An automatic programming method based on blue light scanning recognition

Abstract

The application discloses an automatic programming method based on blue light scanning and recognition, and relates to the technical field of image recognition.The method comprises the following steps: S10, acquiring a lamp bead mounting point image, adopting a blue light source to acquire a lamp bead mounting point image by sampling a lamp bead mounting point on a lamp bead plate; S20, first scanning of the lamp bead mounting point; S30, recognizing the lamp bead mounting point image, recognizing the image according to lamp bead mounting point size parameters to obtain lamp bead mounting point coordinates; and S40, second scanning of the lamp bead mounting point, moving a camera according to the lamp bead mounting point coordinates, sampling under the blue light source, recognizing the lamp bead mounting point, sampling the lamp bead mounting point by the camera and updating the lamp bead mounting point coordinates, and completing the blue light scanning.The application has the beneficial effect that the lamp bead mounting point on the lamp bead plate can be quickly and efficiently recognized, and the mounting coordinates can be recorded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image recognition, and more particularly to an automatic programming method based on blue light scanning recognition. BACKGROUND

[0002] With the increase of chip integration on PCB, surface mount technology (SMT) is gradually replacing traditional manual soldering and is applied in the chip mounting production process of PCB. As the core production unit in SMT, the chip mounter mainly relies on the vision system to complete the identification and placement of electronic components. Therefore, how to ensure that the chip can be accurately and efficiently identified, detected and positioned by the vision system will directly determine the yield and production efficiency of the final product. The operator can input mounting coordinates and mounting components, etc. to make the chip mounter pick up components for mounting according to the mounting steps.

[0003] However, if the mounting points are irregularly distributed, manual input of mounting coordinates and mounting components is too slow and consumes manpower and resources. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the present application provides an automatic programming method based on blue light scanning recognition, which can quickly and efficiently identify the lamp bead mounting points on the lamp bead plate and record the mounting coordinates.

[0005] The technical scheme adopted by the present application to solve its technical problems is: an automatic programming method based on blue light scanning recognition, wherein the improvement lies in that the method comprises the following steps:

[0006] S10, acquiring a lamp bead mounting point image, using a blue light source to capture the lamp bead mounting points on the lamp bead plate to obtain the lamp bead mounting point image;

[0007] S20, first scanning of the lamp bead mounting points, the camera collects images from the mounting origin of the lamp bead plate, moves to the next lamp bead mounting point position along the Y-axis direction, and then collects images, until the camera moves to the edge of the lamp bead plate; thereafter, the camera moves a set distance along the X-axis direction, and then moves to the next lamp bead mounting point position along the Y-axis direction for image capturing, and the image capturing area covers all the lamp bead mounting points on the lamp bead plate;

[0008] S30, identification of the lamp bead mounting point image, identifying the image according to the size parameters of the lamp bead mounting points to obtain the lamp bead mounting point coordinates;

[0009] S40, second scanning of the lamp bead mounting points, the camera moves according to the lamp bead mounting point coordinates and captures images under the blue light source to identify the lamp bead mounting points;

[0010] The camera captures images of each lamp bead mounting point and updates the lamp bead mounting point coordinates, and completes the blue light scanning.

[0011] Further, in step S10, the lamp bead plate is irradiated by a blue light source, wherein the white area is the lamp bead mounting point, and the surrounding background color is black.

[0012] Further, in step S10, the types of the lamp bead mounting points are divided by shape, including rectangular lamp beads and circular lamp beads, and the parameters of the lamp bead mounting points include the length and width dimensions of the lamp bead mounting points, the blue light source intensity during image capturing, and the binary threshold value.

[0013] Further, the collected images are subjected to binary processing, and the images after binary processing are subjected to edge detection to obtain target edges.

[0014] The minimum outer rectangle calculation and the ellipse fitting calculation are performed on each target edge, and the circularity and the rectangularity are calculated according to the edge contour points to determine whether the target is a circular lamp bead or a rectangular lamp bead.

[0015] If it is a circular lamp bead, the center coordinates of the lamp bead are recorded; if it is a rectangular lamp bead, the center coordinates and the angle of the lamp bead are recorded.

[0016] Further, in step S20, the moving trajectory of the camera is S-shaped, and the distance moved by the camera each time is the size of the camera field of view minus the size of the lamp bead mounting, so as to ensure that there is an overlapping part between the image collected after each movement of the camera and the image collected before.

[0017] Further, in step S30, when the lamp bead mounting point image recognition is passed, the coordinates, the recognition angle, and the type of the corresponding lamp bead mounting point are recorded.

[0018] Further, step S30 includes the following steps:

[0019] S301, the coordinates of all collected lamp bead mounting points are screened, and when the distance between two coordinate points is less than the size of a lamp bead, it is considered that there is a repeated point, and one of the coordinate points needs to be deleted;

[0020] S302, after the screening is completed, all coordinate points are listed, and each coordinate point contains information of the lamp bead mounting point coordinates, the recognition angle, and the type of the lamp bead mounting point.

[0021] Further, step S40 includes the following steps:

[0022] According to the type of the lamp bead mounting point, the lamp bead mounting point is identified, and when the identification is passed, the coordinates and the recognition angle of the coordinate point are updated;

[0023] When the identification fails, if only one type of lamp bead mounting point parameter is set, the camera moves to the next coordinate point; if two types of lamp bead mounting point parameters are set, another type of lamp bead mounting point is used for identification, when the identification is passed, the coordinate of the lamp bead mounting point, the identification angle and the type of the lamp bead mounting point are updated, and when the identification fails, the camera moves to the next coordinate point.

[0024] Further, the shape of the lamp bead is judged, and the basis for the judgment is the variance of the distance from the points on the lamp bead contour to the center of the contour.

[0025] Further, the step S40 further comprises the steps of:

[0026] S50, the updated lamp bead mounting point coordinate and the type of the lamp bead mounting point are written into the mounting step again, and the automatic programming is completed.

[0027] The beneficial effects of the present application are that the method can quickly and efficiently identify the lamp bead mounting point on the lamp bead plate, record the mounting coordinate, generate the mounting step, and save the time of manually writing the mounting coordinate. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a flowchart of an automatic programming method based on blue light scanning identification of the present application.

[0029] Figure 2 It is a schematic diagram of the trajectory of the camera moving on the lamp bead plate in the present application.

[0030] Figure 3 It is a schematic diagram of the camera image collected by the camera on the lamp bead plate in the present application.

[0031] Figure 4 It is a schematic diagram of the camera image collected by the camera at different moving distances in the present application.

[0032] Figure 5 It is a schematic diagram of finding the minimum circumscribed rectangle for different edge point sets in the present application.

[0033] Figure 6 It is a schematic diagram of finding the fitting ellipse for different edge point sets in the present application.

[0034] Figure 7 It is a schematic diagram of the lamp bead mounting point coordinate obtained after the first scanning in the present application.

[0035] Figure 8 It is a schematic diagram of setting the actual image collection range of the camera during the second scanning in the present application.

[0036] Figure 9 It is a schematic diagram of the step of identifying the circular lamp bead during the second scanning in the present application.

[0037] Figure 10 The schematic diagram of the step of identifying the rectangular lamp bead in the secondary scanning in the application. DETAILED DESCRIPTION

[0038] The application will be further described below in conjunction with the drawings and examples.

[0039] The concept, specific structure and technical effects of the application will be described clearly and completely in conjunction with the examples and drawings, so as to fully understand the purpose, features and effects of the application. Obviously, the described examples are only a part of the examples of the application, but not all the examples. Based on the examples of the application, other examples obtained by those skilled in the art without creative labor are within the protection scope of the application. In addition, all the coupling / connection relations involved in the patent do not mean that the components are directly connected, but means that a better coupling structure can be composed by adding or reducing coupling accessories according to the specific implementation situation. The technical features in the application can be combined interactively without conflict.

[0040] REFERENCE Figure 1 As shown in the drawings, the application discloses an automatic programming method based on blue light scanning identification, which comprises steps S10-S40:

[0041] S10, image acquisition of lamp bead mounting point, using a blue light source to capture the image of the lamp bead mounting point on the lamp bead plate to obtain the lamp bead mounting point image;

[0042] In this embodiment, the lamp bead plate is irradiated by a blue light source, wherein the white area is the lamp bead mounting point and the surrounding background color is black. The types of the lamp bead mounting point include rectangular lamp beads and circular lamp beads according to the shape. The parameters of the lamp bead mounting point include the length and width of the lamp bead mounting point, the intensity of the blue light source during image capture and the binary threshold value.

[0043] Before implementing the steps of the application, the lamp bead plate size, lamp bead mounting point size and lamp bead mounting point type need to be known, including the length and width of the lamp bead plate, the length and width of the rectangular lamp bead, the type of the rectangular lamp bead, the radius of the circular lamp bead and the type of the circular lamp bead.

[0044] S20, first scanning of the lamp bead mounting point, the camera collects images from the mounting origin of the lamp bead plate, moves to the next lamp bead mounting point position along the Y-axis direction, then collects images, and moves to the edge of the lamp bead plate; thereafter, the camera moves a set distance along the X-axis direction, then moves to the next lamp bead mounting point position along the Y-axis direction for image capture, and the image capture area covers all the lamp bead mounting points on the lamp bead plate;

[0045] In this embodiment, in step S20, the collected image is binarized, and the binarized image is edge detected to obtain a target edge;

[0046] A minimum bounding rectangle calculation and an ellipse fitting calculation are performed on each target edge, and a roundness and a rectangularity are calculated according to edge contour points to determine whether the target is a circular lamp bead or a rectangular lamp bead;

[0047] If it is a circular lamp bead, the center coordinates of the lamp bead are recorded; if it is a rectangular lamp bead, the center coordinates and the angle of the lamp bead are recorded.

[0048] Further, in step S20, the moving track of the camera is S-shaped, and the distance moved by the camera each time is the size of the field of view of the camera minus the size of the lamp bead, so as to ensure that the image collected after each movement of the camera has an overlapping part with the image collected before.

[0049] In this embodiment, before starting the first scanning, a global scanning path needs to be calculated, as shown in Figure 2 , the global scanning path is S-shaped, and the camera starts from the mounting origin P a , moves along the Y direction first, and the distance moved each time is L m , until it moves to the edge of the lamp bead plate, moves once in the X direction, then moves in the opposite direction of Y, until it moves to the edge of the lamp bead plate again, moves once in the X direction again, and so on, until the entire lamp bead plate is scanned.

[0050] S30, identification of lamp bead mounting point image, identification of image according to lamp bead mounting point size parameter, to obtain lamp bead mounting point coordinates;

[0051] In step S30, when the lamp bead mounting point image identification passes, the coordinates, identification angle and lamp bead mounting point type of the corresponding lamp bead mounting point are recorded. Specifically, step S30 includes the following steps:

[0052] S301, screening of all collected lamp bead mounting point coordinates, when the distance between two coordinate points is less than the size of a lamp bead, it is considered that there is a repeated point, and one of the coordinate points needs to be deleted;

[0053] S302, after screening, all coordinate points are listed, and each coordinate point contains information of lamp bead mounting point coordinates, identification angle and lamp bead mounting point type.

[0054] In this embodiment, the camera collects an image each time it moves in the global scanning, and then performs identification, and the image effect is as shown in Figure 3 . In order to ensure that no lamp bead mounting point on the lamp bead plate is missed, the distance L m moved by the camera each time needs to be according to the size L c of the field of view of the camera.LED bead mounting size L p Perform calculations. For example... Figure 4 As shown, if the camera moves a distance L m =Camera field of view size L c Theoretically, the image captured by the camera in the current shot and the image captured after the camera moves can be seamlessly stitched together. However, if the LED bead attachment is located at the edge of the camera's field of view, the attachment will not be fully displayed in the current image, and it will still be incomplete in the image captured after the camera moves. When identifying the edge of the LED bead attachment, it is easy to discard it due to size discrepancies. The method adopted in this invention is to move the camera a distance L... c =Camera field of view size L c - LED bead mounting size L p This ensures that LED stickers located at the edge of the camera's field of view can always be captured completely.

[0055] Based on the above, the present invention provides a specific embodiment, in which the length of the camera's field of view is known to be L. cx The width is L cy The length of the LED bead decoration is L. px The width is L py The length of the LED chip plate is L. bx The width is L by The distance L that the camera moves in the Y direction each time during a global scan. my for:

[0056] L my =L oy -L py ;

[0057] The camera moved a total of n times in the Y direction. y for:

[0058] n y =L by ÷L my ;

[0059] The distance L that moves each time in the X direction is... mx for:

[0060] L mx =L cx -L px ;

[0061] The camera moved a total of n times in the X direction. x for:

[0062] n x =L bx ÷L mx ;

[0063] If there are multiple LED chip mounting point types, the length and width of the LED chip mounting point used in the above calculations are based on the largest length and width.

[0064] To ensure that the entire LED chip board can be scanned completely during global scanning, the mounting origin P is usually set to 100%. a Set the positions to the four corners of the LED board.

[0065] In global scanning, each image captured by the camera undergoes binarization and edge detection. Image binarization sets the grayscale value of each pixel in the image to 0 or 255, resulting in a distinct black and white image. Image binarization facilitates further image processing, simplifies the image, reduces data volume, and highlights the contours of the target of interest. Edge detection is used to extract the set of edge points, and the set of edge points is coarsely located using the minimum bounding rectangle method. The minimum bounding rectangle is the smallest rectangle that can enclose the set of edge points. Further image processing is performed based on the previously input LED bead attachment type; it can identify only circular LEDs, only rectangular LEDs, or both.

[0066] To identify round LED beads, a method similar to circle recognition is used; the size of the smallest bounding rectangle of the edge point set is determined. For example... Figure 5 As shown, the dashed line represents the minimum bounding rectangle. Theoretically, the minimum bounding rectangle of a circular LED should be approximately a square, meaning the length L and width W of the rectangle should be similar, with an aspect ratio L / W of approximately 1. Table 1 illustrates the selection process for circular LEDs; here, edge points whose aspect ratio L / W of the minimum bounding rectangle is not within the range of 0.8-1.2 are filtered out.

[0067] Calculate the fitted ellipse for the set of edge points. The fitted ellipse is a possible ellipse formed by the edge points, calculated using the least squares method to fit a circle. For example... Figure 6 As shown, the dashed line represents the fitted ellipse. Theoretically, the area S of the fitted ellipse obtained from the set of edge points A of the circular LED bead is... n It should be related to the area S of the round LED bead o Similar, area ratio S n1 / S o1 Approximately equal to 1. As shown in Table 1, the area ratio S is filtered out here. n1 / S o1 The edge point set not within 0.8-1.2. Input the center coordinates of the fitted ellipse of the found edge point set A into the mounting coordinates of the mounting step, and set the mounting component type to circular LED.

[0068]

[0069] Table 1

[0070] The rectangle light bead is identified by the identification method of rectangle. The area and the length-width ratio of the minimum circumscribed rectangle of the edge point set are judged. As shown in Figure 5 , the area S n2 and the length-width ratio L n / W n of the minimum circumscribed rectangle of the rectangle light bead should be similar to the area S o2 and the length-width ratio L o / W o of the rectangle light bead, i.e. S n2 / S o2 is approximately equal to 1, is approximately equal to 1. As shown in Table 2, a screening process diagram of the rectangle light bead is shown; here, the edge point set and the ratio whose area ratio S n2 / S o2 is not within 0.8-1.2 are screened out. The edge point set whose area ratio S n2 / S o2 is not within 0.8-1.2 is screened out. The center coordinates of the minimum circumscribed rectangle of the found edge point set B are input to the mounting coordinates of the mounting step, and the mounting element type is set to the rectangle light bead.

[0071]

[0072] Table 2

[0073] The mounting step refers to the step of mounting elements by the chip mounter, which is composed of mounting coordinates, mounting angle and mounting element type and the like. The mounting step is finally obtained by the present application, and the chip mounter will mount elements according to the mounting step.

[0074] After the global scanning is completed, the data in the mounting step is screened. Since the image collected each time has an overlapping area with the adjacent image, if there is a light bead mounting point in the overlapping area, the coordinates of the mounting point are recorded in this image collection, and the coordinates of the mounting point are also recorded in the next image collection, resulting in two rows of data in the mounting step, which save the coordinates pointing to the same light bead mounting point. The screening step is as follows: first, select a row of data, calculate the distance between the coordinate point and the coordinate point of other rows of data, if the distance is less than the size of the light bead mounting point, it is considered that the two rows of data are repeated, and one row of data is deleted. As shown in Figure 7 , the distance between the coordinate point P1 and the coordinate points P2, P3 and the like is greater than the size of the light bead mounting point, so the coordinate point P1 is not a problem. After P1 is compared, it is the turn of P2, and it is obvious that the distance between the coordinate point P2 and the coordinate point P3 is less than the size of the light bead mounting point, and the coordinate point P3 needs to be deleted. In this way, until all the coordinate points in the mounting step are checked.

[0075] S40, second scanning of the lamp bead mounting point, the camera moves according to the lamp bead mounting point coordinates, and the image is captured under the blue light source to identify the lamp bead mounting point; the camera captures the image of each lamp bead mounting point and updates the lamp bead mounting point coordinates, and the blue light scanning is completed.

[0076] In the embodiment, step S40 includes the following steps:

[0077] According to the type of the lamp bead mounting point, the lamp bead mounting point is identified, and when the identification is passed, the coordinates and identification angle of the coordinate point are updated;

[0078] When the identification is not passed, if only one lamp bead type is set, the camera moves to the next coordinate point;

[0079] If two lamp bead types are set, the other lamp bead type is used for identification, and when the identification is passed, the coordinates, identification angle and lamp bead mounting point type of the lamp bead mounting point are updated, and if the identification is still not passed, the camera moves to the next coordinate point.

[0080] The shape of the lamp bead is judged, and the basis for the judgment is the variance of the distance from the points on the lamp bead contour to the center of the contour.

[0081] In addition, step S40 further includes the following steps:

[0082] S50, the updated lamp bead mounting point coordinates and lamp bead mounting point type are written into the mounting step again, and the automatic programming is completed.

[0083] In the above step S40, the camera moves according to the coordinates in the mounting step, moves above the lamp bead mounting point to capture the image. The image is binarized and edge detected, and then the identification method is selected according to the mounting component type in the step, the circular lamp bead selects the circular identification method, and the rectangular lamp bead selects the rectangular identification method.

[0084] The reason for the second scanning is to improve the mounting accuracy. If the lamp bead mounting point is located at the edge of the camera field of view in the global scanning, a part is missing, even if the identification is passed, the calculated lamp bead mounting point coordinates will have errors with the actual ones, or the mounting component type will be obtained. In addition, if the sizes of the circular lamp bead and the rectangular lamp bead are too close, it is also possible that the circular lamp bead is misidentified as a rectangular lamp bead in identification, or the opposite, resulting in an incorrect mounting component type.

[0085] When the second scanning is performed, the camera moves above the lamp bead mounting point to capture the image. As shown in Figure 8 To ensure that only one lamp bead mounting point exists in the captured image, the actual image capturing range of the camera is set to 1.5 times the size of the lamp bead mounting point.

[0086] AsFigure 9 As shown, the identification mode of finding a circle is selected for the round lamp bead. If the identification fails, the identification mode of finding a rectangle is selected for re-identification, and the mounting point coordinates and the mounting element type are updated. If the identification passes, the variance of the distance from the edge point set to the center of the fitted ellipse is calculated. If the variance is less than 40, the edge point set is considered to be circular, the mounting element type is correct, and the lamp bead mounting point coordinates are updated. If the variance is greater than 40, the edge point set is considered to be rectangular, the mounting element type is incorrect, and the mode of finding a rectangle is used for re-identification. If the identification passes, the mounting point coordinates and the mounting element type are updated, and if the identification fails, a warning message is output.

[0087] As shown, Figure 10 the identification mode of finding a rectangle is selected for the rectangular lamp bead. If the identification fails, the identification mode of finding a circle is selected for re-identification, and the mounting point coordinates and the mounting element type are updated. If the identification passes, the variance of the distance from the edge point set to the minimum circumscribed rectangle is calculated. If the variance is greater than 40, the edge point set is considered to be rectangular, the mounting element type is correct, and the lamp bead mounting point coordinates are updated. If the variance is less than 40, the edge point set is considered to be circular, the mounting element type is incorrect, and the mode of finding a circle is used for re-identification. If the identification passes, the mounting point coordinates and the mounting element type are updated, and if the identification fails, a warning message is output.

[0088] In summary, the application provides an automatic programming method based on blue light scanning identification. The lamp bead mounting points on the lamp bead plate are imaged, the collected image is binarized, the edge is collected, the minimum circumscribed rectangle, the fitted ellipse, and the variance are calculated, and finally the center coordinates of the lamp bead mounting points and the shape of the lamp bead mounting points are obtained. By scanning and re-scanning the camera in an S-shaped trajectory on the lamp bead plate, the center coordinates and the shape of all the lamp bead mounting points on the lamp bead plate can be obtained, achieving the effect of automatic programming.

[0089] Using a blue light source can make the image background color darker and the target color lighter, obtaining a relatively clear target contour and excluding background interference. The secondary scanning can compensate for the center coordinate error in the first global scanning, improving the accuracy of the mounting. By calculating the variance of each point on the contour to the center, the rectangular contour and the circular contour can be distinguished, ensuring that the lamp bead of the wrong shape is not mounted.

[0090] The above is a specific description of the preferred implementation of the application, but the application is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without deviating from the spirit of the application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. An automatic programming method based on blue light scanning recognition, characterized in that, The method includes the following steps: S10. Acquisition of LED bead decoration images: Blue light source is used to capture images of the LED bead decorations on the LED bead board to obtain LED bead decoration images. In step S10, the types of LED bead mounting points are classified by shape into rectangular LED beads and circular LED beads. The parameters of the LED bead mounting points include the length and width dimensions of the LED bead mounting points, the intensity of the blue light source during image acquisition, and the binarization threshold. S20. For the first scan of the LED chip mounting points, the camera acquires an image from the mounting origin of the LED chip board, moves along the Y-axis to the next LED chip mounting point position, and acquires an image again until the camera moves to the edge of the LED chip board. After that, the camera moves a set distance along the X-axis and continues to move along the Y-axis to the next LED chip mounting point position to acquire an image. The image acquisition area covers all LED chip mounting points on the LED chip board. S30. Recognition of LED bead decoration image: Based on the size parameters of the LED bead decoration, the image is recognized to obtain the coordinates of the LED bead decoration. In step S30, after the image recognition of the LED bead decoration point is passed, the coordinates, recognition angle and LED bead decoration point type of the corresponding LED bead decoration point are recorded. S40. Secondary scanning of LED bead decorations: The camera moves according to the coordinates of the LED bead decorations, captures images under blue light source, and identifies the LED bead decorations. The camera captures an image of each LED bead attachment point and updates the coordinates of the LED bead attachment points to complete the blue light scan. Step S40 includes the following steps: The LED bead mounting points are identified based on their type. When the identification is successful, the coordinates and identification angle of the LED bead mounting point are updated. If the recognition fails, and only one type of LED bead decoration point parameter is set, the camera moves to the next LED bead decoration point; if two types of LED bead decoration point parameters are set, the other LED bead decoration point type is used for recognition. If the recognition passes, the coordinates, recognition angle and LED bead decoration point type are updated. If the recognition fails, the camera moves to the next LED bead decoration point. The shape of the LED bead is determined based on the variance of the distance from a point on the LED bead's outline to the center of the outline.

2. The automatic programming method based on blue light scanning recognition according to claim 1, characterized in that, In step S10, the LED board is illuminated by a blue light source, where the white area is where the LEDs are attached and the surrounding background is black.

3. The automatic programming method based on blue light scanning recognition according to claim 1, characterized in that, In step S20, the acquired image is binarized, and edge detection is performed on the binarized image to obtain the target edge; For each target edge, the minimum bounding rectangle and fitted ellipse are calculated, and the roundness and rectangularity are calculated based on the edge contour points to determine whether the target is a circular LED bead or a rectangular LED bead. If it is a round LED, record the center coordinates of the LED; if it is a rectangular LED, record both the center coordinates and the angle of the LED.

4. The automatic programming method based on blue light scanning recognition according to claim 1, characterized in that, In step S20, the camera's movement trajectory is S-shaped, and the distance the camera moves each time is the camera's field of view minus the LED mounting size, to ensure that the image captured after each camera movement overlaps with the image captured previously.

5. The automatic programming method based on blue light scanning recognition according to claim 4, characterized in that, Step S30 includes the following steps: S301. Filter the coordinates of all collected LED bead decoration points. If the distance between two LED bead decoration points is less than the size of one LED bead, it is considered that there is a duplicate point and one of the LED bead decoration points needs to be deleted. S302. After filtering, list all LED bead decoration points, and each LED bead decoration point includes the coordinates, identification angle, and LED bead decoration point type information.

6. The automatic programming method based on blue light scanning recognition according to claim 1, characterized in that, Step S40 is followed by the following steps: S50. Rewrite the updated coordinates and types of LED bead placement points into the placement steps to complete automatic programming.

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