TW201518711A - Image positioning method and apparatus - Google Patents

Abstract

An image positioning method and apparatus are provided. The image positioning method includes following steps. The first, second and third images of an object including a first light-permeable and a second light-permeable are captured at different time. The movement speed of the object is calculated by using the positions of the first light-permeable in the first image and the second image and the interval time of the first image and the second image. A first coordinate-transforming relationship between the object in the third image and the object in a design file is obtained by using the positions of the first light-permeable and the second light-permeable in the first image or the second image and the movement speed of the object. A corresponding position in the third image of a device in the design file is obtained by using the design file and the first coordinate-transforming relationship to position the device.

Description

Image positioning method and device

The disclosure relates to an image positioning method and device.

In the traditional board appearance inspection process, most of them are taken by manual visual inspection. However, manual visual inspection may have different subjective consciousness, work fatigue or other factors, resulting in differences in test results. In order to avoid the above problems, optical detection is often used instead of manual visual inspection. However, in order to detect a circuit board using a conventional optical detecting device, it is necessary to obtain a static board picture and analyze it while the board is stationary. When the board is transported on the production line, if it is necessary to stop the board to detect the board, the productivity will be reduced. In addition, since the layout of most circuit boards is very complicated, if the conventional optical detection method is used, it is easy to analyze errors by taking the image of the positive light source of the circuit board for analysis.

The present disclosure provides an image positioning method and apparatus for capturing an image of the object while the object is moving, thereby obtaining the object and design in the image. The coordinate conversion relationship between the objects in the file.

The present disclosure proposes an image localization method. The method includes the following steps. The first image, the second image, and the third image of the object are captured at different time points, wherein the object includes a first light transmitting portion and a second light transmitting portion. The moving speed of the object is calculated by the position of the first light transmitting portion in the first image and the second image and the interval between the first image and the second image. Using the position of the first light transmitting portion and the second light transmitting portion in the first image or the second image, and using the moving speed of the object, obtaining the object in the third image and the object in the design file The first coordinate conversion relationship between. Using the design file and the first coordinate conversion relationship, the corresponding position of the component in the design file in the third image is obtained to locate the component.

The present disclosure proposes an image positioning device. The device includes an image capture unit and a calculation unit. The image capturing unit captures the first image, the second image, and the third image of the object at different time points, wherein the object includes a first light transmitting portion and a second light transmitting portion. The computing unit is coupled to the image capturing unit to receive the first image, the second image, and the third image, wherein the calculating unit uses the position of the first light transmitting portion in the first image and the second image, and the first image and the second image The interval between images is used to calculate the moving speed of the object. The calculating unit uses the position of the first light transmitting portion and the second light transmitting portion in the first image or the second image, and uses the moving speed of the object to obtain the object in the third image and the object in the design file. The first coordinate conversion relationship between the two. The computing unit uses the design file and the first coordinate conversion relationship to obtain a corresponding position of the component in the design file in the third image to locate the component.

Based on the above, the image positioning method and the device proposed by the embodiments of the present disclosure The device can be used to capture different images of the object at different time points, such as a first image, a second image, and a third image. The first image and the second image may be used to find the position of the first light transmitting portion of the object and calculate the moving speed of the object. Obtaining the object in the third image and the object in the design file by using the position of the first light transmitting portion and the second light transmitting portion in the first image or the second image, and using the moving speed of the object Coordinate conversion relationship between people. By using the design file and the coordinate conversion relationship, the corresponding position of the components in the design file in the third image can be obtained to locate the component.

In order to make the above features of the present disclosure more apparent, the following embodiments are described in detail with reference to the accompanying drawings.

100‧‧‧Image Positioning Device

102‧‧‧Image capture unit

104‧‧‧Computation unit

106, 601‧‧‧ circuit board

108‧‧‧Conveyor belt

110, 112, 114‧‧‧Lighting diodes

116‧‧‧Diffuser

118, 140‧‧‧ Backlit images

120‧‧‧正光影像

122‧‧‧First light transmission department

124‧‧‧First estimated position

126‧‧‧Second light transmission department

128‧‧‧ second estimated position

420‧‧‧First backlit image

421, 422, 423, 441, 442, 443, 461, 462, 463‧‧ ‧ light transmission position

440‧‧‧Second backlit image

460‧‧‧正光影像

464‧‧‧Small search area

502‧‧‧ components

504‧‧‧Transmission Department

602‧‧‧First Vehicle

604‧‧‧Second Vehicle

612, 614‧‧‧ positioning holes

622, 624‧‧ ‧Lighting Department

L1, L2‧‧‧ distance

S202~S206, S302~S308, S502~S532‧‧‧ steps

‧‧‧‧ angle

FIG. 1 is a schematic diagram of an image positioning apparatus according to an embodiment of the present disclosure.

FIG. 2 is a flowchart illustrating an image positioning method according to an embodiment of the disclosure.

FIG. 3 is a flowchart illustrating an image positioning method according to still another embodiment of the present disclosure.

4 is a schematic diagram illustrating different images of objects captured at different points in time according to an embodiment of the disclosure.

FIG. 5 is a flowchart illustrating an image positioning method according to another embodiment of the disclosure. Figure.

FIG. 6 is a schematic diagram of an image localization method according to still another embodiment of the present disclosure.

FIG. 7 is a schematic diagram of a scenario for capturing an image according to an embodiment of the disclosure.

FIG. 8 is a schematic view showing a circuit board disposed on a carrier having a light transmitting portion according to an embodiment of the present disclosure.

FIG. 9 is a schematic view showing a carrier in which a circuit board is disposed with a light transmitting portion according to another embodiment of the present disclosure.

The term "coupled" as used throughout the specification (including the scope of the patent application) may be used in any direct or indirect connection. For example, if the first device is described as being coupled to the second device, it should be construed that the first device can be directly connected to the second device, or the first device can be connected through other devices or some kind of connection means. Connected to the second device indirectly. In addition, wherever possible, the elements and/ Elements/components/steps that use the same reference numbers or use the same terms in different embodiments may refer to the related description.

The following embodiments of the present disclosure provide an image positioning method and apparatus that can capture different images (eg, a backlit image and a positive light image) of an object (eg, a circuit board or other product) in a moving state at different points in time. Use the backlit shadow of the analyzed object The position of the first light transmitting portion of the object in the backlight image can be found. By using the position of the first light transmitting portion in the backlight image and the moving speed of the object, a coordinate conversion relationship between the object in the positive light image and the object in the design file can be obtained. The coordinate conversion relationship can be applied to an appearance detection analysis of the object or other line inspection procedures.

FIG. 1 is a schematic diagram of an image positioning apparatus 100 according to an embodiment of the present disclosure. The image positioning device 100 includes an image capturing unit 102 and a computing unit 104. The image localization device 100 is, for example, an optical detection device disposed on a production line, or other system/device that can be used to detect a product in a moving state. The image capturing unit 102 can be a camera, a monitor, a digital camera, or any device having an image capturing function. The computing unit 104 is coupled to the image capturing unit 102. The computing unit 104 can be a notebook computer, a personal computer, a workstation, a tablet computer, or other computing device.

In the present embodiment, the object to be detected is exemplified as the circuit board 106, as shown in FIG. Circuit board 106 is conveyed via conveyor belt 108. At least one light source is disposed in front of the circuit board 106. For example, the light emitting diodes (LEDs) 110 and 112 are respectively disposed above and/or below the image capturing unit 102. The LED 110 is disposed above the image capturing unit 102, and the LED 112 is disposed between the image capturing unit 102 and the circuit board 106. The LED 110 and the LED 112 can selectively configure the diffusion plate. The LED 110 and the LED 112 are used as a positive light source for use in capturing a positive light image of the circuit board 106. Below the circuit board 106 is disposed at least one light source, such as the LED 114 shown in FIG. LED 114 is used as a backlight used when capturing a backlit image of the circuit board 106. In addition to this, a diffusion plate 116 is further disposed above the LED 114. The light of the LED 114 is more uniform after passing through the diffuser 116.

When the circuit board 106 performs the appearance detection, by controlling the LED 110, the LED 112 and/or the LED 114 to be turned off or on, the image capturing unit 102 can respectively capture the backlight image 118 of the circuit board 106 in the moving state at different time points. And the positive light image 120 is stored in the computing unit 104. For example, in some embodiments, the LEDs 114 are continuously illuminated during the transport of the circuit board 106 via the conveyor belt 108, so that the image capture unit 102 can capture the backlit image of the circuit board 106 while the LEDs 110 and LEDs 112 are off. 118, while the image capturing unit 102 can capture the positive light image 120 of the circuit board 106 while the LED 110 and the LED 112 are turned on. For another example, in other embodiments, the LED 114 is turned on during the period when the LED 110 and the LED 112 are turned off, so the image capturing unit 102 can capture the backlight image 118 of the board 106 in a moving state; and at the LED 110 and the LED 112. The LED 114 is turned off during the turn-on period, so the image capturing unit 102 can capture the positive light image 120 of the board 106 in a moving state.

On the other hand, the computing unit 104 can read the design file of the circuit board 106 from the storage medium (for example, the production specification file of the circuit board 106, also known as the fab file). The design file of the circuit board 106 contains detailed information of the circuit board 106 in the manufacturing process, such as: connection relationship of all components on the circuit board 106, component contact position, component specifications, component position, and/or component and circuit. The distance between the boundaries of the board 106 and the like. In this embodiment, the image positioning apparatus 100 is not limited to application only. On the circuit board 106, it can also be applied to electronic parts or other moving objects to be tested.

FIG. 2 is a flowchart illustrating an image positioning method according to an embodiment of the disclosure. The respective steps in this embodiment will be described below in conjunction with the respective units of FIG. Referring to FIG. 1 and FIG. 2 simultaneously, in step S202, during the process of transporting the circuit board 106 via the conveyor belt 108, the image capturing unit 102 captures the backlight image and the positive light image of the circuit board 106 at different time points. For example, by controlling the LED 110, LED 112, and/or LED 114 to be turned off or on, the image capture unit 102 can capture a backlight image 118 of the circuit board 106 illuminated by a backlight (eg, LED 114) at a first point in time. As the backlight image, a positive light image 120 of the circuit board 106 illuminated by a positive light source (for example, LED 110 and/or LED 112) is taken as the positive light image at a second time point. The first time point may be earlier than the second time point. In other embodiments the first point in time may be later than the second point in time.

The circuit board 106 includes at least one light transmitting portion, such as the first light transmitting portion 122 and the second light transmitting portion 126 shown in FIG. The first light transmitting portion 122 and the second light transmitting portion 126 may be a through hole of the circuit board 106 or other light transmissive portions on the circuit board (for example, a positioning hole, a screw hole or an electrical component) Jack). The backlight image 118 can provide a high contrast (high contrast) image, so that the computing unit 104 can easily distinguish the positions of the first light transmitting portion 122 and the second light transmitting portion 126 in the backlight image 118. In other embodiments, in order to make the computing unit 104 more easily recognize the light transmitting portions 122 and 126 in the backlight image 118, the computing unit 104 may be opposite to the backlight. The image 118 is binarized to enhance the contrast of the image.

In some applications, the speed of movement of the conveyor belt 108 can be adjusted to the needs of the user. That is, the moving speed of the conveyor belt 108 (i.e., the moving speed of the circuit board 106) can be known in advance, and the moving speed of the circuit board 106 is input to the calculating unit 104. Therefore, in step S204, the image localizing apparatus 100 can provide the moving speed of the circuit board 106 on the conveyor belt 108. In other embodiments, when the moving speed of the circuit board 106 cannot be known and provided in advance, the moving speed of the circuit board 106 on the conveyor belt 108 can be known by other means, and the detailed manner will be described in detail later.

Next, in step S206, the calculation unit 104 can utilize the position of the first light transmitting portion 122 and/or the second light transmitting portion 126 of the circuit board 106 in the backlight image (for example, the backlight image 118 shown in FIG. 1), and utilize The speed of movement of the circuit board 106 results in a first coordinate conversion relationship between the circuit board 106 in the positive light image (e.g., the positive light image 120 shown in FIG. 1) and the circuit board 106 in the design file (e.g., fab file).

In the following, in detail, in step S206, the calculation unit 104 obtains the first between the circuit board 106 in the positive light image (for example, the positive light image 120 shown in FIG. 1) and the circuit board 106 in the design file (for example, the fab file). A standard conversion relationship. Referring to FIG. 1 , the calculation unit 104 can estimate the position of the first light transmitting portion 122 of the circuit board 106 in the backlight image 118 and the moving speed of the circuit board 106 to calculate the first light transmitting portion 122 of the circuit board 106 in the positive light. The first estimated position 124 in the image 120. By analogy, the calculation unit 104 can calculate the position of the second light transmitting portion 126 of the circuit board 106 in the backlight image 118 and the moving speed of the circuit board 106. The second light transmitting portion 126 of the output circuit board 106 is at an estimated position 128 in the positive light image 120. Next, the calculating unit 104 compares the first estimated position 124 in the positive light image 120 with the position of the first light transmitting portion 122 of the circuit board 106 in the design file to obtain the circuit board 106 and the design file in the positive light image 120. The second coordinate conversion relationship between the boards 106 in the middle. In an ideal state, the first estimated position 124 in the positive light image 120 should be the actual position of the first light transmitting portion 122 of the circuit board 106 in the positive light image 120. Therefore, the calculating unit 104 can directly use the second coordinate conversion relationship. The first coordinate conversion relationship described in step S206 in FIG. In an actual operating environment, a variability event may occur during movement of the board 106 from the first time point to the second time point (eg, the board 106 is slightly rotated/moved due to vibration of the conveyor belt 108), There may be a positional error between the first estimated position 124 in the positive light image 120 and the actual position of the first light transmitting portion 122 of the circuit board 106 in the positive light image 120. If the position error is within the allowable range, the calculation unit 104 can directly use the second coordinate conversion relationship as the first coordinate conversion relationship described in step S206 of FIG.

In general, the circuit layout of the circuit board 106 is very complicated, and the components are arranged very closely. It may take a lot of time for the computing unit 104 to accurately recognize the correct position of the light transmitting portion of the circuit board 106 in the positive light image 120 captured by the image capturing unit 102, especially when the circuit board 106 has more than one light transmission. Ministry time.

Therefore, when the circuit board 106 has a plurality of light transmitting portions, in an embodiment of the present disclosure, since the computing unit 104 can obtain the circuit in the design file of the circuit board 106 The plurality of light transmitting portions of the plate 106 are coordinate. Therefore, by using the second coordinate conversion relationship, the calculating unit 104 estimates a plurality of projections of the plurality of light transmitting portions in the positive light image 120 according to the plurality of light transmitting portions of the circuit board 106 at a plurality of coordinate positions of the design file. position. After calculating a plurality of estimated positions of the plurality of light transmitting portions in the positive light image 120, the calculating unit 104 may define a plurality of small searches according to the plurality of light emitting portions of the circuit board 106 in the plurality of estimated positions in the positive light image 120. region. Next, the calculation unit 104 performs an actual light transmission portion image search in a plurality of small search regions in the positive light image 120 to find the actual position of the light transmitting portions of the circuit board 106 in the positive light image 120.

Due to the vibration of the conveyor belt 108 or other factors, the plurality of light transmitting portion estimation positions calculated by the calculating unit 104 are not necessarily the actual positions of the plurality of light transmitting portions in the circuit board 106 in the positive light image 120. In any event, the estimated positions of the light transmissive portions in the positive light image 120 are still important clues for finding the actual position of the light transmissive portions in the positive light image 120. Therefore, the calculating unit 104 can respectively define a plurality of small search regions according to the estimated positions of the light transmitting portions in the positive light image 120 to accelerate the finding of the actual positions of the light transmitting portions in the positive light image 120. For example, the calculation unit 104 may calculate the estimated position of one of the light transmitting portions of the light-transmitting portions in the positive light image 120 as the center of a small search region, and multiply the radius of the one of the light-transmitting portions by A preset magnification (for example, 10 times) is used as the radius of the small search area. The computing unit 104 may perform image analysis in the small search area to search for the actual position of the one of the light transmitting portions in the positive light image 120. Other light transmitting portions of the circuit board 106 may also refer to the correlation of one of the light transmitting portions. The description is to find the actual position in the positive light image 120. In this embodiment, the user can adjust the range of the small search area according to actual needs. If the actual position of the light transmitting portion of the circuit board 106 cannot be searched through the image processing in the plurality of small search areas of the positive light image 120, the calculating unit 104 may directly use the second coordinate conversion relationship as the second coordinate conversion relationship in FIG. The first coordinate conversion relationship described in step S206.

On the other hand, if the computing unit 104 searches for the actual position of the light transmitting portion of the circuit board 106 in the plurality of small search areas, the calculating unit 104 compares the light transmitting portions of the circuit board 106 in the positive light image 120. The actual position and the position of the plurality of light transmissive portions of the circuit board 106 in the design file to obtain the first coordinate conversion relationship between the circuit board 106 in the positive light image 120 and the circuit board 106 in the design file. .

When the circuit board 106 is in the process of transportation, the direction angle of the circuit board 106 on the conveyor belt 108 may be changed due to vibration of the machine table or other external force factors, thereby causing the direction angle of the circuit board 106 in the backlight image 118. There is an error between the direction angle of the board 106 in the positive light image 120. The calculating unit 104 can obtain the position of the first light transmitting portion 122 and the second light transmitting portion 126 of the circuit board 106 in the backlight image 118, and then the calculating unit 104 uses the first light transmitting portion 122 and the second light transmitting portion 126 in the backlight. The position in the image 118 and the moving speed of the circuit board 106 are used to calculate the first estimated position 124 and the second estimated position 128 of the first light transmitting portion 122 and the second light transmitting portion 126 in the positive light image 120 (please refer to Corresponding description of step S206 and the like). The calculating unit 104 compares the first light transmitting portion 122 and the second light transmitting portion 126 of the circuit board 106 in the first estimated position 124 and the second in the positive light image 120. Calculating the position of the first light transmitting portion 122 and the second light transmitting portion 126 in the design file, and calculating the position and direction angle of the circuit board 106 in the positive light image 120 according to the comparison result, and further obtaining the positive light image 120 The first coordinate conversion relationship between the circuit board 106 and the circuit board 106 in the design file.

On the other hand, after obtaining the first coordinate conversion relationship, the calculation unit 104 can utilize the position information of the components in the design file (such as the relative positional relationship between the component and the light transmitting portion, or the position coordinate of the component in the design file) and the above The first mark conversion relationship is to obtain the corresponding position of the component in the design file in the positive light image 120, and is positioned (for example, in a projection manner) into the positive light image 120.

In summary, the contrast between the positioning features of the circuit board 106 and the surrounding area in the positive light image 120 is not sufficiently large, so that the positioning features of the circuit board 106 in the positive light image 120 are less likely to be found. The above embodiment utilizes the backlight image 118 to quickly find the light transmitting portion of the circuit board 106. Moreover, if the image capture unit 102 is used to capture the entire circuit board 106 image from the upper perspective, some of the positioning features may be obscured by adjacent or upper components and the positioning features may not be easily found. Since the shielding is generally not present above the light transmitting portion feature, the above embodiment can quickly find the light transmitting portion as the positioning feature by using the backlight image 118. When the image positioning device 100 can know the moving speed of the circuit board 106 in advance, the calculating unit 104 can quickly obtain the light transmitting portion of the circuit board 106 in the positive light image 120 according to the position of the light transmitting portion of the circuit board 106 in the backlight image 118. The position, in turn, obtains a first coordinate conversion relationship between the circuit board 106 in the positive light image 120 and the circuit board 106 in the design file (eg, the fab file). The first coordinate conversion relationship can be applied to the appearance detection analysis of the circuit board 106 or other production line inspection. Check the program. The backlight image 118 and the positive light image 120 can be respectively captured at different time points. Therefore, when the circuit board 106 is in a moving state, the appearance and analysis of the circuit board 106 can be performed, the rotation angle of the circuit board can be detected, and/or The component information of the circuit board 106 is projected into the positive light image 120.

In another embodiment, when the image positioning apparatus 100 cannot know the moving speed of the circuit board 106 in advance, the image positioning apparatus 100 can calculate the moving speed of the circuit board 106 by performing the embodiment shown in FIG.

FIG. 3 is a flowchart illustrating an image positioning method according to still another embodiment of the present disclosure. 4 is a schematic diagram illustrating different images of objects captured at different points in time according to an embodiment of the disclosure. The embodiment shown in FIG. 4 can be analogized with reference to the related description of FIG. 1. Referring to FIG. 3 and FIG. 4 simultaneously, during the process of transporting the circuit board 106 via the conveyor belt 108, the image capturing unit 102 captures the first image, the second image, and the third image of the circuit board 106 at different time points. (Step S302). For example, the image capturing unit 102 can capture the backlight image 118 and the backlight image 140 of the circuit board 106 as the first image and the second image, respectively, at the first time point and the second time point, and The positive light image 120 of the circuit board 106 is captured as the third image at three time points. For example, by controlling the LED 110, LED 112, and/or LED 114 to be turned off or on, the image capture unit 102 can capture a backlight image 118 of the circuit board 106 illuminated by a backlight (eg, LED 114) at a first point in time. And photographing the backlight image 140 of the circuit board 106 illuminated by the backlight (LED 114) at a second time point, and capturing the circuit illuminated by the positive light source (eg, LED 110 and/or LED 112) at a third point in time A positive light image 120 of the plate 106.

It should be noted that, in this embodiment, the order of the first time point, the second time, and the third time point is not limited. For example, the first time point may be earlier than the second time point, and the second time point may be earlier than the third time point. In another embodiment, the first time point may be later than the second time point, and the second time point may be later than the third time point. In other embodiments, the second time point may be later than the third time point, and the third time point may be later than the first time point.

In step S304, the computing unit 104 can calculate the circuit board 106 by using the first light transmitting portion 122 of the circuit board 106 at the position of the backlight image 118 and the backlight image 140, and the interval between the backlight image 118 and the backlight image 140. The speed of movement. In another embodiment, the computing unit 104 can also calculate the position of the backlight image 118 and the backlight image 140 by using the second light transmitting portion 126 of the circuit board 106, and the interval between the backlight image 118 and the backlight image 140. The speed of movement of the circuit board 106.

Next, in step S306, the calculation unit 104 obtains the position of the backlight image 118 and the backlight image 140 by using the first light transmitting portion 122 and the second light transmitting portion 126, and obtaining the positive light image 120 by using the moving speed of the circuit board 106. The first coordinate conversion relationship between the circuit board 106 and the circuit board 106 in the design file (e.g., fab file). Finally, in step S308, the computing unit 104 obtains the corresponding position of the component in the design file in the positive light image 120 to locate the component by using the design file and the first coordinate conversion relationship. For example, the computing unit 104 can utilize the position information of components in the design file (such as the relative positional relationship between the component and the light transmitting portion, or the component in the design). The position coordinates of the gears and the first coordinate conversion relationship described above are obtained to obtain corresponding positions of the components in the design file in the positive light image 120, and are positioned (for example, in a projection manner) into the positive light image 120.

How the calculation unit 104 obtains the first coordinate conversion relationship will be described in detail below in step S306. Referring to FIG. 4 , the calculation unit 104 can utilize the first light transmitting portion 122 and the second light transmitting portion 126 in the backlight image 140 (or the first light transmitting portion 122 and the second light transmitting portion 126 in the backlight image 118 can be utilized. The position of the circuit board 106 and the moving speed of the circuit board 106 are used to estimate the first estimated position 124 and the second estimated position 128 of the first light transmitting portion 122 and the second light transmitting portion 126 of the circuit board 106 in the positive light image 120. Next, the calculating unit 104 compares the first estimated position 124 and the second estimated position 128 in the positive light image 120 with the positions of the first light transmitting portion and the second light transmitting portion of the circuit board 106 in the design file to obtain A second coordinate conversion relationship between the circuit board 106 in the positive light image 120 and the circuit board 106 in the design file.

In an ideal state, the first estimated position 124 and the second estimated position 128 in the positive light image 120 should be the actual positions of the first light transmitting portion 122 and the second light transmitting portion 126 of the circuit board 106 in the positive light image 120. The calculation unit 104 can directly use the second coordinate conversion relationship as the first coordinate conversion relationship described in step S306 in FIG. In an actual operating environment, a variability event may occur during movement of the board 106 from the first time point to the third time point (eg, the board 106 is slightly rotated/moved due to vibration of the conveyor belt 108) The first estimated position 124 and the second estimated position 128 in the positive light image 120 and the actual position of the first light transmitting portion 122 and the second light transmitting portion 126 of the circuit board 106 in the positive light image 120 are two. There may be positional errors between the two. If the position error is within the allowable range, the calculation unit 104 can directly use the second coordinate conversion relationship as the first coordinate conversion relationship described in step S306 of FIG.

Alternatively, in other embodiments, step S306 in FIG. 3 may include the following sub-steps. By using the second coordinate conversion relationship, the calculation unit 104 can calculate a plurality of the light-transmitting portions of the circuit board 106 in the positive light image 120 according to the coordinates of the plurality of light-transmitting portions of the circuit board 106 in the design file. Estimate the location. The computing unit 104 may define a plurality of small search regions depending on the plurality of estimated positions of the light transmitting portions of the circuit board 106 in the positive light image 120. The calculation unit 104 can perform a "light transmission portion image search" in the plurality of small search regions in the positive light image 120 to find a plurality of actual positions of the light transmission portions of the circuit board 106 in the positive light image 120. The computing unit 104 can compare the plurality of actual positions of the light transmitting portions of the circuit board 106 in the positive light image 120 and the positions of the light transmitting portions of the circuit board 106 in the design file to obtain step S306 in FIG. The first coordinate conversion relationship. The actual position of the light transmitting portion in the positive light image 120 is found here, and can be analogized with reference to the related description of FIG. 6.

FIG. 5 is a flowchart illustrating an image positioning method according to another embodiment of the disclosure. Steps S202, S204, and S206 shown in FIG. 5 can be analogized with reference to the related description of the embodiment shown in FIG. 2. In the embodiment shown in FIG. 5, step S202 includes sub-steps S502, S504, S506, S508, and S520, step S204 includes sub-steps S510, S512, S514, S516, and S518, and step S206 includes sub-steps S522, S524, and S526. , S528 and S530. In addition, the steps shown in Figure 5 S202, step S204 and step S206 may also be referred to the descriptions of step S302, step S304 and step S306 shown in FIG. 3 respectively. Figure 5 can be seen as a detailed implementation example of the various embodiments of the flow chart shown in Figure 3.

FIG. 6 is a schematic diagram of an image localization method according to still another embodiment of the present invention. The first backlight image 420, the second backlight image 440, and the positive light image 460 shown in FIG. 6 can be analogized with reference to the related descriptions of the backlight image 118, the backlight image 140, and the positive light image 120 shown in FIG. Referring to FIG. 4, FIG. 5 and FIG. 6, in the embodiment, the object to be tested may be the circuit board 106 or the assembly of the circuit board 106 and its carrier. In step S502, the image capturing unit 102 captures the first image of the circuit board 106 at the first time point (for example, the first backlight image 118 of the circuit board 106 shown in FIG. 4 or the second backlight image 420 shown in FIG. And transmitting the first backlit image 420 to the computing unit 104. In step S504, the calculation unit 104 may perform binarization processing on the first backlight image 420 to make the contrast of the image clearer. Next, the calculating unit 104 can find the position of the light transmitting portion of the circuit board 106 from the binarized backlight image in step S506, and determine the number of light transmitting portions found in the first backlight image 420. If the calculation unit 104 cannot find more than two light transmitting portions in step S506, the process returns to step S502, that is, the image capturing unit 102 retrieves the first backlight image 420 of the circuit board 106.

If the calculation unit 104 finds two or more light transmissive portions in the binarized first backlight image 420 (for example, 421, 422, and 423 shown in FIG. 6 respectively indicate the circuit board 106 in the first backlight image 420. The calculation unit 104 proceeds to step S508 when the position of the light transmitting portion, the second light transmitting portion and the third light transmitting portion. In step In step S508, the calculating unit 104 compares the position 421 of the first light transmitting portion, the position 422 of the second light transmitting portion, and/or the position 423 of the third light transmitting portion in the first backlight image 420 to the design file (for example, fab) Positions of the first light transmitting portion, the second light transmitting portion, and/or the third light transmitting portion of the circuit board 106 in the file) to obtain the circuit board 106 in the first backlight image 420 and the circuit board 106 in the design file The third coordinate conversion relationship between the two. For example, the distance L1 between the position 421 of the first light transmitting portion and the position 422 of the second light transmitting portion in the first backlight image 420 may serve as a positioning feature of the circuit board 106 and/or a position 421 of the first light transmitting portion. The distance L2 from the position 423 of the third light transmitting portion may serve as a positioning feature of the circuit board 106, and/or by the position 421 of the first light transmitting portion, the position 422 of the second light transmitting portion, and the third light transmitting portion. The angle α between the positions 423 of the portions can be used as a positioning feature of the circuit board 106. The computing unit 104 can find the position of the light transmitting portion that meets the positioning feature in the design file of the circuit board 106 to obtain a third between the circuit board 106 in the first backlight image 420 and the circuit board 106 in the design file. Coordinate conversion relationship.

In step S510, the image capturing unit 102 captures the second image of the circuit board 106 at a second time point (for example, the second backlight image 140 of the circuit board 106 shown in FIG. 4 or the second backlight image 440 shown in FIG. 6 And transmitting the second backlit image 440 to the computing unit 104. In step S512, the calculation unit 104 may perform binarization processing on the second backlight image 440. Next, the calculating unit 104 may find the position of the light transmitting portion of the circuit board 106 via the binarized second backlight image 440 in step S514, and determine the number of the light transmitting portions found in the second backlight image 440. . If the calculation unit 104 cannot find more than two light transmitting portions in step S514, it returns to In step S502, the image capturing unit 102 retrieves the first backlight image 420 and the second backlight image 440 of the circuit board 106. If the calculation unit 104 finds two or more light transmitting portions in the binarized second backlight image 440 (for example, 441, 442, and 443 shown in FIG. 6 respectively indicate the circuit board 106 in the second backlight image 440. The calculation unit 104 proceeds to step S516 when the position of the light transmitting portion, the second light transmitting portion and the third light transmitting portion.

In step S516, the calculation unit 104 compares the position 441 of the first light transmitting portion, the position 442 of the second light transmitting portion, and/or the position 443 of the third light transmitting portion of the circuit board 106 in the second backlight image 440. The position of the first light transmitting portion, the second light transmitting portion, and/or the third light transmitting portion of the circuit board 106 in the design file (for example, the fab file) to obtain the circuit board 106 and the design file in the second backlight image 440 The circuit board 106 has a fourth coordinate conversion relationship between the two. For example, the distance L1 between the position 441 of the first light transmitting portion and the position 442 of the second light transmitting portion in the second backlight image 440 may serve as a positioning feature of the circuit board 106 and/or a position 441 of the first light transmitting portion. The distance L2 from the position 443 of the third light transmitting portion may serve as a positioning feature of the circuit board 106, and/or by the position 441 of the first light transmitting portion, the position 442 of the second light transmitting portion, and the third light transmitting portion. The angle α between the positions 443 of the portions can be used as a positioning feature of the circuit board 106. The computing unit 104 can find the location of the light transmissive portion in the design file of the circuit board 106 that meets the above-described positioning features to obtain a fourth between the circuit board 106 in the second backlight image 440 and the circuit board 106 in the design file. Coordinate conversion relationship.

On the other hand, offset or vibration may occur during the transport of the circuit board 106 on the conveyor belt 108. In step S508 and step S516, the calculation list The first backlight image 420 and the second backlight image 440 are coordinate-converted with the design file to determine a plurality of transparent portions of the first backlight image 420 and the second backlight image 440. Corresponding relationship between the light portions (for example, determining whether the light transmitting portion at the position 421 in the first backlight image 420 is the same as the light transmitting portion at the position 441 in the second backlight image 440) to increase the calculation unit 104 to calculate the circuit board The accuracy of the movement speed of 106.

The calculating unit 104 uses the position of the light transmitting portion of the circuit board 106 in the first backlight image 420, the position of the same light transmitting portion in the second backlight image 440, and the first backlight image 420 and the shooting in step S518. The interval between the second backlight images 440 calculates the moving speed of the circuit board 106.

Next, in step S520, the image capturing unit 102 captures a third image of the circuit board 106 at a third time point (for example, the positive light image 120 of the circuit board 106 shown in FIG. 4 or the positive light image 460 shown in FIG. 6). The sequence of the image of the capture circuit board 106 in the embodiment shown in FIG. 5 is sequentially the first image (for example, the first backlight image 420 shown in FIG. 6) and the second image (for example, the second backlight image 440 shown in FIG. 6). The three images (such as the positive light image 460 shown in FIG. 6), however, the order in which the image of the circuit board 106 is captured in other embodiments is not limited thereto. For example, in other embodiments, the sequence of capturing the image of the circuit board 106 may be sequentially the first image (eg, the first backlight image 420 shown in FIG. 6) and the third image (such as the positive light image 460 shown in FIG. 6). A second image (such as the second backlit image 440 shown in Figure 6). For example, in other embodiments, the sequence of capturing the image of the circuit board 106 may be a third image (such as the positive light image 460 shown in FIG. 6) and a first image (such as the first backlight image 420 shown in FIG. 6). Second image (For example, the second backlight image 440 shown in FIG. 6).

In step S522, the computing unit 104 can utilize the position of the at least two light transmissive portions of the circuit board 106 in the first backlight image 420 (or the second backlight image 440), and utilize the circuit board 106 calculated in step S518. The moving speed is used to estimate the position of the at least two light transmitting portions in the positive light image 460. For example, by using the moving speed of the circuit board 106 calculated in step S518, the calculating unit 104 can determine the position of the first light transmitting portion and the position of the second light transmitting portion of the circuit board 106 in the second backlight image 440. 442 and the position 443 of the third light transmitting portion are used to estimate the estimated positions of the first light transmitting portion, the second light transmitting portion, and the third light transmitting portion of the circuit board 106 in the positive light image 460.

Next, the calculating unit 104 compares the estimated position of the light transmitting portion of the circuit board 106 in the positive light image 460 and the position of the light transmitting portion in the design file in step S522, and calculates the circuit board in the positive light image 460 according to the comparison result. The position and orientation angle of 106, and thus the second coordinate conversion relationship between the circuit board 106 in the positive light image 460 and the circuit board 106 in the design file. For example, the calculation unit 104 compares the position 461 of the first light transmitting portion of the circuit board 106 with the position 462 of the second light transmitting portion in the positive light image 460 to the first light transmitting portion and the second portion of the circuit board 106 in the design file. Position of the light transmissive portion to calculate the position and orientation angle of the circuit board 106 in the positive light image 460, and thereby obtain a second coordinate conversion between the circuit board 106 in the positive light image 460 and the circuit board 106 in the design file relationship.

Since the plurality of light-transmitting portion estimation positions calculated by the calculation unit 104 may not match the position of the actual light-transmitting portion in step S522. Anyway, in a positive light image The estimated positions of these light transmissive portions in 460 are still important clues for finding the actual position of these light transmissive portions in the positive light image 460. Therefore, in step S524, the calculating unit 104 derives the plurality of light transmitting portions of the circuit board 106 in the positive light image 460 according to the position of the plurality of light transmitting portions of the circuit board 106 in the design file by using the second coordinate conversion relationship. Multiple inferred locations in . Next, the calculating unit 104 defines a plurality of small search regions according to the plurality of estimated positions of the plurality of light transmitting portions of the circuit board 106 in the positive light image 460 in step S522, and respectively in the positive light image 460 The light transmissive portion image search is performed in a small search area to find a plurality of actual positions of the plurality of light transmitting portions of the circuit board 106 in the positive light image 460.

For example, the calculation unit 104 may treat the estimated position of the third light transmitting portion in the positive light image 460 as the center of a small search area 464, and multiply the radius of the third light transmitting portion by a preset magnification (for example, 10 times). The radius of the small search area 464. The calculation unit 104 may perform image analysis in the small search area 464 to search for the actual position 463 of the third light transmitting portion in the positive light image 460. The other light transmitting portions of the circuit board 106 can also find the actual position in the positive light image 460 with reference to the related description of the third light transmitting portion.

In step S526, the calculation unit 104 may determine the number of light transmitting portions of the circuit board 106 in the positive light image 460 found in step S524. If the calculation unit 104 determines that the number of the light transmitting portions found in step S524 is less than two, the calculation unit 104 proceeds to step S528. In step S528, the calculation unit 104 directly uses the second coordinate conversion relationship obtained in step S522 as the application conversion relationship (i.e., the first coordinate conversion relationship described in step S206 in Fig. 2). On the other hand, if it is a calculation unit 104 determines in step S526 that the number of light transmitting portions found in the positive light image 460 is greater than or equal to 2, and the calculating unit 104 proceeds to step S530. In step S530, the computing unit 104 compares the plurality of transparent portions of the circuit board 106 at a plurality of actual positions in the positive light image 460 (for example, positions 461, 462, and 463 shown in FIG. 6) and a plurality of transparent portions of the circuit board 106. The position of the light portion in the design file to obtain a coordinate conversion relationship between the circuit board 106 in the positive light image 460 and the circuit board 106 in the design file (ie, the first coordinate conversion relationship described in step S206 in FIG. 2) .

Next, in step S532, the calculating unit 104 can use the position information of a component in the design file (such as the relative positional relationship between the component and the light transmitting portion, or the position coordinate of the component in the design file) and the application conversion relationship (ie, the figure) The first coordinate conversion relationship of step S206 is performed to obtain a corresponding position of the component in the design image in the positive light image 460, and is positioned (for example, in a projection manner) into the positive light image 460. By comparing the component information in the file design with the positive light image 460 of the circuit board 106 and the circuit board 106, the appearance of the circuit board 106 can be detected and various analysis/inspection can be performed. For example, the calculation unit 104 can check/analyze the partial image of the corresponding position of the positive light image 460 according to the design file, and further know whether the component on the circuit board 106 is missing, or whether the component pin is connected incorrectly, or the pin is connected. Whether the solder joint is empty. On the other hand, since the image positioning method and apparatus proposed in the embodiment are in the process of transporting the circuit board 106, the detection can be performed. Therefore, the detection process does not have any influence on the production line transportation, and the problem that the conventional detection method must stop the circuit board 106 during the detection process and cause delay in the production line is improved.

It is particularly noteworthy that when the image capture device 102 is capturing the circuit board After the image of 106, the calculation unit 104 can take a light transmitting portion having a complete light transmitting portion area for positioning. Therefore, it is assumed that some of the light transmitting portions are shielded by other components on the circuit board 106 during image capturing, and the positioning result is not affected. For example, FIG. 7 is a schematic diagram illustrating a captured image according to an embodiment of the disclosure. In FIG. 7, when the image capturing device 102 captures an image of the circuit board 106, the light transmitting portion 504 on the circuit board 106 is surrounded by a component 502 (for example, a capacitor, a resistor, or other components on the circuit board 106). Covered. At this time, the calculation unit 104 can determine that the light transmitting portion 504 does not have a complete light transmitting portion area, so that the light transmitting portion 504 is not positioned by the calculating unit 104 as the light transmitting portion.

In another embodiment, when the circuit board to be detected does not have a light transmitting portion, the circuit board to be detected may be disposed on a carrier having a light transmitting portion. For example, FIG. 8 is a schematic view showing a circuit board disposed on a carrier having a light transmitting portion according to an embodiment of the present disclosure. In FIG. 8, the object to be tested includes a circuit board 601 and a carrier 602. The circuit board 601 is a circuit board having insufficient transmittance or having no light transmitting portion. Circuit board 601 is carried on the carrier 602. The carrier 602 has at least one positioning hole (for example, positioning holes 612 and 614 shown in FIG. 8) as a light transmitting portion of the object to be tested. Therefore, the object to be tested (the circuit board 601 and the carrier 602) shown in FIG. 8 can be applied to the related description of FIGS. 1 to 7.

FIG. 9 is a schematic view showing a circuit board disposed on a carrier having a light transmitting portion according to another embodiment of the present disclosure. In FIG. 9, the object to be tested includes a circuit board 601 and a carrier 604. Circuit board 601 is carried on the carrier 604. The carrier 602 is provided with at least one light transmitting portion (for example, the light transmitting portions 622 and 624 shown in FIG. 8). Circuit board 601 It may not be stacked on the light transmitting portion 622 or may be partially stacked on the light transmitting portion 622. Therefore, the object to be tested (the circuit board 601 and the carrier 604) shown in FIG. 9 can be applied to the related description of FIGS. 1 to 7.

In summary, the image positioning method and device provided by the embodiments of the present disclosure can utilize the backlight image and the positive light image of the captured circuit board, and perform appearance detection analysis and detection circuit on the circuit board when the circuit board is in a moving state. The angle of rotation of the board and the component information in the positive image of the positioning board. The board moves on the conveyor belt, causing a slight rotation of the board due to vibration of the conveyor belt. The embodiments of the present disclosure utilize the light transmitting portion for positioning, and can detect the position and the rotation angle of the circuit board, thereby correcting the offset of the circuit board due to external force factors. On the other hand, the embodiments of the present disclosure utilize the position of the light-transmitting portion of the backlight image and the position of the design file (for example, the fab file) to locate the positive light image of the circuit board, so as to effectively solve the problem that the positive image of the circuit board is too complicated and difficult to analyze. The problem.

The present disclosure has been disclosed in the above embodiments, but it is not intended to limit the disclosure, and any person skilled in the art can make some changes and refinements without departing from the spirit and scope of the disclosure. The scope of protection of this disclosure is subject to the definition of the scope of the appended claims.

S302~S308‧‧‧Steps

Claims (19)

An image positioning method, the method comprising the steps of: capturing a first image, a second image, and a third image of an object at different time points, wherein the object includes a first light transmissive portion and a second light transmissive portion a light portion; calculating a moving speed of the object by using a position of the first light transmitting portion in the first image and the second image and an interval between the first image and the second image; using the first Obtaining the position of the light transmitting portion and the second light transmitting portion in the first image or the second image, and using the moving speed of the object, obtaining the object in the third image and the object in a design file a first coordinate conversion relationship between the two; and using the design file and the first coordinate conversion relationship to obtain a corresponding position of the component in the design file in the third image to locate the component. The image locating method of claim 1, wherein the step of capturing the first image, the second image, and the third image of the object at different time points comprises: at a first time point and a At the second time, the image of the object illuminated by a backlight is taken as the first image and the second image, and the first image and the second image are binarized; and at a third time The point is taken as an image of the object illuminated by a positive light source as the third image. The image localization method according to claim 1, wherein the obtaining The step of converting the first coordinate between the object in the third image and the object in the design file includes: using the first light transmitting portion and the second light transmitting portion at the first Calculating a position in the image or the second image, and using the moving speed of the object, estimating a first estimated position of the first light transmitting portion and the second light transmitting portion in the third image and a second calculation And a first estimated position and the second estimated position in the third image of the first light transmitting portion and the second light transmitting portion, and the first light transmitting portion and the second light transmitting portion A position in the design file to obtain a second coordinate conversion relationship between the object in the third image and the object in the design file. The image locating method of claim 3, wherein the step of obtaining the first coordinate conversion relationship between the object in the third image and the object in the design file further comprises: The second coordinate conversion relationship is directly used as the first coordinate conversion relationship. The image locating method of claim 3, wherein the step of obtaining the first coordinate conversion relationship between the object in the third image and the object in the design file further comprises: By using the second coordinate conversion relationship, a plurality of estimated positions of the light transmitting portions of the object in the third image are calculated according to coordinates of the plurality of light transmitting portions of the object in the design file; The light transmitting portions of the object define a plurality of small search regions in the plurality of estimated positions in the third image; Performing a light transmissive image search in the plurality of small search areas in the third image to find a plurality of actual positions of the light transmitting portions of the object in the third image; and comparing The plurality of actual positions of the light transmitting portions of the object in the third image and the positions of the light transmitting portions of the object in the design file to obtain the object in the third image and the The first coordinate conversion relationship between the objects in the design file. The image localization method of claim 1, wherein the step of obtaining the first coordinate conversion relationship between the object in the third image and the object in the design file comprises: utilizing Calculating a first estimated position of the first light transmitting portion in the third image by using a position of the first light transmitting portion in the first image or the second image and the moving speed of the object; a position of the second light transmitting portion in the first image or the second image and the moving speed of the object, and estimating a second estimated position of the second light transmitting portion in the third image; The first estimated position and the second estimated position of the light transmitting portion and the second light transmitting portion in the third image and the position of the first light transmitting portion and the second light transmitting portion in the design file And calculating a position and a direction angle of the object in the third image, and further obtaining the first coordinate conversion relationship between the object in the third image and the object in the design file. The image localization method according to claim 1, wherein the method further comprises: Obtaining a position of the first light transmitting portion and the second light transmitting portion in the first image and a position of the first light transmitting portion and the second light transmitting portion in the design file of the object a third coordinate conversion relationship between the object in the first image and the object in the design file; and comparing the first light transmitting portion and the second light transmitting portion in the second image a position and a position of the first light transmitting portion and the second light transmitting portion in the design file of the object to obtain between the object in the second image and the object in the design file A fourth coordinate conversion relationship. The image positioning method of claim 1, further comprising: projecting component information in the design file into the third image according to the first coordinate conversion relationship. An image locating device includes: an image capturing unit that captures a first image, a second image, and a third image of an object at different time points, wherein the object includes a first light transmitting portion and a first And a computing unit coupled to the image capturing unit to receive the first image, the second image, and the third image, wherein the computing unit utilizes the first light transmitting portion at the first Calculating a moving speed of the object by the position of the image and the second image and the interval between the first image and the second image; and using the first light transmitting portion and the second light transmitting portion An image or a position in the second image; and using the moving speed of the object to obtain a first coordinate conversion relationship between the object in the third image and the object in a design file; Use this design file as well The first coordinate conversion relationship obtains a corresponding position of an element in the design file in the third image to locate the component. The image capturing device of claim 9, wherein the image capturing unit respectively captures an image of the object illuminated by a backlight as the first image at a first time point and a second time point. The second image is used to capture an image of the object illuminated by a positive light source as a third image at a third time point; and wherein the computing unit binarizes the second image with the first image. The image locating device of claim 9, wherein the calculating unit uses the position of the first light transmitting portion and the second light transmitting portion in the first image or the second image, and utilizes the object The moving speed of the first light transmitting portion and the second light transmitting portion in a first estimated position and a second estimated position in the third image; and the calculating unit is opposite to the first light transmitting portion And the first estimated position and the second estimated position of the second light transmitting portion in the third image and the position of the first light transmitting portion and the second light transmitting portion in the design file to obtain the A second coordinate conversion relationship between the object in the third image and the object in the design file. The image localization device of claim 11, wherein the calculation unit directly uses the second coordinate conversion relationship as the first coordinate conversion relationship. The image locating device of claim 11, wherein the calculating unit calculates the object according to a coordinate of the plurality of light transmitting portions of the object in the design file by using the second coordinate conversion relationship The plurality of light-receiving portions are at a plurality of estimated positions in the third image; the calculating unit defines a plurality of small search regions according to the plurality of estimated positions in the third image according to the light-transmitting portions of the object; Unit division Performing a light transmissive image search in the plurality of small search areas in the third image to find a plurality of actual positions of the light transmitting portions of the object in the third image; and the calculating The unit is located at the plurality of actual positions of the light transmitting portions of the object in the third image and the positions of the light transmitting portions of the object in the design file to obtain the third image. The first coordinate conversion relationship between the object and the object in the design file. The image locating device of claim 9, wherein the calculating unit estimates the first position of the first light transmitting portion in the first image or the second image and the moving speed of the object The light transmitting portion is at a first estimated position in the third image; the calculating unit estimates the position by using the position of the second light transmitting portion in the first image or the second image and the moving speed of the object a second estimated position of the second light transmitting portion in the third image; and the calculating unit is different from the first estimated position of the first light transmitting portion and the second light transmitting portion in the third image a second estimated position and a position of the first light transmitting portion and the second light transmitting portion in the design file to calculate a position and a direction angle of the object in the third image, and further obtain the third image The first coordinate conversion relationship between the object and the object in the design file. The image locating device of claim 9, wherein the calculating unit is different from the first light transmitting portion and the second light transmitting portion in the first image and the first light transmitting portion a position of the second light transmitting portion in the design file of the object to obtain a third coordinate conversion relationship between the object in the first image and the object in the design file; and the calculating unit Compared to the first light transmissive portion a position of the second light transmitting portion in the second image and a position of the first light transmitting portion and the second light transmitting portion in the design file of the object to obtain the object and the object in the second image A fourth coordinate conversion relationship between the objects in the design file. The image locating device of claim 9, wherein the calculating unit projects the component information in the design file into the third image according to the first coordinate conversion relationship. The image locating device of claim 9, wherein the object comprises a circuit board, and the first light transmitting portion and the second light transmitting portion are a first through hole and a second through hole of the circuit board. hole. The image locating device of claim 9, wherein the object comprises a circuit board and a carrier, the circuit board is mounted on the carrier, and the first light transmitting portion and the second light transmitting portion are a first positioning hole and a second positioning hole of the carrier. The image locating device of claim 9, wherein the object comprises a circuit board and a carrier, the circuit board is mounted on the carrier, and the first light transmitting portion and the second light transmitting portion are disposed. In the carrier, the circuit board partially overlaps or does not overlap the first light transmitting portion and the second light transmitting portion.