Position Detection Method of Connecting PIN Based on Binocular Vision

Wenchao Liu; Yirui Yang; Wei Wang; Hao Yang; Zhongsheng Zhai

doi:10.3788/LOP222425

Laser & Optoelectronics Progress, Volume. 60, Issue 14, 1415004(2023)

Position Detection Method of Connecting PIN Based on Binocular Vision

Wenchao Liu^1,2, Yirui Yang^1,2, Wei Wang^1,2、*, Hao Yang^1,2, and Zhongsheng Zhai^1,2

Author Affiliations

¹School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, Hubei, China

²Hubei Key Laboratory of Modern Manufacturing Quality Engineering, Wuhan 430068, Hubei, China

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Figures & Tables(15)

Fig. 1. PCB PIN binocular vision detection system. (a) Hardware structure; (b) experiment platform

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Fig. 2. Detection process

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Fig. 3. Principle of epipolar geometry

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Fig. 4. Result of the stereo rectification. (a) Original image; (b) rectified image

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Fig. 5. PIN missing detection process

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Fig. 6. Binocular image PIN feature point extraction. (a) Left camera image; (b) right camera image

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Fig. 7. Binocular image PIN recognition. (a) Left image PIN grid; (b) right image PIN grid

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Fig. 8. PIN collinearity fitting. (a) The first measurement; (b) the second measurement; (c) the third measuremen; (d) the forth measuremen

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Fig. 9. Statistics of 4 times height measurement for twenty PINs on workpiece

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Fig. 10. Scene of needle tip height measured by absolute joint arm measuring machine

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Table 1. Binocular calibration results

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Table 1. Binocular calibration results

Parameter	Left camera	Right camera
Internal parameter	$[\begin{matrix} 3651.71 & 0 & 1201.62 \\ 0 & 3644.06 & 976.77 \\ 0 & 0 & 1 \end{matrix}]$	$[\begin{matrix} 3496.87 & 0 & 1201.05 \\ 0 & 3469.69 & 1018.45 \\ 0 & 0 & 1 \end{matrix}]$
Rotation matrix	$[\begin{matrix} - 0.999636 & 0.014437 & - 0.022774 \\ - 0.026608 & - 0.664906 & 0.746453 \\ - 0.004366 & - 0.746787 & 0.665049 \end{matrix}]$
Translation matrix	${[\begin{matrix} - 8.688 & - 119.555 & 57.921 \end{matrix}]}^{T}$

Table 2. Statistics of collinearity of ten PINs in the same column

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Table 2. Statistics of collinearity of ten PINs in the same column

PIN No.	$D_{j}$ /mm	$\bar{D}$ /mm	$D_{s t d}$ /mm	${D_{j}}^{'}$
1	0.009583	0.022346	0.015275	-0.835536
2	0.010210			-0.794524
3	0.055162			2.148340
4	0.007536			-0.969659
5	0.030344			0.523569
6	0.036659			0.937002
7	0.027610			0.344624
8	0.017553			-0.313808
9	0.009514			-0.840044
10	0.019292			-0.199967

Table 3. Statistics of the measurement of relative height for twenty PINs on the workpiece for four times

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Table 3. Statistics of the measurement of relative height for twenty PINs on the workpiece for four times

PIN No.	Minimum value /mm	Maximum value /mm	Difference /mm	Mean value /mm	Standard deviation
1	8.39282	8.42571	0.03289	8.40713	0.01366
2	8.39547	8.43289	0.03742	8.40835	0.01717
3	8.34041	8.36718	0.02677	8.35784	0.01259
4	8.46889	8.48551	0.01662	8.47704	0.00691
5	8.41227	8.45116	0.03889	8.43888	0.01803
6	8.48187	8.49879	0.01692	8.49215	0.00723
7	8.38697	8.41009	0.02312	8.39992	0.00976
8	8.26442	8.27552	0.01110	8.27110	0.00472
9	8.32541	8.35768	0.03227	8.34798	0.01533
10	8.34796	8.38987	0.04191	8.36558	0.01916
11	8.22995	8.24769	0.01774	8.23913	0.00725
12	8.31158	8.34334	0.03176	8.32648	0.01373
13	8.25792	8.27686	0.01894	8.26549	0.00808
14	8.28074	8.31472	0.03398	8.30416	0.01590
15	8.21563	8.25293	0.03730	8.23664	0.01877
16	8.31876	8.34821	0.02945	8.33124	0.01240
17	8.27190	8.29012	0.01822	8.28064	0.00840
18	8.24757	8.28843	0.04086	8.26512	0.01713
19	8.31808	8.35845	0.04037	8.34062	0.01916
20	8.35263	8.38913	0.03650	8.36901	0.01511

Table 4. Comparison between measured pinpoint height and standard height

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Table 4. Comparison between measured pinpoint height and standard height

PIN No.	Detection height /mm	Standard height /mm	Error /mm	Relative error /%
1	8.40713	8.40755	0.00042	0.00500
2	8.40835	8.34732	-0.06103	0.73113
3	8.35784	8.36085	0.00301	0.03600
4	8.47704	8.42008	-0.05696	0.67648
5	8.43888	8.36296	-0.07592	0.90781
6	8.49215	8.49826	0.00611	0.07190
7	8.39992	8.33975	-0.06017	0.72148
8	8.27110	8.23134	-0.03976	0.48303
9	8.34798	8.28059	-0.06739	0.81383
10	8.36558	8.35388	-0.01170	0.14005
11	8.23913	8.27951	0.04038	0.48771
12	8.32648	8.30582	-0.02066	0.24874
13	8.26549	8.26081	-0.00468	0.05665
14	8.30416	8.27895	-0.02521	0.30451
15	8.23664	8.25255	0.01591	0.19279
16	8.33124	8.28963	-0.04161	0.50195
17	8.28064	8.24777	-0.03287	0.39853
18	8.26512	8.19098	-0.07414	0.90514
19	8.34062	8.28504	-0.05558	0.67085
20	8.36901	8.29033	-0.07868	0.94906

Table 5. Running time of pinpoint height detection
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Table 5. Running time of pinpoint height detection
Method Time /ms Error /mm
Proposed method 125.4 0.08
Method in Ref.［1］ 1000 0.5

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Wenchao Liu, Yirui Yang, Wei Wang, Hao Yang, Zhongsheng Zhai. Position Detection Method of Connecting PIN Based on Binocular Vision[J]. Laser & Optoelectronics Progress, 2023, 60(14): 1415004

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