Circuit board detection system and method

Abstract

The embodiment of the present application provides a circuit board inspection system and method, which includes: a loading module for transporting the circuit boards to be inspected from a feeding tray to a loading platform; a transfer module for grabbing the circuit boards to be inspected placed on the loading platform and placing the grabbed circuit boards to be inspected into an inspection area; a detection module for inspecting the circuit boards to be inspected placed in the inspection area; a diversion module for obtaining the inspection result information of the detection module and controlling the transfer module to transport qualified circuit boards to a qualified area and unqualified circuit boards to an unqualified area; and a unloading module for transporting the circuit boards to be inspected in the qualified area to the feeding tray. This solution can solve the problem of high labor intensity for testers during the inspection of circuit boards due to manual transportation of circuit boards and operation of response equipment to test the circuit boards.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automated detection technology, and in particular to a circuit board detection system and method. Background Art

[0002] A printed circuit board (PCB) is assembled through a series of processes, including surface mount technology (SMT) mounting and dual inline-pin package (DIP) assembly, to create a circuit board capable of achieving specific functions. After assembly, some boards may fail to meet quality standards. Using such boards can pose a safety hazard. To improve safety, these boards require testing.

[0003] Currently, when inspecting assembled circuit boards, the assembled circuit boards are manually placed in the circuit board inspection area, then the circuit boards are tested by manually controlling the corresponding equipment, and finally the circuit boards are manually placed in different areas based on the test results.

[0004] However, during the process of testing the circuit boards, the circuit boards are manually transported and the response equipment is operated to test the circuit boards, resulting in high labor intensity for the testers. Summary of the Invention

[0005] In order to solve the above technical problems, embodiments of the present invention provide a circuit board detection system and method to at least solve or alleviate the above problems.

[0006] According to a first aspect of an embodiment of the present application, a circuit board inspection system is provided, comprising: a loading module for transporting the circuit boards to be inspected in a feeding tray to a loading platform; a transfer module for grabbing the circuit boards to be inspected placed on the loading platform and placing the grabbed circuit boards to be inspected in an inspection area; an inspection module for inspecting the circuit boards to be inspected placed in the inspection area through an inspection device; a diversion module for obtaining inspection result information of the inspection module and, based on the inspection result information, controlling the transfer module to transport qualified circuit boards to be inspected to a qualified area and unqualified circuit boards to be inspected to an unqualified area; and an unloading module for transporting the circuit boards to be inspected in a qualified area to the feeding tray.

[0007] According to the second aspect of the embodiment of the present application, a circuit board detection method is provided, which is applied to the circuit board detection system described in the first aspect of the embodiment, and the circuit board detection method includes: transporting the circuit board to be detected in the feeding tray to the loading platform through the loading module; grabbing the circuit board to be detected placed on the loading platform through the transfer module, and placing the grabbed circuit board to be detected in the detection area; performing abnormality detection on the circuit board to be detected placed in the detection area through the detection module; obtaining the detection result of the circuit board through the diversion module, and according to the detection result, controlling the transfer module to transport the circuit board that has passed the detection by the detection module to the qualified area, and transporting the circuit board that has failed the detection by the detection module to the unqualified area; collecting the circuit boards in the qualified area into the feeding tray through the unloading module.

[0008] It can be seen from the above technical solution that the loading module transports the circuit boards in the feeding tray to the loading platform, and the transfer module grabs the circuit boards to be tested on the loading platform and places them in the detection area, which can replace manual transportation of the circuit boards. The detection module automatically detects the circuit boards to be tested in the detection area, which can replace manual detection of the circuit boards to be tested. After the detection module completes the detection of the circuit boards to be tested, the diversion module diverts the detected circuit boards according to the detection result information of the detection module, and can automatically classify the detected circuit boards. The unloading module automatically collects the qualified circuit boards to the feeding tray, which can replace manual collection of qualified circuit boards. It can be seen that through the circuit board detection system, the circuit boards can be transported, tested, classified, placed and collected instead of manual labor, thereby reducing the labor intensity of personnel in the process of detecting circuit boards. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0010] Figure 1 is a schematic diagram of a circuit board detection system according to an embodiment of the present application;

[0011] Figure 2 is a schematic diagram of a circuit board detection system according to another embodiment of the present application;

[0012] Figure 3 is a schematic diagram of a circuit board detection system according to another embodiment of the present application;

[0013] Figure 4 is a schematic diagram of a circuit board detection system including a storage module according to an embodiment of the present application;

[0014] Figure 5 is a schematic diagram of a circuit board detection system according to another embodiment of the present application;

[0015] Figure 6 is a schematic diagram of a circuit board inspection system including a first camera according to an embodiment of the present application;

[0016] Figure 7 is a schematic diagram of a circuit board inspection system including a second camera according to an embodiment of the present application;

[0017] Figure 8 is a schematic diagram of a circuit board detection system including a camera calibration module according to an embodiment of the present application;

[0018] Figure 9 This is a flow chart of a circuit board detection method according to an embodiment of the present application.

[0019] List of reference numerals:

[0020] 100: Circuit board inspection system 101: Feed tray 102: Loading module

[0021] 103: Transfer module 104: Detection module 105: Diversion module

[0022] 106: Unloading module 107: Control module 108: Feeding module

[0023] 109: Storage module 1021: First alarm device 1061: Second alarm device

[0024] 1041: Second camera 201: First camera 202: Robotic arm

[0025] 203: First processor 301: Camera calibration module 1042: Second processor

[0026] 900: Circuit board detection method

[0027] 901: The loading module transports the circuit board to be tested from the feeding tray to the loading platform

[0028] 902: The transfer module grabs the circuit board to be inspected and places the grabbed circuit board to be inspected in the inspection area

[0029] 903: The inspection module inspects the circuit board to be inspected placed on the inspection area.

[0030] 904: Obtain the test results of the circuit board through the shunt module

[0031] 905: Determine whether the test results are qualified

[0032] 906: Transport qualified circuit boards to the qualified area

[0033] 907: Transport the circuit boards with unqualified test results to the unqualified area

[0034] 908: The qualified circuit boards are collected into the feeding tray through the unloading module. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0036] Circuit board inspection system

[0037] Figure 1 FIG. 1 is a schematic diagram of a circuit board detection system according to an embodiment of the present application. Figure 1 As shown, the circuit board detection system 100 includes: a feeding tray 101, a loading module 102, a transfer module 103, a detection module 104, a diversion module 105 and a unloading module 106.

[0038] After the circuit board detection system 100 is started, the loading module 102 transfers the circuit board to be detected in the feeding tray 101 to the loading platform through a conveying device, which can be a conveyor belt or a conveyor track. After the circuit board to be detected arrives on the loading platform, the transfer module 103 grabs the circuit board to be detected and places the grabbed circuit board to be detected in the detection area. The detection module 104 detects the circuit board to be detected placed in the detection area through the detection device to determine whether the circuit board to be detected is qualified. After the detection module 104 completes the detection, the diversion module 105 obtains the detection result information of the detection module 104, and controls the transfer module 103 to transfer the circuit boards with qualified detection results to the qualified area and transfer the circuit boards with unqualified detection results to the unqualified area according to the detection result information. After the diversion module 105 controls the transfer module 103 to divert the circuit boards that have completed the detection, the unloading module 106 collects the circuit boards in the qualified area into the feeding tray 101 to complete the detection of the circuit boards.

[0039] In an embodiment of the present application, the loading module 102 transports the circuit boards in the feeding tray 101 to the loading platform, and the transfer module 103 grabs the circuit boards to be inspected on the loading platform and places them in the inspection area, which can replace manual transportation of the circuit boards. The detection module 104 automatically detects the circuit boards to be inspected in the detection area, which can replace manual inspection of the circuit boards to be inspected. After the detection module 104 completes the inspection of the circuit boards to be inspected, the diversion module 105 controls the transfer module 103 to divert the inspected circuit boards according to the inspection result information of the detection module 104, and can automatically classify the inspected circuit boards. The unloading module 106 automatically collects the qualified circuit boards to the feeding tray 101, which can replace manual collection of qualified circuit boards. It can be seen that through the circuit board detection system 100, it is possible to replace manual transportation, inspection, classification, placement and collection of circuit boards, thereby reducing the labor intensity of personnel in the process of inspecting circuit boards.

[0040] Figure 2 FIG. 1 is a schematic diagram of a circuit board detection system according to another embodiment of the present invention. Figure 2 As shown, the loading module 102 includes a first alarm device 1021 , and the unloading module 106 includes a second alarm device 1061 .

[0041] The feeding tray 101 will count the number of circuit boards inside it and send the circuit board quantity information to the first alarm device 1021 and the second alarm device 1061. When the number of circuit boards to be tested in the feeding tray 101 is 0, the feeding tray 101 cannot provide the circuit boards to be tested to the loading module 102, and at this time the first alarm device 1021 issues a second alarm message. When the number of qualified circuit boards in the feeding tray 101 is equal to the preset quantity threshold, the feeding tray 101 cannot accommodate more qualified circuit boards, and at this time the second alarm device 1061 issues a third alarm message. The first alarm device 1021 and the second alarm device 1061 can be devices such as alarm lights and warning lights. The first alarm device 1021 can flash a specified light (such as a red light) when issuing the second alarm message. The second alarm device 1061 can flash a specified light (such as a red light) when issuing the third alarm message.

[0042] In an embodiment of the present application, the first alarm device 1021 can issue a second alarm message when there are no circuit boards to be tested in the feed tray 101, prompting the tester to avoid system suspension and improving the efficiency of circuit board testing. The second alarm device 1061 can issue a third alarm message after a preset threshold number of qualified circuit boards have been collected in the feed tray 101, prompting the tester to avoid system suspension due to the tester's failure to replace the feed tray 101 in time, thereby ensuring the efficiency of circuit board testing and preventing damage to circuit boards due to stacking.

[0043] In one possible implementation, after receiving the circuit board quantity information, if the circuit board quantity information indicates that the number of circuit boards in the feed tray 101 is greater than a second quantity threshold, the first alarm device 1021 generates and displays a first message. If the circuit board quantity information indicates that the number of circuit boards in the feed tray 101 is less than or equal to the second quantity threshold and is not equal to 0, the first alarm device 1021 generates and displays a second message. In one example, the second quantity threshold can be equal to half the number of circuit boards that can be accommodated in the feed tray 101.

[0044] The first alarm device 1021 may flash different colors when sending the first and second messages. In one example, the first alarm device 1021 is a three-color alarm light. The second alarm message corresponds to a flashing red light, the first message corresponds to a flashing green light, and the second message corresponds to a flashing yellow light. By flashing different colors of alarm lights, inspectors can better distinguish the situation indicated by the message sent by the first alarm device 1021, thereby improving the user experience for inspectors.

[0045] In an embodiment of the present application, when the number of circuit boards to be tested in the feed tray 101 is greater than the second quantity threshold, the first information is displayed to remind the tester that the number of circuit boards to be tested in the feed tray 101 is sufficient, and the tester can temporarily reduce his attention to the number of circuit boards in the feed tray 101 and take a proper rest. When the number of circuit boards to be tested in the feed tray 101 is less than or equal to the second quantity threshold, the second information is displayed to remind the tester that he needs to pay attention to the number of circuit boards to be tested in the feed tray 101. When the number of circuit boards to be tested in the feed tray 101 is reduced to 0, the feed tray 101 is replaced in time, thereby improving the operating efficiency of the system.

[0046] Figure 3 FIG. 1 is a schematic diagram of a circuit board detection system according to another embodiment of the present invention. Figure 3 As shown, the circuit board detection system 100 further includes a control module 107 .

[0047] The control module 107 can determine whether the first alarm device 1021 has generated a second alarm message, and whether the second alarm device 1061 has generated a third alarm message. When the first alarm device 1021 generates the second alarm message or the second alarm device 1061 generates the third alarm message, the control module 107 stops the loading module 102, the transfer module 103, the detection module 104, the diversion module 105, and the unloading module 106.

[0048] In the embodiment of the present application, the system cannot operate normally when the first alarm device 1021 generates the second alarm message or the second alarm device 1061 generates the third alarm message. To prevent the system from being forced to operate when it is not allowed to operate normally, the control module 107 immediately stops the operation of each module in the system after the corresponding alarm message is generated, thereby improving the safety of the system.

[0049] In one possible implementation, the control module 107 may also determine whether the duration of inactivity of the loading module 102, the transfer module 103, the detection module 104, the diversion module 105, and the unloading module 106 exceeds a preset time threshold. If any of the loading module 102, the transfer module 103, the detection module 104, the diversion module 105, and the unloading module 106 has been inactive for longer than the time threshold, the control module 107 uploads a fourth error message to the server, notifying the inspector that the system has been inactive for too long. In one example, the preset time threshold is 10 minutes.

[0050] In the embodiment of the present application, if the modules in the system stop working for too long, it will affect the system's operating efficiency. Therefore, a time threshold is preset. When the time for which the modules in the system stop working exceeds the preset time threshold, the control module 107 uploads a fourth error message to the server, notifying the inspection personnel that the system has been stopped for too long and that manual intervention is required, thereby improving the system's operating efficiency.

[0051] In one possible implementation, the diversion module 105 may further count the number of unqualified circuit boards detected by the detection module 104. When the number of unqualified circuit boards exceeds a third threshold, the diversion module 105 generates a fifth error message and uploads it to the server. For example, if the third threshold is 10, the diversion module 105 generates a fifth error message and uploads it to the server when the number of unqualified circuit boards exceeds 10.

[0052] In the embodiment of the present application, if an excessive number of unqualified circuit boards are detected during the inspection process, such as exceeding the typical unqualified rate, there may be a problem with the circuit board inspection system 100 or the batch of circuit boards, requiring manual intervention or re-inspection by inspection personnel. The diversion module 105 counts and compiles statistics on the unqualified circuit boards. When the number of unqualified circuit boards exceeds a third threshold, the diversion module 105 generates a fifth error message and uploads it to the server, prompting inspection personnel to perform manual intervention or re-inspection in a timely manner, thereby improving system security.

[0053] Figure 4 FIG. 1 is a schematic diagram of a circuit board detection system including a storage module according to an embodiment of the present application. Figure 4As shown, the circuit board detection system 100 further includes a storage module 109 , which stores the operation logs generated by the loading module 102 , the transfer module 103 , the detection module 104 , the diversion module 105 and the unloading module 106 in a local server.

[0054] In another embodiment, the storage module 109 may also store the operation log generated by the control module 107 in a local server.

[0055] In an embodiment of the present application, the operation logs generated by the control module 107, the loading module 102, the transfer module 103, the detection module 104, the diversion module 105 and the unloading module 106 are stored in the local server through the storage module 109, so that the detection personnel can call the corresponding logs when a system failure occurs, quickly discover the problematic operation and the corresponding module, and improve the efficiency of handling system failures.

[0056] Figure 5 FIG. 1 is a schematic diagram of a circuit board detection system according to another embodiment of the present invention. Figure 5 As shown, the loading module 102 and the unloading module 106 are integrated into a feeding module 108. The feeding tray 101 is disposed within the feeding module 108, and the feeding module 108 includes a liftable feeding device. During the loading process, the feeding tray 101 transports the circuit boards to be inspected to the feeding device, which then transports the circuit boards to the conveyor. During the unloading process, the conveyor transports the circuit boards collected in the qualified area to the feeding device, which then transports the qualified circuit boards to the corresponding positions of the circuit boards to be inspected in the feeding tray 101.

[0057] In the embodiment of the present application, by integrating the loading module 102 and the unloading module 106 into the feeding module 108, the complexity of the circuit board detection system 100 can be simplified and the operating efficiency of the system can be improved.

[0058] Figure 6 FIG is a schematic diagram of a circuit board inspection system including a first camera according to an embodiment of the present application. Figure 6 As shown, the transfer module 103 includes: a first camera 201, a robotic arm 202 and a first processor 203.

[0059] After the PCB to be inspected is transferred from the feeding tray 101 to the loading platform by the loading module 102, the first camera 201 captures an image of the PCB to be inspected on the loading platform and sends the image to the first processor 203. After receiving the image, the first processor 203 determines at least one feature point from the image. A feature point indicates the location of the PCB image within the image; the shape of the feature point is not limited herein. The first processor 203 determines the spatial coordinates of the PCB to be inspected in the spatial coordinate system of the robotic arm 202 based on the pixel coordinates of each feature point and calibration information. The calibration information indicates the mapping relationship between the pixel coordinate system of the image captured by the first camera 201 and the spatial coordinate system. The first processor 203 generates control information based on the spatial coordinates and sends the control information to the robotic arm 202. The control information can be relative displacement or relative rotation based on the spatial coordinate system. For example, the control information can include a 2 cm movement along the X-axis of the spatial coordinate system, a 2 cm movement along the Y-axis of the spatial coordinate system, and a 10° clockwise rotation around the Z-axis of the spatial coordinate system.

[0060] In the embodiment of the present application, the first processor 203 can determine the position of the circuit board to be inspected in the spatial coordinate system based on the image of the circuit board to be inspected and the calibration information captured by the first camera 201, and generate corresponding control information to be sent to the robotic arm 202, so that the robotic arm 202 moves according to the control information to grasp the circuit board to be inspected. In this setting, there is no need to limit the placement of the circuit board to be inspected on the loading platform. The robotic arm 202 can grasp the circuit board to be inspected at any position on the loading platform, thereby eliminating the need to transport the circuit board to be inspected to a specific position on the loading platform. This can reduce the transportation accuracy requirements for the loading module 102, thereby reducing the cost of the loading module 102.

[0061] In one possible implementation, the inspection module 104 may also obtain an image of the inspection device captured by the first camera 201, identify identification information from the inspection device image, and then determine whether the circuit board to be inspected matches the inspection device based on the identification information. If the circuit board to be inspected matches the inspection device, the inspection module 104 inspects the circuit board to be inspected using the inspection device. If the circuit board to be inspected does not match the inspection device, the inspection module 104 stops the loading module 102, the transfer module 103, the inspection module 104, the diversion module 105, and the unloading module 106, and uploads a first error message to the server.

[0062] For example, the identification information can be stored in a QR code, and the inspection device can be a needle bed. The QR code containing the identification information is sprayed or affixed to the surface of the needle bed, and the first camera 201 captures an image of the needle bed including the QR code. The inspection module 104 retrieves the identification information from the QR code and determines whether the circuit board to be inspected matches the needle bed.

[0063] In the embodiment of the present application, since different needle beds correspond to different types of circuit boards to be inspected, after obtaining the inspection device image captured by the first camera 201, the inspection module 104 identifies identification information from the inspection device image to determine the matching relationship between the inspection device and the circuit board to be inspected. If the circuit board to be inspected does not match the inspection device, the first error message issued by the inspection module 104 can prompt the inspection personnel to promptly replace the inspection device with one that matches the circuit board to be inspected, thereby ensuring the accuracy of the circuit board inspection results.

[0064] Figure 7 FIG. 1 is a schematic diagram of a circuit board inspection system including a second camera according to an embodiment of the present application. Figure 7 As shown, the inspection module 104 also includes a second camera 1041 and a second processor 1042. The second camera 1041 can capture images of the inspected circuit boards. The second processor 1042 generates inspection result information based on the images captured by the second camera 1041 and uploads the inspection result information to the server. The inspection result information indicates the inspection results of the inspection module on the inspected circuit boards. For example, the inspection result information includes the number of qualified circuit boards and the number of unqualified circuit boards.

[0065] In an embodiment of the present application, the second camera 1041 captures images of the circuit boards after inspection, and the second processor 1042 determines whether each circuit board to be inspected is qualified based on the images captured by the second camera 1041, and then performs statistics on the inspection results of the circuit boards, so that the inspection personnel can observe the inspection status of the circuit boards more intuitively.

[0066] In one possible implementation, the circuit board inspection system 100 further includes a display module. After the second processor 1042 generates inspection result information based on images captured by the second camera 1041 and uploads the inspection result information to the server, the display module retrieves at least one of the first error message and the inspection result information from the server. The retrieved information is then displayed, perhaps by signaling to a user-facing device such as a display screen or indicator.

[0067] In the embodiment of the present application, the detection result information is obtained and displayed through the display module, which enables the detection personnel to intuitively observe the detection status of the circuit board, thereby improving the detection personnel's experience.

[0068] In one possible implementation, the transfer module 103 further includes a protective device. This device is located in the front-end circuitry of the robotic arm 202. If excessive current flows through the transfer module, the protective device protects the robotic arm 202. If the protective device fails, the transfer module 103 ceases operation. The protective device can be a PCB, resistor, or other device.

[0069] In the embodiment of the present application, due to the high value of the robotic arm 202, a protective device is provided to protect the robotic arm 202 in order to prevent damage to the robotic arm 202 caused by abnormal current flow in the transfer module 103, which would result in significant economic losses. When abnormal current flow in the transfer module 103 occurs, the protective device replaces the robotic arm 202 in being broken down by the current flow. If the protective device is damaged, the transfer module 103 is immediately shut down, thereby protecting the robotic arm 202 and improving system safety.

[0070] In one possible implementation, the detection module 104 also includes an automated test keyboard. The automated test keyboard includes a signal receiver, a keyboard housing, a keyboard body, and a keyboard controller. The signal receiver, keyboard body, and keyboard controller are disposed within the keyboard housing. The signal receiver is electrically connected to the keyboard controller, which is in turn electrically connected to the keyboard body. After the signal receiver receives a preset test instruction, it generates control information based on the preset test instruction and sends it to the keyboard controller. The keyboard controller controls the keyboard body to perform keystrokes based on the control information. Keystrokes on the keyboard body generate different test information to test the circuit board to be tested.

[0071] In the embodiment of the present application, an automated test keyboard can replace the tester and automatically tap the keyboard to complete the test of the circuit board to be tested, thereby improving the operating efficiency of the system and reducing the labor intensity of the tester.

[0072] Figure 8 FIG. 1 is a schematic diagram of a circuit board detection system including a camera calibration module according to an embodiment of the present application. Figure 8 As shown, the circuit board detection system 100 further includes: a camera calibration module 301 .

[0073] After the calibration circuit board is placed on the stage, the first processor 203 generates translation control information based on the preset X-axis translation and Y-axis translation in the spatial coordinate system, and generates rotation control information based on the preset Z-axis rotation in the spatial coordinate system. The processor then sends the translation control information and rotation control information to the robotic arm 202. The plane containing the X-axis and Y-axis in the spatial coordinate system is parallel to the stage. Based on the translation control information, the robotic arm 202 performs N translations along the X-axis and / or Y-axis in the spatial coordinate system, and based on the rotation control information, performs M rotations around the Z-axis in the spatial coordinate system. The first camera 201 captures translation calibration images during the N translations of the robotic arm 202 and captures rotation calibration images during the M rotations of the robotic arm 202. The translation calibration image and the rotation calibration image include images of the calibration circuit board on the stage, where N and M are positive integers greater than or equal to 3. The camera calibration module 301 determines a calibration reference point on a calibration circuit board and determines calibration information based on the positional offset of the calibration reference point image in different translation calibration images, the positional offset of the calibration reference point image in different rotation calibration images, the X-axis translation and Y-axis translation in the spatial coordinate system corresponding to each translation calibration image, and the Z-axis rotation in the spatial coordinate system corresponding to each rotation calibration image. The calibration circuit board and the circuit board to be inspected are at the same height along the Z-axis of the spatial coordinate system.

[0074] For example, the X-axis translation in the preset spatial coordinate system is 5, the Y-axis translation in the spatial coordinate system is 6, the Z-axis rotation is 15°, N is equal to 9, M is equal to 3, the number of translations along the X-axis is 3, the number of translations along the Y-axis is 6, the number of clockwise rotations around the Z-axis is 2, and the number of counterclockwise rotations around the Z-axis is 1.

[0075] The translation control information generated by the first processor 203 is 3 translations along the X-axis with a translation amount of 5, and 6 translations along the Y-axis with a translation amount of 6. The rotation control information is 2 clockwise rotations around the Z-axis and 1 counterclockwise rotation around the Z-axis, with a rotation amount of 15°. The robotic arm 202 performs corresponding translation and rotation according to the translation control information. During the process of the robotic arm performing 9 translations, the first camera 201 collects one translation calibration image after each translation, for a total of 9 translation calibration images. During the process of the robotic arm performing 3 rotations, the first camera 201 collects one rotation calibration image after each rotation, for a total of 3 rotation calibration images. The camera calibration module 301 determines the calibration information based on the position offset of the image of the calibration reference point in different translation calibration images, the position offset of the image of the calibration reference point in different rotation calibration images, the X-axis translation of 5 and the Y-axis translation of 6 in the spatial coordinate system corresponding to each translation calibration image, and the Z-axis rotation of 15° in the spatial coordinate system corresponding to each rotation calibration image.

[0076] In this embodiment of the present application, since the first camera 201 typically captures images of the circuit board to be inspected with errors, camera calibration is required. The first processor 203 controls the translation and rotation of the robotic arm 202, allowing the first camera 201 to capture a sufficient number of translation and rotation images. Calibration information is obtained by comparing the offset of the calibration reference point in each image with the displacement of the robotic arm 202 in the spatial coordinate system. This calibration information improves the gripping accuracy of the transfer module 103.

[0077] Circuit board testing methods

[0078] Figure 9 It is a flow chart of a circuit board detection method according to an embodiment of the present application, and the circuit board detection method can be applied to the circuit board detection system 100 in any of the above embodiments. Unless otherwise stated, the feeding tray in the following method embodiment may be the feeding tray 101 in the above system embodiment, the loading module in the following method embodiment may be the loading module 102 in the above system embodiment, the transfer module in the following method embodiment may be the transfer module 103 in the above system embodiment, the detection module in the following method embodiment may be the detection module 104 in the above system embodiment, the diversion module in the following method embodiment may be the diversion module 105 in the above system embodiment, and the unloading module in the following method embodiment may be the unloading module 106 in the above system embodiment. Figure 9 As shown, the circuit board detection method 900 includes the following steps:

[0079] Step 901: The loading module transports the circuit board to be inspected in the feeding tray to the loading platform.

[0080] After the circuit board inspection system is started, the loading module transfers the circuit board to be inspected in the feeding tray to the loading platform through a conveying device, which can be a conveyor belt or a conveyor track.

[0081] Step 902: The transfer module grabs the circuit board to be inspected placed on the loading platform, and places the grabbed circuit board to be inspected into the inspection area.

[0082] After the circuit board to be inspected arrives at the loading platform, the transfer module grabs the circuit board to be inspected and places it in the inspection area.

[0083] Step 903: Use the detection module to detect the circuit board to be detected placed on the detection area.

[0084] The detection module detects the circuit board to be detected placed in the detection area.

[0085] Step 904: Obtain the detection result of the circuit board through the diversion module.

[0086] After the detection module completes the detection of the circuit board to be detected, the detection result of the circuit board is obtained through the diversion module.

[0087] Step 905: Determine whether the test result is qualified. If yes, go to step 906; if no, go to step 907.

[0088] The shunt module determines whether the circuit board is qualified based on the obtained circuit board inspection results.

[0089] Step 906 : Transport the circuit boards with qualified test results to a qualified area, and execute step 908 .

[0090] If the inspection result of the circuit board is qualified, the transfer module is controlled by the diversion module to transport the qualified circuit board to the qualified area.

[0091] Step 907: transport the circuit boards with unqualified test results to an unqualified area, and end the current process.

[0092] If the inspection result of the circuit board is unqualified, the transfer module is controlled by the diversion module to transport the qualified circuit board to the unqualified area.

[0093] Step 908: Collect the qualified circuit boards into a feeding tray through the unloading module.

[0094] After the diversion module transports the qualified circuit boards to the qualified area, the qualified circuit boards are collected by the unloading module to complete the circuit board inspection.

[0095] In an embodiment of the present application, the loading module transports the circuit boards in the feeding tray to the loading platform, and the transfer module grabs the circuit boards to be inspected on the loading platform and places them in the inspection area, which can replace manual transportation of the circuit boards. The inspection module automatically detects the circuit boards to be inspected in the inspection area, which can replace manual inspection of the circuit boards to be inspected. After the inspection module completes the inspection of the circuit boards to be inspected, the diversion module controls the transfer module to divert the inspected circuit boards according to the inspection result information of the inspection module, and can automatically classify the inspected circuit boards. The unloading module automatically collects the qualified circuit boards to the feeding tray, which can replace manual collection of qualified circuit boards. It can be seen that through the circuit board inspection system, the circuit boards can be transported, inspected, classified, placed and collected instead of manually, thereby reducing the labor intensity of personnel in the process of inspecting circuit boards.

[0096] It should be noted that not all steps and modules in the above processes and system structure diagrams are required, and certain steps or modules can be omitted according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by certain components in multiple independent devices.

[0097] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include a permanent dedicated circuit or logic (such as a dedicated processor, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0098] The present invention has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the scope of protection of the present invention.

Claims

1. A circuit board detection system (100), comprising: A loading module (102) is used to transport the circuit board to be inspected in the feeding tray (101) to the loading platform; A transfer module (103) is used to grab the circuit board to be inspected placed on the loading platform and place the grabbed circuit board to be inspected into the inspection area, the transfer module comprising a first camera (201), a mechanical arm (202) and a first processor (203); A detection module (104) is used to detect a circuit board to be detected placed on a detection area using a detection device; A diversion module (105) is used to obtain the detection result information of the detection module (104), and according to the detection result information, control the transfer module (103) to transport qualified circuit boards to be inspected to a qualified area, and to transport unqualified circuit boards to be inspected to an unqualified area; A material unloading module (106) is used to transport the circuit boards to be inspected in the qualified area to the feeding tray (101); as well as Camera calibration module (301); The first processor (203) is configured to generate translation control information based on a preset X-axis translation amount and a Y-axis translation amount, and generate rotation control information based on a preset Z-axis rotation amount, and send the translation control information and the rotation control information to the robotic arm (202), wherein the plane where the X-axis and the Y-axis are located in the spatial coordinate system of the robotic arm (202) is parallel to the stage; The robotic arm (202) is configured to perform N translations along the X-axis and / or Y-axis in the spatial coordinate system according to the translation control information, and to perform M rotations around the Z-axis in the spatial coordinate system according to the rotation control information, wherein N and M are positive integers greater than or equal to 3; The first camera (201) is used to collect translation calibration images when the robotic arm (202) performs N translations, and to collect rotation calibration images when the robotic arm (202) performs M rotations, wherein the translation calibration images and the rotation calibration images include an image of a calibration circuit board located on the stage; The camera calibration module (301) is used to determine a calibration reference point located on a calibration circuit board, and to determine calibration information based on a position offset of an image of the calibration reference point in different translation calibration images, a position offset of an image of the calibration reference point in different rotation calibration images, an X-axis translation and a Y-axis translation corresponding to each translation calibration image, and a Z-axis rotation corresponding to each rotation calibration image, wherein the calibration circuit board and the circuit board to be inspected have the same height in the Z-axis direction of the spatial coordinate system.

2. The system according to claim 1, wherein: The first camera (201) is used to capture an image of a circuit board to be inspected located on a stage, and send the image of the circuit board to be inspected to the first processor (203); The first processor (203) is configured to determine at least one feature point from the image of the circuit board to be inspected, determine the spatial coordinates of the circuit board to be inspected in the spatial coordinate system of the robotic arm (202) based on the pixel coordinates of the at least one feature point and the calibration information, generate control information based on the spatial coordinates, and send the control information to the robotic arm (202), wherein the feature point is used to indicate the position of the image of the circuit board to be inspected in the image of the circuit board to be inspected, and the calibration information is used to indicate a mapping relationship between the pixel coordinate system of the image captured by the first camera (201) and the spatial coordinate system; The mechanical arm (202) is used to grab the circuit board to be inspected placed on the loading platform according to the control information, and place the grabbed circuit board to be inspected into the inspection area.

3. The system according to claim 2, wherein: The detection module (104) is used to obtain the detection device image captured by the first camera (201), identify identification information from the detection device image, and determine whether the circuit board to be detected matches the detection device based on the identification information. If the circuit board to be detected matches the detection device, the circuit board to be detected is detected by the detection device. If the circuit board to be detected does not match the detection device, the loading module (102), the transfer module (103), the detection module (104), the diversion module (105) and the unloading module (106) stop working, and upload a first error message to the server.

4. The system according to claim 3, wherein: The detection module (104) further includes: A second camera (1041) is used to capture an image of the circuit board to be inspected after inspection; The second processor (1042) is used to generate detection result information based on the image captured by the second camera (1041), and upload the detection result information to the server, wherein the detection result information is used to indicate the detection result of the detection module (104) on the circuit board to be detected.

5. The system according to claim 4, wherein: The system further comprises: a display module; The display module is configured to obtain at least one of the first error information and the detection result information from the server, and display the obtained first error information and / or the detection result information.

6. The system according to claim 1, wherein: The loading module (102) includes a first alarm device (1021), and the unloading module (106) includes a second alarm device (1061); The first alarm device (1021) is used to receive circuit board quantity information sent by the feeding tray (101), and to issue a second alarm message when the circuit board quantity information indicates that the number of circuit boards to be detected in the feeding tray (101) is zero; The second alarm device (1061) is used to receive the circuit board quantity information sent by the feeding tray (101), and to issue a third alarm message when the circuit board quantity information indicates that the number of qualified circuit boards in the feeding tray (101) is equal to a preset first quantity threshold.

7. The system according to claim 6, wherein: The first alarm device (1021) is configured to generate first information and display the first information when the circuit board quantity information indicates that the number of circuit boards in the feeding tray (101) is greater than a second quantity threshold, and to generate second information and display the second information when the circuit board quantity information indicates that the number of circuit boards in the feeding tray (101) is less than or equal to the second quantity threshold and is not 0.

8. The system according to claim 6, wherein: The system further comprises: a control module (107); The control module (107) is used to stop the loading module (102), the transfer module (103), the detection module (104), the diversion module (105) and the unloading module (106) from working when the first alarm device (1021) generates the second alarm information or the second alarm device (1061) generates the third alarm information.

9. The system according to claim 8, wherein: The control module (107) is used to upload a fourth error message to the server when the duration of the stopping of the loading module (102), the transfer module (103), the detection module (104), the diversion module (105) and the unloading module (106) is greater than a preset time threshold.

10. The system according to claim 1, wherein: The diversion module (105) is used to count the unqualified circuit boards detected by the detection module (104), and when the number of unqualified circuit boards is greater than a third number threshold, generate fifth error information and upload the fifth error information to the server.

11. The system according to any one of claims 1 to 10, wherein: The system further comprises: The storage module (109) is used to store the operation logs generated by the loading module (102), the transfer module (103), the detection module (104), the diversion module (105) and the unloading module (106) in a local server.

12. A circuit board detection method (900), applied to the circuit board detection system (100) according to any one of claims 1 to 11, the circuit board detection method comprising: The circuit board to be inspected in the feeding tray (101) is transported to the loading platform via the loading module (102); Grabbing the circuit board to be inspected placed on the loading platform through a transfer module (103), and placing the grabbed circuit board to be inspected in a detection area; Using a detection module (104) to detect a circuit board to be detected placed on a detection area; The detection results of the circuit boards are obtained through the diversion module (105), and according to the detection results, the transfer module (103) is controlled to transport the circuit boards that have passed the detection by the detection module (104) to the qualified area, and to transport the circuit boards that have failed the detection by the detection module (104) to the unqualified area; The circuit boards in the qualified area are collected into the feeding tray (101) through the unloading module (106).

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