CN112947578A - Non-contact high-precision flying photographing positioning method - Google Patents
Non-contact high-precision flying photographing positioning method Download PDFInfo
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- CN112947578A CN112947578A CN202110292796.2A CN202110292796A CN112947578A CN 112947578 A CN112947578 A CN 112947578A CN 202110292796 A CN202110292796 A CN 202110292796A CN 112947578 A CN112947578 A CN 112947578A
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- 239000000463 material Substances 0.000 claims abstract description 26
- 239000000758 substrate Substances 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 241000270295 Serpentes Species 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a non-contact high-precision flying photographing positioning method, which comprises the following steps: planning a photographing path in advance according to the point positions to be photographed; the control device controls the vision device to take a fixed-point picture of the point to be taken on the base material, and fixed-point picture position information is obtained; the control device controls the vision device to sequentially carry out flying shooting on the point positions to be shot on the base material according to a pre-planned shooting path, and flying shooting position information is obtained; calculating to obtain a deviation value of the flying shooting position information and the fixed shooting position information of the same point to be photographed on the base material; the control device controls the vision device to sequentially carry out flying shooting on the point positions to be shot on the base material according to a pre-planned shooting path, and corrects the flying shooting positions according to the calculated deviation values to obtain the final position information of the point positions to be shot; when the same base material with the same point to be photographed is photographed and positioned, the step S5 is repeated. The invention greatly shortens the positioning time and improves the positioning efficiency and the positioning precision.
Description
Technical Field
The invention relates to the technical field of photographing positioning in the manufacturing industry, in particular to a non-contact high-precision flying photographing positioning method.
Background
Before dispensing, the dispenser needs to plan a motion track by identifying the point location of a product. Taking PCB dispensing as an example, an industrial camera is required to photograph Mark points on the PCB, and the motion trail of the dispensing valve is planned through motion algorithm software. Therefore, when a plurality of PCBs are processed simultaneously, a large batch of pictures and visual processing are needed, and then a dispensing path is planned, so that dispensing can be performed. As shown in fig. 1 of the specification, the conventional fixed-point photographing needs to stay at each Mark point and moves in a curve, so that the photographing time is long, and the productivity and efficiency of the equipment are low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a non-contact high-precision flying photographing positioning method, which can reduce the photographing time in positioning, improve the production efficiency of equipment and improve the positioning precision in flying photographing, thereby improving the dispensing precision and reducing the generation of defective products.
In order to achieve the purpose, the invention adopts the following technical scheme:
a non-contact high-precision flying photographing positioning method comprises the following steps:
s1, planning a photographing path in advance according to the point positions to be photographed on a base material, and storing the path to a control device;
s2, the control device controls the vision device to shoot the point positions to be shot on the base material at fixed points through the movement device, and fixed shooting position information of each point position to be shot is obtained;
s3, the control device controls the visual device to sequentially carry out flying photographing on the point positions to be photographed on the base material according to a pre-planned photographing path through the movement device, and flying photographing position information of the point positions to be photographed is obtained;
s4, calculating by the control device according to the fixed shooting position information and the flying shooting position information obtained in the steps S2 and S3 to obtain a deviation value between the flying shooting position information and the fixed shooting position information of the same point to be photographed on the base material;
s5, the control device controls the vision device to sequentially carry out flying photographing on the point positions to be photographed on the base material through the movement device according to a pre-planned photographing path to obtain flying photographing position information of the point positions to be photographed, and corrects the flying photographing position information according to the deviation value calculated in the step S4 to obtain final position information of the point positions to be photographed;
s6, when the same base material with the same point to be photographed is photographed and positioned, the step S5 is repeated.
As a preferred technical solution, the vision device is an industrial camera.
As a preferred technical solution, the photographing path arranges the sites to be photographed on the substrate in rows or columns, and arranges the sites in a serpentine shape.
As a preferred technical scheme, the first to-be-photographed spot on the photographing path is taken as a starting point during flying photographing.
As a preferred technical scheme, when the shooting positioning is carried out on the same base material with the same to-be-shot point, the parameters set by the motion device are the same when the flying shooting is carried out each time.
As a preferred technical scheme, the movement speed of the visual device is 300-500 mm/s when the flying photo is taken.
Compared with the prior art, the method has obvious advantages and beneficial effects, particularly, the deviation generated during flying photographing is corrected by adopting fixed photographing, so that the positioning precision during flying photographing is improved, the position deviation of the point to be photographed obtained by flying photographing is within 0.01mm, the accuracy of position information for dispensing is ensured, and the production quality of products is improved; meanwhile, by adopting a flight photographing technology, the photographing positioning time is greatly shortened, and the production efficiency of equipment is improved; and the points to be photographed on the substrate are sequenced according to rows or columns through the photographing path and are arranged in a snake shape, so that the curvilinear motion of the vision device is changed into linear motion, the photographing path is more reasonable, the speed of photographing and positioning is greatly improved, the highest photographing speed of the equipment can be 500mm/s, the photographing and positioning time is further shortened, and the product processing efficiency is improved.
To more clearly illustrate the structural features and technical means of the present invention and the specific objects and functions attained thereby, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments:
drawings
FIG. 1 is a diagram illustrating a conventional fixed-point photography path planning;
fig. 2 is a schematic view of a flight photography path planning of the present invention.
Detailed Description
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the positions or elements referred to must have specific orientations, be constructed and operated in specific orientations, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
The invention discloses a non-contact high-precision flying photographing positioning method, which comprises the following steps:
s1, planning a photographing path in advance according to the point positions to be photographed on a base material, and storing the path to a control device;
s2, the control device controls the vision device to shoot the point positions to be shot on the base material at fixed points through the movement device, and fixed shooting position information of each point position to be shot is obtained;
s3, the control device controls the visual device to sequentially carry out flying photographing on the point positions to be photographed on the base material according to a pre-planned photographing path through the movement device, and flying photographing position information of the point positions to be photographed is obtained;
s4, calculating by the control device according to the fixed shooting position information and the flying shooting position information obtained in the steps S2 and S3 to obtain a deviation value between the flying shooting position information and the fixed shooting position information of the same point to be photographed on the base material;
s5, the control device controls the vision device to sequentially carry out flying photographing on the point positions to be photographed on the base material through the movement device according to a pre-planned photographing path to obtain flying photographing position information of the point positions to be photographed, and corrects the flying photographing position information according to the deviation value calculated in the step S4 to obtain final position information of the point positions to be photographed;
s6, when the same base material with the same point position to be photographed is photographed and positioned, the step S5 is repeated; when another substrate with different sites to be photographed needs to be photographed and positioned, steps S1 to S4 need to be performed again to obtain a new deviation value, so as to perform calibration when a new substrate is photographed in flight.
In the invention, the visual device is an industrial camera.
In the present invention, as shown in fig. 2, the photographing path arranges the sites to be photographed on the substrate in rows or columns, and arranges the sites in a serpentine shape. And taking the first point to be photographed on the photographing path as a starting point during flying photographing. And when the same base material with the same point position to be photographed is photographed and positioned, the parameters set by the moving device are the same when the flying photographing is carried out each time. When the flying photographing is carried out, the movement speed of the vision device is 300 mm/s-500 mm/s.
In conclusion, the deviation generated during flying photographing is corrected by adopting fixed photographing, so that the positioning precision during flying photographing is improved, the position deviation of the point to be photographed obtained by flying photographing is within 0.01mm, the accuracy of position information for dispensing is ensured, and the production quality of products is improved; meanwhile, by adopting a flight photographing technology, the photographing positioning time is greatly shortened, and the production efficiency of equipment is improved; and the points to be photographed on the substrate are sequenced according to rows or columns through the photographing path and are arranged in a snake shape, so that the curvilinear motion of the vision device is changed into linear motion, the photographing path is more reasonable, the speed of photographing and positioning is greatly improved, the highest photographing speed of the equipment can be 500mm/s, the photographing and positioning time is further shortened, and the product processing efficiency is improved.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the present invention, so that any modifications, equivalents, improvements, etc. made to the above embodiment according to the present invention are within the scope of the present invention.
Claims (6)
1. A non-contact high-precision flying photographing positioning method is characterized by comprising the following steps:
s1, planning a photographing path in advance according to the point positions to be photographed on a base material, and storing the path to a control device;
s2, the control device controls the vision device to shoot the point positions to be shot on the base material at fixed points through the movement device, and fixed shooting position information of each point position to be shot is obtained;
s3, the control device controls the visual device to sequentially carry out flying photographing on the point positions to be photographed on the base material according to a pre-planned photographing path through the movement device, and flying photographing position information of the point positions to be photographed is obtained;
s4, calculating by the control device according to the fixed shooting position information and the flying shooting position information obtained in the steps S2 and S3 to obtain a deviation value between the flying shooting position information and the fixed shooting position information of the same point to be photographed on the base material;
s5, the control device controls the vision device to sequentially carry out flying photographing on the point positions to be photographed on the base material through the movement device according to a pre-planned photographing path to obtain flying photographing position information of the point positions to be photographed, and corrects the flying photographing position information according to the deviation value calculated in the step S4 to obtain final position information of the point positions to be photographed;
s6, when the same base material with the same point to be photographed is photographed and positioned, the step S5 is repeated.
2. The non-contact high-precision flying photograph positioning method according to claim 1, characterized in that the vision device is an industrial camera.
3. The non-contact high-precision flying photo-taking positioning method as claimed in claim 1, wherein the photo-taking path is formed by arranging the sites to be photographed on the substrate in a serpentine shape according to rows or columns.
4. The non-contact high-precision flying photo-taking positioning method as claimed in claim 3, wherein the first point to be photographed on the photo-taking path is taken as a starting point during flying photo-taking.
5. The non-contact high-precision flying photo-taking positioning method as claimed in claim 1 or 4, wherein the parameters set by the motion device are the same for each flying photo-taking when positioning photo-taking of the same base material with the same point to be photographed.
6. The non-contact high-precision flying photograph positioning method according to claim 1, characterized in that the moving speed of the vision device is 300 mm/s-500 mm/s during flying photograph.
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| CN202110292796.2A CN112947578A (en) | 2021-03-18 | 2021-03-18 | Non-contact high-precision flying photographing positioning method |
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| CN202110292796.2A CN112947578A (en) | 2021-03-18 | 2021-03-18 | Non-contact high-precision flying photographing positioning method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113194262A (en) * | 2021-07-01 | 2021-07-30 | 常州微亿智造科技有限公司 | Flying shooting triggering method and device for workpiece quality inspection |
| CN114500828A (en) * | 2021-12-24 | 2022-05-13 | 珠海博杰电子股份有限公司 | Position latching-based high-precision flight shooting positioning method for Mark point of dispenser |
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| CN110995986A (en) * | 2019-11-21 | 2020-04-10 | 深圳市德沃先进自动化有限公司 | Flying shooting method and system and chip bonding method and system |
| CN111198528A (en) * | 2020-01-16 | 2020-05-26 | 苏州灵猴机器人有限公司 | A servo driver and fly equipment of clapping for fly clap |
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2021
- 2021-03-18 CN CN202110292796.2A patent/CN112947578A/en active Pending
Patent Citations (6)
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| CN109238135A (en) * | 2018-07-30 | 2019-01-18 | 珠海市运泰利自动化设备有限公司 | A kind of view-based access control model precise positioning expects the method for test box |
| CN110018166A (en) * | 2019-03-19 | 2019-07-16 | 深圳市派科斯科技有限公司 | A kind of device and method for product appearance defect detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113194262A (en) * | 2021-07-01 | 2021-07-30 | 常州微亿智造科技有限公司 | Flying shooting triggering method and device for workpiece quality inspection |
| CN113194262B (en) * | 2021-07-01 | 2021-09-28 | 常州微亿智造科技有限公司 | Flying shooting triggering method and device for workpiece quality inspection |
| CN114500828A (en) * | 2021-12-24 | 2022-05-13 | 珠海博杰电子股份有限公司 | Position latching-based high-precision flight shooting positioning method for Mark point of dispenser |
| CN114500828B (en) * | 2021-12-24 | 2023-10-13 | 珠海博杰电子股份有限公司 | High-precision flyswatter positioning method for Mark point of dispensing machine based on position latching |
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