阅读说明：本技术 一种基于机器视觉全自动pcb板打孔设备及打孔方法 (Full-automatic PCB (printed circuit board) punching equipment and method based on machine vision ) 是由 吴璇 时全 赖安琪 李雪琴 谢欣妤 于 2021-10-23 设计创作，主要内容包括：本发明提供一种基于机器视觉全自动PCB板打孔设备及打孔方法,涉及打孔设备领域。该基于机器视觉全自动PCB板打孔设备及打孔方法,包括底板,所述底板的顶端设置有PCB板,所述底板的顶端固定连接有平台移动轨道,所述底板的顶端固定连接有两个限位器固定板。通过PCB板的印刻信息,相机模组可识别其中的条形信息,并调出存储在PC主控机上的板型孔的个数信息及相对位置信息,实现多通道一次性打孔,可有效缩短打孔时间,通过采集PCB板上的图像数据,以灰度印刷圆形孔原点为中心,保留最大直径为5mm圆形图像,其余部分需将图像进行高曝光处理,从而通过PC主控机实现重复多次自动打孔,不断缩小已打孔面积与未打孔面积之间的差值范围。(The invention provides full-automatic PCB (printed circuit board) punching equipment and a punching method based on machine vision, and relates to the field of punching equipment. The full-automatic PCB punching equipment and method based on machine vision comprise a bottom plate, wherein a PCB is arranged at the top end of the bottom plate, a platform moving track is fixedly connected to the top end of the bottom plate, and two stopper fixing plates are fixedly connected to the top end of the bottom plate. Through the seal information of PCB board, the distinguishable bar information wherein of camera module, and the number information and the relative position information in the board type hole of memory on the PC main control computer are called out, realize that the multichannel is once only punched, can effectively shorten the punching time, through the image data on gathering the PCB board, use grey scale printing circular port original point as the center, it is 5mm circular image to remain the maximum diameter, all the other parts need carry out the high exposure processing with the image, thereby realize through the PC main control computer that repeated many times are automatic to punch, constantly reduce the difference scope between the area of punching and the area of not punching.)

1. The utility model provides a full-automatic PCB board drilling equipment based on machine vision, includes bottom plate (1), its characterized in that: the top end of the bottom plate (1) is provided with a PCB (2), the top end of the bottom plate (1) is fixedly connected with a platform moving track (9), the top end of the bottom plate (1) is fixedly connected with two stopper fixing plates (10), opposite ends of the two stopper fixing plates (10) are fixedly connected with a PCB stopper (3), the top end of the bottom plate (1) is fixedly connected with a platform moving track (9), the top end of the bottom plate (1) is fixedly connected with a cross shaft slide rail (6), the slide of the cross shaft slide rail (6) is connected with a vertical shaft slide rail (5), the rear end of the vertical shaft slide rail (5) is connected with a rear end slide rail (8), the top end of the vertical shaft slide rail (5) is slidably connected with a platform supporting frame (13), the top end of the platform supporting frame (13) is fixedly connected with a Y-direction moving platform servo motor (4), the output end of the Y-direction moving platform servo motor (4) is connected with the platform supporting frame (13), the top fixedly connected with X direction moving platform servo motor (11) of bottom plate (1), the output fixedly connected with cross axle lead screw (7) of X direction moving platform servo motor (11), the lower extreme of vertical axis slide rail (5) and the surface threaded connection of cross axle lead screw (7).

2. The full-automatic PCB board drilling equipment based on machine vision of claim 1, characterized in that: the rear end fixedly connected with cylinder (15) of platform support frame (13), the output of cylinder (15) is provided with towards hole frame (14), the other end of towards hole frame (14) is provided with camera module (12), the other end of towards hole frame (14) is provided with drift (16), PCB board (2) span the top of bottom plate (1), both ends all link to each other with PCB board stopper (3) of relevant position around PCB board (2).

3. The punching method of the full-automatic PCB punching equipment based on the machine vision according to any one of the claims 1 to 2, characterized in that: the method comprises the following steps:

s1, the limiting module, the deviation rectifying compensation module, the slicing module and the camera module are reset;

s2, after the working instruction is started, the PC main control computer and the programming controller of the equipment start the working preparation state; after the working instruction is started, the PC main control computer and the programming controller of the equipment start a working preparation state, and the method specifically comprises the following steps:

s21, the PC main control computer and the programming controller are in a standby state under the power-on condition and do not perform data storage and exchange, and when the PC main control computer and the programming controller are in a working state, the PC main control computer and the programming controller can perform self initialization setting and can store data;

s3, recognizing the model of the PCB (2) by the camera module (12), transmitting the compensation value of each hole, the number of the holes and the relative position relation among the holes to a PC main control computer, recognizing the model of the PCB (2) by the camera module (12), transmitting the compensation value of each hole, the number of the holes and the position relation among the holes to the PC main control computer, and specifically comprising the following steps:

s31, according to the imprinting information of the PCB (2), the camera module (12) identifies the bar information in the imprinting information, and calls out the board type information in the PCB library on the PC main control machine according to the bar information;

s32, scanning all printing hole positions on the PCB (2) by a camera module (12) carried by the punching mobile platform, and counting all the holes;

s33, scanning all printed hole sites on the PCB (2) by a camera module (12) carried by the platform, and calculating the relative position relation among all the hole sites in the image information of 10mm multiplied by 10 mm;

s4, the camera module (12) collects the image data of the hole and sends the data to the PC main control computer, the camera module (12) collects the image data of the hole and sends the image data to the PC main control computer, and the method specifically comprises the following steps:

s41, the camera module (12) collects image data after the PCB keeps a static state for 1-3S, and transmits the image to the PC main control computer;

s5, the PC main control computer establishes a coordinate system according to the image information of the hole, and the PC main control computer establishes a coordinate system according to the image information of the hole, which comprises the following steps:

establishing an image two-dimensional coordinate system of the hole, and dividing image information into 0.01 mm;

s6, the PC main control computer grays the image and converts the hole into a point by an infinite reduction principle, and the method specifically comprises the following steps:

s61, transmitting the image to a PC main control computer, firstly carrying out gray processing on the image, and reserving the hole area image;

s62, inserting the hole area image into a two-dimensional coordinate system, and coinciding the point at the lower left corner of the image picture with the origin of coordinates;

s63, carrying out infinite reduction on the hole area by taking the circle center as the center by utilizing an infinite reduction principle to form a point;

s7, the PC main control computer sends the specific position information and the compensation value information of the point in the coordinate system to the programming controller, and the programming controller feeds back the received data information to the PC main control computer;

s8, the programming controller controls the servo motor (4) of the Y-direction moving platform, the servo motor (11) of the X-direction moving platform, the air cylinder (15) and the punch (16) to punch according to the coordinate information of the hole and the compensation value calculation result;

s9, according to the PCB plate type number information, the PC main control computer calculates the area of the hole;

s10, selecting a punch (16) with two thirds of the area of the printing hole to start punching according to the area of the hole calculated by the PC main control computer, wherein the punch (16) can change the punching area of the punch through the control of a programming controller;

s11, after the punch (16) is punched, returning to the step S4, recalculating the hole site coordinates by the PC main control computer according to the double-side position of the single-standard algorithm, and storing the numerical value to the programming controller after the calculation by the PC main control computer;

and S12, calculating by the PC main control computer according to the secondary hole site coordinates, increasing the diameter of the punch (16) by taking the diameter of 0.1mm as a multiple of the diameter of the punch (16), repeatedly punching for multiple times, returning to the step S11 until the punching site is consistent with the calibrated hole site diameter, and moving to the next hole site for secondary punching.

4. The punching method of the full-automatic PCB punching equipment based on the machine vision according to any one of the claims 1 to 3, characterized in that: in the steps S32 and S33, in the process of collecting the number of holes, the camera module (12) is adjusted to a gray image, a circular printing area is collected by image scanning and compared with the data information of the PCB library stored in the PC main control computer, the number of holes to be punched is calculated in the PC main control computer, and the PC main control computer collects the position of the center of a circle of each printing hole according to the position information of the center of a circle of a hole in the PCB library.

5. The punching method of the full-automatic PCB punching equipment based on the machine vision according to any one of the claims 1 to 3, characterized in that: in the step S4, when the camera module (12) is in a static state and the position of the printing hole is at the edge of the collecting area, the PC main control computer controls the Y-direction moving platform servo motor (4) and the X-direction moving platform servo motor (11) to move the collecting platform of the camera module (12) according to the positive and negative directions of the two-dimensional coordinate axis, so as to move the image of the printing hole to the central position of the collecting area.

6. The punching method of the full-automatic PCB punching equipment based on the machine vision according to any one of the claims 1 to 3, characterized in that: in step S61, a circular image with a maximum diameter of 5mm may be retained with the origin of the gray-scale printing circular hole as the center, and the image is subjected to a high exposure process except for the area.

7. The punching method of the full-automatic PCB punching equipment based on the machine vision according to any one of the claims 1 to 3, characterized in that: in the step S8, the programming controller compares the coordinate point with the compensation value information to specify the PCB board type information in the PCB board library, and after calculating according to the corresponding formula, the programming controller transmits the movement data to the Y-direction moving platform servo motor (4) and the X-direction moving platform servo motor (11).

8. The punching method of the full-automatic PCB punching equipment based on the machine vision according to any one of the claims 1 to 3, characterized in that: in the step S9, after the image collected by the camera module (12) is subjected to pixelization processing, the area of the printed circular punch hole is calculated by the two-dimensional coordinate system, and in the steps S11 and S12, the difference value between the area of the punched hole and the area of the un-punched hole is identified to change the diameter of the punch head (16).

Technical Field

The invention relates to the technical field of punching equipment, in particular to full-automatic PCB (printed circuit board) punching equipment and a punching method based on machine vision.

Background

The machine vision system is a cross discipline relating to the fields of artificial intelligence, computer science, image processing, pattern recognition and the like, and mainly utilizes a computer to extract information from an image of an objective object for processing, and is finally used for actual detection and control.

At present, domestic full-automatic PCB board punches and is in the primary stage, utilizes the manual work to punch after placing the discernment region with the PCB board usually, has greatly reduced the efficiency of punching to because the manual work is placed the discernment region, if the position of placing has the deviation slightly, will reduce the precision of punching.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides full-automatic PCB punching equipment and a punching method based on machine vision, and solves the problems that the punching efficiency and the punching precision are reduced because a PCB is manually placed in an identification area for punching.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a full-automatic PCB board punching device based on machine vision comprises a bottom plate, wherein a PCB board is arranged at the top end of the bottom plate, a platform moving track is fixedly connected at the top end of the bottom plate, two stopper fixing plates are fixedly connected at the top end of the bottom plate, PCB board stoppers are fixedly connected at opposite ends of the two stopper fixing plates, the platform moving track is fixedly connected at the top end of the bottom plate, a cross shaft slide rail is fixedly connected at the top end of the bottom plate, a vertical shaft slide rail is slidably connected at the cross shaft slide rail, a rear end slide rail is connected at the rear end of the vertical shaft slide rail, a platform supporting frame is slidably connected at the top end of the vertical shaft slide rail, a Y-direction moving platform servo motor is fixedly connected at the top end of the platform supporting frame, the output end of the Y-direction moving platform servo motor is connected with the platform supporting frame, and an X-direction moving platform servo motor is fixedly connected at the top end of the bottom plate, the output end of the X-direction moving platform servo motor is fixedly connected with a cross shaft lead screw, and the lower end of the vertical shaft slide rail is in threaded connection with the outer surface of the cross shaft lead screw.

Preferably, the rear end fixedly connected with cylinder of platform support frame, the output of cylinder is provided with the frame of punching a hole, the other end of frame of punching a hole is provided with the camera module, the other end of frame of punching a hole is provided with the drift, the PCB board spanes the top of bottom plate, both ends all link to each other with the PCB board stopper of relevant position around the PCB board.

Preferably, the punching method of the full-automatic PCB punching equipment based on the machine vision comprises the following steps:

s1, the limiting module, the deviation rectifying compensation module, the slicing module and the camera module are reset;

s2, after the working instruction is started, the PC main control computer and the programming controller of the equipment start the working preparation state; after the working instruction is started, the PC main control computer and the programming controller of the equipment start a working preparation state, and the method specifically comprises the following steps:

s21, the PC main control computer and the programming controller are in a standby state under the power-on condition and do not perform data storage and exchange, and when the PC main control computer and the programming controller are in a working state, the PC main control computer and the programming controller can perform self initialization setting and can store data;

s3, the camera module identifies the PCB plate type number, and transmits the compensation value of each hole site, the number of the hole sites and the relative position relationship among the hole sites to the PC main control computer, the camera module identifies the PCB plate type number, and transmits the compensation value of each hole site, the number of the holes and the position relationship among the holes to the PC main control computer, and the method specifically comprises the following steps:

s31, according to the imprinting information of the PCB, the camera module identifies the bar information therein, and calls out the plate type information in the PCB library on the PC main control computer according to the bar information;

s32, scanning all printing hole positions on the PCB by a camera module carried by the punching mobile platform, and counting all the holes;

s33, scanning all printed hole sites on the PCB by a camera module carried by the platform, and calculating the relative position relation among the hole sites in the image information of 10mm multiplied by 10 mm;

s4, the camera module collects the image data of the hole and sends the data to the PC main control computer, the camera module collects the image data of the hole and sends the image data to the PC main control computer, and the method specifically comprises the following steps:

s41, the camera module collects image data after the PCB keeps a static state for 1-3S, and transmits the image to the PC main control computer;

s5, the PC main control computer establishes a coordinate system according to the image information of the hole, and the PC main control computer establishes a coordinate system according to the image information of the hole, which comprises the following steps:

establishing an image two-dimensional coordinate system of the hole, and dividing image information into 0.01 mm;

s6, the PC main control computer grays the image and converts the hole into a point by an infinite reduction principle, and the method specifically comprises the following steps:

s61, transmitting the image to a PC main control computer, firstly carrying out gray processing on the image, and reserving the hole area image;

s62, inserting the hole area image into a two-dimensional coordinate system, and coinciding the point at the lower left corner of the image picture with the origin of coordinates;

s63, carrying out infinite reduction on the hole area by taking the circle center as the center by utilizing an infinite reduction principle to form a point;

s7, the PC main control computer sends the specific position information and the compensation value information of the point in the coordinate system to the programming controller, and the programming controller feeds back the received data information to the PC main control computer;

s8, the programming controller controls the servo motor of the Y-direction moving platform, the servo motor of the X-direction moving platform, the air cylinder and the punch to punch according to the coordinate information of the hole and the calculation result of the compensation value;

s9, according to the PCB plate type number information, the PC main control computer calculates the area of the hole;

s10, selecting a punch with two thirds of the area of the printing hole to start punching according to the area of the hole calculated by the PC main control computer, wherein the punch can change the punching area of the punch through the control of a programming controller;

s11, after punching of the punch is finished, returning to the step S4, recalculating the hole site coordinates by the PC main control computer according to a single-standard algorithm, and storing the numerical values into the programming controller after the calculation by the PC main control computer;

and S12, calculating by the PC main control computer according to the secondary hole site coordinates, increasing the diameter of the punch by taking the diameter of 0.1mm as a multiple, repeatedly punching for multiple times, returning to the step S11 until the punching site is consistent with the diameter of the calibrated hole site, and moving to the next hole site for secondary punching.

Preferably, in the steps S32 and S33, in the process of acquiring the number of holes, the camera module is adjusted to a gray scale image, a circular printing area is acquired through image scanning, and compared with the data information of the PCB library stored in the PC main control computer, the PC main control computer calculates the number of holes punched, and the PC main control computer acquires the position of the center of a circle of each printing hole according to the position information of the center of a circle of a hole in the PCB library.

Preferably, in step S4, when the camera module is in a static state, and the position of the printing hole is at the edge of the capturing area, the PC main control computer controls the Y-direction moving platform servo motor and the X-direction moving platform servo motor to move the camera module capturing platform according to the positive and negative directions of the two-dimensional coordinate axis, so as to move the image of the printing hole to the center of the capturing area.

Preferably, in step S61, the circular image with the maximum diameter of 5mm may be retained by centering on the origin of the gray-scale printing circular hole, and the image is subjected to a high exposure process except for the area.

Preferably, in step S8, the programming controller compares the coordinate point with the compensation value information to specify PCB board type information in the PCB board library, and after calculating according to a corresponding formula, the programming controller transmits the movement data to the Y-direction moving platform servo motor and the X-direction moving platform servo motor.

Preferably, in the step S9, after the image captured by the camera module is pixelized, the two-dimensional coordinate system calculates the area of the printed circular punch hole, and in the steps S11 and S12, the difference between the area of the punch hole and the area of the punch hole is identified to change the diameter of the punch.

(III) advantageous effects

The invention provides full-automatic PCB punching equipment and a punching method based on machine vision. The method has the following beneficial effects:

1. according to the invention, through the imprinting information of the PCB, the camera module can identify the bar-shaped information in the PCB, and call out the number information and the relative position information of the plate-shaped holes stored on the PC main control computer, so that multi-channel one-time punching is realized, and the punching time can be effectively shortened.

2. According to the invention, by collecting image data on the PCB and taking the original point of the gray scale printing circular hole as the center, a circular image with the maximum diameter of 5mm can be reserved, and the rest part of the image needs to be subjected to high exposure processing, so that repeated automatic punching is realized through a PC (personal computer) main control machine, and the range of the difference between the punched area and the un-punched area is continuously reduced.

Drawings

FIG. 1 is a schematic diagram of a full-automatic PCB board punching device based on machine vision according to the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

FIG. 3 is a flow chart of a fully automatic PCB punching method based on visual identification according to the present invention;

FIG. 4 is a hardware diagram of an automatic control system of the full-automatic PCB board punching device based on machine vision according to the present invention.

Wherein, 1, a bottom plate; 2. a PCB board; 3. a PCB limiter; 4. a servo motor for moving the platform in the Y direction; 5. a vertical axis slide rail; 6. a cross-shaft slide rail; 7. a cross shaft lead screw; 8. a rear end slide rail; 9. a platform moving track; 10. a retainer fixing plate; 11. an X-direction moving platform servo motor; 12. a camera module; 13. a platform support frame; 14. punching a hole frame; 15. a cylinder; 16. and (4) punching.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b):

as shown in fig. 1-2, an embodiment of the present invention provides a full-automatic PCB board punching device based on machine vision, which includes a bottom board 1, a PCB board 2 is disposed on a top end of the bottom board 1, a platform moving rail 9 is fixedly connected to a top end of the bottom board 1, two stopper fixing boards 10 are fixedly connected to a top end of the bottom board 1, a PCB board stopper 3 is fixedly connected to opposite ends of the two stopper fixing boards 10, a platform moving rail 9 is fixedly connected to a top end of the bottom board 1, a horizontal shaft sliding rail 6 is fixedly connected to a top end of the bottom board 1, a vertical shaft sliding rail 5 is slidably connected to the horizontal shaft sliding rail 6, a rear end sliding rail 8 is connected to a rear end of the vertical shaft sliding rail 5, a platform support frame 13 is slidably connected to a top end of the vertical shaft sliding rail 5, a Y-direction moving platform servo motor 4 is fixedly connected to a top end of the platform support frame 13, an output end of the Y-direction moving platform servo motor 4 is connected to the platform support frame 13, the top end of the bottom plate 1 is fixedly connected with an X-direction moving platform servo motor 11, the output end of the X-direction moving platform servo motor 11 is fixedly connected with a cross shaft lead screw, and the lower end of a vertical shaft slide rail 5 is in threaded connection with the outer surface of the cross shaft lead screw 7.

Rear end fixedly connected with cylinder 15 of platform support frame 13, the output of cylinder 15 is provided with punching frame 14, punching frame 14's the other end is provided with camera module 12, punching frame 14's the other end is provided with drift 16, PCB board 2 spanes the top of bottom plate 1, both ends all link to each other with the PCB board stopper 3 of relevant position around PCB board 2, PCB board stopper 3 is by the stopper, limit switch, the photoelectric sensing ware, ultrasonic ranging ware, infrared switch, travel switch constitutes, the position at photoelectric sensing ware response PCB board 2 place, the operation of infrared on-off control photoelectric sensing ware, limit switch control stopper's removal, travel switch controls ultrasonic ranging ware's switch operation, ultrasonic ranging ware can guarantee that the PCB board can not surpass the stroke range.

As shown in fig. 3, a punching method of a full-automatic PCB board punching device based on machine vision includes the following steps:

s1, the limiting module, the deviation rectifying compensation module, the slicing module and the camera module are reset;

s2, after the working instruction is started, the PC main control computer and the programming controller of the equipment start the working preparation state; after the working instruction is started, the PC main control computer and the programming controller of the equipment start a working preparation state, and the method specifically comprises the following steps:

s21, the PC main control computer and the programming controller are in a standby state under the power-on condition and do not perform data storage and exchange, and when the PC main control computer and the programming controller are in a working state, the PC main control computer and the programming controller can perform self initialization setting and can store data;

s3, recognizing the model of the PCB 2 by the camera module 12, transmitting the compensation value of each hole, the number of the holes and the relative position relation among the holes to a PC main control computer, recognizing the model of the PCB 2 by the camera module 12, transmitting the compensation value of each hole, the number of the holes and the position relation among the holes to the PC main control computer, and specifically comprising the following steps:

s31, according to the imprinting information of the PCB 2, the camera module 12 identifies the bar information therein, and calls out the plate type information in the PCB library on the PC main control computer according to the bar information;

s32, scanning all printing hole positions on the PCB 2 by the camera module 12 carried by the punching mobile platform, and counting all the holes;

s33, scanning all printed hole sites on the PCB 2 by the camera module 12 carried by the platform, and calculating the relative position relation among all hole sites in the image information of 10mm multiplied by 10 mm;

s4, the camera module 12 collects the image data of the hole and sends the data to the PC main control computer, the camera module 12 collects the image data of the hole and sends the image data to the PC main control computer, and the method specifically comprises the following steps:

s41, the camera module 12 collects image data after the PCB keeps a static state for 1-3S, and transmits the image to the PC main control computer;

s5, the PC main control computer establishes a coordinate system according to the image information of the hole, and the PC main control computer establishes a coordinate system according to the image information of the hole, which comprises the following steps:

establishing an image two-dimensional coordinate system of the hole, and dividing image information into 0.01 mm;

s6, the PC main control computer grays the image and converts the hole into a point by an infinite reduction principle, and the method specifically comprises the following steps:

s61, transmitting the image to a PC main control computer, firstly carrying out gray processing on the image, and reserving the hole area image;

s62, inserting the hole area image into a two-dimensional coordinate system, and coinciding the point at the lower left corner of the image picture with the origin of coordinates;

s63, carrying out infinite reduction on the hole area by taking the circle center as the center by utilizing an infinite reduction principle to form a point;

s7, the PC main control computer sends the specific position information and the compensation value information of the point in the coordinate system to the programming controller, and the programming controller feeds back the received data information to the PC main control computer;

s8, the programming controller controls the servo motor 4 of the Y-direction moving platform, the servo motor 11 of the X-direction moving platform, the air cylinder 15 and the punch 16 to punch according to the coordinate information of the hole and the compensation value calculation result;

s9, according to the PCB plate type number information, the PC main control computer calculates the area of the hole;

s10, selecting a punch 16 with two thirds of the area of the printing hole to start punching according to the area of the hole calculated by the PC main control computer, wherein the punch 16 can change the punching area of the punch through the control of a programming controller;

s11, after the punch 16 is punched, returning to the step S4, recalculating the hole site coordinates by the PC main control computer according to the double-positioning pair of the single-standard algorithm, and storing the numerical values into the programming controller after the calculation by the PC main control computer;

s12, the PC main control computer calculates according to the secondary hole site coordinates, the diameter of the punch 16 is increased by taking the diameter of 0.1mm as a multiple, the punch is repeatedly punched for a plurality of times, the step S11 is returned, and the punch is moved to the next hole site for secondary punching until the punching site is consistent with the diameter of the calibrated hole site;

in steps S32 and S33, in the process of collecting the number of holes, the camera module 12 is adjusted to a gray image, a circular printing area is collected by image scanning and compared with the PCB library data information stored on the PC main control computer, the PC main control computer calculates the number of holes punched, and at the same time, the PC main control computer collects the position of the center of a circle of each printing hole according to the position information of the center of a circle of a hole in the PCB library;

in step S4, when the camera module 12 is in a static state and the position of the printing hole is at the edge of the acquisition area, the PC main control machine controls the Y-direction moving platform servo motor 4 and the X-direction moving platform servo motor 11 to move the acquisition platform of the camera module 12 according to the positive and negative directions of the two-dimensional coordinate axis, and moves the image of the printing hole to the center of the acquisition area;

in step S61, a circular image with a maximum diameter of 5mm may be retained with the origin of the gray scale printing circular hole as the center, and the remaining portion of the image except the area needs to be subjected to high exposure processing;

in step S8, the programming controller compares the coordinate point and the compensation value information with the PCB board information specified in the PCB board library, and after calculating according to the corresponding formula, the programming controller transmits the movement data to the Y-direction moving platform servo motor 4 and the X-direction moving platform servo motor 11;

in step S9, the two-dimensional coordinate system calculates the area of the printed circular punch after the image captured by the camera module 12 is pixilated, and in steps S11 and S12, the difference between the area of the punch and the area of the punch not punched is identified to change the diameter of the punch 16.

Through the process, an A5051M camera is selected, a PC main control computer collects and processes a target image, factors including sensitivity, resolution, a data processing mode and the like of the camera are considered in the data collecting and processing process, an execution unit is a multi-degree-of-freedom manipulator or a multi-axis motion plate, and if the multi-degree-of-freedom manipulator is used for completing the data collecting and processing process, joints of the manipulators are controlled to move through a servo motor; if the multi-axis motion plate is controlled by the programming controller and the servo motor is controlled by the low-voltage apparatus to complete the operation of corresponding actions, compared with manual punching, the method designed by the invention can effectively improve the punching precision and can realize high-efficiency punching qualification rate under the condition of insufficient ambient light.

As shown in fig. 4, a PC main control computer is used as a data transmission center, an execution control system is carried by a central control host computer 1 and a central control host computer 2, the execution control system controls a motion control system and an image acquisition module, the motion control system drives power equipment of the whole system, the image acquisition module further optimizes and processes data acquired by a camera to obtain image numbers which can be processed by the PC main control computer, an ultrasonic deviation correction system provides digital servo digital compensation for a motion mechanism controlled by the central control host computer, the running condition of the whole mechanism system is transmitted to a feedback board 1 and a feedback board 2, then data are converged on the PC main control computer, and a graphic digital interface is displayed on a display terminal.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.