiment is used, regardless of the original in the positioning point set. If the total number of positioning points is less than the set number, the screening of the original positioning points can be completed;

Step S202: Arranging the original positioning points corresponding to the apex angles of the PCBs in order from the smallest to the largest vertices, and obtaining the sorting values of the original positioning points corresponding to the apex angles of the PCBs;

Step S203: weighting and summing the test pass times of the original positioning points corresponding to the apex angles of the PCBs and the corresponding sorting values, respectively, to obtain the score values.

Specifically, the score value may be obtained according to G=W*t+k, where G represents the score value, W represents an interference weight, t represents the number of test passes, and k represents the sort value, wherein The interference weight can be set according to the actual situation, for example, the value obtained by repeating the training multiple times;

In order to facilitate understanding of the solution of the present invention, the present invention will be described below by way of a specific example.

The first step is to take a PCB that needs to determine the positioning point to obtain the original image of the PCB;

In the second step, a point determination is performed on the original image obtained, and the process of determining the point site specifically includes the following steps:

In the first step, the original image is searched for the original point, for example, the original positioning points of D ₁₀₁ , D ₁₀₂ , D _{103 ,} D _{120 are} searched in the search;

Here, a pattern or standard shape fit in a standard feature point library can be used, where the standard feature point library refers to a pattern used as a standard anchor point in the system, such as a standard Mark point, a screw hole of a specific shape, a specific Silk-screen shape; the standard shape fitting method is based on the fact that PCB patterns often include geometric shapes such as circles, rectangles, triangles, etc., so a simple shape fitting algorithm can be used to search for specific shapes in the PCB. The manner of matching and searching can be implemented in any manner that can be implemented, such as template matching, Hough circle fitting, etc., and will not be described here.

Step 2, adding interference information to the image of the PCB;

Each time the interference information is added, it is performed on the image (including the original image) where the positioning point search was performed last time;

Specifically, some noise information can be added to the image of the PCB to make the search of the anchor point more difficult; for example, the color balance of the RGB channel is broken by random coefficients, or salt and pepper noise, Gaussian noise, Rayleigh noise, gamma (Irish) noise are added. , exponentially distributed noise, evenly distributed noise, etc.; a variety of noises can also be used simultaneously;

Step 3, anchor point test;

Specifically, the image containing the noise (the image after adding the noise in the second step) is searched for the positioning point again, and in the current search, the search point of the last successful search is searched again, for example, the second The secondary positioning point search is to re-search the original positioning point. Since the interference information is added to the image of the PCB in the second step, the addition of the interference information may make some original positioning points unable to search again, for example, in the first In the secondary positioning point search, only 9 positioning points such as D ₂₀₁ , D ₂₀₃ , D ₂₀₇ , D ₂₀₉ , D ₂₁₂ , D ₂₁₃ , D ₂₁₆ , D ₂₁₈ and D ₂₁₉ are searched, and the 9 positioning points are respectively determined. Whether the position interval of the corresponding original positioning point is less than a preset first threshold value, and if so, determining that the corresponding positioning point passes the test, for example, if the positional interval between the positioning point D ₂₀₁ and the original positioning point D ₁₀₁ is less than a preset The first threshold value, then the positioning point D ₂₀₁ passes the test;

In the third positioning point search, the nine positioning points D ₂₀₁ , D ₂₀₃ , D ₂₀₇ , D ₂₀₉ , D ₂₁₂ , D ₂₁₃ , D ₂₁₆ , D ₂₁₈ , D ₂₁₉ are searched again because of the second In the step, the interference information is re-added based on the image of the second positioning point search, and the interference information may be added such that D ₂₀₁ , D ₂₀₃ , D ₂₀₇ , D ₂₀₉ , D ₂₁₂ , D ₂₁₃ , D ₂₁₆ , D Some of the 9 ₂₁₈ and D ₂₁₉ anchor points cannot be searched again. For example, in the third anchor point search, only D ₃₀₃ , D ₃₀₉ , D ₃₁₂ , D ₃₁₃ , D ₃₁₆ , D ₃₁₉ are searched. 6 positioning points, respectively determining whether the positional interval between the six positioning points and the corresponding original positioning point is less than a preset first threshold value, and if so, determining that the corresponding positioning point passes the test, for example, if the positioning point D ₃₁₃ The position of the original positioning point D ₁₁₃ is less than the preset first threshold value, and if so, the positioning point D ₃₁₃ passes the test;

And so on;

The anchor point is generally a standard geometry on the PCB, for example, an isosceles triangle. The position of the anchor point can be represented by the barycentric coordinates of the isosceles triangle. For example, the center of gravity coordinate is A, and the isosceles triangle is added to the interference information. The point is re-searched, and the center of gravity coordinate is A', then the corresponding position interval (or offset distance) is |AA'|, it should be noted that the position of the shape here indicates the center of gravity, in actual implementation It can also be represented by other attributes, such as: inner heart, outer heart, etc.

In step 4, the number of test passes is accumulated according to the original positioning point;

Specifically, an accumulator may be allocated for each original positioning point, and each time the test passes, the value of the accumulator of the original positioning point corresponding to the corresponding positioning point is incremented by 1, thereby accumulating the corresponding original positioning point. The number of times of interference and passing the test;

In step 5, it is judged whether the number of the positioning points passed the test is less than 1, and if so, the process proceeds to step 6, and if not, the process returns to the second step to continue adding noise to the image of the PCB;

Step 6, screening of the anchor points;

The nearest k original locating points are screened for each PCB apex angle in turn; since the common PCB shape is rectangular or substantially close to a rectangle, the longest distance generally found on the PCB is usually the diagonal length of the rectangle. In the positioning point selection, the larger the distance of the positioning point is, the smaller the measurement error is. Therefore, the four PCB top angles (the PCB top angle A, the PCB top angle B, the PCB top angle C, and the PCB top angle D) are used in this order. Find K (K is a positive integer). The original locating point closest to the apex angle forms four sets of locating points; two sets of locating points are required to be divided into two points: 1. If the original locating point near a top corner of a PCB is less than The k pieces are determined by the actual number of elements, that is, all the original positioning points in the corresponding set of positioning points are determined as the original positioning points having the smallest distance from the corresponding PCB apex angle as described above; 2. Each set takes other Set of non-coincident data; that is, any of the PCB top angle pairs as described above Any of the original positioning points should be different from the original positioning points corresponding to other PCB top angles.

In step 7, the score value of the original anchor point is obtained;

The weighted value of the sorting value and the number of interferences of each original positioning point is obtained. For example, the sorting value of the distance of the original positioning point D ₁₀₁ from the top angle A of the PCB is k, the number of test passes is t, and the interference weight is W, then the original positioning point The score of D ₁₀₁ is: W*t+k

In the eighth step, according to the score values of the original positioning points, the order is sorted in order from high to low, and the original positioning point sequence is output;

In the third step, the original positioning point sequence obtained in the second step is confirmed and saved.

According to the PCB positioning point determining method of the present invention described above, the present invention further provides a PCB positioning point determining system. Hereinafter, an embodiment of the PCB positioning point determining system of the present invention will be described in detail. A schematic block diagram of an embodiment of a PCB locating point determining system of the present invention is shown in FIG. For the convenience of explanation, only the parts related to the present invention are shown in FIG.

As shown in FIG. 3, the PCB positioning point determining system of the embodiment includes a first searching module 301, an adding module 302, a second searching module 303, an adjusting module 304, and a processing module 305, wherein:

a first search module 301, configured to perform a positioning point search in an original image of the PCB to obtain the searched original positioning point;

An adding module 302, configured to add interference information on the original image to obtain a current image of the PCB;

The second search module 303 is configured to re-search the original positioning point or the positioning point passed by the last test in the current image, and test the position interval between the searched positioning point and the corresponding original positioning point;

The adjusting module 304 is configured to record the number of test passes of the original positioning point;

The processing module 305, when the number of positioning points passed by the test does not satisfy the preset continuous search condition, obtain the score value of the original positioning point according to the number of test passes, and determine the positioning point of the PCB based on the score value.

In one embodiment, as shown in FIG. 3, the PCB positioning point determining system of the present invention may further include an updating module 306;

The update module 306 is configured to: in the current image when the number of positioning points satisfies the continuous search condition Update the current image after adding the interference information;

After the adding module 302 obtains the current image, the second search module 303 searches the original positioning point again, and after the updating module 306 updates the current image, searches the positioning point passed by the previous test again.

In one embodiment, the processing module 306 can separately filter out a set number of original positioning points having the smallest distance from each of the PCB vertices on the original image, and respectively respectively respectively corresponding original positioning points corresponding to the apex angles of the PCBs. Arranging in order from the vertices of the target vertices, obtaining the sorting values of the original locating points corresponding to the apex angles of the PCBs, and respectively testing the original locating points corresponding to the apex angles of the PCBs The number of times and the corresponding sorted value are weighted and summed to obtain the score value.

In one embodiment, it is required that any one of the original positioning points corresponding to the apex angle of any one of the PCBs is different from the original positioning point corresponding to the other apex angles of the PCB.

In one embodiment, the processing module 306 can obtain a distance value between the original positioning point and each PCB top angle, and add a corresponding original positioning point according to the distance value to the PCB top angle closest to the original point position. The set of positioning points respectively selects a set number of original positioning points with the smallest distance from the corresponding PCB apex angle in the corresponding set of positioning points.

In one embodiment, the processing module 306 may filter the minimum distance from the corresponding PCB vertices in the corresponding set of positioning points when the total number of original positioning points in the corresponding set of positioning points is greater than the set number. a predetermined number of original positioning points, when the total number of original positioning points in the corresponding positioning point set is not greater than the set number, all the original positioning points in the corresponding positioning point set are determined as the distance from the corresponding PCB top angle The smallest original anchor point.

The PCB positioning point determining system of the present invention has a one-to-one correspondence with the PCB positioning point determining method of the present invention. In the embodiment of the PCB positioning point determining method, the technical features and the beneficial effects thereof are all applicable to the PCB positioning point determining system. , hereby declare.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above described embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed. It is not to be construed as limiting the scope of the invention patent. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A method for determining a PCB positioning point, comprising the steps of:

Performing a positioning point search in the original image of the PCB to obtain the original positioning point searched;

Adding interference information on the original image to obtain a current image of the PCB;

Performing a search on the original positioning point or the positioning point passed by the previous test in the current image, and testing the position interval of the searched positioning point and the corresponding original positioning point;

Recording the number of test passes of the original anchor point;

When the number of positioning points passed by the test does not satisfy the preset continuous search condition, the score value of the original positioning point is obtained according to the number of test passes, and the positioning point of the PCB is determined based on the score value.
The method for determining a PCB positioning point according to claim 1, further comprising the steps of:

When the number of positioning points satisfies the continuous search condition, the current image is updated after the interference information is added to the current image, and the positioning point that is determined by the original positioning or the last test in the current image is returned. step.
The PCB positioning point determining method according to claim 1, wherein the process of obtaining the rating value of the original positioning point according to the number of test passes includes the following steps:

Separating a set number of original positioning points having the smallest distance from each of the PCB vertices on the original image;

Arranging the original positioning points corresponding to the apex angles of the PCBs according to the distance from the apex angle of the target from small to large, and obtaining the sorting values of the original positioning points corresponding to the apex angles of the PCBs;

The test pass values of the original anchor points corresponding to the apex angles of the PCBs and the corresponding sort values are respectively weighted and summed to obtain the score values.
The method for determining a PCB positioning point according to claim 3, wherein any one of the original positioning points corresponding to any one of the PCB top angles is different from the original positioning points corresponding to the other PCB top angles.
The PCB positioning point determining method according to claim 3, wherein the step of separately filtering out a set number of original positioning points having the smallest distance from each of the PCB vertices on the original image comprises the steps of:

Obtaining a distance value between the original positioning point and the top angle of each PCB, and corresponding to the original value according to the distance value The positioning point is added to the set of positioning points corresponding to the apex angle of the PCB closest to the original point;

A set number of original positioning points having the smallest distance from the corresponding PCB apex angle are respectively selected in the corresponding set of positioning points.
The method for determining a PCB positioning point according to claim 5, wherein:

When the total number of original positioning points in the corresponding set of positioning points is greater than the set number, the step of entering the set of original positioning points with the minimum distance from the corresponding PCB apex angle entering the corresponding positioning point set is entered. ;

When the total number of original positioning points in the corresponding positioning point set is not greater than the set number, all the original positioning points in the corresponding positioning point set are determined as the original positioning points having the smallest distance from the corresponding PCB top angle.
A PCB positioning point determining system, comprising:

a first search module, configured to perform a positioning point search in an original image of the PCB to obtain the searched original positioning point;

Adding a module, adding interference information on the original image to obtain a current image of the PCB;

a second search module, configured to re-search the original positioning point or the positioning point passed by the last test in the current image, and test the position interval between the searched positioning point and the corresponding original positioning point;

An adjustment module, configured to record the number of test passes of the original anchor point;

The processing module obtains a score value of the original anchor point according to the number of test passes, and determines an anchor point of the PCB based on the score value, when the number of anchor points passed by the test does not satisfy the preset search condition.
The PCB positioning point determining system according to claim 6, further comprising an updating module;

The updating module is configured to update the current image after adding the interference information on the current image when the number of positioning points satisfies the continuous search condition;

After the obtaining module obtains the current image, the second search module searches the original positioning point again, and after the update module updates the current image, the positioning point passed by the last test is heavy. New search.
The PCB positioning point determining system according to claim 7, wherein:

The processing module respectively filters out a set number of original positioning points having the smallest distance from each of the PCB vertebral angles on the original image, and respectively respectively respectively respectively corresponding original positioning points corresponding to the top corners of the PCB according to the target top The distances of the corners are arranged in a sequence from small to large, and the sorting values of the original positioning points corresponding to the apex angles of the PCBs are obtained, and the number of test passes of the original positioning points corresponding to the apex angles of the PCBs and the corresponding sorting values are respectively performed. Weighted summation to obtain the score value.
The PCB positioning point determining system according to claim 9, wherein any one of the original positioning points corresponding to any one of the PCB top angles is different from the original positioning points corresponding to the other PCB top angles.