【摘要】：本文以某公司生產(chǎn)的數(shù)控V割機作為參考對象。該V割機的載物平臺只具有一個自由度,待切割PCB只能隨著載物平臺在一個方向上做直線往復運動。在正式切割之前,通過人工測量出PCB的定位孔心到其試刀線的距離作為V割機數(shù)控系統(tǒng)的修正值,并將這個值通過計算機交互界面輸入V割機的系統(tǒng)控制程序中。通過這種方式將數(shù)控V割機的系統(tǒng)原點與機械原點重合,從而達到定位的目的。因此該數(shù)控V割機原有的定位方法主要是由人工對PCB的一些特征尺寸的測量來實現(xiàn)的。顯然,由于人工的測量引入了較大誤差,致使V割機很難達到最終的定位精度要求,并且降低了工廠的生產(chǎn)效率。本文針對該數(shù)控V割機的工作原理以及原有定位方法的缺點,設計了一個機器視覺定位系統(tǒng)來代替原有的人工定位操作,并提出兩套測量方案。它包括硬件系統(tǒng)與軟件系統(tǒng)。硬件系統(tǒng)由攝像機、光源、電移臺、光柵尺以及載物平臺組成;軟件系統(tǒng)包括圖像采集、圖像處理、攝像機標定、光柵尺讀數(shù)等模塊。為保證測量精度與較小的工作距離,本文所設計的定位測量系統(tǒng)分兩次采集PCB圖像,兩次采集之間通過電移臺的移動實現(xiàn)對PCB的兩處定位標記分別拍攝。第一個方案是借助光柵尺測量電移臺的位移和兩次采集到的圖像數(shù)據(jù),間接計算出PCB的定位孔心到其試刀線的距離;第二個方案是通過圖像拼接技術把初、末位置采集的兩幅PCB圖像拼接成為一幅鑲嵌圖像,然后在鑲嵌圖像中直接計算出該距離。文本主要包括以下幾個方面的內(nèi)容:一、針對數(shù)控V割機的定位原理以及定位精度的要求,設計了一個機器視覺定位系統(tǒng),并對其硬件系統(tǒng)與軟件系統(tǒng)進行了具體的設計。二、根據(jù)視覺定位的需要,必須首先對攝像機進行標定,目的是消除圖像畸變以校正圖像。本文以攝像機模型為依據(jù),詳細描述了攝像機標定的原理、過程以及標定結果。接著通過基于雙目標定的圖像拼接技術將初、末位置的PCB圖像拼接成一幅鑲嵌圖像。最后通過對標準量塊的測量驗證了攝像機標定的結果。三、本文在對提取PCB的定位標記時用到的一些圖像處理算法進行了詳細地分析并通過程序?qū)崿F(xiàn)了這些算法。最后在校正后的PCB圖像中對定位標記進行測量。四、編寫人機交互界面。
[Abstract]:This paper takes the NC V cutting machine produced by a company as the reference object. The loading platform of the V cutting machine has only one degree of freedom, and the PCB to be cut can only be reciprocated in a straight line with the loading platform in one direction. Before the formal cutting, the distance between the center of the PCB location hole and its test cutter line is measured manually as the revised value of the NC system of the V-cutting machine, and the value is input into the system control program of the V-cutting machine through the interactive interface of the computer. In this way, the system origin of the NC V cutting machine is coincident with the mechanical origin, so as to achieve the purpose of positioning. Therefore, the original positioning method of the NC V cutting machine is mainly realized by manual measurement of some characteristic dimensions of PCB. It is obvious that due to the large error introduced by manual measurement, it is difficult for the V cutter to meet the final positioning accuracy requirement and reduce the production efficiency of the factory. In this paper, a machine vision positioning system is designed to replace the original manual positioning operation in view of the working principle of the NC V cutting machine and the shortcomings of the original positioning method, and two sets of measurement schemes are proposed. It includes hardware system and software system. The hardware system consists of a camera, a light source, an electric moving platform, a grating ruler and a carrier platform, and the software system includes image acquisition, image processing, camera calibration, grating ruler reading and so on. In order to ensure the accuracy of the measurement and the small working distance, the positioning and measuring system designed in this paper collects the PCB images twice, and the two positioning markers of the PCB are photographed separately by the moving of the electric moving platform between the two times. The first scheme is to measure the displacement of the electric moving table and the image data collected twice by using the grating ruler to calculate indirectly the distance between the locating hole center of PCB and its test tool line. In the second scheme, two PCB images collected at the initial and last positions are stitched into a mosaic image by image mosaic technology, and the distance is calculated directly in the mosaic image. The text mainly includes the following aspects: firstly, a machine vision positioning system is designed according to the positioning principle and positioning accuracy of the NC V cutting machine, and the hardware and software systems are designed in detail. Secondly, according to the need of visual positioning, the camera must be calibrated first, in order to eliminate the image distortion to correct the image. Based on the camera model, the principle, process and results of camera calibration are described in detail in this paper. Then the PCB image at the beginning and end position is stitched into a mosaic image by using the image mosaic technology based on double target determination. Finally, the result of camera calibration is verified by measuring the standard block. Thirdly, some image processing algorithms used in the extraction of PCB localization markers are analyzed in detail, and these algorithms are realized by program. Finally, the location mark is measured in the corrected PCB image. Fourth, compile the man-machine interface.
【學位授予單位】：天津科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP391.41;TG659

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