Defect Detection Robot for PCB's

Purpose

• Quickly detect defects on PCB
• Create large map with all defects labeled on PCB
• Take individual zoomed in pictures of defects using secondary microscope camera
• Do this for multiple PCB's without the need for a human to place PCB's
• Work for more than one type of PCB

Plan

• Center stepper motors, move to 0 position for x,y,z axis
• Autofocus the z-axis so that ESP32-CAM will be in focus
• Use ESP32 to quickly take a few large images of PCB
• Send this data to RaspberryPi using MQTT protocol
• Use UNET to find defects in PCB
• (Extra: Distribute work among multiple PC's using Celery/RabbitMQ)
• Create map with labeled defects
• Use Aruco markers to tract where defects are located
• Autofocus z-axis so microscope camera will be in focus
• Using position of Aruco markers, track defects using microscope
• Send images of defects to RaspberryPi using MQTT protocol
• Display map and zoomed in defects using a website

Feature Details

Auto Adjust Feature

• Detect if image is blurry
• Use LaPlacian filter, find variance in edges
• Adjust z-axis of robot to focus camera

Center Motors

• https://www.youtube.com/watch?v=YsLykxnHApg
• https://www.youtube.com/watch?v=QRCvC5xhJCw