Visual positioning and deviation rectifying system of FPC full-automatic cutting machine

Abstract

The invention discloses a visual positioning and deviation rectifying system of an FPC full-automatic cutting machine, and relates to the field of circuit board processing, and the visual positioning and deviation rectifying system is characterized in that a path planning module uses a rough cutting tool with a preset rigidity parameter to cut at a preset cutting output speed to obtain a rough cutting raw material; the judgment module judges whether the total cutting duration is longer than preset time or not; the model building module builds a cutting broken tool model; the data calculation module calculates the corrected cutting output speed of the fine cutting tool; the parameter correction module re-plans the advancing path of the fine cutting tool; the monitoring module monitors the cutting surface of the fine cutting tool in real time; and judging whether the cutting surface size precision is qualified or not according to a real-time monitoring result. By arranging the cutter determination module, the path planning module, the model establishment module, the data calculation module, the parameter correction module and the monitoring module, the FPC cutting time can be shortened, the cutting efficiency can be improved, the cutting precision can be corrected, and then the precision of the FPC is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of circuit board processing, specifically to a vision positioning and correction system for a fully automatic FPC cutting machine. Background Technology

[0002] FPCs are typically cut mechanically, which is the most traditional method. This involves using a high-speed rotating blade or saw to physically cut along a predetermined line. This method is suitable for PCBs of various thicknesses and materials, and is especially suitable for mass production. With the development of automation technology, many mechanical cutting machines have achieved fully automated operation, improving production efficiency and consistency.

[0003] Precision control is crucial in mechanical cutting. Excessive cutting depth and speed result in excessive cutting reaction force on the cutter head, leading to vibrations and affecting cutting accuracy. Conversely, insufficient cutting depth and speed result in shallow cutting depth or slow cutting speed, requiring more time to cut the target shape, thus prolonging the FPC cutting process and reducing overall efficiency. Furthermore, tool misalignment due to cutting vibrations can also lead to insufficient FPC precision. Summary of the Invention

[0004] To solve the above-mentioned technical problems, a visual positioning and correction system for an FPC fully automatic cutting machine is provided. This technical solution solves the problems mentioned in the background technology.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A vision positioning and correction system for a fully automatic FPC cutting machine includes: An image modeling module, which acquires a target three-dimensional image of the cut-out FPC; The tool determination module acquires at least one tool used in the cutting process of the target three-dimensional image, and the tools are divided into rough cutting tools and fine cutting tools; A 3D modeling module, which performs 3D modeling of the raw materials to be cut; An image modeling module generates a coarsely segmented 3D image based on the target 3D image; The path planning module plans a coarse cutting path based on the coarse cutting 3D image. A coarse cutting tool with preset rigidity parameters cuts at a preset cutting speed to obtain coarse cutting material. The preset cutting speed is determined by the preset movement speed and the preset cutting depth. The preset cutting speed is the cutting amount of the coarse cutting tool per unit time. The preset cutting speed is equal to the product of the preset movement speed and the preset cutting depth. The preset cutting depth is the feed depth of the tool below the cutting surface of the raw material when cutting. The coarse cutting material is cut with the existing fine cutting parameters to obtain the cut FPC and obtain the total cutting time. The judgment module determines whether the total cutting time is greater than the preset time. If so, the existing fine cutting parameters are corrected; otherwise, no processing is performed. The preset time is set based on experience. The parameter acquisition module acquires a first rigid parameter of the raw material to be cut, a second rigid parameter of the precision cutting tool, and the rotational speed of the precision cutting tool. The model building module builds a cutting tool breakage model. The data calculation module calculates the corrected cutting speed of the precision cutting tool. The corrected cutting speed is determined by the corrected movement speed and the corrected cutting depth. The corrected cutting speed is the cutting amount of the precision cutting tool per unit time. The corrected cutting speed is equal to the product of the corrected movement speed and the corrected cutting depth. The corrected cutting depth is the feed depth of the tool below the cutting surface of the raw material when cutting. The parameter correction module determines whether the dimensional accuracy of the cutting surface is qualified based on the real-time monitoring results. If it is qualified, no processing is performed. If not, the travel path of the precision cutting tool is replanned. During the precision cutting process, the precision cutting tool cutting procedure is obtained, and the tool changing operation is performed according to the precision cutting tool cutting procedure. After the tool changing, the precision cutting tool performs cutting operation according to the corresponding travel path and the corrected cutting speed. The monitoring module performs real-time monitoring of the cutting surface of the precision cutting tool. The real-time monitoring is divided into monitoring of the inner wall of the slot and monitoring of the exposed surface.

[0006] Preferably, the image modeling module generates a coarsely segmented 3D image based on the target 3D image, comprising the following steps: The target 3D image is fitted to obtain the target 3D image fitting function; A coarsely cut 3D image is generated by magnifying the target 3D image by a preset ratio according to the target 3D image fitting function, wherein the preset ratio is greater than 1.

[0007] Preferably, the path planning module plans the coarse cutting path based on the coarse cutting 3D image, including the following steps: The coarsely cut 3D image is divided into equal-interval horizontal planes to obtain at least one coarsely cut slice. Get the height of each coarse cut slice; The edges of the coarsely cut slice are fitted to obtain a slice fitting function, and the slice fitting function is paired with the height of the coarsely cut slice. Obtain the preset cutting depth, and based on the slice fitting function, obtain the first tangent equation at each point on the edge of the coarse cut slice; Based on the first tangent equation, the first normal equation of each point on the edge of the coarse cut slice is obtained, and the line corresponding to the first normal equation is perpendicular to the line corresponding to the first tangent equation. Obtain the radius of the first cutting range circle generated by the rotation of the coarse cutting tool, and subtract the preset cutting depth from the radius of the first cutting range circle to obtain the first cutting distance between the center of the first cutting range circle and the cutting surface; On the straight line corresponding to the first normal equation, obtain the point whose straight line distance to the first tangent equation is equal to the first cutting distance, and use it as the fitting point for the coarse cutting path; Based on at least one coarse cutting path fitting point, a coarse cutting path fitting function is obtained, and the coarse cutting path fitting function is paired with the height of the coarse cutting slice.

[0008] Preferably, the model building module builds the cutting tool breakage model by including the following steps: Obtain the first rigidity parameter range for the raw material to be cut, the second rigidity parameter range for the precision cutting tool, and the rotational speed range for the precision cutting tool; The range of the first rigid parameter is divided at equal intervals to obtain at least one first rigid point; The range of the second rigid parameter is divided at equal intervals to obtain at least one second rigid point; Divide the rotation speed range into equal intervals to obtain at least one rotation speed point; Pair the first rigid point, the second rigid point, and the rotational velocity point together; Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as test parameters, the precision cutting tool is tested to obtain the maximum cutting speed of the precision cutting tool before tool breakage. Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as independent variables, and the maximum cutting speed as the dependent variable, a cutting speed fitting function is obtained.

[0009] Preferably, the data calculation module calculates the corrected cutting speed of the precision cutting tool by including the following steps: Substituting the first rigidity parameter, the second rigidity parameter, and the rotational speed of the precision cutting tool into the cutting speed fitting function, the corrected cutting speed is obtained.

[0010] Preferably, the step of replanning the travel path of the precision cutting tool based on the corrected cutting depth includes the following steps: The coarsely cut raw material is divided into equal-spaced horizontal sections to obtain at least one raw material slice. Obtain the height of each raw material slice; The edges of the raw material slices are fitted to obtain the raw material fitting function, and the raw material fitting function is paired with the height of the raw material slices. Obtain the corrected cutting depth for cutting the coarse-cut raw material into the target 3D image, and obtain the second tangent equation for each point on the edge of the raw material slice based on the raw material fitting function; Based on the second tangent equation, the second normal equation of each point on the edge of the raw material slice is obtained, and the line corresponding to the second normal equation is perpendicular to the line corresponding to the second tangent equation. Obtain the radius of the second cutting range circle generated by the rotation of the precision cutting tool, and subtract the corrected cutting depth from the radius of the second cutting range circle to obtain the second cutting distance between the center of the second cutting range circle and the cutting surface; On the line corresponding to the second normal equation, obtain the point whose straight-line distance to the second tangent equation is equal to the second cutting distance, and use it as the fitting point for the fine cutting path; Based on at least one precision cutting path fitting point, a precision cutting path fitting function is obtained, and the precision cutting path fitting function is paired with the height of the raw material slice.

[0011] Preferably, the monitoring of the inner wall of the slot includes the following steps: The laser probe is inserted into the slot to model the inner wall of the slot and obtain the fitting function of the inner wall of the slot. The fitting function of the inner wall of the slot is compared with the corresponding position of the target 3D image to obtain the error function of the inner wall of the slot; Using the inner wall of the slot as the integration region, the first integral value is obtained by considering the error function of the inner wall of the slot. Determine whether the first integral value is greater than the preset value. If it is, the dimensional accuracy of the cutting surface is unqualified; otherwise, the dimensional accuracy of the cutting surface is qualified.

[0012] Preferably, the monitoring of exposed surfaces includes the following steps: The laser probe models the exposed surface and obtains the fitting function for the exposed surface; The exposed surface fitting function is compared with the corresponding position in the target 3D image to obtain the exposed surface error function; Using the exposed surface as the integration region, the second integral value is obtained by applying the error function of the exposed surface. Determine whether the second integral value is greater than the preset value. If it is, the dimensional accuracy of the cutting surface is unqualified; otherwise, the dimensional accuracy of the cutting surface is qualified.

[0013] Preferably, the parameter correction module corrects the travel path of the precision cutting tool by including the following steps: Subtract the slot inner wall error function from 0 to obtain the slot inner wall correction function; Subtracting the exposed surface error function from 0 yields the exposed surface correction function; The fine cutting path fitting function is compensated at the corresponding position using the slot inner wall correction function and the exposed surface correction function, and the compensation result is used to replace the original fine cutting path fitting function.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting up modules for tool determination, path planning, model building, data calculation, parameter correction, and monitoring, a coarse cutting tool is used to cut at a preset cutting speed to obtain coarse raw material. The coarse cutting tool has high rigidity, so the cutting amount per unit time is large and it will not break. Moreover, the coarse cutting material does not have high precision requirements, so the error caused by the large vibration generated by the high cutting speed will not affect the final accuracy. When using a fine cutting tool, a cutting breakage model is built using modules to calculate the maximum corrected cutting speed that the fine cutting tool can achieve. This ensures that the fine cutting tool can cut at the fastest speed, thereby reducing the FPC cutting time and improving cutting efficiency. In addition, the cutting surface is monitored in real time, and real-time reverse compensation is performed based on the monitoring results to correct the cutting accuracy, thereby ensuring the accuracy of the FPC. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the vision positioning and correction system of the fully automatic FPC cutting machine of the present invention; Figure 2 This is a schematic diagram of the process by which the image modeling module of the present invention generates a coarsely cut 3D image based on a target 3D image. Figure 3 This is a schematic diagram of the coarse cutting path flow generated by the path planning module of the present invention based on the coarse cutting 3D image. Figure 4 A schematic diagram illustrating the process of establishing a cutting tool breakage model for the model building module of this invention; Figure 5 This is a schematic diagram illustrating the process of the parameter correction module replanning the travel path of the precision cutting tool based on the corrected cutting depth of the present invention. Figure 6 This is a schematic diagram of the process for monitoring the inner wall of the slot according to the present invention; Figure 7 This is a schematic diagram of the process for monitoring exposed surfaces according to the present invention; Figure 8This is a schematic diagram illustrating the process by which the parameter correction module of the present invention corrects the travel path of the precision cutting tool. Detailed Implementation

[0016] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0017] Reference Figure 1 As shown, a vision positioning and correction system for a fully automatic FPC cutting machine includes: An image modeling module, which acquires a target three-dimensional image of the cut-out FPC; The tool determination module acquires at least one tool used in the cutting process of the target three-dimensional image, and the tools are divided into rough cutting tools and fine cutting tools; A 3D modeling module, which performs 3D modeling of the raw materials to be cut; An image modeling module generates a coarsely segmented 3D image based on the target 3D image; The path planning module plans a coarse cutting path based on the coarse cutting 3D image. A coarse cutting tool with preset rigidity parameters cuts at a preset cutting speed to obtain coarse cutting material. The preset cutting speed is determined by the preset movement speed and the preset cutting depth. The preset cutting speed is the cutting amount of the coarse cutting tool per unit time. The preset cutting speed is equal to the product of the preset movement speed and the preset cutting depth. The preset cutting depth is the feed depth of the tool below the cutting surface of the raw material when cutting. The coarse cutting material is cut with the existing fine cutting parameters to obtain the cut FPC and obtain the total cutting time. The judgment module determines whether the total cutting time is greater than the preset time. If so, the existing fine cutting parameters are corrected; otherwise, no processing is performed. The preset time is set based on experience. The parameter acquisition module acquires a first rigid parameter of the raw material to be cut, a second rigid parameter of the precision cutting tool, and the rotational speed of the precision cutting tool. The model building module builds a cutting tool breakage model. The data calculation module calculates the corrected cutting speed of the precision cutting tool. The corrected cutting speed is determined by the corrected movement speed and the corrected cutting depth. The corrected cutting speed is the cutting amount of the precision cutting tool per unit time. The corrected cutting speed is equal to the product of the corrected movement speed and the corrected cutting depth. The corrected cutting depth is the feed depth of the tool below the cutting surface of the raw material when cutting. The parameter correction module determines whether the dimensional accuracy of the cutting surface is qualified based on the real-time monitoring results. If it is qualified, no processing is performed. If not, the travel path of the precision cutting tool is replanned. During the precision cutting process, the precision cutting tool cutting procedure is obtained, and the tool changing operation is performed according to the precision cutting tool cutting procedure. After the tool changing, the precision cutting tool performs cutting operation according to the corresponding travel path and the corrected cutting speed. The monitoring module performs real-time monitoring of the cutting surface of the precision cutting tool. The real-time monitoring is divided into monitoring of the inner wall of the slot and monitoring of the exposed surface.

[0018] In this solution, to ensure the cutting accuracy of the circuit board, various cuts involved in the circuit board are identified through pre-planning and real-time monitoring, and corresponding corrections are made. The correction is accomplished by combining visual recognition and theoretical prediction. Visual recognition mainly uses feedback control through monitoring of the cuts, while theoretical prediction performs predictive route planning during the cut. The cutting accuracy is ensured through both methods.

[0019] Reference Figure 2 As shown, the image modeling module generates a coarsely segmented 3D image based on the target 3D image, including the following steps: The target 3D image is fitted to obtain the target 3D image fitting function; The target 3D image is enlarged by a preset ratio according to the target 3D image fitting function to generate a coarsely cut 3D image. The preset ratio is greater than 1 and is set based on experience.

[0020] Reference Figure 3 As shown, the path planning module plans the coarse cutting path based on the coarse cutting 3D image, including the following steps: The coarsely cut 3D image is divided into equal-interval horizontal planes to obtain at least one coarsely cut slice. Get the height of each coarse cut slice; The edges of the coarsely cut slice are fitted to obtain a slice fitting function, and the slice fitting function is paired with the height of the coarsely cut slice. Obtain the preset cutting depth, and based on the slice fitting function, obtain the first tangent equation at each point on the edge of the coarse cut slice; Based on the first tangent equation, the first normal equation of each point on the edge of the coarse cut slice is obtained, and the line corresponding to the first normal equation is perpendicular to the line corresponding to the first tangent equation. Obtain the radius of the first cutting range circle generated by the rotation of the coarse cutting tool, and subtract the preset cutting depth from the radius of the first cutting range circle to obtain the first cutting distance between the center of the first cutting range circle and the cutting surface; On the straight line corresponding to the first normal equation, obtain the point whose straight line distance to the first tangent equation is equal to the first cutting distance, and use it as the fitting point for the coarse cutting path; Based on at least one coarse cutting path fitting point, a coarse cutting path fitting function is obtained, and the coarse cutting path fitting function is paired with the height of the coarse cutting slice. The purpose of the coarse cutting path is to enable the coarse cutting tool to quickly cut the raw material, thereby generating a coarse cutting material. The coarse cutting material is similar to the target 3D image of the FPC to be cut and formed. Therefore, when using the fine cutting tool, the total cutting amount of the fine cutting tool can be reduced, thereby increasing the cutting speed. The coarse cutting material does not have high precision requirements, and the coarse cutting tool is large in size and has correspondingly high hardness. Therefore, it can operate with a larger cutting amount per unit time, thereby enabling fast cutting and reducing cutting time. Furthermore, since the coarse cutting material does not have high precision requirements, the cutting vibration caused by the larger cutting amount per unit time will not affect the precision.

[0021] Reference Figure 4 As shown, the model building module establishes the cutting tool breakage model through the following steps: Obtain the first rigidity parameter range for the raw material to be cut, the second rigidity parameter range for the precision cutting tool, and the rotational speed range for the precision cutting tool; The range of the first rigid parameter is divided at equal intervals to obtain at least one first rigid point; The range of the second rigid parameter is divided at equal intervals to obtain at least one second rigid point; Divide the rotation speed range into equal intervals to obtain at least one rotation speed point; Pair the first rigid point, the second rigid point, and the rotational velocity point together; Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as test parameters, the precision cutting tool is tested to obtain the maximum cutting speed of the precision cutting tool before tool breakage. Using the values ​​of the first rigid point, the second rigid point, and the rotational speed point as independent variables, and the maximum cutting speed as the dependent variable, a cutting speed fitting function is obtained.

[0022] During cutting, due to the potentially large thickness of the sheet material and the high speed of the cutting tool, improper parameter settings can easily lead to tool breakage during long-term operation. Therefore, in order to avoid this situation, it is necessary to set the parameters appropriately. The purpose of establishing a cutting breakage model is to determine the maximum cutting speed at which the precision cutting tool will not break during cutting. The precision cutting time is determined by the maximum cutting speed, since the total cutting amount in precision cutting is constant. When obtaining the maximum cutting speed, since the rough cutting material is similar to the target 3D image of the FPC being cut, the correction cutting depth can be determined so that the precision cutting tool only moves once at that point, cutting that point to the target 3D image. Using the maximum cutting speed as the correction cutting speed, since the correction cutting speed is equal to the product of the correction movement speed and the correction cutting depth, the correction movement speed can be calculated. Therefore, the fastest cutting speed can be used without breaking the tool, thus ensuring the cutting speed. At the same time, since the rough cutting material is similar to the target 3D image of the FPC being cut, the cutting amount is small, the vibration is small, and the cutting error caused by vibration is small.

[0023] The data calculation module calculates the corrected cutting speed for the precision cutting tool using the following steps: Substituting the first rigidity parameter, the second rigidity parameter, and the rotational speed of the precision cutting tool into the cutting speed fitting function, the corrected cutting speed is obtained.

[0024] Reference Figure 5 As shown, based on the corrected cutting depth, the parameter correction module replans the travel path of the finishing tool, including the following steps: The coarsely cut raw material is divided into equal-spaced horizontal sections to obtain at least one raw material slice. Obtain the height of each raw material slice; The edges of the raw material slices are fitted to obtain the raw material fitting function, and the raw material fitting function is paired with the height of the raw material slices. Obtain the corrected cutting depth for cutting the coarse-cut raw material into the target 3D image, and obtain the second tangent equation for each point on the edge of the raw material slice based on the raw material fitting function; Based on the second tangent equation, the second normal equation of each point on the edge of the raw material slice is obtained, and the line corresponding to the second normal equation is perpendicular to the line corresponding to the second tangent equation. Obtain the radius of the second cutting range circle generated by the rotation of the precision cutting tool, and subtract the corrected cutting depth from the radius of the second cutting range circle to obtain the second cutting distance between the center of the second cutting range circle and the cutting surface; On the line corresponding to the second normal equation, obtain the point whose straight-line distance to the second tangent equation is equal to the second cutting distance, and use it as the fitting point for the fine cutting path; Based on at least one precision cutting path fitting point, a precision cutting path fitting function is obtained, and the precision cutting path fitting function is paired with the height of the raw material slice. The fine cutting path fitting function is used as the travel path of the fine cutting tool. Since the fine cutting path fitting function is paired with the height of the raw material slice, there will be a corresponding fine cutting path fitting function at the height of each raw material slice to limit the travel path of the fine cutting tool. Therefore, cutting along the corresponding travel path of the fine cutting tool can complete the cutting correction operation.

[0025] Reference Figure 6 As shown, monitoring the inner wall of the slot includes the following steps: The laser probe is inserted into the slot to model the inner wall of the slot and obtain the fitting function of the inner wall of the slot. The fitting function of the inner wall of the slot is compared with the corresponding position of the target 3D image to obtain the error function of the inner wall of the slot; Using the inner wall of the slot as the integration region, the first integral value is obtained by considering the error function of the inner wall of the slot. Determine whether the first integral value is greater than the preset value. If it is, the dimensional accuracy of the cutting surface is unqualified; otherwise, the dimensional accuracy of the cutting surface is qualified.

[0026] Reference Figure 7 As shown, monitoring of exposed surfaces includes the following steps: The laser probe models the exposed surface and obtains the fitting function for the exposed surface; The exposed surface fitting function is compared with the corresponding position in the target 3D image to obtain the exposed surface error function; Using the exposed surface as the integration region, the second integral value is obtained by applying the error function of the exposed surface. Determine whether the second integral value is greater than the preset value. If it is, the dimensional accuracy of the cutting surface is unqualified; otherwise, the dimensional accuracy of the cutting surface is qualified.

[0027] There are two types of FPC cutting. One is for exposed surfaces, where the laser can directly scan and model the surface to obtain a model of the cutting surface, and then determine whether there is an error. For grooves or holes, the laser head needs to enter the groove or hole and scan to both sides to obtain a surface model of the inner wall of the groove or hole, and then determine whether there is an error. The two situations need to be considered separately.

[0028] Reference Figure 8 As shown, the parameter correction module corrects the travel path of the precision cutting tool by including the following steps: Subtract the slot inner wall error function from 0 to obtain the slot inner wall correction function; Subtracting the exposed surface error function from 0 yields the exposed surface correction function; The fine cutting path fitting function is compensated at the corresponding position using the slot inner wall correction function and the exposed surface correction function, and the compensation result is used to replace the original fine cutting path fitting function. By using a slot inner wall correction function that is the opposite of the slot inner wall error function and an exposed surface correction function that is the opposite of the exposed surface error function to compensate for the corresponding position of the precision cutting path fitting function, the cutting error can be reduced.

[0029] Furthermore, this solution also proposes a storage medium on which a computer-readable program is stored. When the computer-readable program is invoked, it runs the aforementioned visual positioning and correction system of the FPC fully automatic cutting machine.

[0030] It is understandable that the storage medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid-state drive (SSD).

[0031] In summary, the advantages of this invention are as follows: By setting up a tool determination module, a path planning module, a model building module, a data calculation module, a parameter correction module, and a monitoring module, a coarse cutting tool is used to cut at a preset cutting speed to obtain coarse cutting material. The coarse cutting tool has high rigidity, therefore, the cutting amount per unit time is large, and tool breakage will not occur. Moreover, the coarse cutting material does not have high precision requirements, so the error caused by the large vibration generated by the high cutting speed will not affect the final accuracy. When using a fine cutting tool, a cutting tool breakage model is built using the module to calculate the maximum corrected cutting speed that the fine cutting tool can achieve, thereby ensuring that the fine cutting tool can cut at the fastest speed, thereby reducing the FPC cutting time and improving cutting efficiency. In addition, the cutting surface is monitored in real time, and real-time reverse compensation is performed based on the monitoring results to correct the cutting accuracy, thereby ensuring the accuracy of the FPC.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A visual positioning and deviation correction system of a full-automatic FPC cutting machine, characterized in that, The application relates to a cutting process of a flexible printed circuit (FPC), and comprises the following steps: An image modeling module acquires a target three-dimensional image of a cutting-formed FPC; A tool determining module acquires at least one tool used in the target three-dimensional image cutting process, and the tool is divided into a rough cutting tool and a fine cutting tool; A three-dimensional modeling module performs three-dimensional modeling on a cutting raw material; An image modeling module generates a rough cutting three-dimensional image according to the target three-dimensional image; A path planning module plans a rough cutting path according to the rough cutting three-dimensional image, uses a rough cutting tool with preset rigidity parameters to perform cutting at a preset cutting amount speed, obtains a rough cutting raw material, the preset cutting amount speed is determined by a preset walking speed and a preset cutting depth, the preset cutting amount speed is the cutting amount of the rough cutting tool per unit time, the preset cutting amount speed is equal to the product of the preset walking speed and the preset cutting depth, the preset cutting depth is the feeding depth of the tool below the cutting surface of the cutting raw material, the rough cutting raw material is cut by using the existing fine cutting parameters, a cutting-formed FPC is obtained, and a total cutting time is acquired; A judging module judges whether the total cutting time is greater than a preset time, if yes, the existing fine cutting parameters are corrected, and if not, no treatment is performed, and the preset time is set based on experience; A parameter acquiring module acquires a first rigidity parameter of the cutting raw material, acquires a second rigidity parameter of the fine cutting tool, and acquires a rotation speed of the fine cutting tool; A model establishing module establishes a cutting tool breaking model; A data calculating module calculates a corrected cutting amount speed of the fine cutting tool, the corrected cutting amount speed is determined by a corrected walking speed and a corrected cutting depth, the corrected cutting amount speed is the cutting amount of the fine cutting tool per unit time, the corrected cutting amount speed is equal to the product of the corrected walking speed and the corrected cutting depth, and the corrected cutting depth is the feeding depth of the tool below the cutting surface of the cutting raw material; A parameter correcting module judges whether the cutting surface size precision is qualified according to a real-time monitoring result, if yes, no treatment is performed, and if not, a running path of the fine cutting tool is replanned, a fine cutting tool cutting process is acquired in the fine cutting process, tool changing is performed according to the fine cutting tool cutting process, and after the tool changing, the fine cutting tool performs cutting operation according to the corresponding running path and the corrected cutting amount speed; A monitoring module performs real-time monitoring on a fine cutting tool cutting surface, and the real-time monitoring is divided into monitoring on an inner wall of a slot hole and monitoring on an exposed surface.

2. The visual positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 1, characterized in that, The image modeling module generates a rough cutting three-dimensional image according to the target three-dimensional image, and the method comprises the following steps: A target three-dimensional image is fitted to obtain a target three-dimensional image fitting function; The target three-dimensional image is enlarged by a preset ratio according to the target three-dimensional image fitting function to generate a rough cutting three-dimensional image, and the preset ratio is greater than 1.

3. The vision positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 2, characterized in that, The path planning module plans a rough cutting path according to the rough cutting three-dimensional image, and the method comprises the following steps: The rough cutting three-dimensional image is equally spaced segmented by a horizontal plane to obtain at least one rough cutting slice; The height of each rough cutting slice is obtained; The edges of the rough cutting slice are fitted to obtain a slice fitting function, and the slice fitting function is paired with the height of the rough cutting slice; A preset cutting depth is obtained, and a first tangent equation of each point on the edge of the rough cutting slice is obtained according to the slice fitting function; According to the first tangent equation, a first normal equation of each point on the edge of the rough cutting slice is obtained, and the straight line corresponding to the first normal equation is perpendicular to the straight line corresponding to the first tangent equation; The radius of a first cutting range circle generated by the rotation of the rough cutting tool is obtained, the radius of the first cutting range circle is subtracted by the preset cutting depth to obtain a first cutting spacing between the center of the first cutting range circle and the cutting surface; On the straight line corresponding to the first normal equation, a point with a distance between the straight line corresponding to the first tangent equation and the first cutting spacing is obtained as a rough cutting path fitting point; According to at least one rough cutting path fitting point, a rough cutting path fitting function is fitted, and the rough cutting path fitting function is paired with the height of the rough cutting slice.

4. The vision positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 3, characterized in that, The model establishing module establishes the cutting tool breaking model, including the following steps: Obtain a first rigidity parameter range of the cutting raw material, obtain a second rigidity parameter range of the fine cutting tool, and obtain a rotation speed range of the fine cutting tool; The first rigidity parameter range is equally spaced segmented to obtain at least one first rigidity point; The second rigidity parameter range is equally spaced segmented to obtain at least one second rigidity point; The rotation speed range is equally spaced segmented to obtain at least one rotation speed point; The first rigidity point, the second rigidity point and the rotation speed point are paired with each other; The values of the first rigidity point, the second rigidity point and the rotation speed point are taken as test parameters to test the fine cutting tool to obtain a maximum cutting amount speed of the fine cutting tool before the tool is broken; The values of the first rigidity point, the second rigidity point and the rotation speed point are taken as independent variables, and the maximum cutting amount speed is taken as a dependent variable to perform fitting to obtain a cutting amount speed fitting function.

5. The vision positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 4, characterized in that, The data calculation module calculates the corrected cutting amount speed of the fine cutting tool, including the following steps: The first rigidity parameter, the second rigidity parameter and the rotation speed of the fine cutting tool are substituted into the cutting amount speed fitting function to obtain the corrected cutting amount speed.

6. The vision positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 5, characterized in that, The parameter correction module re-plans the travel path of the fine cutting tool according to the corrected cutting depth, including the following steps: The rough cutting raw material is equally spaced segmented by a horizontal plane to obtain at least one raw material slice; The height of each raw material slice is obtained; The edges of the raw material slice are fitted to obtain a raw material fitting function, and the raw material fitting function is paired with the height of the raw material slice; A corrected cutting depth for cutting the rough cutting raw material into a target three-dimensional image is obtained, and a second tangent equation of each point on the edge of the raw material slice is obtained according to the raw material fitting function; According to the second tangent equation, a second normal equation of each point on the edge of the raw material slice is obtained, and the straight line corresponding to the second normal equation is perpendicular to the straight line corresponding to the second tangent equation; The radius of the second cutting range circle generated by the rotation of the fine cutting tool is obtained, and the radius of the second cutting range circle is reduced by the corrected cutting depth to obtain a second cutting interval between the center of the second cutting range circle and the cutting surface; On the straight line corresponding to the second normal equation, a point on the straight line corresponding to the second tangent equation is obtained as a fine cutting path fitting point, and the distance between the point and the second cutting interval is the second cutting interval; According to at least one fine cutting path fitting point, a fine cutting path fitting function is fitted, and the fine cutting path fitting function is paired with the height of the raw material slice.

7. The vision positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 6, characterized in that, The steps of monitoring the inner wall of the slot hole include: The laser probe is put into the slot hole to model the inner wall of the slot hole and obtain a slot hole inner wall fitting function; The slot hole inner wall fitting function is compared with the corresponding position of the target three-dimensional image to obtain a slot hole inner wall error function; The slot hole inner wall is taken as an integral region, and the slot hole inner wall error function is obtained as a first integral value; If the first integral value is greater than the preset value, the cutting surface size precision is unqualified, and if not, the cutting surface size precision is qualified.

8. The vision positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 7, characterized in that, The steps of monitoring the exposed surface include: The laser probe models the exposed surface to obtain an exposed surface fitting function; The exposed surface fitting function is compared with the corresponding position of the target three-dimensional image to obtain an exposed surface error function; The exposed surface is taken as an integral region, and the exposed surface error function is obtained as a second integral value; If the second integral value is greater than the preset value, the cutting surface size precision is unqualified, and if not, the cutting surface size precision is qualified.

9. The vision positioning and deviation rectifying system of a full-automatic FPC cutting machine according to claim 8, characterized in that, The steps of correcting the travel path of the fine cutting tool by the parameter correction module include: 0 minus the slot hole inner wall error function to obtain a slot hole inner wall correction function; 0 minus the exposed surface error function to obtain an exposed surface correction function; The slot hole inner wall correction function and the exposed surface correction function are used to compensate the fine cutting path fitting function at the corresponding position, and the compensation result is used to replace the original fine cutting path fitting function.

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