基于旋转视觉的三维姿态重构方法及精度分析

Research on 3D Pose Reconstruction Method and Precision of Component Pin Rotation Vision

摘要:

考虑电子元件的多样化、精细化及PCB集合度越来越高，这对元件组装设备的精度要求不断提升。针对自动插件机视觉系统要求精度、实时性高，系统结构空间狭小等特点，基于旋转立体视觉建立了针脚末端三维坐标视觉系统的数学模型，并在旋转视觉的代数重构法基础上提出等价双目视觉的三角重构法；通过理论分析和仿真，推导并验证了旋转视觉的关键部件与关键参数的精度对针脚位姿测量精度影响的定量分析方法；借助于等价双目视觉的三角分析法，找到了在某些位置下针脚位姿测量精度发生异常的原因和规律。提出的重构方法及精度分析方法可为高精度旋转视觉的设计选型、优化和高效使用提供指导。

Abstract:

Considering the diversification and refinement of electronic components and the increasing degree of PCB assembly, the precision requirements of component assembly equipment are constantly increasing. Aiming at the characteristics of the automatic plug-in machine vision system requiring high accuracy, high real-time performance, and narrow system structure space, a mathematical model of the three-dimensional coordinate vision system at the end of the stitch is established based on the rotating stereo vision, and the equivalent is proposed on the basis of the algebraic reconstruction method of the rotating vision. Triangulation reconstruction method of binocular vision; through theoretical analysis and simulation, the quantitative analysis method of the influence of the accuracy of key components and key parameters of rotating vision on the accuracy of stitch pose measurement is derived and verified; with the aid of the triangle of equivalent binocular vision The analysis method found the reason and law of abnormality in the accuracy of stitch pose measurement at certain positions. The proposed reconstruction method and accuracy analysis method can provide guidance for the design selection, optimization and efficient use of high-precision rotating vision.