WO2022099583A1

WO2022099583A1 - Optical detection system based on self-adaptive telecentric lens

Info

Publication number: WO2022099583A1
Application number: PCT/CN2020/128561
Authority: WO
Inventors: 朱同兵; 胡冰峰
Original assignee: 苏州康代智能科技股份有限公司
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2022-05-19

Abstract

An optical detection system based on a self-adaptive telecentric lens (301). The optical detection system comprises a camera (101), a telecentric lens (301) and an illumination system (504) which are arranged successively from top to bottom in a vertical direction. The optical detection system further comprises: a first vertical movement mechanism used for adjusting a vertical position of the camera (101), a second vertical movement mechanism used for adjusting a vertical position of the telecentric lens (301), a horizontal fine adjustment apparatus (107) used for adjusting a horizontal position of the camera (101), and a rotation fine adjustment assembly (108) used for rotating the camera (101). The optical detection system can automatically focus when acquiring an image of a PCB, wherein the focusing precision is high, and the system is suitable for PCBs of different sizes and thicknesses.

Description

An Optical Detection System Based on Adaptive Telecentric Lens

technical field

The utility model relates to a PCB board visual detection optical system, in particular to an optical detection system based on an adaptive telecentric lens.

Background technique

With the continuous promotion and application of PCB boards, the requirements for defect detection are also constantly improving, especially for the detection of lines in the micron-level width. The camera has high requirements on the parallelism of the light received. At this time, the image will be distorted under the illumination of the ordinary light source; when the camera and the detection workpiece are tilted, even if the light is parallel, the image will still be distorted. When the thickness of the PCB board is different, because the upper surface of the workpiece is not within the depth of field of the detection camera, it is generally necessary to manually re-adjust and focus, which is cumbersome to operate.

Utility model content

In order to solve the problems of the prior art, the utility model provides a portable atomization inhalation medicine feeder and a medicine supply control system, and the technical scheme is as follows:

The utility model provides an optical detection system based on an adaptive telecentric lens, the optical detection system comprises a camera, a telecentric lens and an illumination system which are arranged in sequence from top to bottom along a vertical direction, and the optical detection system furthermore include

a first vertical movement mechanism, the first vertical movement mechanism is used to drive the camera to move in a vertical direction;

a second vertical moving mechanism, the second vertical moving mechanism is used to drive the telecentric lens to move in the vertical direction;

A controller, the input end of the controller is connected with the camera, and the output end of the controller is respectively connected with the first vertical movement mechanism and the second vertical movement mechanism.

Further, the optical detection system further includes a rotation fine-tuning assembly connected to the controller, the rotation fine-tuning assembly is used to drive the camera to rotate and fine-tune in a vertical direction, or/and, the rotation fine-tuning assembly is used for The camera is driven to rotate and fine-tune in the horizontal direction.

Further, the optical detection system further includes a first limit sensor linked with the camera, the first limit sensor is connected to the input end of the controller, and the detection direction of the first limit sensor is toward the Down.

Further, the optical detection system further includes a second limit sensor linked with the telecentric lens, the second limit sensor is connected to the input end of the controller, and the detection of the second limit sensor direction up or/and down.

Further, the first vertical movement mechanism includes a first servo motor and a first ball screw cooperating with the first servo motor, and the second vertical movement mechanism includes a second servo motor and a first ball screw matched with the first servo motor. Two servo motors are matched with the second ball screw.

Further, the optical detection system further includes a horizontal fine-tuning device, and the horizontal fine-tuning device is used to make the camera translate on a horizontal plane.

Further, the optical detection system further includes a third servo motor and a guide rail matched with the third servo motor, and the third servo motor is used to control the lighting system to move in a vertical direction.

Further, the camera is mounted on a camera substrate, and a camera rotation plate is arranged on the camera substrate to rotate in a vertical direction relative to the camera substrate, and the camera is connected to the camera rotation plate.

Further, a coupling is provided between the first servo motor and the first ball screw.

Further, the lighting system includes a ring light source, and the ring light source and the telecentric lens are coaxially arranged.

The beneficial effects brought by the technical scheme provided by the utility model are as follows:

a. The multi-degree-of-freedom adjustment of the camera can strictly ensure the vertical relationship between the camera and the detection object, reduce the processing requirements of the workpiece, and facilitate on-site debugging;

b. Adjust the position of the camera and the telecentric lens through the algorithm to automatically find the focus, so that the image is in the clearest state;

c. Compact structure and reasonable design.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some implementations of the present invention. For example, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic diagram of an optical detection system provided by an embodiment of the present invention;

2 is a schematic diagram of an optical detection system provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of an optical detection system provided by an embodiment of the present invention.

Wherein, the reference numerals include: 101-camera, 102-camera top mounting plate, 103-camera upper mounting plate, 104-camera side mounting plate, 105-camera rotation plate, 106-camera base plate, 107-level fine adjustment device, 108-Rotation fine adjustment assembly, 109-Upper limit sensor bracket, 110-First limit sensor, 111-Optical system integral mounting plate, 201-First ball screw, 202-Motor mounting plate, 203-Coupling, 204-first servo motor, 205-first drive connector, 206-first slider, 301-telecentric lens, 302-telecentric lens mounting plate, 303-second limit sensor, 304-second slider , 401-Second Servo Motor, 402-Servo Motor Mounting Base, 403-Second Ball Screw 404,-Second Drive Connector, 501-Third Servo Motor, 502-Cross Roller Rail, 503-Connector , 504-Lighting system.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. . It is to be understood that the data so used may be interchanged under appropriate circumstances so that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, apparatus, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

An embodiment of the present invention provides an optical detection system based on an adaptive telecentric lens, the optical detection system includes a camera 101, a telecentric lens 301 and an illumination system 504 that are arranged in sequence from top to bottom along a vertical direction , the optical detection system also includes

a controller, the input end of the controller is connected to the camera, the output end of the controller is respectively connected to the first vertical movement mechanism and the second vertical movement mechanism, the controller can be The image captured by the camera adjusts the position of the camera and the telecentric lens so that the focus is accurate.

The use of the telecentric lens ensures that the light can enter the field of view of the camera in parallel, and the distance between the camera, the telecentric lens and the PCB can be automatically adjusted, thus ensuring that the system can be compatible with PCBs of different thicknesses and self-adjusting adapt.

In a preferred embodiment of the present invention, the optical detection system further includes a rotation and fine-tuning assembly 108 connected to the controller, and the rotation and fine-tuning assembly is used to drive the camera to rotate and fine-tune in a vertical direction, or/or And, the rotating and fine-tuning assembly is used to drive the camera to rotate and fine-tune in the horizontal direction; when the surface of the PCB to be detected is deformed or not flat enough due to stress or other reasons, or the thickness of the PCB is inconsistent, this embodiment can Adjust the position of the camera so that the optical axis of the camera is still perpendicular to the detection surface of the PCB board.

In an embodiment of the present invention, the optical detection system further includes a first limit sensor 110 linked with the camera, the first limit sensor is connected to the input end of the controller, and the first limit sensor is connected to the input end of the controller. The detection direction of a limit sensor is downward, which is used to detect the distance from the camera to the lower mechanism. When the distance detected by the first limit sensor is less than a preset threshold, the camera cannot continue to move downward. .

In an embodiment of the present invention, the optical detection system further includes a second limit sensor 303 linked with the telecentric lens, the second limit sensor is connected to the input end of the controller, so The detection direction of the second limit sensor is upward or downward, the number of the second limit sensor can be two, and the detection directions of the two second limit sensors are opposite, so as to detect the telecentric lens at the same time The distance from the upper mechanism and the lower mechanism, when the detected distance is less than a preset threshold, the telecentric lens can no longer move up or down.

In an embodiment of the present invention, the first vertical movement mechanism includes a first servo motor 204 and a first ball screw 201 cooperating with the first servo motor, and the second vertical movement mechanism includes The second servo motor 401 and the second ball screw 403 matched with the second servo motor; since the servo motor has the function of precise movement, and the ball screw has the characteristics of high precision, high efficiency and reversibility, the The setting makes the focusing precision of the camera and the telecentric lens very high, which is suitable for the optical inspection of the PCB board with high magnification.

In an embodiment of the present invention, the optical detection system further includes a horizontal fine-tuning device 107, which is used to make the camera translate on a horizontal plane, so that the optical axis of the camera is aligned with the telecentricity The optical axis of the lens is coaxial, which further improves the accuracy of focusing.

In an embodiment of the present invention, the optical detection system further includes a third servo motor 501 and a guide rail matched with the third servo motor, and the third servo motor is used to control the lighting system to vertically move It can be moved in the direction to detect PCB boards of different thicknesses, and the guide rails can be general guide rails, lead screws or crossed roller slide rails.

In one embodiment of the present invention, the camera is mounted on a camera substrate 106, and a camera rotating plate 105 is arranged on the camera substrate to rotate in a vertical direction relative to the camera substrate, and the camera is connected to the camera substrate 106. The camera rotation plate is connected, so the camera can only move in the vertical direction, can only rotate, or can perform the above two moving methods at the same time, with a high degree of freedom.

In an embodiment of the present invention, a coupling 203 is provided between the first servo motor and the first ball screw, the first servo motor is connected to the camera substrate, and the coupling can Corrects offsets, provides cushioning, and is safe to move with greater precision while preventing damage to parts on the move due to heavier cameras.

In an embodiment of the present invention, the lighting system includes a simulated ring light source, the ring light source and the telecentric lens are arranged coaxially, the ring light source can provide approximately flat light, and the focusing ability of parallel light is better. The lighting system of the present invention can also use other devices for providing parallel light, and in order to further optimize the focusing effect, monochromatic light or monochromatic parallel light can also be used.

A preferred and specific embodiment of the present invention will be comprehensively described below. It should be noted that this specific embodiment is only one of the many embodiments of the present invention, and the combination in this embodiment is not sufficient for the present invention. Restrictions on the combination of technical solutions:

As shown in FIG. 1-FIG. 3 is an optical system based on an adaptive telecentric lens. The camera mounting assembly includes a camera 101, a camera substrate 106, a camera top mounting plate 102, a camera upper mounting plate 103, and a camera side mounting plate 104. , camera rotating plate 105, horizontal fine-tuning device 107, rotary fine-tuning assembly 108, upper limit sensor bracket 109, first limit sensor 110, optical system integral mounting plate 111; the camera servo adjustment system includes a first servo motor 204, a coupling shaft 203, a motor mounting plate 202, a first drive connector 205, a first ball screw 201, and a first slider 206; the telecentric lens mounting assembly includes a telecentric lens 301, a telecentric lens mounting plate 302, a second Limit sensor 303, second slider 304; the telecentric lens servo adjustment assembly includes a second servo motor 401, a second ball screw 403, a servo motor mount 402, and a second drive connector 404; the lighting adjustment The assembly includes a third servo motor 501, a cross-roller slide 502, a connector 503, and a lighting system 504; each mounting plate enables protection of important components;

Principle overview: The utility model is designed to solve the easy image distortion of high-resolution cameras. The camera is installed on the camera rotating plate, and can be rotated and adjusted around the Z-axis through the rotation and fine-tuning device on the front side. There is a fine-tuning mechanism on the front side of the top mounting plate of the camera. , the camera can be rotated around the Y-axis direction, there are adjustment devices on both sides of the mounting substrate, which can make the camera translate along the Y-axis direction; the camera servo adjustment system can drive the entire mechanism of the camera to move up and down, and there is a sensor on one side of the camera mounting substrate The sensing bracket has a sensor at the lower end to prevent collision with the lower mechanism; the telecentric lens is installed on the lower mounting plate, and is connected with the ball screw through a connector. The telecentric lens collides with the lower lighting system and the upper camera part, and the servo drives the telecentric lens to move up and down; the lighting servo adjustment system is connected with the lighting system connecting plate through the cross roller bearing, and the servo drives the lighting system to move up and down.

The device has the advantages of compact structure, automatic adjustment and reasonable design, especially the camera installation and adjustment device, which can be adjusted with multiple degrees of freedom to ensure the vertical relationship between the final camera and the inspection workpiece, and the use of telecentric lenses to ensure light. It can enter the field of view of the camera in parallel, and at the same time, the distance between the camera, the telecentric lens and the workpiece can be automatically adjusted by the servo, thus ensuring that the system is compatible with PCB boards of different thicknesses and can be adjusted and adapted by itself. To sum up, the utility model has good use effect and is worthy of popularization and application.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection of the utility model.

Claims

An optical detection system based on an adaptive telecentric lens, characterized in that the optical detection system comprises a camera (101), a telecentric lens (301) and an illumination system (504) that are sequentially arranged from top to bottom along a vertical direction ), the optical detection system also includes

a first vertical movement mechanism, the first vertical movement mechanism is used to drive the camera to move in a vertical direction;

a second vertical moving mechanism, the second vertical moving mechanism is used to drive the telecentric lens to move in the vertical direction;

A controller, the input end of the controller is connected with the camera (101), and the output end of the controller is respectively connected with the first vertical movement mechanism and the second vertical movement mechanism.
The optical detection system according to claim 1, characterized in that, the optical detection system further comprises a rotary fine-tuning assembly (108) connected with the controller, and the rotary fine-tuning assembly (108) is used to drive the camera (101) Rotating and fine-tuning in a vertical direction, or/and, the rotation and fine-tuning assembly (108) is used to drive the camera (101) to rotate and fine-tune in a horizontal direction.
The optical detection system according to claim 1, characterized in that, the optical detection system further comprises a first limit sensor (110) linked with the camera (101), the first limit sensor and the The input end of the controller is connected, and the detection direction of the first limit sensor is downward.
The optical detection system according to claim 1, characterized in that, the optical detection system further comprises a second limit sensor (303) linked with the telecentric lens (301), and the second limit sensor is connected to The input end of the controller is connected, and the detection direction of the second limit sensor is upward or/and downward.
The optical detection system according to claim 1, wherein the first vertical movement mechanism comprises a first servo motor (204) and a first ball screw (201) matched with the first servo motor, The second vertical movement mechanism includes a second servo motor (401) and a second ball screw (403) matched with the second servo motor.
The optical detection system according to claim 1, characterized in that, the optical detection system further comprises a horizontal fine-tuning device (107), and the horizontal fine-tuning device (107) is used to make the camera translate on a horizontal plane.
The optical detection system according to claim 1, characterized in that, the optical detection system further comprises a third servo motor (501) and a guide rail matched with the third servo motor, and the third servo motor is used to control The lighting system moves in a vertical direction.
The optical detection system according to claim 1 or 2, wherein the camera is mounted on a camera substrate (106), and the camera substrate is provided with a camera rotation that rotates in a vertical direction relative to the camera substrate A plate (105), the camera is connected with the camera rotation plate.
The optical detection system according to claim 5, wherein a coupling (203) is provided between the first servo motor and the first ball screw.
The lighting system according to claim 1, wherein the lighting system comprises a ring light source, and the ring light source and the telecentric lens are coaxially arranged.