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Online soldering visual servo control method and system

A technology of visual servo and control method, applied in manufacturing tools, welding equipment, auxiliary devices, etc., can solve the problems of low efficiency, solder joint quality depends on manpower, time-consuming and labor-intensive, etc., so as to reduce production costs, improve quality and reliability. , reduce the effect of the inspection process

Active Publication Date: 2020-04-28
SHENZHEN INST OF ADVANCED TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an online soldering visual servo control method and system to solve the problems in the prior art that the inspection and adjustment of solder joint quality depends on manpower, time-consuming and labor-intensive, and the problem of low efficiency

Method used

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  • Online soldering visual servo control method and system
  • Online soldering visual servo control method and system

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Experimental program
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Embodiment 1

[0033] figure 1 It is a flowchart of an online soldering visual servo control method provided in Embodiment 1 of the present invention. The method provided in this embodiment can be applied to the solder joint forming process using an automatic welding system. The specific process is as follows:

[0034] Step S110, collecting images of solder joints under the current forming control scheme.

[0035] The existing research on improving the reliability of solder joints is all about the processing methods before and after welding. This method relies on labor, so it has high efficiency, low cost, high difficulty and low reliability. Therefore, this embodiment chooses to focus on solder joints. The forming process is controlled, and the process parameters in the welding process are adjusted in real time according to the state of the solder joints.

[0036] Specifically, in this embodiment, a high-speed visual sensor (such as a high-speed camera) is used to collect images of solder ...

Embodiment 2

[0069] This embodiment is realized on the basis of Embodiment 1, and further explanations and examples are given for part of the content of Embodiment 1. This embodiment is also applicable to the solder joint forming process performed by an automatic welding system.

[0070] Specifically, in step S120, determine the current solder joint state according to the solder joint image such as Figure 5 As shown, including steps S121-S124:

[0071] Step S121 , obtaining the wetting range of the solder melt by using the connected domain method according to the solder joint image.

[0072]Step S122. Determine whether the solder melt exceeds the boundary of the solder mask layer by using the image binarization method according to the solder joint image.

[0073] Step S123, judge the smoothness of the surface of the solder joint according to the image of the solder joint by using the spot size reflected by the specular reflection of the surface of the solder melt under the camera light s...

Embodiment 3

[0088] Figure 7 A schematic structural diagram of an online soldering visual servo control system 300 provided in Embodiment 3 of the present invention. The system can execute the online soldering visual servo control method provided in any embodiment of the present invention, and has corresponding functions for executing the method Modules and benefits, as follows:

[0089] The image acquisition module 310 is configured to acquire images of solder joints under the current forming control scheme.

[0090] The welding point state judging module 320 is configured to determine the current state of the welding point according to the welding point image.

[0091] Specifically, the solder joint state judging module 320 includes:

[0092] The wetting range judging unit is used to obtain the wetting range of the solder melt by using the connected domain method according to the solder joint image.

[0093] The out-of-boundary judging unit is used to judge whether the solder melt ex...

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Abstract

The embodiment of the invention discloses an online soldering visual servo control method and system. The method comprises the steps of collecting a welding spot image under a current forming controlscheme; determining a current welding spot state according to the welding spot image; predicting a subsequent welding spot state through a preset welding spot forming model according to the current welding spot state and the current forming control scheme; confirming whether the subsequent welding spot state is inferior to the current welding spot state or not; if yes, determining a subsequent forming control scheme according to the subsequent welding spot state, and controlling welding spot forming according to the subsequent forming control scheme; and if not, controlling welding spot forming according to the current forming control scheme. According to the online soldering visual servo control method, the process parameters in the welding process are automatically regulated and controlled in real time, so that the quality and reliability of welding spots are improved, the quality inspection steps of the welding spots are reduced, the production cost is reduced, and the production efficiency is improved.

Description

technical field [0001] The invention belongs to the field of soldering system control, in particular to an online soldering visual servo control method and system. Background technique [0002] At present, the research on improving the reliability of solder joints mainly focuses on post-welding processing. The so-called post-welding processing refers to the application of machine vision to detect solder joints after welding is completed. Unqualified solder joints are manually reprocessed. . This vision-based post-processing method currently includes solder joint defect detection technology using automatic optical inspection technology, multi-feature based multi-classification defect detection method, defect detection method based on super-resolution instance reconstruction, etc. Automatic optical inspection technology uses industrial cameras to obtain images of PCB boards, and then uses different image processing techniques and template matching methods to evaluate solder j...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K3/00B23K3/08
CPCB23K3/00B23K3/08
Inventor 尚万峰吴新宇任豪朱明健唐龙胡勇
Owner SHENZHEN INST OF ADVANCED TECH