WO2018145476A1 - 一种图像采集方法及装置 - Google Patents

一种图像采集方法及装置 Download PDF

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Publication number
WO2018145476A1
WO2018145476A1 PCT/CN2017/104672 CN2017104672W WO2018145476A1 WO 2018145476 A1 WO2018145476 A1 WO 2018145476A1 CN 2017104672 W CN2017104672 W CN 2017104672W WO 2018145476 A1 WO2018145476 A1 WO 2018145476A1
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workpiece
tested
end point
track
length
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French (fr)
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曹永�
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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
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • 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
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/956—Inspecting patterns on the surface of objects
    • 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
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/956—Inspecting patterns on the surface of objects
    • G01N2021/95638—Inspecting patterns on the surface of objects for PCB's

Definitions

  • the present invention relates to the field of image processing, and in particular to an image acquisition method and apparatus.
  • solder surface AOI Auto Optic Inspection
  • image processing is used to detect foreign matter or surface flaws.
  • Solder defect detection of solder joints on circuit board cards is an important application in the field of circuit board defect detection.
  • the traditional solder surface AOI usually uses the XY motion platform to take pictures with the camera.
  • the method is to stop every motion to a shooting point, take a picture, and then move to the next position, the motion path can only be vertical. Or horizontal direction, the movement path is not flexible, which restricts the speed and effect of automatic detection.
  • the technical problem to be solved by the present invention is to provide an image acquisition method, which improves the detection speed and the shooting effect.
  • an image collection method including:
  • the shooting length is a length of a rectangle that can surround the workpiece to be tested, and the shooting length is a width of a rectangle that can surround the workpiece to be tested;
  • the plurality of images are spliced to obtain a complete image of the workpiece to be tested.
  • the curve motion track is planned according to the shooting length and the shooting width of the workpiece to be tested, and the field length and width of the camera, so that the moving path of the workpiece to be tested is not limited to the vertical and horizontal directions.
  • the moving path of the workpiece to be tested is flexible, and the image collection efficiency is high, which improves the speed and effect of the automatic detection.
  • the curved motion track includes a first straight track, a second straight track, and a first arc track;
  • the first straight line trajectory is a linear trajectory from the first end point P1 (x1, y1+m*H) to the second end point P2 (x1+L0, y1+m*H);
  • the first arc track is an arc track from the second end point P2 (x1+L0, y1+m*H) to the third end point P3 (x1+L0, y1*(m+1)H);
  • the second straight track is a linear trajectory from the third end point P3 (x1+L0, y1*(m+1)H) to the fourth end point P4(x1, y1+(m+1)*H);
  • the curved motion track further includes a second arc track
  • the second arc track is an arc track from the fourth end point P4 (x1, y1+(m+1)*H) to the fifth end point P5 (x1, y1+(m+2)*H).
  • the first arc track is based on a coordinate value of the second end point P2, a coordinate value of the third end point P3, and a preset time t from the second end point P2 to the third end point P3. 1 . a preset velocity V 2 of the workpiece to be tested at the second end point and a preset arc trajectory planned by the velocity V 3 of the workpiece to be tested at the third end point;
  • the second arc track is a coordinate value according to the fourth end point P4, a coordinate value of the fifth end point P5, and a preset time t 2 from the fourth end point P4 to the fifth end point P5, and is preset.
  • the driving the workpiece to be tested to move according to the curved motion trajectory, and controlling the camera to take multiple images specifically includes:
  • the camera is controlled to take an image for each movement distance S.
  • the driving the workpiece to be tested moves according to the curved motion trajectory, specifically:
  • the workpiece to be tested is a circuit board card.
  • an image collection device including:
  • a workpiece parameter acquisition module configured to acquire a photographing length and a photographing width of the workpiece to be tested; wherein the photographing length is a length of a rectangle that can surround the workpiece to be tested, and the photographing width is a circumference that can surround the workpiece to be tested The width of the rectangle;
  • a camera parameter acquisition module configured to acquire a field of view length and a field of view width of the camera on the workpiece to be tested; wherein the camera is spaced apart from a motion plane of the workpiece to be tested by a preset distance;
  • a trajectory planning module configured to plan a curved motion track of the workpiece to be tested on the moving plane according to the shooting length, the shooting width, the field of view length, and the field of view width;
  • a photographing module configured to drive the workpiece to be tested to move according to the curved motion track, and control the camera to take multiple images
  • a splicing module for splicing the plurality of images to obtain a complete image of the workpiece to be tested.
  • the image acquisition device plans a curved motion track according to the shooting length and the shooting width of the workpiece to be tested, and the length and width of the field of view of the camera, so that the moving path of the workpiece to be tested is not limited to the vertical and horizontal directions.
  • the moving path of the workpiece to be tested is flexible, and the image collection efficiency is high, which improves the speed and effect of the automatic detection.
  • the curved motion track includes a first straight track, a second straight track, and a first arc track;
  • the first straight line trajectory is a linear trajectory from the first end point P1 (x1, y1+m*H) to the second end point P2 (x1+L0, y1+m*H);
  • the first arc track is an arc track from the second end point P2 (x1+L0, y1+m*H) to the third end point P3 (x1+L0, y1*(m+1)H);
  • the second straight track is a linear trajectory from the third end point P3 (x1+L0, y1*(m+1)H) to the fourth end point P4(x1, y1+(m+1)*H);
  • FIG. 1 is a flowchart of an image collection method according to Embodiment 1 of the present invention.
  • Embodiment 1 of the present invention is a schematic diagram of a curved motion trajectory in Embodiment 1 of the present invention
  • FIG. 3 is a structural block diagram of an image capture apparatus according to Embodiment 2 of the present invention.
  • Embodiment 1 is a flowchart of an image collection method according to Embodiment 1 of the present invention.
  • the image collection method provided in Embodiment 1 of the present invention includes the following steps:
  • S101 Obtain a shooting length and a shooting width of the workpiece to be tested; wherein the shooting length is a length of a rectangle that can surround the workpiece to be tested, and the shooting width is a width of a rectangle that can surround the workpiece to be tested;
  • S102 Obtain a field of view length and a field of view width of the camera on the workpiece to be tested; wherein the camera is spaced apart from a motion plane of the workpiece to be tested by a preset distance;
  • S104 driving the workpiece to be tested to move according to the curved motion track, and controlling the camera to take multiple images;
  • solder defect detection of the soldering surface of the circuit board is an important application in the field of circuit board defect detection.
  • This embodiment can be applied to the solder defect detection or other defect detection of the circuit board card, and can also be applied to the appearance detection of other workpieces and materials.
  • image acquisition method provided in the first embodiment of the present invention a complete image of the workpiece to be tested is obtained, and image analysis processing is performed to detect surface defects of the workpiece to be tested.
  • the workpiece to be tested there are various embodiments for driving the workpiece to be tested, such as placing the workpiece to be tested on the XY motion platform, and driving the workpiece to be tested on the XY motion platform according to the curve motion planned on step S103.
  • Trajectory movement since the XY motion platform has coordinates, the position of the workpiece to be tested can be located. Therefore, the coordinate value of the XY motion platform corresponds to the coordinate value of the motion plane, so as to drive the workpiece to be tested by the XY motion platform according to the motion plane.
  • the curve trajectory moves.
  • the four-axis robot arm can be used to drive the workpiece to be tested to move, and the four-axis robot arm is controlled to move the workpiece to be tested according to the curved motion trajectory; wherein the four-axis value of the four-axis robot arm corresponds to the coordinate value of the motion plane.
  • the trajectory of the movement of the four-axis mechanical arm holding the object is not limited to the plane. Therefore, the four-axis mechanical arm can also be used to capture the workpiece to be tested to the curve trajectory on the production line according to the positioning information of the workpiece to be tested on the production line. The starting point.
  • the use of a four-axis robotic arm also makes it easy to calculate the length and width of the workpiece to be tested.
  • the workpiece to be tested is a rectangular workpiece
  • the four-axis value of the four-axis robot arm corresponds to the coordinate value of the motion plane (ie, the x-axis coordinate of the end of the four-axis robot arm corresponds to the x-axis coordinate of the motion plane
  • the four-axis arm The end y-axis coordinate corresponds to the y-axis coordinate of the motion plane.
  • the manual teaching operation is used to move the four-axis robot arm holding the circuit board card to the motion plane at a preset distance from the camera in front of the camera to observe the camera.
  • , and the shooting width W
  • FIG. 2 it is a schematic diagram of a curved motion track in the first embodiment of the present invention.
  • the workpiece to be tested is planned according to the shooting length, the shooting width, the field of view length, and the visual field width.
  • the trajectory of the curve on the moving plane including:
  • the starting point of the curve motion trajectory be P0(x1, y1), first plan a linear motion trajectory moving along the positive direction of the x-axis, the length of which is L0, where
  • ⁇ a ⁇ represents a minimum integer not less than a
  • L is the shooting length
  • S is the length of the field of view
  • the end position of the linear motion path on the x-axis is Q0 (x1+L0, y1);
  • an arc segment starting from Q0 (x1+L0, y1) and ending with Q1 (x1+L0, y1+H) is planned according to a preset algorithm; wherein H is the field of view width;
  • the curve motion trajectory planned by the above steps is linearly moved in the x-axis direction by a length of L0, And included in total Segment straight track. Therefore, if the workpiece to be tested starts to enter the field of view of the camera when moving to the starting point of the curved motion track, the workpiece to be tested is driven to move through the curved motion track to traverse the entire workpiece to be tested. Each time the workpiece to be tested moves a distance S, an image is taken, and all the images are stitched together to obtain a complete image of the entire workpiece to be tested. That is, in step S104, the driving the workpiece to be tested to move according to the curved motion trajectory, and controlling the camera to take a plurality of images, specifically includes:
  • the camera is controlled to take an image for each movement distance S.
  • this embodiment provides a preferred trajectory planning step.
  • the length of the linear trajectory may be greater than
  • the number of segments of a straight track can also be greater than Just make sure that the curve motion trajectory can traverse the entire workpiece to be tested.
  • the shooting width of the workpiece to be tested is small, it may only be necessary to plan two straight lines and a straight line.
  • the curved motion track should include a first straight track, a second straight track, and a first arc track;
  • the first straight line trajectory is a linear trajectory from the first end point P1 (x1, y1+m*H) to the second end point P2 (x1+L0, y1+m*H);
  • the first arc track is an arc track from the second end point P2 (x1+L0, y1+m*H) to the third end point P3 (x1+L0, y1*(m+1)H);
  • the second straight track is a linear trajectory from the third end point P3 (x1+L0, y1*(m+1)H) to the fourth end point P4(x1, y1+(m+1)*H);
  • the curved motion track further includes a second arc track
  • the second arc track is an arc track from the fourth end point P4 (x1, y1+(m+1)*H) to the fifth end point P5 (x1, y1+(m+2)*H).
  • the first track is arc coordinate values of the second terminal P2, P3 of the third endpoint coordinate value, t 1 from the second end point P2 is moved to the third terminal P3 is used when a preset advance Setting a velocity V 2 of the workpiece to be tested at the second end point and a predetermined arc trajectory planned by the velocity V 3 of the workpiece to be tested at the third end point;
  • the second arc track is a coordinate value according to the fourth end point P4, a coordinate value of the fifth end point P5, and a preset time t 2 from the fourth end point P4 to the fifth end point P5, and is preset.
  • V 2 a 1
  • Q2 is the coordinate value of the second end point P2
  • Q3 is the coordinate value of the third end point P3.
  • the planning algorithm of the second arc track is similar to the planning algorithm of the first arc track, and will not be described here.
  • the curve motion track is planned according to the shooting length and the shooting width of the workpiece to be tested, and the field length and width of the camera, so that the moving path of the workpiece to be tested is not limited to the vertical and horizontal directions.
  • the moving path of the workpiece to be tested is flexible, and the image collection efficiency is high, which improves the speed and effect of the automatic detection.
  • FIG. 3 is a structural block diagram of an image capture apparatus according to Embodiment 2 of the present invention.
  • Embodiment 2 of the present invention provides an image collection device, including:
  • the workpiece parameter acquisition module 301 is configured to acquire a shooting length L and a shooting width W of the workpiece to be tested, wherein the shooting length L is a length of a rectangle that can surround the workpiece to be tested, and the shooting length W is a circumscribing Describe the width of the rectangle of the workpiece to be tested;
  • a camera parameter acquisition module 302 configured to acquire a field of view length S and a field of view width H of the camera on the workpiece to be tested; wherein the camera is spaced apart from a motion plane of the workpiece to be tested by a preset distance;
  • the trajectory planning module 303 is configured to plan a curved motion track of the workpiece to be tested on the moving plane according to the shooting length L, the shooting width W, the field of view length S, and the field of view width H;
  • a photographing module 304 configured to drive the workpiece to be tested to move according to the curved motion track, and control the camera to take multiple images;
  • the splicing module 305 is configured to splicing the plurality of images to obtain a complete image of the workpiece to be tested.
  • the curved motion track includes a first straight track, a second straight track, and a first arc track;
  • the first straight line trajectory is a linear trajectory from the first end point P1 (x1, y1+m*H) to the second end point P2 (x1+L0, y1+m*H);
  • the first arc track is an arc track from the second end point P2 (x1+L0, y1+m*H) to the third end point P3 (x1+L0, y1*(m+1)H);
  • the second straight track is a linear trajectory from the third end point P3 (x1+L0, y1*(m+1)H) to the fourth end point P4(x1, y1+(m+1)*H);
  • the curved motion track further includes a second arc track
  • the second arc track is an arc track from the fourth end point P4 (x1, y1+(m+1)*H) to the fifth end point P5 (x1, y1+(m+2)*H).
  • the first arc track is based on a coordinate value of the second end point P2, a coordinate value of the third end point P3, and a preset time t from the second end point P2 to the third end point P3. 1 . a preset velocity V 2 of the workpiece to be tested at the second end point and a preset arc trajectory planned by the velocity V 3 of the workpiece to be tested at the third end point;
  • the second arc track is a coordinate value according to the fourth end point P4, a coordinate value of the fifth end point P5, and a preset time t 2 from the fourth end point P4 to the fifth end point P5, and is preset.
  • the shooting module includes:
  • a moving unit configured to drive the workpiece to be tested to a starting point of the curved motion track, and move according to the curved motion track;
  • the camera unit is configured to control the camera to take an image for each movement distance S when the workpiece to be tested moves on a linear path.
  • the driving the workpiece to be tested moves according to the curved motion trajectory, specifically:
  • the workpiece to be tested is a circuit board card.
  • the image acquisition device plans a curved motion track according to the shooting length and the shooting width of the workpiece to be tested, and the length and width of the field of view of the camera, so that the moving path of the workpiece to be tested is not limited to the vertical and horizontal directions.
  • the moving path of the workpiece to be tested is flexible, and the image collection efficiency is high, which improves the speed and effect of the automatic detection.

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Abstract

一种图像采集方法和采集装置，包括：获取待测工件的拍摄长度和拍摄宽度（S101）；获取相机在待测工件上的视野长度和视野宽度（S102）；其中，相机与待测工件的运动平面间隔预设的距离；根据拍摄长度、拍摄宽度、视野长度和视野宽度，规划待测工件在运动平面上的曲线运动轨迹（S103）；驱动待测工件按照曲线运动轨迹移动，并且控制相机拍摄多张图像（S104）；拼接多张图像，获得待测工件的完整图像（S105）。该方法和装置在AOI检测设备中，待测工件移动路径灵活，图像采集效率高，提高了自动化检测的速度和效果。

Description

一种图像采集方法及装置 技术领域
本发明涉及图像处理领域，具体地，涉及一种图像采集方法及装置。
背景技术
AOI(Automatic Optic Inspection，自动光学检测)是工业制作过程的必要环节，焊锡面AOI是利用光学方式取得成品焊锡面的表面状态，以影像处理来检测异物或表面瑕疵。而电路板卡焊锡面焊点的焊锡缺陷检测是电路板卡缺陷检测领域中一项重要的应用。
传统焊锡面AOI通常采用XY运动平台配合相机进行拍照，采用的方式是每运动到一个拍摄点就需要停稳，拍摄一张照片，然后再运动到下一个位置，其运动路径只能是沿垂直或水平方向，移动路径不灵活，制约了自动化检测的速度和效果。
发明内容
本发明要解决的技术问题是，提供一种图像采集方法，提升检测速度和拍摄效果。
为了解决上述技术问题，本发明实施例一方面提供一种图像采集方法，包括：
获取待测工件的拍摄长度和拍摄宽度；其中，所述拍摄长度为可包围所述待测工件的矩形的长度，所述拍摄长度为可包围所述待测工件的矩形的宽度；
获取相机在所述待测工件上的视野长度和视野宽度；其中，所述相机与所述待测工件的运动平面间隔预设的距离；
根据所述拍摄长度、拍摄宽度、视野长度和视野宽度，规划所述待测工件在所述运动平面上的曲线运动轨迹；
驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像；
拼接所述多张图像，获得所述待测工件的完整图像。
实施本发明实施例，具有如下有益效果：
本发明实施例提供的图像采集方法，根据待测工件的拍摄长度和拍摄宽度，以及相机的视野长度和宽度，规划曲线运动轨迹，使待测工件移动路径不局限于垂直和水平方向。在AOI检测设备中，待测工件移动路径灵活，图像采集效率高，提高了自动化检测的速度和效果。
进一步地，所述曲线运动轨迹包括第一直线轨迹、第二直线轨迹和第一弧线轨迹；
所述第一直线轨迹为自第一端点P1(x1，y1+m*H)至第二端点P2(x1+L0，y1+m*H)的直线轨迹；
所述第一弧线轨迹为自第二端点P2(x1+L0，y1+m*H)至第三端点P3(x1+L0，y1*(m+1)H)的弧线轨迹；
所述第二直线轨迹为自第三端点P3(x1+L0，y1*(m+1)H)至第四端点P4(x1，y1+(m+1)*H)的直线轨迹；
其中，所述曲线运动轨迹的起点为P0(x1，y1)，所述待测工件置于所述曲线运动轨迹的起点时进入相机的视野范围；m为不小于0的偶数；H为所述视野宽度；L0＝n*S，n为不小于(L/S)的整数，L为所述拍摄长度，S为所述视野长度。
进一步地，所述曲线运动轨迹还包括第二弧线轨迹；
所述第二弧线轨迹为自第四端点P4(x1，y1+(m+1)*H)至第五端点P5(x1，y1+(m+2)*H)的弧线轨迹。
进一步地，所述第一弧线轨迹是根据第二端点P2的坐标值、第三端点P3的坐标值、预先设定的从所述第二端点P2移动至所述第三端点P3的用时t1、预先设定的所述待测工件在所述第二端点的速度V2以及预先设定的所述待测工件在所述第三端点的速度V3所规划的弧线轨迹；
所述第二弧线轨迹为根据第四端点P4的坐标值、第五端点P5的坐标值、预先设定的从所述第四端点P4移动至第五端点P5的用时t2、预先设定的所述待测工件在所述第四端点的速度V4以及预先设定的所述待测工件在所述第五端点的速度V5所规划的弧线轨迹。
进一步地，所述待测工件在所述第一弧线轨迹上的坐标值Q与时间t的函数关系式为：Q(t)＝a0+a1*t+a2*t2+a3*t3；
其中，a0＝Q2，a1＝V2，
Figure PCTCN2017104672-appb-000001
Q2为所述第二端点P2的坐标值，Q3为所述第三端点P3的坐标值。
进一步地，所述驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像，具体包括：
驱动所述待测工件至所述曲线运动轨迹的起点，按照所述曲线运动轨迹移动；
当所述待测工件在直线轨迹上运动时，每移动距离S则控制相机拍摄一张图像。
进一步地，所述驱动所述待测工件按照所述曲线运动轨迹移动，具体为：
控制四轴机械臂夹持所述待测工件按照所述曲线运动轨迹移动；其中，所述四轴机械臂的四轴值与所述运动平面的坐标值对应；
或者，驱动所述待测工件在XY运动平台上按照所述曲线运动轨迹移动；其中，所述XY运动平台的坐标值与所述运动平面的坐标值对应。
进一步地，所述待测工件为电路板卡。
本发明实施例另一方面提供一种图像采集装置，包括：
工件参数获取模块，用于获取待测工件的拍摄长度和拍摄宽度；其中，所述拍摄长度为可包围所述待测工件的矩形的长度，所述拍摄宽度为可包围所述待测工件的矩形的宽度；
相机参数获取模块，用于获取相机在所述待测工件上的视野长度和视野宽度；其中，所述相机与所述待测工件的运动平面间隔预设的距离；
轨迹规划模块，用于根据所述拍摄长度、拍摄宽度、视野长度和视野宽度，规划所述待测工件在所述运动平面上的曲线运动轨迹；
拍摄模块，用于驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像；
拼接模块，用于拼接所述多张图像，获得所述待测工件的完整图像。
本发明实施例提供的图像采集装置，根据待测工件的拍摄长度和拍摄宽度，以及相机的视野长度和宽度，规划曲线运动轨迹，使待测工件移动路径不局限于垂直和水平方向。在AOI检测设备中，待测工件移动路径灵活，图像采集效率高，提高了自动化检测的速度和效果。
进一步地，所述曲线运动轨迹包括第一直线轨迹、第二直线轨迹和第一弧线轨迹；
所述第一直线轨迹为自第一端点P1(x1，y1+m*H)至第二端点P2(x1+L0，y1+m*H)的直线轨迹；
所述第一弧线轨迹为自第二端点P2(x1+L0，y1+m*H)至第三端点P3(x1+L0，y1*(m+1)H)的弧线轨迹；
所述第二直线轨迹为自第三端点P3(x1+L0，y1*(m+1)H)至第四端点P4(x1，y1+(m+1)*H)的直线轨迹；
其中，所述曲线运动轨迹的起点为P0(x1，y1)，所述待测工件置于所述曲线运动轨迹的起点时进入相机的视野范围；m为不小于0的偶数；H为所述视野宽度；L0＝n*S，n为不小于(L/S)的整数，L为所述拍摄长度，S为所述视野长度。
附图说明
图1是本发明实施例一提供的图像采集方法的流程图；
图2是本发明实施例一中的曲线运动轨迹的示意图；
图3是本发明实施例二提供的图像采集装置的结构框图。
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1，是本发明实施例一提供的图像采集方法的流程图；本发明实施例一提供的图像采集方法，包括以下步骤：
S101、获取待测工件的拍摄长度和拍摄宽度；其中，所述拍摄长度为可包围所述待测工件的矩形的长度，所述拍摄宽度为可包围所述待测工件的矩形的宽度；
S102、获取相机在所述待测工件上的视野长度和视野宽度；其中，所述相机与所述待测工件的运动平面间隔预设的距离；
S103、根据所述拍摄长度、拍摄宽度、视野长度和视野宽度，规划所述待测工件在所述运动平面上的曲线运动轨迹；
S104、驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像；
S105、拼接所述多张图像，获得所述待测工件的完整图像。
在AOI检测设备执行较多的是电路板卡缺陷检测，其中，电路板卡焊锡面焊点的焊锡缺陷检测是电路板卡缺陷检测领域中一项重要的应用。本实施例可应用于电路板卡的焊锡缺陷检测或其他缺陷检测，也可应用于其他工件和物料的外观检测。按照本发明实施例一提供的图像采集方法获得待测工件的完整图像，进行图像分析处理可检测待测工件的表面缺陷。
具体地，驱动待测工件移动的方式有多种实施方式，比如将待测工件置于XY运动平台，驱动待测工件在XY运动平台上按照步骤S103规划的在所述运动平面上的曲线运动轨迹移动；由于XY运动平台具有坐标，能定位待测工件的位置，因此，XY运动平台的坐标值与所述运动平面的坐标值对应，以便于使用XY运动平台驱动待测工件按运动平面上的曲线运动轨迹移动。
或者，也可以使用四轴机械臂驱动待测工件移动，控制四轴机械臂夹持待测工件按照所述曲线运动轨迹移动；其中，四轴机械臂的四轴值与运动平面的坐标值对应。由于四轴机械臂的灵活度较高，比XY运动平台更适合驱动待测工件进行曲线移动。并且，四轴机械臂夹持物件运动的轨迹不限于平面，因此，四轴机械臂还可用于根据待测工件在生产线上的定位信息，到生产线上夹取待测工件到所述曲线运动轨迹的起点处。
采用四轴机械臂还便于计算待测工件的拍摄长度与宽度。若待测工件为矩形工件，令四轴机械臂的末端四轴值与所述运动平面的坐标值对应(即四轴机械臂的末端x轴坐标对应运动平面的x轴坐标，四轴机械臂的末端y轴坐标对应运动平面的y轴坐标)，采用手动示教的操作方式将夹持有电路板卡的四轴机械臂运动到相机前方与相机间隔预设距离的运动平面上，观察相机的图像，当出现电路板卡的一个顶点时，记录四轴机械臂末端位置P(x0，y0，z1，u1)。继续移动机械臂，并观察相机的图像，当出现电路板卡相对于前一个顶点的对角顶点时，记录四轴机械臂的末端位置P’(x0’，y0’，z1，u1)。则待测工件的拍摄长度L＝|x0-x0′|，拍摄宽度W＝|y0-y0′|。
具体地，参见图2，是本发明实施例一中的曲线运动轨迹的示意图；在步骤S103中，根据所述拍摄长度、拍摄宽度、视野长度和视野宽度，规划所述待测工件在所述运动平面上的曲线运动轨迹，具体包括：
设曲线运动轨迹的起点为P0(x1，y1)，先规划一段沿x轴正方向运动的直线运动轨迹，其长度为L0，其中，
Figure PCTCN2017104672-appb-000002
符号{a}表示不小于a的最小整数，L为所述拍摄长度，S为所述视野长度；由于相机视野范围有限，
Figure PCTCN2017104672-appb-000003
表示使用相机拍摄待测工件的全长所需的最小次数；则这段x轴上的直线运动轨迹终点位置为Q0(x1+L0，y1)；
根据预设的算法规划一段以Q0(x1+L0，y1)为起点，以Q1(x1+L0，y1+H)为终点的弧线段；其中，H为所述视野宽度；
以Q1(x1+L0，y1+H)为起点，规划一段沿x轴反方向运动的直线运动轨迹，其长度为L0；则这段x轴上的直线运动轨迹终点位置坐标为(x1，y1+H)；
根据预设的算法规划一段以(x1，y1+H)为起点，以(x1，y1+2H)为终点的弧线段；
重复上述直线段和弧线段的规划，直至到达曲线运动轨迹的终点P0’(x1’，y1’)；其中，
Figure PCTCN2017104672-appb-000004
Figure PCTCN2017104672-appb-000005
通过上述步骤规划的曲线运动轨迹，在x轴方向上直线移动一段的长度为L0，
Figure PCTCN2017104672-appb-000006
并总共包括了
Figure PCTCN2017104672-appb-000007
段直线轨迹。因此，若所述待测工件运动到曲线运动轨迹的起点时开始进入相机的视野范围，则驱动待测工件按上述曲线运动轨迹移动即可遍历整个待测工件。待测工件每移动距离S即拍摄一张图像，将所有图像拼接起来可得到整个待测工件的完整图像。即步骤S104，所述驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像，具体包括：
驱动所述待测工件至所述曲线运动轨迹的起点，按照所述曲线运动轨迹移动；
当所述待测工件在直线轨迹上运动时，每移动距离S则控制相机拍摄一张图像。
需要说明的是，本实施例提供的是一种优选的轨迹规划步骤。在其他实施例中，直线轨迹的长度可大于
Figure PCTCN2017104672-appb-000008
直线轨迹的段数也可大于
Figure PCTCN2017104672-appb-000009
只要确保曲线运动轨迹能遍历整个待测工件即可。此外，若待测工件的拍摄宽度较小，则可能仅需规划两段直线轨迹、一段直线轨迹即可。
综上所述，所述曲线运动轨迹应包括第一直线轨迹、第二直线轨迹和第一弧线轨迹；
所述第一直线轨迹为自第一端点P1(x1，y1+m*H)至第二端点P2(x1+L0，y1+m*H)的直线轨迹；
所述第一弧线轨迹为自第二端点P2(x1+L0，y1+m*H)至第三端点P3(x1+L0，y1*(m+1)H)的弧线轨迹；
所述第二直线轨迹为自第三端点P3(x1+L0，y1*(m+1)H)至第四端点P4(x1，y1+(m+1)*H)的直线轨迹；
其中，所述曲线运动轨迹的起点为P0(x1，y1)，m为不小于0的偶数，L0＝n*S，n为不小于(L/S)的整数。
进一步地，所述曲线运动轨迹还包括第二弧线轨迹；
所述第二弧线轨迹为自第四端点P4(x1，y1+(m+1)*H)至第五端点P5(x1，y1+(m+2)*H)的弧线轨迹。
下面具体介绍弧线轨迹的规划步骤：
所述第一弧线轨迹是根据第二端点P2的坐标值、第三端点P3的坐标值、预先设定的从所述第二端点P2移动至所述第三端点P3的用时t1、预先设定的所述待测工件在所述第二端点的速度V2以及预先设定的所述待测工件在所述第三端点的速度V3所规划的弧线轨迹；
所述第二弧线轨迹为根据第四端点P4的坐标值、第五端点P5的坐标值、预先设定的从所述第四端点P4移动至第五端点P5的用时t2、预先设定的所述待测工件在所述第四端点的速度V4以及预先设定的所述待测工件在所述第五端点的速度V5所规划的弧线轨迹。
进一步地，所述待测工件在所述第一弧线轨迹上的坐标值Q与时间t的函数关系式为：Q(t)＝a0+a1*t+a2*t2+a3*t3；
则
Figure PCTCN2017104672-appb-000010
初始时间为0，在第二端点P2，速度为V2，在时间t1到达第三端点P3，速度 为V3，代入以上两个函数关系式可得：
Q2＝a0
V2＝a1
Figure PCTCN2017104672-appb-000011
Figure PCTCN2017104672-appb-000012
根据上述已知公式，求得系数的值：a0＝Q2，a1＝V2，
Figure PCTCN2017104672-appb-000013
Figure PCTCN2017104672-appb-000014
其中，Q2为所述第二端点P2的坐标值，Q3为所述第三端点P3的坐标值。本领域技术人员可知，在采用多项式Q(t)规划弧线段时，坐标值Q包括x轴和y轴两个维度上的坐标值，对x轴和y轴两个维度分别计算，求得两个维度上的运动轨迹再合成该弧线运动轨迹。
第二弧线轨迹的规划算法与第一弧线轨迹的规划算法类似，在此不再赘述。
本发明实施例一提供的图像采集方法，根据待测工件的拍摄长度和拍摄宽度，以及相机的视野长度和宽度，规划曲线运动轨迹，使待测工件移动路径不局限于垂直和水平方向。在AOI检测设备中，待测工件移动路径灵活，图像采集效率高，提高了自动化检测的速度和效果。
参见图3，是本发明实施例二提供的图像采集装置的结构框图。
本发明实施例二提供一种图像采集装置，包括：
工件参数获取模块301，用于获取待测工件的拍摄长度L和拍摄宽度W；其中，所述拍摄长度L为可包围所述待测工件的矩形的长度，所述拍摄长度W为可包围所述待测工件的矩形的宽度；
相机参数获取模块302，用于获取相机在所述待测工件上的视野长度S和视野宽度H；其中，所述相机与所述待测工件的运动平面间隔预设的距离；
轨迹规划模块303，用于根据所述拍摄长度L、拍摄宽度W、视野长度S和视野宽度H，规划所述待测工件在所述运动平面上的曲线运动轨迹；
拍摄模块304，用于驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像；
拼接模块305，用于拼接所述多张图像，获得所述待测工件的完整图像。
进一步地，所述曲线运动轨迹包括第一直线轨迹、第二直线轨迹和第一弧线轨迹；
所述第一直线轨迹为自第一端点P1(x1，y1+m*H)至第二端点P2(x1+L0，y1+m*H)的直线轨迹；
所述第一弧线轨迹为自第二端点P2(x1+L0，y1+m*H)至第三端点P3(x1+L0，y1*(m+1)H)的弧线轨迹；
所述第二直线轨迹为自第三端点P3(x1+L0，y1*(m+1)H)至第四端点P4(x1，y1+(m+1)*H)的直线轨迹；
其中，所述曲线运动轨迹的起点为P0(x1，y1)，m为不小于0的偶数，L0＝n*S，n为不小于(L/S)的整数。
进一步地，所述曲线运动轨迹还包括第二弧线轨迹；
所述第二弧线轨迹为自第四端点P4(x1，y1+(m+1)*H)至第五端点P5(x1，y1+(m+2)*H)的弧线轨迹。
进一步地，所述第一弧线轨迹是根据第二端点P2的坐标值、第三端点P3的坐标值、预先设定的从所述第二端点P2移动至所述第三端点P3的用时t1、预先设定的所述待测工件在所述第二端点的速度V2以及预先设定的所述待测工件在所述第三端点的速度V3所规划的弧线轨迹；
所述第二弧线轨迹为根据第四端点P4的坐标值、第五端点P5的坐标值、预先设定的从所述第四端点P4移动至第五端点P5的用时t2、预先设定的所述待测工件在所述第四端点的速度V4以及预先设定的所述待测工件在所述第五端点的速度V5所规划的弧线轨迹。
进一步地，所述待测工件在所述第一弧线轨迹上的坐标值Q与时间t的函数关系式为：Q(t)＝a0+a1*t+a2*t2+a3*t3；
其中，a0＝Q2，a1＝V2，
Figure PCTCN2017104672-appb-000015
Q2为所述第二端点P2的坐标值，Q3为所述第三端点P3的坐标值。
进一步地，所述拍摄模块包括：
移动单元，用于驱动所述待测工件至所述曲线运动轨迹的起点，按照所述曲线运动轨迹移动；
摄像单元，用于当所述待测工件在直线轨迹上运动时，每移动距离S则控制相机拍摄一张图像。
进一步地，所述驱动所述待测工件按照所述曲线运动轨迹移动，具体为：
控制四轴机械臂夹持所述待测工件按照所述曲线运动轨迹移动；其中，所述四轴机械臂的四轴值与所述运动平面的坐标值对应；
或者，驱动所述待测工件在XY运动平台上按照所述曲线运动轨迹移动；其中，所述XY运动平台的坐标值与所述运动平面的坐标值对应。
进一步地，所述待测工件为电路板卡。
本发明实施例提供的图像采集装置，根据待测工件的拍摄长度和拍摄宽度，以及相机的视野长度和宽度，规划曲线运动轨迹，使待测工件移动路径不局限于垂直和水平方向。在AOI检测设备中，待测工件移动路径灵活，图像采集效率高，提高了自动化检测的速度和效果。
以上是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和变形，这些改进和变形也视为本发明的保护范围。

Claims (10)

  1. 一种图像采集方法，其特征在于，包括：
    获取待测工件的拍摄长度和拍摄宽度；其中，所述拍摄长度为可包围所述待测工件的矩形的长度，所述拍摄宽度为可包围所述待测工件的矩形的宽度；
    获取相机在所述待测工件上的视野长度和视野宽度；其中，所述相机与所述待测工件的运动平面间隔预设的距离；
    根据所述拍摄长度、拍摄宽度、视野长度和视野宽度，规划所述待测工件在所述运动平面上的曲线运动轨迹；
    驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像；
    拼接所述多张图像，获得所述待测工件的完整图像。
  2. 如权利要求1所述的图像采集方法，其特征在于，所述曲线运动轨迹包括第一直线轨迹、第二直线轨迹和第一弧线轨迹；
    所述第一直线轨迹为自第一端点P1(x1，y1+m*H)至第二端点P2(x1+L0，y1+m*H)的直线轨迹；
    所述第一弧线轨迹为自第二端点P2(x1+L0，y1+m*H)至第三端点P3(x1+L0，y1*(m+1)H)的弧线轨迹；
    所述第二直线轨迹为自第三端点P3(x1+L0，y1*(m+1)H)至第四端点P4(x1，y1+(m+1)*H)的直线轨迹；
    其中，所述曲线运动轨迹的起点为P0(x1，y1)，所述待测工件置于所述曲线运动轨迹的起点时进入相机的视野范围；m为不小于0的偶数；H为所述视野宽度；L0＝n*S，n为不小于(L/S)的整数，L为所述拍摄长度，S为所述视野长度。
  3. 如权利要求2所述的图像采集方法，其特征在于，所述曲线运动轨迹还包括第二弧线轨迹；
    所述第二弧线轨迹为自第四端点P4(x1，y1+(m+1)*H)至第五端点P5(x1，y1+(m+2)*H)的弧线轨迹。
  4. 如权利要求3所述的图像采集方法，其特征在于，所述第一弧线轨迹是根据第二端点P2的坐标值、第三端点P3的坐标值、预先设定的从所述第二端点P2移动至所述第三端点P3的用时t1、预先设定的所述待测工件在所述第二端点的速度V2以及预先设定的所述待测工件在所述第三端点的速度V3所规划的弧线轨迹；
    所述第二弧线轨迹为根据第四端点P4的坐标值、第五端点P5的坐标值、预先设定的从所述第四端点P4移动至第五端点P5的用时t2、预先设定的所述待测工件在所述第四端点的速度V4以及预先设定的所述待测工件在所述第五端点的速度V5所规划的弧线轨迹。
  5. 如权利要求4所述的图像采集方法，其特征在于，所述待测工件在所述第一弧线轨迹上的坐标值Q与时间t的函数关系式为：Q(t)＝a0+a1*t+a2*t2+a3*t3；
    其中，a0＝Q2，a1＝V2，
    Figure PCTCN2017104672-appb-100001
    Q2为所述第二端点P2的坐标值，Q3为所述第三端点P3的坐标值。
  6. 如权利要求2至5所述的图像采集方法，其特征在于，所述驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像，具体包括：
    驱动所述待测工件至所述曲线运动轨迹的起点，按照所述曲线运动轨迹移动；
    当所述待测工件在直线轨迹上运动时，每移动距离S则控制相机拍摄一张图像。
  7. 如权利要求2至5所述的图像采集方法，其特征在于，所述驱动所述待测工件按照所述曲线运动轨迹移动，具体为：
    控制四轴机械臂夹持所述待测工件按照所述曲线运动轨迹移动；其中，所述四轴机械臂的四轴值与所述运动平面的坐标值对应；
    或者，驱动所述待测工件在XY运动平台上按照所述曲线运动轨迹移动；其中，所述XY运动平台的坐标值与所述运动平面的坐标值对应。
  8. 如权利要求2至5所述的图像采集方法，其特征在于，所述待测工件为电路板卡。
  9. 一种图像采集装置，其特征在于，包括：
    工件参数获取模块，用于获取待测工件的拍摄长度和拍摄宽度；其中，所述拍摄长度为可包围所述待测工件的矩形的长度，所述拍摄宽度为可包围所述待测工件的矩形的宽度；
    相机参数获取模块，用于获取相机在所述待测工件上的视野长度和视野宽度；其中，所述相机与所述待测工件的运动平面间隔预设的距离；
    轨迹规划模块，用于根据所述拍摄长度、拍摄宽度、视野长度和视野宽度，规划所述待测工件在所述运动平面上的曲线运动轨迹；
    拍摄模块，用于驱动所述待测工件按照所述曲线运动轨迹移动，并且控制所述相机拍摄多张图像；
    拼接模块，用于拼接所述多张图像，获得所述待测工件的完整图像。
  10. 如权利要求9所述的图像采集装置，其特征在于，所述曲线运动轨迹包括第一直线轨迹、第二直线轨迹和第一弧线轨迹；
    所述第一直线轨迹为自第一端点P1(x1，y1+m*H)至第二端点P2(x1+L0，y1+m*H)的直线轨迹；
    所述第一弧线轨迹为自第二端点P2(x1+L0，y1+m*H)至第三端点P3(x1+L0，y1*(m+1)H)的弧线轨迹；
    所述第二直线轨迹为自第三端点P3(x1+L0，y1*(m+1)H)至第四端点P4(x1，y1+(m+1)*H)的直线轨迹；
    其中，所述曲线运动轨迹的起点为P0(x1，y1)，所述待测工件置于所述曲线运动轨迹的起点时进入相机的视野范围；m为不小于0的偶数；H为所述视野宽度；L0＝n*S，n为不小于(L/S)的整数，L为所述拍摄长度，S为所述视野长度。
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