CN105082182B - A kind of vision positioning system for guided robot - Google Patents
A kind of vision positioning system for guided robot Download PDFInfo
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- CN105082182B CN105082182B CN201510496631.1A CN201510496631A CN105082182B CN 105082182 B CN105082182 B CN 105082182B CN 201510496631 A CN201510496631 A CN 201510496631A CN 105082182 B CN105082182 B CN 105082182B
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- light source
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- positioning system
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- 238000003384 imaging method Methods 0.000 claims abstract description 24
- 238000005286 illumination Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The present invention is applied to electronic component mounting technology field, there is provided a kind of vision positioning system for guided robot, including secondary light source, the support and camera for installing secondary light source of illumination are provided for the overall imaging of electronic component provides the first light source for illuminating, the pin imaging for electronic component；Support has a discoidal inner chamber, secondary light source is installed to form annular light source along the edge of inner chamber, the pin of electronic component is located at the middle part of secondary light source, the light that secondary light source sends forms the pin end that flat light beam irradiates electronic component, and pin imaging is carried out into camera after pin end reflections, the light that the first light source sends into camera after electronic component reflection by carrying out electronic component imaging.The present invention forms element general image using the first light source, and pinouts picture is formed by secondary light source, and the general image of electronic component can be both presented, and pin can be clearly embodied again, becomes apparent from Pin locations distinguishable, improves crawl precision.
Description
Technical field
The present invention relates to electronic component mounting technology field, more particularly to a kind of vision positioning for guided robot
System.
Background technology
In electronic component industry, although SMD element is more and more, and element is less and less, but it is former based on performance
Cause, some specific elements such as electric capacity, inductance, connector, power diode, pliotron etc. are still by the way of straight cutting
It is a large amount of to use.During electronic component assembling, due to the limitation of the characteristics such as the depth of parallelism of pin and angle position, it is impossible to it is enough with
Precision very high is crawled by robots and is inserted into the corresponding hole site of circuit board.Prior art has straight usually using one
Penetrate the industrial camera of ring light to observe the position of element, guided robot is captured.Due to light from direct projection annular light source
Reflected by element after output, but backtracking is to industrial camera, therefore when being imaged to direct plug-in element, it may appear that it is tight
The bright fringes of weight is disturbed and is difficult to the reduction of pin contrast and position.
The content of the invention
It is an object of the invention to provide a kind of vision positioning system for guided robot, it is intended to improve robot pair
The accuracy of identification of electronic component pin, it is easy to capture.
What the present invention was realized in：A kind of vision positioning system for guided robot, grabs for guided robot
The pin of power taking subcomponent, including the first light source, the pin for electronic component of illumination are provided for the overall imaging of electronic component
Imaging provides secondary light source, the support for installing the secondary light source of illumination, and camera；The support has a disk
The inner chamber of shape, the secondary light source is installed to form annular light source along the edge of the inner chamber, the pin position of the electronic component
In the middle part of the secondary light source, the light that the secondary light source sends forms the pin that flat light beam irradiates the electronic component
End, and pin imaging is carried out into the camera after the pin end reflections, the light that first light source sends passes through
After the electronic component reflection electronic component imaging is carried out into the camera.
The present invention irradiates the entirety of electronic component using the first light source luminescent, forms the general image of electronic component, passes through
The pin end of the luminous individually irradiation electronic component of secondary light source, forms pinouts picture, the general image and pin of electronic component
After image synthesizes a sub-picture, the entirety of electronic component can be both presented, can clearly embody pin again and edge is sharp
Profit, contrast is significantly improved, and becomes apparent from Pin locations distinguishable, and then improves identification of the robot to the pin of electronic component
With crawl precision, operating efficiency is improved.
Brief description of the drawings
Fig. 1 is the stereogram of the vision positioning system for guided robot provided in an embodiment of the present invention；
Fig. 2 is the sectional view of the vision positioning system for guided robot provided in an embodiment of the present invention；
Fig. 3 is the front view of the vision positioning system for guided robot provided in an embodiment of the present invention；
Fig. 4 is the top view of the vision positioning system for guided robot provided in an embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Of the invention implementing is described in detail below in conjunction with specific embodiment：
It should be noted that when part is referred to as " being fixed on " or " being arranged at " another part, it can be directly another
On one part or may be simultaneously present part placed in the middle.When a part is known as " being connected to " another part, it can
To be directly to another part or may be simultaneously present part placed in the middle.
Also, it should be noted that the orientation term such as left and right, upper and lower in the present embodiment, be only each other relative concept or
Normal operating condition with product is reference, and be should not be regarded as restrictive.
Fig. 1 to Fig. 4 is refer to, the embodiment of the present invention provides a kind of vision positioning system for guided robot, is used for
Guided robot captures the pin 2 of electronic component 1, including for the overall imaging of electronic component 1 provide the first light source 3 for illuminating,
For the pin 2 of electronic component 1 is imaged the secondary light source 4, the support 5, Yi Jixiang for installing the secondary light source 4 that provide illumination
Machine 6；The support 5 has a discoidal inner chamber 9, and secondary light source 4 is installed to form annular light source along the edge of inner chamber 9, electronics
The pin 2 of element 1 is located at the middle part of secondary light source 4, and the light that secondary light source 4 sends forms flat light beam irradiation electronic component 1
Pin end 21, and carry out pin 2 into camera 6 and be imaged after being reflected through pin end 21, the light process that the first light source 3 sends
Electronic component 1 carries out electronic component 1 and is imaged after reflecting into camera 6.Specifically, annular secondary light source 4 is to middle electronics
The direction of element 1 lights, when the secondary light source 4 is installed by LED illuminating parts along inner chamber edge to be constituted, each LED illuminating part hair
Go out the cone-shaped beam with certain angle of divergence, be then changed into flat light beam by light beam adjustment, when secondary light source 4 directly uses laser
Device is installed when constituting along inner chamber edge, the light that it sends itself as collimated light, without adjustment, the second light of whole annular
The light that source 4 sends is flat light beam.It is appreciated that flat light beam is allowed to it in the minimum light beam of the differently- oriented directivity angle of pin 2, it is whole
Body looks like the discoid light beam launched to the center of circle from circumference, and the flat light beam irradiates the end of pin 2 approximately perpendicular to pin 2
Portion, because the end of pin 2 generally has certain chamfering (the transition angle between pin top surface and side), or is curved
End, therefore, when flat light beam irradiates pin end 21, the chamfered part or curvature portion of the end 21 can be by light to drawing
The lower section of pin 2 reflection, the reflected light can just form clearly pinouts picture into camera 6, and due to the edge of pin end
Place and reflection angle transition of the pin side to light are larger so that the edge of pinouts picture becomes apparent from sharp keen.
The present embodiment forms the general image of electronic component 1 using the entirety of the luminous irradiation electronic component 1 of the first light source 3,
The pin end 21 that flat light beam individually irradiates electronic component 1 is formed by the way that secondary light source 4 is luminous, pinouts picture, electronics unit is formed
The general image and pinouts picture of part 1 synthesize a sub-picture, and the entirety of electronic component 1 can be both presented, again can be clearly
Embody pin 2 and pin edge becomes apparent from, become apparent from Pin locations distinguishable, it is easy to robot identification and crawl, and then
Robot is improved to the identification of the pin 2 of electronic component 1 and crawl precision, operating efficiency is improved.
In the present embodiment, when secondary light source 4 is made up of the non-laser device such as LED illuminating parts, can be by support 5
Structure realizes the acquisition of flat light beam.Specifically, support 5 includes upper lid 51, lower cover 52 and is connected between lid 51 and lower cover 52
Side wall 53, upper lid 51, lower cover 52 and side wall 53 enclose out discoidal inner chamber 9；The center of upper lid 51 offers can accommodate electricity
First port 511 of subcomponent 1, the center of lower cover 52 offers the second port 521 more than the first port 511, the first port
511 extend the first flange 512 to inner chamber, and the second port 521 extends the second flange 522 to inner chamber, what secondary light source 4 sent
Light forms above-mentioned flat light beam after the first flange 511 and the second flange 521 are blocked.First flange 511 is mainly used in limit
Light beam processed irradiates the other positions of pin 2, and the light that the second flange 521 is mainly used in preventing secondary light source 4 from sending is anti-without pin
Penetrate and enter camera 6 and produce interference.First flange 511 is combined with the second flange 521 can obtain significantly sharp-edged drawing
Pin image.
Further, when being imaged, in the inner chamber 9 of the end insertion support 5 of pin 2 and positioned at the first flange
511 and the second space between flange 521, i.e. the bottom of the first flange 511 is higher than pin end 21, the second flange 521
Top will be less than pin end 21.
Further, in order to further lift the definition of pinouts picture, the end of the first flange 511 in the present embodiment
With an inclined-plane 513, the side of the inclined-plane 513 narrow truncated cone-shaped wide under being.Compared with the flanged structure without inclined-plane, can
To reduce light disturbance.The flange vertical for bottom surface and side, the light that secondary light source sends has fraction and is radiated at bottom surface
On, it is possible to expose to pin other positions after bottom reflection or directly projects support 5, these unwanted light all can
Interfere, make pin end blur margin clear.When the end of the first flange 511 is set into inclined-plane, light reflected after compared with
Big deviate from imaging optical path, and the imaging of pin 2 will not be interfered.Likewise, the end of the second flange 521 also has one
Inclined-plane 523, the inclined-plane 523 is the side of up-narrow and down-wide truncated cone-shaped, and light can deviate from imaging after being reflected by the inclined-plane 523
Road, will not interfere to the imaging of pin 2.
In the present embodiment, the first light source 3 is preferably the area source of LED illuminating parts composition, for being provided for electronic component 1
Broad beam illumination.
With further reference to Fig. 1, the lower section of support 5 is provided with spectroscope 7, the first light source 3 is arranged at the lower section of support 5, and
And perpendicular to secondary light source 4, the first light source 3 is luminous towards spectroscope 7, the light for sending irradiates electronics unit after being reflected through spectroscope 7
Part 1, the light of the reflection of electronic component 1 is imaged after being transmitted through spectroscope 7 into camera 6.The light that secondary light source 4 sends is through pin
End 21 is imaged after reflecting also into camera 6.The imaging optical path of the electronic component 1 and the imaging optical path of pin 2 are coaxial.
With further reference to Fig. 1, speculum 8 is additionally provided with the transmitted light path of spectroscope 7, camera 6 is arranged at speculum 8
On reflected light path.The setting of the speculum 8 is mainly used in bending light path so that compact conformation, it is to avoid take larger space.
Further, the vision positioning system also includes the computer 9 being connected with camera 6, for carrying out the aobvious of image
Show and process and accurately captured with guided robot and insert the corresponding hole site on circuit board.
The embodiment of the present invention is using two groups of light sources (the first light source and secondary light source) respectively to electronic component entirety and pin
Imaging, luminous being truncated of secondary light source to pin imaging to form flat light beam irradiation pin end, pin imaging clearly is become clear,
Edge clear is sharp keen, and eliminates light disturbance by the inclined design to the first flange on support and the second flange, enters one
Step ensures that pinouts, as clear and legible, improves crawl precision, improves operating efficiency.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (9)
1. a kind of vision positioning system for guided robot, the pin of electronic component is captured for guided robot, and it is special
Levy and be, including photograph is provided for the overall imaging of electronic component provides the first light source for illuminating, the pin imaging for electronic component
Bright secondary light source, the support for installing the secondary light source, and camera；The support has a discoidal inner chamber,
The secondary light source is installed to form annular light source along the edge of the inner chamber, and the pin of the electronic component is located at described second
The middle part of light source, the light that the secondary light source sends forms flat light beam and irradiates the pin end of the electronic component, and passes through
Pin imaging is carried out into the camera after the pin end reflections, the light that first light source sends is by electronics unit
After part reflection electronic component imaging is carried out into the camera；
The support includes upper lid, lower cover and the side wall being connected between the upper lid and lower cover, the upper lid, lower cover and side wall
Enclose out the discoidal inner chamber；The center of the upper lid offers the first port that can accommodate electronic component, the lower cover
Center offer the second port more than the first port, first port extends the first flange, described second to inner chamber
Port extends the second flange to inner chamber, and the light that the secondary light source sends is after first flange and the second flange are blocked
Form the flat light beam.
2. vision positioning system as claimed in claim 1, it is characterised in that the end of the pin is less than first flange
And higher than second flange.
3. vision positioning system as claimed in claim 1, it is characterised in that the secondary light source is by multiple LED illuminating parts edges
The edge for the inner chamber installs composition.
4. vision positioning system as claimed in claim 1, it is characterised in that the secondary light source by multiple laser devices along
The edge of the inner chamber installs composition.
5. vision positioning system as claimed in claim 1, it is characterised in that the end of first flange has an inclined-plane,
The side of the inclined-plane narrow truncated cone-shaped wide under being.
6. vision positioning system as claimed in claim 1, it is characterised in that the end of second flange has an inclined-plane,
The inclined-plane is the side of up-narrow and down-wide truncated cone-shaped.
7. vision positioning system as claimed in claim 1, it is characterised in that the also light splitting including being arranged at below the support
Mirror, the light that first light source is arranged at the support lower section and sends irradiates the electronics unit after the dichroic mirror
Part, the light of the electronic component reflection is imaged after being transmitted through the spectroscope into the camera.
8. vision positioning system as claimed in claim 7, it is characterised in that be additionally provided with spectroscopical transmitted light path
Speculum, the camera is arranged on the reflected light path of the speculum.
9. the vision positioning system as described in any one of claim 1 to 8, it is characterised in that the electronic component imaging and institute
State the light path coaxial of pin imaging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510496631.1A CN105082182B (en) | 2015-08-13 | 2015-08-13 | A kind of vision positioning system for guided robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510496631.1A CN105082182B (en) | 2015-08-13 | 2015-08-13 | A kind of vision positioning system for guided robot |
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| CN105082182A CN105082182A (en) | 2015-11-25 |
| CN105082182B true CN105082182B (en) | 2017-06-30 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106154437A (en) * | 2016-07-14 | 2016-11-23 | 江苏奥雷光电有限公司 | A kind of light splitting piece image recognition automatic chip mounting method |
| CN107787177A (en) * | 2016-08-24 | 2018-03-09 | 深圳市祈飞科技有限公司 | Optical imaging system for electronic component pin positioning |
| CN107461631A (en) * | 2017-09-01 | 2017-12-12 | 苏州苏大维格光电科技股份有限公司 | A kind of portable illumination device and identifying system |
| CN110286122A (en) * | 2019-06-03 | 2019-09-27 | 广东奥普特科技股份有限公司 | An optical fiber device for visual inspection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0676048A (en) * | 1992-08-28 | 1994-03-18 | Sony Corp | Image pickup device for parts terminal detection |
| JPH09306963A (en) * | 1996-05-14 | 1997-11-28 | Shinko Electric Ind Co Ltd | Illuminator for inspection |
| CN101650155A (en) * | 2009-08-14 | 2010-02-17 | 秦拓微电子技术(上海)有限公司 | Aplanatism pentahedral visual detecting process |
| CN102359758B (en) * | 2011-07-21 | 2013-03-20 | 华中科技大学 | Method for detecting appearance of semiconductor chip |
| JP5875676B2 (en) * | 2012-04-12 | 2016-03-02 | 富士機械製造株式会社 | Imaging apparatus and image processing apparatus |
| CN204913945U (en) * | 2015-08-13 | 2015-12-30 | 深圳市顶点视觉自动化技术有限公司 | A vision positioning system for guiding robot |
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Effective date of registration: 20170217 Address after: 518000 Guangdong city of Shenzhen province Baoan District Zhongzhou Washington phase 7 3019 Applicant after: Xie Yu Address before: 518000 Guangdong city of Shenzhen province Baoan District Fuyong street Fuyong Junyi Industrial Park eighth layer 8015 rooms Applicant before: SHENZHEN DINGDIAN VISUAL AUTOMATION TECHNOLOGY CO., LTD. |
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Effective date of registration: 20180206 Address after: Buji street Longgang District of Shenzhen City, Guangdong province 518000 Jihua Road No. 399 science and technology park two B Building 5 floor 504 Patentee after: Shenzhen Yun vision Automation Technology Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Baoan District Zhongzhou Washington phase 7 3019 Patentee before: Xie Yu |
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