【摘要】 现阶段异型插件机的视觉系统大部分采用底部相机的针脚定位方法,通常难以区分针脚和元件本体,影响定位方法的稳定性;针对这一问题,目前已存在一种基于旋转立体视觉的针脚定位方法,该方法对于针脚数目较少的元件定位效果良好,可靠性和效率较高;基于该研究,此次提出一种多针脚异型元件的针脚定位方法;该方法首先求取无遮挡拍摄角度区间,从而获得无重叠针脚图像;然后通过空间矩方法获得每幅图像的针脚亚像素边缘,根据相机成像模型得到各边缘点的反投影射线方程;最后结合旋转立体视觉的标定得到元件针脚在虚拟成像平面的包络图,从而获取针脚的偏移和转角。更多还原

【Abstract】 At present,most of the vision systems of the plug-in machine adopt the pin positioning method using bottom-camera,and it is often difficult to distinguish the pins and the component body,which affects the stability of the positioning method.For this problem,currently there is a pin positioning method based on rotational stereo vision,having good positioning effect on components with a small number of stitches,as well as high reliability and efficiency.Based on this research,apin positioning method for multi-lead components was proposed.The method firstly obtains an unobstructed shooting angle interval,thereby getting images without overlapping pins;Then,obtaining the sub-pixel edge of each image,and the projection line equation of each edge point is obtained according to the camera imaging model;Finally,through the calibration of the rotating stereo vision,the envelope diagram of the component pins in the virtual imaging plane is obtained,thereby obtaining the offset and the rotation angle of the stitches.更多还原