CN105964486B - A kind of automatic adhesive application system and its glue spreading method - Google Patents
A kind of automatic adhesive application system and its glue spreading method Download PDFInfo
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- CN105964486B CN105964486B CN201510106162.8A CN201510106162A CN105964486B CN 105964486 B CN105964486 B CN 105964486B CN 201510106162 A CN201510106162 A CN 201510106162A CN 105964486 B CN105964486 B CN 105964486B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
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- Application Of Or Painting With Fluid Materials (AREA)
- Coating Apparatus (AREA)
Abstract
Of the invention a kind of automatic adhesive application system and glue spreading method, automatic glue application method include the transformation constant that step S100 obtains object pixel coordinate and mechanical coordinate by a machine vision unit；S200 corrects needle position by a syringe needle calibration unit, and syringe needle gluing origin is arranged；And S300 registers gluing visual pattern by a tree lace drawing unit, for drawing tree lace path coordinate.
Description
Technical field
The present invention relates to a kind of coating systems, specifically, being a kind of system for controlling automatic glue application by machine vision
And its glue spreading method.
Background technique
In mobile phone camera module (CCM) industry, optical articles are just sent out towards miniaturization, lightweight and high precision int
Exhibition, to the product quality of optical device also further stringent control.As mobile phone module pixel is continuously improved, photosensitivity is also required
It is continuously improved, increasingly pursues the mobile phone of shooting high-definition image on the market.And in universal artificial production model, mobile phone is taken the photograph
As the assembling of mould group is by manually adjusting the lens motor mould group (VCM) in camera module and sensitive chip (SENSOR)
Position so that being mounted on geometric-optical axis center and the image mould group of the optical mirror slips such as the eyeglass in lens assembly, optical filter
The center of photosensitive element aligns, and still, camera lens and sensitive chip may lead to such axial symmetry light due to operating error
Component is learned in system assembles, optical centre bias occurs, there is gradients (Tilt), offset between camera lens and sensitive chip
(Shift) etc. positions accuracy error, has a serious impact the image quality of mould group, the yield of product is caused constantly to decline.
Currently, what mobile phone camera module and related optical component industry generallyd use the packaging technology (COB) of product
It is that microscope base attaching (H/A) is fixed to carry out finished product, microscope base attaches the mode directly attached using colloid, by lens motor mould
Group semi-finished product are attached directly to sensitive chip semi-finished product, and usually there is be difficult to accurately make by manually-operated direct attaching
The case where lens assembly and sensitive chip align.And with the continuous improvement of mobile phone camera module pixel, sensitive chip
Photosensitivity is continuously improved, and the presence deviated between the offset and camera lens and sensitive chip of optical center has the image quality of mould group
Serious influence causes the yield of product constantly to decline, and has gradually been not suitable for by the method that H/A is directly attached.
More and more automation equipments replace human eye to measure and judge using NI Vision Builder for Automated Inspection, are regarded by machine
Target subject is converted into picture signal by feel system, sends dedicated image processing system to, according to pixel distribution and brightness, face
The information such as color, are converted into digitized signal；Picture system carries out various operations to extract clarification of objective, in turn to these signals
The equipment that scene is controlled according to the result of differentiation completes required movement.Wherein, aligning equipment (Active is automated
Alignment equipment, abbreviation AA equipment) appearance, expand the application range of machine vision, be able to automatic core-adjusting (AA), be hand
The trend that machine camera module industry developed in recent years.In the gluing process of AA equipment, to make the camera lens of adjust automatically, chip
Product realize can automatic glue application solidification, the mode that H/A is directly attached just no longer be applicable in, need a set of automatic adhesive application system to realize
The coating technique of mobile phone camera module semi-finished product.
Summary of the invention
The main purpose of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, use machine vision certainly
The mode of dynamic gluing replaces the direct attaching in packaging technology, in semi-finished product, to realize automatic core-adjusting optics for accurate gluing
The automatic glue application of product solidifies.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading method, by pixel coordinate and
The transformation constant and transformational relation of mechanical coordinate improve the quality of product encapsulation with the automatic glue application for realizing equipment, thus,
Facilitate the accurate painting adhesive curing between product.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, wherein the camera of design
The auto-correction method of vision ratio system obtains camera vision ratio system to be used for automatically-calibrated camera vision proportionality coefficient
Number.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, wherein the gluing of design
Syringe needle automatically corrects control method to complete the syringe needle correction of rubber-coated mechanism for automatically correcting gluing needle position.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, pass through potted element
Semi-finished product can independently select registered images to do gluing curve as gluing benchmark image, expand the gluing benchmark image model of selection
The appearance for phenomena such as enclosing, operating convenient for the gluing of actual product, prevent excessive glue, viscose glue.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, wherein the encapsulation member
One in part is sensitive chip semi-finished product, and another in the potted element is lens motor mould group semi-finished product, by photosensitive
Chip or lens motor mould group selectively do gluing curve according to registered images as gluing benchmark image.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, pass through lens motor mould
Group semi-finished product image is able to calculate the coordinate of tree lace of the reduction on sensitive chip semi-finished product automatically as gluing benchmark image,
It can be automatically completed gluing task, thus, the automatic adhesive application system is provided using lens motor mould group semi-finished product image as glue
Line makes function, the generation of gluing problem when helping to prevent only using sensitive chip as registered images.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, wherein the gluing of design
The auto-correction method of the coordinate of tree lace is completed to compensate the coordinate of arbitrary point on tree lace with the coordinate for correcting tree lace.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, provide needed for gluing
Demand is arranged in various parameters, is able to plastic emitting in advance, subsection setup application rate, subsection setup gluing height, subsection setup spits glue
And glue is received in advance, facilitate operation, meets the gluing requirement of equipment.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading methods, pass through gluing reference map
Picture and drafting tree lace auto zoom, for eliminating the excessive caused gluing tree lace production difficult problem of dimension of picture.
Another object of the present invention is to provide a kind of automatic adhesive application system and its glue spreading method, it is suitable for AA equipment,
Had using the NI Vision Builder for Automated Inspection of autonomous Design so that the automatic adhesive application system and automatic core-adjusting system share vision data
Help reduce hardware cost and number of times of imaging, save the capture time of equipment, so that the sexual valence of equipment when efficiency fast lifting.
To in order to realize that above-mentioned purpose, the present invention provide a kind of automatic adhesive application system comprising: a machine
Visual unit, to obtain the positional relationship of object pixel coordinate and mechanical coordinate for obtaining transformation constant；The calibration of one syringe needle
Unit, syringe needle gluing origin is arranged based on the transformation constant that the machine vision unit obtains for correcting needle position；
And a tree lace drawing unit, to obtain registered images for registering gluing visual pattern, and drawn based on the registered images
The path coordinate of glue line.
According to one embodiment of present invention, the automatic adhesive application system further comprise a tree lace correction unit, with
In the coordinate for compensating the tree lace.
According to one embodiment of present invention, the automatic adhesive application system further comprises a gluing parameter control unit,
It is described with for automation control gluing operation, be able to provide gluing needed for various parameters setting demand so that it is described from
Dynamic coating system shifts to an earlier date plastic emitting, subsection setup application rate, subsection setup gluing height, and subsection setup is spat glue and received in advance
Glue.
According to one embodiment of present invention, the automatic core-adjusting that the automatic adhesive application system is suitable for mobile phone camera module is set
It is standby, so that the automatic adhesive application system and the automatic core-adjusting equipment share vision data.
A kind of automatic glue application method comprising:
S100 obtains the transformation constant of object pixel coordinate and mechanical coordinate by a machine vision unit；
S200 corrects needle position by a syringe needle calibration unit, and syringe needle gluing origin is arranged；And
S300 registers gluing visual pattern by a tree lace drawing unit, with the path coordinate for drawing tree lace.
According to one embodiment of present invention, the method further includes step S400: correcting unit by a tree lace
Compensate the coordinate of the tree lace.
According to one embodiment of present invention, the method further includes step S500: passing through a gluing state modulator
Cell automatica tool controls gluing operation, is able to automatically control gluing operation according to tree lace path and object.
According to one embodiment of present invention, the step S100 comprising steps of
Reference point is arranged by camera coefficient correction jig in S110；
S120 initial picture-taking position in such a way that camera positions, so as to be in camera fields of view center attached for the reference point
Closely；And
S130 relatively moves the reference point, by judging the reference point respectively under mechanical coordinate system and pixel coordinate
Shift position relationship under system, calculates and obtains the transformation constant of the machine vision unit.
According to one embodiment of present invention, the step S200 comprising steps of
The syringe needle is moved to datum level and surveys high position by S210, and obtains altitude datum h0；
The syringe needle is leaned on flat datum level by S220, obtains glue reference point by being lifted the syringe needle and gluing；And
The glue reference point is moved to central region by automatically moving algorithm by S230, for automatically correcting the painting
Needle head.
According to one embodiment of present invention, the step S220 comprising steps of
The mobile syringe needle of S221 is in default plastic emitting position (xcj,ycj,zcj), so that the syringe needle develops the datum level
And lock syringe；And
S222 moves the syringe needle to default plastic emitting coordinate (xcj,ycj,zcj-zup), glue is spat on the datum level to be used for
The glue reference point is set, wherein zupFor the syringe needle rising height parameter.
According to one embodiment of present invention, the step S230 comprising steps of
Camera is moved to the glue reference point and capture by S231；
S232 obtains the proportionality coefficient (x of the camera by step S100 automaticallyvs,yvs)；And
S233 passes through the camera vision proportionality coefficient (xvs,yvs) and automatically move algorithm, repeatedly obtain the glue ginseng
Pixel coordinate and corresponding mechanical coordinate according to point, for the glue reference point to be moved in the camera fields of view
The heart.
According to one embodiment of present invention, the design procedure for automatically moving algorithm of the step S230: the phase is set
Machine visual field size is Xpix×Ypix, pass through the camera vision proportionality coefficient (x of acquisitionvs,yvs), and joined according to the glue
It is automatically moved described in being designed according to point in the positive negativity of moving direction within sweep of the eye and mechanical coordinate XY axis moving direction
Algorithm, with the pixel coordinate and corresponding mechanical coordinate for obtaining the glue reference point.
According to one embodiment of present invention, the step S233 is comprising steps of work asAndIt is small
When 1 pixel, determines that the glue reference point successfully moves the camera fields of view center, record mechanical coordinate (xc1,yc1,
zc1) and pixel coordinate (xv,yv), the syringe needle calibration unit completes the syringe needle correction of rubber-coated mechanism；When by repeatedly moving
Deviation is all unable to reach within 1 pixel, then determines that the camera vision scale factor errors obtained are excessive, it need to be to institute
Camera vision proportionality coefficient is stated to be re-calibrated.
According to one embodiment of present invention, the step S300 comprising steps of
S310 registers gluing visual pattern by the semi-finished product of potted element, forms potted element semi-finished product registered images,
Wherein, one in the potted element is sensitive chip semi-finished product, the potted element the other is lens motor mould group
Semi-finished product；And
S320 is selectively pressed according to the sensitive chip registered images and/or the lens motor mould group registered images
The sensitive chip image or the path coordinate that tree lace is drawn by the lens motor module image.
Wherein, the step S310 includes step S311: registering the sensitive chip semi-finished product visual pattern, obtains one the
One visional reference coordinate (x0,y0,a0), wherein a0For the identification angle of the sensitive chip.
According to one embodiment of present invention, the step S310 further comprises step S312: registering the camera lens horse
Up to mould group semi-finished product visual pattern, one second visional reference coordinate (x is obtained1,y1,a1)。
According to one embodiment of present invention, the step S320 comprising steps of
S321 draws tree lace, to acquisite approachs each point pixel coordinate (x on the lens motor mould group registered imagesv1,
yv1) ..., (xvn,yvn)；
S322 is according to camera vision proportionality coefficient (xvs,yvs), tree lace path under mechanical coordinate is saved by relative coordinate
(x′v1,y′v1) ..., (x 'vn,y‘vn), wherein the camera vision proportionality coefficient is the lens motor mould group registered images
Camera vision proportionality coefficient；And
S323 is according to the camera vision proportionality coefficient (xvs,yvs) and relative angular difference △ a, under pixel coordinate system
After translation and rotation, the coordinate (x of tree lace is restored1,y1) ..., (xn,yn), wherein the relative angular difference △ a=a0-a1。
According to one embodiment of present invention, the step S322 is comprising steps of according to the camera vision proportionality coefficient
(xvs,yvs), it saves, is calculated with identification point coordinate translation to (0,0), by the lens motor module group rubber line picture by relative path
Plain coordinate is converted to mechanical coordinate, saves tree lace path (x ' under the mechanical coordinate by relative coordinatev1,y′v1) ..., (x 'vn,
y′vn)。
According to one embodiment of present invention, the step S323 in the sensitive chip semi-finished product comprising steps of image
Camera coordinates under, according to the camera vision proportionality coefficient (xvs,yvs) and the sensitive chip semi-finished product and lens motor
The relative angular difference △ a=a of mould group semi-finished product0-a1, by the translation and rotation under pixel coordinate system, by the lens motor mould
Group tree lace mechanical coordinate is converted to the sensitive chip pixel coordinate tree lace, is reduced into the seat of the tree lace of the sensitive chip
Mark (x1,y1) ..., (xn,yn)。
According to one embodiment of present invention, the S400 comprising steps of
S410 registers gluing visual pattern, and obtains a First look reference coordinate (x0,y0,a0)；
S420 draws gluing path in the registered images, to acquisite approachs each point coordinate (x1,y1) ..., (xn,yn)；And
S430 is rotation center according to identification point or first point, by the rotation of preset rotation mode, by will be postrotational
Each point coordinate translation corrects the coordinate of tree lace.
According to one embodiment of present invention, the step S430 comprising steps of
S4311 obtains tested image vision data (x '0,y′0,a′0)；
S4312 is by the tree lace each point coordinate (x1,y1) ..., (xn,yn) with the identification point (x0,y0) it is rotation center,
Obtain (x '1, y ' 1) ..., (x 'n,y′n)；And
S4313 is by each point (x '1,y′1) ..., (x 'n,y′n) by distance (x '0-x0,y′0-y0) translated, with
In the coordinate for automatically correcting tree lace.
According to one embodiment of present invention, the step S4312 is comprising steps of with the registered images identification point (x0,
y0) it is used as rotation center, according to the spin equation under cartesian coordinate system around arbitrary point:Wherein, △ a=a '0-a0(1), by each point (x1,y1) ..., (xn,yn)
Rotate (x '1,y′1) ..., (x 'n,y′n)。
According to one embodiment of present invention, the step S430 comprising steps of
S4321 is by each point coordinate (x0,y0), (x1,y1) ..., (xn,yn) with first coordinate (x1,y1) it is in rotation
The heart rotates invocation point (x " by relative angular difference △ a0,y″0), (x "1,y″1) ..., (x "n,y″n)；And
S4322 is by each point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n) press distance △ x0=x "0-x0, △ y0=
y″0-y0It is translated, with the coordinate for automatically correcting tree lace.
Detailed description of the invention
Fig. 1 is the schematic diagram of automatic adhesive application system a kind of according to a preferred embodiment of the invention.
Fig. 2 is the lens motor module group rubber line picture of the automatic adhesive application system of above preferred embodiment according to the present invention
The schematic diagram of plain coordinate and mechanical coordinate conversion.
Fig. 3 is the lens motor module group rubber line machine of the automatic adhesive application system of above preferred embodiment according to the present invention
The schematic diagram of tool coordinate and the conversion of sensitive chip pixel coordinate tree lace.
Fig. 4 is the coordinate schematic diagram of the tree lace of the automatic adhesive application system of above preferred embodiment according to the present invention.
Fig. 5 is the first tree lace correction signal of the automatic adhesive application system of above preferred embodiment according to the present invention
Figure.
Fig. 6 is second of tree lace correction signal of the automatic adhesive application system of above preferred embodiment according to the present invention
Figure.
Fig. 7 is that the syringe needle of the automatic adhesive application system of above preferred embodiment according to the present invention automatically corrects process
Figure.
Fig. 8 is the lens motor module image of the automatic adhesive application system of above preferred embodiment according to the present invention
Tree lace production flow diagram.
Fig. 9 is that the coordinate of the tree lace of the automatic adhesive application system of above preferred embodiment according to the present invention compensates automatically
Flow chart.
Specific embodiment
Claim according to the present invention and specification disclosure of that, technical solution of the present invention literary institute specific as follows
It states.
A kind of automatic adhesive application system as shown in Figure 1 includes a machine vision unit, and the machine vision unit is to be used for
Transformation constant is obtained, the positional relationship of object pixel coordinate and mechanical coordinate is obtained；One syringe needle calibration unit, the syringe needle school
Quasi- unit is to apply collagen by the transformation constant that the machine vision unit obtains syringe needle is arranged for correcting needle position
Point；And a tree lace drawing unit, the tree lace drawing unit are led to obtaining registered images for registering gluing visual pattern
Cross the path coordinate that the registered images draw tree lace.To which the automatic adhesive application system is using machine vision automatic glue application
Mode replaces the direct attaching in packaging technology, in semi-finished product, to realize automatic core-adjusting optical articles oneself for accurate gluing
It is dynamic to apply adhesive curing.
The automatic adhesive application system further comprises tree lace correction unit, and the tree lace correction unit is for compensating institute
State the coordinate of tree lace.Wherein, the school to Point Coordinates on the tree lace is completed by the bearing calibration of the coordinate of gluing tree lace
Just and compensate.
The automatic adhesive application system further comprises a gluing parameter control unit, the gluing parameter control unit with
In automation control gluing operation, it is able to automatically control gluing operation according to tree lace path and object, is able to provide gluing
Demand, such as plastic emitting in advance, subsection setup application rate, subsection setup gluing height, subsection setup is arranged in required various parameters
It spits glue and receives glue in advance, facilitate operation, meet the gluing requirement of equipment.
The automatic adhesive application system is suitable for the packaging technology of mobile phone camera module, controls gluing in taking the photograph by machine automatization
As the sensitive chip of mould group, it is able to accurately encapsulate the lens motor mould group and sensitive chip, correspondingly, is matched with AA and sets
It is standby.The automatic adhesive application system is readily applicable to the packaging technology needed for other, for accurate Drawing between potted element
Tree lace completes the packaging technology of finished product, improves product quality.Wherein, by the transformation constant of pixel coordinate and mechanical coordinate and
Transformational relation improves the quality of product encapsulation with the automatic glue application for realizing equipment, thus, facilitate accurate between product
Apply adhesive curing.
The machine vision unit is used for by the auto-correction method of the camera vision proportionality coefficient of design can be automatic
Calibration for cameras vision proportionality coefficient obtains the transformation constant of the machine vision, i.e. camera vision proportionality coefficient.Wherein, pass through
The coordinate parameters of reference point (Mark point) are corrected for obtaining correlating transforms constant, come reflect the shift position on mechanical coordinate and
Shift position relationship on pixel coordinate.
Wherein, camera coefficient correction jig is placed at the mobile phone camera module semi-finished product glue sites, described in setting
Reference point, initial picture-taking position will apply so that the reference point is in camera fields of view immediate vicinity in such a way that camera positions
The XY axis of gluing mechanism moves camera by the positive direction micro-shifting of mechanical coordinate system, by judging the reference point in camera fields of view by just
Or negative direction is mobile, for judging the reference point in the positive and negative of moving direction within the vision and XY axis moving direction
Property.Camera fields of view is then divided into upper left, upper right and lower-left, four pieces of bottom right region, by the reference point successively from the phase
The upper left in the machine visual field is moved to upper right, and is moved to lower right area, can be obtained by the pixel coordinate and mechanical coordinate of acquisition
Camera vision proportionality coefficient (xvs,yvs)。
In other words, the XY axis of the rubber-coated mechanism is the XY axis under mechanical coordinate system, by judging that the reference point exists
The shift position of mechanical coordinate XY axis and the reference point are calculated in the shift position relationship of the pixel coordinate at camera fields of view center
The transformation constant in the machine vision unit is obtained, i.e., the described camera vision proportionality coefficient (xvs,yvs).The reference is set
Point, convenient for movement of the reference point under pixel coordinate system, is conducive to capture in camera fields of view immediate vicinity, sits when by mechanical
When the positive direction micro-shifting of mark system moves camera, the reference point is able to move with the movement of the camera, changes corresponding picture
Plain coordinate is able to judge the positive negativity that the reference point is converted between mechanical coordinate and the pixel coordinate.Pass through opposite shifting
It moves the reference point to obtain so that the reference point is successively relatively moved in pixel coordinate, obtains the mechanical coordinate and pixel respectively
Coordinate, thus, calculate the camera vision proportionality coefficient (x for obtaining the machine vision unitvs,yvs)。
The syringe needle calibration unit automatically corrects control method by the painting needle head of design to be used to automatically correct gluing
Needle position completes the syringe needle correction of rubber-coated mechanism, the original of setting automatic gluing mechanism is able to by the syringe needle calibration unit
Point position, makes the camera module semi-finished product of subsequent gluing have point can refer to.After starting starting, the machine vision unit is first obtained
Take the camera vision proportionality coefficient (xvs,yvs), the syringe needle calibration unit unclamps syringe, and the rubber-coated mechanism is moved to institute
It states datum level and surveys high position, obtain altitude datum h0, meanwhile, the syringe is since the effect of gravity is so that the syringe needle leans on flat base
Syringe is simultaneously locked in quasi- face, passes through lifting syringe needle and glue reference point is arranged by way of spitting glue, camera is moved to the glue reference
Point position and capture, pass through the camera vision proportionality coefficient (xvs,yvs) and automatically move algorithm, by the glue reference
Point moves to central region, i.e., preset gluing origin, if moving the syringe needle coordinates correction for successfully completing the rubber-coated mechanism,
Terminate；If mobile failure, the camera vision proportionality coefficient may have error, obtain the camera vision ratio system automatically again
Number.
Specifically, the method that the glue stations syringe needle automatically corrects is sat with the syringe needle for automatically correcting glue stations
Mark.Pixel coordinate and the camera vision proportionality coefficient are obtained according to the preset picture-taking position of glue stations, to gluing position
Set and compensate and correct, meanwhile, ranging position is obtained according to laser range finder (Laser), obtain the datum level and/or
The relative altitude of the camera module.The retaining mechanism for first unclamping the syringe, by the rubber-coated mechanism be moved to it is preset go out
Glue position (xcj,ycj,zcj), so that the syringe needle is developed the datum level by the gravity of packing element and locks syringe.Meanwhile passing through
The laser range finder obtains current base face height h0As the altitude datum, and to flow glue can from syringe needle smoothly
Out, syringe needle rising height parameter z is arranged in the calibration unitup, it is able to lifting syringe needle and spits glue, thus, the rubber-coated mechanism
Default plastic emitting coordinate is (xcj,ycj,zcj-zup), under the plastic emitting coordinate, the rubber-coated mechanism spues a bit on datum level
Glue, using the glue spots as reference point.
It in turn, will be described to reduce camera inclination and lens distortion bring camera vision proportionality coefficient nonlinearity erron
The syringe needle initial coordinate of rubber-coated mechanism is set as camera fields of view center, and glue spots position is moved to the visual field by automatically moving algorithm
Center.If camera fields of view size is Xpix×Ypix, pass through the camera vision proportionality coefficient (x of acquisitionvs,yvs), according to described
The positive negativity of reference point moving direction and XY axis moving direction within the scope of camera fields of view, i.e., by judging the reference point in institute
The transformation constant and position corresponding relationship between pixel coordinate and mechanical coordinate are stated, can design and automatically move algorithm.Pass through institute
It states and automatically moves algorithm, repeatedly obtain the pixel coordinate and corresponding mechanical coordinate of the reference point, the reference point is mobile
To the camera fields of view center.Wherein, whenAndRespectively less than 1 pixel then determines the glue ginseng
Middle mobile completion is set according to point, the glue reference point successfully moves to the camera fields of view center；All can not when by repeatedly movement
Reach deviation within 1 pixel, then determines that the camera vision scale factor errors obtained are excessive, it need to be to the machine
The camera vision proportionality coefficient of visual unit is re-calibrated.When determining that the glue reference point successfully sets middle, this is recorded
When the mechanical coordinate be (xc1,yc1,zc1), the pixel coordinate is (xv,yv), thus, the syringe needle calibration unit is completed
The syringe needle of the rubber-coated mechanism corrects.
The tree lace drawing unit, as gluing benchmark image, can be selected independently therein by the semi-finished product of potted element
Registered images do gluing curve, expand the gluing benchmark image range of selection.Wherein, one in the potted element is photosensitive
Chip semi-finished product, the potted element the other is lens motor mould group semi-finished product, by the sensitive chip and/or described
Lens motor mould group registers gluing visual pattern, forms sensitive chip visual pattern or lens motor mould group visual pattern, described
Tree lace drawing unit is able to draw tree lace according to the registered images.The first tree lace draws mode, when by the sensitive chip
When semi-finished product registered images, it is able to draw tree lace path directly under the pixel coordinate system of the sensitive chip registered images；The
Two kinds of tree laces draw mode, when pressing the lens motor mould group semi-finished product registered images, register in the lens motor mould group
Tree lace, to acquisite approachs each point pixel coordinate, further according to camera vision proportionality coefficient (x are drawn on imagevs,yvs), so that the mirror
Head horse is converted up to module group rubber line pixel coordinate and mechanical coordinate, obtains the tree lace road under lens motor mould group mechanical coordinate system
Diameter, then, according to camera vision proportionality coefficient (xvs,yvs) and relative angular difference △ a, carried out under pixel coordinate system translation and
Rotation, is converted into sensitive chip pixel coordinate tree lace for the lens motor module group rubber line mechanical coordinate.
What the present invention designed carries out tree lace path drawing method according to lens motor mould group semi-finished product registered images.Due to
In AA equipment, the mobile phone camera module semi-finished product supplied materials is commonly divided into lens motor mould group semi-finished product and described photosensitive
Chip semi-finished product, and the movement of the gluing of the rubber-coated mechanism is generally implemented on sensitive chip semi-finished product, thus, gluing control system
As unified only mode can be drawn according to the first described tree lace to need the sensitive chip semi-finished product of gluing as registered images
Tree lace drafting is carried out directly on the sensitive chip semi-finished product image.But in view of the camera lens of some mobile phone camera module products
Motor mould group semi-finished product outer edge is relatively narrow, and the outer edge of the sensitive chip semi-finished product is wider, if still with described photosensitive
The image that chip semi-finished product make as tree lace, then probably because the tree lace path that different operators makes has differences
Larger problem, the appearance for phenomena such as leading to excessive glue, viscose glue, is unfavorable for carrying out tree lace drafting according to the actual situation, may cause
The decline of AA yield.In the present invention, the tree lace drawing unit, which is not only provided, draws glue by the sensitive chip registered images
Line also provides and draws tree lace by the lens motor mould group registered images, helps selectively to switch the tree lace drafting figure
Picture.User can independently switch according to product demand with the sensitive chip semi-finished product image and/or the lens motor mould group
Semi-finished product image carries out tree lace drafting.The tree lace drawing unit provides tree lace Drawing image handoff functionality, when user needs
When carrying out tree lace path drawing according to the lens motor mould group semi-finished product image, it is only necessary to register lens motor mould group half
Finished product image, correspondingly, the automatic adhesive application system automatically extract a First look reference coordinate (x by calculating0,y0,a0)
Parameter, equally carry out the coordinates correction of subsequent tree lace, convenient for actual product gluing operate, pass through sensitive chip or camera lens
Motor mould group selectively makes gluing curve according to the registered images as gluing benchmark image.
Specifically, mode is drawn according to the first described tree lace, the sensitive chip registers gluing visual pattern, it is described from
Dynamic coating system identifies the sensitive chip visual pattern of the mobile phone camera module semi-finished product, obtains First look reference coordinate
(x0,y0,a0), wherein a0For the identification angle of the sensitive chip, meanwhile, note picture-taking position is (xc2,yc2,zc2), it is able to straight
Connect the drafting tree lace path under the pixel coordinate system of the sensitive chip visual pattern.
On the other hand, as shown in Fig. 2, drawing mode according to second of tree lace, the tree lace drawing unit passes through mirror
Head horse, as gluing benchmark image, is able to calculate tree lace of the reduction on sensitive chip semi-finished product automatically up to mould group semi-finished product image
Coordinate, be automatically performed gluing task.By registering the sensitive chip semi-finished product image, First look benchmark (x is obtained0,y0,
a0), also, the lens motor mould group semi-finished product image is registered, obtain the second visional reference coordinate (x1,y1,a1), wherein a1For
The identification angle of the lens motor mould group.Tree lace is drawn on the lens motor mould group semi-finished product registered images, obtains road
Diameter each point coordinate remembers that each point pixel coordinate in drawn tree lace path is (xv1,yv1) ..., (xvn,yvn).According to registration
The camera vision proportionality coefficient (x of lens motor mould group visual patternvs,yvs), it is saved by relative path, it is flat with identification point coordinate
(0,0) calculating is moved to, the lens motor module group rubber line pixel coordinate is converted into mechanical coordinate, by described in relative coordinate preservation
Tree lace path (x ' under mechanical coordinatev1,y′v1) ..., (x 'vn,y′vn).As shown in figure 3, being imaged in the sensitive chip semi-finished product
Camera coordinates under, according to the camera vision proportionality coefficient (x for the camera for registering the sensitive chip visual patternvs,
yvs) and the sensitive chip semi-finished product and lens motor mould group semi-finished product relative angular difference △ a=a0-a1, pass through pixel
The lens motor module group rubber line mechanical coordinate is converted to the sensitive chip pixel coordinate by translation and rotation under coordinate system
Tree lace is reduced into the coordinate (x of the tree lace of the sensitive chip1,y1) ..., (xn,yn)。
To which the automatic adhesive application system, which is provided, makes function using lens motor mould group semi-finished product image as tree lace, has
The generation of gluing error when helping prevent only using sensitive chip as registered images.
The tree lace correction unit is used to correct described by the auto-correction method of the coordinate of the gluing tree lace of design
The coordinate of tree lace completes coordinates correction and compensation to the tree lace.When registration gluing visual pattern and obtain First look base
Standard (x0,y0,a0), the production of gluing path, to acquisite approachs each point coordinate (x are carried out on the registered images1,y1) ..., (xn,
yn), wherein the registered images are selected from the sensitive chip registered images and/or lens motor mould group registered images.In gluing
After tree lace draws tree lace of completing on interface, each node coordinate (x is generated1,y1) ..., (xn,yn), if measured target identification point
Coordinate is (x '0,y′0,a′0), obtain tested image vision data (x '0,y′0,a′0), the coordinate of tree lace as shown in Figure 4 leads to
Cross the coordinate that two methods correct the tree lace.
The first tree lace bearing calibration as shown in Figure 5 carries out rotation correction by identification point, with registered images knowledge
Other point (x0,y0) it is used as rotation center, according to the spin equation under cartesian coordinate system around arbitrary point:Wherein, △ a=a '0-a0(1).The tree lace is respectively pressed into distance △ again
x0=x '0-x0, △ y0=y '0-y0Translation, for completing the coordinate compensation to arbitrary point on the tree lace.In other words, will
Each node coordinate (x of the tree lace1,y1) ..., (xn,yn) with the identification point (x0,y0) it is rotation center, invocation point (x '1,y
′1) ..., (x 'n,y′n), by (x '1,y′1) ..., (x 'n,y′n) by distance (x '0-x0,y′0-y0) translated, complete tree lace
Coordinate compensates automatically.
Second of tree lace bearing calibration as shown in FIG. 6, by first point of progress rotation correction, with first coordinate
(x1,y1) it is used as rotation center, by point (x0,y0), (x1,y1) ..., (xn,yn) angularly △ a rotation after obtain point (x "0,y
″0), (x "1,y″1) ..., (x "n,y″n), then by each point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n) press distance △ x0=
x″0-x0, △ y0=y "0-y0The correction of the coordinate of the tree lace is completed after being translated.Wherein, second of tree lace correction side
Method calculating is relatively complicated, but relatively simple for programming angle, will put coordinate (x0,y0), (x1,y1) ..., (xn,yn) with
First point of (x1,y1) it is rotation center, invocation point (x " is rotated by relative angular difference △ a0,y″0), (x "1,y″1) ..., (x "n,
y″n), then will respectively press distance (x "0-x0,y″0-y0) translated, complete the coordinates correction of the tree lace.
It is noted that the automatic adhesive application system be able to by the gluing benchmark image with draw tree lace it is automatic
Zoom function, for eliminating the excessive caused gluing tree lace production difficult problem of dimension of picture.
In specific implementation gluing operation, since the product of the mobile phone camera module class is to the multiplicity of gluing functional requirement
Property, the gluing parameter control unit designs a variety of gluing state modulators, as gluing parameter control unit design goes out in advance
Glue function is received in glue function and offer, with the lag flowed out from the syringe needle of different size or different size for compensating different glue
Property；If gluing parameter control unit design is segmented the setting function of tree lace speed, for meeting mobile phone camera module half
Finished product requires the different sections of tree lace thicknesses different；As function is arranged in gluing parameter control unit design segmentation tree lace height
Can and glue function be switched, with electricity that may be present in the tree lace path for avoiding certain mobile phone camera module semi-finished product
The barriers such as appearance.
It is noted that the automatic adhesive application system is suitable for AA equipment, using the NI Vision Builder for Automated Inspection of autonomous Design,
So that the automatic adhesive application system and automatic core-adjusting system share vision data, it is soft using industrial camera independent development visual identity
Part, and integrated using ActiveX control mode with the equipment control software based on Windows, realize the machine of AA equipment
The independent development of vision system effectively avoids equipment from causing the vision cost of equipment excessively high using smart camera external member, has
Help be promoted the cost performance of the whole AA equipment including the automatic adhesive application system.Wherein, due to the automatic glue application system
The vision parameter of station of uniting is shared with the vision parameter of AA station, is helped to reduce hardware cost and number of times of imaging, is saved equipment
The capture time so that the sexual valence of equipment when efficiency fast lifting, thus the UPH of lifting means.
A kind of automatic glue application method, step include:
S100 obtains the variation constant of object pixel coordinate and mechanical coordinate by a machine vision unit；
S200 corrects needle position by a syringe needle calibration unit, and syringe needle gluing origin is arranged；And
S300 registers gluing visual pattern by a tree lace drawing unit, with the path coordinate for drawing tree lace.
Wherein, the method further includes step S400: the coordinate of tree lace described in unit compensation is corrected by a tree lace.
Wherein, the method further includes step S500: being controlled and is applied by a gluing parameter control unit automation
Glue operation is able to automatically control gluing operation according to tree lace path and object.
Wherein, the step S100 comprising steps of
Reference point is arranged by camera coefficient correction jig in S110；
S120 initial picture-taking position in such a way that camera positions, so as to be in camera fields of view center attached for the reference point
Closely；And
S130 relatively moves the reference point, by judging the reference point respectively under mechanical coordinate system and pixel coordinate
Shift position relationship under system, calculates and obtains the transformation constant of the machine vision unit.
Wherein, the step S200 comprising steps of
The syringe needle is moved to datum level and surveys high position by S210, and obtains altitude datum h0；
The syringe needle is leaned on flat datum level by S220, obtains glue reference point by being lifted the syringe needle and gluing；And
The glue reference point is moved to central region by automatically moving algorithm by S230, for automatically correcting the painting
Needle head.
Wherein, the step S220 comprising steps of
The mobile syringe needle of S221 is in default plastic emitting position (xcj,ycj,zcj), so that the syringe needle develops the datum level
And lock syringe；And
S222 moves the syringe needle to default plastic emitting coordinate (xcj,ycj,zcj-zup), glue is spat on the datum level to be used for
The glue reference point is set, wherein zupFor the syringe needle rising height parameter.
Wherein, the step S230 comprising steps of
Camera is moved to the glue reference point and capture by S231；
S232 obtains the proportionality coefficient (x of the camera by step S100 automaticallyvs,yvs)；And
S233 passes through the camera vision proportionality coefficient (xvs,yvs) and automatically move algorithm, repeatedly obtain the glue ginseng
Pixel coordinate and corresponding mechanical coordinate according to point, for the glue reference point to be moved in the camera fields of view
The heart.
Wherein, the design procedure for automatically moving algorithm of the step S230: the camera fields of view size is set as Xpix×
Ypix, pass through the camera vision proportionality coefficient (x of acquisitionvs,yvs), and moved within sweep of the eye according to the glue reference point
The positive negativity of dynamic direction and mechanical coordinate XY axis moving direction come be designed it is described automatically move algorithm, with described for obtaining
The pixel coordinate and corresponding mechanical coordinate of the glue reference point.
Wherein, the step S233 is comprising steps of work asAndWhen respectively less than 1 pixel, institute is determined
It states glue reference point and successfully moves the camera fields of view center, record mechanical coordinate (xc1,yc1,zc1) and pixel coordinate (xv,
yv), the syringe needle calibration unit completes the syringe needle correction of rubber-coated mechanism；Deviation is all unable to reach at 1 when passing through repeatedly movement
Within pixel, then determine obtain the camera vision scale factor errors it is excessive, need to the camera vision proportionality coefficient into
Row re-calibrates.
Wherein, the step S300 comprising steps of
S310 registers gluing visual pattern by the semi-finished product of potted element, forms potted element semi-finished product registered images,
Wherein, one in the potted element is sensitive chip semi-finished product, the potted element the other is lens motor mould group
Semi-finished product；And
S320 is selectively pressed according to the sensitive chip registered images and/or the lens motor mould group registered images
The sensitive chip image or the path coordinate that tree lace is drawn by the lens motor module image.
Wherein, the step S310 includes step S311: registering the sensitive chip semi-finished product visual pattern, obtains first
Visional reference coordinate (x0,y0,a0), wherein a0For the identification angle of the sensitive chip.
Wherein, the step S310 further comprises step S312: registering the lens motor mould group semi-finished product vision figure
Picture obtains the second visional reference coordinate (x1,y1,a1)。
Wherein, the step S320 comprising steps of
S321 draws tree lace, to acquisite approachs each point pixel coordinate (x on the lens motor mould group registered imagesv1,
yv1) ..., (xvn,yvn)；
S322 is according to camera vision proportionality coefficient (xvs,yvs), tree lace path under mechanical coordinate is saved by relative coordinate
(x′v1,y′v1) ..., (x 'vn,yv‘n), wherein the camera vision proportionality coefficient is the lens motor mould group registered images
Camera vision proportionality coefficient；And
S323 is according to the camera vision proportionality coefficient (xvs,yvs) and relative angular difference △ a, under pixel coordinate system
After translation and rotation, the coordinate (x of tree lace is restored1,y1) ..., (xn,yn), wherein the relative angular difference △ a=a0-a1。
Wherein, the step S322 is comprising steps of according to the camera vision proportionality coefficient (xvs,yvs), by relative path
It saves, is calculated with identification point coordinate translation to (0,0), the lens motor module group rubber line pixel coordinate is converted into mechanical seat
Mark saves tree lace path (x ' under the mechanical coordinate by relative coordinatev1,y′v1) ..., (x 'vn,y‘vn)。
Wherein, the step S323 comprising steps of the sensitive chip semi-finished product camera shooting camera coordinates under, according to institute
State camera vision proportionality coefficient (xvs,yvs) and the sensitive chip semi-finished product and lens motor mould group semi-finished product relative angle
Spend difference △ a=a0-a1, by the translation and rotation under pixel coordinate system, the lens motor module group rubber line mechanical coordinate is converted
For the sensitive chip pixel coordinate tree lace, it is reduced into the coordinate (x of the tree lace of the sensitive chip1,y1) ..., (xn,
yn)。
Wherein, the S400 comprising steps of
S410 registers gluing visual pattern, and obtains one second visional reference coordinate (x0,y0,a0)；
S420 draws gluing path in the registered images, to acquisite approachs each point coordinate (x1,y1) ..., (xn,yn)；And
S430 is rotation center according to identification point or first point, by the rotation of preset rotation mode, by will be postrotational
Each point coordinate translation corrects the coordinate of tree lace.
Wherein, the step S430 comprising steps of
S4311 obtains tested image vision data (x '0,y′0,a′0)；
S4312 is by the tree lace each point coordinate (x1,y1) ..., (xn,yn) with the identification point (x0,y0) it is rotation center,
Obtain (x '1,y′1) ..., (x 'n,y′n)；And
S4313 is by each point (x '1,y′1) ..., (x 'n,y′n) by distance (x '0-x0,y′0-y0) translated, with
In the coordinate for automatically correcting tree lace.
Wherein, the step S4312 is comprising steps of with the registered images identification point (x0,y0) it is used as rotation center, root
According to the spin equation under cartesian coordinate system around arbitrary point:Wherein, △ a
=a '0-a0(1), by each point (x1,y1) ..., (xn,yn) rotate (x '1,y′1) ..., (x 'n,y′n)。
Wherein, the step S430 comprising steps of
S4321 is by each point coordinate (x0,y0), (x1,y1) ..., (xn,yn) with first coordinate (x1,y1) it is in rotation
The heart rotates invocation point (x " by relative angular difference △ a0,y″0), (x "1,y″1) ..., (x "n,y″n)；And
S4322 is by each point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n) press distance △ x0=x "0-x0, △ y0=
y″0-y0It is translated, with the coordinate for automatically correcting tree lace.
Above content is enumerating for specific embodiments of the present invention, for the equipment and structure of wherein not detailed description, is answered
When being interpreted as that the existing common apparatus in this field and universal method is taken to be practiced.
The above embodiment of the present invention is only to illustrate that technical solution of the present invention is used simultaneously, only the column of technical solution of the present invention
It lifts, the technical solution and its protection scope being not intended to restrict the invention.Using equivalent technologies mean, equivalent apparatus etc. to this hair
The improvement of technical solution disclosed in bright claims and specification is considered to be without departing from claims of the present invention
And range disclosed in specification.
Claims (16)
1. a kind of automatic glue application method, which is characterized in that comprising steps of
S100 obtains the transformation constant of object pixel coordinate and mechanical coordinate by a machine vision unit；
S200 corrects needle position by a syringe needle calibration unit, and syringe needle gluing origin is arranged；And
S300 registers gluing visual pattern by a tree lace drawing unit, with the path coordinate for drawing tree lace；It is wherein described
Step S100 comprising steps of
Reference point is arranged by camera coefficient correction jig in S110；
S120 initial picture-taking position in such a way that camera positions, so that the reference point is in camera fields of view immediate vicinity；With
And
S130 relatively moves the reference point, by judging the reference point respectively under mechanical coordinate system and under pixel coordinate system
Shift position relationship, calculate and obtain the transformation constant of the machine vision unit；Wherein the step S200 comprising steps of
The syringe needle is moved to datum level and surveys high position by S210, and obtains altitude datum h0；
The syringe needle is leaned on flat datum level by S220, obtains glue reference point by being lifted the syringe needle and gluing；And
The glue reference point is moved to central region by automatically moving algorithm by S230, to be used to automatically correct the syringe needle,
The wherein design procedure for automatically moving algorithm of the step S230: the camera fields of view size is set as Xpix×Ypix, pass through phase
Machine vision proportionality coefficient (xvs,yvs), and according to the glue reference point in moving direction within sweep of the eye and mechanical coordinate XY axis
The positive negativity of moving direction come be designed it is described automatically move algorithm, with the pixel coordinate for obtaining the glue reference point
And corresponding mechanical coordinate.
2. automatic glue application method according to claim 1, the step S220 comprising steps of
The mobile syringe needle of S221 is in default plastic emitting position (xcj,ycj,zcj), so that the syringe needle develops the datum level and locks
Tight syringe；And
S222 moves the syringe needle to default plastic emitting coordinate (xcj,ycj,zcj-zup), glue is spat on the datum level for being arranged
The glue reference point, wherein zupFor the syringe needle rising height parameter.
3. automatic glue application method according to claim 2, the step S230 comprising steps of
Camera is moved to the glue reference point and capture by S231；
S232 obtains the camera vision proportionality coefficient (x by step S100 automaticallyvs,yvs)；And
The pixel coordinate and corresponding mechanical coordinate of the glue reference point are obtained for S233 more times, for joining the glue
The camera fields of view center is moved to according to point.
4. automatic glue application method according to claim 3, wherein step S233 passes through the camera vision scale parameter
(xvs,yvs) pixel coordinate and corresponding mechanical coordinate of the glue reference point are obtained with algorithm is automatically moved.
5. automatic glue application method according to claim 4, the step S233 is comprising steps of work asAndWhen respectively less than 1 pixel, determine that the glue reference point successfully moves the camera fields of view center, record is mechanical
Coordinate (xc1,yc1,zc1) and pixel coordinate (xv,yv), the syringe needle calibration unit completes the syringe needle correction of rubber-coated mechanism；When logical
It crosses repeatedly movement and is all unable to reach deviation within 1 pixel, then determine the camera vision scale factor errors mistake obtained
Greatly, the camera vision proportionality coefficient need to be re-calibrated.
6. the automatic glue application method according to claim 3 or 5, the step S300 comprising steps of
S310 registers gluing visual pattern by the semi-finished product of potted element, forms potted element semi-finished product registered images, wherein
One in the semi-finished product of the potted element is sensitive chip semi-finished product, it is in the semi-finished product of the potted element the other is
Lens motor mould group semi-finished product；And
S320 by the sensitive chip image or is pressed according to sensitive chip registered images and/or lens motor mould group registered images
The lens motor module image draws the path coordinate of tree lace.
7. automatic glue application method according to claim 6, the step S310 includes step S311: the registration photosensitive core
The visual pattern of piece semi-finished product obtains a First look reference coordinate (x0,y0,a0), wherein a0For the identification of the sensitive chip
Angle.
8. automatic glue application method according to claim 7, the step S310 further comprises step S312: described in registration
The visual pattern of lens motor mould group semi-finished product obtains one second visional reference coordinate (x1,y1,a1), wherein a1For the camera lens
The identification angle of motor mould group semi-finished product.
9. automatic glue application method according to claim 8, the step S320 comprising steps of
S321 draws tree lace, to acquisite approachs each point pixel coordinate (x on the lens motor mould group registered imagesv1,yv1) ...,
(xvn,yvn)；
S322 is according to camera vision proportionality coefficient (xvs,yvs), tree lace path (x' under mechanical coordinate is saved by relative coordinatev1,y
'v1) ..., (x'vn,y‘vn), wherein the camera vision proportionality coefficient is that the camera of the lens motor mould group registered images regards
Feel proportionality coefficient；And
S323 is according to the camera vision proportionality coefficient (xvs,yvs) and relative angular difference △ a, under pixel coordinate system translation and
After rotation, the coordinate (x of tree lace is restored1,y1) ..., (xn,yn), wherein the relative angular difference △ a=a0-a1。
10. automatic glue application method according to claim 9, the step S322 is comprising steps of according to the camera vision
Proportionality coefficient (xvs,yvs), it saves, is calculated with identification point coordinate translation to (0,0), by lens motor module group rubber by relative path
Line pixel coordinate is converted to mechanical coordinate, saves tree lace path (x' under the mechanical coordinate by relative coordinatev1,y'v1) ...,
(x'vn,y'vn)。
11. automatic glue application method according to claim 10, the step S323 is comprising steps of in the sensitive chip half
Under the camera coordinates of finished product, according to the camera vision proportionality coefficient (xvs,yvs) and the sensitive chip semi-finished product and camera lens
The relative angular difference △ a=a of motor mould group semi-finished product0-a1, by the translation and rotation under pixel coordinate system, by lens motor mould
Group tree lace mechanical coordinate is converted to sensitive chip pixel coordinate tree lace, is reduced into the coordinate (x of the tree lace of sensitive chip1,
y1) ..., (xn,yn)。
12. automatic glue application method according to claim 11, further comprises step S400: being corrected by a tree lace single
Member compensates the coordinate of the tree lace.
13. automatic glue application method according to claim 12, the S400 comprising steps of
S410 registers gluing visual pattern, and obtains a First look reference coordinate (x0,y0,a0)；
S420 draws gluing path in registered images, to acquisite approachs each point coordinate (x1,y1) ..., (xn,yn)；And
S430 is rotation center according to identification point or first point, by the rotation of preset rotation mode, by by postrotational each point
Coordinate translation corrects the coordinate of tree lace.
14. automatic glue application method according to claim 13, the step S430 comprising steps of
S4311 obtains tested image vision data；
S4312 is by the coordinate (x of the tree lace1,y1) ..., (xn,yn) with the identification point (x0,y0) it is rotation center, obtain (x '1,
y′1) ..., (x'n,y'n)；And
S4313 is by each point (x '1,y′1) ..., (x'n,y'n) by distance (x'0-x0,y'0-y0) translated, for certainly
The coordinate of dynamic correction tree lace.
15. automatic glue application method according to claim 14, the step S4312 is comprising steps of with the identification point (x0,
y0) be used as rotation center by each point (x1,y1) ..., (xn,yn) rotate (x '1,y′1) ..., (x'n,y'n)。
16. automatic glue application method according to claim 15, the step S430 comprising steps of
S4321 is by each point coordinate (x0,y0), (x1,y1) ..., (xn,yn) with described first point of coordinate (x1,y1) it is in rotation
The heart rotates invocation point (x " by relative angular difference △ a0,y″0), (x "1,y″1) ..., (x "n,y″n)；And
S4322 is by each point (x "0,y″0), (x "1,y″1) ..., (x "n,y″n) press distance △ x0=x "0-x0, △ y0=y "0-y0Into
Row translation, with the coordinate for automatically correcting tree lace.
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| CN201510106162.8A CN105964486B (en) | 2015-03-11 | 2015-03-11 | A kind of automatic adhesive application system and its glue spreading method |
| PCT/CN2016/076049 WO2016141882A1 (en) | 2015-03-11 | 2016-03-10 | Automatic gluing system and gluing method therefor |
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| CN201510106162.8A CN105964486B (en) | 2015-03-11 | 2015-03-11 | A kind of automatic adhesive application system and its glue spreading method |
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| CN105964486A (en) | 2016-09-28 |
| WO2016141882A1 (en) | 2016-09-15 |
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