Detection method and detection system

Abstract

A detection method, a detection system and a computer readable storage medium are used for detecting a PIN, and the PIN can be inserted into a base. The detection method comprises the following steps: acquiring an image of a base through an image acquisition device; according to the image of the base, the preset position of the base and the position of the base in the image are compared, and a base coordinate system based on the base image is established; the method comprises the following steps: acquiring an image of a PIN needle through the same image acquisition device; determining the actual position of the PIN needle according to the coordinate system of the base and the image of the PIN needle; and comparing the actual positions of the PINs with the preset positions of the PINs, and determining the position deviation of the PINs. According to the detection method disclosed by the invention, accurate detection of the position deviation of the PINs can be realized before the PINs are inserted into the base, the PINs with abnormal positions can be found in time, and material waste caused by the fact that the PINs are obliquely inserted into the base is avoided. When the PIN is applied to the connector, the position deviation of the PIN is accurately detected, so that the signal transmission reliability of the connector is improved.

Description

Technical Field

[0001] The present disclosure generally relates to the field of detection, and more particularly to a detection method and a detection system. Background Art

[0002] The exposed PIN pin of the connector needs to be inserted into the hole groove of the base. The position of the PIN pin is crucial to the connector. If the PIN pin is too skewed, it is not only not conducive to the effective transmission of the signal, but also easy to cause the PIN pin and the base to be scrapped. However, the existing solution is difficult to accurately detect the position of the PIN pin. Therefore, it is necessary to propose a new solution to optimize the position detection of the PIN pin.

[0003] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0004] In response to one or more problems existing in the prior art, the present disclosure provides a detection method for detecting a PIN needle, wherein the PIN needle is plugged into a base, and the detection method comprises: acquiring an image of the base through an image acquisition device; comparing a predetermined position of the base with its position in the image based on the image of the base, and establishing a base coordinate system based on the base image; acquiring an image of the PIN needle through the same image acquisition device; determining an actual position of the PIN needle based on the base coordinate system and the image of the PIN needle; and comparing the actual position of the PIN needle with its predetermined position to determine a position deviation of the PIN needle.

[0005] Optionally, the establishing of a base coordinate system based on the base image by comparing a predetermined position of the base with its position in the image according to the image of the base further includes: identifying positioning features according to the image of the base; determining a reference origin of the base according to the positioning features; and determining the position of the base according to the reference origin.

[0006] Optionally, the positioning feature includes at least one of a positioning pin, an edge, and a corner of the base, and the step of determining the reference origin includes: determining the center of the base based on at least two of the positioning features, and using the center as the reference origin.

[0007] Optionally, acquiring the image of the PIN needle includes: using a line light source to illuminate the PIN needle.

[0008] Optionally, the line light source includes a first line light source and a second line light source, the first line light source and the second line light source are symmetrically arranged on both sides of the PIN needle, and light emitted by the first line light source and the second line light source are perpendicular to the PIN needle.

[0009] Optionally, the first line light source and the second line light source include line laser light sources, wherein the step of determining the actual position of the PIN needle based on the base coordinate system and the image of the PIN needle includes: identifying the needle head of the PIN needle based on the image of the PIN needle; and determining the coordinates of the center of the needle head based on the base coordinate system, and taking it as the actual position of the PIN needle in the base coordinate system.

[0010] Optionally, the step of determining the position deviation of the PIN pin includes: determining the square root of a distance between the actual position and the predetermined position; and judging whether the position deviation of the PIN pin is abnormal based on the square root of the distance and a preset threshold.

[0011] Optionally, the step of acquiring the image of the base includes: turning on a fill light device to illuminate the base.

[0012] Optionally, when the base is a planar structure, the fill light angle of the fill light device is normal incidence to the base; when the base is a non-planar structure, the fill light angle is oblique incidence to the base.

[0013] Optionally, the fill light device includes a light emitting unit and an opening, the light emitting unit is arranged around the opening, the image acquisition device is arranged on a side of the fill light device opposite to the base, and the opening, the image acquisition device and the base are coaxially arranged.

[0014] The present disclosure also provides a detection system for detecting a PIN needle, wherein the PIN needle can be plugged into a base. The detection system includes: an image acquisition device; and a controller connected to the image acquisition device and configured to execute the detection method as described above.

[0015] Optionally, the detection system further includes: a fill light device, connected to the controller and comprising a light emitting unit and an opening, wherein the light emitting unit is arranged around the opening, the image acquisition device is arranged on a side of the fill light device opposite to the base, and the opening, the image acquisition device and the base are coaxially arranged.

[0016] Optionally, the detection system also includes: a line light source, which includes a first line light source and a second line light source, which are symmetrically arranged on both sides of the PIN needle and connected to the controller, the light emitted by the first line light source and the second line light source is perpendicular to the PIN needle, and the first line light source and the second line light source include linear laser light sources.

[0017] The present disclosure also provides a computer-readable storage medium, including computer-executable instructions stored thereon, and when the executable instructions are executed by a processor, the detection method as described above is implemented.

[0018] The detection method and detection system disclosed in the present invention can use a line light source to perform two image acquisitions, build a base coordinate system based on the base image, and then determine the actual position of the PIN needle in the base coordinate system, so that the PIN needle position deviation can be accurately detected before the PIN needle is plugged into the base, which helps to timely find the PIN needle with abnormal position and avoid the PIN needle being inserted into the base crookedly, causing material waste. When the PIN needle is used in a connector, the reliability of the connector transmission signal can be improved by accurately detecting the position deviation of the PIN needle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following is an illustrative introduction to the drawings used in the description of the embodiments. The drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings: Figure 1 A schematic flow chart of a detection method according to some embodiments of the present disclosure is shown.

[0020] Figure 2 A schematic diagram of a detection system according to some embodiments of the present disclosure is shown.

[0021] Figure 3 A schematic diagram of a detection system according to some embodiments of the present disclosure is shown.

[0022] Figure 4 An enlarged schematic diagram of a fill light device according to some embodiments of the present disclosure is shown.

[0023] Figure 5 A schematic diagram showing an image of a base according to some embodiments of the present disclosure.

[0024] Figure 6 A flowchart diagram showing sub-steps of step S12 according to some embodiments of the present disclosure is shown.

[0025] Figure 7 A schematic diagram showing a base coordinate system based on a base image according to some embodiments of the present disclosure is shown.

[0026] Figure 8 A schematic diagram showing an image of a PIN needle according to some embodiments of the present disclosure.

[0027] Fig. 9 A flowchart of sub-steps of step S14 according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0028] In the following, only certain exemplary embodiments are described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0029] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0030] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0031] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] Many different embodiments or examples are provided below to implement different structures of the present disclosure. In order to simplify the present disclosure, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0033] Some embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that some embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0034] The embodiments of the present disclosure provide a detection method and a detection system, which can use a line light source to perform two image acquisitions, build a base coordinate system based on the base image, and then determine the actual position of the PIN needle in the base coordinate system, so that the PIN needle position deviation can be accurately detected before the PIN needle is plugged into the base, which helps to timely discover the PIN needle with abnormal position and avoid the PIN needle being inserted into the base crookedly, causing material waste. The solutions of the embodiments of the present disclosure can be applied to different PIN needle detection tasks, which can reduce the time of each development and debugging, facilitate maintenance and upgrade, and reduce maintenance costs.

[0035] Figure 1 FIG. 1 is a flow chart showing a detection method according to some embodiments of the present disclosure. Figure 1 As shown, the detection method 10 includes steps S11 to S15. Step S11, capturing an image of the base through an image acquisition device. Step S12, comparing the predetermined position of the base and its position in the image of the base based on the image of the base, and establishing a base coordinate system based on the base image. Step S13, capturing an image of the PIN needle through the same image acquisition device. Step S14, determining the actual position of the PIN needle based on the base coordinate system and the image of the PIN needle. Step S15, comparing the actual position of the PIN needle with its predetermined position, and determining the position deviation of the PIN needle. The detection method disclosed in the present invention and its various steps can be executed by a controller.

[0036] In some embodiments, the controller may include control circuits, central processing units (CPU), micro control units (MCU), graphic processing units (GPU), digital signal processors (DSP), other general-purpose processors, application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), complex programmable logic devices (CPLD) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other components or circuits.

[0037] In some embodiments, in step S11, the controller may control the image acquisition device to acquire an image of the base. Alternatively, the image acquisition device acquires an image of the base and then sends it to the controller. Figure 2 As shown, the base B is located within the field of view of the image acquisition device 21. The base B is coaxially arranged with the image acquisition device 21, for example, the center of the base B is arranged on the optical axis AXIS1 of the image acquisition device 21. The controller 22 is connected to the image acquisition device 21. The controller 22 can control the image acquisition device 21 to acquire the image IMAG1 of the base B. Alternatively, after the image acquisition device 21 acquires the image IMAG1 of the base B, it sends it to the controller 22. The image IMAG1 of the base B is as shown in FIG. Figure 5 The details will be introduced later.

[0038] In some embodiments, the image acquisition device 21 / 31 may include a CCD camera, a CMOS camera, a line array camera, an area array camera, an interlaced scan camera, a progressive scan camera, a normal resolution camera, a high resolution camera, an analog camera, a digital camera, a monochrome (black and white) camera, a color camera, a normal speed camera, a high-speed camera, a visible light (normal) camera, an infrared camera, an ultraviolet camera, a 2D camera, a 3D camera, etc.

[0039] In some embodiments, the controller 22 / 32 may include components or circuits such as control circuits, CPUs, MCUs, GPUs, DSPs, other general-purpose processors, ASICs, FPGAs, CPLDs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0040] In some embodiments, capturing an image of the base includes determining a light source according to the shape of the base. For example, for a positioning columnar base, a linear light source may be used to illuminate and acquire an image of the base. For a hole-shaped or flat profile, a light source with a high angle may be used.

[0041] In some embodiments, collecting the image of the base includes activating a fill light device to illuminate the base. Figure 3 As shown, the fill light device 34 includes an opening 341 and a light emitting unit 342. The light emitting unit 342 is arranged around the opening 341. The light emitting unit 342 may include an LED lamp bead. The image acquisition device 31 is arranged on the side of the fill light device 34 opposite to the base B. The opening 341, the image acquisition device 31 and the base B are coaxially arranged, for example, they are jointly arranged on the optical axis AXIS2 of the image acquisition device 31. The controller 32 is in communication connection with the fill light device 34. The controller 32 may control the fill light device 34 to turn on or off. When collecting the image IMAG1 of the base B, the controller 32 may control the fill light device 34 to turn on to illuminate the base B, and control the image acquisition device 31 to collect the image IMAG1 of the base B, which helps to eliminate shadow interference and collect a clear image IMAG1 of the base B, which helps to accurately determine the position of the base B in the base image IMAG1 later, thereby accurately establishing a base coordinate system based on the base image IMAG1.

[0042] In some embodiments, the fill light angle of the fill light device is related to the surface structure of the base (the side of the base facing the image acquisition device). When the base is a planar structure, the fill light angle of the fill light device is normal incidence to the base. When the base is a non-planar structure, the fill light angle of the fill light device is oblique incidence to the base. Based on different base structures, different fill light angles are used to help flexibly and clearly present the structural details of the base, help to accurately identify the positioning features of the base in the subsequent, and accurately determine the position of the base in the base image.

[0043] In some embodiments, the fill light angle of the fill light device is adjustable. Figure 4 As shown, the fill light device 34 includes a base b carrying a light unit 342, and the inclination angle θ of the base b is adjustable. The controller 32 can adjust the light output angle of the light unit 342 by adjusting the inclination angle θ of the base b, thereby adjusting the fill light angle of the fill light device 34.

[0044] In some embodiments, the controller can identify the surface structure of the base based on the image of the base and determine whether it is a planar structure. Figure 3 and Figure 4As shown, when the base B is a planar structure, the controller 32 adjusts the inclination angle θ of the base b to 0°, so as to adjust the fill light angle of the fill light device 24 to be normally incident on the base B. When the base B is a non-planar structure, the controller 32 adjusts the inclination angle θ of the base b to 0-90°, and the fill light angle is obliquely incident on the base B. In this way, the fill light angle of the fill light device can be flexibly adjusted, the versatility and adaptability of the fill light device can be improved, and the fill light effect of the base can be improved.

[0045] In some embodiments, in step S12, the controller can identify the position of the base in the image of the base based on the image of the base, compare the predetermined position of the base and its position in the image of the base, and when the position of the base in the image matches the predetermined position, the position of the base can be considered reliable, and then, based on the position of the base in the image, a base coordinate system based on the base image is established.

[0046] Figure 5 A schematic diagram showing an image IMAG1 of a base B according to some embodiments of the present disclosure. Figure 6 A flowchart diagram showing sub-steps of step S12 according to some embodiments of the present disclosure is shown. Figure 7 A schematic diagram of a base coordinate system based on a base image according to some embodiments of the present disclosure is shown. Figure 2 , Figure 3 ,as well as Figures 5 to 7 As shown, the controller 22 / 32 compares the predetermined position of the base B with the position of the base B in the image IMAG1 according to the image IMAG1 of the base B, and establishes a base coordinate system XOY based on the base image IMAG1.

[0047] In some embodiments, reference Figure 6 , step S12 further includes sub-steps S121~S123.

[0048] Sub-step S121, identifying positioning features based on the image of the base. Figure 5 As shown, the base B is generally in the shape of a rounded rectangle. The controller 22 / 32 can identify the positioning features of the base B based on the image IMAG1. It should be noted that Figure 5 The shapes and positions of the base B and other components shown are only exemplary, and the present disclosure is not limited thereto. For example, the shape of the base B may also be a regular shape or an irregular shape such as a right-angled rectangle, a triangle, or a trapezoid.

[0049] In some embodiments, the locating feature may include a locating pin of the base. Figure 5As shown, the positioning features include positioning pins LP1 and LP2 of the base B, and the positioning pins LP1 and LP2 are symmetrically arranged about the center of the base B. The controller 22 / 32 can identify the positioning pins LP1 and LP2 through a visual recognition algorithm. The positioning pins can include cylindrical pins, conical pins, grooved pins, etc.

[0050] In some embodiments, the locating feature may include an edge of the base. Figure 5 As shown, the positioning features include edges E1, E2, E3, and E4 of the base B. Among them, edges E1 and E2 are a pair of edges of the base B, and edges E3 and E4 are another pair of edges of the base B. The controller 22 / 32 can identify edges E1 to E4 through a visual recognition algorithm.

[0051] In some embodiments, the positioning features may include corners of the base. Figure 5 As shown, the positioning features include corners C1, C2, C3, and C4 of the base B. Among them, corners C1 and C3 are one diagonal corner of the base B, and corners C2 and C4 are another diagonal corner of the base B. The controller 22 / 32 can identify corners C1 to C4 through a visual recognition algorithm.

[0052] In some embodiments, the positioning features may also include a combination of multiple items of the positioning pins, edges, and corners of the base. For example, the positioning features may include positioning pins and edges at the same time, or positioning pins and corners at the same time, or edges and corners at the same time, or positioning pins, edges, and corners at the same time. The controller may identify the positioning features of the base through a visual recognition algorithm. The present disclosure does not limit the specific visual recognition algorithm, nor does it limit the number and position distribution of the positioning features on the base, which can be determined according to requirements in actual applications.

[0053] Sub-step S122, determining the base reference origin according to the positioning feature. The controller can determine the center of the base according to at least one positioning feature, and use the center of the base as the reference origin. When only one positioning feature is used, at least two of the positioning features are required to determine the center of the base.

[0054] For example, the controller 22 / 32 determines the symmetry centers of the positioning pins LP1 and LP2, takes the symmetry centers of the two as the center of the base B, and takes the center of the base B as the reference origin.

[0055] For another example, the controller 22 / 32 may determine the symmetry centers of the edges E1 and E2 based on the edges E1 and E2, and use the symmetry centers of the edges as the center of the base B, and use the center of the base B as the reference origin. Alternatively, the controller 22 may determine the symmetry centers of the edges E3 and E4 based on the edges E3 and E4, and use the symmetry centers of the edges E3 and E4 as the center of the base B, and use the center of the base B as the reference origin. Alternatively, the controller 22 may determine the average value of the symmetry centers of the edges E1 and E2 and the symmetry centers of the edges E3 and E4 based on the edges E1 to E4, and use the average value as the center of the base B, and use the center of the base B as the reference origin.

[0056] For another example, the controller 22 / 32 determines the symmetric centers of the corners C1 and C3 based on the two corners, and uses the symmetric centers of the two corners as the center of the base B, and uses the center of the base B as the reference origin. Alternatively, the controller 22 determines the symmetric centers of the two corners C2 and C4 based on the two corners, and uses the symmetric centers of the two corners as the center of the base B, and uses the center of the base B as the reference origin. Alternatively, the controller 22 determines the average value of the symmetric centers of the corners C1 and C3 and the symmetric centers of the corners C2 and C4 based on the corners C1 to C4, and uses the average value as the center of the base B, and uses the center of the base B as the reference origin.

[0057] For another example, the controller 22 / 32 uses the average value of the symmetry centers of the positioning pins LP1 and LP2 and the symmetry centers of the edges E1 and E2 as the center of the base B, and uses the center of the base B as the reference origin.

[0058] For example, the controller 22 / 32 uses the average value of the symmetry centers of the positioning pins LP1 and LP2 and the symmetry centers of the corners C1 and C3 as the center of the base B, and uses the center of the base B as the reference origin.

[0059] For example, the controller 22 / 32 uses the average of the symmetry centers of edges E3 and E4 and the symmetry centers of corners C2 and C4 as the center of the base B, and uses the center of the base B as the reference origin.

[0060] For example, the controller 22 / 32 uses the average of the symmetry centers of the positioning pins LP1 and LP2, the symmetry centers of the edges E1 and E2, and the symmetry centers of the corners C1 and C3 as the center of the base B, and uses the center of the base B as the reference origin.

[0061] Sub-step S123, determining the position of the base according to the reference origin. For example, the controller 22 / 32 may compare the position of the reference origin (i.e., the center position of the base) with the predetermined position, and if the difference between the two is within a preset range, the position of the reference origin (i.e., the center position of the base) is used as the position of the base B. The controller may use the center of the base B as the reference origin to establish a base coordinate system XOY based on the base image IMAG1.

[0062] In some embodiments, in step S13, the image of the PIN needle is captured by the same image capture device. Figure 2 or Figure 3 As shown, the PIN pin can be plugged into the base B, and the PIN pin tip faces the image acquisition device 21 / 31. The PIN pin and the base B are located within the field of view of the image acquisition device 21 / 31. The controller 22 / 32 can control the image acquisition device 21 / 31 to acquire the image IMAG2 of the PIN pin. Alternatively, after the image acquisition device 21 / 31 acquires the image IMAG2 of the PIN pin, it sends it to the controller 22 / 32. The image IMAG2 of the PIN pin is shown in FIG. Figure 8 shown.

[0063] In some embodiments, capturing an image of the PIN needle includes using a line light source to illuminate the PIN needle. The controller can be connected to the line light source for communication, and the controller can turn on the line light source. The light emitted by the line light source illuminates the PIN needle. The controller controls the image acquisition device to capture the image of the PIN needle, which helps to capture a clear PIN needle so as to accurately determine the actual position of the PIN needle. In existing industrial production, the image of the PIN needle is captured based on the LED light source system and detected based on the image. However, since the needle tip feature of the PIN needle is not necessarily located at the center of the PIN needle head, when the LED light source is used to take the image, the white spot outline of the PIN needle tip does not match the actual PIN head outline, thereby causing errors in the measurement of the entire visual system. The use of a line light source can effectively avoid the occurrence of such problems and help improve the accuracy of the measurement results of the visual system.

[0064] In some embodiments, Figure 3 As shown, the line light source 33 includes a first line light source 331 and a second line light source 332. The first line light source 331 and the second line light source 332 are symmetrically arranged on both sides of the PIN needle, and the light emitted by both is perpendicular to the PIN needle, which helps to capture a clear PIN needle outline and accurately determine the actual position of the PIN needle.

[0065] The controller 32 is connected to the first line light source 331 and the second line light source 332 in communication, and can control the opening or closing and opening timing of the two. For example, when collecting the image of the PIN needle, the controller 32 can control the first line light source 331 and the second line light source 332 to turn on to illuminate the PIN needle. When the image of the PIN needle is not collected, the controller 32 can control the first line light source 331 and the second line light source 332 to turn off. In some embodiments, the controller can control the first line light source 331 and the second line light source 332 to turn on at the same time, or control the first line light source 331 to turn on first, then turn off the first line light source 331, and then turn on the second line light source 332.

[0066] In some embodiments, the first line light source 331 and the second line light source 332 include a line laser light source. The laser beam emitted by the line laser light source has concentrated energy, which helps to capture a clearer PIN needle outline so as to more accurately determine the actual position of the PIN needle (details will be described later). The line laser light source may include one or more of a vertical-cavity surface-emitting laser (VCSEL), an edge emitting laser (EEL), etc. However, the present disclosure is not limited to this.

[0067] In some embodiments, the first line light source 331 and the second line light source 332 may be LED line light sources, which are all within the protection scope of the present disclosure.

[0068] In some embodiments, in step S14, the controller may determine the actual position of the PIN needle according to the base coordinate system and the image of the PIN needle. For example, the controller 22 / 32 determines the actual position P (ActualX, ActualY) of the PIN needle according to the base coordinate system XOY and the image IMAG2 of the PIN needle.

[0069] Fig. 9 A schematic flow chart of sub-steps of step S14 according to some embodiments of the present disclosure is shown. Step S14 (i.e. determining the actual position of the PIN needle according to the base coordinate system and the image of the PIN needle) includes sub-steps S141 to S142.

[0070] Sub-step S141, identifying the needle tip of the PIN needle according to the image of the PIN needle. Figure 8 FIG. 5 is a schematic diagram showing an image IMAG2 of a PIN needle according to some embodiments of the present disclosure. Figure 8 As shown, the white bright spot is the needle head of the PIN needle (for example, needle heads H1 to H3), and the black is the base B. The PIN needle is plugged into the base B. The controller 22 / 32 can identify the outline of the PIN needle according to the image IMAG2 of the PIN needle and the image recognition algorithm, thereby identifying the needle head of the PIN needle.

[0071] Sub-step S142, based on the base coordinate system, determine the coordinates of the needle center, and use it as the actual position of the PIN needle in the base coordinate system. For example, the controller 22 / 32 can identify the coordinates of some points of the needle outline based on the base coordinate system XOY according to the image recognition algorithm, and determine the coordinates of the needle center based on the coordinates of some points of the needle outline, and use it as the actual position P (ActualX, ActualY) of the PIN needle in the base coordinate system XOY.

[0072] In some embodiments, a PIN pin can be plugged into a base B. For example, Figure 8 As shown, H1 is the needle head of a PIN needle. The controller 22 / 32 can determine the center coordinates of the needle head H1 based on the base coordinate system XOY, and use the center coordinates of the needle head H1 as the actual position P1 (ActualX1, ActualY1) of the PIN needle in the base coordinate system XOY.

[0073] In some embodiments, a plurality of PIN needles can be plugged into a base B. For example, H1, H2, and H3 are needles of three PIN needles, respectively. The controller 22 / 32 can determine the center coordinates of the needles H1, H2, and H3 based on the base coordinate system XOY, respectively, and use these three center coordinates as the actual positions P1 (ActualX1, ActualY1), P2 (ActualX2, ActualY2), and P3 (ActualX3, ActualY3) of the three PIN needles in the base coordinate system XOY, respectively. It should be understood that the three PIN needles here are only exemplary introductions, and the present disclosure does not limit the number of PIN needles, and the actual position of each PIN needle in the base coordinate system can be determined in this way.

[0074] In some embodiments, in step S15, the controller may compare the actual position of the PIN pin with its predetermined position to determine the position deviation of the PIN pin. Figure 7 As shown, the controller can compare the actual position PAct (ActualX, ActualY) of the PIN needle with its predetermined position PTru (TrueX, TrueY) to determine the position deviation ΔP of the PIN needle.

[0075] In some embodiments, the step of determining the position deviation of the PIN needle includes determining the square root of the distance between the actual position and the predetermined position; and judging whether the position deviation of the PIN needle is abnormal according to the square root of the distance and the preset threshold. For example, the controller 22 / 32 determines the square root of the distance between the actual position PAct (ActualX, ActualY) of the PIN needle and the predetermined position PTru (TrueX, TrueY), and uses the square root of the distance as the position deviation ΔP of the PIN needle, as follows: .

[0076] Among them, ActualX is the abscissa of the actual position of the PIN needle, ActualY is the ordinate of the actual position of the PIN needle, TrueX is the abscissa of the predetermined position of the PIN needle, and TrueY is the ordinate of the predetermined position of the PIN needle.

[0077] In some embodiments, the controller 22 / 32 determines whether the position deviation of the PIN pin is abnormal based on the square root of the spacing ΔP (i.e., the position deviation) and the preset threshold THΔP. For example, when the position deviation ΔP of the PIN pin is greater than or equal to the preset threshold THΔP, the controller 22 / 32 determines that the position deviation of the PIN pin is abnormal, that is, the position deviation of the PIN pin is within an intolerable range. Conversely, when the position deviation ΔP of the PIN pin is less than the preset threshold THΔP, the controller 22 / 32 determines that the position deviation of the PIN pin is normal, that is, the position deviation of the PIN pin is within a tolerable range. In this way, the controller can determine the position deviation of each PIN pin and can determine whether the PIN pin is correctly plugged into the base.

[0078] In some embodiments, when determining the position deviation of each PIN pin, the controller may determine the average value of the position deviations of the plurality of PIN pins, compare the average value with a preset threshold value THΔP, and determine the overall deviation of the PIN pins. For example, when the average value ΔPaverage is greater than or equal to the preset threshold value THΔP, the controller 22 / 32 determines that the overall position deviation of the PIN pin is abnormal. Conversely, when the average value ΔPaverage is less than the preset threshold value THΔP, the controller 22 / 32 determines that the overall position deviation of the PIN pin is normal. In this way, abnormal detection of the overall position deviation of the PIN pin can be achieved.

[0079] In some embodiments, before the PIN pin is connected to the base, for example, when the PIN pin is about to be connected to the base, the controller can execute the above-mentioned detection method to detect the position deviation of the PIN pin, which helps to promptly detect the abnormally positioned PIN pin to avoid the abnormally positioned PIN pin being connected to the base, causing material waste.

[0080] In some embodiments, when it is determined that the position deviation of the PIN pin is abnormal, the controller may promptly correct the position of the PIN pin according to the actual position of the PIN pin and the predetermined position.

[0081] In some embodiments, when the PIN pin has been plugged into the base, the controller can execute the above detection method to detect the position deviation of the PIN pin, which helps to promptly discover the PIN pin with abnormal position.

[0082] The present disclosure also provides a detection system for detecting a PIN needle, wherein the PIN needle can be plugged into a base. One base can be plugged with one or more PIN needles. Figure 2 Schematic diagram of a detection system 20 according to some embodiments of the present disclosure is shown. Figure 2 As shown, the detection system 20 includes an image acquisition device 21 and a controller 22. The controller 22 is connected to the image acquisition device 21 and is configured to execute the detection method 10 as described above.

[0083] Figure 3 Schematic diagram of a detection system 30 according to some embodiments of the present disclosure is shown. Figure 3 As shown, the detection system 30 includes an image acquisition device 31, a controller 32 and a line light source 33. The line light source 33 includes a first line light source 331 and a second line light source 332. The first line light source 331 and the second line light source 332 are symmetrically arranged on both sides of the PIN needle and connected to the controller 32. The light emitted by the first line light source 331 and the second line light source 332 is perpendicular to the PIN needle. The first line light source 331 and the second line light source 332 include line laser light sources.

[0084] In some embodiments, the detection system 30 includes a supplementary light device 34 . The supplementary light device 34 is connected to the controller 32 . Figure 4 FIG. 2 shows an enlarged schematic diagram of a fill light device according to some embodiments of the present disclosure. Figure 3 and Figure 4 As shown, the fill light device 34 includes an opening 341 and a light emitting unit 342. The light emitting unit 342 is arranged around the opening 341, and the image acquisition device 31 is arranged on a side of the fill light device 34 opposite to the base B. The opening 341, the image acquisition device 31 and the base B are arranged coaxially.

[0085] In some embodiments, the detection system may include a display (not shown). The display may be coupled to the controller for visually outputting the detection results. The display may include a display such as an LCD (liquid-crystal display, LCD), an LED (light emitting diode, LED), or an OLED (organic light emitting diode, OLED).

[0086] In some embodiments, the detection system may include a memory (not shown). The memory may be used to store images, program instructions, etc. acquired by the image acquisition device. The memory may include a random access memory (RAM) or a non-volatile memory (Non-volatile memory). Further, the memory may include at least one of a phase-change random access memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a read-only memory (ROM), and an electrically erasable programmable read only memory (EEPROM).

[0087] The detection method and detection system disclosed in the present invention can realize accurate detection of the position deviation of the PIN pin before the PIN pin is plugged into the base, which helps to timely find the PIN pin with abnormal position and avoid the PIN pin being inserted into the base crookedly, causing material waste. When the PIN pin is used in the connector, accurate detection of the position deviation of the PIN pin helps to improve the reliability of the connector transmission signal.

[0088] The present disclosure also provides a computer-readable storage medium, which includes computer-executable instructions stored thereon, and the executable instructions implement the detection method described above when executed by a processor.

[0089] The present disclosure may take the form of a computer program product implemented on one or more storage media containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. Information may be computer-readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to: PRAM, SRAM, DRAM, other types of RAM, ROM, EEPROM, flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0090] It should be noted that the present disclosure may only include Figure 1-9 In other words, not all of the features shown need to be implemented simultaneously in the detection method and detection system of the present disclosure.

[0091] It should be noted that this specification provides method operation steps such as embodiments or schematic diagrams, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or device product is executed, it can be executed in the order of the method shown in the embodiment or flowchart or in parallel.

[0092] It should be noted that although several modules of the detection system are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules described above can be implemented in one module. Conversely, the features and functions of one module described above can be further divided into multiple modules to be embodied.

[0093] Finally, it should be noted that the above are only some embodiments of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A detection method for detecting a PIN needle, wherein the PIN needle can be plugged into a base, characterized in that: The detection method comprises: Capturing an image of the base by an image acquisition device; According to the image of the base, comparing the predetermined position of the base with its position in the image, and establishing a base coordinate system based on the base image; Capturing the image of the PIN needle by the same image acquisition device; Determining the actual position of the PIN pin based on the base coordinate system and the image of the PIN pin; and The actual position of the PIN pin is compared with the predetermined position thereof to determine the position deviation of the PIN pin.

2. The detection method according to claim 1, characterized in that: The step of comparing the predetermined position of the base with its position in the image according to the image of the base, and establishing a base coordinate system based on the base image, further comprises: identifying a positioning feature based on the image of the base; Determining the reference origin of the base according to the positioning feature; and The position of the base is determined according to the reference origin.

3. The detection method according to claim 2, characterized in that: The positioning feature includes at least one of a positioning pin, an edge, and a corner of the base, and the step of determining the reference origin includes: The center of the base is determined based on at least two of the positioning features, and the center is used as the reference origin.

4. The detection method according to any one of claims 1 to 3, characterized in that: The collecting of the image of the PIN needle comprises: A line light source is used to illuminate the PIN needles.

5. The detection method according to claim 4, characterized in that: The line light source comprises a first line light source and a second line light source, the first line light source and the second line light source are symmetrically arranged on both sides of the PIN needle, and light emitted by the first line light source and the second line light source are perpendicular to the PIN needle.

6. The detection method according to claim 5, characterized in that: The first line light source and the second line light source include line laser light sources, wherein the step of determining the actual position of the PIN needle according to the base coordinate system and the image of the PIN needle includes: identifying the needle tip of the PIN needle based on the image of the PIN needle; and Based on the base coordinate system, the coordinates of the needle center are determined and used as the actual position of the PIN needle in the base coordinate system.

7. The detection method according to claim 6, characterized in that: The step of determining the position deviation of the PIN needle comprises: determining a square root of a distance between the actual position and the predetermined position; and Whether the position deviation of the PIN needle is abnormal is determined according to the square root of the spacing and a preset threshold.

8. The detection method according to any one of claims 1 to 3, characterized in that: The step of acquiring the image of the base includes: turning on a fill light device to illuminate the base.

9. The detection method according to claim 8, characterized in that: When the base is a planar structure, the fill light angle of the fill light device is normal incidence to the base; when the base is a non-planar structure, the fill light angle is oblique incidence to the base.

10. The detection method according to claim 8, characterized in that: The fill light device comprises a light emitting unit and an opening, wherein the light emitting unit is arranged around the opening, the image acquisition device is arranged on a side of the fill light device opposite to the base, and the opening, the image acquisition device and the base are arranged coaxially.

11. A detection system for detecting a PIN needle, wherein the PIN needle is plugged into a base, characterized in that: The detection system comprises: an image acquisition device; and A controller is connected to the image acquisition device and is configured to execute the detection method according to any one of claims 1 to 10.

12. The detection system according to claim 11, characterized in that: The detection system also includes: A fill light device is connected to the controller and comprises a light emitting unit and an opening, wherein the light emitting unit is arranged around the opening, the image acquisition device is arranged on a side of the fill light device opposite to the base, and the opening, the image acquisition device and the base are coaxially arranged.

13. The detection system according to claim 11 or 12, characterized in that: The detection system also includes: A line light source, comprising a first line light source and a second line light source, which are symmetrically arranged on both sides of the PIN needle and connected to the controller, wherein the light emitted by the first line light source and the second line light source is perpendicular to the PIN needle, and the first line light source and the second line light source comprise line laser light sources.

Images