WO2017161946A1 - 一种aoi图像采集方法和装置 - Google Patents

一种aoi图像采集方法和装置 Download PDF

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WO2017161946A1
WO2017161946A1 PCT/CN2016/113100 CN2016113100W WO2017161946A1 WO 2017161946 A1 WO2017161946 A1 WO 2017161946A1 CN 2016113100 W CN2016113100 W CN 2016113100W WO 2017161946 A1 WO2017161946 A1 WO 2017161946A1
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boundary
image
vertex
image acquisition
along
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French (fr)
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韩志
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features

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  • the present invention relates to the field of automatic optical detection, and in particular, to an AOI image acquisition method and apparatus.
  • AOI Automatic Optic Inspection
  • PCB is automatically scanned by the camera to collect images, and after image processing, it is compared with the qualified parameters in the database to check for defects on the PCB.
  • the AOI usually uses the XY motion platform to take photos with the camera. According to the shooting requirements, each movement to a position that needs to be photographed needs to be stopped, and a photo is taken and then moved to the next position.
  • High-speed cameras also known as "flying cameras” are installed in higher-speed AOI products to increase shooting speed.
  • the high-speed camera has the characteristics of short exposure time, fast imaging speed and fast transmission speed, so that the shooting speed is extremely fast, and image shooting with higher frame rate can be realized. Therefore, the AOI device using a high-speed camera does not need to stop during shooting, but instead takes a photo shooting while walking.
  • the existing AOI products generally adopt the XY motion platform to alternately move along the X-axis and the Y-axis, and the shooting area is scanned by the serpentine reciprocating motion path of “horizontal-vertical-horizontal-vertical...”.
  • the image capturing path is as shown in Fig. 1.
  • the camera moves from right to left along the X axis from the initial position O. When moving to the boundary of the area to be photographed, it moves downward in the Y direction by a camera height H, and then along the X axis. Move in the opposite direction. This cycle is repeated until the number of operations in the Y direction ⁇ camera height ⁇ the height of the shooting target is ended.
  • the XY motion platform moves only in the horizontal (X-axis) or vertical (Y-axis) direction during the movement, so that the moving speed of the camera is low, and the camera shooting rate is higher.
  • the performance of the XY motion platform and the camera cannot be maximized, which limits the speed and detection efficiency of the AOI image acquisition.
  • An object of the embodiments of the present invention is to provide an AOI image acquisition method and apparatus, which improve the efficiency of AOI image acquisition.
  • an embodiment of the present invention provides an AOI image collection method, including:
  • the horizontal motion mechanism and the vertical motion mechanism of the XY motion platform drive the image acquisition device to perform a serpentine traversal at a first line spacing in a direction at a first angle ⁇ with the horizontal direction. Images are acquired at a predetermined frame rate during traversal; where ⁇ ⁇ 0 and ⁇ ⁇ 90°.
  • the area to be photographed is surrounded by a first boundary, a second boundary, a third boundary and a fourth boundary which are sequentially connected;
  • the initial position is a first vertex of the to-be-photographed region, a first vertex is an intersection of the first boundary and the fourth boundary;
  • the first boundary is parallel to a horizontal direction;
  • the first boundary and the second boundary are an upper boundary, the third boundary
  • the fourth boundary is the lower boundary;
  • the horizontal motion mechanism and the vertical motion mechanism of the XY motion platform drive the image acquisition device to perform a serpentine scan on the first line spacing in a direction at a first angle ⁇ with the horizontal direction. And capture images at a pre-set frame rate during the scan, including:
  • steps S12 to S13 are repeated until the image capturing device moves to a third vertex of the to-be-shot region; wherein the third vertex is an intersection of the second boundary and the third boundary.
  • W P is the length of the area to be photographed
  • H P is the width of the area to be photographed
  • W C of the image pickup apparatus imaging region length, H C is the width of the imaging area image capture device.
  • step S12 when the image capturing device moves to the second vertex, if the distance moved along the first boundary this time Then moving the image acquisition device along the second boundary to move L b ;
  • the second vertex is an intersection of the first boundary and the second boundary;
  • step S13 when the image capturing device moves to the fourth vertex, if the distance moved along the fourth boundary this time The image capture device will then move along the third boundary L c; wherein, The fourth vertex is an intersection of the third boundary and the fourth boundary.
  • the method further includes:
  • an AOI image acquisition device including:
  • a scanning module configured to start from a preset initial position, and drive the image capturing device to perform the first line spacing in the direction of the first angle ⁇ with the horizontal direction by the horizontal motion mechanism and the vertical motion mechanism of the XY motion platform.
  • a serpentine scan and an image is acquired at a predetermined frame rate during the scan; where ⁇ ⁇ 0 and ⁇ ⁇ 90°.
  • the area to be photographed is surrounded by a first boundary, a second boundary, a third boundary and a fourth boundary which are sequentially connected;
  • the initial position is a first vertex of the to-be-photographed region, a first vertex is an intersection of the first boundary and the fourth boundary;
  • the first boundary is parallel to a horizontal direction;
  • the first boundary and the second boundary are an upper boundary, the third boundary
  • the fourth boundary is the lower boundary;
  • the scanning module includes:
  • An initialization unit configured to move the image collection device to the first vertex of the to-be-shot region
  • a first moving unit configured to move the image capturing device along the upper boundary and away from the first vertex by a first distance H 1 , and move to the first angle ⁇ in a horizontal direction to the horizontal direction a lower boundary, and taking an image at a predetermined frame rate during moving to the lower boundary; wherein, when the image capturing device moves along the first boundary, When the image capture device moves along the second boundary, h is the first line spacing;
  • a looping unit for repeating operations of the first moving unit and the second moving unit until the image capturing device moves to a third vertex of the area to be photographed; wherein the third vertex is the The intersection of the second boundary and the third boundary.
  • W P is the length of the area to be photographed
  • H P is the width of the area to be photographed
  • W C of the image pickup apparatus imaging region length, H C is the width of the imaging area image capture device.
  • the first mobile unit comprises:
  • a first corner subunit configured to move the distance along the first boundary when the image capturing device moves to the second vertex Then moving the image acquisition device along the second boundary to move L b ;
  • the second vertex is an intersection of the first boundary and the second boundary;
  • the second mobile unit includes:
  • a second corner subunit configured to move the distance along the fourth boundary when the image capturing device moves to the fourth vertex
  • the image capture device will then move along the third boundary L c; wherein, The fourth vertex is an intersection of the third boundary and the fourth boundary.
  • the device further includes:
  • the splicing module is configured to splicing all the collected images to obtain an overall image of the area to be photographed.
  • the present invention has the following advantages:
  • the AOI image acquisition method and apparatus provided by the embodiments of the present invention, starting from a preset initial position, driving the image acquisition device in a direction of a first angle ⁇ with the horizontal direction by the horizontal motion mechanism and the vertical motion mechanism of the XY motion platform
  • the shooting area is subjected to a serpentine scan at the first line spacing, and images are acquired at a preset frame rate during the scanning process.
  • only the horizontal or vertical movement mode of the image acquisition device is changed to a diagonal movement of a certain angle ⁇ , and the horizontal movement mechanism and the vertical movement mechanism of the XY motion platform are not changed.
  • the solution provided by the invention can speed up the moving speed of the image acquisition device and help improve the efficiency of AOI image acquisition.
  • the moving route in the image capturing process is a diagonal line, that is, the imaging of the image capturing device has a certain angle with the moving direction, the coverage of the motion scanning of the image capturing device is equivalent to changing from the right angle side of the triangle to the oblique side.
  • the first line spacing can be set as large as possible to reduce the number of round trips of the image acquisition device, which helps to further improve the efficiency of AOI image acquisition.
  • FIG. 1 is a schematic diagram of a photographing path of an AOI image acquisition method provided by the prior art
  • FIG. 2 is a flow chart of an embodiment of an AOI image acquisition method provided by the present invention.
  • FIG. 3 is a flow chart of the step S1 provided by the embodiment shown in Figure 2;
  • FIG. 4 is a schematic diagram of a photographing path of an AOI image acquisition method provided by the present invention.
  • FIG. 5 is a schematic diagram of another shooting path of the AOI image collecting method provided by the present invention.
  • FIG. 6 is a flow chart of another embodiment of an AOI image acquisition method provided by the present invention.
  • FIG. 7 is a structural diagram of an embodiment of an AOI image acquisition device provided by the present invention.
  • Figure 8 is a block diagram of another embodiment of an AOI image capture device provided by the present invention.
  • FIG. 2 a flow chart of one embodiment of an AOI image acquisition method provided by the present invention is shown.
  • the AOI image collection method includes the step S1:
  • the image acquisition device is caused to perform a serpentine scan on the photographing region in a direction inclined by the first angle ⁇ with the horizontal direction, and the motion speed of the image capture device is equivalent to the horizontal and vertical motion.
  • the vector superposition of speed maximizes the motion performance of the XY motion platform, as the frame rate allows.
  • the area to be photographed is preferably a first boundary O 1 O 2 , a second boundary O 2 O 3 , a third boundary O 3 O 4 and
  • the fourth boundary O 4 O 1 encloses a rectangular area.
  • the initial position is a first vertex O 1 of the to-be-shot region, and the first vertex O 1 is an intersection of the first boundary O 1 O 2 and the fourth boundary O 4 O 1 .
  • the first boundary O 1 O 2 is parallel to the horizontal direction.
  • the first boundary O 1 O 2 and the second boundary O 2 O 3 are an upper boundary O 1 O 2 O 3 , the third boundary O 3 O 4 ) and the fourth boundary O 4 O 1 are Lower boundary O 1 O 4 O 3 .
  • the step S1 includes:
  • the image capturing device is preferably a high-speed camera, and the image to be photographed is preferably a PCB card.
  • the image capturing device can be mounted on the XY motion platform, and the camera is moved by the XY motion platform.
  • the XY motion platform may be a cross slide including a horizontal (X-axis) motion mechanism and a vertical (Y-axis) motion mechanism, the horizontal motion mechanism being movable in a horizontal direction, and the vertical motion mechanism being movable in a vertical direction.
  • the moving speed of the image capturing device is a vector superposition of the horizontal moving speed and the vertical moving speed. In this embodiment, the principle of the speed superposition is utilized to improve the moving speed of the image capturing device during scanning.
  • the first angle Wherein, W P is the length of the area to be photographed, that is, the length of the first boundary O 1 O 2 or the third boundary O 3 O 4
  • H P is the width of the area to be photographed, that is, the second boundary O 2 O 3 or the length of the fourth boundary O 1 O 4
  • the first angle Wherein, W C of the image pickup apparatus imaging region length, H C is the width of the imaging area image capture device.
  • the shorter the exercise time the higher the photographing efficiency.
  • such an embodiment may be employed depending on which embodiment has the shortest exercise time if the frame rate allows.
  • the ⁇ is preferably 45°.
  • the spacing between the two, t is the diagonal length of the imaging area of the image acquisition device, W C is the length of the imaging area of the image acquisition device, and H C is the width of the imaging area of the image acquisition device. Therefore, generally, in order for the acquired image to cover the entire area to be photographed, the first line spacing h should satisfy: h ⁇ t.
  • FIG. 4 it is another schematic diagram of the shooting path of the AOI image acquisition method provided by the present invention.
  • the initial position of the image capturing device is the first vertex O 1 in the upper right corner, the image capturing device moves according to the path of “O 1 -ABCDE...”, and the horizontal fine-tuning distance (along the first boundary O 1 O 2 or the distance at which the third boundary O 4 O 3 moves once) is h/sin ⁇ , and the vertical fine adjustment distance (distance moved once along the second boundary O 2 O 3 or the fourth boundary O 1 O 4 )
  • h/cos ⁇ h is the interval between the round-trip paths (ie, the first line spacing).
  • h should be set as large as possible to reduce the number of round-trip motions and shorten the motion path. If the length and width of the imaging area of the camera are both 1, the maximum distance between the round-trip paths of the AOI image acquisition method provided by this embodiment is Set the speed of the motion XY motion platform along the X-axis or Y-axis to 1, then the speed of the XY synchronous motion in the oblique 45° direction is It can be seen that the efficiency of image collection in this embodiment is 1 to 2 times that of the existing method.
  • the movement of the image acquisition device along the boundary of the region to be photographed is referred to as an outer loop, and the movement inside the region to be photographed is referred to as an inner loop.
  • the outer loop is executed, and a fine adjustment distance is moved along the boundary of the area to be photographed and away from the initial position, and the distance is finely adjusted.
  • the size can be calculated from the frame rate of the image capture device and the length of the diagonal of the imaging area.
  • the determining condition of the end of the inner layer loop may be whether the image capturing device moves to the boundary of the area to be photographed, and the moving direction of the inner layer loop may be determined by (-1) n > 0, and n is the inner layer loop The number of round trip paths. In the path shown in FIG.
  • the coordinates of the initial position O 1 are (X 1 , Y 1 ), the coordinates of the diagonal point O 3 are (X 3 , Y 3 ), and the current position coordinates of the image capturing device are (X k , Y k ), when the (-1) n ⁇ 0, the image acquisition device moves to the lower right, and the end condition of the inner layer cycle is X k ⁇ X 1 , or Y k ⁇ Y 3 ; When (-1) n > 0, the image capturing device moves to the upper left, and the end condition of the inner layer loop is Y k ⁇ Y 1 , or X k ⁇ X 3 .
  • FIG. 5 it is another schematic diagram of the shooting path of the AOI image acquisition method provided by the present invention.
  • step S12 when the image capturing device moves to the second vertex O 2 , if the distance moved along the first boundary O 1 O 2 this time Then moving the image acquisition device along the second boundary O 2 O 3 to move L b ;
  • the second vertex O 2 is the intersection of the first boundary O 1 O 2 and the second boundary O 2 O 3 .
  • step S13 when the image capturing device moves to the fourth vertex O 4 , if the distance moved along the fourth boundary O 1 O 4 this time Then moving the image acquisition device along the third boundary O 4 O 3 to move L c ;
  • the fourth vertex O 4 is the intersection of the fourth boundary O 1 O 4 and the third boundary O 4 O 3 .
  • FIG. 6 there is shown a flow chart of another embodiment of an AOI image acquisition method provided by the present invention.
  • the difference between this embodiment and the foregoing embodiment is that the embodiment further includes step S2 on the basis of the embodiment shown in FIG. 2:
  • an image stitching algorithm may be used to splicing each part of the image acquired in step S1 into a complete image of the target area, and then comparing the stitched image with a standard image in the database to check the PCB board. defect.
  • FIG. 7 there is shown a block diagram of an embodiment of an AOI image capture device provided by the present invention.
  • the basic principle of this embodiment is the same as that of the embodiment shown in FIG. 2.
  • details that are not detailed in this embodiment refer to the related description in the foregoing embodiment.
  • the AOI image collection device includes:
  • the scanning module 71 is configured to start, by a preset initial position, the horizontal motion mechanism and the vertical motion mechanism of the XY motion platform to drive the image capturing device to the first line spacing of the image to be photographed in a direction at a first angle ⁇ with the horizontal direction.
  • a serpentine scan is performed and images are acquired at a predetermined frame rate during the scan; where ⁇ ⁇ 0 and ⁇ ⁇ 90°.
  • the area to be photographed preferably surrounds a rectangular area by a first boundary O 1 O 2 , a second boundary O 2 O 3 , a third boundary O 3 O 4 , and a fourth boundary O 4 O 1 that are sequentially connected.
  • the initial position is a first vertex O 1 of the to-be-shot region, and the first vertex O 1 is an intersection of the first boundary O 1 O 2 and the fourth boundary O 4 O 1 .
  • the first boundary O 1 O 2 is parallel to the horizontal direction.
  • the first boundary O 1 O 2 and the second boundary O 2 O 3 are an upper boundary O 1 O 2 O 3
  • the third boundary O 3 O 4 and the fourth boundary O 4 O 1 are lower
  • the boundary is O 1 O 4 O 3 .
  • the scanning module 71 includes:
  • the initializing unit 711 is configured to move the image capturing device to the first vertex O 1 of the to-be-shot region.
  • a first moving unit 712 configured to move the image acquiring device along the upper boundary O 1 O 2 O 3 and away from the first vertex O 1 by a first distance H 1
  • the direction of an angle ⁇ moves to the lower boundary O 1 O 4 O 3 and captures an image at a predetermined frame rate during the movement to the lower boundary O 1 O 4 O 3 ;
  • the first distance when the image capture device moves along the second boundary O 2 O 3 h is the first line spacing.
  • a looping unit 714 configured to repeat operations of the first moving unit 712 and the second moving unit 713 until the image capturing device moves to a third vertex O 3 of the to-be-shot region; wherein, the The three vertices O 3 are the intersections of the second boundary O 2 O 3 and the third boundary O 3 O 4 .
  • the first angle Wherein, W P is the length of the area to be photographed, and HP is the width of the area to be photographed.
  • the first angle Wherein the length of the image pickup apparatus W C of the imaging area, HC width of the image capture device of the imaging area.
  • the first line spacing h satisfies: Wherein, W C of the image pickup apparatus imaging region length, H C is the width of the imaging area image capture device.
  • the first mobile unit includes:
  • a first corner subunit configured to move the distance along the first boundary O 1 O 2 when the image capturing device moves to the second vertex O 2 Then moving the image acquisition device along the second boundary O 2 O 3 to move L b ;
  • the second vertex O 2 is the intersection of the first boundary O 1 O 2 and the second boundary O 2 O 3 .
  • the second mobile unit includes:
  • a second corner subunit configured to move the distance along the fourth boundary O 1 O 4 when the image capturing device moves to the fourth vertex O 4 Then moving the image acquisition device along the third boundary O 4 O 3 to move L c ;
  • the fourth vertex O 4 is the intersection of the fourth boundary O 1 O 4 and the third boundary O 4 O 3 .
  • FIG. 8 there is shown a block diagram of another embodiment of an AOI image capture device provided by the present invention. This embodiment further adds the splicing module 72 to the embodiment shown in FIG.
  • the splicing module 72 is configured to splicing all the collected images to obtain an overall image of the area to be photographed.
  • the AOI image acquisition method and apparatus starting from a preset initial position, drive the image acquisition device along the horizontal direction through the horizontal motion mechanism and the vertical motion mechanism of the XY motion platform.
  • the direction of an angle ⁇ is subjected to a serpentine scan of the photographing area at the first line spacing, and an image is acquired at a predetermined frame rate during the scanning process.
  • only the horizontal or vertical movement mode of the image acquisition device is changed to a diagonal movement of a certain angle ⁇ , and the horizontal movement mechanism and the vertical movement mechanism of the XY motion platform are not changed.
  • the solution provided by the invention can speed up the moving speed of the image acquisition device and help improve the efficiency of AOI image acquisition.
  • the moving route in the image capturing process is a diagonal line, that is, the imaging of the image capturing device has a certain angle with the moving direction, the coverage of the motion scanning of the image capturing device is equivalent to changing from the right angle side of the triangle to the oblique side.
  • the first line spacing can be set as large as possible to reduce the number of round trips of the image acquisition device, which helps to further improve the efficiency of AOI image acquisition.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical. Units can be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the connection relationship between the modules indicates that there is a communication connection between them, and specifically, one or more communication buses or signal lines can be realized.
  • the present invention can be implemented by means of software plus necessary general hardware, and of course, dedicated hardware, dedicated CPU, dedicated memory, dedicated memory, Special components and so on.
  • functions performed by computer programs can be easily implemented with the corresponding hardware, and the specific hardware structure used to implement the same function can be various, such as analog circuits, digital circuits, or dedicated circuits. Circuits, etc.
  • software program implementation is a better implementation in more cases.
  • the technical solution of the present invention which is essential or contributes to the prior art, can be embodied in the form of a software product stored in a readable storage medium, such as a floppy disk of a computer.
  • U disk mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., including a number of instructions to make a computer device (may be A personal computer, server, or network device, etc.) performs the methods described in various embodiments of the present invention.
  • a computer device may be A personal computer, server, or network device, etc.

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Abstract

一种AOI图像采集方法和装置，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像。通过水平运动机构和垂直运动机构的同时运动，将现有技术中仅是对所述图像采集设备进行水平或者垂直的移动方式改为成一定角度θ的斜线运动，有助于加快图像采集设备的移动速度，减少图像采集设备往返移动的次数，提高AOI图像采集的效率。

Description

一种AOI图像采集方法和装置 技术领域
本发明涉及自动光学检测领域，尤其涉及一种AOI图像采集方法和装置。
背景技术
AOI(Automatic Optic Inspection)的全称是自动光学检测，基于光学原理来对焊接生产中遇到的常见缺陷进行检测，可代替人工查找PCB板的各种外观缺陷，能够起到高效、准确、省事、节约成本等作用。在自动检测时，通过摄像头自动扫描PCB板以采集图像，经过图像处理后与数据库中的合格的参数进行比较，检查出PCB板上的缺陷。
现有技术当中AOI通常采用XY运动平台配合相机进行拍照，根据拍摄的需求，每运动到一个需要拍摄的位置就需要停稳，拍摄一张照片再运动到下一位置。而在速度较高的AOI产品中安装了高速相机(也称为“飞行相机”)以提高拍摄速度。所述高速相机因其具有曝光时间短、成像速度快、传输速度快的特点，使其拍摄速度极快，可实现帧率较高的图像拍摄。因此，使用高速相机的AOI设备在拍摄过程中XY运动平台不需要停下，而是采用边走边拍的方式完成照片拍摄。现有的AOI产品普遍采用了XY运动平台沿X轴和Y轴交替移动的方式，通过“水平-垂直-水平-垂直...”的蛇形往返运动路线对待拍摄区域进行扫描。其图像拍摄路径如图1所示，相机从初始位置O沿X轴从右向左运动，当运动到待拍摄区域的边界时，沿Y方向向下运动一个相机高度H，然后沿X轴向相反方向运动。如此循环，直到沿Y方向运行次数×相机高度≥拍摄目标的高度时，结束运动。
然而，上述拍摄方式中，XY运动平台在移动过程中仅沿水平(X轴)或垂直(Y轴)方向移动，以致于相机拍摄时的移动速度较低，在相机拍摄帧率较 高的情况下，不能将XY运动平台和相机的性能发挥到最大，制约了AOI图像采集的速度和检测效率。
发明内容
本发明实施例的目的在于提供一种AOI图像采集方法和装置，提高AOI图像采集的效率。
为了实现上述目的，本发明实施例提供了一种AOI图像采集方法，包括：
从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形遍历，并在遍历的过程中以预先设定的帧率采集图像；其中，θ≠0并且θ≠90°。
优选地，所述待拍摄区域为由依次连接的第一边界、第二边界、第三边界和第四边界围成矩形区域；所述初始位置为所述待拍摄区域的第一顶点，所述第一顶点为所述第一边界和所述第四边界的交点；所述第一边界与水平方向平行；所述第一边界和所述第二边界为上边界，所述第三边界和所述第四边界为下边界；
所述从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像，包括：
S11，将图像采集设备移动至所述待拍摄区域的第一顶点；
S12，将所述图像采集设备沿所述上边界并且远离所述第一顶点的方向移动第一距离H1后，沿与水平方向成第一角度θ的方向移动至所述下边界，并在移动至所述下边界的过程中以预先设定的帧率拍摄图像；其中，当所述图像采集设备沿所述第一边界移动时，
Figure PCTCN2016113100-appb-000001
当所述图像采集设备沿所述第二边界移动时，
Figure PCTCN2016113100-appb-000002
h为所述第一行距；
S13，将所述图像采集设备沿所述下边界并且远离所述第一顶点的方向移动第二距离H2后，沿与水平方向成第二角度α的方向移动至所述上边界，并在移动至所述上边界的过程中以预先设定的帧率拍摄图像；其中，α＝180°-θ，当所述图像采集设备沿所述第四边界移动时，
Figure PCTCN2016113100-appb-000003
当所述图像采集设备沿所述第三边界移动时，
Figure PCTCN2016113100-appb-000004
S14，重复步骤S12至S13，直至所述图像采集设备移动至所述待拍摄区域的第三顶点；其中，所述第三顶点为所述第二边界和所述第三边界的交点。
优选地，所述第一角度
Figure PCTCN2016113100-appb-000005
其中，WP为所述待拍摄区域的长度，HP为所述待拍摄区域的宽度；或者，
所述第一角度
Figure PCTCN2016113100-appb-000006
其中，WC所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。
优选地，在所述步骤S12中，当所述图像采集设备移动到第二顶点时，若本次沿所述第一边界移动的距离
Figure PCTCN2016113100-appb-000007
则将所述图像采集设备再沿所述第二边界移动Lb；其中，
Figure PCTCN2016113100-appb-000008
所述第二顶点为第一边界与第二边界的交点；
在所述步骤S13中，当所述图像采集设备移动到第四顶点时，若本次沿所述第四边界移动的距离
Figure PCTCN2016113100-appb-000009
则将所述图像采集设备再沿所述第三边界移动Lc；其中，
Figure PCTCN2016113100-appb-000010
所述第四顶点为第三边界与第四边界的交点。
优选地，所述方法还包括：
对采集到的所有图像进行拼接，获取所述待拍摄区域的整体图像。
相应地，本发明还提供了一种AOI图像采集装置，包括：
扫描模块，用于从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像；其中，θ≠0并且θ≠90°。
优选地，所述待拍摄区域为由依次连接的第一边界、第二边界、第三边界和第四边界围成矩形区域；所述初始位置为所述待拍摄区域的第一顶点，所述第一顶点为所述第一边界和所述第四边界的交点；所述第一边界与水平方向平行；所述第一边界和所述第二边界为上边界，所述第三边界和所述第四边界为下边界；
所述扫描模块包括：
初始化单元，用于将图像采集设备移动至所述待拍摄区域的第一顶点；
第一移动单元，用于将所述图像采集设备沿所述上边界并且远离所述第一顶点的方向移动第一距离H1后，沿与水平方向成第一角度θ的方向移动至所述下边界，并在移动至所述下边界的过程中以预先设定的帧率拍摄图像；其中，当所述图像采集设备沿所述第一边界移动时，
Figure PCTCN2016113100-appb-000011
当所述图像采集设备沿所述第二边界移动时，
Figure PCTCN2016113100-appb-000012
h为所述第一行距；
第二移动单元，用于将所述图像采集设备沿所述下边界并且远离所述第一顶点的方向移动第二距离H2后，沿与水平方向成第二角度α的方向移动至所述上边界，并在移动至所述上边界的过程中以预先设定的帧率拍摄图像；其中，α＝180°-θ，当所述图像采集设备沿所述第四边界移动时，
Figure PCTCN2016113100-appb-000013
当所述图像采集设备沿所述第三边界移动时，
Figure PCTCN2016113100-appb-000014
循环单元，用于重复所述第一移动单元和所述第二移动单元的操作，直至所述图像采集设备移动至所述待拍摄区域的第三顶点；其中，所述第三顶点为所述第二边界和所述第三边界的交点。
优选地，所述第一角度
Figure PCTCN2016113100-appb-000015
其中，WP为所述待拍摄区域的长度，HP为所述待拍摄区域的宽度；或者，
所述第一角度
Figure PCTCN2016113100-appb-000016
其中，WC所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。
优选地，所述第一移动单元包括：
第一转角子单元，用于当所述图像采集设备移动到第二顶点时，若本次沿所述第一边界移动的距离
Figure PCTCN2016113100-appb-000017
则将所述图像采集设备再沿所述第二边界移动Lb；其中，
Figure PCTCN2016113100-appb-000018
所述第二顶点为第一边界与第二边界的交点；
所述第二移动单元包括：
第二转角子单元，用于当所述图像采集设备移动到第四顶点时，若本次沿所述第四边界移动的距离
Figure PCTCN2016113100-appb-000019
则将所述图像采集设备再沿所述第三边界移动Lc；其中，
Figure PCTCN2016113100-appb-000020
所述第四顶点为第三边界与第四边界的交点。
进一步地，所述装置还包括：
拼接模块，用于对采集到的所有图像进行拼接，获取所述待拍摄区域的整体图像。
与现有技术相比，本发明具有以下优点：
本发明实施例提供的AOI图像采集方法和装置，从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像。本发明将现有技术中仅对所述图像采集设备进行水平或者垂直的移动方式改为成一定角度θ的斜线运动，在不改变XY运动平台的水平运动机构和垂直运动机构单独的运行速度的情况下，根据直角三角形斜边大于直角边的原理可知，采用本发明提供的方案可加快图像采集设备的移动速度，有助于提高AOI图像采集的效率。此外，由于图像采集过程中的移动路线是斜线，即图像采集设备的成像与其移动的方向同样存在一定的夹角，图像采集设备运动扫描的覆盖范围相当于从三角形的直角边变为斜边，在帧率允许的情况下，可设置尽可能大的第一行距，以减少图像采集设备往返移动的次数，有助于进一步提高AOI图像采集的效率。
附图说明
图1是现有技术提供的AOI图像采集方法的拍摄路径示意图；
图2是本发明提供的AOI图像采集方法的一个实施例的流程图；
图3是如图2所示实施例提供的步骤S1的流程图；
图4是本发明提供的AOI图像采集方法的一个拍摄路径示意图；
图5是本发明提供的AOI图像采集方法的另一个拍摄路径示意图；
图6是本发明提供的AOI图像采集方法的另一个实施例的流程图；
图7是本发明提供的AOI图像采集装置的一个实施例的结构图；
图8是本发明提供的AOI图像采集装置的另一个实施例的结构图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参见图2，是本发明提供的AOI图像采集方法的一个实施例的流程图。
如图2所示，所述AOI图像采集方法，包括步骤S1：
S1，从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像；其中，θ≠0并且θ≠90°。
通过水平运动机构和垂直运动机构的同时运动，带动图像采集设备沿与水平方向倾斜第一角度θ的方向对待拍摄区域进行蛇形扫描，图像采集设备的运动速度相当于水平方向和垂直方向的运动速度的向量叠加，在帧率允许的情况下，可最大限度地利用XY运动平台的运动性能。
参见图3、图4和图5，在具体实施当中，所述待拍摄区域优选为由依次连接的第一边界O1O2、第二边界O2O3、第三边界O3O4和第四边界O4O1围成矩形区域。所述初始位置为所述待拍摄区域的第一顶点O1，所述第一顶点O1为所述第一边界O1O2和所述第四边界O4O1的交点。所述第一边界O1O2与水平方向平 行。所述第一边界O1O2和所述第二边界O2O3为上边界O1O2O3，所述第三边界O3O4)和所述第四边界O4O1为下边界O1O4O3。所述步骤S1包括：
S11，将图像采集设备移动至所述待拍摄区域的第一顶点O1。
S12，将所述图像采集设备沿所述上边界O1O2O3并且远离所述第一顶点O1的方向移动第一距离H1后，沿与水平方向成第一角度θ的方向移动至所述下边界O1O4O3，并在移动至所述下边界O1O4O3的过程中以预先设定的帧率拍摄图像。其中，当所述图像采集设备沿所述第一边界O1O2移动时，所述第一距离
Figure PCTCN2016113100-appb-000021
当所述图像采集设备沿所述第二边界O2O3移动时，所述第一距离
Figure PCTCN2016113100-appb-000022
h为所述第一行距。
S13，将所述图像采集设备沿所述下边界O1O4O3并且远离所述第一顶点O1的方向移动第二距离H2后，沿与水平方向成第二角度α的方向移动至所述上边界O1O2O3，并在移动至所述上边界O1O2O3的过程中以预先设定的帧率拍摄图像。其中，所述第二角度＝180°-θ，当所述图像采集设备沿所述第四边界O1O4移动时，所述第二距离
Figure PCTCN2016113100-appb-000023
当所述图像采集设备沿所述第三边界O4O3移动时，所述第二距离
Figure PCTCN2016113100-appb-000024
S14，重复步骤S22至S23，直至所述图像采集设备移动至所述待拍摄区域的第三顶点O3；其中，所述第三顶点O3为所述第二边界O2O3和所述第三边界O3O4的交点。
在具体实施当中，所述图像采集设备优选为高速相机，所述待拍摄区域优选为PCB板卡，可以将图像采集设备安装于XY运动平台上，通过XY运动平台带动相机进行移动。所述XY运动平台可以为十字滑台，包括水平(X轴)运动机构和垂直(Y轴)运动机构，所述水平运动机构可沿水平方向运动，所述垂直运动机构可沿垂直方向运动。通过所述水平运动机构和垂直运动机构的同时运行，可实现任意方向的移动。图像采集设备的移动速度为水平方向移动速度和垂直方向运动速度的向量叠加，本实施例中正是利用了这种速度叠加的原理来提高扫描过程中图像采集设备的移动速度。
在一种优选的实施方式当中，所述第一角度
Figure PCTCN2016113100-appb-000025
其中，WP为所述待拍摄区域的长度，即第一边界O1O2或者第三边界O3O4的长度，HP为所述待拍摄区域的宽度，即第二边界O2O3或者第四边界O1O4的长度。在另一种优选的实施方式当中，所述第一角度
Figure PCTCN2016113100-appb-000026
其中，WC所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。通常地，运动时间越短则拍照效率越高。在具体实施当中，可根据在帧率允许的情况下，哪种实施方式的运动时间最短，则采用该种实施方式。作为一种特例，当所述待拍摄区域和所述图像采集设备的成像区域均为正方形时，为实现最优的效果，所述θ优选为45°。
在具体实施当中，沿边界移动时水平和垂直方向的微调距离取决于拍摄的帧率和图像采集设备成像区域对角线的长短，如果图像采集设备的拍摄帧率可以达到非常大，那么往返路径之间的距离可接近图像采集设备成像区域对角线的长度，设n为图像采集设备的帧率，即limn→∞h(x)＝t，其中，h(x)为各往返路径之间的间距，t为所述图像采集设备成像区域的对角线长度，
Figure PCTCN2016113100-appb-000027
WC为所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。因此，一般地为使得采集的图像覆盖整个待拍摄区域，所述第一行距h应当满足：h≤t。
如图4所示，是本发明提供的AOI图像采集方法的另一个拍摄路径示意图。所述图像采集设备的初始位置为右上角的第一顶点O1，所述图像采集设备依照“O1-A-B-C-D-E...”的路径移动，水平微调距离(沿所述第一边界O1O2或者所述第三边界O4O3移动一次的距离)为h/sinθ，垂直微调距离(沿所述第二边界O2O3或者所述第四边界O1O4移动一次的距离)为h/cosθ，h为往返路径之间的间隔(即第一行距)，在帧率允许的情况下，应尽可能的将h设置得较大，以减少往返运动的次数，缩短运动路径。设相机成像区域的长和宽均为1，则采用本实施例提供的AOI图像采集方法的往返路径之间的最大间距为
Figure PCTCN2016113100-appb-000028
设运动 速度XY运动平台沿X轴或Y轴的运动速度为1，则沿斜45°方向XY同步运动的速度为
Figure PCTCN2016113100-appb-000029
由此可见，本实施例的图像采集的效率为现有方法的1～2倍。
所述图像采集设备沿所述待拍摄区域边界的移动称为外层循环，在所述待拍摄区域内部的移动称为内层循环。在具体实施当中，当外层循环的次数≤主对角线方向的路径条数时，则执行外层循环，沿所述待拍摄区域的边界并远离初始位置的方向移动一个微调距离，微调距离的大小可根据图像采集设备的帧率和成像区域对角线的长度来计算。内层循环结束的判断条件可以为所述图像采集设备是否运动到所述待拍摄区域的边界，内层循环的运动方向可以由(-1)n＞0判断得到，n为本次内层循环所在的往返路径数。如图4所示路径中，设初始位置O1的坐标为(X1，Y1)，对角点O3的坐标为(X3，Y3)，所述图像采集设备的当前位置坐标为(Xk，Yk)，当所述(-1)n＜0时，所述图像采集设备往右下移动，内层循环的结束条件为Xk≥X1，或者Yk≥Y3；当(-1)n＞0时，所述图像采集设备往左上移动，内层循环的结束条件为Yk≤Y1，或者Xk≤X3。
如图5所示，是本发明提供的AOI图像采集方法的另一个拍摄路径示意图。
进一步地，在所述步骤S12中，当所述图像采集设备移动到第二顶点O2时，若本次沿所述第一边界O1O2移动的距离
Figure PCTCN2016113100-appb-000030
则将所述图像采集设备再沿所述第二边界O2O3移动Lb；其中，
Figure PCTCN2016113100-appb-000031
所述第二顶点O2为第一边界O1O2与第二边界O2O3的交点。
同理，在所述步骤S13中，当所述图像采集设备移动到第四顶点O4时，若本次沿所述第四边界O1O4移动的距离
Figure PCTCN2016113100-appb-000032
则将所述图像采集设备再沿所述第三边界O4O3移动Lc；其中，
Figure PCTCN2016113100-appb-000033
所述第四顶点O4为第四边界O1O4与第三边界O4O3的交点。
参见图6，是本发明提供的AOI图像采集方法的另一个实施例的流程图。本实施例与前述实施例的区别在于，本实施例在图2所示实施例的基础上，进一步包括步骤S2：
S2，对采集到的所有图像进行拼接，获取所述待拍摄区域的整体图像。
在具体实施当中，可采用图像拼接算法将步骤S1中获取的各部分图像拼接为目标区域的完整图像，再将拼接所得的图像与数据库中的标准图像进行比对，以检查出PCB板上的缺陷。
参见图7，是本发明提供的AOI图像采集装置的一个实施例的结构图。本实施例的基本原理与图2所示实施例一致，本实施例中未详述之处可参见前述实施例中的相关描述。
如图7所示，所述AOI图像采集装置，包括：
扫描模块71，用于从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像；其中，θ≠0并且θ≠90°。
所述待拍摄区域优选为由依次连接的第一边界O1O2、第二边界O2O3、第三边界O3O4和第四边界O4O1围成矩形区域。所述初始位置为所述待拍摄区域的第一顶点O1，所述第一顶点O1为所述第一边界O1O2和所述第四边界O4O1的交点。所述第一边界O1O2与水平方向平行。所述第一边界O1O2和所述第二边界O2O3为上边界O1O2O3，所述第三边界O3O4和所述第四边界O4O1为下边界O1O4O3。
所述扫描模块71包括：
初始化单元711，用于将图像采集设备移动至所述待拍摄区域的第一顶点O1。
第一移动单元712，用于将所述图像采集设备沿所述上边界O1O2O3并且远离所述第一顶点O1的方向移动第一距离H1后，沿与水平方向成第一角度θ的方向移动至所述下边界O1O4O3，并在移动至所述下边界O1O4O3的过程中以预先设定的帧率拍摄图像；其中，当所述图像采集设备沿所述第一边界O1O2移动时，所述第一距离
Figure PCTCN2016113100-appb-000034
当所述图像采集设备沿所述第二边界O2O3移动时，所述 第一距离
Figure PCTCN2016113100-appb-000035
h为所述第一行距。
第二移动单元713，用于将所述图像采集设备沿所述下边界O1O4O3并且远离所述第一顶点O1的方向移动第二距离H2后，沿与水平方向成第二角度α的方向移动至所述上边界O1O2O3，并在移动至所述上边界O1O2O3的过程中以预先设定的帧率拍摄图像；其中，所述第二角度＝180°-θ，当所述图像采集设备沿所述第四边界O1O4移动时，所述第二距离
Figure PCTCN2016113100-appb-000036
当所述图像采集设备沿所述第三边界O4O3移动时，所述第二距离
Figure PCTCN2016113100-appb-000037
循环单元714，用于重复所述第一移动单元712和所述第二移动单元713的操作，直至所述图像采集设备移动至所述待拍摄区域的第三顶点O3；其中，所述第三顶点O3为所述第二边界O2O3和所述第三边界O3O4的交点。
在一种优选的实施方式当中，所述第一角度
Figure PCTCN2016113100-appb-000038
其中，WP为所述待拍摄区域的长度，HP为所述待拍摄区域的宽度。
在另一种优选的实施方式当中，所述第一角度
Figure PCTCN2016113100-appb-000039
其中，WC所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。
所述第一行距h满足：
Figure PCTCN2016113100-appb-000040
其中，WC所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。
所述第一移动单元包括：
第一转角子单元，用于当所述图像采集设备移动到第二顶点O2时，若本次沿所述第一边界O1O2移动的距离
Figure PCTCN2016113100-appb-000041
则将所述图像采集设备再沿所述第二边界O2O3移动Lb；其中，
Figure PCTCN2016113100-appb-000042
所述第二顶点O2为第一边界O1O2与第二边界O2O3的交点。
所述第二移动单元包括：
第二转角子单元，用于当所述图像采集设备移动到第四顶点O4时，若本次沿所述第四边界O1O4移动的距离
Figure PCTCN2016113100-appb-000043
则将所述图像采集设备再沿所述第 三边界O4O3移动Lc；其中，
Figure PCTCN2016113100-appb-000044
所述第四顶点O4为第四边界O1O4与第三边界O4O3的交点。
参照图8，是本发明提供的AOI图像采集装置的另一个实施例的结构图。本实施例在图7所示实施例的基础上，进一步增加拼接模块72。
所述拼接模块72用于对采集到的所有图像进行拼接，获取所述待拍摄区域的整体图像。
本实施例的基本原理与图6所示实施例一致，本实施例未详述之处可参见前述实施例中的相关描述。
综上所述，本发明实施例提供的AOI图像采集方法和装置，从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像。本发明将现有技术中仅对所述图像采集设备进行水平或者垂直的移动方式改为成一定角度θ的斜线运动，在不改变XY运动平台的水平运动机构和垂直运动机构单独的运行速度的情况下，根据直角三角形斜边大于直角边的原理可知，采用本发明提供的方案可加快图像采集设备的移动速度，有助于提高AOI图像采集的效率。此外，由于图像采集过程中的移动路线是斜线，即图像采集设备的成像与其移动的方向同样存在一定的夹角，图像采集设备运动扫描的覆盖范围相当于从三角形的直角边变为斜边，在帧率允许的情况下，可设置尽可能大的第一行距，以减少图像采集设备往返移动的次数，有助于进一步提高AOI图像采集的效率。
需说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。另外，本发明提供的装置实施例附图中，模块之间的连接关系表示它们之间具有通信连接，具体可以实现为一条或多条通信总线或信号线。 本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到本发明可借助软件加必需的通用硬件的方式来实现，当然也可以通过专用硬件包括专用集成电路、专用CPU、专用存储器、专用元器件等来实现。一般情况下，凡由计算机程序完成的功能都可以很容易地用相应的硬件来实现，而且，用来实现同一功能的具体硬件结构也可以是多种多样的，例如模拟电路、数字电路或专用电路等。但是，对本发明而言更多情况下软件程序实现是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在可读取的存储介质中，如计算机的软盘，U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种AOI图像采集方法，其特征在于，包括：
    从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像；其中，θ≠0并且θ≠90°。
  2. 如权利要求1所述的AOI图像采集方法，其特征在于，所述待拍摄区域为由依次连接的第一边界、第二边界、第三边界和第四边界围成矩形区域；所述初始位置为所述待拍摄区域的第一顶点，所述第一顶点为所述第一边界和所述第四边界的交点；所述第一边界与水平方向平行；所述第一边界和所述第二边界为上边界，所述第三边界和所述第四边界为下边界；
    所述从预先设定的初始位置开始，通过XY运动平台的水平运动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像，包括：
    S11，将图像采集设备移动至所述待拍摄区域的第一顶点；
    S12，将所述图像采集设备沿所述上边界并且远离所述第一顶点的方向移动第一距离H1后，沿与水平方向成第一角度θ的方向移动至所述下边界，并在移动至所述下边界的过程中以预先设定的帧率拍摄图像；其中，当所述图像采集设备沿所述第一边界移动时，
    Figure PCTCN2016113100-appb-100001
    当所述图像采集设备沿所述第二边界移动时，
    Figure PCTCN2016113100-appb-100002
    h为所述第一行距；
    S13，将所述图像采集设备沿所述下边界并且远离所述第一顶点的方向移动第二距离H2后，沿与水平方向成第二角度α的方向移动至所述上边界，并在移动至所述上边界的过程中以预先设定的帧率拍摄图像；其中，α＝180°-θ，当所述 图像采集设备沿所述第四边界移动时，
    Figure PCTCN2016113100-appb-100003
    当所述图像采集设备沿所述第三边界移动时，
    Figure PCTCN2016113100-appb-100004
    S14，重复步骤S12至S13，直至所述图像采集设备移动至所述待拍摄区域的第三顶点；其中，所述第三顶点为所述第二边界和所述第三边界的交点。
  3. 如权利要求2所述的AOI图像采集方法，其特征在于，所述第一角度
    Figure PCTCN2016113100-appb-100005
    其中，WP为所述待拍摄区域的长度，HP为所述待拍摄区域的宽度；或者，
    所述第一角度
    Figure PCTCN2016113100-appb-100006
    其中，WC所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。
  4. 如权利要求2所述的AOI图像采集方法，其特征在于，在所述步骤S12中，当所述图像采集设备移动到第二顶点时，若本次沿所述第一边界移动的距离
    Figure PCTCN2016113100-appb-100007
    则将所述图像采集设备再沿所述第二边界移动Lb；其中，
    Figure PCTCN2016113100-appb-100008
    Figure PCTCN2016113100-appb-100009
    所述第二顶点为第一边界与第二边界的交点；
    在所述步骤S13中，当所述图像采集设备移动到第四顶点时，若本次沿所述第四边界移动的距离
    Figure PCTCN2016113100-appb-100010
    则将所述图像采集设备再沿所述第三边界移动Lc；其中，
    Figure PCTCN2016113100-appb-100011
    所述第四顶点为第三边界与第四边界的交点。
  5. 如权利要求1到4任一项所述的AOI图像采集方法，其特征在于，所述方法还包括：
    对采集到的所有图像进行拼接，获取所述待拍摄区域的整体图像。
  6. 一种AOI图像采集装置，其特征在于，包括：
    扫描模块，用于从预先设定的初始位置开始，通过XY运动平台的水平运 动机构和垂直运动机构，带动图像采集设备沿与水平方向成第一角度θ的方向对待拍摄区域以第一行距进行蛇形扫描，并在扫描的过程中以预先设定的帧率采集图像；其中，θ≠0并且θ≠90°。
  7. 如权利要求6所述的AOI图像采集装置，其特征在于，所述待拍摄区域为由依次连接的第一边界、第二边界、第三边界和第四边界围成矩形区域；所述初始位置为所述待拍摄区域的第一顶点，所述第一顶点为所述第一边界和所述第四边界的交点；所述第一边界与水平方向平行；所述第一边界和所述第二边界为上边界，所述第三边界和所述第四边界为下边界；
    所述扫描模块包括：
    初始化单元，用于将图像采集设备移动至所述待拍摄区域的第一顶点；
    第一移动单元，用于将所述图像采集设备沿所述上边界并且远离所述第一顶点的方向移动第一距离H1后，沿与水平方向成第一角度θ的方向移动至所述下边界，并在移动至所述下边界的过程中以预先设定的帧率拍摄图像；其中，当所述图像采集设备沿所述第一边界移动时，
    Figure PCTCN2016113100-appb-100012
    当所述图像采集设备沿所述第二边界移动时，
    Figure PCTCN2016113100-appb-100013
    h为所述第一行距；
    第二移动单元，用于将所述图像采集设备沿所述下边界并且远离所述第一顶点的方向移动第二距离H2后，沿与水平方向成第二角度α的方向移动至所述上边界，并在移动至所述上边界的过程中以预先设定的帧率拍摄图像；其中，α＝180°-θ，当所述图像采集设备沿所述第四边界移动时，
    Figure PCTCN2016113100-appb-100014
    当所述图像采集设备沿所述第三边界移动时，
    Figure PCTCN2016113100-appb-100015
    循环单元，用于重复所述第一移动单元和所述第二移动单元的操作，直至所述图像采集设备移动至所述待拍摄区域的第三顶点；其中，所述第三顶点为所述第二边界和所述第三边界的交点。
  8. 如权利要求7所述的AOI图像采集装置，其特征在于，所述第一角度
    Figure PCTCN2016113100-appb-100016
    其中，WP为所述待拍摄区域的长度，HP为所述待拍摄区域的宽度；或者，
    所述第一角度
    Figure PCTCN2016113100-appb-100017
    其中，WC所述图像采集设备成像区域的长度，HC为所述图像采集设备成像区域的宽度。
  9. 如权利要求7所述的AOI图像采集装置，其特征在于，所述第一移动单元包括：
    第一转角子单元，用于当所述图像采集设备移动到第二顶点时，若本次沿所述第一边界移动的距离
    Figure PCTCN2016113100-appb-100018
    则将所述图像采集设备再沿所述第二边界移动Lb；其中，
    Figure PCTCN2016113100-appb-100019
    所述第二顶点为第一边界与第二边界的交点；
    所述第二移动单元包括：
    第二转角子单元，用于当所述图像采集设备移动到第四顶点时，若本次沿所述第四边界移动的距离
    Figure PCTCN2016113100-appb-100020
    则将所述图像采集设备再沿所述第三边界移动Lc；其中，
    Figure PCTCN2016113100-appb-100021
    所述第四顶点为第三边界与第四边界的交点。
  10. 如权利要求6到9任一项所述的AOI图像采集装置，其特征在于，所述装置还包括：
    拼接模块，用于对采集到的所有图像进行拼接，获取所述待拍摄区域的整体图像。
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