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Detection method for rectangular pin component visual positioning

A pin component and visual positioning technology, which is applied in the detection field of visual positioning of rectangular pin components, can solve the problems of pin breakage and low positioning accuracy.

Inactive Publication Date: 2015-02-18
NANJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problem of low positioning accuracy of the traditional detection method for rectangular pin components, the pin is broken in the image, and separately detects the offset and deflection angle, and proposes a detection method for visual positioning of rectangular pin components

Method used

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  • Detection method for rectangular pin component visual positioning
  • Detection method for rectangular pin component visual positioning
  • Detection method for rectangular pin component visual positioning

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Experimental program
Comparison scheme
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specific Embodiment approach 1

[0036] Specific Embodiment 1: A detection method for visual positioning of rectangular pin components described in this embodiment is implemented in the following steps:

[0037] Step 1: Use the placement machine vision system to obtain the image of the rectangular lead component.

[0038] Step 2: Preprocess the image obtained in Step 1, filter out the noise in the image, repair pin defects, and use the maximum inter-class variance method to perform threshold segmentation to obtain a binarized image.

[0039] Step 3: mark the connected region on the component pin image obtained in step 2.

[0040] The steps to mark the connected regions are:

[0041] Initialization: Randomly select a bright spot B in a connected area in the original image 0 .

[0042] Loop: use square structure element S to B 0 Perform expansion operation, the result after expansion intersects with the original image to get B 1 , repeat the expansion operation and intersection operation until B i+1 ==B ...

specific Embodiment approach 2

[0059] This embodiment is a further supplement to the specific embodiment one, and the Harris corner point extraction method described in step five is specifically implemented according to the following steps:

[0060] (1) Calculate the gradient I of the image I(x,y) in the x and y directions x , I y .

[0061] I x = ∂ I ∂ x = I ⊗ f x I y = ∂ I ∂ y = I...

specific Embodiment approach 3

[0074] Specific embodiment three: this embodiment is a further supplement to specific embodiment one, and the sub-pixel edge detection method based on Zernike moments described in step 6 is specifically implemented according to the following steps:

[0075] (1) According to the ideal model of sub-pixel edge detection, use the template of 7×7 to calculate the 5 rotated Zernike moments Z of each pixel-level corner point 00 ,Z 11 ,Z 20 ,Z 31 ,Z 40 .

[0076] (2) Calculate the 5 Zernike moments Z' after rotation 00 ,Z' 11 ,Z' 20 ,Z' 31 ,Z' 40 .

[0077] (3) Calculate the relationship between the edge parameters of the edge model and the rotated Zernike moments.

[0078] Z 00 ′ = ∫ - 1 l ∫ - 1 - x 2 ...

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PUM

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Abstract

The invention provides a detection method for rectangular pin component visual positioning, and relates to the field of visual positioning and detection of rectangular pin components. The method aims to solve the problems that a traditional rectangular pin component detection method is low in positioning precision, pins break in images and deviation and deviation angles are detected separately. The method is characterized in that a measured component image is obtained by means of a chip mounter visual system, an image after binary pre-processing is obtained through threshold segmentation, a communication area of the component pins is marked, the shape of the component pins is judged, pixel-level Harris angular point coordinates of the pin image are extracted, sub-pixels of Harris angular points are solved and classified, the deviation angles of components are calculated, the pin image is matched with a standard image, and the deviation of the component is calculated. The method is mainly used for pin detection, deviation angle detection and deviation detection of the rectangular pin components.

Description

technical field [0001] The invention relates to the field of visual positioning and detection of rectangular lead components, in particular to a detection method for visual positioning of rectangular lead components. Background technique [0002] The visual positioning of rectangular lead components is to detect the offset of the component center relative to the nozzle center and the deflection angle of the component during the picking process, so that the servo system can compensate the position of the component. Quickly and accurately completing the alignment of rectangular lead components plays a vital role in improving the work efficiency and precision of the placement machine. The existing detection of rectangular pin components is based on the inchworm creeping algorithm to detect the straight line features that make up the pins, and divides the edge pixel set into subsets with a certain gradient range according to the gradient direction, and then in each edge point su...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B11/03G01B11/26
Inventor 黄筱调王祖进丁爽
Owner NANJING UNIV OF TECH
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