Visual Positioning Algorithm Based on Micro Assembly Line

摘要

Abstract To achieve mass production of microelectronic devices, this paper designs a microelectronic device detection scheme based on monocular vision, on the assembly robot platform of micro-electronic devices. By analyzing the principle of camera calibration and distortion and performing internal parameter calibration of the camera with Zhang Zhengyou calibration method, this paper establishes a hand-eye calibration model of the relationship between the robot’s motion and the relative position of the camera, so as to calculate the transformation matrix from the camera model to the gripper. In the end, the paper proposes an accurate positioning method which combined boundary tracking algorithm based on binary image and template matching algorithm, identifying the type of workpieces through barcode.